diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000022.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000022.json new file mode 100644 index 0000000000000000000000000000000000000000..9005f95a3bf2517115ce6d3a8b66a777ec5bd095 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000022.json @@ -0,0 +1,622 @@ +{ + "task_description": "把黄瓜夹起来放进盘子里\n爪夹开始移动:0\n爪夹接近黄瓜:20%\n爪夹夹起黄瓜:40%\n爪夹夹起黄瓜接近盘子:60%\n爪夹将黄瓜放入盘子内:80%\n爪夹松开，黄瓜落入盘子内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备移动。", + "annotations": { + "bbox_1766112298547": { + "instances": [ + { + "height": 0.3373333058810786, + "id": 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"当前状态为爪夹打开，没有移动，没有接触黄瓜。\n为完成夹起黄瓜使其放入盘子的任务，应当:爪夹向上抬升，调整爪夹角度使其垂直于桌面，然后向爪夹方向的左侧移动，接近黄瓜，方便抓取黄瓜。", + "time": 2.4924540627676204 + }, + { + "action_description": "爪夹向上抬升，随后调整角度垂直于桌面，向爪夹的左前方移动，接近黄瓜。", + "annotations": { + "bbox_1766655761255": { + "instances": [ + { + "height": 0.32482055693636824, + "id": "bbox_1766655761255_1767072966569_1v0ahji97", + "width": 0.09199372134866231, + "x": 0.5042618279958975, + "y": 0.5094092320852412 + } + ], + "type": "bbox" + }, + "bbox_1766655767262": { + "instances": [ + { + "height": 0.22487577018671642, + "id": "bbox_1766655767262_1767072971610_jzk1nakxa", + "width": 0.2027269044535335, + "x": 0.5127797651578107, + "y": 0.3504061622562498 + } + ], + "type": "bbox" + }, + "point_1766655779246": { + "instances": [ + { + "id": "point_1766655779246_1767072974433_1uqwh6tiq", + "x": 0.4565613798891836, + "y": 0.5094092320852412 + } + ], + "type": "point" + }, + "point_1766655785822": { + "instances": [ + { + "id": 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"correction_plan": "爪夹合拢，抓取黄瓜后竖直上升，向爪夹的左后方移动，直至到达盘子的上方，爪夹下降将黄瓜放入盘子中，然后松开爪夹，黄瓜落入盘子。", + "error_success_analysis": "爪夹保持张开状态，爪夹向爪夹左前方移动，完全接近黄瓜。", + "frame": 175, + "progress": 20, + "progress_explanation": "目前爪夹向爪夹左前方移动，爪夹完全接近黄瓜，因此进度提升为20%。", + "state_description": "当前爪夹保持张开状态，爪夹停留在黄瓜正上方，为完成夹起黄瓜放入盘子的任务，应当：爪夹垂直下降至黄瓜两侧，爪夹开始合拢，爪夹抓取黄瓜。", + "time": 5.82538800382981 + }, + { + "action_description": "爪夹开始下降至黄瓜两侧，爪夹合拢夹住黄瓜。", + "annotations": { + "bbox_1766112298547": { + "instances": [ + { + "height": 0.30266664203559235, + "id": "bbox_1766112298547_1766112636373_ltdyc1kpv", + "width": 0.07099999566650421, + "x": 0.514333281595869, + "y": 0.5330925571213739 + } + ], + "type": "bbox" + }, + "bbox_1766112398890": { + "instances": [ + { + "height": 0.2306666478949669, + "id": "bbox_1766112398890_1766112651018_kjfvt1zga", + "width": 0.21599998681640703, + "x": 0.5043332822062205, + "y": 0.34331479139690824 + } + ], + "type": "bbox" + }, + "bbox_1766655761255": { + "instances": [ + { + "height": 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"爪夹夹起黄瓜竖直上升，向爪夹的左后方向移动，使其接近盘子，确保黄瓜落入盘子里。", + "frame": 330, + "progress": 60, + "progress_explanation": "爪夹夹起黄瓜，向爪夹的左后方移动黄瓜接近盘子，因此进度提升为60%。", + "state_description": "爪夹当前为合拢的状态，为完成夹起黄瓜放入盘子的任务，应当：爪夹下降将黄瓜对准盘子正上方，然后松开爪夹，黄瓜落入盘子。", + "time": 10.999494733069369 + }, + { + "action_description": "爪夹夹紧黄瓜轻微向爪夹右方移动，随后向爪夹的正后方倒退。", + "annotations": { + "bbox_1766112298547": { + "instances": [ + { + "height": 0.19761810107317507, + "id": "bbox_1766112298547_1766655579978_7a03fqlp9", + "width": 0.06473632243054013, + "x": 0.5093725902930453, + "y": 0.2421326317241542 + } + ], + "type": "bbox" + }, + "bbox_1766112398890": { + "instances": [ + { + "height": 0.23169018746510178, + "id": "bbox_1766112398890_1766655592346_65bjv95wu", + "width": 0.20443049188591625, + "x": 0.5230012897521064, + "y": 0.33526300119542063 + } + ], + "type": "bbox" + }, + "bbox_1766655761255": { + "instances": [ + { + "height": 0.22487577018671648, + "id": "bbox_1766655761255_1766656045569_uku118yu1", + "width": 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+ "id": "point_1766655785822", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000018.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000018.json new file mode 100644 index 0000000000000000000000000000000000000000..a28a48d054f5f3199314fa305aa87fa30272ff73 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000018.json @@ -0,0 +1,385 @@ +{ + "task_description": "把胡萝卜夹起来放进盘子里\n爪夹开始移动:0\n爪夹接近胡萝卜:20%\n爪夹夹起胡萝卜:40%\n爪夹夹起胡萝卜接近盘子:60%\n爪夹将胡萝卜放入盘子内:80%\n爪夹松开，胡萝卜落入盘子内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备移动。", + "annotations": { + "bbox_1766124640695": { + "instances": [ + { + "height": 0.3053333084852452, + "id": "bbox_1766124640695_1766124687224_17fyai7n6", + "width": 0.23599998559570395, + "x": 0.35233329148356374, + "y": 0.5877592193392562 + } + ], + "type": "bbox" + }, + "point_1766124627409": { + "instances": [ + { + "id": "point_1766124627409_1766124701374_2gw3tsaui", + "x": 0.5563332790323926, + "y": 0.372648122343089 + } + ], + "type": "point" + }, + "point_1766124654872": { + "instances": [ + { + "id": "point_1766124654872_1766124705577_9th3cu8ct", + "x": 0.45533328519694305, + "y": 0.3779814552423946 + }, + { + "id": "point_1766124654872_1766124857012_rppwwpypf", + "x": 0.47833328379313456, + "y": 0.43649995430501676 + } + ], + "type": "point" + }, + "point_1766124879395": { + "instances": [ + { + "id": "point_1766124879395_1766124920028_uyx9phg62", + "x": 0.4543332852579781, + "y": 0.3818333022596596 + } + ], + "type": "point" + }, + "point_1766124894842": { + "instances": [ + { + "id": 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+ "progress_explanation": "爪夹向爪夹的左侧移动，更加接近辣椒，因此任务进度提升为15%。", + "error_success_analysis": "爪夹向爪夹的左侧移动，更加接近辣椒。", + "correction_plan": "爪夹向爪夹的左侧移动，爪夹下降并抓取辣椒后竖直上升，向爪夹的正后方移动，直至到达盘子的上方，下降将辣椒放入盘子中，然后松开爪夹，辣椒掉入盘子里。", + "annotations": { + "bbox_1766130737578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766130737578_1767074549462_ofhoqovnv", + "x": 0.6541775220455693, + "y": 0.6229828533916637, + "width": 0.16013721864396765, + "height": 0.22714724261284486 + } + ] + }, + "bbox_1766130744857": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766130744857_1767074553934_0xng6jjt6", + "x": 0.4207860438091483, + "y": 0.3526776346823783, + "width": 0.21805919134497725, + "height": 0.2339616598912303 + } + ] + }, + "point_1766130750480": { + "type": "point", + "instances": [ + { + "id": "point_1766130750480_1767074556695_0wkhjjaoh", + "x": 0.5792196750207333, + "y": 0.6116254912610214 + } + ] + } + } + }, + { + "action_description": 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+ "id": "bbox_1766130737578", + "name": "辣椒" + }, + { + "color": "#FF9800", + "id": "bbox_1766130744857", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766130750480", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766130760145", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251124-155207-bad-eggplant/annotations/chunk-000/observation.images.front/episode_000017.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251124-155207-bad-eggplant/annotations/chunk-000/observation.images.front/episode_000017.json new file mode 100644 index 0000000000000000000000000000000000000000..1ef444b115fbb0a111caeebc7b208120ee722cd2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251124-155207-bad-eggplant/annotations/chunk-000/observation.images.front/episode_000017.json @@ -0,0 +1,402 @@ +{ + "task_description": "把茄子夹起来放进盘子里\n爪夹开始移动:0\n爪夹接近茄子:20%\n爪夹夹起茄子:40%\n爪夹夹紧茄子接近盘子:60%\n爪夹将茄子放入盘子内:80%\n爪夹松开茄子落入盘子内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备移动。", + "annotations": { + "bbox_1766134692761": { + "instances": [ + { + "height": 0.27199997786458513, + "id": "bbox_1766134692761_1766137193644_bx1hc6lf3", + "width": 0.07199999560546892, + "x": 0.49933328251139636, + "y": 0.4450925642828317 + } + ], + "type": "bbox" + }, + "bbox_1766134699104": { + "instances": [ + { + "height": 0.24666664659288362, + "id": "bbox_1766134699104_1766137210308_6vvdflzce", + "width": 0.20999998718261786, + "x": 0.6033332761637404, + "y": 0.4259814513361449 + } + ], + "type": "bbox" + }, + "point_1766134705433": { + "instances": [ + { + "id": 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"error_success_analysis": "爪夹向爪夹的左侧移动，接近茄子，方便抓取茄子。", + "correction_plan": "爪夹调整角度垂直桌面，继续向爪夹的左侧移动，接近茄子，爪夹抓取茄子后竖直上升，向爪夹的左侧移动，直至到达盘子的上方，下降将茄子放入盘子中，然后松开爪夹，茄子掉入盘子里。", + "annotations": { + "point_1766134714296": { + "type": "point", + "instances": [ + { + "id": "point_1766134714296_1767075911566_c0nbvf7su", + "x": 0.4207860438091483, + "y": 0.5525672081816817 + } + ] + }, + "point_1766134705433": { + "type": "point", + "instances": [ + { + "id": "point_1766134705433_1767075913923_x545pnvv1", + "x": 0.35264254651384286, + "y": 0.5025948148068559 + } + ] + }, + "bbox_1766134692761": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766134692761_1767075918677_3zayss3t8", + "x": 0.511076177725428, + "y": 0.45262242143202996, + "width": 0.07325425959245332, + "height": 0.2839340532660561 + } + ] + }, + "bbox_1766134699104": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766134699104_1767075923733_ddbjw4koe", + "x": 0.6047734865064729, + "y": 0.43445064202300243, + "width": 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"type": "point" + } + }, + "correction_plan": "爪夹抓取茄子后竖直上升，向爪夹的左侧移动，直至到达盘子的上方，下降将茄子放入盘子中，然后松开爪夹，茄子掉入盘子里。", + "error_success_analysis": "爪夹张开，爪夹向爪夹的左侧移动，接近茄子，方便抓取茄子。", + "frame": 257, + "progress": 20, + "progress_explanation": "爪夹向爪夹的左侧移动接近茄子，因此任务进度提升为20%。", + "state_description": "爪夹当前的状态为张开，接近茄子，为完成茄子落入盘子的任务，应当：爪夹下降至茄子两侧，然后爪夹合拢并抓取茄子。", + "time": 8.566667 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766134692761", + "name": "茄子" + }, + { + "color": "#FF9800", + "id": "bbox_1766134699104", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766134705433", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766134714296", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..7574ad7c0b338fcf7116cc02fae8ba8206355447 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,565 @@ +{ + "task_description": "将红色立方体放在蓝色立方体上，然后黄色立方体放在红色立方体上。\n爪夹开始移动：0\n爪夹接近红色立方体：20%\n爪夹夹起红色立方体：30%\n爪夹夹紧红色立方体接近蓝色立方体：40%\n爪夹松开，红色立方体放在蓝色立方体上：50%\n爪夹接近黄色立方体：60%\n爪夹夹起黄色立方体：70%\n爪夹夹紧黄色立方体接近红色立方体：80%\n爪夹松开，黄色立方体放在红色立方体上：100%\n\n", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备移动。", + "annotations": { + "bbox_1766371737709": { + "instances": [ + { + "height": 0.08177300734062415, + "id": "bbox_1766371737709_1766371807811_okzv44vwq", + "width": 0.05621838526862701, + "x": 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"爪夹先竖直上升，爪夹调整角度，与桌面垂直，然后爪夹竖直下降，爪夹向爪夹的左前方移动，接近红色立方体，然后爪夹合拢抓取红色立方体，爪夹抓取红色立方体竖直上升，向爪夹的右后方移动，爪夹松开，把红色立方体放在蓝色立方体上，爪夹竖直上升，随后爪夹下降向爪夹的左前方移动接近黄色立方体，爪夹抓取黄色立方体，爪夹竖直上升，爪夹抓取黄色立方体向爪夹的右后方移动，最后爪夹松开，黄色立方体放在红色立方体上。", + "error_success_analysis": "爪夹还没有移动，没有接近红色立方体。", + "frame": 63, + "progress": 0, + "progress_explanation": "爪夹还没有移动，没有接近红色立方体，因此任务进度为0.", + "state_description": "爪夹保持张开状态，没有移动，还没有接近红色立方体，爪夹与桌面平行，为完成将红色立方体放在蓝色立方体上，然后黄色立方体放在红色立方体上的任务。应当：爪夹竖直上升，爪夹调整角度，与桌面垂直，爪夹向爪夹的左前方移动，接近红色立方体，然后准备抓取红色立方体。", + "time": 2.0996397087677474 + }, + { + "action_description": "爪夹竖直上升，爪夹调整角度，与桌面垂直，爪夹向爪夹的右前方移动。", + "correction_plan": "爪夹向爪夹的左侧移动，随后下降，接近红色立方体。爪夹合拢抓取红色立方体，爪夹抓取红色立方体竖直上升，向爪夹的右后方移动，爪夹松开，把红色立方体放在蓝色立方体上，爪夹竖直上升，随后爪夹下降向爪夹的左前方移动接近黄色立方体，爪夹抓取黄色立方体，爪夹竖直上升，爪夹抓取黄色立方体向爪夹的右后方移动，最后爪夹松开，黄色立方体放在红色立方体上。", + "error_success_analysis": "爪夹调整角度，与桌面垂直，爪夹向爪夹的右前方移动，方便抓取。", + "frame": 121, + "progress": 10, + "progress_explanation": "当前爪夹开始接近红色立方体，因此任务进度提升为10%。", + "state_description": "当前爪夹为张开状态，开始接近红色立方体，为完成将红色立方体放在蓝色立方体上，然后黄色立方体放在红色立方体上的任务，应当：爪夹向爪夹的左侧移动，随后下降，接近红色立方体。", + "time": 4.024310257586569 + }, + { + "action_description": "爪夹竖直上升，爪夹调整角度与桌面垂直，爪夹竖直下降，爪夹向爪夹的左前方开始移动，移动至红色立方体的上方。", + "annotations": { + "bbox_1766371737709": { + "instances": [ + { + "height": 0.0795015349144957, + "id": "bbox_1766371737709_1766371885368_y8uskyzz6", + "width": 0.0528112104038617, + "x": 0.4531542050244184, + "y": 0.4458080041536447 + } + ], + "type": "bbox" + }, + "bbox_1766371746315": { + "instances": [ + { + "height": 0.06814417278385357, + "id": "bbox_1766371746315_1766371889961_wnq4czsco", + "width": 0.0528112104038617, + "x": 0.580923262453116, + "y": 0.6161684361132783 + } + ], + "type": "bbox" + }, + "bbox_1766371752927": { + "instances": [ + { + "height": 0.07495859006223889, + "id": "bbox_1766371752927_1766371894218_q3dimzkgv", + "width": 0.05621838526862692, + "x": 0.562183800696907, + "y": 0.6661408294881042 + } + ], + "type": "bbox" + }, + "point_1766371760587": { + 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"爪夹当前为合拢的状态，为完成将红色立方体放在蓝色立方体上，然后黄色立方体放在红色立方体上的任务。应当：爪夹夹取红色立方体开始竖直上升，然后向爪夹的右后方移动，接近蓝色立方体。", + "time": 6.833333333333333 + }, + { + "action_description": "爪夹夹取红色立方体竖直上升，然后爪夹向爪夹的右后方向移动，接进蓝色立方体。", + "annotations": { + "bbox_1766371737709": { + "instances": [ + { + "height": 0.06814417278385344, + "id": "bbox_1766371737709_1766371943343_5drz7f2vx", + "width": 0.054514797836244265, + "x": 0.4531542050244184, + "y": 0.4617083111365438 + } + ], + "type": "bbox" + }, + "bbox_1766371746315": { + "instances": [ + { + "height": 0.07041564520998188, + "id": "bbox_1766371746315_1766371937625_6jyki2c7u", + "width": 0.05110762297147904, + "x": 0.4531542050244184, + "y": 0.3958356107788188 + } + ], + "type": "bbox" + }, + "bbox_1766371752927": { + "instances": [ + { + "height": 0.07495859006223889, + "id": "bbox_1766371752927_1766371932809_r2qb1k3ye", + "width": 0.0528112104038617, + "x": 0.5638873881292896, + "y": 0.6668979754101741 + } + ], + "type": "bbox" + }, + "point_1766371760587": { + 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"将黄色立方体放在红色立方体上，然后蓝色立方体放在黄色立方体上。\n爪夹开始移动：0\n爪夹接近黄色立方体：20%\n爪夹夹起黄色立方体：30%\n爪夹夹紧黄色立方体接近红色立方体：40%\n爪夹松开，黄色立方体放在红色立方体上：50%\n爪夹接近蓝色立方体：60%\n爪夹夹起蓝色立方体：70%\n爪夹夹紧蓝色立方体接近黄色立方体：80%\n爪夹松开，蓝色立方体放在黄色立方体上：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备移动。", + "annotations": { + "bbox_1766381964773": { + "instances": [ + { + "height": 0.07950153491449577, + "id": "bbox_1766381964773_1766382288145_yd2ya7sa8", + "width": 0.05962556013339224, + "x": 0.5025582405635147, + "y": 0.7713857070120828 + } + ], + "type": "bbox" + }, + "bbox_1766381974283": { + "instances": [ + { + "height": 0.07723006248836727, + "id": "bbox_1766381974283_1766382298653_ply915ore", + "width": 0.0528112104038617, + "x": 0.5536658635349938, + "y": 0.47079420084105755 + } + ], + "type": "bbox" + }, + "bbox_1766381982358": { + "instances": [ + { + "height": 0.0817730073406242, + "id": "bbox_1766381982358_1766382303620_ivoo9o2mb", + "width": 0.05962556013339215, + "x": 0.7410604810970838, + "y": 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"name": "红色立方体" + }, + { + "color": "#FF9800", + "id": "bbox_1766381974283", + "name": "蓝色立方体" + }, + { + "color": "#2196F3", + "id": "bbox_1766381982358", + "name": "黄色立方体" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766381990125", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766382000549", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-012401-good-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-012401-good-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c12c235f1988a5fc3b5bcdeab36d90a27802e406 --- /dev/null +++ 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0000000000000000000000000000000000000000..06497dc47ea75866e1aa498a7350c0ce9ac78cb9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-024748-bad-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,438 @@ +{ + "task_description": "将药瓶放在箱子里\n爪夹开始移动：0\n爪夹接近药瓶：20%\n爪夹夹取药瓶：40%\n爪夹抓紧药瓶，移动靠近箱子：60%\n爪夹夹取药瓶放入箱子里：80%\n爪夹松开，药瓶落入箱子里：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备移动。", + "annotations": { + "bbox_1766392663654": { + "instances": [ + { + "height": 0.1044877316019086, + "id": "bbox_1766392663654_1766730995676_lj98wkrvq", + "width": 0.06132914756577486, + "x": 0.25213088800326744, + "y": 0.411735917761718 + } + ], + "type": "bbox" + }, + "bbox_1766392669532": { + "instances": [ + { + "height": 0.47473773706084593, + "id": "bbox_1766392669532_1766730980949_kjm0ab2sm", + "width": 0.43441479525757193, + "x": 0.49574389083398424, + "y": 0.48896598025008514 + } 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tray/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,392 @@ +{ + "task_description": "把药瓶放进白色托盘里\n爪夹开始移动：0\n爪夹接近药瓶：20%\n爪夹夹起药瓶：40%\n爪夹夹紧药瓶接近白色托盘：60%\n爪夹夹起药瓶放入白色托盘里：80%\n爪夹松开，药瓶落入白色托盘里：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766458794689": { + "instances": [ + { + "height": 0.09994478674965172, + "id": "bbox_1766458794689_1766458956706_stkdo3m46", + "width": 0.06473632243054013, + "x": 0.5008546531311321, + "y": 0.45262242143202996 + } + ], + "type": "bbox" + }, + "bbox_1766458800998": { + "instances": [ + { + "height": 0.5883113583672682, + "id": "bbox_1766458800998_1766458964754_3e0ahyhnv", + "width": 0.7069887844387935, + "x": 0.0017035354430200746, + "y": 0.35949205196076356 + } + ], + "type": "bbox" + }, + "point_1766458809075": { + "instances": [ + { + "id": "point_1766458809075_1766458950884_2p6x8k972", + "x": 0.37989994543196504, + "y": 0.37539235894366274 + } + ], + "type": "point" + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-041142-good-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-041142-good-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..5e94a323ce5f6bfc9be74789cb01876e7204f8f9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-041142-good-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,468 @@ +{ + "task_description": "把药瓶放进电饭锅内胆里\n爪夹开始移动：0\n爪夹接近药瓶：20%\n爪夹夹起药瓶：40%\n爪夹夹紧药瓶接近电饭锅内胆：60%\n爪夹夹起药瓶放入电饭锅内胆里：80%\n爪夹松开，药瓶落入电饭锅内胆里：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备移动。", + "annotations": { + "bbox_1766542495723": { + "instances": [ + { + 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"把药瓶放进塑料盆里\n爪夹开始移动：0\n爪夹接近药瓶：20%\n爪夹夹起药瓶：40%\n爪夹夹紧药瓶接近塑料盆：60%\n爪夹夹起药瓶放入塑料盆：80%\n爪夹松开，药瓶落入塑料盆：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开，准备开始移动。", + "annotations": { + "bbox_1766545516524": { + "instances": [ + { + "height": 0.08858742461900958, + "id": "bbox_1766545516524_1766545547771_s2z0sz8ta", + "width": 0.054514797836244314, + "x": 0.23679860111182371, + "y": 0.46852272841492915 + } + ], + "type": "bbox" + }, + "bbox_1766545521866": { + "instances": [ + { + "height": 0.42022239883376306, + "id": "bbox_1766545521866_1766545559012_j4tsy0hbr", + "width": 0.3407174864765271, + "x": 0.5724053252912028, + "y": 0.5230380666420119 + } + ], + "type": "bbox" + }, + "point_1766545527796": { + "instances": [ + { + "id": "point_1766545527796_1766545569581_55mfm432p", + "x": 0.41908245637676567, + "y": 0.37539235894366274 + } + ], + "type": "point" + }, + "point_1766545533278": { + "instances": [ + { + "id": "point_1766545533278_1766545572458_s2jgtihyn", + "x": 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container/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-052809-bad-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..65cb2e97c6437401f9f58382e9088e29309a7b40 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-052809-bad-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,674 @@ +{ + "task_description": "抓取药瓶使其落入塑料盆中：\n开始移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹抓住药瓶接近塑料盆：60%\n爪夹将药瓶放入塑料盆：80%\n爪夹松开，药瓶落入塑料盆中：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹未移动。", + "annotations": { + "bbox_1766654002242": { + "instances": [ + { + "height": 0.07599999381510454, + "id": "bbox_1766654002242_1766654367344_s4jhbbwza", + "width": 0.041999997436523585, + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-142022-good-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-142022-good-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..63b41461bf9a4ef042247a703b9f16526c22ca13 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-142022-good-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,474 @@ +{ + "task_description": "把塑料瓶放进箱子里\n爪夹开始移动：0\n爪夹接近塑料瓶：20%\n爪夹夹起塑料瓶：40%\n爪夹夹紧塑料瓶接近箱子：60%\n爪夹夹起塑料瓶放入箱子里：80%\n爪夹松开，塑料瓶落入箱子：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开，准备移动。", + "annotations": { + "bbox_1766548081326": { + "instances": [ + { + "height": 0.12947392828932155, 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diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-143602-bad-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-143602-bad-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f91b5810226803800f5efa1c9ff42252fc14c71e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-143602-bad-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,392 @@ +{ + "task_description": "把塑料瓶放进箱子里\n爪夹开始移动：0\n爪夹接近塑料瓶：20%\n爪夹夹起塑料瓶：40%\n爪夹夹紧塑料瓶接近箱子：60%\n爪夹夹起塑料瓶放入箱子：80%\n爪夹松开，塑料瓶落入箱子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1766630992923": { + "instances": [ + { + "height": 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"爪夹向爪夹的正前方移动并成功接近塑料瓶。", + "frame": 151, + "progress": 20, + "progress_explanation": "爪夹向爪夹的正前方移动接近塑料瓶，因此任务进度提升为20%。", + "state_description": "当前爪夹为张开状态，在塑料瓶的上方，为完成把塑料瓶放进箱子里的任务，应当：爪夹下降至塑料瓶的两侧，爪夹合拢抓取塑料瓶。", + "time": 5.046705814781095 + }, + { + "time": 6.454933, + "frame": 194, + "progress": 35, + "action_description": "爪夹继续下降至塑料瓶两侧，爪夹开始合拢。", + "state_description": "当前爪夹开始合拢，为完成把塑料瓶放进白色托盘里的任务，应当：爪夹彻底合拢，抓取塑料瓶向上抬升。", + "progress_explanation": "爪夹在塑料瓶的两侧，爪夹开始合拢，因此任务进度提升为35%。", + "error_success_analysis": "爪夹在塑料瓶的两侧，爪夹开始合拢，确保抓取成功。", + "correction_plan": "爪夹彻底合拢，抓取塑料瓶向上抬升。爪夹夹紧塑料瓶向爪夹的左后方移动，接近白色托盘；爪夹继续向爪夹的左后方移动至白色托盘上边，爪夹松开，塑料瓶落进白色托盘里。", + "annotations": { + "point_1766558666862": { + "type": "point", + "instances": [ + { + "id": "point_1766558666862_1767084123886_6xbm42h4b", + "x": 0.5349264017787848, + "y": 0.8501300960045086 + } + ] + }, + "bbox_1766558652670": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766558652670_1767084129790_bn2u97p43", + "x": 0.49744747826636687, + "y": 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"bbox_1766558652670", + "name": "塑料瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1766558659406", + "name": "白色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766558666862", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766558672869", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b7d5297f062e6f0affe0835a3fec484093ebbef6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,316 @@ +{ + "task_description": "把饮料瓶夹起来放进白色托盘里\n爪夹准备开始移动：0%\n爪夹靠近饮料瓶：20%\n爪夹夹起饮料瓶：40%\n爪夹移动饮料瓶：60%\n爪夹将饮料瓶移动到白色托盘上方：80%\n爪夹松开，饮料瓶落入白色托盘上：100%\n", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766565335910": { + "instances": [ + { + "height": 0.6577064574742837, + "id": "bbox_1766565335910_1766565387228_pruu9qhfz", + "width": 0.44170968776491526, + "x": 0.5560609267294365, + "y": 0.3012208937732032 + } + ], + "type": "bbox" + }, + "bbox_1766565341397": { + "instances": [ + { + "height": 0.18086927580542803, + "id": "bbox_1766565341397_1766565408702_fmy6eq7ym", + "width": 0.2309446590852095, + "x": 0.33969044515931307, + "y": 0.4940484688054364 + } + ], + "type": "bbox" + }, + "point_1766565346797": { + "instances": [ + { + "id": 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"当前状态为爪夹张开。\n为完成夹起饮料瓶使其放入白色托盘的任务应当:调整爪夹角度使其与桌面有大约60°夹角，然后向爪夹方向的前方移动至饮料瓶边缘，准备抓取饮料瓶。", + "time": 3.598962 + }, + { + "action_description": "爪夹张开，正在下降靠近至饮料瓶的边缘", + "annotations": { + "bbox_1766565335910": { + "instances": [ + { + "height": 0.6532220952642317, + "id": "bbox_1766565335910_1766565432060_4eaiv07qj", + "width": 0.4428307783429989, + "x": 0.5504554738390188, + "y": 0.2997261063698526 + } + ], + "type": "bbox" + }, + "bbox_1766565341397": { + "instances": [ + { + "height": 0.18535363801547997, + "id": "bbox_1766565341397_1766565438028_2uyg9ax67", + "width": 0.2410344742879614, + "x": 0.33184281111272823, + "y": 0.48956410659538446 + } + ], + "type": "bbox" + }, + "point_1766565346797": { + "instances": [ + { + "id": "point_1766565346797_1766565440637_mnwy6gmj1", + "x": 0.4405885971868318, + "y": 0.5598191145528647 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续下降，抓取饮料瓶后竖直上升，向爪夹左前方移动至白色托盘上方，下降放入饮料后松开爪夹。", + "error_success_analysis": "爪夹成功到达饮料瓶边缘正上方，准备下降抓取。", + "frame": 143, + "progress": 20, + "progress_explanation": "爪夹角度调整完毕，正在下降接近饮料瓶，进度20%。", + "state_description": "当前爪夹张开，与桌面夹角60°\n为完成夹起饮料瓶使其放入空纸盒的任务应当:\n下降并调整爪夹角度，准各抓取饮料瓶。", + "time": 4.761140926647178 + }, + { + "action_description": "爪夹合拢夹住红色方块并准备上升", + "annotations": { + "bbox_1766565335910": { + "instances": [ + { + "height": 0.6517273078608812, + "id": "bbox_1766565335910_1766565560597_bmsifgikx", + "width": 0.4428307783429989, + "x": 0.5549398361513529, + "y": 0.30257979011666714 + } + ], + "type": "bbox" + }, + "bbox_1766565341397": { + "instances": [ + { + "height": 0.19731193724228516, + "id": "bbox_1766565341397_1766565515525_o2shfqdpx", + "width": 0.2219759344605412, + "x": 0.3441748074716472, + "y": 0.4759751289053419 + } + ], + "type": "bbox" + }, + "point_1766565346797": { + "instances": [ + { + "id": "point_1766565346797_1766565576117_okuuadpl3", + "x": 0.46525258990466967, + "y": 0.673287066147627 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取饮料瓶后继续竖直上升，向爪夹左方移动至白色托盘上方，下降放入饮料瓶后松开爪夹", + "error_success_analysis": "爪夹旋转至合适角度，向前小幅移动后合拢，成功夹住饮料瓶", + "frame": 209, + "progress": 40, + "progress_explanation": "爪夹成功夹住饮料瓶，因此进度为40%", + "state_description": "当前爪夹合拢夹住饮料瓶。\n为完成夹起饮料瓶使其放入白色托盘的任务应当:\n夹住饮料瓶后上升，然后向爪夹方向的右前方移动至白色托盘上方，然后下降至白色托盘上，随后松开爪夹，饮料瓶块落入白色托盘中间。", + "time": 6.979366326439393 + }, + { + "action_description": "爪夹夹住饮料瓶，向爪夹方向的左方移动", + "annotations": { + "bbox_1766565335910": { + "instances": [ + { + "height": 0.6532220952642317, + "id": "bbox_1766565335910_1766565667045_zgw0nyry0", + "width": 0.4551627747019178, + "x": 0.540365658636267, + "y": 0.30135679053525144 + } + ], + "type": "bbox" + }, + "bbox_1766565341397": { + "instances": [ + { + "height": 0.2212285356958955, + "id": "bbox_1766565341397_1766565677293_2x5pyvct8", + "width": 0.2623351952715487, + "x": 0.352022441518232, + "y": 0.47149076669528994 + } + ], + "type": "bbox" + }, + "point_1766565346797": { + "instances": [ + { + "id": 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"width": 0.06726543468501252, + "x": 0.9316262703874229, + "y": 0.319566027197394 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整夹爪角度，向爪夹前方移动至饮料瓶边缘后下降，抓取饮料瓶后竖直上升，向爪夹右前方移动至白色托盘上方，下降放入饮料瓶后松开爪夹。", + "error_success_analysis": "爪夹没有到达正确位置，向左旋转角度过大，", + "frame": 353, + "progress": 0, + "progress_explanation": "爪夹没有到达正确位置，向左旋转角度过大，进度0%", + "state_description": "当前爪夹继续向左移动，松开爪夹。\n为完成夹起饮料瓶使其放入白色托盘的任务应当:\n松开爪夹，饮料瓶落入白色托盘中间。", + "time": 11.764594704607504 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766565335910", + "name": "白色托盘" + }, + { + "color": "#FF9800", + "id": "bbox_1766565341397", + "name": "饮料瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766565346797", + "name": "爪夹在" + }, + { + "color": "#F44336", + "id": "point_1766565352911", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..c774a50ad735f76ddee05dee37b8a2c5d89c3fea --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,438 @@ +{ + "task_description": "把塑料瓶放进塑料盆里\n爪夹开始移动：0\n爪夹接近塑料瓶：20%\n爪夹夹起塑料瓶：40%\n爪夹夹紧塑料瓶接近塑料盆：60%\n爪夹夹起塑料瓶放入塑料盆：80%\n爪夹松开，塑料瓶落入塑料盆：100%", + "progress_points": [ + { + "action_description": "爪夹保持初始状态，准备移动。", + "annotations": { + "bbox_1766562237802": { + "instances": [ + { + "height": 0.268033746283157, + "id": "bbox_1766562237802_1766562460254_5wmjeva9c", + "width": 0.15673004377920244, + "x": 0.7206174319084921, + "y": 0.3549491071085067 + } + ], + "type": "bbox" + }, + "bbox_1766562244058": { + "instances": [ + { + "height": 0.35662117090216655, + "id": "bbox_1766562244058_1766562474517_e9vjpds2i", + "width": 0.3867143471508581, + "x": 0.19931967759940575, + "y": 0.6161684361132783 + } + ], + "type": "bbox" + }, + "point_1766562253683": { + "instances": [ + { + "id": "point_1766562253683_1766562451239_iupcnwhdd", + "x": 0.4429326804301225, + "y": 0.3526776346823783 + } + ], + "type": "point" + }, + "point_1766562260331": { + "instances": [ + { + "id": "point_1766562260331_1766562448263_mvnfkgtbf", + "x": 0.5417407515083154, + "y": 0.361763524386892 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹竖直上升，随后调整角度垂直于桌面，爪夹向爪夹的左前方移动，接近瓶子；爪夹下降至塑料瓶两侧，爪夹合拢，抓取塑料瓶，爪夹夹紧塑料瓶向爪夹的右侧移动，接近塑料盆；然后爪夹下降把塑料瓶放进塑料盆里，爪夹松开，塑料瓶落入塑料盆里。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "当前爪夹没有任何动作，因此任务进度为0.", + "state_description": "爪夹与桌面平行，没有移动，没有接近塑料瓶，为完成把塑料瓶放进塑料盆里的任务，应当：爪夹竖直上升，随后调整角度垂直于桌面，爪夹向爪夹的左前方移动，接近瓶子。", + "time": 0.7940110150544487 + }, + { + "action_description": "爪夹竖直上升，随后调整角度垂直于桌面，爪夹向爪夹的左前方移动，接近瓶子，方便抓取瓶子。", + "annotations": { + "bbox_1766562237802": { + "instances": [ + { + "height": 0.268033746283157, + "id": "bbox_1766562237802_1766562431616_6pkzpotms", + "width": 0.1618408060763504, + "x": 0.7189138444761094, + "y": 0.35722057953463515 + } + ], + "type": "bbox" + }, + "bbox_1766562244058": { + "instances": [ + { + "height": 0.37025000545893716, + "id": "bbox_1766562244058_1766562420935_2ibx4vbeq", + "width": 0.38160358485371026, + "x": 0.20613402732893626, + "y": 0.6229828533916637 + } + ], + "type": "bbox" + }, + "point_1766562253683": { + "instances": [ + { + "id": "point_1766562253683_1766562441351_hm4ss6z8m", + "x": 0.7257281942056399, + "y": 0.47533714569331453 + } + ], + "type": "point" + }, 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of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..db0c0aefbd2cc72ea5d0a74486e4eff6a039be65 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-154912-bad-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,448 @@ +{ + "task_description": "把塑料瓶放进塑料盆里\n爪夹开始移动：0\n爪夹接近塑料瓶：20%\n爪夹夹起塑料瓶：40%\n爪夹夹紧塑料瓶接近塑料盆：60%\n爪夹夹起塑料瓶放入塑料盆：80%\n爪夹松开，塑料瓶落入塑料盆：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开，准备移动。", + "annotations": { + "bbox_1766569663728": { + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-163127-bad--bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-163127-bad--bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..a764a2257664daee1434a7148eba633203dc7692 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-163127-bad--bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,448 @@ +{ + "task_description": "把塑料瓶放进电饭锅内胆里\n爪夹开始移动：0\n爪夹接近塑料瓶：20%\n爪夹夹起塑料瓶：40%\n爪夹夹紧塑料瓶接近电饭锅内胆：60%\n爪夹夹起塑料瓶放入电饭锅内胆：80%\n爪夹松开，塑料瓶落入电饭锅内胆：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1766628368260": { + "instances": [ + { + "height": 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--- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-173429-good-red square - express box/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,446 @@ +{ + "task_description": "把红色方块夹起来放进空纸盒子里\n爪夹准备开始移动：0%\n爪夹靠近红色方块：20%\n爪夹夹起红色方块：40%\n爪夹移动红色方块：60%\n爪夹将红色方块移动到空纸盒子上方：80%\n爪夹松开，红色方块落入空纸盒子内：100%\n", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。\n", + "annotations": { + "bbox_1766456623856": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766456623856_1766457104164_7i0ujhzfo", + "x": 0.4424648152027519, + "y": 0.5578124573668397, + "width": 0.04718364132874688, + "height": 0.07438545929982693 + } + ] + }, + "bbox_1766456633531": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766456633531_1766457162068_6soffinpl", + "x": 0.20515957578928806, + "y": 0.7610718412124127, + "width": 0.38004970597032056, + "height": 0.2047858742590384 + } + ] + }, + "point_1766456645923": { + "type": 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box/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..52090e914f0510f77516169774d20a1a84f5bb5b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-175225-bad--red square - express box/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,729 @@ +{ + "task_description": "抓取红色方块放入空纸盒里：\n开始准备移动：0%\n爪夹靠近红色方块：20%\n爪夹抓取红色方块：40%\n爪夹抓紧红色方块接近空纸盒：60%\n爪夹将红色方块放入空纸盒：80%\n爪夹松开红色方块落入空纸盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1766544546174": { + "instances": [ + { + "height": 0.07333333333333325, + "id": "bbox_1766544546174_1766549401223_d8tdwdhny", + "width": 0.04699999999999997, + "x": 0.508375, + "y": 0.5111979166666667 + } + ], + "type": "bbox" + }, + "bbox_1766544577823": { + "instances": [ + { + "height": 0.44266666666666665, + "id": 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+ "x": 0.302375, + "y": 0.6578645833333334 + } + ], + "type": "bbox" + }, + "point_1766544601723": { + "instances": [ + { + "id": "point_1766544601723_1766552767016_2r49zup0p", + "x": 0.240375, + "y": 0.6178645833333333 + } + ], + "type": "point" + }, + "point_1766544611997": { + "instances": [ + { + "id": "point_1766544611997_1766552764200_z1xud59d4", + "x": 0.32937500000000003, + "y": 0.6111979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "调整夹爪角度，向爪夹右方移动至红色方块边缘后下降，抓取红色方块后竖直上升，向爪夹右前方移动至空纸盒上方，下降放入红色方块后松开爪夹", + "error_success_analysis": "识别错误，爪夹将错误物品落入空纸盒。", + "frame": 558, + "progress": -50, + "progress_explanation": "爪夹松开，白色药瓶落入空纸盒，进度-50%，任务未完成", + "state_description": "当前爪夹松开，白色方块落入空纸盒。\n为完成夹起红色方块使其放入空纸盒的任务应当:向右后侧移动至红色方块上方，向下移动，合拢爪夹，夹住红色方块。", + "time": 18.585051546391753 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766544546174", + "name": "红色方块" + }, + { + "color": "#FF9800", + "id": "bbox_1766544577823", + "name": "空纸盒" + }, + { + "color": "#2196F3", + "id": "bbox_1766544584173", + "name": "白色药瓶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766544601723", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766544611997", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..7b6f71892771dfb43e6967773cea57c95dc6fbc8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,448 @@ +{ + "task_description": "抓取红色方块使其落入白色托盘中：\n开始移动：0%\n爪夹靠近红色方块：20%\n爪夹抓取红色方块：40%\n爪夹抓住红色方块接近白色托盘：60%\n爪夹将红色方块放入白色托盘：80%\n爪夹松开，红色方块落入白色托盘中：100%", + "progress_points": [ + { + "action_description": "当前爪准备移动，爪夹角度与桌面平行。", + "annotations": { + "bbox_1766038729008": { + "instances": [ + { + "height": 0.06666666666666661, + "id": "bbox_1766038729008_1766039040680_kuur7mw4o", + "width": 0.041999999999999905, + "x": 0.5455, + "y": 0.3866666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766038729545": { + "instances": [ + { + "height": 0.7133333333333333, + "id": "bbox_1766038729545_1766039055440_ldlfd7gut", + "width": 0.519, + "x": 0.4505, + "y": 0.2546666666666667 + } + ], + "type": "bbox" + }, + "point_1766038730585": { + "instances": [ + { + "id": "point_1766038730585_1766039072024_an8f1frf8", + "x": 0.4495, + "y": 0.364 + } + ], + "type": "point" + }, + "point_1766038730753": { + "instances": [ + { + "id": "point_1766038730753_1766039074976_60poyz1rb", + "x": 0.5435000000000001, + "y": 0.36133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直与桌面。然后向爪夹方向的右方移动，到达红色方块正上方后下降，抓取红色方块后竖直上升，向爪夹方向的右边移动，直至红色方块处于盘子正上方。垂直下降将红色方块放入白色托盘中，松开爪夹。", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹角度与桌面平行，此时爪夹与红色方块的水平距离略微接近。因此进度为0%", + "state_description": "当前爪夹张开，爪夹角度与桌面平行，与红色方块的水平距离略微接近。\n为完成抓取红色方块使其落入白色托盘中的任务应当：继续向爪夹方向右前方移动直至红色方块正上方。", + "time": 1.9943561097429663 + }, + { + "action_description": "当前爪夹向左移动直至红色方块正上方，并且调整爪夹角度使爪夹水平角度与桌面垂直。", + "annotations": { + "bbox_1766038729008": { + "instances": [ + { + "height": 0.0653333333333333, + "id": "bbox_1766038729008_1766039000216_xklzyz85i", + "width": 0.04500000000000002, + "x": 0.5435000000000001, + "y": 0.3893333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766038729545": { + "instances": [ + { + "height": 0.7133333333333332, + "id": "bbox_1766038729545_1766039018313_6mske9ajv", + "width": 0.5150000000000001, + "x": 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"progress_explanation": "当前爪夹张开爪夹向爪夹方向左边移动并下降至红色方块正上方。因此当前进度提升至15%。", + "state_description": "当前爪夹张开，爪夹处于红色方块正上方。为完成抓取红色方块使其落入白色托盘中的任务应当：爪夹垂直下降靠近红色方块。", + "time": 5.954733 + }, + { + "action_description": "当前爪夹调整水平角度与桌面垂直，并且垂直下降靠近红色方块。", + "annotations": { + "bbox_1766038729008": { + "instances": [ + { + "height": 0.06533333333333337, + "id": "bbox_1766038729008_1766038970992_yw99rq79q", + "width": 0.04900000000000002, + "x": 0.5455, + "y": 0.39599999999999996 + } + ], + "type": "bbox" + }, + "bbox_1766038729545": { + "instances": [ + { + "height": 0.7146666666666666, + "id": "bbox_1766038729545_1766038949801_9rz2twdb7", + "width": 0.518, + "x": 0.45249999999999996, + "y": 0.25333333333333335 + } + ], + "type": "bbox" + }, + "point_1766038730585": { + "instances": [ + { + "id": "point_1766038730585_1766038961600_34cziq5fz", + "x": 0.5395000000000001, + "y": 0.45066666666666666 + } + ], + "type": "point" + }, + "point_1766038730753": { + "instances": [ + { + "id": "point_1766038730753_1766038965569_qst4o9s13", + "x": 0.6005, + "y": 0.4093333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "垂直下降靠近红色方块后，抓取红色方块后竖直上升，向爪夹方向的右边移动，直至红色方块处于盘子正上方，爪夹垂直下降将红色方块放入白色托盘中，松开爪夹。", + "error_success_analysis": "当前爪夹成功调整水平角度与桌面垂直，并且顺利垂直下降靠近红色方块。", + "frame": 208, + "progress": 20, + "progress_explanation": "当前爪夹调整水平角度与桌面垂直，并且垂直下降靠近红色方块。因此进度提升至20%", + "state_description": "当前爪夹张开水平角度与桌面垂直，并且靠近红色方块。为完成抓取红色方块使其落入白色托盘中的任务应当：使爪夹垂直下降靠近红色方块。", + "time": 6.927620266338276 + }, + { + "action_description": "当前爪夹垂直下降靠近红色方块，并且夹取红色方块。", + "annotations": { + "bbox_1766038729008": { + "instances": [ + { + "height": 0.064, + "id": "bbox_1766038729008_1766038896289_jlpaf826c", + "width": 0.04299999999999997, + "x": 0.5495, + "y": 0.39333333333333337 + } + ], + "type": "bbox" + }, + "bbox_1766038729545": { + "instances": [ + { + "height": 0.7133333333333334, + "id": "bbox_1766038729545_1766038922537_7pd4xgj9b", + "width": 0.518, + "x": 0.45249999999999996, + "y": 0.25466666666666665 + } + ], + "type": "bbox" + }, + "point_1766038730585": { + "instances": [ + { + "id": "point_1766038730585_1766038891185_bjyfjnn0j", + "x": 0.5555, + "y": 0.452 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取红色方块后竖直上升，向爪夹方向的右边移动，直至红色方块处于白色托盘正上方。垂直下降将红色方块放入盘中，松开爪夹。", + "error_success_analysis": "当前爪夹成功垂直下降靠近红色方块，并且顺利夹取红色方块。", + "frame": 237, + "progress": 40, + "progress_explanation": "当前爪夹垂直下降靠近红色方块，并且夹取红色方块。因此进度提升到40%", + "state_description": "当前爪夹靠近红色方块，并且夹取红色方块。\n为完成抓取红色方块使其落入白色托盘中的任务应当：爪夹夹取红色方块后竖直上升，爪夹向爪夹方向右方移动到盘子正上方。", + "time": 7.91181261678123 + }, + { + "action_description": "当前夹爪夹取红色方块并且竖直上升。", + "annotations": { + "bbox_1766038729008": { + "instances": [ + { + "height": 0.07200000000000001, + "id": "bbox_1766038729008_1766038877801_b4hevcqz6", + "width": 0.05600000000000005, + "x": 0.5675, + "y": 0.2866666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766038729545": { + "instances": [ + { + "height": 0.7133333333333333, + "id": 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0.29733333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右边移动，再次垂直下降靠近红色方块，然后夹取红色方块，接着竖直上升，并向爪夹方向右边移动直至白色托盘正上方，最后垂直下降至白色托盘中，松开爪夹，使红色方块落入白色托盘中。", + "error_success_analysis": "当前夹爪向夹爪方向左边移动没有垂直下降靠近红色方块。", + "frame": 438, + "progress": -15, + "progress_explanation": "当前夹爪放开并向夹爪方向左边移动。因此进度为-15%。", + "state_description": "当前夹爪放开并向夹爪方向左边移动。\n为了完成抓取红色方块使其落入白色托盘中的任务应当：夹爪向夹爪方向右边移动直至红色方块上方。", + "time": 14.589750154068708 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766042718756", + "name": "白色托盘" + }, + { + "color": "#FF9800", + "id": "bbox_1766042719148", + "name": "红色方块" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766042720020", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766042720164", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-212141-good-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-212141-good-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..67e0e7df28f8bcf077912cdf6286e76b77748380 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-212141-good-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,450 @@ +{ + "task_description": "抓取黄色方块使其落入纸盒中：\n开始移动：0%\n爪夹靠近黄色方块：20%\n爪夹抓取黄色方块：40%\n爪夹抓住黄色方块接近纸盒：60%\n爪夹将黄色方块放入纸盒：80%\n爪夹松开，黄色方块落入纸盒中：100%", + "progress_points": [ + { + "action_description": "当前爪夹与桌边水平角度呈60度，爪夹准备移动。", + "annotations": { + "bbox_1766043465027": { + "instances": [ + { + "height": 0.4653333333333335, + "id": "bbox_1766043465027_1766046126344_q1inyfzwp", + "width": 0.284, + "x": 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"id": "point_1766043466354", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-214322-bad-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-214322-bad-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..3fc16ef428b9898ff6673cb56723bc46c69efe26 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251125-214322-bad-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,426 @@ +{ + "task_description": "抓取黄色方块使其落入纸盒中：\n开始移动：0%\n爪夹靠近黄色方块：20%\n爪夹抓取黄色方块：40%\n爪夹抓住黄色方块接近纸盒：60%\n爪夹将黄色方块放入纸盒：80%\n爪夹松开，黄色方块落入纸盒中：100%", + "progress_points": [ + { + 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177, + "progress": 20, + "progress_explanation": "当前爪夹向爪夹方向右边偏移30度，并且爪夹与黄色方块水平距离接近。因此进度提升为20%。", + "state_description": "当前爪夹与桌面水平角度呈60度角，并且爪夹与黄色方块水平距离接近。\n为完成抓取黄色方块使其落入纸盒中的任务应当：爪夹继续向爪夹方向左边移动直至黄色方块正上方，并且调整爪夹角度使其垂直于桌面。", + "time": 5.893393547281384 + }, + { + "action_description": "当前爪夹靠近黄色方块并且夹取黄色方块。", + "annotations": { + "bbox_1766049542412": { + "instances": [ + { + "height": 0.44533333333333336, + "id": "bbox_1766049542412_1766049716548_fmt0zy2fq", + "width": 0.4039999999999999, + "x": 0.5935, + "y": 0.5253333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766049543052": { + "instances": [ + { + "height": 0.05866666666666666, + "id": "bbox_1766049543052_1766049700916_le0ejjpmk", + "width": 0.039999999999999945, + "x": 0.21450000000000005, + "y": 0.4013333333333334 + } + ], + "type": "bbox" + }, + "point_1766049543876": { + "instances": [ + { + "id": "point_1766049543876_1766049691156_6x0copqke", + "x": 0.24050000000000002, + "y": 0.428 + } + ], + "type": "point" + }, + 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cooker/annotations/chunk-000/observation.images.front/episode_000010.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-141809-bad-yellow square-rice cooker/annotations/chunk-000/observation.images.front/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..217627e8e0c1e9329abc72d0d6429a8ab2bc8476 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-141809-bad-yellow square-rice cooker/annotations/chunk-000/observation.images.front/episode_000010.json @@ -0,0 +1,566 @@ +{ + "task_description": "抓取黄色方块使其落入饭锅中：\n开始移动：0%\n爪夹靠近黄色方块：20%\n爪夹抓取黄色方块：40%\n爪夹抓住黄色方块接近饭锅：60%\n爪夹将黄色方块放入饭锅：80%\n爪夹松开，黄色方块落入饭锅中：100%", + "progress_points": [ + { + "action_description": "当前爪夹与桌面水平角度呈60度角，爪夹张开，爪夹静止不动，此时爪夹水平距离与黄色方块较远。", + "annotations": { + "bbox_1766213528577": { + "instances": [ + { + "height": 0.06933333333333333, + "id": "bbox_1766213528577_1766213963785_bn3nkybt3", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-145704-bad-coket-white-tary/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-145704-bad-coket-white-tary/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..3a1e8a654b8a97225297593518741ecc32937a71 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-145704-bad-coket-white-tary/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,560 @@ +{ + "task_description": "抓取插座使其落入白色托盘中：\n开始移动：0%\n爪夹靠近插座：20%\n爪夹抓取插座：40%\n爪夹抓住插座接近白色托盘：60%\n爪夹将插座放入白色托盘：80%\n爪夹松开，插座落入白色托盘中：100%", + "progress_points": [ + { + "action_description": "当前爪夹与桌面水平角度呈90度角，爪夹张开，爪夹静止不动。", + "annotations": { + "bbox_1766388187665": { + "instances": [ + { + "height": 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+ ], + "point_targets": [ + { + "id": "point_1766458155014", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766458155141", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..45ce63f7fbd5a335f1bbdcef98df432dafbbae4f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取黄色方块使其落入塑料盆中：\n开始移动：0%\n爪夹靠近黄色方块：20%\n爪夹抓取黄色方块：40%\n爪夹抓住黄色方块接近塑料盆：60%\n爪夹将黄色方块放入塑料盆：80%\n爪夹松开，黄色方块落入塑料盆中：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹与桌面水平角度呈60度角，爪夹静止不动。", + "correction_plan": "爪夹向爪夹方向右边移动至黄色方块正上方并调整爪夹与桌面水平角度，使其垂直于桌面，爪夹垂直下降靠近黄色方块，爪夹合拢抓取黄色方块后竖直上升，并且向爪夹方向右前方移动至塑料盆正上方，爪夹垂直下降至塑料盆中，爪夹松开，使黄色方块落入塑料盆中。", + "error_success_analysis": "", + "frame": 107, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹与桌面水平角度呈60度角，爪夹静止不动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹与桌面水平角度呈60度角，爪夹静止不动。为完成抓取黄色方块使其落入塑料盆中的任务应当：爪夹向爪夹方向右边移动并调整爪夹与桌面水平角度，使其垂直于桌面。", + "time": 3.5780712596224595 + }, + { + "time": 5.2864, + "frame": 159, + "progress": 10, + "action_description": "当前爪夹张开爪夹向爪夹方向左边移动至黄色方块正上方并调整爪夹于桌面水平角度，使其垂直于桌面。", + "state_description": "爪夹张开并垂直于桌面，此时爪夹处于黄色方块正上方。", + "progress_explanation": "爪夹张开并垂直于桌面，此时爪夹处于黄色方块正上方。因此当前进度提升至10%。", + "error_success_analysis": "爪夹成功调整爪夹于桌面的水平角度并顺利移动至黄色方块正上方。", + "correction_plan": "爪夹垂直下降靠近黄色方块，爪夹合拢抓取黄色方块后竖直上升，并且向爪夹方向右前方移动至塑料盆正上方，爪夹垂直下降至塑料盆中，爪夹松开，使黄色方块落入塑料盆中。" + }, + { + "time": 6.175287653930183, + "frame": 185, + "progress": 20, + "action_description": "当前爪夹张开并垂直于桌面，爪夹垂直下降靠近黄色方块。", + "state_description": "当前爪夹张开并垂直于桌面，爪夹靠近行色方块准备抓取黄色方块。为完成抓取黄色方块使其落入塑料盆中的任务应当：爪夹向爪夹方向右侧顺时针转动30度，并抓取黄色方块。", + "progress_explanation": "当前爪夹张开并垂直于桌面，爪夹靠近黄色方块准备抓取黄色方块。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功垂直下降并靠近黄色方块。", + "correction_plan": "爪夹向爪夹方向右侧顺时针转动30度，爪夹合拢抓取黄色方块后竖直上升，并且向爪夹方向右前方移动至塑料盆正上方，爪夹垂直下降至塑料盆中，爪夹松开，使黄色方块落入塑料盆中。" + }, + { + "time": 7.241266, + "frame": 217, + "progress": 40, + "action_description": "当前爪夹向爪夹方向右侧旋转30度，并且爪夹合拢抓取黄色方块。", + "state_description": "当前爪夹合拢垂直于桌面并且爪夹抓取黄色方块。为完成抓取黄色方块使其落入塑料盆中的任务应当：爪夹抓取黄色方块竖直上升。", + "progress_explanation": "当前爪夹向爪夹方向右侧旋转30度，并且爪夹合拢抓取黄色方块。因此当前进度提升至40%。", + "error_success_analysis": "爪夹顺利向爪夹右侧旋转30度并且成功抓取黄色方块。", + "correction_plan": "爪夹合拢抓取黄色方块后竖直上升，并且向爪夹方向右前方移动至塑料盆正上方，爪夹垂直下降至塑料盆中，爪夹松开，使黄色方块落入塑料盆中。" + }, + { + "time": 8.989633, + 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"state_description": "当前爪夹与桌面水平角度呈80度角，爪夹合拢抓取黄色方块。为完成抓取黄色方块使其落入塑料盆中的任务应当：爪夹夹取黄色方块垂直下降至塑料盆中。", + "progress_explanation": "当前爪夹合拢抓取黄色方块向爪夹方向右边移动至塑料盆正上方。因此当前进度提升至70%。", + "error_success_analysis": "当前爪夹成功夹取黄色方块来到塑料盆正上方，准备将其放入塑料盆中。", + "correction_plan": "爪夹垂直下降至塑料盆中，爪夹松开，使黄色方块落入塑料盆中。" + }, + { + "action_description": "关键帧 2/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 464, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 15.466666666666667 + }, + { + "action_description": "关键帧 3/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 678, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 22.6 + }, + { + "action_description": "关键帧 4/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 824, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 27.466666666666665 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-153423-mix-yellow square-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-153423-mix-yellow square-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..3d3df7d3decc6871f5ea79e898cbff070bd27f7d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-153423-mix-yellow square-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,862 @@ +{ + "task_description": "抓取黄色方块使其落入饭锅中：\n开始移动：0%\n爪夹靠近黄色方块：20%\n爪夹抓取黄色方块：40%\n爪夹抓住黄色方块接近饭锅：60%\n爪夹将黄色方块放入饭锅：80%\n爪夹松开，黄色方块落入饭锅中：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，准备移动。", + "correction_plan": "爪夹张开向爪夹方向前方移动至黄色方块正上方并调整爪夹与桌面水平角度，使爪夹垂直于桌面，爪夹垂直下降靠近黄色方块，爪夹合拢抓取黄色方块竖直上升，爪夹夹取黄色方块向爪夹左后方移动至饭锅正上方，爪夹夹取黄色方块垂直下降至饭锅中，爪夹松开，使黄色方块落入饭锅中。", + "error_success_analysis": "", + "frame": 66, + "progress": 0, + "progress_explanation": "当前爪夹张开，没有任何动作。因此当前进度为0%。", + "state_description": "当前爪夹与桌面水平角度呈60度角。为完成抓取黄色方块使其落入饭锅的任务应当：爪夹向爪夹前方移动至黄色方块，并调整爪夹与桌面水平角度，使其垂直于桌面。", + "time": 2.185413523388073, + "annotations": { + "point_1766544003437": { + "type": "point", + "instances": [ + { + "id": "point_1766544003437_1766544538393_n0511gob3", + "x": 0.5001110534600187, + "y": 0.3874629404733935 + } + ] + }, + "point_1766544003312": { + "type": "point", + "instances": [ + { + "id": "point_1766544003312_1766544540761_z3vakcacr", + "x": 0.3991110596245691, + "y": 0.3976851584728875 + } + ] + }, + "bbox_1766544002457": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766544002457_1766544546226_0hz85e5rp", + "x": 0.48311105449761627, + "y": 0.657685137314035, + "width": 0.046999997131347816, + "height": 0.07466666059027828 + } + ] + }, + "bbox_1766544002305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766544002305_1766544552017_us7k4le1p", + "x": 0.15011107482232208, + "y": 0.443018488116985, + "width": 0.2279999860839852, + "height": 0.2999999755859395 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开，爪夹向爪夹方向前方移动至黄色方块正上方，爪夹调整爪夹与桌面水平角度，使爪夹垂直于桌面。", + "correction_plan": "爪夹垂直下降靠近黄色方块，爪夹合拢抓取黄色方块竖直上升，爪夹夹取黄色方块向爪夹左后方移动至饭锅正上方，爪夹夹取黄色方块垂直下降至饭锅中，爪夹松开，使黄色方块落入饭锅中。", + "error_success_analysis": "当前爪夹成功调整爪夹与桌面水平角度，并顺利到达放色方块正上方。", + "frame": 145, + "progress": 10, + "progress_explanation": "当前爪夹张开，爪夹向爪夹方向前方移动至黄色方块正上方，爪夹调整爪夹与桌面水平角度，使爪夹垂直于桌面。因此当前进度提升至10%。", + "state_description": "爪夹张开，爪夹垂直于桌面，此时爪夹与黄色方块水平距离接近。为完成抓取黄色方块使其落入饭锅的任务应当：爪夹垂直下降靠近黄色方块。", + "time": 4.847887620806091, + "annotations": { + "point_1766544003312": { + "type": "point", + "instances": [ + { + "id": "point_1766544003312_1766544504801_ki0qr4idm", + "x": 0.491111054009335, + "y": 0.5914629187855698 + } + ] + }, + "point_1766544003437": { + "type": "point", + "instances": [ + { + "id": "point_1766544003437_1766544506945_2gxkv8hz9", + "x": 0.5881110480889252, + "y": 0.555462921715257 + } + ] + }, + "bbox_1766544002457": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766544002457_1766544511025_xz249obbn", + "x": 0.4841110544365811, + "y": 0.6581295800268897, + "width": 0.046999997131347906, + "height": 0.07199999414062538 + } + ] + }, + "bbox_1766544002305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766544002305_1766544520106_y3e84s2zw", + "x": 0.15011107482232208, + "y": 0.4434629308298396, + "width": 0.22699998614502034, + "height": 0.3026666420355923 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开垂直下降，下降途中爪夹向爪夹方向右边移动，导致爪夹左移动至黄色方块正上方。", + "correction_plan": "爪夹向爪夹方向左边移动至黄色方块正上方，爪夹垂直下降靠近黄色方块，爪夹合拢抓取黄色方块竖直上升，爪夹夹取黄色方块向爪夹左后方移动至饭锅正上方，爪夹夹取黄色方块垂直下降至饭锅中，爪夹松开，使黄色方块落入饭锅中。", + "error_success_analysis": "当前爪夹下降途中爪夹向爪夹方向右边移动，导致爪夹左移动至黄色方块正上方。使其无法顺利抓取黄色方块。", + "frame": 186, + "progress": -10, + "progress_explanation": "当前爪夹张开垂直于桌面，爪夹左位于黄色方块正上方。爪夹还需进一步调整，因此当前进度跌落至-10%。", + "state_description": "当前爪夹张开垂直于桌面，爪夹左位于黄色方块正上方。为完成抓取黄色方块使其落入饭锅的任务应当：爪夹向爪夹方向左边移动至黄色方块正上方。", + "time": 6.215104049209938, + "annotations": { + "point_1766544003312": { + "type": "point", + "instances": [ + { + "id": "point_1766544003312_1766544465417_sqgyuojym", + "x": 0.5121110527275968, + "y": 0.6487962474531048 + } + ] + }, + "bbox_1766544002457": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766544002457_1766544467993_nr6qlkbgy", + "x": 0.48311105449761627, + "y": 0.6594629132517159, + "width": 0.046999997131347816, + "height": 0.07333332736545195 + } + ] + }, + "point_1766544003437": { + "type": "point", + "instances": [ + { + "id": "point_1766544003437_1766544488329_lupkygg5c", + "x": 0.5821110484551362, + "y": 0.5994629181345281 + } + ] + }, + "bbox_1766544002305": { + "type": "bbox", + "instances": [ + { 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-162355-mix-yellow square-white tray/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-162355-mix-yellow square-white tray/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..abc507ea363d0b3f133edb88e6cfd1683bb9cc43 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-162355-mix-yellow square-white tray/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,1030 @@ +{ + "task_description": "抓取黄色方块使其落入白色托盘中：\n开始移动：0%\n爪夹靠近黄色方块：20%\n爪夹抓取黄色方块：40%\n爪夹抓住黄色方块接近白色托盘：60%\n爪夹将黄色方块放入白色托盘：80%\n爪夹松开，黄色方块落入白色托盘中：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向左边移动至黄色方块正上方并调整爪夹与桌面水平角度，使其垂直于桌面，爪夹垂直下降靠近黄色方块，爪夹合拢抓取黄色方块，爪夹抓取黄色方块竖直上升，接着爪夹向爪夹方向右边移动至白色托盘正上方，爪夹垂直下降至白色托盘中，爪夹松开，使黄色方块落入白色托盘中。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹静止不动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹静止不动。为完成抓取黄色方块使其落入白色托盘中的任务应当：爪夹向爪夹方向左边移动至黄色方块正上方并调整爪夹与桌面水平角度，使其垂直于桌面。", + "time": 1.4311979333696232, + "annotations": { + "point_1766554951244": { + "type": "point", + "instances": [ + { + "id": "point_1766554951244_1766555501716_sgotrfivo", + "x": 0.3921110600518151, + "y": 0.39946293441056846 + } + ] + }, + "point_1766554951388": { + "type": "point", + "instances": [ + { + "id": "point_1766554951388_1766555503557_pfwjajuet", + "x": 0.4931110538872647, + "y": 0.3754629363636933 + } + ] + }, + "bbox_1766554950452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766554950452_1766555511684_7qlna6kun", + "x": 0.19411107213677536, + "y": 0.3754629363636933, + "width": 0.043999997314453275, + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-165551-mix-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-165551-mix-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..e040ed687388f9d34a31f5ba7a9dba339e192d21 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-165551-mix-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,1091 @@ +{ + "task_description": "抓取黄色方块使其落入纸盒中：\n开始移动：0%\n爪夹靠近黄色方块：20%\n爪夹抓取黄色方块：40%\n爪夹抓住黄色方块接近纸盒：60%\n爪夹将黄色方块放入纸盒：80%\n爪夹松开，黄色方块落入纸盒中：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹调整爪夹与桌面的水平角度使其垂直桌面，并且爪夹向爪夹方向右边移动至黄色方块正上方，爪夹垂直向下靠近黄色方块，爪夹夹取黄色方块竖直上升，爪夹夹取黄色方块向爪夹方向左边移动接近纸盒，爪夹继续向爪夹方向移动至纸盒正上方，爪夹垂直下降至纸盒中，爪夹松开，使黄色方块落入纸盒中。", + "error_success_analysis": "", + "frame": 69, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%.", + "state_description": "当前爪夹张开，爪夹静止不动。为完成抓取黄色方块使其落入纸盒中的任务应当：爪夹调整爪夹与桌面的水平角度使其垂直桌面，并且爪夹向爪夹方向右边移动至黄色方块正上方。", + "time": 2.2988535270232506, + "annotations": { + "point_1766563078165": { + "type": "point", + "instances": [ + { + "id": "point_1766563078165_1766563662677_e1wq2md4s", + "x": 0.41911105840386603, + "y": 0.39146294014787275 + } + ] + }, + "point_1766563078301": { + "type": "point", + "instances": [ + { + "id": "point_1766563078301_1766563665069_3icjs2t9k", + "x": 0.5071110530327726, + "y": 0.3670184943018803 + } + ] + }, + "bbox_1766563077117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766563077117_1766563673117_azi7kac23", + "x": 0.0031110837944895143, + "y": 0.339018496580526, + "width": 0.30099998162841907, + 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14.74012449031715 + }, + { + "action_description": "当前爪夹合拢抓取瓶子。", + "annotations": { + "bbox_1766567632362": { + "instances": [ + { + "height": 0.31733330750868255, + "id": "bbox_1766567632362_1766567784817_g50vca2n9", + "width": 0.09199999438476585, + "x": 0.4191110584038661, + "y": 0.5807962529869587 + } + ], + "type": "bbox" + }, + "bbox_1766567632521": { + "instances": [ + { + "height": 0.3013333088107659, + "id": "bbox_1766567632521_1766567764369_n79vkoep7", + "width": 0.2189999866333016, + "x": 0.5711110491265228, + "y": 0.4274629321319229 + } + ], + "type": "bbox" + }, + "point_1766567633306": { + "instances": [ + { + "id": "point_1766567633306_1766567776713_vxdeiuvqo", + "x": 0.4271110579155848, + "y": 0.6634629129261953 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取瓶子竖直上升，接着爪夹向爪夹方向右后方移动至饭锅正上方，爪夹夹取瓶子垂直下降至放锅中，爪夹松开使瓶子落入饭锅中。", + "error_success_analysis": "当前抓夹成功夹取瓶子，准备上升。", + "frame": 476, + "progress": 40, + "progress_explanation": "当前爪夹合拢抓取瓶子。因此当前进度提升至40%。", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..81bea7b88dc32f736a2abff1272e2be5f82d6d6e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,806 @@ +{ + "task_description": "爪夹抓取塑料瓶放进塑料盆里。\n爪夹开始移动:0%\n爪夹靠近塑料瓶:20%\n爪夹夹起塑料瓶:40%\n爪夹移动塑料瓶:60%\n爪夹将塑料瓶放入:80%\n爪夹松开，塑料瓶掉入塑料盆里里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766111171074": { + "instances": [ + { + 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"爪夹保持张开状态，已完成爪夹抓取塑料瓶放进塑料盆里的任务。 \n为完成爪夹抓取塑料瓶放进塑料盆里的任务应当:爪夹抓取塑料瓶在塑料盆正上方位置松开爪夹，塑料瓶掉入塑料盆中。", + "time": 24.2935570128866 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766111233961", + "name": "塑料瓶" + }, + { + "color": "#2196F3", + "id": "bbox_1766111637305", + "name": "塑料盆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766111647736", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766111658713", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-171831-mix-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-171831-mix-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 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box/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-173905-mix-red square - express box/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..7557b19c3c1f2ff45fa8b0f396692a29f8de8939 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-173905-mix-red square - express box/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,534 @@ +{ + "task_description": "爪夹抓取红色方块放入空纸箱内。\n爪夹开始移动：0%\n爪夹靠近红色方块:30%\n爪夹成功夹起红色方块:50%\n爪夹抓取红色方块移动至纸箱的正上方位置:80%\n爪夹松开，红色方块落入纸箱内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766132219814": { + "instances": [ + { + "height": 0.0750713994288045, + "id": "bbox_1766132219814_1766132256053_ek0nl7cyp", + "width": 0.04773561811505509, + "x": 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0000000000000000000000000000000000000000..9073f4366a95d10051ebedf8fea03b4fa4b247cc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-174002-mix-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,658 @@ +{ + "task_description": "爪夹抓取药瓶放进白色托盘里。\n爪夹开始移动:0%\n爪夹靠近药瓶:20%\n爪夹成功夹起药瓶:40%\n爪夹夹住药瓶移动至托盘正上方位置:60%\n爪夹松开，药瓶落入托盘上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766137784124": { + "instances": [ + { + "height": 0.10118319053447576, + "id": "bbox_1766137784124_1766137820884_38oxusx4u", + "width": 0.04651162790697674, + "x": 0.5973072215422277, + "y": 0.4667482660138719 + } + ], + "type": "bbox" + }, + "bbox_1766137791578": { + "instances": [ + { + "height": 0.481436148510812, + "id": "bbox_1766137791578_1766137824716_zct16p6ag", + "width": 0.6793145654834761, + "x": 0.006119951040391675, + "y": 0.47490820073439416 + } + ], + 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"bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766137784124", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1766137791578", + "name": "托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766137798364", + "name": "爪夹右" + }, + { + "color": "#F44336", + "id": "point_1766137807172", + "name": "爪夹左" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-180401-mix-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-180401-mix-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..b164a3638d646e5c1f27578e6813687df69ee4da --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-180401-mix-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,836 @@ +{ + "task_description": "爪夹抓取药瓶放进米饭锅里。\n爪夹开始移动:0%\n爪夹靠近药瓶:20%\n爪夹夹取药瓶：40%\n爪夹夹取药瓶移动靠近米饭锅:60%\n爪夹移动药瓶至米饭锅的正上方位置:80%\n爪夹松开，药瓶掉金米饭锅里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 0.0973333333333334, + "id": "bbox_1766380292584_1766380357295_hmm624giv", + "width": 0.06499999999999995, + "x": 0.49050000000000005, + "y": 0.456 + } + ], + "type": "bbox" + }, + "bbox_1766380299512": { + "instances": [ + { + "height": 0.2933333333333333, + "id": "bbox_1766380299512_1766380361423_h9rca4sfm", + "width": 0.22400000000000003, + "x": 0.10049999999999999, + "y": 0.3186666666666667 + } + ], + "type": "bbox" + }, + "point_1766380306784": { + "instances": [ + { + "id": 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+ "correction_plan": "爪夹成功抓取药瓶后，微微上升后向爪夹方向的右侧移动，直至到达米饭锅的正上方，下降松开爪夹，然后药瓶落入米饭锅中。", + "error_success_analysis": "爪夹在药瓶的正上方位置合拢，爪夹成功抓取药瓶。", + "frame": 370, + "progress": 40, + "progress_explanation": "目前爪夹成功抓取药瓶，任务进度提成为40%。", + "state_description": "当前状态为爪夹合拢，爪夹成功抓取药瓶。\n为完成夹起药瓶使其放入米饭锅里的任务应当:爪夹抓取药瓶向爪夹方向右侧移动。", + "time": 12.318865979381444 + }, + { + "action_description": "爪夹夹取药瓶后微微上升，然后向爪夹右侧移动至米饭锅的左上方位置。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 0.09466666666666672, + "id": "bbox_1766380292584_1766380738591_vsy7pmfg3", + "width": 0.07099999999999995, + "x": 0.34750000000000003, + "y": 0.36933333333333335 + } + ], + "type": "bbox" + }, + "bbox_1766380299512": { + "instances": [ + { + "height": 0.29600000000000004, + "id": "bbox_1766380299512_1766380743056_qheaau3vr", + "width": 0.22599999999999998, + "x": 0.0995, + "y": 0.31599999999999995 + } + ], + "type": "bbox" + }, + "point_1766380306784": { + "instances": [ + { + "id": 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"爪夹合拢抓取药瓶。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 0.09200000000000011, + "id": "bbox_1766380292584_1766380858732_d9cc1mcsx", + "width": 0.073, + "x": 0.2695, + "y": 0.4933333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766380299512": { + "instances": [ + { + "height": 0.29066666666666674, + "id": "bbox_1766380299512_1766380853860_9oayd6q3u", + "width": 0.22300000000000003, + "x": 0.0705, + "y": 0.3133333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "应当重新调整爪夹使其爪夹两侧的夹子处在药瓶两侧，这样合拢爪夹是才能成功夹取药瓶，抓取药瓶后向爪夹方向的右侧移动，直至到达米饭锅的正上方，下降松开爪夹，然后药瓶落入米饭锅中。", + "error_success_analysis": "爪夹夹取药瓶时，爪夹左处在药瓶上方，合拢爪夹时导致药瓶向爪夹右侧滚动，所以没成功夹取药瓶。", + "frame": 609, + "progress": 0, + "progress_explanation": "目前爪夹没成功夹取药瓶，所以任务进度倒退为0%。", + "state_description": "当前爪夹处于合拢状态，没有成功抓取药瓶。\n为完成夹起药瓶使其放入米饭锅里的任务应当:继续调整爪夹角度使其垂直于桌面，然后向爪夹方向的右侧移动至药瓶正上方，准备抓取药瓶。", + "time": 20.3 + }, + { + "action_description": "爪夹微微上升，然后向爪夹右侧倾斜张开，下降至药瓶的上方位置。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 0.08666666666666671, + "id": "bbox_1766380292584_1766380903476_nlm5n3w3m", + "width": 0.06600000000000006, + "x": 0.27149999999999996, + "y": 0.48933333333333334 + } + ], + "type": "bbox" + }, + "bbox_1766380299512": { + "instances": [ + { + "height": 0.2906666666666667, + "id": "bbox_1766380299512_1766380898324_bybg2iuvt", + "width": 0.22900000000000004, + "x": 0.05249999999999999, + "y": 0.3093333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取药瓶后向爪夹方向的右侧移动，直至到达米饭锅的正上方，下降松开爪夹，然后药瓶落入米饭锅中。", + "error_success_analysis": "爪夹再次调整爪夹角度，使其爪夹处在药瓶的正上方位置以方便抓取药瓶。", + "frame": 714, + "progress": 20, + "progress_explanation": "目前爪夹再次调整爪夹角度，使其爪夹处在药瓶的正上方位置以方便抓取药瓶，因此进度再次重新提升为20%。", + "state_description": "当前状态为爪夹打开，再次移动重新靠近药瓶。\n为完成夹起药瓶使其放入米饭锅里的任务应当:再次调整爪夹角度使其处在药瓶的正上方位置，准备抓取药瓶。", + "time": 23.8 + }, + { + "action_description": "爪夹合拢抓取药瓶。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 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"当前状态为爪夹合拢，爪夹抓取药瓶移动至米饭锅附近。\n为完成夹起药瓶使其放入米饭锅里的任务应当:爪夹抓取药瓶继续移动至米饭锅里。", + "time": 38.449793814432994 + }, + { + "time": 40.044, + "frame": 1201, + "progress": 80, + "action_description": "爪夹抓取药瓶，继续下降至米饭锅里。", + "state_description": "当前状态为爪夹合拢，爪夹抓取药瓶向爪夹右侧移动至米饭锅里。\n为完成夹起药瓶使其放入米饭锅里的任务应当:爪夹松开，药瓶成功落入米饭锅里。", + "progress_explanation": "目前爪夹抓取药瓶，向爪夹右侧继续移动至米饭锅里，因此任务进度提升为80%。", + "error_success_analysis": "爪夹抓取药瓶，向爪夹右侧继续移动至米饭锅里.", + "correction_plan": "松开爪夹，然后药瓶落入米饭锅中。", + "annotations": { + "bbox_1766380292584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766380292584_1766483185864_o94jc2zn1", + "x": 0.1105, + "y": 0.38266666666666665, + "width": 0.10300000000000001, + "height": 0.09199999999999993 + } + ] + }, + "bbox_1766380299512": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766380299512_1766483190471_q1mkf7bmz", + "x": 0.053500000000000006, + "y": 0.3133333333333333, + "width": 0.22799999999999998, + "height": 0.29200000000000004 + } + ] + }, + "point_1766380316904": { + 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"爪夹抓取红色方块后向爪夹方向的左前方移动，直至到达托盘的正上方，下降松开爪夹，然后红色方块落入托盘中。", + "error_success_analysis": "爪夹首先调整爪夹角度使其爪夹垂直于桌面，然后向爪夹方向右侧移动靠近红色方块，方便抓取红色方块。", + "frame": 262, + "progress": 20, + "progress_explanation": "目前爪夹首先调整爪夹角度，使其垂直于桌面，然后向爪夹右侧移动靠近红色方块，方便抓取红色方块，因此进度提升为20%。", + "state_description": "当前状态为爪夹打开，靠近红色方块。\n为完成爪夹抓取红色方块放进白色托盘里的任务应当:爪夹抓取红色方块后将其抬升至空中。", + "time": 8.74554972113402 + }, + { + "action_description": "爪夹合拢抓取红色方块。", + "annotations": { + "bbox_1766385498220": { + "instances": [ + { + "height": 0.14000000000000004, + "id": "bbox_1766385498220_1766385994257_4eh53biva", + "width": 0.125, + "x": 0.2955, + "y": 0.31599999999999995 + } + ], + "type": "bbox" + }, + "bbox_1766385506795": { + "instances": [ + { + "height": 0.06799999999999991, + "id": "bbox_1766385506795_1766385998409_ld47u2h7m", + "width": 0.04400000000000004, + "x": 0.3665, + "y": 0.4493333333333334 + } + ], + "type": "bbox" + }, + "bbox_1766385517603": { + "instances": [ + { + "height": 0.40400000000000014, + "id": 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container/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-182720-mix-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..92185b5ea1ca24f8d52bca4536be1d6bf8a03f32 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-182720-mix-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,584 @@ +{ + "task_description": "爪夹抓取药瓶放进塑料盆里。\n爪夹开始移动:0%\n爪夹靠近药瓶:30%\n爪夹夹取药瓶：50%\n爪夹夹取药瓶移动至塑料盆上方:80%\n爪夹松开，药瓶掉进塑料盆里:100%.", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766393228276": { + "instances": [ + { + "height": 0.06266666666666669, + "id": "bbox_1766393228276_1766393263544_p6wc6xg92", + "width": 0.07400000000000011, + "x": 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"bbox_1766393233440": { + "instances": [ + { + "height": 0.2893333333333332, + "id": "bbox_1766393233440_1766393652753_7qdmfb5qh", + "width": 0.3630000000000001, + "x": 0.3135, + "y": 0.7053333333333334 + } + ], + "type": "bbox" + }, + "point_1766393240785": { + "instances": [ + { + "id": "point_1766393240785_1766393654849_cdeqvp4av", + "x": 0.44350000000000006, + "y": 0.7893333333333333 + } + ], + "type": "point" + }, + "point_1766393246425": { + "instances": [ + { + "id": "point_1766393246425_1766393657072_7rajbfba9", + "x": 0.5385, + "y": 0.7613333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹是在塑料盆的正上方位置张开爪夹的，所以药瓶成功落入塑料盆中。", + "frame": 782, + "progress": 100, + "progress_explanation": "爪夹松开，药瓶成功掉入塑料盆中，所以任务进度为100%。", + "state_description": "当前状态为爪夹打开，已完成爪夹抓取药瓶放进塑料盆中的任务。\n为完成夹起药瓶使其放入塑料盆里的任务应当:松开爪夹，药瓶落入塑料盆里。", + "time": 26.078196187113402 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766393228276", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1766393233440", + "name": "塑料盆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766393240785", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766393246425", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..59afb81695d11e7b47466f1f519c4a32d17bf980 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,764 @@ +{ + "task_description": "将红色方块放入电饭煲的内锅中。\n爪夹开始移动:0%\n爪夹靠近红色方块:20%\n爪夹抓取红色方块:40%\n爪夹移动红色方块：60%\n爪夹将红色方块放进电饭煲的内锅里：80%\n爪夹松开，红色方块掉进电饭煲的内锅里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766458851486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766458851486_1766458895518_60d5c2p0c", + "x": 0.6435000000000001, + "y": 0.5693333333333334, + "width": 0.04399999999999995, + "height": 0.06133333333333333 + } + ] + }, + "bbox_1766458863663": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766458863663_1766458899340_j7szszhds", + "x": 0.2065, + "y": 0.3266666666666666, + "width": 0.22899999999999995, + "height": 0.3026666666666668 + } + ] + }, + "point_1766458874733": { + "type": "point", + "instances": [ + { + "id": 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"爪夹在红色方块上方位置下降时，爪夹两侧的夹子应当下降至红色方块的两侧，这样爪夹才能成功抓取红色方块，抓取红色方块后向爪夹方向的右侧移动，直至到达电饭煲的内锅的正上方，下降松开爪夹，然后红色方块落入电饭煲的内锅里。", + "error_success_analysis": "爪夹在红色方块上方位置下降时，爪夹两侧的夹子没有下降至红色方块的两侧，因此爪夹合拢时进行了空抓。", + "frame": 231, + "progress": 0, + "progress_explanation": "目前爪夹没有成功抓取红色方块，爪夹进行了一次空抓，因此进度倒退为0%。", + "state_description": "当前状态为爪夹合拢，没成功抓取红色方块。\n为完成爪夹抓取红色方块放进电饭煲的内锅中的任务应当:再次调整爪夹角度使其处于红色方块的两侧。", + "time": 7.7164, + "annotations": { + "bbox_1766458863663": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766458863663_1766546291877_etbtac8sn", + "x": 0.20550000000000002, + "y": 0.3293333333333333, + "width": 0.23199999999999998, + "height": 0.30266666666666675 + } + ] + }, + "bbox_1766458851486": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766458851486_1766546295846_5a01yz0zn", + "x": 0.6495, + "y": 0.5706666666666667, + "width": 0.052999999999999936, + "height": 0.060000000000000026 + } + ] + }, + "point_1766458874733": { + "type": "point", + "instances": [ + { + "id": 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box/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-103923-good-blue square-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..35f1edf93b57dfacc7ff1728c5bded3beebd7ea3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-103923-good-blue square-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,275 @@ +{ + "task_description": "爪夹抓取蓝色方块放进空的快递箱里。\n爪夹开始移动:0%\n爪夹靠近蓝色方块:30%\n爪夹夹起蓝色方块:50%\n爪夹抓取蓝色方块移动至快递箱内:80%\n爪夹松开，蓝色方块落入快递箱内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766553250811": { + "instances": [ + { + "height": 0.07599999999999991, + "id": "bbox_1766553250811_1766553314530_xyt7zeigx", + "width": 0.04900000000000002, + "x": 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+} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-110507-mix-blue square-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-110507-mix-blue square-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..816ba68ab597c0e615fb0d29683e77bf73e34541 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-110507-mix-blue square-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,556 @@ +{ + "task_description": "爪夹抓取蓝色方块放进空的快递箱里。\n爪夹开始移动:0%\n爪夹靠近蓝色方块:30%\n爪夹夹起蓝色方块:50%\n爪夹抓取蓝色方块移动至快递箱内:80%\n爪夹松开，蓝色方块落入快递箱内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766560727903": { 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"调整爪夹角度使其垂直于桌面，然后向爪夹方向的左侧移动至蓝色方块上方，方便抓取蓝色方块。", + "correction_plan": "抓取蓝色方块后抬升至空中，然后向爪夹方向的右侧移动，直至到达白色托盘的正上方，松开爪夹，然后蓝色方块落入白色托盘中。", + "error_success_analysis": "调整爪夹角度使其垂直于桌面，然后向爪夹方向的左侧移动至蓝色方块上方，方便抓取蓝色方块。", + "frame": 203, + "progress": 30, + "progress_explanation": "目前调整爪夹角度使其垂直于桌面，然后向爪夹方向的左侧移动至蓝色方块上方，方便抓取蓝色方块，所以任务进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近蓝色方块。\n为完成爪夹抓取蓝色方块放进白色托盘里的任务应当:爪夹合拢抓取蓝色方块后抬升至空中。", + "time": 6.782783645876289, + "annotations": { + "bbox_1766554624678": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766554624678_1766554695660_1h9styr9i", + "x": 0.004499999999999999, + "y": 0.43466666666666665, + "width": 0.48200000000000004, + "height": 0.528 + } + ] + }, + "bbox_1766554616895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766554616895_1766554699932_2jvxj30n7", + "x": 0.6055, + "y": 0.3626666666666667, + "width": 0.050999999999999976, + "height": 0.06666666666666667 + } + ] + }, + "point_1766554630894": { + "type": "point", + "instances": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,290 @@ +{ + "task_description": "爪夹抓取插座放进米饭锅里。\n爪夹开始移动:0%\n爪夹靠近插座:30%\n爪夹夹起插座:50%\n爪夹抓取插座移动至米饭锅里:80%\n爪夹松开，插座落入米饭锅里:100%", + "progress_points": [ + { + "action_description": "爪夹保持状态，暂未移动。", + "correction_plan": "调整爪夹角度使其垂直于桌面，然后爪夹向爪夹方向的前方移动至插座的正上方，抓取插座后抬升至空中，然后向爪夹方向的右侧移动，直至到达米饭锅的正上方，松开爪夹，然后插座落入米饭锅中。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，没有靠近插座，所以任务进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成爪夹抓取插座放进米饭锅里的任务应当:调整爪夹角度使其垂直于桌面，然后向爪夹方向的前方移动至插座上方，方便抓取插座。", + "time": 1.6029896907216494, + "annotations": { + "bbox_1766556361562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556361562_1766556565518_6kblfsssz", + "x": 0.4845, + "y": 0.6839999999999999, + "width": 0.12399999999999993, + "height": 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"state_description": "当前状态为爪夹打开，靠近插座。\n为完成爪夹抓取插座放进米饭锅里的任务应当:爪夹合拢抓取插座后抬升至空中。", + "time": 5.628762886597937, + "annotations": { + "bbox_1766556368242": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556368242_1766556610828_g8kgtes8u", + "x": 0.1995, + "y": 0.5293333333333333, + "width": 0.254, + "height": 0.3413333333333333 + } + ] + }, + "bbox_1766556361562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556361562_1766556617204_b0zrq3jub", + "x": 0.48550000000000004, + "y": 0.6826666666666666, + "width": 0.12399999999999993, + "height": 0.10799999999999994 + } + ] + }, + "point_1766556375905": { + "type": "point", + "instances": [ + { + "id": "point_1766556375905_1766556619932_jeydfavrr", + "x": 0.5445, + "y": 0.7826666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取插座后微微抬起并开始移动。", + "correction_plan": "爪夹抓取插座，向爪夹方向的右侧移动，直至到达米饭锅的正上方，松开爪夹，然后插座落入米饭锅中。", + "error_success_analysis": "插座已被抓取抬升至空中并开始向爪夹方向的右侧移动。", + "frame": 248, + "progress": 50, + "progress_explanation": "目前插座已被抓取抬升至空中并开始向爪夹方向的右侧移动，所以任务进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧插座。\n为完成爪夹抓取插座放进米饭锅里的任务应当:爪夹抓取插座向爪夹方向的右侧移动。", + "time": 8.278453608247423, + "annotations": { + "bbox_1766556368242": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556368242_1766556642916_ixrl0byjr", + "x": 0.20049999999999998, + "y": 0.5293333333333333, + "width": 0.254, + "height": 0.3426666666666666 + } + ] + }, + "bbox_1766556361562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556361562_1766556646067_d4nmcx4ay", + "x": 0.4795, + "y": 0.6586666666666666, + "width": 0.125, + "height": 0.1413333333333334 + } + ] + }, + "point_1766556375905": { + "type": "point", + "instances": [ + { + "id": "point_1766556375905_1766556648603_km4d1budx", + "x": 0.5345, + "y": 0.7613333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹抓取插座抬升后向爪夹方向移动至米饭锅里。", + "correction_plan": "松开爪夹，然后插座落入米饭锅中。", + "error_success_analysis": "爪夹抓取插座向爪夹方向的右侧移动直至到达米饭锅里，方便爪夹松开，插座落入米饭锅里。", + "frame": 348, + "progress": 80, + "progress_explanation": "目前爪夹抓取插座向爪夹方向的右侧移动直至到达米饭锅的正上方位置，所以任务进度提升为80%。", + "state_description": "当前状态为爪夹合拢，抓紧插座靠近米饭锅。\n为完成爪夹抓取插座放进米饭锅里的任务应当:爪夹抓取插座向爪夹方向的右侧移动到米饭锅里。", + "time": 11.61618556701031, + "annotations": { + "bbox_1766556368242": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556368242_1766556674651_6tbczfyxj", + "x": 0.1995, + "y": 0.52, + "width": 0.254, + "height": 0.3533333333333333 + } + ] + }, + "bbox_1766556361562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556361562_1766556678523_eftds7cg4", + "x": 0.2955, + "y": 0.5786666666666667, + "width": 0.098, + "height": 0.16266666666666676 + } + ] + }, + "point_1766556375905": { + "type": "point", + "instances": [ + { + "id": "point_1766556375905_1766556680778_d81v2ckha", + "x": 0.3025, + "y": 0.6733333333333333 + } + ] + }, + "point_1766556382121": { + "type": "point", + "instances": [ + { + "id": "point_1766556382121_1766556683603_62rrlky7v", + "x": 0.3865, + "y": 0.6546666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹松开，插座落入米饭锅中。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹在米饭锅里松开，插座成功落入米饭锅中", + "frame": 393, + "progress": 100, + "progress_explanation": "爪夹松开，插座落入米饭锅中，所以进度提升为100%.", + "state_description": "当前状态为爪夹张开，已完成爪夹抓取插座放进米饭锅里的任务。\n为完成爪夹抓取插座放进米饭锅里的任务应当:爪夹松开，插座落入米饭锅中。", + "time": 13.094742268041237, + "annotations": { + "bbox_1766556368242": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556368242_1766556714074_uvv9l3pd8", + "x": 0.1995, + "y": 0.5319999999999999, + "width": 0.25600000000000006, + "height": 0.34000000000000014 + } + ] + }, + "bbox_1766556361562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556361562_1766556717714_8ibkpuyjq", + "x": 0.2565, + "y": 0.64, + "width": 0.137, + "height": 0.13066666666666674 + } + ] + }, + "point_1766556375905": { + "type": "point", + "instances": [ + { + "id": "point_1766556375905_1766556721386_26a5epczn", + "x": 0.2855, + "y": 0.5306666666666666 + } + ] + }, + "point_1766556382121": { + "type": "point", + "instances": [ + { + "id": "point_1766556382121_1766556723833_48dxzg9m4", + "x": 0.4125, + "y": 0.5306666666666666 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766556361562", + "name": "插座", + "color": "#4CAF50" + }, + { + "id": "bbox_1766556368242", + "name": "米饭锅", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766556375905", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766556382121", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-142255-bad-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-142255-bad-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..c5307ee249763cb275225fe363f91161bb72e112 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-142255-bad-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,136 @@ +{ + "task_description": "抓取蓝色方块放入白色托盘中：\n开始准备移动：0%\n爪夹靠近蓝色方块：20%\n爪夹抓取蓝色方块：40%\n爪夹抓紧蓝色方块接近紫色托盘：60%\n爪夹将蓝色方块放入紫色托盘：80%\n爪夹松开蓝色方块落入紫色托盘：100%", + "progress_points": [ + { + "time": 1.8095459531746683, + "frame": 54, + "progress": 0, + "action_description": "爪夹张开，爪夹未移动", + "state_description": "当前为初始状态，爪夹张开，远离蓝色方块，未开始移动。\n为完成抓取蓝色方块放入紫色托盘的任务应当：爪夹向爪夹左方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。", + "progress_explanation": "当前为初始状态，爪夹张开，远离蓝色方块，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左前方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接着落下爪夹靠近蓝色方块，接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹前方的紫色托盘接近，水平到达托盘的正上方后，松开爪夹，使蓝色方块落入托盘。" + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度接近垂直于桌面。", + "annotations": { + "bbox_1766565412634": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766565412634_1766565583173_oahu09byf", + "x": 0.536074624024367, + "y": 0.45328189248185186, + "width": 0.05458214353702653, + "height": 0.06497791766079496 + } + ] + }, + "bbox_1766565646877": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766565646877_1766565676588_fq8pd47sy", + "x": -0.009000000000000008, + "y": 0.29130839128889796, + "width": 0.38798648391395396, + "height": 0.5545752237846254 + } + ] + }, + "point_1766565587764": { + "type": "point", + "instances": [ + { + "id": "point_1766565587764_1766565612404_rztxifrdp", + "x": 0.40936607652769846, + "y": 0.33892075739885275 + } + ] + }, + "point_1766565618699": { + "type": "point", + "instances": [ + { + "id": "point_1766565618699_1766565640868_n1apxorwq", + "x": 0.5204797258709309, + "y": 0.3337225239859892 + } + ] + } + }, + "correction_plan": "爪夹向爪夹左前方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接着落下爪夹靠近蓝色方块，接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹前方的紫色托盘接近，水平到达托盘的正上方后，松开爪夹，使蓝色方块落入托盘。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了蓝色方块。", + "frame": 76, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面。水平上接近了蓝色方块。因此进度提升为10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了蓝色方块。\n为完成抓取蓝色方块放入紫色托盘的任务应当：爪夹向爪夹左方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。", + "time": 2.5271245208128987 + }, + { + "action_description": "爪夹向爪夹左前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "correction_plan": "爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹右前方的紫色托盘接近。水平到紫色托盘的正上方后，松开爪夹，使蓝色方块落紫色托盘。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了蓝色方块，方便抓取蓝色方块。", + "frame": 108, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹左前方移动并垂直向下移动，靠近了蓝色方块。方便抓取。因此进度提升为20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹左前方移动并垂直向下移动，靠近了蓝色方块。\n为完成抓取蓝色方块放入紫色托盘中的任务应当：爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹右前方的紫色托盘接近。", + "time": 3.5918480808290156 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧蓝色方块垂直升高爪夹并向爪夹右前方的白色托盘接近。水平到达紫色托盘的正上方后，松开爪夹，使蓝色方块落入紫色托盘。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了蓝色方块，爪夹合拢抓取到了蓝色方块。", + "frame": 133, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到蓝色方块。因此进度提升为40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取蓝色方块。\n为完成抓取蓝色方块放入紫色托盘中的任务应当：抓紧蓝色方块垂直升高爪夹并向爪夹右前方的紫色托盘接近。", + "time": 4.44352339896373 + }, + { + "action_description": "爪夹夹紧蓝色方块，垂直升高，向爪夹右前方的紫色托盘移动，调整爪夹角度。", + "correction_plan": "调整爪夹角度接近垂直于桌面，将蓝色方块对准紫色托盘。松开爪夹，使蓝色方块落入紫色托盘。", + "error_success_analysis": "爪夹夹紧蓝色方块，移动到了爪夹右前方的紫色托盘正上方，水平上接近了紫色托盘。", + "frame": 224, + "progress": 50, + "progress_explanation": "爪夹夹紧蓝色方块，移动到了爪夹右前方的紫色托盘正上方，水平上接近了紫色托盘。因此进度降低为30%。", + "state_description": "爪夹夹紧蓝色方块，移动到爪夹右前方的紫色托盘正上方，调整爪夹角度水平呈30度。\n为完成抓取蓝色方块放入紫色托盘中的任务应当：调整爪夹角度接近垂直于桌面，将蓝色方块放入紫色托盘。", + "time": 7.47993105492228 + }, + { + "action_description": "爪夹夹紧蓝色方块，向爪夹前方移动，张开爪夹。", + "correction_plan": "调整爪夹角度接近垂直于桌面，并移动到蓝色方块的正上方。接着落下爪夹靠近蓝色方块，接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹右前方的紫色托盘接近，水平到达紫色托盘的正上方后，松开爪夹，使紫色方块落入紫色托盘。", + "error_success_analysis": "爪夹张开，蓝色方块掉落桌面上，需要重新抓取蓝色方块", + "frame": 312, + "progress": -50, + "progress_explanation": "爪夹张开，水平上远离了蓝色方块，方块掉落桌面上，需要重新抓取蓝色方块，因此进度降低为-50%。", + "state_description": "爪夹张开，水平上远离了蓝色方块，方块掉落桌面上，爪夹角度与桌面呈30度。\n为完成抓取蓝色方块放入紫色托盘中的任务应当：调整爪夹角度接近垂直于桌面，并移动到蓝 色方块的正上方。", + "time": 10.38928969667525 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766565412634", + "name": "蓝色积木" + }, + { + "color": "#FF9800", + "id": "bbox_1766565646877", + "name": "紫色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766565587764", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766565618699", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-143509-mix-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-143509-mix-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..d36adbca987b659c03103ca97442fb85c8692c43 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-143509-mix-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,176 @@ +{ + "task_description": "把白色排插夹起来放进电饭煲内胆里：\n爪夹准备开始移动：0%\n爪夹靠近白色排插：20%\n爪夹夹起白色排插：40%\n爪夹移动白色排插：60%\n爪夹将白色排插放入电饭煲内胆：80%\n爪夹松开，白色排插落入电饭煲内胆内：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1766570798973": { + "instances": [ + { + "height": 0.16933333333333328, + "id": "bbox_1766570798973_1766570828020_vyvpqixt8", + "width": 0.09500000000000001, + "x": 0.654375, + "y": 0.5151979166666667 + } + ], + "type": "bbox" + }, + "bbox_1766570836238": { + "instances": [ + { + "height": 0.28, + "id": "bbox_1766570836238_1766570931108_5y8ax2fcn", + "width": 0.215, + "x": 0.399375, + "y": 0.3418645833333333 + } + ], + "type": "bbox" + }, + "point_1766570878558": { + "instances": [ + { + "id": "point_1766570878558_1766570918299_s4724f1n0", + "x": 0.4443750000000001, + "y": 0.3511979166666667 + } + ], + "type": "point" + }, + "point_1766570879211": { + "instances": [ + { + "id": "point_1766570879211_1766570923354_7m7wjyewo", + "x": 0.540375, + "y": 0.3418645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前方的白色排插移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色排插的正上方。接着落下爪夹靠近白色排插，接近白色排插后爪夹合拢抓取白色排插。抓紧白色排插垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使白色排插落入电饭煲内胆。", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未移动，进度为0", + "state_description": "当前为初始状态，爪夹张开，远离白色排插，未开始移动。\n为完成抓取白色排插使其落入电饭煲内胆的任务应当：爪夹向爪夹左前方的白色排插移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色排插的正上方。", + "time": 1.8513387002347221 + }, + { + "action_description": "爪夹向爪夹左后方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "correction_plan": "爪夹向爪夹左前方的白色排插移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色排插的正上方。接着落下爪夹靠近白色排插，接近白色排插后爪夹合拢抓取白色排插。抓紧白色排插直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使白色排插落入电饭煲内胆。", + "error_success_analysis": "爪夹向右移动，没有垂直于白色排插，靠近白萝卜，并未靠近白色排插", + "frame": 161, + "progress": 20, + "progress_explanation": "爪夹向左移动接近白色排插，调整了爪夹的角度接近垂直与桌面。因此进度提升未20%", + "state_description": "爪夹未抓取到物品，爪夹合拢，远离白色排插\n为完成抓取白色排插使其落入电饭煲内胆的任务应当：爪夹向爪夹左前方的白色排插移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色排插的正上方。", + "time": 5.361562992808646 + }, + { + "time": 8.221064710057709, + "frame": 247, + "progress": 10, + "action_description": "爪夹调整角度，爪夹垂直向下移动。", + "state_description": "爪夹垂直向下移动。\n为完成抓取白色排插使其落入电饭煲内胆的任务应当：爪夹向爪夹下方的白色排插移动，同时调整爪夹的角度使其垂直与桌面", + "progress_explanation": "爪夹向下垂直移动，靠近了桌面。因此进度为15%", + "error_success_analysis": "爪夹向下垂直移动，靠近了桌面。未靠近白色插排", + "correction_plan": "垂直升高并移动到白色排插的正上方。接着落下爪夹靠近白色排插，接近白色排插后爪夹合拢抓取白色排插。抓紧白色排插垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使白色排插落入电饭煲内胆。" + }, + { + "time": 10.991206998642737, + "frame": 330, + "progress": 5, + "action_description": "爪夹升高并移动到白色插排的上方，调整角度，爪夹向下移动。\n为完成抓取白色排插使其落入电饭煲内胆的任务应当：爪夹向爪夹下方的白色排插移动，同时调整爪夹的角度使其垂直于桌面。", + "state_description": "爪夹张开并移动到白色插排的上方，垂直向下接近了白色插排。\n为完成抓取白色排插使其落入电饭煲内胆的任务应当：爪夹向爪夹下方的白色排插移动，同时调整爪夹的角度使其垂直于桌面。", + "progress_explanation": "爪夹张开并移动到白色插排的上方，垂直向下接近了白色插排。因此进度为5%", + "error_success_analysis": "爪夹向下抓取，没有位于白色插排正上方。", + "correction_plan": "垂直升高并移动到白色排插的正上方。接着落下爪夹靠近白色排插，接近白色排插后爪夹合拢抓取白色排插。抓紧白色排插垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使白色排插落入电饭煲内胆。" + }, + { + "action_description": "爪夹合拢，未抓取成功", + "correction_plan": "调整夹爪角度至与桌面呈60°夹角，向爪夹左方移动至白色排插边缘后下降，抓取白色排插后竖直上升，向爪夹右前方移动至电饭煲内胆上方，下降放入白色排插后松开爪夹", + "error_success_analysis": "", + "frame": 433, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未移动，进度为0", + "state_description": "爪夹未抓取到物品，爪夹合拢，远离白色排插", + "time": 14.420992268041237 + }, + { + "action_description": "爪夹重新向左移动，并调整爪夹角度向接近于桌面垂直角度调整。", + "correction_plan": "爪夹向爪夹左前方的白色排插移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色排插的正上方。接着落下爪夹靠近白色排插，接近白色排插后爪夹合拢抓取白色排插。抓紧白色排插直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使白色排插落入电饭煲内胆。", + "error_success_analysis": "爪夹向左移动接近白色排插，同时调整爪夹角度接近于桌面，方便抓取白色排插。", + "frame": 547, + "progress": 20, + "progress_explanation": "爪夹重新向左移动接近白色排插，调整了爪夹的角度接近垂直与桌面。因此进度提升未20%", + "state_description": "爪夹张开，爪夹略微缩短了白色排插的距离，爪夹角度接近垂直于桌面。\n为完成抓取白色排插使其落入电饭煲内胆的任务应当：爪夹向爪夹左前方的白色排插移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色排插的正上方。", + "time": 18.246456185567006 + }, + { + "action_description": "爪夹水平向下接近了白色排插，合拢爪夹，抓取白色排插。", + "correction_plan": "抓紧白色排插垂直升高爪夹并向爪夹前方的电饭煲内胆接近，水平到达电饭煲内胆正上方后，松开爪夹，使白色排插落入电饭煲内胆。", + "error_success_analysis": "爪夹合拢爪夹，抓取到了白色排插。", + "frame": 643, + "progress": 40, + "progress_explanation": "爪夹合拢，抓取到了白色排插。因此进度提升为40%", + "state_description": "爪夹水平向下接近了白色排插，合拢爪夹，抓取白色排插。\n为完成抓取白色排插使其落入电饭煲内胆的任务应当：抓紧白色排插垂直升高爪夹并向爪夹前方的电饭煲内胆接近。", + "time": 21.439136597938145 + }, + { + "action_description": "爪夹抓住白色排插，向爪夹右方移动", + "correction_plan": "继续向爪夹右方移动至电饭煲内胆上方，下降至电饭煲内胆上，松开爪夹使白色排插落入电饭煲内胆", + "error_success_analysis": "爪夹抓取成功并上升，向电饭煲内胆上方移动", + "frame": 683, + "progress": 60, + "progress_explanation": "爪夹抓住白色排插并上升，开始向电饭煲内胆上方移动，因此进度提升为60%", + "state_description": "当前爪夹合拢，在桌面上方。\n为完成抓取白色排插使其落入电饭煲内胆的任务应当：向爪夹右方移动，然后下降至电饭煲内胆上方，随后松开爪夹，白色排插落入电饭煲内胆。", + "time": 22.762229381443298 + }, + { + "action_description": "爪夹继续下降，到达合适的位置停止", + "correction_plan": "松开爪夹，使白色排插落入电饭煲内胆", + "error_success_analysis": "爪夹成功下降至正确位置", + "frame": 794, + "progress": 80, + "progress_explanation": "爪夹到达正确位置，只需松开爪夹，因此进度提升为80%", + "state_description": "当前爪夹合拢，与桌面夹角60°。\n为完成夹起白色排插放入电饭煲内胆的任务应当:\n松开爪夹，白色排插落入电饭煲内胆中间。", + "time": 26.472641752577314 + }, + { + "action_description": "爪夹松开，白色排插落入电饭煲内胆", + "correction_plan": "任务已完成", + "error_success_analysis": "爪夹在正确位置松开，白色排插落入电饭煲内胆", + "frame": 837, + "progress": 100, + "progress_explanation": "爪夹松开，白色排插落入电饭煲内胆，任务已经完成。进度100%", + "state_description": "当前爪夹松开，与桌面夹角60°。白色排插落入电饭煲内胆，任务已经完成。", + "time": 27.9 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766570798973", + "name": "白色排插" + }, + { + "color": "#FF9800", + "id": "bbox_1766570836238", + "name": "电饭煲内胆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766570878558", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766570879211", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-144853-good-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-144853-good-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..770390535cf2badb68efcb9b4e22ec6a0bb35f9b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-144853-good-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,90 @@ +{ + "task_description": "把蓝色方块夹起来放进电饭煲内胆里\n爪夹准备开始移动：0%\n爪夹靠近蓝色方块：20%\n爪夹夹起蓝色方块：40%\n爪夹移动蓝色方块：60%\n爪夹将蓝色方块放入电饭煲内胆上：80%\n爪夹松开，蓝色方块落入电饭煲内胆内：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动", + "correction_plan": "调整夹爪角度，向爪夹左方移动至蓝色方块边缘后下降，抓取蓝色方块后竖直上升，向爪夹右前方移动至电饭煲内胆上方，下降放入蓝色方块后松开爪夹", + "error_success_analysis": "", + "frame": 70, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未移动，进度为0", + "state_description": "当前状态为爪夹打开，没有移动，没有接触蓝色方块。\n为完成夹起蓝色方块使其放入电饭煲内胆的任务应当:调整爪夹角度，然后向爪夹方向的左侧移动至蓝色方块边缘，准备抓取蓝色方块。", + "time": 2.3302676273409495 + }, + { + "action_description": "爪夹张开，正在下降靠近至红色方块的边缘", + "correction_plan": "爪夹继续下降，抓取蓝色方块后竖直上升，向爪夹右前方移动至电饭煲内胆上方，下降放入蓝色方块后松开爪夹", + "error_success_analysis": "爪夹成功到达蓝色方块边缘正上方，准备下降抓取", + "frame": 185, + "progress": 20, + "progress_explanation": "爪夹角度调整完毕，正在下降接近红色方块，进度20%", + "state_description": "当前爪夹张开，\n为完成夹起蓝色方块使其放入电饭煲内胆的任务应当:下降并旋转爪夹角度，准确抓取蓝色方块", + "time": 6.166839264248704 + }, + { + "action_description": "爪夹合拢夹住蓝色方块并准备上升", + "correction_plan": "爪夹抓取蓝色方块后继续竖直上升，向爪夹右前方移动至电饭煲内胆上方，下降放入蓝色方块后松开爪夹", + "error_success_analysis": "爪夹旋转至合适角度，向前小幅移动后合拢，成功夹住蓝色方块", + "frame": 276, + "progress": 40, + "progress_explanation": "爪夹成功夹住蓝色方块，进度40%", + "state_description": "当前爪夹合拢夹住蓝色方块，\n为完成夹起蓝色方块使其放入电饭煲内胆的任务应当:\n夹住蓝色方块并上升，然后向爪夹方向的右前方移动至电饭煲内胆上方，然后下降至电饭煲内胆上，随后松开爪夹，蓝色方块落入电饭煲内胆中间。", + "time": 9.194196721243523 + }, + { + "action_description": "爪夹夹住蓝色方块，向爪夹方向的右方移动", + "correction_plan": "继续向爪夹右侧移动至电饭煲内胆上方，下降至电饭煲内胆上，松开爪夹让蓝色方块落入中间", + "error_success_analysis": "爪夹成功夹住蓝色方块并上升，向电饭煲内胆上方移动", + "frame": 364, + "progress": 60, + "progress_explanation": "爪夹夹住蓝色方块，开始向电饭煲内胆上方移动，进度60%", + "state_description": "当前爪夹合拢，在桌面的上方。\n为完成夹起蓝色方块使其放入电饭煲内胆的任务应当:\n向爪夹方向的右侧移动至电饭煲内胆上方，然后下降至电饭煲内胆上，随后松开爪夹，蓝色方块落入电饭煲内胆中间。", + "time": 12.146804611398963 + }, + { + "action_description": "爪夹继续下降，到合适的位置停止", + "correction_plan": "爪夹松开，让蓝色方块落入电饭煲内胆", + "error_success_analysis": "爪夹成功下降至正确位置", + "frame": 448, + "progress": 80, + "progress_explanation": "爪夹已到达正确位置，仅需松开爪夹，进度80%", + "state_description": "当前爪夹合拢，\n为完成夹起蓝色方块使其放入电饭煲内胆的任务应当:\n松开爪夹，蓝色方块落入电饭煲内胆中间。", + "time": 14.949913367875645 + }, + { + "action_description": "爪夹松开，蓝色方块落入电饭煲内胆", + "correction_plan": "任务已完成，爪夹回到待机位置", + "error_success_analysis": "爪夹在正确位置松开，蓝色方块成功放入电饭煲内胆", + "frame": 541, + "progress": 100, + "progress_explanation": "爪夹松开，蓝色方块落入电饭煲内胆，进度100%，任务完成", + "state_description": "当前爪夹松开，蓝色方块落入电饭煲内胆，任务已经完成。", + "time": 18.033333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766572095106", + "name": "蓝色方块" + }, + { + "color": "#FF9800", + "id": "bbox_1766572122481", + "name": "电饭煲内胆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766572130577", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766572138672", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-150600-mix-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-150600-mix-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..2b003349ab9024755007e69143796449bfc6f675 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-150600-mix-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,250 @@ +{ + "task_description": "把蓝色方块夹起来放入电饭煲内胆里\n爪夹准备开始移动：0%\n爪夹靠近蓝色方块：20%\n爪夹夹起蓝色方块：40%\n爪夹移动蓝色方块：60%\n爪夹将蓝色方块放入电饭煲内胆上：80%\n爪夹松开，蓝色方块落入电饭煲内胆内：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹左前方的蓝色方块移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色方块的正上方.接着落下爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹左方的电饭煲内胆接近，水平到达电饭煲内胆正上方后，松开爪夹，使蓝色方块落入电饭煲内胆", + "error_success_analysis": "", + "frame": 63, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未移动，进度为0", + "state_description": "当前为初始状态，爪夹张开，远离蓝色积木，未开始移动。\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：爪夹向爪夹左前方的蓝色方块移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色方块的正上方", + "time": 2.1088316393041238, + "annotations": { + "bbox_1766626203407": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766626203407_1766626270678_c5c6ktl4k", + "x": 0.45437500000000003, + "y": 0.4218645833333333, + "width": 0.10700000000000003, + "height": 0.13599999999999995 + } + ] + }, + "bbox_1766626215215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766626215215_1766626277630_89qtv7rjo", + "x": 0.5683750000000001, + "y": 0.6191979166666667, + "width": 0.06299999999999999, + "height": 0.0733333333333333 + } + ] + }, + "bbox_1766626225631": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766626225631_1766626293861_jfhkfwc3m", + "x": 0.063375, + "y": 0.3018645833333334, + "width": 0.238, + "height": 0.31066666666666676 + } + ] + }, + "bbox_1766626234207": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766626234207_1766626314001_zbr47tbfi", + "x": 0.681375, + "y": 0.3658645833333333, + "width": 0.31399999999999995, + "height": 0.4853333333333333 + } + ] + }, + "point_1766626246737": { + "type": "point", + "instances": [ + { + "id": "point_1766626246737_1766626318492_dxr0u521m", + "x": 0.40037500000000004, + "y": 0.38053125 + } + ] + }, + "point_1766626254022": { + "type": "point", + "instances": [ + { + "id": "point_1766626254022_1766626322731_t3kjj4uhk", + "x": 0.506375, + "y": 0.3658645833333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动，并调整爪夹角度向接近于桌面垂直角度调整，垂直向下移动", + "correction_plan": "爪夹向上垂直升高并向爪夹前方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹右方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使蓝色方块落入电饭煲内胆", + "error_success_analysis": "爪夹向后移动，同时降低角度使爪夹接近垂直于桌面，接近了胶带，并未接近蓝色方块", + "frame": 163, + "progress": -10, + "progress_explanation": "爪夹向爪夹左前方移动，调整角度垂直于桌面并垂直向下一定接近了胶带。因此进度降低为-10%。", + "state_description": "爪夹张开，爪夹略微缩短了胶带的距离，爪夹角度接近垂直于桌面。垂直向下移动\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：爪夹向爪夹左前方的蓝色方块移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色方块的正上方", + "time": 5.421761720207254 + }, + { + "action_description": "爪夹合拢，抓住胶带并准备上升", + "correction_plan": "爪夹张开，爪夹向上垂直升高并向爪夹前方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹左方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使蓝色方块落入电饭煲内胆。", + "error_success_analysis": "爪夹合拢，抓取到了胶带，水平上未接近到蓝色方块", + "frame": 211, + "progress": -20, + "progress_explanation": "爪夹抓住胶带，未成功抓取蓝色方块，需要进行二次抓取，张开爪夹，垂直向上升高。因此进度为-20%", + "state_description": "当前爪夹合拢抓住胶带，与桌面呈60°夹角\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：夹住蓝色方块并上升，然后向爪夹右方移动至电饭煲内胆上方，然后下降至电饭煲内胆上，随后松开爪夹，蓝色方块落入电饭煲内胆", + "time": 7.04829023626943 + }, + { + "action_description": "爪夹夹住胶带，向爪夹的左前方移动", + "correction_plan": "爪夹张开，放下胶带，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹左方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使蓝色方块落入电饭煲内胆。", + "error_success_analysis": "爪夹抓住胶带并上升，向紫色盒子上方移动，远离了蓝色方块", + "frame": 231, + "progress": -30, + "progress_explanation": "爪夹夹住胶带，开始向紫色盒子上方移动，远离了蓝色方块，需要放下胶带再重新抓取，因此进度为-30%", + "state_description": "当前爪夹合拢，在桌面的上方。\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：向爪夹右方移动至电饭煲内胆上方，然后下降至电饭煲内胆上，随后松开爪夹，蓝色方块落入电饭煲内胆", + "time": 7.710950002072538 + }, + { + "action_description": "爪夹继续下降，到合适的位置停止", + "correction_plan": "爪夹张开，放下胶带，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹左方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使蓝色方块落入电饭煲内胆", + "error_success_analysis": "爪夹抓取胶带后移动到了紫色盒子上方，并下降至正确位置，需要重新抓取蓝色方块", + "frame": 249, + "progress": -40, + "progress_explanation": "爪夹抓取胶带到达紫色盒子上方，需要松开爪夹放下胶带，重新抓取蓝色方块，因此进度为-40%", + "state_description": "当前爪夹合拢，与桌面夹角60°。\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：松开爪夹，蓝色方块落入电饭煲内胆", + "time": 8.313367970984455 + }, + { + "action_description": "爪夹松开，胶带落入紫色盒子", + "correction_plan": "爪夹张开，放下胶带，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹左方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使蓝色方块落入电饭煲内胆。", + "error_success_analysis": "爪夹抓取胶带后放入紫色盒子，未正确抓取蓝色方块，需要对蓝色方块进行抓取操作", + "frame": 298, + "progress": -50, + "progress_explanation": "爪夹松开，胶带落入紫色盒子，爪夹需要对蓝色方块进行抓取，因此进度为-50%", + "state_description": "当前爪夹松开，与桌面夹角60°，胶带落入紫色盒子，爪夹对蓝色方块进行抓取", + "time": 9.939896487046632 + }, + { + "action_description": "爪夹处于合拢状态，准备对蓝色方块抓取", + "correction_plan": "爪夹向上垂直升高并向爪夹前方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹左方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使蓝色方块落入电饭煲内胆。", + "error_success_analysis": "", + "frame": 356, + "progress": 0, + "progress_explanation": "爪夹处于合拢状态，未开始抓取蓝色方块，进度为0", + "state_description": "当前爪夹为合拢状态，未接触蓝色方块\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：爪夹向爪夹左前方的蓝色方块移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色方块的正上方", + "time": 11.867633987564767 + }, + { + "action_description": "爪夹张开，正在下降靠近至蓝色方块的边缘", + "correction_plan": "爪夹继续下降，抓取蓝色方块后竖直上升，向爪夹左前方移动至电饭煲内胆上方，下降放入蓝色方块后松开爪夹", + "error_success_analysis": "爪夹成功到达蓝色方块边缘正上方，准备下降给抓取", + "frame": 439, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，向下移动接近蓝色方块，进度提升为20%", + "state_description": "当前爪夹张开，与桌面呈60°夹角。\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：爪夹向爪夹左前方的蓝色方块移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色方块的正上方", + "time": 14.638756644559583 + }, + { + "action_description": "爪夹合拢夹住蓝色方块并准备上升", + "correction_plan": "继续向爪夹右侧移动至电饭煲内胆上方，下降至电饭煲内胆上，松开爪夹让蓝色方块落入中间", + "error_success_analysis": "爪夹成功夹住蓝色方块并上升，向电饭煲内胆上方移动", + "frame": 517, + "progress": 40, + "progress_explanation": "爪夹夹住蓝色方块，开始向电饭煲内胆上方移动，进度60%", + "state_description": "当前爪夹合拢，在桌面的上方。\n为完成夹起蓝色方块使其放入电饭煲内胆的任务应当:\n向爪夹方向的右侧移动至电饭煲内胆上方，然后下降至电饭煲内胆上，随后松开爪夹，红色方块落入电饭煲内胆中间。", + "time": 17.22915391088083 + }, + { + "time": 19.03941602590206, + "frame": 571, + "progress": 60, + "action_description": "爪夹夹住蓝色方块，向爪夹方向的右方移动", + "state_description": "当前爪夹合拢夹住蓝色方块，与桌面角度呈60°\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：夹住蓝色方块并上升，然后向爪夹方向的右前方移动至电饭煲内胆上方，然后下降至电饭煲内胆上，随后松开爪夹，蓝色方块落入电饭煲内胆中间。", + "progress_explanation": "爪夹夹住蓝色方块，开始向紫色盒子上方移动，进度60%", + "error_success_analysis": "爪夹成功夹住蓝色方块并上升，向紫色盒子上方移动", + "correction_plan": "爪夹抓取蓝色方块后继续竖直上升，向爪夹右前方移动至电饭煲内胆上方，下降放入蓝色方块后松开爪夹" + }, + { + "time": 21.856185817654637, + "frame": 656, + "progress": 40, + "action_description": "爪夹夹紧蓝色方块向右移动，张开爪夹", + "state_description": "爪夹张开，水平上远离了蓝色方块，方块掉落桌上，爪夹角度与桌面呈30度。\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：爪夹向爪夹左前方的蓝色方块移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝色方块的正上方", + "progress_explanation": "爪夹张开，水平上远离了蓝色方块，方块掉落桌上，需要重新抓取蓝色方块，因此进度降低为40%", + "error_success_analysis": "爪夹张开，蓝色方块掉落桌面上，需要重新抓取蓝色方块", + "correction_plan": "调整爪夹角度接近垂直于桌面，并移动到蓝色方块的正上方。接着落下爪夹靠近蓝色方块，接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹右前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方后，松开爪夹，使蓝色方块落入电饭煲内胆。" + }, + { + "time": 23.384433257860824, + "frame": 702, + "progress": 60, + "action_description": "爪夹重新夹住蓝色方块，向爪夹方向的右方移动", + "state_description": "当前爪夹合拢夹住蓝色方块，与桌面角度呈60°\n为完成抓取蓝色方块使其落入电饭煲内胆的任务应当：夹住蓝色方块并上升，然后向爪夹方向的右前方移动至电饭煲内胆上方，然后下降至电饭煲内胆上，随后松开爪夹，蓝色方块落入电饭煲内胆中间。", + "progress_explanation": "爪夹夹住蓝色方块，开始向紫色盒子上方移动，进度60%", + "error_success_analysis": "爪夹成功夹住蓝色方块并上升，向紫色盒子上方移动", + "correction_plan": "爪夹抓取蓝色方块后继续竖直上升，向爪夹右前方移动至电饭煲内胆上方，下降放入蓝色方块后松开爪夹" + }, + { + "time": 25.661821600128864, + "frame": 770, + "progress": 80, + "action_description": "爪夹继续下降，到合适的位置停止", + "state_description": "当前爪夹下降到合适的位置停止。与桌面夹角为60°\n为完成夹起蓝色方块使其放入电饭煲内胆的任务应当:\n松开爪夹，蓝色方块落入电饭煲内胆中间。", + "progress_explanation": "爪夹已到达正确位置，仅需松开爪夹，进度80%", + "error_success_analysis": "爪夹成功下降至正确位置", + "correction_plan": "爪夹松开，让蓝色方块落入电饭煲内胆" + }, + { + "time": 29.066667, + "frame": 872, + "progress": 100, + "action_description": "爪夹松开，蓝色方块落入电饭煲内胆", + "state_description": "当前爪夹松开，与桌面夹角60°。蓝色方块落入电饭煲内胆，任务已经完成。", + "progress_explanation": "爪夹松开，蓝色方块落入电饭煲内胆，进度100%，任务完成", + "error_success_analysis": "爪夹在正确位置松开，蓝色方块成功落入电饭煲内胆", + "correction_plan": "任务已完成" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766626203407", + "name": "胶带", + "color": "#4CAF50" + }, + { + "id": "bbox_1766626215215", + "name": "蓝色方块", + "color": "#FF9800" + }, + { + "id": "bbox_1766626225631", + "name": "电饭煲内胆", + "color": "#2196F3" + }, + { + "id": "bbox_1766626234207", + "name": "紫色盒子", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1766626246737", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766626254022", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..fe186af1d1f31382ac6b8a4e2a7200d552e7fe14 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,210 @@ +{ + "task_description": "把白色插排夹起来放进白色盆里\n爪夹准备开始移动：0%\n爪夹靠近白色插排：20%\n爪夹夹起白色插排：40%\n爪夹移动白色插排：60%\n爪夹将白色插排放入白色盆上：80%\n爪夹松开，白色插排落入白色盆内：100%", + "progress_points": [ + { + "time": 1.7349223025906735, + "frame": 52, + "progress": 0, + "action_description": "爪夹保持张开状态，暂未移动", + "state_description": "当前状态为爪夹打开，没有移动，没有接触白色插排。\n为完成夹起白色插排使其放入白色盆的任务应当:调整爪夹角度使其与桌面有大约60°夹角，然后向爪夹方向的左侧移动至白色插排边缘，准备抓取白色插排。", + "progress_explanation": "爪夹处于初始状态，未移动，进度为0", + "error_success_analysis": "", + "correction_plan": "调整夹爪角度至与桌面呈60°夹角，向爪夹左方移动至白色插排边缘后下降，抓取白色插排后竖直上升，向爪夹右前方移动至白色盆上方，下降放入白色插排后松开爪夹" + }, + { + "action_description": "爪夹张开，正在下降靠近至黄色海绵的边缘", + "correction_plan": "爪夹上升，向后移动，向垂直于白色插排的方向移动，爪夹下降，抓取白色插排后上升，向爪夹有钱方移动至白色盆上方，下降放入白色插排后松开爪夹", + "error_success_analysis": "爪夹向前移动，下降接近黄色海绵，未接触白色插排", + "frame": 155, + "progress": -10, + "progress_explanation": "爪夹向前移动，下降接近黄色海绵，未接触白色插排，因此进度为-10%", + "state_description": "当前爪夹张开，与桌面夹角60°\n为完成夹起白色插排使其放入白色盆的任务应当:\n下降并旋转爪夹角度，准各抓取白色插排。", + "time": 5.152193504663212, + "annotations": { + "bbox_1766634191179": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766634191179_1766634252841_bpdyq77dw", + "x": 0.5711631448695983, + "y": 0.45588100918828367, + "width": 0.12280982295830958, + "height": 0.1325549520280217 + } + ] + }, + "bbox_1766634191659": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766634191659_1766634265761_ibeo6h4jj", + "x": 0.5419227108319056, + "y": 0.5988324280420325, + "width": 0.17544260422615654, + "height": 0.13255495202802184 + } + ] + }, + "bbox_1766634192107": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766634192107_1766634279152_b1ftvglaw", + "x": 0.6725299828669332, + "y": 0.29213665668308036, + "width": 0.1637464306110795, + "height": 0.2079293365145439 + } + ] + }, + "bbox_1766634192570": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766634192570_1766634302344_0x6y9zh6f", + "x": 0.22612602322482395, + "y": 0.515660693436215, + "width": 0.38402436702836473, + "height": 0.4600436570384284 + } + ] + }, + "point_1766634231714": { + "type": "point", + "instances": [ + { + "id": "point_1766634231714_1766634307296_t5ir7xnh8", + "x": 0.4327584237578527, + "y": 0.3545154576374435 + } + ] + }, + "point_1766634234395": { + "type": "point", + "instances": [ + { + "id": "point_1766634234395_1766634309847_6vy40yhzi", + "x": 0.5263278126784694, + "y": 0.3519163409310117 + } + ] + } + } + }, + { + "action_description": "爪夹重新张开，正在下降靠近至白色插排的边缘", + "correction_plan": "爪夹继续下降，抓取白色插排后竖直上升，向爪夹右前方移动至白色盆上方，下降放入白色插排后松开爪夹", + "error_success_analysis": "爪夹成功到达白色插排边缘正上方，准备下降抓取", + "frame": 363, + "progress": 20, + "progress_explanation": "爪夹角度调整完毕，正在下降接近白色插排，进度20%", + "state_description": "当前爪夹张开，与桌面呈60°夹角。\n为完成夹起白色插排使其放入白色盆的任务应当:\n继续向爪夹方向的左侧移动至白色插排边缘，准各抓取白色插排。", + "time": 12.091882715025905 + }, + { + "action_description": "爪夹合拢夹住白色插排并准备上升", + "correction_plan": "爪夹抓取白色插排后继续竖直上升，向爪夹右前方移动至白色盆上方，下降放入白色盆后松开爪夹", + "error_success_analysis": "爪夹旋转至合适角度，向前小幅移动后合拢，成功夹住白色插排", + "frame": 410, + "progress": 40, + "progress_explanation": "爪夹成功夹住白色插排，进度40%", + "state_description": "当前爪夹合拢夹住白色插排，与桌面角度呈60°\n为完成夹起白色插排使其放入白色盆的任务应当:\n夹住白色插排并上升，然后向爪夹方向的右前方移动至白色盆上方，然后下降至白色盆上，随后松开爪夹，白色插排落入白色盆中间。", + "time": 13.669084808290156 + }, + { + "action_description": "爪夹夹住白色插排，向爪夹的左方移动", + "correction_plan": "需要向爪夹右侧移动至蓝色碗上方，下降至白色盆上，松开爪夹让白色插排落入中间", + "error_success_analysis": "爪夹抓到白色插排并上升，向蓝色碗上方移动", + "frame": 435, + "progress": -30, + "progress_explanation": "爪夹夹住白色插排，开始向蓝色碗上方移动，需要向右移动，向白色盆方向移动，因此进度为-60%", + "state_description": "当前爪夹合拢，在桌面的上方。\n为完成夹起白色插排使其放入白色盆的任务应当:\n向爪夹方向的右侧移动至白色盆上方，然后下降至白色盆上，随后松开爪夹，白色插排落入白色盆中间。", + "time": 14.510259258031088 + }, + { + "action_description": "爪夹继续下降，到合适的位置停止", + "correction_plan": "爪夹移动至白色盆正上方后，松开爪夹，使白色插排落入白色盆", + "error_success_analysis": "爪夹到达蓝色碗正上方，未移动到白色盆正上方，需要移动至白色盆", + "frame": 520, + "progress": -40, + "progress_explanation": "爪夹到达蓝色碗正上方，未移动到白色盆正上方，需要移动至白色盆，因此进度为-40%", + "state_description": "当前爪夹下降到蓝色碗正上方的位置停止。与桌面夹角为60°\n为完成夹起白色插排使其放入白色盆的任务应当:\n移动爪夹，向白色盆方向移动至正上方后，松开白色插排落入白色盆中间。", + "time": 17.349223025906735 + }, + { + "action_description": "爪夹松开，白色插排落入蓝色碗", + "correction_plan": "爪夹重修抓取白色插排，向右移动至白色盆正上方后，松开爪夹使白色插排落入白色盆", + "error_success_analysis": "爪夹在蓝色碗上方松开，白色插排落入蓝色碗", + "frame": 579, + "progress": -50, + "progress_explanation": "爪夹松开，白色插排落入蓝色碗，爪夹需要重新抓取白色插排，因此进度为-50%", + "state_description": "当前爪夹松开，白色插排落入蓝色碗，需要重新抓取白色插排", + "time": 19.294438940932643 + }, + { + "action_description": "爪夹重新夹住白色插排，向爪夹方向的右方移动", + "correction_plan": "继续向爪夹右侧移动至白色盆上方，下降至白色盆上，松开爪夹让白色排插落入白色盆", + "error_success_analysis": "爪夹成功夹住白色插排并上升，向白色盆上方移动", + "frame": 670, + "progress": 60, + "progress_explanation": "爪夹夹住白色插排并上升，向白色盆上方移动，进度60%", + "state_description": "当前爪夹合拢，在蓝色碗的上方\n为完成夹起白色插排使其放入白色盆的任务应当：向爪夹方向的右侧移动，然后下降至白色盆上方，随后松开爪夹，白色插排落入白色盆", + "time": 22.343696321243524 + }, + { + "action_description": "爪夹继续下降，到合适的位置停止", + "correction_plan": "爪夹松开，让白色插排落入白色盆", + "error_success_analysis": "爪夹成功下降至正确位置", + "frame": 738, + "progress": 80, + "progress_explanation": "爪夹到达正确位置，仅需要松开爪夹，进度80%", + "state_description": "当前爪夹下降至合适的位置停止。\n为完成夹起白色插排使其落入白色盆的任务应当：松开爪夹，白色插排落入白色盆", + "time": 24.60435265492228 + }, + { + "time": 25.366667, + "frame": 761, + "progress": 100, + "action_description": "爪夹松开，白色插排落入白色盆", + "state_description": "当前爪夹松开，白色插排落入白色盆，任务已完成", + "progress_explanation": "爪夹松开，白色插排落入白色盆，进度100%，任务完成", + "error_success_analysis": "爪夹在正确位置松开，白色插排成功落入白色盆", + "correction_plan": "任务已完成" + } + ], + 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0000000000000000000000000000000000000000..7bbe1bbb68205ad5c1d3feff8d0ed69db684ca24 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-152702-bad-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,426 @@ +{ + "task_description": "拿起蓝色方块，将其放入电饭煲的内锅中：\n爪夹开始移动：0%\n爪夹靠近蓝色方块：20%\n爪夹抓取蓝色方块：40%\n爪夹抓住蓝色方块并接近电饭煲的内锅：60%\n爪夹将蓝色方块放入电饭煲的内锅中：80%\n爪夹松开，使蓝色方块落入电饭煲的内锅中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766643242190": { + "instances": [ + { + "height": 0.30666664171007163, + "id": "bbox_1766643242190_1766643266585_nm45099ay", + "width": 0.23399998571777436, + "x": 0.510666594807947, + "y": 0.5991295797420588 + } + ], + "type": "bbox" + }, + "bbox_1766643242315": { + "instances": [ + { + "height": 0.06666666124131991, + "id": "bbox_1766643242315_1766643279025_wqtd8ab1l", + "width": 0.04499999725341812, + "x": 0.24966661073812188, + "y": 0.42046292761532167 + } + ], + "type": "bbox" + }, + "point_1766643242968": { + "instances": [ + { + "id": "point_1766643242968_1766643287465_3qsbhky4k", + "x": 0.41166660085042717, + "y": 0.37779626442087694 + } + ], + "type": "point" + }, + "point_1766643243109": { + "instances": [ + { + "id": "point_1766643243109_1766643289917_ftbn3itps", + "x": 0.5176665943807011, + "y": 0.3591295992733074 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达蓝色方块正上方后下降，抓取蓝色方块后竖直上升，向爪夹方向的右方移动，直至蓝色方块处于电饭煲的内锅正上方。下降将蓝色方块放入电饭煲的内锅中，松开爪夹，使蓝色方块落入电饭煲的内锅中。", + "error_success_analysis": "", + "frame": 77, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动，没有触碰蓝色方块。\n为完成抓起蓝色方块使其落入电饭煲的内锅中的任务应当：调整爪夹方向直到垂直于桌面，向爪夹方向的右方移动至蓝色方块的正上方。", + "time": 2.5750505160270443 + }, + { + "action_description": "爪夹向爪夹方向的前方微调，并调整爪夹角度，使其接近于垂直桌面", + "annotations": { + "bbox_1766643242190": { + "instances": [ + { + "height": 0.3053333084852452, + "id": "bbox_1766643242190_1766643298678_28dzdux5l", + "width": 0.23299998577880937, + "x": 0.5116665947469119, + "y": 0.6031295794165381 + } + ], + "type": "bbox" + }, + "bbox_1766643242315": { + "instances": [ + { + "height": 0.061333328342014264, + "id": "bbox_1766643242315_1766643307898_hhqy4h903", + "width": 0.04299999737548843, + "x": 0.25066661067708673, + "y": 0.42312959406497447 + } + ], + "type": "bbox" + }, + "point_1766643242968": { + "instances": [ + { + "id": "point_1766643242968_1766643315009_w0ov8eljc", + "x": 0.4246666000569702, + "y": 0.3404629341257378 + } + ], + "type": "point" + }, + "point_1766643243109": { + "instances": [ + { + "id": "point_1766643243109_1766643317172_529ck6xpy", + "x": 0.5346665933431034, + "y": 0.31112960317955707 + } + ], + "type": "point" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达蓝色方块正上方后下降，抓取蓝色方块后竖直上升，向爪夹方向的左前方移动，直至蓝色方块处于电饭煲的内锅正上方。下降将蓝色方块放入电饭煲的内锅中，松开爪夹，使蓝色方块落入电饭煲的内锅中。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向上成功接近蓝色方块，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 129, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近蓝色方块并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，调整爪夹角度。\n为完成抓起蓝色方块使其落入电饭煲的内锅中的任务应当：继续调整爪夹方向直到垂直于桌面，向爪夹方向的左前方移动至蓝色方块的正上方。", + "time": 4.3036071082922795 + }, + { + "action_description": "爪夹向爪夹的右侧移动到蓝色方块正上方。", + "annotations": { + "bbox_1766643242190": { + "instances": [ + { + "height": 0.30799997493489795, + "id": "bbox_1766643242190_1766643322752_r5bd6bbv8", + "width": 0.23299998577880948, + "x": 0.5146665945638065, + "y": 0.5977962465172325 + } + ], + "type": "bbox" + }, + "bbox_1766643242315": { + "instances": [ + { + "height": 0.06266666156684071, + "id": "bbox_1766643242315_1766643333141_h24x0trxj", + "width": 0.04599999719238297, + "x": 0.24866661079915703, + "y": 0.4257962605146272 + } + ], + "type": "bbox" + }, + "point_1766643243109": { + "instances": [ + { + "id": "point_1766643243109_1766643337236_btkt2b0bk", + "x": 0.31866660652669637, 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-154218-good-blue items-express box/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-154218-good-blue items-express box/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..ed10d6ffca74695211e8081be931966255e47d59 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-154218-good-blue items-express box/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,433 @@ +{ + "task_description": "把蓝色商品放进箱子里\n爪夹开始移动：0\n爪夹接近蓝色商品：20%\n爪夹夹起蓝色商品：40%\n爪夹夹紧蓝色商品接近箱子：60%\n爪夹夹起蓝色商品放入箱子：80%\n爪夹松开，蓝色商品落入箱子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1766643231364": { + "instances": [ + { + "height": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..429db5495b0b169618ac06835f542fe6e6d4cb18 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,666 @@ +{ + "task_description": "拿起蓝色方块，将其放入透明塑料圆形容器中：\n爪夹开始移动：0%\n爪夹靠近蓝色方块：20%\n爪夹抓取蓝色方块：40%\n爪夹抓住蓝色方块并接近透明塑料圆形容器：60%\n爪夹将蓝色方块放入透明塑料圆形容器中：80%\n爪夹松开，使蓝色方块落入透明塑料圆形容器中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + 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"调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，到达蓝色方块正上方后下降，抓取蓝色方块后竖直上升，向爪夹方向的左方移动，直至蓝色方块处于透明塑料圆形容器正上方。下降将蓝色方块放入透明塑料圆形容器中，松开爪夹，使蓝色方块落入透明塑料圆形容器中。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动，没有触碰蓝色方块。\n为完成抓起蓝色方块使其落入透明塑料圆形容器中的任务应当：调整爪夹方向直到垂直于桌面，向爪夹方向的前方移动至蓝色方块的正上方。", + "time": 1.3241685156736698 + }, + { + "action_description": "爪夹向爪夹方向的前方微调，并调整爪夹角度，使其接近于垂直桌面", + "annotations": { + "bbox_1766645640155": { + "instances": [ + { + "height": 0.40266663389757223, + "id": "bbox_1766645640155_1766645691962_gzl9ysn1j", + "width": 0.31599998071289176, + "x": 0.68866658394369, + "y": 0.3217962689781682 + } + ], + "type": "bbox" + }, + "bbox_1766645640276": { + "instances": [ + { + "height": 0.0639999947916671, + "id": "bbox_1766645640276_1766645705502_3r6zs0vde", + "width": 0.04399999731445323, + "x": 0.3986666016438842, + "y": 0.6204629113392813 + } + ], + "type": "bbox" + }, + "point_1766645640919": { + 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box/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,642 @@ +{ + "task_description": "将蓝色物品放入快递箱：\n爪夹开始移动：0%\n爪夹靠近蓝色物品：20%\n爪夹抓取蓝色物品：40%\n爪夹抓住蓝色物品并接近快递箱：60%\n爪夹将蓝色物品放入快递箱中：80%\n爪夹松开，使蓝色物品落入快递箱中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766647791860": { + "instances": [ + { + "height": 0.5093332918836839, + "id": "bbox_1766647791860_1766647814632_ier6f9dzt", + "width": 0.3999999755859388, + "x": 0.5516665923055057, + "y": 0.1724629477976116 + } + ], + "type": "bbox" + }, + "bbox_1766647791987": { + "instances": [ + { + "height": 0.35999997070312756, + "id": "bbox_1766647791987_1766647836618_f9whtlq7y", + "width": 0.3499999786376965, + "x": 0.40766660109456776, + "y": 0.60979624554067 + } + ], + "type": "bbox" + }, + "point_1766647792687": { + "instances": [ + { + "id": "point_1766647792687_1766647851754_6zb9ixs8x", + "x": 0.47966659670003675, + "y": 0.36712959862226574 + } + ], + "type": "point" + 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container/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..725ee86058d34f9e74babdcd8680cf6271b1d886 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-160940-bad-blue square-round container/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,520 @@ +{ + "task_description": "抓住蓝色方块将其放在透明盆中：\n爪夹准备开始移动：0%\n爪夹接近蓝色方块：20%\n爪夹触碰蓝色方块：50%\n爪夹抓起并移动蓝色方块：75%\n爪夹将蓝色方块放入透明盆中：85%\n爪夹松开，蓝色方块落入透明盆中：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766048397965": { + "instances": [ + { + "height": 0.05899015644043886, + "id": "bbox_1766048397965_1766048407795_ueuqj5m46", + "width": 0.042005289402698945, + "x": 0.4804560260586319, + "y": 0.5194544152872844 + } + ], + "type": "bbox" + }, + "bbox_1766048412691": { + "instances": [ + { + "height": 0.383531111757472, + "id": 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box/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-161606-bad-blue items-express box/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..0add4eb42227334d3cfef2dd743079dc195d4407 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-161606-bad-blue items-express box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,561 @@ +{ + "task_description": "将带着透明袋子的蓝色桌布放入棕色箱子：\n准备开始移动：0%\n爪夹接近带着透明袋子的蓝色桌布：20%\n爪夹触碰到带着透明袋子的蓝色桌布：50%\n爪夹夹起带着透明袋子的蓝色桌布：75%\n爪夹向靠近棕色箱子：90%\n将带着带着透明袋子的蓝色桌布放入箱子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766120708236": { + "instances": [ + { + "height": 0.3821932681867536, + "id": "bbox_1766120708236_1766120728342_9qpp44c31", + "width": 0.2100977198697068, 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box/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..858fd49757bfa76d6369def1e4ba16e6989b11ff --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-162912-good-mouse-delivery box/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,438 @@ +{ + "task_description": "将鼠标放入棕色箱子里：\n准备开始移动：0%\n爪夹接近鼠标：20%\n爪夹夹住鼠标：50%\n爪夹夹起鼠标：45%\n爪夹移动鼠标至棕色箱子上方：90%\n爪夹松开鼠标落入棕色箱子：100%\n", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766365998787": { + "instances": [ + { + "height": 0.14776719083099746, + "id": "bbox_1766365998787_1766366065770_5270y3g4a", + "width": 0.09278474578910782, + "x": 0.1701053279527292, + "y": 0.5052291810166545 + } + ], + "type": "bbox" + }, + "bbox_1766366000148": { + "instances": [ + { + "height": 0.7327267264870642, + "id": "bbox_1766366000148_1766366075993_0wqqxngfe", + 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"爪夹向前移动，进度提升至10%。", + "state_description": "当前状态为爪夹保持张开。\n为了完成将鼠标放入棕色箱子的任务应当：爪夹向右侧移动，移动至鼠标上方，向下移动，爪夹合拢夹起鼠标。", + "time": 4.191861998451804 + }, + { + "action_description": "爪夹向右侧移动。", + "annotations": { + "bbox_1766365998787": { + "instances": [ + { + "height": 0.16323119917377624, + "id": "bbox_1766365998787_1766366117122_2qn5teboy", + "width": 0.09793945388850271, + "x": 0.1701053279527292, + "y": 0.493201618972271 + } + ], + "type": "bbox" + }, + "bbox_1766366000148": { + "instances": [ + { + "height": 0.716499053215418, + "id": "bbox_1766366000148_1766366122041_91nckka5m", + "width": 0.340210734560062, + "x": 0.6636686284697888, + "y": 0.19938546045947367 + } + ], + "type": "bbox" + }, + "point_1766366001788": { + "instances": [ + { + "id": "point_1766366001788_1766366125440_r0pgqyiw5", + "x": 0.16752797390303178, + "y": 0.439936701347144 + } + ], + "type": "point" + }, + "point_1766366002332": { + "instances": [ + { + "id": "point_1766366002332_1766366128576_rouy6wi4z", + "x": 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+ "name": "棕色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766366001788", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766366002332", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-163146-good-blue-items-white-tary/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-163146-good-blue-items-white-tary/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..9d0240f1ae5d7494ba76ad636144748da36ff27d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-163146-good-blue-items-white-tary/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,392 @@ +{ + "task_description": "将带着透明袋子的蓝色桌布放入白色盆中\n准备开始移动：0%\n爪夹开始接近带着透明袋子的蓝色桌布：20%\n爪夹触碰到带着透明袋子的蓝色桌布：50%\n爪夹夹起带着透明袋子的蓝色桌布：75%\n爪夹向白色盆靠近：90%\n爪夹松开带着透明袋子的蓝色桌布落入白色盆中：100%", + "progress_points": [ + { + "action_description": "爪夹暂没有移动。", + "annotations": { + "bbox_1766130028355": { + "instances": [ + { + "height": 0.2762405173502594, + "id": "bbox_1766130028355_1766130078227_9lrxrb9ox", + "width": 0.30536640442847784, + "x": 0.30932008517003323, + "y": 0.5818810180261186 + } + ], + "type": "bbox" + }, + "bbox_1766130043236": { + "instances": [ + { + "height": 0.7038970065812961, + "id": "bbox_1766130043236_1766130088651_19zaclh6s", + "width": 0.4341185492094935, + "x": 0.5597067802803156, + "y": 0.2500359855634851 + } + ], + "type": "bbox" + }, + "point_1766130050741": { + "instances": [ + { + "id": "point_1766130050741_1766130092107_74buzfb7h", + "x": 0.4348534201954397, + "y": 0.3431053203040174 + } + ], + "type": "point" + }, + "point_1766130051227": { + "instances": [ + { + "id": 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"point_1766130051227", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-164125-mix-mouse-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-164125-mix-mouse-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..22cf27a55dcd42510b3ede2964b17fa762b2cccd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-164125-mix-mouse-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,498 @@ +{ + "task_description": "将鼠标放入棕色箱子\n准备开始移动：0%\n爪夹接近鼠标：20% \n爪夹触碰到鼠标：50%\n爪夹夹起鼠标：75%\n爪夹移动至棕色箱子上方：90%\n爪夹松开鼠标落入棕色箱子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + 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"color": "#FF9800", + "id": "bbox_1766375078476", + "name": "白色盆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766375079420", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766375079925", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-180849-mix-blue-items-white-tary/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-180849-mix-blue-items-white-tary/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..86361135e36e75dc7730a202d060f741589e9831 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-180849-mix-blue-items-white-tary/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,556 @@ +{ + "task_description": "将带着透明袋子的蓝色桌布放入白色盆\n准备开始移动：0%\n接近带着透明袋子的蓝色桌布：20%\n触碰到带着透明袋子的蓝色桌布：50%\n夹起带着透明袋子的蓝色桌布：75%\n将带着透明袋子的蓝色桌布移动到蓝色物品上方：90%\n带着透明袋子的蓝色桌布落入白色盆中：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766385136625": { + "instances": [ + { + "height": 0.276633927020821, + "id": "bbox_1766385136625_1766385222784_53yk0rrqc", + "width": 0.21134303207519006, + "x": 0.5554197583824964, + "y": 0.2803328679812304 + } + ], + "type": "bbox" + }, + "bbox_1766385137080": { + "instances": [ + { + "height": 0.46563847343256193, + "id": "bbox_1766385137080_1766385229271_4fc0xrbtk", + "width": 0.7693401838346856, + "x": 0.09149602943695731, + "y": 0.5088565468245172 + } + ], + "type": "bbox" + }, + "point_1766385138033": { + "instances": [ + { + "id": "point_1766385138033_1766385232686_7zk3xoj32", + "x": 0.4381501491212629, + "y": 0.3473435707999386 + } + ], + "type": "point" + }, + "point_1766385138256": { + "instances": [ + { + "id": 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+ { + "action_description": "爪夹合拢，向左侧移动。", + "annotations": { + "bbox_1766385136625": { + "instances": [ + { + "height": 0.27147925757322794, + "id": "bbox_1766385136625_1766385333394_yiz5vib5a", + "width": 0.21134303207519006, + "x": 0.5515537273079503, + "y": 0.2854875374288233 + } + ], + "type": "bbox" + }, + "bbox_1766385137080": { + "instances": [ + { + "height": 0.4776660354769454, + "id": "bbox_1766385137080_1766385340379_pi9anuz82", + "width": 0.7654741527601395, + "x": 0.09536206051150348, + "y": 0.5071383236753195 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向左侧移动至带着透明袋子的蓝色桌布上方，然后向下移动，合拢爪夹，夹起带着透明袋子的蓝色桌布向上移动，然后向右前侧移动至白色盆上方，稍微向下移动，松开爪夹，带着透明袋子的蓝色桌布落入白色盆中。\n", + "error_success_analysis": "爪夹没有向带着透明袋子的蓝色桌布接近，角度存在问题。", + "frame": 300, + "progress": 10, + "progress_explanation": "爪夹没有向带着透明袋子的蓝色桌布接近的趋势，进度下降至10%。", + "state_description": "当前状态为爪夹合拢。\n为了完成将带着透明袋子的蓝色桌布放入白色盆的任务应当：向左侧移动至带着透明袋子的蓝色桌布上方，然后向下移动，合拢爪夹。\n", + "time": 10.000862688671958 + }, + { + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-182919-bad-blue-items-white-tary/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..0f2928a104c460953f9be9a757bb349826f7f78a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-182919-bad-blue-items-white-tary/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,848 @@ +{ + "task_description": "将带着透明袋子的蓝色桌布放入白色盆中\n准备开始移动：0%\n开始接近带着透明袋子的蓝色桌布：20%\n触碰到带着透明袋子的蓝色桌布：50%\n将带着透明袋子的蓝色桌布夹起：75%\n将带着透明袋子的蓝色桌布夹到白色盆上方：90%\n将带着透明袋子的蓝色桌布放入白色盆中：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766480072585": { + "instances": [ + { + "height": 0.3344191096634093, + "id": "bbox_1766480072585_1766480117112_6ys0egifn", + "width": 0.3127035830618893, + "x": 0.37459283387622155, + "y": 0.28447339847991315 + } + ], + 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--git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-184224-good-blue-items-rice-cooker/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-184224-good-blue-items-rice-cooker/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..4158b9d35a68524615c100a0399b22ff09a174dd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1128/20251127-184224-good-blue-items-rice-cooker/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,372 @@ +{ + "task_description": "将带着透明袋子的蓝色桌布放在电饭锅内胆上面\n准备开始移动：0%\n接近带着透明袋子的蓝色桌布；20%\n触碰到带着透明袋子的蓝色桌布：50%\n夹起带着透明袋子的蓝色桌布：75%\n移动到电饭锅内胆上方：90%\n将带着透明袋子的蓝色桌布放下：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766393765919": { + "instances": [ + 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+ { + "color": "#2196F3", + "id": "point_1766546541378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766546541619", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-102856-mix-blue-items-rice-cooker/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-102856-mix-blue-items-rice-cooker/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..c2bdb8ddd4b963e895e352c32ee9a8333b35d60e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-102856-mix-blue-items-rice-cooker/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,574 @@ +{ + "task_description": "将带着透明袋子的蓝色桌布放入电饭锅内胆里\n准备开始移动：0%\n开始接近带着透明袋子的蓝色桌布：20%\n触碰到带着透明袋子的蓝色桌布：50%\n将带着透明袋子的蓝色桌布夹起：75%\n将带着透明袋子的蓝色桌布移动至电饭锅内胆上方：90%\n将带着透明袋子的蓝色桌布放在电饭锅内胆上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向左后侧移动至带着透明袋子的蓝色桌布上方，向下移动，合拢爪夹，夹住带着透明袋子的蓝色桌布，向上移动，向右前侧移动至电饭锅内胆上方，向下移动，松开爪夹，带着透明袋子的蓝色桌布落在电饭锅内胆上方。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹保持张开。\n为了完成将带着透明袋子的蓝色桌布放入电饭锅内胆的任务应当：向左后侧移动至蓝色物品上方，向下移动，合拢爪夹，夹住带着透明袋子的蓝色桌布，向上移动。", + "time": 1.5078767123287669 + }, + { + "action_description": "向上移动，然后稍微向下移动。", + "annotations": { + "bbox_1766551599701": { + "instances": [ + { + "height": 0.2823018458197612, + "id": "bbox_1766551599701_1766552899995_gz6yigop0", + "width": 0.2475570032573291, + "x": 0.6661237785016286, + "y": 0.25841476655808904 + } + ], + "type": "bbox" + }, + "bbox_1766551600092": { + "instances": [ + { + "height": 0.30184581976112923, + "id": 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0000000000000000000000000000000000000000..495b53183a00a165a597d008ebe4666378efef36 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-104800-bad-blue-items-rice-cooker/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,486 @@ +{ + "task_description": "将带着透明袋子的蓝色桌布放入电饭锅内胆里\n准备开始移动：0%\n开始接近带着透明袋子的蓝色桌布：20%\n触碰到带着透明袋子的蓝色桌布：50%\n将带着透明袋子的蓝色桌布夹起：75%\n将带着透明袋子的蓝色桌布移动至电饭锅内胆上方：90%\n将带着透明袋子的蓝色桌布放在电饭锅内胆上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766556108763": { + "instances": [ + { + "height": 0.21715526601520085, + "id": "bbox_1766556108763_1766556148322_knmbtocmh", + "width": 0.29967426710097717, + "x": 0.6286644951140066, + "y": 0.41042345276872966 + } + ], + "type": "bbox" + }, + "bbox_1766556108955": { + "instances": [ + { + "height": 0.26492942453854507, + "id": "bbox_1766556108955_1766556152564_x09ahkgpi", + "width": 0.21335504885993486, + "x": 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cooker/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..a4427f0292401874ba82573f18939db43370d413 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-112929-mix-mouse-rice cooker/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,887 @@ +{ + "task_description": "将鼠标放入电饭锅内胆中\n准备开始移动：10%\n开始接近鼠标：20%\n触碰到鼠标：50%\n将鼠标夹起：75%\n将鼠标移动至电饭锅内胆上方：90%\n将鼠标放入电饭锅内胆：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766565876337": { + "instances": [ + { + "height": 0.17010409177056687, + "id": "bbox_1766565876337_1766565903800_us49q0g7b", + "width": 0.08891871471456163, + "x": 0.6146989015255375, + "y": 0.5947677042843995 + } + ], + "type": "bbox" + }, + "bbox_1766565876508": { + "instances": [ + { + "height": 0.28007037331921614, + "id": "bbox_1766565876508_1766565908536_jlb39nsjw", + 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0000000000000000000000000000000000000000..3d2d28240388506699174d80e46b407c3c78387b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-133443-good-white items-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,356 @@ +{ + "task_description": "将白色文件夹放入棕色箱子\n准备开始移动：0%\n开始接近白色文件夹：20%\n触碰到白色文件夹：50%\n将白色文件夹夹到空中：75%\n将白色文件夹夹到棕色箱子上方：90%\n将白色文件夹放入棕色箱子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766628324061": { + "instances": [ + { + "height": 0.38660020856947025, + "id": "bbox_1766628324061_1766628364877_10t9a3q80", + "width": 0.32345793323702865, + "x": 0.007732022821790534, + "y": 0.4882378690341455 + } + ], + "type": "bbox" + }, + "bbox_1766628324285": { + "instances": [ + { + "height": 0.5979416559207806, + "id": "bbox_1766628324285_1766628370873_7lu7twyqi", + "width": 0.2783542373673235, + "x": 0.7165043864885863, + "y": 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"当前状态为爪夹张开，朝向白色文件夹。\n为了完成将白色文件夹放入棕色箱子的任务应当：向右侧移动至白色文件夹上方，向下移动，合拢爪夹，夹住白色文件夹。", + "time": 4.780773952412052 + }, + { + "action_description": "向右侧移动，然后向下移动。", + "annotations": { + "bbox_1766628324061": { + "instances": [ + { + "height": 0.396909547464656, + "id": "bbox_1766628324061_1766628406149_hptyr1rx1", + "width": 0.3466541196843056, + "x": 0.005154668772093095, + "y": 0.48651964588494784 + } + ], + "type": "bbox" + }, + "bbox_1766628324285": { + "instances": [ + { + "height": 0.5945052096223853, + "id": "bbox_1766628324285_1766628418683_9bcwxof79", + "width": 0.27448820629277737, + "x": 0.7152157094637376, + "y": 0.12741100770264 + } + ], + "type": "bbox" + }, + "point_1766628325229": { + "instances": [ + { + "id": "point_1766628325229_1766628408571_cmu1n94xh", + "x": 0.13917707935635995, + "y": 0.5311934477640866 + } + ], + "type": "point" + }, + "point_1766628325415": { + "instances": [ + { + "id": "point_1766628325415_1766628410475_p6683h3v9", + "x": 0.22422976299637543, + "y": 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"progress_explanation": "白色文件夹成功落入箱子，进度100%。", + "state_description": "当前状态为爪夹松开，白色文件夹落入棕色箱子。", + "time": 17.90852297107383 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766628324061", + "name": "白色文件夹" + }, + { + "color": "#FF9800", + "id": "bbox_1766628324285", + "name": "棕色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766628325229", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766628325415", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-133516-good-orange items-express box/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-133516-good-orange items-express box/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..ec67211265b90eeb516b369f4fec6a2b798aaefd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-133516-good-orange items-express box/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,454 @@ +{ + "task_description": "将橙色桌布放入棕色箱子\n准备开始移动：0%\n开始接近橙色桌布：20%\n触碰到橙色桌布：50%\n将橙色桌布夹起：75%\n将橙色桌布移至棕色箱子上方：90%\n将橙色桌布放入棕色箱子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766641585850": { + "instances": [ + { + "height": 0.31615305945236666, + "id": "bbox_1766641585850_1766641700688_1oi46gwt2", + "width": 0.28866365356611323, + "x": 0.6933082000413094, + "y": 0.26639616327818183 + } + ], + "type": "bbox" + }, + "bbox_1766641586010": { + "instances": [ + { + "height": 0.4570473576865737, + "id": "bbox_1766641586010_1766641705425_m5ozykca1", + "width": 0.3440767656346082, + "x": 0.34407672630730635, + "y": 0.3763624448268311 + } 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开，接近橙色桌布。\n为了完成将橙色桌布放入棕色箱子的任务应当：向上移动，向右侧移动至棕色箱子上方，向下移动，松开爪夹橙色桌布落入棕色箱子。", + "time": 10.04686883937801 + }, + { + "action_description": "合拢爪夹，向上移动，向右移动，向下移动合拢爪夹。", + "annotations": { + "bbox_1766641585850": { + "instances": [ + { + "height": 0.3350535140935408, + "id": "bbox_1766641585850_1766641774763_avmflkxvi", + "width": 0.2783542373673235, + "x": 0.7177930635134351, + "y": 0.226877030846636 + } + ], + "type": "bbox" + }, + "bbox_1766641586010": { + "instances": [ + { + "height": 0.5051576058641076, + "id": "bbox_1766641586010_1766641770606_kw764sd0w", + "width": 0.3479427967091543, + "x": 0.32732392498427304, + "y": 0.3591802133348547 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向右侧移动至棕色箱子上方，向下移动，松开爪夹橙色桌布落入棕色箱子。", + "error_success_analysis": "爪夹合拢角度正确，成功夹住橙色桌布。", + "frame": 481, + "progress": 50, + "progress_explanation": "爪夹合拢夹住橙色桌布，进度50%。", + "state_description": "当前状态为爪家合拢，夹住橙色桌布。\n为了完成将橙色桌布放入棕色箱子的任务应当：向上移动，向右侧移动至棕色箱子上方，向下移动，松开爪夹橙色桌布落入棕色箱子。", + "time": 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90, + "progress_explanation": "爪夹将橙色桌布夹到棕色箱子上方，进度90%。", + "state_description": "当前状态为爪夹夹着橙色桌布到棕色箱子上方。\n为了完成将橙色桌布放入棕色箱子的任务应当：向下移动，松开爪夹橙色桌布落入棕色箱子。", + "time": 18.90509480291863 + }, + { + "action_description": "爪夹松开，稍微向上。", + "annotations": { + "bbox_1766641585850": { + "instances": [ + { + "height": 0.3780090928234819, + "id": "bbox_1766641585850_1766641828382_xkpu0w6g2", + "width": 0.18170346050366942, + "x": 0.4162426396988347, + "y": 0.33512508924608764 + } + ], + "type": "bbox" + }, + "bbox_1766641586010": { + "instances": [ + { + "height": 0.5034393827149101, + "id": "bbox_1766641586010_1766641832558_oi0tf3swx", + "width": 0.37242766018128004, + "x": 0.31830318581033196, + "y": 0.3488708744396688 + } + ], + "type": "bbox" + }, + "point_1766641586818": { + "instances": [ + { + "id": "point_1766641586818_1766641834339_fti7p8e0x", + "x": 0.4394388261461116, + "y": 0.43134558560115577 + } + ], + "type": "point" + }, + "point_1766641586978": { + "instances": [ + { + "id": 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box/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-134400-mix-orange items-express box/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..edfebd8f64f86a668faa4ea884efeaef4c159479 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-134400-mix-orange items-express box/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,586 @@ +{ + "task_description": "将橙色桌布放入棕色箱子\n准备开始移动：0%\n开始接近橙色桌布：20%\n触碰到橙色桌布：50%\n将橙色桌布夹起：75%\n将橙色桌布移至棕色箱子上方：90%\n将橙色桌布放入棕色箱子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766645840389": { + "instances": [ + { + "height": 0.3264623983475526, + "id": "bbox_1766645840389_1766645883213_4eutcykeu", + "width": 0.20618832397579512, + "x": 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+ { + "color": "#2196F3", + "id": "point_1766645841453", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766645841656", + "name": "爪 夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-135127-mix-white items-delivery box/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-135127-mix-white items-delivery box/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..cebe999bf59be61933091422ea70b2fdde469a64 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-135127-mix-white items-delivery box/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,720 @@ +{ + "task_description": 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box/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,374 @@ +{ + "task_description": "将白色物品放入快递盒\n开始移动0%\n爪夹靠近白色物品20%\n爪夹抓取白色物品40%\n爪夹抓住白色物品靠近快递盒60%\n爪夹将白色物品放入快递盒80%\n爪夹松开，白色物品落入快递盒100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1766996959729": { + "instances": [ + { + "height": 0.4613333333333333, + "id": "bbox_1766996959729_1766996989204_83q5w91ea", + "width": 0.299, + "x": 0.0745, + "y": 0.39866666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766996960236": { + "instances": [ + { + "height": 0.712, + "id": "bbox_1766996960236_1766996993784_q78pbr7ju", + "width": 0.2720000000000001, + "x": 0.7215, + "y": 0.23733333333333334 + } + ], + "type": "bbox" + }, + "point_1766996961256": { + "instances": [ + { + "id": "point_1766996961256_1766996995329_xr2fzmtcw", + "x": 0.3745, + "y": 0.364 + } + ], + "type": "point" + }, + "point_1766996961862": { + "instances": [ + { + "id": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-142122-good-orange-items-white-tary/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-142122-good-orange-items-white-tary/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..4caffec13fdf7cfa2f1882bb8c27268c621be5b3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-142122-good-orange-items-white-tary/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,428 @@ +{ + "task_description": "将橙色物品放入白色托盘\n开始移动0%\n爪夹靠近橙色物品20%\n爪夹抓取橙色物品40%\n爪夹抓住橙色物品靠近白色托盘60%\n爪夹将橙色物品放入白色托盘80%\n爪夹松开，橙色物品落入白色托盘100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-151524-good-orange-items-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-151524-good-orange-items-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..f50344be66716df237d43b3dad4d012f45c9fd34 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-151524-good-orange-items-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,428 @@ +{ + "task_description": "把橙色物品放入透明塑料盒中。\n开始移动0%\n爪夹靠近橙色物品20%\n爪夹抓取橙色物品40%\n爪夹抓取橙色物品接近透明塑料盒60%\n爪夹将橙色物品放入透明塑料盒80%\n爪夹松开，橙色物品落入透明塑料盒100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + 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[ + { + "color": "#2196F3", + "id": "point_1766628044492", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766628051748", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-172721-bad-white items-round container/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-172721-bad-white items-round container/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..12a3ae85f6a3cf61c5d5c953e46725f4c9f4c984 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-172721-bad-white items-round container/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,100 @@ +{ + "task_description": "抓取白色物品放入透明盆里：\n准备开始移动：0%\n爪夹靠近白色物品：20%\n爪夹抓取白色物品：40%\n爪夹抓紧白色物品接近透明盆：60%\n爪夹将白色物品放入透明盆：80%\n爪夹松开白色物品落入透明盆：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹调整角度，使其垂直于桌面，并水平移动至白色物品正上方。接着落下爪夹靠近白色物品，接近白色物品后合拢爪夹抓取白色物品。抓紧白色物品垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆正上方，松开爪夹，使白色物品落入透明盆中。", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "当前爪夹未移动，爪夹张开，爪夹处于初始状态。因此进度为0%", + "state_description": "当前状态为初始状态，爪夹张开，远离白色物品，未开始移动。\n为完成抓取白色物品放入透明盆的任务应当：爪夹调整角度，使其垂直于桌面，并移动至白色物品正上方。", + "time": 2.0093427835051547 + }, + { + "action_description": "调整爪夹角度，使其角度接近垂直于桌面。", + "correction_plan": "爪夹调整角度，使其垂直于桌面，并水平移动至白色物品正上方。接着落下爪夹靠近白色物品，接近白色物品后合拢爪夹抓取白色物品。抓紧白色物品垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆正上方，松开爪夹，使白色物品落入透明盆中。", + "error_success_analysis": "爪夹调整角度接近垂直于桌面，水平上接近了白色物品。", + "frame": 118, + "progress": 10, + "progress_explanation": "爪夹调整角度接近垂直于桌面，水平上接近了白色物品。因此进度提升为10%", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了白色物品。\n为完成抓取白色物品放入透明盆的任务应当：调整爪夹角度，使其角度接近垂直于桌面，并水平移动至白色物品正上方。", + "time": 3.929961340206186 + }, + { + "action_description": "爪夹向正前方移动，爪夹角度垂直于桌面，然后向下移动接近白色物品。\n为完成抓取白色物品放入透明盆的任务应当：\n爪夹合拢，抓取白色物品。抓紧白色物品后垂直升高爪夹并向爪夹左前方的透明盆移动。", + "correction_plan": "爪夹合拢抓取白色物品。抓紧白色物品垂直升高爪夹并向爪夹左前方的透明盆接近。水平到达透明盆正上方后，松开爪夹，使白色物品落入透明盆中。", + "error_success_analysis": "爪夹调整角度接近垂直于桌面，向爪夹正前方移动，然后向下垂直移动靠近白色物品。", + "frame": 142, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，向爪夹正前方移动，然后向下移动靠近白色物品。因此进度提升为20%", + "state_description": "爪夹向正前方移动，调整爪夹角度垂直于桌面，然后向下移动靠近白色物品。\n为完成抓取白色物品放入透明盆的任务应当：\n爪夹合拢，抓取白色物品。抓紧白色物品后垂直升高爪夹并向爪夹左前方的透明盆移动。", + "time": 4.737177835051546 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧白色物品垂直升高爪夹并向爪夹左前方的透明盆接近。水平到达透明盆正上方后，松开爪夹，使白色物品落入透明盆中。", + "error_success_analysis": "爪夹角度垂直于桌面，爪夹靠近白色物品，爪夹合拢抓取到了白色物品。", + "frame": 193, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到白色物品。因此进度提升为40%", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取白色物品。\n为完成抓取白色物品放入透明盆的任务应当：抓紧白色物品垂直升高爪夹并向爪夹左前方的透明盆接近。", + "time": 6.435115979381444 + }, + { + "action_description": "爪夹夹紧白色物品，向爪夹右方移动，调整爪夹角度。", + "correction_plan": "爪夹夹紧白色物品，向爪夹左前方的透明盆移动，到达透明盆正上方后停止，松开爪夹，使白色物品落入透明盆中。", + "error_success_analysis": "爪夹夹紧白色物品后向爪夹右侧移动，未接近透明盆。", + "frame": 256, + "progress": -20, + "progress_explanation": "爪夹夹紧白色物品，向爪夹右侧移动，水平上远离了透明盆。因此进度降低为-20%", + "state_description": "爪夹夹紧白色物品，向爪夹右方移动，到达桌面边缘。\n为完成抓取白色物品放入透明盆的任务应当：爪夹夹紧白色物品，向爪夹左前方移动，到达透明盆正上方停止移动。", + "time": 8.51797002570058 + }, + { + "time": 10.636653253702656, + "frame": 319, + "progress": -30, + "action_description": "爪夹向爪夹左后方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹左后方移动并垂直向下移动，靠近了桌面。\n为完成抓取白色物品放入透明盆的任务应当：调整爪夹角度接近垂直于桌面，垂直向下重新抓取白色物品，爪夹接近白色物品后合拢爪夹，爪夹抓紧白色物品垂直升高并向爪夹左前方的透明盆移动", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹左后方移动并垂直向下移动，靠近了桌面。因此进度为30%", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹向爪夹左后方移动并垂直向下移动，远离了白色物品。", + "correction_plan": "爪夹合拢爪夹抓取白色物品。抓紧白色物品垂直升高爪夹并向爪夹左前方的透明盆接近，水平到达透明盆正上方，松开爪夹，使白色物品落入透明盆中。" + }, + { + "action_description": "爪夹向右移动至桌面边缘张开爪夹，白色物品掉落桌下，爪夹向左移动。", + "correction_plan": "调整爪夹角度接近垂直于桌面，垂直向下重新抓取白色物品，爪夹接近白色物品后合拢爪夹，爪夹抓紧白色物品垂直升高并向爪夹左前方的透明盆移动，到达透明盆正上方后停止，松开爪夹，使白色物品落入透明盆中。", + "error_success_analysis": "爪夹张开，白色物品掉落桌下，需要重新抓取白色物品。", + "frame": 386, + "progress": -50, + "progress_explanation": "爪夹张开，水平上远离了白色物品，白色物品掉落桌下，需要重新抓取白色物品，因此进度降低为-50%", + "state_description": "爪夹向右移动至桌面边缘后，张开爪夹，白色物品掉落桌下，爪夹向左移动。\n为完成抓取白色物品放入透明盆的任务应当：调整爪夹角度接近垂直于桌面，并移动到白色物品的正上方。", + "time": 12.878930412371135 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766733677622", + "name": "白色物品" + }, + { + "color": "#FF9800", + "id": "bbox_1766733684153", + "name": "透明盆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766733692774", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766733699625", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-175142-good-onion-express-box/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-175142-good-onion-express-box/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..a3814881230c0fd25a5a3e07f81283d689ea2365 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-175142-good-onion-express-box/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,358 @@ +{ + "task_description": "抓取洋葱并放进快递箱里：\n准备开始移动：0%\n爪夹靠近洋葱：20%\n爪夹抓取洋葱：40%\n爪夹抓紧洋葱接近快递箱：60%\n爪夹将洋葱放入快递箱：80%\n爪夹松开洋葱落入快递箱：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1766212578817": { + "instances": [ + { + "height": 0.14133333333333328, + "id": "bbox_1766212578817_1766214492441_sp0kp9d6w", + "width": 0.10300000000000002, + "x": 0.366375, + "y": 0.8188645833333333 + } + ], + "type": "bbox" + }, + "bbox_1766212580314": { + "instances": [ + { + "height": 0.5106666666666667, + "id": "bbox_1766212580314_1766214498730_2uwsmjehn", + "width": 0.413, + "x": 0.571375, + "y": 0.18019791666666668 + } + ], + "type": "bbox" + }, + "point_1766212581225": { + "instances": [ + { + "id": "point_1766212581225_1766214510226_7kjbk618d", + "x": 0.450375, + "y": 0.36553125000000003 + } + ], + "type": "point" + }, + "point_1766212581747": { + "instances": [ + { + "id": "point_1766212581747_1766214513897_eug6vk6s3", + "x": 0.545375, + "y": 0.36953125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的洋葱移动，同时调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹的左后方的快递箱接近，水平到达快递箱的正上方后，松开爪夹，使洋葱落入快递箱。", + "error_success_analysis": "", + "frame": 61, + "progress": 0, + "progress_explanation": "当前为初始状态，远离洋葱，未开始移动，因此进度为0%", + "state_description": "当前爪夹处于张开状态，远离洋葱，爪夹还未移动\n为完成抓取洋葱放入快递箱的任务应当：爪夹向爪夹右前方的洋葱移动，同时调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。", + "time": 2.032055214507772 + }, + { + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度\n", + "annotations": { + "bbox_1766212578817": { + "instances": [ + { + "height": 0.1466666666666666, + "id": "bbox_1766212578817_1766214557864_f4mgjm5i7", + "width": 0.11000000000000001, + "x": 0.361375, + "y": 0.8228645833333333 + } + ], + "type": "bbox" + }, + "bbox_1766212580314": { + "instances": [ + { + "height": 0.5080000000000001, + "id": "bbox_1766212580314_1766214564400_qtptqr2qj", + "width": 0.417, + "x": 0.5633750000000001, + "y": 0.18153124999999998 + } + ], + "type": "bbox" + }, + "point_1766212581225": { + "instances": [ + { + "id": "point_1766212581225_1766214573233_aquulky4e", + "x": 0.372375, + "y": 0.7135312500000001 + } + ], + "type": "point" + }, + "point_1766212581747": { + "instances": [ + { + "id": "point_1766212581747_1766214576384_xv9imvd89", + "x": 0.485375, + "y": 0.7295312500000001 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹的左后方的快递箱接近，水平到达快递箱的正上方后，松开爪夹，使洋葱落入快递箱。", + "error_success_analysis": "爪夹垂直向下移动，靠近了洋葱，方便抓取。\n", + "frame": 139, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了洋葱。方便抓取，因此进度提升为20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了洋葱。准备抓取洋葱。\n为完成洋葱使放入快递箱的任务应当：爪夹合拢抓取洋葱，抓紧洋葱垂直升高爪夹并向爪夹左前方的快递箱接近。", + "time": 4.644697633160622 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1766212578817": { + "instances": [ + { + "height": 0.13733333333333336, + "id": "bbox_1766212578817_1766214607737_wr222w85u", + "width": 0.11499999999999995, + "x": 0.362375, + "y": 0.8188645833333333 + } + ], + "type": "bbox" + }, + "bbox_1766212580314": { + "instances": [ + { + "height": 0.5133333333333333, + "id": "bbox_1766212580314_1766214612976_p86h0v22y", + "width": 0.4120000000000001, + "x": 0.568375, + "y": 0.18019791666666668 + } + ], + "type": "bbox" + }, + "point_1766212581225": { + "instances": [ + { + "id": "point_1766212581225_1766214620313_4e58tieuj", + "x": 0.374375, + "y": 0.9041979166666666 + } + ], + "type": "point" + }, + "point_1766212581747": { + "instances": [ + { + "id": "point_1766212581747_1766214623097_fp2sjjlb0", + "x": 0.45137499999999997, + "y": 0.9188645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧洋葱垂直升高爪夹并向爪夹的左后方的快递箱接近，水平到达快递箱的正上方后，松开爪夹，使洋葱落入快递箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到洋葱。\n", + "frame": 194, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到洋葱。因此进度提升为40%。", + "state_description": "爪夹合拢抓取到洋葱，爪夹角度与桌面接近垂直。\n为完成洋葱使放入快递箱的任务应当：抓紧洋葱垂直升高爪夹并向爪夹左后方的快递箱接近。", + "time": 6.463479212242268 + }, + { + "action_description": "爪夹抓紧洋葱，向爪夹左后方开始移动", + "annotations": { + "bbox_1766212578817": { + "instances": [ + { + "height": 0.16133333333333338, + "id": "bbox_1766212578817_1766214657009_7ygefz0j3", + "width": 0.12400000000000003, 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"爪夹抓紧洋葱，爪夹角度接近垂直于桌面，位于快递箱正上方。\n为完成洋葱使放入快递箱的任务应当：松开爪夹，使洋葱落入快递箱。", + "time": 11.268669825906736 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1766212578817": { + "instances": [ + { + "height": 0.10933333333333331, + "id": "bbox_1766212578817_1766214746424_akvmuof9j", + "width": 0.075, + "x": 0.6863750000000001, + "y": 0.41353125 + } + ], + "type": "bbox" + }, + "bbox_1766212580314": { + "instances": [ + { + "height": 0.516, + "id": "bbox_1766212580314_1766214754425_7q5cey4q4", + "width": 0.41, + "x": 0.576375, + "y": 0.17486458333333338 + } + ], + "type": "bbox" + }, + "point_1766212581225": { + "instances": [ + { + "id": "point_1766212581225_1766214763651_sh77b28kl", + "x": 0.714375, + "y": 0.35353124999999996 + } + ], + "type": "point" + }, + "point_1766212581747": { + "instances": [ + { + "id": "point_1766212581747_1766214766249_5l9xkyq5o", + "x": 0.7893749999999999, + "y": 0.29086458333333337 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取洋葱并放进快递箱的任务目标完成。", + "error_success_analysis": "爪夹张开，洋葱落入快递箱。", + "frame": 382, + "progress": 100, + "progress_explanation": "爪夹张开，洋葱落入快递箱，任务完成。因此进度提升为100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取洋葱并放进快递箱的任务目标完成。", + "time": 12.733333 + } + ], + "tags": [ + "custom2" + ], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766212578817", + "name": "洋葱" + }, + { + "color": "#FF9800", + "id": "bbox_1766212580314", + "name": "快递箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766212581225", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766212581747", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-180102-mix-onion-express-box/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-180102-mix-onion-express-box/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..41be875b333b79b2514d1fd8f0cb11a135a8e6f2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251128-180102-mix-onion-express-box/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,170 @@ +{ + "task_description": "抓取洋葱放入纸箱里：\n准备开始移动：0%\n爪夹靠近洋葱：20%\n爪夹抓紧洋葱：40%\n爪夹抓紧洋葱接近纸箱：60%\n爪夹将洋葱放入纸箱：80%\n爪夹松开洋葱落入纸箱：100%", + "progress_points": [ + { + "time": 2.3944457368258383, + "frame": 72, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离洋葱，未开始移动。\n为完成抓取洋葱放入纸箱的任务应当：爪夹向爪夹前方的洋葱移动，同时调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。", + "progress_explanation": "当前为初始状态，远离洋葱，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹前方的洋葱移动，同时调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。" + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹前方的洋葱移动，同时调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了萝卜，远离了洋葱。", + "frame": 128, + "progress": -10, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了萝卜，远离了洋葱，不方便抓取。因此进度降低为-10%", + "state_description": "爪夹角度接近垂直于桌面，靠近了萝卜。准备抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：爪夹向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。爪夹合拢抓取洋葱，抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近。", + "time": 4.275798009128817 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，放下萝卜，然后爪夹向爪夹前方的洋葱移动，同时调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。", + "error_success_analysis": "爪夹合拢抓取到了萝卜，未抓取到洋葱。", + "frame": 210, + "progress": -20, + "progress_explanation": "爪夹合拢抓取到了萝卜，未抓取到洋葱，需要重新抓取。因此进度降低为-20%", + "state_description": "爪夹合拢抓取到萝卜，爪夹角度与桌面接近垂直。\n为完成抓取因此放入纸箱的任务应当：爪夹张开，放下萝卜，然后爪夹向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。爪夹合拢抓取洋葱，抓紧洋葱垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 7.012310405205877 + }, + { + "action_description": "爪夹张开，萝卜落下，爪夹未移动。", + "correction_plan": "爪夹向爪夹前方的洋葱移动，同时调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。", + "error_success_analysis": "爪夹张开，放下萝卜，重新调整角度，爪夹未移动。", + "frame": 280, + "progress": 0, + "progress_explanation": "爪夹张开，放下萝卜，重新调整角度，爪夹未移动。因此进度为0%", + "state_description": "爪夹张开，重新调整角度，未开始移动。\n为完成抓取因此放入纸箱的任务应当：爪夹向爪夹的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。", + "time": 9.321242739395895 + }, + { + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。", + "error_success_analysis": "爪夹垂直向下移动，靠近了洋葱，方便抓取。", + "frame": 334, + "progress": -20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了洋葱，方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了因此，准备抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：爪夹合拢抓取洋葱，抓紧洋葱垂直升高爪夹并向爪夹左侧的纸箱接近。", + "time": 11.117078999321468 + }, + { + "action_description": "爪夹夹紧洋葱，向爪夹的右前方移动。", + "correction_plan": "抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧洋葱，水平上远离了纸箱。", + "frame": 426, + "progress": -30, + "progress_explanation": "爪夹合拢继续夹紧洋葱，到了蓝色盘子正上方，水平上远离了纸箱。因此进度降低为-30%", + "state_description": "爪夹合拢夹紧洋葱，水平上接近了蓝色盘子。\n为完成抓取洋葱放入纸箱的任务应当：爪夹向爪夹左侧纸箱移动，爪夹角度接近垂直于桌面，爪夹水平靠近纸箱，到达纸箱正上方后，松开抓夹，使洋葱落入纸箱。", + "time": 14.195655444908159 + }, + { + "action_description": "爪夹调整角度，垂直向下移动。", + "correction_plan": "爪夹垂直升高，爪夹向爪夹左侧纸箱移动，爪夹角度接近垂直于桌面，爪夹水平靠近纸箱，到达纸箱正上方后，松开抓夹，使洋葱落入纸箱。", + "error_success_analysis": "爪夹移动到了蓝色盘子正上方，远离了纸箱。", + "frame": 477, + "progress": -40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹位于蓝色盘子正上方，远离了纸箱。因此进度降低为-40%", + "state_description": "爪夹夹紧洋葱，爪夹角度接近垂直于桌面，位于蓝色盘子正上方。\n为完成抓取洋葱放入纸箱的任务应当：爪夹垂直升高，爪夹向爪夹左侧纸箱移动，爪夹角度接近垂直于桌面，爪夹水平靠近纸箱，到达纸箱正上方后，松开抓夹，使洋葱落入纸箱。", + "time": 15.905975692456321 + }, + { + "time": 17.87284397713671, + "frame": 536, + "progress": -50, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度垂直于桌面向下。\n为完成抓取因此放入纸箱的任务应当：调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。爪夹合拢抓取洋葱，抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近。", + "progress_explanation": "爪夹张开，洋葱落入蓝色盘子。需要重新抓取。因此进度为-50%", + "error_success_analysis": "爪夹张开，洋葱落入蓝色盘子。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左前方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。" + }, + { + "time": 19.070068150420422, + "frame": 572, + "progress": 20, + "action_description": "爪夹垂直向下移动，调整爪夹角度。", + "state_description": "爪夹角度接近垂直于桌面，靠近了洋葱，重新抓取洋葱。\n为完成抓取洋葱放入纸箱的任务应当：爪夹合拢抓取洋葱，抓紧洋葱垂直升高爪夹并向爪夹左后方的纸箱接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了洋葱。方便重新抓取。因此进度提升为20%", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了洋葱。方便重新抓取。", + "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹左后方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。" + }, + { + "time": 21.37900048461044, + "frame": 641, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到洋葱，爪夹角度与桌面接近垂直。\n为完成抓取洋葱放入纸箱的任务应当：抓紧洋葱垂直升高爪夹并向爪夹左后方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。", + "progress_explanation": "爪夹合拢抓取到洋葱。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便抓取洋葱。", + "correction_plan": "抓紧洋葱垂直升高爪夹并向爪夹左后方的纸箱接近，水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。" + }, + { + "time": 23.687932818800462, + "frame": 711, + "progress": 60, + "action_description": "爪夹夹紧洋葱，向爪夹左后方移动。", + "state_description": "爪夹夹紧洋葱，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取洋葱放入纸箱的任务应当：爪夹移动到纸箱正上方后，松开爪夹，使洋葱落入纸箱。", + "progress_explanation": "爪夹夹紧洋葱，到了纸箱正上方，方便洋葱落入纸箱。因此进度提升为60%", + "error_success_analysis": "爪夹夹紧洋葱，到了纸箱正上方，方便洋葱落入纸箱。", + "correction_plan": "爪夹水平到达纸箱的正上方后，松开爪夹，使洋葱落入纸箱。" + }, + { + "time": 25.227221041593808, + "frame": 757, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧洋葱，爪夹角度接近垂直于桌面，向下移动到合适位置。\n为完成抓取洋葱方松纸箱的任务应当：松开爪夹，使洋葱落入纸箱。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹下降到合适位置，方便洋葱落入纸箱。因此进度为80%", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹下降到合适位置，方便洋葱落入纸箱。", + "correction_plan": "松开爪夹，使洋葱落入纸箱。" + }, + { + "time": 26.7, + "frame": 801, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开，洋葱落入纸箱，任务完成。", + "progress_explanation": "爪夹松开，洋葱落入纸箱，任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，洋葱落入纸箱。", + "correction_plan": "抓取洋葱放入纸箱的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766977909624", + "name": "洋葱", + "color": "#4CAF50" + }, + { + "id": "bbox_1766977915740", + "name": "萝卜", + "color": "#FF9800" + }, + { + "id": "bbox_1766977925382", + "name": "纸箱", + "color": "#2196F3" + }, + { + "id": "bbox_1766977933699", + "name": "蓝色盘子", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1766977944139", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766977944314", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-132843-mix-white spoon-round container/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-132843-mix-white spoon-round container/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..220397b38836c1c7ef9004ff4f6736d7d0fce453 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-132843-mix-white spoon-round container/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,638 @@ +{ + "task_description": "爪夹把白色勺子落入白色碗中\n爪夹准备开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹夹起白色勺子：40%\n爪夹移动白色勺子：60%\n爪夹将白色勺子放在白色碗中：80%\n爪夹松开，白色勺子落入白色碗中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1766648655530": { 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"爪夹向爪夹右前方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹左前方的白色碗接近，水平到达白色碗的正上方后将白色勺子落入白色碗中，松开爪夹，使白色勺子落入白色碗中。", + "error_success_analysis": "无", + "frame": 48, + "progress": 0, + "progress_explanation": "当前为初始状态，远离白色勺子，未开始移动。进度0%。", + "state_description": "当前为初始状态，爪夹张开，未开始移动。为完成抓取白色勺子放入白色碗中任务应当：爪夹向爪夹右前方的白色勺子移动，同时调整爪夹的角度使其垂直与桌面，并移动到白色勺子的正上方。", + "time": 1.5846036122365035 + }, + { + "action_description": "爪夹略微上升，调整爪夹角度后下降。", + "annotations": { + "bbox_1766648655530": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766648655530_1766733156505_b1v517ba5", + "x": 0.155090951848813, + "y": 0.4475946985880534, + "width": 0.22000001342773512, + "height": 0.1693333333333334 + } + ] + }, + "bbox_1766658252272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766658252272_1766733195072_76nak8bbf", + "x": 0.2810909595392431, + "y": 0.48892803192138673, + "width": 0.3240000197753917, + "height": 0.43333333333333335 + } + ] + }, + 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"frame": 254, + "progress": 0, + "progress_explanation": "爪夹张开，准备移动，进度为 0", + "state_description": "爪夹张开，准备开始移动。为完成抓取白色勺子落入白色碗中的任务应当：爪夹向爪夹右前方移动，同时调整爪夹的角度，并移动到白色勺子的正上方。", + "time": 8.456683718128556 + }, + { + "action_description": "爪夹合拢向下抓住白色勺子", + "annotations": { + "bbox_1766648655530": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766648655530_1766983503878_8uuirigiq", + "x": 0.09009094788152758, + "y": 0.34335227457682294, + "width": 0.15400000939941463, + "height": 0.4626666666666666 + } + ] + }, + "bbox_1766658252272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766658252272_1766983518566_abhwkw0qi", + "x": 0.29209096021062986, + "y": 0.49535227457682296, + "width": 0.3230000197143567, + "height": 0.4333333333333333 + } + ] + }, + "point_1766658311463": { + "type": "point", + "instances": [ + { + "id": "point_1766658311463_1766983530741_7o22z0bf9", + "x": 0.25509095697576645, + "y": 0.42468560693359386 + } + ] + } + }, + "correction_plan": "爪夹抓取白色勺子向白色碗方向移动，白色勺子放入白色碗中，松开爪夹，使白色勺子落入白色碗中。", + "error_success_analysis": "爪夹合拢向下抓住白色勺子，成功抓取白色勺子。", + "frame": 358, + "progress": 40, + "progress_explanation": "爪夹合拢向下抓住白色勺子成功抓住白色勺子。因此进度提升到 40%。", + "state_description": "爪夹合拢向下抓住白色勺子。为完成抓取白色勺子放入白色碗中的任务应当：白色勺子对应白色碗，松开爪夹，使白色勺子落入白色碗中。", + "time": 11.948685567010308 + }, + { + "action_description": "爪夹合拢抓紧白色勺子，向左方移动。", + "annotations": { + "bbox_1766648655530": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766648655530_1766993286382_slrnepqt9", + "x": 0.6290909807794788, + "y": 0.15389773559570313, + "width": 0.2870000175170909, + "height": 0.28533333333333327 + } + ] + }, + "bbox_1766658252272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766658252272_1766993297614_qdsf3ll7l", + "x": 0.29309096027166504, + "y": 0.49523106892903646, + "width": 0.32300001971435666, + "height": 0.4333333333333334 + } + ] + }, + "point_1766658343886": { + "type": "point", + "instances": [ + { + "id": 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"progress_explanation": "爪夹张开，靠近了白色勺子，方便抓取白色勺子。因此进度提升为 20%。", + "state_description": "爪夹张开，靠近了白色勺子。为完成抓取白色勺子使其落入白色碗中的任务应当：接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹右前方的白色碗靠近。", + "time": 17.080644329896906 + }, + { + "time": 19.8596, + "frame": 596, + "progress": 20, + "action_description": "爪夹张开向爪夹右前方白色碗移动，再向下移动，接近白色勺子。", + "state_description": "爪夹夹紧向爪夹右前方白色碗移动，再向下移动，接近白色勺子。为完成抓取白色勺子放入白色碗中的任务应当：夹取白色勺子对应白色碗，松开爪夹，使白色勺子落入白色碗中。", + "progress_explanation": "爪夹张开向爪夹右前方白色碗移动，再向下移动，接近白色勺子。因此进度为20%", + "error_success_analysis": "爪夹张开向爪夹右前方白色碗移动，再向下移动，接近白色勺子，方便抓取。", + "correction_plan": "爪夹合拢抓取白色勺子，抓紧白色勺子垂直升高爪夹并向爪夹右前方的白色碗接近，水平到达白色碗的正上方后，松开爪夹，使白色勺子落入白色碗中。" + }, + { + "action_description": "爪夹合拢向下抓住白色勺子", + "annotations": { + "bbox_1766648655530": { + "instances": [ + { + "height": 0.14533333333333331, + "id": "bbox_1766648655530_1766997223777_t2kjtvttg", + "width": 0.2500000152587899, + "x": 0.6080909794977405, + "y": 0.28989773559570314 + } + ], + "type": "bbox" + }, + "bbox_1766658252272": { + 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"annotations": { + "bbox_1766648655530": { + "instances": [ + { + "height": 0.18000000000000002, + "id": "bbox_1766648655530_1766998067438_vikagux8n", + "width": 0.14800000903320357, + "x": 0.48509097199041584, + "y": 0.36723106892903645 + } + ], + "type": "bbox" + }, + "bbox_1766658252272": { + "instances": [ + { + "height": 0.43333333333333335, + "id": "bbox_1766658252272_1766998086278_e149rr6f0", + "width": 0.32400001977539183, + "x": 0.29309096027166504, + "y": 0.4952310689290365 + } + ], + "type": "bbox" + }, + "point_1766658311463": { + "instances": [ + { + "id": "point_1766658311463_1766998093694_3c4gay5hl", + "x": 0.5580909764459825, + "y": 0.40056440226236983 + } + ], + "type": "point" + }, + "point_1766658343886": { + "instances": [ + { + "id": "point_1766658343886_1766998096270_r64spg0at", + "x": 0.5080909733942244, + "y": 0.4298977355957031 + } + ], + "type": "point" + } + }, + "correction_plan": "白色勺子对应白色碗，松开爪夹，使白色勺子落入白色碗。", + "error_success_analysis": "爪夹合拢向爪夹右前方白色碗移动，并垂直升高，移动到了白色碗正上方，接近了白色碗。", + "frame": 692, + "progress": 60, + "progress_explanation": "爪夹合拢向爪夹右前方白色碗移动，并垂直升高，移动到了白色碗正上方，接近了白色碗。因此进度提升到 60%。", + "state_description": "爪夹合拢向爪夹右前方白色碗移动，并垂直升高，移动到了白色碗正上方。\n为完成抓取白色勺子相应的白色碗使其落入白色碗的任务：白色勺子对应白色碗，松开爪夹，使白色勺子落入白色碗。", + "time": 23.056 + }, + { + "action_description": "爪夹合拢，抓取白色勺子，向下垂直移动。", + "annotations": { + "bbox_1766648655530": { + "instances": [ + { + "height": 0.1759999999999999, + "id": "bbox_1766648655530_1766998484920_xw8twbw7a", + "width": 0.2340000142822274, + "x": 0.33809096301824726, + "y": 0.6845644022623698 + } + ], + "type": "bbox" + }, + "bbox_1766658252272": { + "instances": [ + { + "height": 0.4333333333333334, + "id": "bbox_1766658252272_1766998497225_0d3n6u9cg", + "width": 0.32500001983642696, + "x": 0.2860909598444189, + "y": 0.49656440226236975 + } + ], + "type": "bbox" + }, + "point_1766658311463": { + "instances": [ + { + "id": "point_1766658311463_1766998507193_npye4e4q7", + "x": 0.5600909765680527, + 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"bbox_1766658252272_1766713713128_fn0l0vd01", + "width": 0.325000019836427, + "x": 0.2910909601495947, + "y": 0.49463257598876953 + } + ], + "type": "bbox" + }, + "point_1766658311463": { + "instances": [ + { + "id": "point_1766658311463_1766713635329_d97yrbllk", + "x": 0.4080909672907084, + "y": 0.45160227457682295 + } + ], + "type": "point" + }, + "point_1766658343886": { + "instances": [ + { + "id": "point_1766658343886_1766713665898_9d0ugxk85", + "x": 0.5260909744928572, + "y": 0.41463257598876957 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，白色勺子落入白色碗中，任务完成。", + "frame": 784, + "progress": 100, + "progress_explanation": "爪夹张开，白色勺子落入白色碗中，任务完成。因此进度100%。", + "state_description": "爪夹张开，角度垂直向下于桌面，任务完成。", + "time": 26.12142709768564 + } + ], + "tags": [ + "pause" + ], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766648655530", + "name": "白色勺子" + }, + { + "color": "#FF9800", + "id": "bbox_1766658252272", + "name": "白色碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766658311463", + "name": "爪夹右" + }, + { + "color": "#F44336", + "id": "point_1766658343886", + "name": "爪夹左" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-133129-mix-onion-rice-cooker/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-133129-mix-onion-rice-cooker/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..e119cdb7c2aa51a9c4dc7d47afa7d54b40b7f5fd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-133129-mix-onion-rice-cooker/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,130 @@ +{ + "task_description": "抓取洋葱使其落入电饭煲内胆：\n开始准备移动：0%\n爪夹靠近洋葱：20%\n爪夹抓取洋葱：40%\n爪夹抓紧洋葱接近电饭煲内胆：60%\n爪夹将洋葱放入电饭煲内胆：80%\n爪夹松开洋葱落入电饭煲内胆：100%", + "progress_points": [ + { + "time": 1.8992281873880814, + "frame": 57, + "progress": 0, + "action_description": "爪夹张开，未开始移动当前为初始状态，爪夹张开，远离洋葱，未开始移动。", + "state_description": "为完成夹起洋葱使其放入电饭煲内胆的任务应当:调整爪夹角度使其与桌面有大约60°夹角，然后向爪夹方向的右侧移动至洋葱边缘，准备抓取洋葱。", + "progress_explanation": "爪夹处于初始状态，未移动，进度为0", + "error_success_analysis": "", + "correction_plan": "调整夹爪角度至与桌面呈60°夹角，向爪夹右方移动至洋葱边缘后下降，抓取洋葱后竖直上升，向爪夹前方移动至电饭煲内胆上方，下降放入洋葱后松开爪夹" + }, + { + "action_description": "爪夹张开，正在下降靠近至洋葱的边缘", + "correction_plan": "爪夹继续下降，抓取洋葱后竖直上升，向爪夹右前方移动至电饭煲内胆上方，下降放入洋葱后松开爪夹", + "error_success_analysis": "爪夹成功到达洋葱边缘正上方，准备下降抓取", + "frame": 218, + "progress": 20, + "progress_explanation": "爪夹角度调整完毕，正在下降接近洋葱，进度20%", + "state_description": "当前爪夹张开，与桌面夹角60°\n为完成夹起洋葱使其放入电饭煲内胆的任务应当:\n下降并旋转爪夹角度，准备抓取洋葱。", + "time": 7.266619316953448 + }, + { + "action_description": "爪夹合拢夹住洋葱并准备上升", + "correction_plan": "继续向爪夹右侧移动至电饭煲内胆上方，下降至电饭煲内胆上，松开爪夹让洋葱落入中间", + "error_success_analysis": "爪夹旋转至合适角度，向前小幅移动后合拢，成功夹住洋葱", + "frame": 312, + "progress": 40, + "progress_explanation": "爪夹成功夹住洋葱，进度40%", + "state_description": "当前爪夹合拢夹住洋葱，与桌面角度呈60°\n为完成夹起洋葱使其放入电饭煲内胆的任务应当:\n夹住洋葱并上升，然后向爪夹方向的右前方移动至电饭煲内胆上方，然后下降至电饭煲内胆上，随后松开爪夹，洋葱落入电饭煲内胆中间。", + "time": 10.404478746545507 + }, + { + "action_description": "爪夹夹住洋葱，向爪夹方向的左方移动", + "correction_plan": "爪夹夹取洋葱向爪夹右方移动至电饭煲内胆上方停止，松开爪夹，使洋葱落入电饭煲内胆", + "error_success_analysis": "爪夹夹取洋葱向左前方移动，远离了电饭煲内胆", + "frame": 443, + "progress": -30, + "progress_explanation": "爪夹夹住洋葱向左前方移动，并垂直升高，移动到了桌面上方，未接近电饭煲内胆，因此进度降低为-30%", + "state_description": "当前爪夹合拢，在桌面的上方。\n为完成抓取洋葱使其落入电饭煲内胆的任务应当：将洋葱移动到电饭煲内胆正上方，松开爪夹，使洋葱落入电饭煲内胆\n", + "time": 14.78096689834496 + }, + { + "action_description": "爪夹张开", + "correction_plan": "调整爪夹的角度接近垂直于桌面，并移动到洋葱的正上方，接着落下爪夹靠近洋葱，爪夹合拢后，抓取洋葱，抓紧洋葱垂直升高爪夹并向爪夹右侧移动，水平到达电饭煲内胆正上方后，松开爪夹，使洋葱落入电饭煲内胆", + "error_success_analysis": "爪夹张开，洋葱掉落在桌面上，需要重新抓取", + "frame": 495, + "progress": -50, + "progress_explanation": "爪夹张开，洋葱掉落在桌面上，需要重新抓取洋葱，因此进度为-50%", + "state_description": "爪夹垂直于桌面，爪夹张开，洋葱掉落在桌面上\n为完成抓取洋葱使其落入电饭煲内胆的任务应当：移动爪夹至洋葱正上方，再次抓取洋葱，抓取完成后向右移动至电饭煲内胆正上方，松开爪夹，使洋葱落入电饭煲内胆", + "time": 16.51504710943531 + }, + { + "action_description": "爪夹向左后方移动，爪夹角度接近垂直于桌面，垂直向下移动。", + "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹前方的电饭煲内胆接近。水平到达电饭煲内胆的正上方后，松开爪夹，使洋葱落入电饭煲内胆。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了洋葱，方便抓取洋葱。", + "frame": 550, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹左后方移动并垂直向下移动，靠近了洋葱。方便抓取。因此进度提升为20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹左后方移动并垂直向下移动，靠近洋葱\n为完成抓取洋葱使其落入电饭煲内胆的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹前方的电饭煲内胆接近", + "time": 18.331702568672817 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧洋葱垂直升高爪夹并向爪夹前方的电饭煲内胆接近。水平到达电饭煲内胆的正上方后，松开爪夹，使洋葱落入电饭煲内胆。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了洋葱，爪夹合拢抓取到了洋葱。", + "frame": 637, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到洋葱。因此进度提升为40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取洋葱。\n为完成抓取洋葱使其落入电饭煲内胆的任务应当：抓紧洋葱垂直升高爪夹并向爪夹前方的电饭煲内胆接近。", + "time": 21.2218362538234 + }, + { + "time": 22.87334121676659, + "frame": 686, + "progress": 60, + "action_description": "爪夹抓紧洋葱，向爪夹前方移动", + "state_description": "爪夹夹紧洋葱，爪夹角度接近垂直于桌面，位于电饭煲内胆正上方。\n为完成抓取洋葱使其落入电饭煲内胆的任务应当：将洋葱移动到电饭煲内胆正上方，松开爪夹，使洋葱落入电饭煲内胆。", + "progress_explanation": "爪夹夹紧洋葱，到了爪夹前方电饭煲内胆正上方，方便落入电饭煲内胆。因此进度提升为60%。", + "error_success_analysis": "爪夹移动到了电饭煲内胆正上方，方便将洋葱放入电饭煲内胆。", + "correction_plan": "将洋葱移动至电饭煲内胆正上方，松开爪夹，使洋葱落电饭煲内胆。" + }, + { + "time": 26.09377589450581, + "frame": 783, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧洋葱，爪夹角度接近垂直于桌面，洋葱放入电饭煲内胆。\n为完成抓取洋葱使其落入电饭煲内胆的任务应当：松开爪夹，使洋葱落入电饭煲内胆。", + "progress_explanation": "爪夹角度接近垂直于桌面，洋葱移动至电饭煲内胆正上方。因此进度提升为80%。", + "error_success_analysis": "洋葱移动至电饭煲内胆正上方，方便洋葱落入电饭煲内胆。", + "correction_plan": "松开爪夹，使洋葱落入电饭煲内胆" + }, + { + "time": 27.433333, + "frame": 823, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开，洋葱落入电饭煲内胆的任务目标完成。", + "progress_explanation": "爪夹张开，洋葱落入电饭煲内胆，任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，因此落入电饭煲内胆。", + "correction_plan": "任务完成" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766644411307", + "name": "洋葱", + "color": "#4CAF50" + }, + { + "id": "bbox_1766644421878", + "name": "电饭煲内胆", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766644428138", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766644440885", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-134742-bad-onion-rice-cooker/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-134742-bad-onion-rice-cooker/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..c17cbab30cbbdca7c611c4f4272b21adff71a86d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-134742-bad-onion-rice-cooker/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,136 @@ +{ + "task_description": "抓取洋葱放入电饭煲内胆里：\n开始准备移动：0%\n爪夹靠近洋葱：20%\n爪夹抓取洋葱：40%\n爪夹抓紧洋葱接近洋葱：60%\n爪夹将洋葱放入电饭煲内胆：80%\n爪夹松开洋葱落入电饭煲内胆：100%", + "progress_points": [ + { + "time": 1.341834225902062, + "frame": 40, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离洋葱，未开始移动。\n为完成抓取洋葱放入电饭煲内胆的任务应当：爪夹向爪夹左前方的洋葱移动，同时调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。", + "progress_explanation": "当前为初始状态，爪夹张开，远离洋葱，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左前方的洋葱移动，同时调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方，松开爪夹，使洋葱落入电饭煲内胆。" + }, + { + "action_description": "爪夹向爪夹左前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "correction_plan": "爪夹向爪夹左前方的洋葱移动，同时调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方，松开爪夹，使洋葱落入电饭煲内胆。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了洋葱。", + "frame": 84, + "progress": 10, + "progress_explanation": "爪夹向爪夹左前方移动，爪夹角度接近垂直于桌面。水平上接近了洋葱。因此进度提升为10%。", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了洋葱。\n为完成抓取洋葱放入电饭煲内胆的任务应当：爪夹向爪夹左前方的洋葱移动，同时调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。", + "time": 2.8163016166237114, + "annotations": { + "bbox_1766657649078": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766657649078_1766657683421_n5sziybgf", + "x": 0.5945554920997524, + "y": 0.6742068125285547, + "width": 0.1208604606891301, + "height": 0.15594700238590786 + } + ] + }, + "bbox_1766657649622": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766657649622_1766657692581_5wf7couxn", + "x": 0.3021511517228251, + "y": 0.6352200619320778, + "width": 0.2787588044926708, + "height": 0.3534798720747246 + } + ] + }, + "point_1766657663157": { + "type": "point", + "instances": [ + { + "id": "point_1766657663157_1766657696476_cvqomqj0k", + "x": 0.4327584237578527, + "y": 0.33892075739885275 + } + ] + }, + "point_1766657669668": { + "type": "point", + "instances": [ + { + "id": "point_1766657669668_1766657699748_wp1ug7lmp", + "x": 0.539973348562726, + "y": 0.3259251738666938 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "correction_plan": "爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方，松开爪夹，使洋葱落入电饭煲内胆。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了洋葱，方便抓取洋葱。", + "frame": 125, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹左前方移动并垂直向下移动，靠近了洋葱。方便抓取。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹左前方移动并垂直向下移动，靠近了洋葱。\n为完成抓取洋葱放入电饭煲内胆的任务应当：爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹前方的电饭煲内胆接近。", + "time": 4.152968316623712 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧洋葱垂直升高爪夹并向爪夹前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方，松开爪夹，使洋葱落入电饭煲内胆。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了洋葱，爪夹合拢抓取到了洋葱。\n", + "frame": 170, + "progress": 30, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到洋葱。因此进度提升为30%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取洋葱。\n为完成抓取洋葱放入电饭煲内胆的任务应当：抓紧洋葱垂直升高爪夹并向爪夹前方的电饭煲内胆接近。", + "time": 5.68255598363402 + }, + { + "action_description": "爪夹夹紧洋葱，垂直升高，向爪夹前方的电饭煲内胆移动，调整爪夹角度。", + "correction_plan": "调整爪夹角度接近垂直于桌面，松开爪夹，使洋葱落入电饭煲内胆。", + "error_success_analysis": "爪夹夹紧洋葱，移动到了爪夹前方的电饭煲内胆正上方，水平上接近了电饭煲内胆。", + "frame": 197, + "progress": 40, + "progress_explanation": "爪夹夹紧洋葱，移动到了爪夹前方的电饭煲内胆正上方，水平上接近了电饭煲内胆。因此进度提升为40%。\n", + "state_description": "爪夹夹紧洋葱，移动到爪夹前方的电饭煲内胆正上方，调整爪夹角度水平呈30度。\n为完成抓取洋葱放入电饭煲内胆的任务应当：调整爪夹角度接近垂直于桌面，将洋葱放入电饭煲内胆。", + "time": 6.550700335180412 + }, + { + "time": 11.745786375386597, + "frame": 352, + "progress": -50, + "action_description": "爪夹夹紧洋葱，向爪夹上方移动，张开爪夹。", + "state_description": "爪夹张开，水平上远离了洋葱，洋葱掉落桌面下，爪夹角度与桌面呈30度。\n为完成抓取洋葱放入电饭煲内胆的任务应当：：调整爪夹角度接近垂直于桌面，并移动到电饭煲内胆的正上方。", + "progress_explanation": "爪夹张开，水平上远离了洋葱，洋葱掉落桌面下，需要重新抓取洋葱，因此进度降低为-50%。", + "error_success_analysis": "爪夹张开，洋葱掉落屏幕外，需要重新抓取洋葱", + "correction_plan": "调整爪夹的角度使其垂直与桌面，并移动到洋葱的正上方。接着落下爪夹靠近洋葱，接近洋葱后爪夹合拢抓取洋葱。抓紧洋葱垂直升高爪夹并向爪夹前方的电饭煲内胆接近，水平到达电饭煲内胆的正上方，松开爪夹，使洋葱落入电饭煲内胆。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766657649078", + "name": "洋葱", + "color": "#4CAF50" + }, + { + "id": "bbox_1766657649622", + "name": "电饭煲内胆", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766657663157", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766657669668", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-135337-good-white spoon-plate/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-135337-good-white spoon-plate/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..f3c39d8575a4cde26e4a65bed9b21ac705235e61 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-135337-good-white spoon-plate/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,438 @@ +{ + "task_description": "抓起勺子使其落入盘中\n开始移动0%\n爪夹靠近勺子20%\n爪夹抓取勺子40%\n爪夹抓住勺子靠近盘子60%\n爪夹将勺子放入盘子80%\n爪夹松开，勺子落入盘子100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1766478829269": { + "instances": [ + { + "height": 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{ + "color": "#FF9800", + "id": "bbox_1766542955367", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766542959187", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766542965760", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-143746-bad-onion-plate/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-143746-bad-onion-plate/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..02a8b8270efd0ac9c51db050144f7eb6c00cda26 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-143746-bad-onion-plate/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,652 @@ +{ + "task_description": "抓取洋葱使其放在盘子上：\n开始移动0%\n爪夹靠近洋葱20%\n爪夹抓取洋葱40%\n爪夹抓取洋葱接近盘子60%\n爪夹将洋葱放入盘子80%\n爪夹松开，洋葱落入盘子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1766457189363": { + "instances": [ + { + "height": 0.10533333333333333, + "id": "bbox_1766457189363_1766459216360_sgswwehpb", + "width": 0.08899999999999997, + "x": 0.6275000000000001, + "y": 0.4906666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766457206751": { + "instances": [ + { + "height": 0.20933333333333332, + "id": "bbox_1766457206751_1766459231963_vv392ynbd", + "width": 0.1900000000000001, + "x": 0.8015000000000001, + "y": 0.324 + } + ], + "type": "bbox" + }, + "point_1766457131755": { + "instances": [ + { + "id": "point_1766457131755_1766459210284_l2qni52lk", + "x": 0.4615, + "y": 0.364 + } + ], + "type": "point" + }, + "point_1766457151051": { + "instances": [ + { + "id": "point_1766457151051_1766459198642_sjvr9hsrg", + "x": 0.5565, + "y": 0.3466666666666667 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"id": "point_1766457131755", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766457151051", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-150240-good-hammer-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-150240-good-hammer-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..6efa91906a644e6da14d2669ea6eeb14fb09ae84 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-150240-good-hammer-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,406 @@ +{ + "task_description": "拿起锤子，把它放到快递箱里\n开始移动0%\n爪夹靠近锤子20%\n爪夹抓取锤子40%\n爪夹抓取锤子接近快递箱60%\n爪夹将锤子放入快递箱80%\n爪夹松开，锤子落入快递箱100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达锤子正上方后竖直下降，抓取锤子后竖直上升，继续向爪夹方向的右后方移动，直至锤子处于快递箱的正上方。下降将锤子放入快递箱中，松开爪夹。", + "error_success_analysis": "", + "frame": 103, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触锤子。\n为了完成拿起锤子，把它放到快递箱里的任务应该：调整爪夹角度，使其垂直于桌面", + "time": 3.433333333333333, + "annotations": { + "point_1766471444995": { + "type": "point", + "instances": [ + { + "id": "point_1766471444995_1766471477133_djvje5lob", + "x": 0.4175, + "y": 0.30400000000000005 + } + ] + }, + "point_1766471453814": { + "type": "point", + "instances": [ + { + "id": "point_1766471453814_1766471480467_ctynrbzac", + "x": 0.5275000000000001, + "y": 0.264 + } + ] + }, + "bbox_1766471378402": { + "type": "bbox", + "instances": [ + { + "id": 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"把洋葱放进碗里。\n开始移动0%\n爪夹靠近洋葱20%\n爪夹抓取洋葱40%\n爪夹抓取洋葱接近碗60%\n爪夹将洋葱放入碗80%\n爪夹松开，洋葱落入碗100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1766545987607": { + "instances": [ + { + "height": 0.10399999999999997, + "id": "bbox_1766545987607_1766546138387_8th72q60k", + "width": 0.08199999999999993, + "x": 0.5475000000000001, + "y": 0.52 + } + ], + "type": "bbox" + }, + "bbox_1766545992359": { + "instances": [ + { + "height": 0.2586666666666667, + "id": "bbox_1766545992359_1766546148319_sccmi94ki", + "width": 0.205, + "x": 0.5705, + "y": 0.6053333333333334 + } + ], + "type": "bbox" + }, + "point_1766545995525": { + "instances": [ + { + "id": "point_1766545995525_1766546156255_pjos6pxgq", + "x": 0.4535, + "y": 0.372 + } + ], + "type": "point" + }, + "point_1766546003496": { + "instances": [ + { + "id": "point_1766546003496_1766546159581_bzj80mrhu", + "x": 0.5505, + "y": 0.364 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前移动，到达洋葱正上方后竖直下降，抓取洋葱后竖直上升，继续向爪夹方向的前方移动，直至洋葱处于碗的正上方。下降将洋葱放入碗中，松开爪夹使洋葱落入碗中", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触洋葱。\n为了完成把洋葱放进碗里的任务应该：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左前移动", + "time": 1.879639175257732 + }, + { + "action_description": "爪夹开始向前运动并调整爪夹角度垂直于桌面", + "annotations": { + "bbox_1766545987607": { + "instances": [ + { + "height": 0.0986666666666667, + "id": "bbox_1766545987607_1766546424202_7lfbghmct", + "width": 0.08099999999999996, + "x": 0.5475000000000001, + "y": 0.5213333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766545992359": { + "instances": [ + { + "height": 0.26666666666666666, + "id": "bbox_1766545992359_1766546429983_6tas14fp0", + "width": 0.20700000000000013, + "x": 0.5694999999999999, + "y": 0.6013333333333333 + } + ], + "type": "bbox" + }, + "point_1766545995525": { + "instances": [ + { + "id": 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"correction_plan": "爪夹抓取洋葱继续竖直上升，继续向爪夹方向的前方移动，直至洋葱处于碗的正上方。下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。", + "error_success_analysis": "爪夹成功闭合夹取洋葱", + "frame": 193, + "progress": 40, + "progress_explanation": "爪夹闭合成功抓取洋葱，进度提升为40%", + "state_description": "爪夹当前成功夹取洋葱，向爪夹的左前方移动\n为了完成把洋葱放进碗里的任务应该：爪夹继续向左前方移动至碗的正上方", + "time": 6.433333333333334 + }, + { + "action_description": "爪夹打开洋葱掉落", + "annotations": { + "bbox_1766545987607": { + "instances": [ + { + "height": 0.08000000000000007, + "id": "bbox_1766545987607_1766546971195_xzpwkbrfd", + "width": 0.08199999999999993, + "x": 0.5225000000000001, + "y": 0.456 + } + ], + "type": "bbox" + }, + "bbox_1766545992359": { + "instances": [ + { + "height": 0.26266666666666677, + "id": "bbox_1766545992359_1766546976439_09vxc7gdk", + "width": 0.21100000000000002, + "x": 0.5655, + "y": 0.6013333333333333 + } + ], + "type": "bbox" + }, + "point_1766545995525": { + "instances": [ + { + "id": "point_1766545995525_1766546979068_56g1wdm17", + "x": 0.5335, + "y": 0.5906666666666667 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"correction_plan": "爪夹向上抬升并打开，继续向左移动至洋葱的正上方后竖直向下抓取洋葱后竖直上升，继续向爪夹方向的前方移动，直至洋葱处于碗的正上方。下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。", + "error_success_analysis": "爪夹为移动至洋葱的正上方", + "frame": 409, + "progress": 10, + "progress_explanation": "爪夹下落抓取洋葱失败洋葱向左移动，进度降低到10%", + "state_description": "爪夹处于闭合状态，洋葱在爪夹的左侧\n为了完成把洋葱放进碗里的任务应该：爪夹向上抬升并打开，继续向左移动至洋葱的正上方", + "time": 13.630670103092783 + }, + { + "action_description": "爪夹为移动但重新打开，角度垂直于桌面", + "correction_plan": "爪夹向上抬升，继续向左移动至洋葱的正上方后竖直向下抓取洋葱后竖直上升，继续向爪夹方向的前方移动，直至洋葱处于碗的正上方。下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。", + "error_success_analysis": "爪夹重新打开", + "frame": 431, + "progress": 15, + "progress_explanation": "爪夹下落抓取洋葱失败洋葱向左移动，进度提升到15%", + "state_description": "爪夹打开，洋葱靠近左侧爪夹\n为了完成把洋葱放进碗里的任务应该：爪夹向上抬升，继续向左移动至洋葱的正上方", + "time": 14.366666666666667 + }, + { + "action_description": "爪夹向上抬升并移动至洋葱的正上方", + "correction_plan": "爪夹竖直下落向下抓取洋葱后竖直上升，继续向爪夹方向的前方移动，直至洋葱处于碗的正上方。下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。", + "error_success_analysis": "爪夹向上抬升并移动到洋葱的正上方", + "frame": 447, + "progress": 20, + "progress_explanation": "爪夹向左移动至洋葱的正上方，靠近洋葱，进度提升到20%", + "state_description": "爪夹打开位于洋葱的正上方\n为了完成把洋葱放进碗里的任务应该：爪夹向下垂直下落，准备做夹取动作", + "time": 14.9 + }, + { + "action_description": "爪夹向下闭合抓取洋葱失败，洋葱滚动到爪夹前方", + "correction_plan": "重新打开爪夹向上抬升，向左前方移动至洋葱的正上方，爪夹竖直下落向下抓取洋葱后竖直上升，继续向爪夹方向的前方移动，直至洋葱处于碗的正上方。下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。", + "error_success_analysis": "爪夹夹取洋葱时爪夹未处于洋葱的正上方", + "frame": 532, + "progress": 10, + "progress_explanation": "爪夹夹取洋葱失败闭合，洋葱在爪夹前方，进度降低到10%", + "state_description": "爪夹闭合，洋葱在爪夹的左前方\n为了完成把洋葱放进碗里的任务应该：爪夹打开向上抬升，向左前移动至洋葱的正上方", + "time": 17.7225 + }, + { + "action_description": "爪夹重新打开上移到洋葱的正上方", + "correction_plan": "爪夹竖直下落向下抓取洋葱后竖直上升，继续向爪夹方向的前方移动，直至洋葱处于碗的正上方。下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。", + "error_success_analysis": "爪夹打开向上抬升，左前移动到洋葱的正上方", + "frame": 612, + "progress": 20, + "progress_explanation": "洋葱位于爪夹的正下方，靠近洋葱，进度提升到20%", + "state_description": "爪夹打开，洋葱在爪夹的下方\n为了完成把洋葱放进碗里的任务应该：爪夹准备做夹取洋葱动作", + "time": 20.4 + }, + { + "action_description": "成功夹取洋葱", + "correction_plan": "抓取洋葱后竖直上升，继续向爪夹方向的前方移动，直至洋葱处于碗的正上方。下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。", + "error_success_analysis": "爪夹夹取洋葱成功", + "frame": 670, + "progress": 40, + "progress_explanation": "爪夹成功夹取洋葱，进度提升到40%", + "state_description": "爪夹夹取洋葱在碗的后方\n为了完成把洋葱放进碗里的任务应该：夹取洋葱的爪夹向前移动至碗的正上方", + "time": 22.332216494845362 + }, + { + "action_description": "夹取洋葱的爪夹竖直抬升并向前移动", + "correction_plan": "爪夹继续向前移动至碗的正上方，下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。", + "error_success_analysis": "爪夹夹取洋葱后向上抬升并向前移动", + "frame": 685, + "progress": 60, + "progress_explanation": "爪夹抓取洋葱接近碗，进度提升到60%", + "state_description": "爪夹夹取洋葱位于碗的后方\n为了完成把洋葱放进碗里的任务应该：爪夹继续向前移动到碗的正上方", + "time": 22.833333333333332 + }, + { + "action_description": "夹取洋葱的爪夹继续向前移动", + "correction_plan": "下降将洋葱放入碗中，松开爪夹使洋葱落入碗中。", + "error_success_analysis": "爪夹夹取洋葱后向上抬升并向前移动到碗正上方", + "frame": 708, + "progress": 80, + "progress_explanation": "爪夹抓取洋葱在碗的正上方，进度提升到80%", + "state_description": "爪夹夹取洋葱位于碗的正上方\n为了完成把洋葱放进碗里的任务应该：爪夹打开，使洋葱落入碗中", + "time": 23.6 + }, + { + "action_description": "爪夹打开，洋葱落入碗里", + "correction_plan": "完成把洋葱放进碗里的任务", + "error_success_analysis": "打开爪夹洋葱成功了落入碗中", + "frame": 737, + "progress": 100, + "progress_explanation": "打开爪夹洋葱成功了落入碗中，进度提升为100%", + "state_description": "爪夹打开，洋葱落入碗里\n完成把洋葱放进碗里的任务", + "time": 24.566752577319587 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766545987607", + "name": "洋葱" + }, + { + "color": "#FF9800", + "id": "bbox_1766545992359", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766545995525", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766546003496", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-154222-bad-onion-bowl/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-154222-bad-onion-bowl/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..28a6b82342f8b1b4989b6c6ac97e60c275036620 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-154222-bad-onion-bowl/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,578 @@ +{ + "task_description": "将洋葱放进碗里\n开始移动：0%\n爪夹靠近洋葱：20%\n爪夹抓取洋葱：40%\n爪夹抓住洋葱接近碗：60%\n爪夹将洋葱放入碗里：80%\n爪夹松开，洋葱落入碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1766029208632": { + "instances": [ + { + "height": 0.11866666666666663, + "id": "bbox_1766029208632_1766482069814_nmennem09", + "width": 0.09400000000000004, + "x": 0.4625, + "y": 0.8213333333333334 + } + ], + "type": "bbox" + }, + "bbox_1766029209192": { + "instances": [ + 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"instances": [ + { + "height": 0.12533333333333327, + "id": "bbox_1766029208632_1766040569104_wwbqw1n28", + "width": 0.09400000000000004, + "x": 0.46449999999999997, + "y": 0.8186666666666668 + } + ], + "type": "bbox" + }, + "bbox_1766029209192": { + "instances": [ + { + "height": 0.2119999999999999, + "id": "bbox_1766029209192_1766040574328_fkfnycd39", + "width": 0.1750000000000001, + "x": 0.7165, + "y": 0.3413333333333333 + } + ], + "type": "bbox" + }, + "point_1766029210072": { + "instances": [ + { + "id": "point_1766029210072_1766040576608_v09vymag7", + "x": 0.5765, + "y": 0.48133333333333334 + } + ], + "type": "point" + }, + "point_1766029210280": { + "instances": [ + { + "id": "point_1766029210280_1766040579080_6skfe5htf", + "x": 0.6775, + "y": 0.45066666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹到达洋葱的正上方，下降爪夹抓取洋葱，抬起爪夹，向爪夹的左后方移动，至碗的正上方，松开爪夹，使洋葱落入碗中。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上接近洋葱。", + "frame": 79, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近洋葱并开始调整爪夹角度方便抓取。进度为10%。", + "state_description": "当前爪夹张开，在水平距离上接近洋葱。为完成爪夹将洋葱放进碗里的任务应当：爪夹向爪夹方向的右前方移动，到达洋葱正上方准备抓取洋葱。", + "time": 2.646683810824742 + }, + { + "action_description": "爪夹向爪夹的右前方移动到洋葱的正上方。", + "annotations": { + "bbox_1766029208632": { + "instances": [ + { + "height": 0.12133333333333324, + "id": "bbox_1766029208632_1766040598200_qu3etzhdz", + "width": 0.09300000000000005, + "x": 0.46449999999999997, + "y": 0.8173333333333335 + } + ], + "type": "bbox" + }, + "bbox_1766029209192": { + "instances": [ + { + "height": 0.21066666666666667, + "id": "bbox_1766029209192_1766040602376_qjsd53ljb", + "width": 0.1790000000000002, + "x": 0.7165, + "y": 0.33999999999999997 + } + ], + "type": "bbox" + }, + "point_1766029210072": { + "instances": [ + { + "id": "point_1766029210072_1766040604984_gyiep3x3b", + "x": 0.4995, + "y": 0.844 + } + ], + "type": "point" + }, + "point_1766029210280": { + "instances": [ + { + "id": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-1551230-good-hammer-white tray/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-1551230-good-hammer-white tray/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..4f4896cc75e57c3ba29f3d27f1882b125c7f4a2a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-1551230-good-hammer-white tray/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,392 @@ +{ + "task_description": "拿起锤子，把它放到白色托盘里。\n爪夹开始移动：0%\n爪夹靠近锤子：20%\n爪夹抓取锤子：40%\n爪夹抓住锤子并靠近白色托盘：60%\n爪夹将锤子放入白色托盘：80%\n爪夹松开，锤子落入白色托盘：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1766046678921": { + "instances": [ + { + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-164946-mix-corn-express-box/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-164946-mix-corn-express-box/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..58052df82fbc1930ef2a0991759c2cce5ca1f5a6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-164946-mix-corn-express-box/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,788 @@ +{ + "task_description": "把玉米放进快递箱里。\n开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓住玉米并靠近快递箱：60%\n爪夹保持合拢并移动到快递箱的正上方：80%\n爪夹松开，使玉米落入快递箱中：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，没有移动。", + "annotations": { + "bbox_1766113390991": { + "instances": [ + { + "height": 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"当前爪夹保持张开状态，没有移动。因此进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰玉米。为完成把玉米放进快递箱里的任务应当：爪夹调整角度，靠近玉米。", + "time": 1.7064261386597939 + }, + { + "action_description": "爪夹向爪夹方向的左前方微调，并调整爪夹角度，使其在水平方向上接近玉米。", + "annotations": { + "bbox_1766113390991": { + "instances": [ + { + "height": 0.11333333333333334, + "id": "bbox_1766113390991_1766126980730_twayrh9d8", + "width": 0.12999999999999998, + "x": 0.6125, + "y": 0.412 + } + ], + "type": "bbox" + }, + "bbox_1766113391143": { + "instances": [ + { + "height": 0.44933333333333336, + "id": "bbox_1766113391143_1766126984234_pnqjx0rww", + "width": 0.3470000000000001, + "x": 0.6485, + "y": 0.08666666666666666 + } + ], + "type": "bbox" + }, + "point_1766113392143": { + "instances": [ + { + "id": "point_1766113392143_1766126986866_wi87gk5a6", + "x": 0.48250000000000004, + "y": 0.42933333333333334 + } + ], + "type": "point" + }, + "point_1766113392327": { + "instances": [ + { + "id": "point_1766113392327_1766126989106_taptaupp9", + "x": 0.5785, + 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+ ], + "type": "bbox" + }, + "point_1766113392143": { + "instances": [ + { + "id": "point_1766113392143_1766127047561_f2iryk66h", + "x": 0.5795, + "y": 0.56 + } + ], + "type": "point" + } + }, + "correction_plan": "松开抓夹，垂直上升，重新调整角度，爪夹向爪夹的左边移动至玉米的正上方，下降爪夹并抓取玉米，抬起爪夹，向爪夹方向的左后方移动，到达快递箱的正上方，松开爪夹，使玉米落入快递箱里。", + "error_success_analysis": "爪夹没有重新调整角度，并向爪夹的左边移动，靠近玉米。", + "frame": 224, + "progress": -20, + "progress_explanation": "当前爪夹没有及时调整角度，而是继续下降进行抓取动作。因此进度下降至-20%。", + "state_description": "当前状态为爪夹抓住黄色长条蔬菜和盘子的右边。为完成把玉米放进快递箱里的任务应当：松开爪夹，垂直上升，重新调整角度。", + "time": 7.466666666666667 + }, + { + "action_description": "爪夹抓住黄色长条蔬菜喝盘子的右边，并抬起爪夹。", + "annotations": { + "bbox_1766113391143": { + "instances": [ + { + "height": 0.4466666666666667, + "id": "bbox_1766113391143_1766127158816_vibmliz5y", + "width": 0.31700000000000006, + "x": 0.6775, + "y": 0.08933333333333333 + } + ], + "type": "bbox" + }, + "point_1766113392143": { + "instances": [ + { + "id": "point_1766113392143_1766127153503_vpm8h67ar", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-185347-mix-corn-bowl/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-185347-mix-corn-bowl/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..204633d3d2dafeed0ff59a6d9d1fc8f34ab99352 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-185347-mix-corn-bowl/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,622 @@ +{ + "task_description": "把玉米放进碗里。\n开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓住玉米并接近碗：60%\n爪夹保持合拢并移动到碗的上方：80%\n爪夹松开，使玉米落入碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1766561790553": { + "instances": [ + { + "height": 0.16399999999999995, + "id": 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}, + "correction_plan": "", + "error_success_analysis": "玉米成功落入碗里。", + "frame": 472, + "progress": 100, + "progress_explanation": "当前玉米成功落入碗里，因此进度提升至100%。", + "state_description": "当前玉米落入碗里，已经完成把玉米放进碗里的任务。", + "time": 15.741666991237114 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766561790553", + "name": "玉米" + }, + { + "color": "#FF9800", + "id": "bbox_1766561790865", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766561791689", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766561791945", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-190326-bad-corn-bowl/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-190326-bad-corn-bowl/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..09c099f83e483d8a8e5a893a78c2310761a994a3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251129-190326-bad-corn-bowl/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,688 @@ +{ + "task_description": "把玉米放进碗里。\n爪夹开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓住玉米并接近碗：60%\n爪夹将玉米放入碗中：80%\n爪夹松开，使玉米落入碗中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766630222660": { + "instances": [ + { + "height": 0.22533331499566125, + "id": "bbox_1766630222660_1766630241783_6pj3mzzxs", + "width": 0.18999998840332086, + "x": 0.4976665956014041, + "y": 0.4031295956925785 + } + ], + "type": "bbox" + }, + "bbox_1766630222805": { 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+ "name": "菱形盘子" + }, + { + "color": "#FF9800", + "id": "bbox_1766635121798", + "name": "生菜" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766635122705", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766635122825", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251130-144311-good-purple cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000016.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251130-144311-good-purple cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000016.json new file mode 100644 index 0000000000000000000000000000000000000000..368f7233f9a39619ca1d4d7a530bd04dbe7d1cb2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251130-144311-good-purple cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000016.json @@ -0,0 +1,416 @@ +{ + "task_description": "将紫色的立方体形状积木放入对应的孔中：\n爪夹开始移动：0%\n爪夹靠近紫色的立方体形状积木：20%\n爪夹抓取紫色的立方体形状积木：40%\n爪夹抓住紫色的立方体形状积木并接近积木箱：60%\n爪夹将紫色的立方体形状积木放入积木箱对应的孔中：80%\n爪夹松开，使紫色的立方体形状积木落入积木箱对应的孔中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766630969597": { + "instances": [ + { + "height": 0.3559999710286483, + "id": "bbox_1766630969597_1766632412031_s4q6lq9r5", + "width": 0.26499998382568457, + "x": 0.5686665912679081, + "y": 0.4385369973928225 + } + ], + "type": "bbox" + }, + "bbox_1766630969722": { + "instances": [ + { + "height": 0.07866666026475748, + "id": "bbox_1766630969722_1766632422430_bxg4a74p8", + "width": 0.05199999682617205, + "x": 0.3226666062825557, + "y": 0.7247591980176434 + } + ], + "type": "bbox" + }, + "point_1766630970317": { + "instances": [ + { + "id": "point_1766630970317_1766632424652_gnhdv4hky", + "x": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251130-151030-bad-lettuce- diamond-shaped plate/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..76e94f75fac676e4e9b9b57ade43ccd612c3296c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251130-151030-bad-lettuce- diamond-shaped plate/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,352 @@ +{ + "task_description": "拿起生菜放到菱形盘子里。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近生菜：20%\n爪夹抓住生菜：40%\n爪夹抓住生菜靠近菱形盘子：60%\n爪夹移动到菱形盘子的正上方：80%\n爪夹松开，使生菜落入菱形盘子中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1766565257915": { + "instances": [ + { + "height": 0.18133333333333337, + "id": "bbox_1766565257915_1766568783212_oqgxgc970", + "width": 0.16299999999999998, + "x": 0.2615, + "y": 0.2733333333333333 + } + ], 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"爪夹向爪夹方向的左上方微调，并在水平方向上接近生菜。\n", + "annotations": { + "bbox_1766565257915": { + "instances": [ + { + "height": 0.16933333333333334, + "id": "bbox_1766565257915_1766568809380_bpi7semmx", + "width": 0.16499999999999995, + "x": 0.2615, + "y": 0.2853333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766565258283": { + "instances": [ + { + "height": 0.268, + "id": "bbox_1766565258283_1766568806036_a95ew2kfd", + "width": 0.23100000000000004, + "x": 0.4955, + "y": 0.35866666666666663 + } + ], + "type": "bbox" + }, + "point_1766565259291": { + "instances": [ + { + "id": "point_1766565259291_1766568812348_oxt4vxgwc", + "x": 0.41150000000000003, + "y": 0.2986666666666667 + } + ], + "type": "point" + }, + "point_1766565259475": { + "instances": [ + { + "id": "point_1766565259475_1766568814572_62b69mqpm", + "x": 0.5235000000000001, + "y": 0.26666666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹移动至生菜的正上方，下降并抓取玉米，抬起爪夹，向爪夹的左前方移动至菱形盘子的正上方，松开爪夹，使生菜落入菱形盘子里。", + "error_success_analysis": "爪夹向爪夹方向的左上方移动，在水平方向上接近玉米。\n", + "frame": 79, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近玉米并开始调整爪夹角度方便抓取，因此进度为10%。\n", + "state_description": "当前爪夹张开，在水平距离上接近玉米。\n为完成拿起生菜放到菱形盘子里的任务应当：移动至生菜的正上方，下降并抓取玉米。", + "time": 2.6301719139175255 + }, + { + "action_description": "爪夹向爪夹的右前方移动，远离生菜。", + "annotations": { + "bbox_1766565257915": { + "instances": [ + { + "height": 0.16133333333333333, + "id": "bbox_1766565257915_1766568822932_a9nmbjnew", + "width": 0.137, + "x": 0.2625, + "y": 0.2866666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766565258283": { + "instances": [ + { + "height": 0.26933333333333337, + "id": "bbox_1766565258283_1766568827436_jd43nd3c4", + "width": 0.24100000000000002, + "x": 0.4875, + "y": 0.356 + } + ], + "type": "bbox" + }, + "point_1766565259291": { + "instances": [ + { + "id": "point_1766565259291_1766568818852_jaxm7w9au", + "x": 0.3315, + "y": 0.716 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的后方移动至生菜的正上方，下降并抓取生菜，抬起爪夹，向爪夹的左前方移动至菱形盘子的正上方，松开爪夹，使生菜落入盘子中。", + "error_success_analysis": "爪夹没有向爪夹的后方移动到生菜的正上方，而是向爪夹的右前方移动，远离了生菜。", + "frame": 126, + "progress": -10, + "progress_explanation": "当前爪夹向爪夹的右前方移动，远离了生菜，因此进度下降至-10%。", + "state_description": "当前爪夹张开，垂直于桌面，并在水平方向上远离了生菜。\n为完成拿起生菜放到菱形盘子里的任务应当：向爪夹的后方移动至生菜的正上方。", + "time": 4.212666 + }, + { + "action_description": "爪夹张开并向爪夹的下方移动，垂直于桌子上。", + "annotations": { + "bbox_1766565257915": { + "instances": [ + { + "height": 0.16133333333333333, + "id": "bbox_1766565257915_1766568835860_qwl3x54ff", + "width": 0.15800000000000006, + "x": 0.2565, + "y": 0.2866666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766565258283": { + "instances": [ + { + "height": 0.264, + "id": "bbox_1766565258283_1766568832252_qedzpf9nm", + "width": 0.23099999999999996, + "x": 0.49450000000000005, + "y": 0.3626666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抬起爪夹，向爪夹的后方移动至生菜的正上方，下降并抓取生菜，抬起爪夹，向爪夹的左前方移动至菱形盘子的正上方，松开爪夹，使生菜落入盘子中。", + "error_success_analysis": "爪夹没有调整角度，重新靠近生菜，而是向爪夹的下方移动，使爪夹垂直于桌面。", + "frame": 164, + "progress": -20, + "progress_explanation": "当前爪夹下降，同上一步相比，需要多一次抬起的动作才能靠近生菜，因此进度下降至-20%。", + "state_description": "当前爪夹下降，位于面包片的正上方。\n为完成拿起生菜放到菱形盘子里的任务应当：抬起爪夹，向爪夹的后方移动至生菜的正上方。", + "time": 5.450653112886597 + }, + { + "action_description": "爪夹合拢并向爪夹的右方移动。", + "annotations": { + "bbox_1766565257915": { + "instances": [ + { + "height": 0.1653333333333333, + "id": "bbox_1766565257915_1766568841172_wzo91j6fd", + "width": 0.15899999999999995, + "x": 0.2635, + "y": 0.28400000000000003 + } + ], + "type": "bbox" + }, + "bbox_1766565258283": { + "instances": [ + { + "height": 0.2733333333333333, + "id": "bbox_1766565258283_1766568851148_tr8xku2ed", + "width": 0.22999999999999998, + "x": 0.49650000000000005, + "y": 0.35866666666666663 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开并抬起，向爪夹的左后方移动至生菜的正上方，爪夹向爪夹的下方移动并抓取生菜，抬起爪夹，向爪夹的左前方移动至菱形盘子的正上方，松开爪夹，使生菜落入盘子中。", + "error_success_analysis": "当前爪夹没有重新靠近生菜，而是合拢爪夹向爪夹的右边移动。", + "frame": 199, + "progress": -30, + "progress_explanation": "当前爪夹合拢并爪夹的右侧移动，需要再多一步松开爪夹的步骤，因此进度下降至-30%。", + "state_description": "当前爪夹合拢，在水平方向上远离了生菜。\n为完成拿起生菜放到菱形盘子里的任务应当：爪夹松开并抬起，向爪夹的左后方移动至生菜的正上方。", + "time": 6.621787174742267 + }, + { + "action_description": "爪夹松开并向爪夹的上方移动。", + "annotations": { + "bbox_1766565257915": { + "instances": [ + { + "height": 0.16799999999999998, + "id": "bbox_1766565257915_1766568876572_5n19vw2xv", + "width": 0.14500000000000002, + "x": 0.2745, + "y": 0.2826666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766565258283": { + "instances": [ + { + "height": 0.2666666666666667, + "id": "bbox_1766565258283_1766568862075_hyakczj11", + "width": 0.23200000000000004, + "x": 0.49450000000000005, + "y": 0.36133333333333334 + } + ], + "type": "bbox" + }, + "point_1766565259475": { + "instances": [ + { + "id": "point_1766565259475_1766568927115_psxu8eqeq", + "x": 0.0665, + "y": 0.7253333333333334 + } + ], + "type": "point" + } + }, + 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"point_1766565259291_1766568933011_uvgv4a0l1", + "x": 0.0455, + "y": 0.76 + } + ], + "type": "point" + } + }, + "correction_plan": "抬起爪夹，调整爪夹角度，向爪夹的左后方移动至生菜的正上方，下降并抓取生菜，抬起爪夹，向爪夹的左前方移动至菱形盘子的正上方，松开爪夹，使生菜落入盘子中。", + "error_success_analysis": "", + "frame": 284, + "progress": -25, + "progress_explanation": "当前爪夹继续下降至桌面上。因此进度下降至-25%。", + "state_description": "当前爪夹下降，处于桌面上。\n为完成拿起生菜放到菱形盘子里的任务应当：抬起爪夹，调整爪夹角度，向爪夹的左后方移动至生菜的正上方。", + "time": 9.466667 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766565257915", + "name": "生菜" + }, + { + "color": "#FF9800", + "id": "bbox_1766565258283", + "name": "菱形盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766565259291", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766565259475", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251130-154021-mix-purple cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000018.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251130-154021-mix-purple cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000018.json new file mode 100644 index 0000000000000000000000000000000000000000..8aadfc925e26ceda11ac414b12766135765d165e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251130-154021-mix-purple cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000018.json @@ -0,0 +1,956 @@ +{ + "task_description": "把紫色立方形积木放进对应的孔里。\n开始移动：0%\n爪夹靠近紫色立方形积木：20%\n爪夹抓取紫色立方形积木：40%\n爪夹抓住紫色立方形积木并接近积木桶：60%\n爪夹保持合拢并移动到积木桶的上方：80%\n爪夹松开，使紫色立方形积木落入对应的孔里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1766644999515": { + "instances": [ + { + "height": 0.06266666666666675, + "id": 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"state_description": "当前状态为爪夹打开，没有移动，没有接触紫色立方形积木。\n为完成把紫色立方形积木放进对应的孔里的任务应当：调整角度，向爪夹的左前方移动，到紫色立方形积木的正上方。", + "time": 1.1860824742268041 + }, + { + "action_description": "爪夹向爪夹方向的左前方调整爪夹角度，使其在水平方向上接近紫色立方形积木。\n", + "annotations": { + "bbox_1766644999515": { + "instances": [ + { + "height": 0.06533333333333337, + "id": "bbox_1766644999515_1766645065674_6znk9bp3c", + "width": 0.04300000000000006, + "x": 0.6005, + "y": 0.47733333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766644999755": { + "instances": [ + { + "height": 0.3613333333333333, + "id": "bbox_1766644999755_1766645071650_891pimpnr", + "width": 0.257, + "x": 0.2145, + "y": 0.396 + } + ], + "type": "bbox" + }, + "point_1766645000507": { + "instances": [ + { + "id": "point_1766645000507_1766645061226_ln8uykggx", + "x": 0.4545, + "y": 0.46266666666666667 + } + ], + "type": "point" + }, + "point_1766645000731": { + "instances": [ + { + "id": "point_1766645000731_1766645058154_muygkutue", + "x": 0.5535, + "y": 0.45733333333333337 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0000000000000000000000000000000000000000..93428f10b5b1580ee5d45e755d77e1066186f572 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251130-174229-mix-yellow cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000029.json @@ -0,0 +1,764 @@ +{ + "task_description": "抓取黄色积木插入相应的孔洞使其落入铁盒：\n准备开始移动：0%\n爪夹靠近黄色积木：20%\n爪夹抓取黄色积木：40%\n爪夹抓紧黄色积木接近铁盒：60%\n爪夹将黄色积木插入对应孔洞：80%\n爪夹松开黄色积木落入铁盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1766042290200": { + "instances": [ + { + "height": 0.07066666666666664, + "id": "bbox_1766042290200_1766042347580_acgmwsl29", + "width": 0.04699999999999989, + "x": 0.7765000000000001, + "y": 0.4733333333333334 + } + ], + "type": "bbox" + }, + "bbox_1766042320771": { + "instances": [ + { + "height": 0.37333333333333335, + "id": "bbox_1766042320771_1766042353657_sidonkez5", + "width": 0.28099999999999997, + "x": 0.5545000000000001, + 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block/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-110345-bad-blue cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..7fd55419170ca771ba586c8e25bf0f875e294d28 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-110345-bad-blue cube-shaped building block/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,578 @@ +{ + "task_description": "抓取蓝色方块放入铁盒里：\n准备开始移动：0%\n爪夹靠近蓝色方块：20%\n爪夹抓取蓝色方块：40%\n爪夹抓紧蓝色方块接近铁盒：60%\n爪夹将蓝色方块放入铁盒：80%\n爪夹松开蓝色方块落入铁盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1766135957717": { + "instances": [ + { + "height": 0.06133333333333327, + "id": "bbox_1766135957717_1766136083914_qh5aqf0cv", + "width": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-133926-mix-open-microwave/annotations/chunk-000/observation.images.front/episode_000023.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-133926-mix-open-microwave/annotations/chunk-000/observation.images.front/episode_000023.json new file mode 100644 index 0000000000000000000000000000000000000000..b227253001bc60175c820fada89bb14acae16225 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-133926-mix-open-microwave/annotations/chunk-000/observation.images.front/episode_000023.json @@ -0,0 +1,591 @@ +{ + "task_description": "打开烤箱门：\n准备开始移动：0%\n爪夹靠近烤箱门：20%\n爪夹推动烤箱门：40%\n爪夹推动烤箱门向下：60%\n爪夹推动烤箱门靠近桌面：80%\n烤箱门完全打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1766201919233": { + "instances": [ + { + "height": 0.6826666666666666, + 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block/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-182113-mix-big yellow cylindrical building block/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..beb2b7c0a8824fb176095576330097146d77d219 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251201-182113-mix-big yellow cylindrical building block/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,660 @@ +{ + "task_description": "抓取黄色圆柱放入铁盒里：\n准备开始移动：0%\n爪夹靠近黄色圆柱：20%\n爪夹抓取黄色圆柱：40%\n爪夹抓紧黄色圆柱接近铁盒：60%\n爪夹将黄色圆柱放入铁盒：80%\n爪夹松开黄色圆柱落入铁盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备开始移动。", + "annotations": { + "bbox_1766460326403": { + "instances": [ + { + "height": 0.08266666666666668, + "id": "bbox_1766460326403_1766460368113_7z315jus2", + 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"task_description": "抓取绿色圆柱放入铁盒里：\n准备开始移动：0%\n爪夹靠近绿色圆柱：20%\n爪夹抓取绿色圆柱：40%\n爪夹抓紧绿色圆柱接近铁盒：60%\n爪夹将绿色圆柱插入铁盒对应孔洞：80%\n爪夹松开绿色圆柱落入铁盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备开始移动。", + "correction_plan": "爪夹向爪夹左前方的绿色圆柱移动，同时调整爪夹的角度使其垂直与桌面，并移动到绿色圆柱的正上方。接着落下爪夹靠近绿色圆柱，接近绿色圆柱后爪夹合拢抓取绿色圆柱。抓紧绿色圆柱垂直升高爪夹并向爪夹左后方的铁盒接近，水平到达铁盒的正上方后将绿色圆柱插入对应孔洞，松开爪夹，使绿色圆柱落入铁盒。", + "error_success_analysis": "", + "frame": 69, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动，进度0%。", + "state_description": "当前为初始状态，爪夹张开，远离绿色圆柱，未开始移动。\n为完成抓取绿色圆柱插入相应的孔洞使其落入铁盒的任务应当：爪夹向爪夹左前方的绿色圆柱移动，同时调整爪夹的角度使其垂直与桌面，并移动到绿色圆柱的正上方。", + "time": 2.2945876288659792, + "annotations": { + "bbox_1766541320352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766541320352_1766541358576_sh27aa4sp", + "x": 0.7735000000000001, + "y": 0.6106666666666667, + "width": 0.041999999999999905, + "height": 0.06266666666666663 + } + ] + }, + "bbox_1766541329997": { + "type": "bbox", + "instances": [ + { + "id": 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"annotations": { + "point_1766541335870": { + "type": "point", + "instances": [ + { + "id": "point_1766541335870_1766541385545_lt059i124", + "x": 0.5335, + "y": 0.48000000000000004 + } + ] + }, + "point_1766541342215": { + "type": "point", + "instances": [ + { + "id": "point_1766541342215_1766541388085_2nzyjhgt9", + "x": 0.6255, + "y": 0.44933333333333336 + } + ] + }, + "bbox_1766541320352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766541320352_1766541392365_i6rdostk5", + "x": 0.7725000000000001, + "y": 0.6093333333333334, + "width": 0.04400000000000004, + "height": 0.06399999999999993 + } + ] + }, + "bbox_1766541329997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766541329997_1766541399163_lioq6ue9r", + "x": 0.6995000000000001, + "y": 0.18666666666666668, + "width": 0.2379999999999999, + "height": 0.30400000000000005 + } + ] + } + } + }, + { + "time": 6.5395, + "frame": 196, + "progress": 20, + "action_description": "爪夹向爪夹左前方移动并垂直向下，调整爪夹角度。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，处于绿色圆柱正上方。\n为完成抓取绿色圆柱插入相应的孔洞使其落入铁盒的任务应当：合拢抓取绿色圆柱，抓紧绿色圆柱垂直升高爪夹并向爪夹左后方的铁盒接近", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了绿色圆柱。因此进度提升为20%。", + "error_success_analysis": "爪夹角度调整为垂直于桌面，爪夹向爪夹左前方移动并垂直向下来到绿色圆柱正上方，方便抓取。", + "correction_plan": "合拢抓取绿色圆柱，抓紧绿色圆柱垂直升高爪夹并向爪夹左后方的铁盒接近，水平到达铁盒的正上方后将绿色圆柱插入对应孔洞，松开爪夹，使绿色圆柱落入铁盒。", + "annotations": { + "bbox_1766541320352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766541320352_1766541413933_94821jzsz", + "x": 0.7735000000000001, + "y": 0.616, + "width": 0.04300000000000006, + "height": 0.05866666666666672 + } + ] + }, + "bbox_1766541329997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766541329997_1766541420199_lv6l3labi", + "x": 0.6935, + "y": 0.18933333333333333, + "width": 0.24499999999999994, + "height": 0.28800000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧绿色圆柱垂直升高爪夹并向爪夹左后方的铁盒接近，水平到达铁盒的正上方后将绿色圆柱插入对应孔洞，松开爪夹，使绿色圆柱落入铁盒。", + "error_success_analysis": "爪夹合拢，成功抓取到绿色圆柱。", + "frame": 260, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹抓取到了绿色圆柱，因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度垂直于桌面，抓取绿色圆柱。\n为完成抓取绿色圆柱插入相应的孔洞使其落入铁盒的任务应当：抓紧绿色圆柱垂直升高爪夹并向爪夹左后方的铁盒接近", + "time": 8.666666666666666, + "annotations": { + "point_1766541335870": { + "type": "point", + "instances": [ + { + "id": "point_1766541335870_1766541428046_xapvn7hq5", + "x": 0.7885, + "y": 0.6626666666666666 + } + ] + }, + "bbox_1766541320352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766541320352_1766541432999_2l4n0b7zp", + "x": 0.7845, + "y": 0.6173333333333333, + "width": 0.03400000000000007, + "height": 0.05466666666666668 + } + ] + }, + "bbox_1766541329997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766541329997_1766541446501_lx691binx", + "x": 0.6975, + "y": 0.18400000000000002, + "width": 0.23999999999999994, + "height": 0.3 + } + ] + } + } + }, + { + "time": 10.353, + "frame": 311, + "progress": 60, + "action_description": "爪夹夹紧绿色圆柱，向爪夹左后方的铁盒移动。", + "state_description": "爪夹夹紧黄色圆柱，爪夹角度接近垂直于桌面，处于铁盒正上方。\n为完成抓取绿色圆柱插入相应的孔洞使其落入铁盒的任务应当：将绿色圆柱插入对应孔洞，松开爪夹，使绿色圆柱落入铁盒。", + "progress_explanation": "爪夹夹紧绿色圆柱，来到铁盒正上方，因此进度提升为60%。", + "error_success_analysis": "爪夹抓紧绿色圆柱接近铁盒，成功来到铁盒正上方。方便插入绿色圆柱。", + "correction_plan": "将绿色圆柱插入对应孔洞，松开爪夹，使绿色圆柱落入铁盒。", + "annotations": { + "point_1766541335870": { + "type": "point", + "instances": [ + { + "id": "point_1766541335870_1766541454075_ode7xwtng", + "x": 0.8495000000000001, + "y": 0.2866666666666667 + } + ] + }, + "bbox_1766541320352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766541320352_1766541458242_9c5z2ood6", + "x": 0.8275, + "y": 0.23866666666666667, + "width": 0.04599999999999991, + "height": 0.05466666666666668 + } + ] + }, + "bbox_1766541329997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766541329997_1766541473137_jaxshp3xv", + "x": 0.6955000000000001, + "y": 0.18666666666666668, + "width": 0.24299999999999988, + "height": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251202-114128-bad-round plate-microwave/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,704 @@ +{ + "task_description": "抓取盘子放入烤箱里：\n准备开始移动：0%\n爪夹靠近盘子：20%\n爪夹抓取盘子：40%\n爪夹抓紧盘子接近烤箱：60%\n爪夹将盘子放入烤箱：80%\n爪夹松开盘子落入烤箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1766547210635": { + "instances": [ + { + "height": 0.24799999999999997, + "id": "bbox_1766547210635_1766547253974_6otfo1vpc", + "width": 0.20500000000000002, + "x": 0.23850000000000002, + "y": 0.31466666666666665 + } + ], + "type": "bbox" + }, + "bbox_1766547216947": { + "instances": [ + { + "height": 0.8320000000000002, + "id": "bbox_1766547216947_1766547266119_v67lrnea8", + "width": 0.48600000000000004, + "x": 0.5115, + "y": 0.003999999999999998 + } + ], + "type": "bbox" + }, + "point_1766547224357": { + "instances": [ + { + "id": 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"bbox_1766559987586_1766560412089_8zf9vskeg", + "x": 0.5445000000000001, + "y": 0.003999999999999966, + "width": 0.4539999999999999, + "height": 0.7986666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，向爪夹左前方移动", + "correction_plan": "", + "error_success_analysis": "盘子完全落入烤箱里，任务完成。", + "frame": 719, + "progress": 100, + "progress_explanation": "盘子完全落入烤箱里，任务完成因此进度提升为100%。", + "state_description": "爪夹合拢，盘子完全落入烤箱里。\n完成了抓取盘子使盘子落入烤箱的任务目标。", + "time": 23.96812745309278, + "annotations": { + "bbox_1766559981301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766559981301_1766560447050_s9iunt8mu", + "x": 0.9085000000000001, + "y": 0.1666666666666667, + "width": 0.09100000000000001, + "height": 0.23999999999999996 + } + ] + }, + "bbox_1766559987586": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766559987586_1766560458662_ele3xxb4g", + "x": 0.5425, + "y": 0.003999999999999981, + "width": 0.45499999999999996, + "height": 0.7959999999999999 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766559981301", + "name": "盘子", + "color": "#4CAF50" + }, + { + "id": "bbox_1766559987586", + "name": "烤箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766559993654", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766559998974", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251202-165659-bad-plate-lettuce-microwave/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251202-165659-bad-plate-lettuce-microwave/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..01af675bc11f8dfd57b7f48ab00e1c225b3580a2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251202-165659-bad-plate-lettuce-microwave/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,826 @@ +{ + "task_description": "抓起装有生菜的盘子并放入微波炉:\n开始移动:0%\n爪夹靠近装有生菜的盘子:20%\n爪夹抓取装有生菜的盘子:40%\n爪夹抓住装有生菜的盘子接近微波炉:60%\n爪夹将装有生菜的盘子放入微波炉:80%\n爪夹松开，装有生菜的盘子在微波炉内:100%", + "progress_points": [ + { + "action_description": "爪夹为打开状态，准备开始移动。", + "annotations": { + "bbox_1766131470395": { + "instances": [ + { + "height": 0.3373333333333334, + "id": "bbox_1766131470395_1766131557556_3oczkifhd", + "width": 0.24200000000000005, + "x": 0.3485, + "y": 0.5666666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766131488475": { + "instances": [ + { + "height": 0.8826666666666666, + "id": "bbox_1766131488475_1766131577171_0mamzq5hn", + "width": 0.43699999999999994, + "x": 0.5595000000000001, + "y": 0.008 + } + ], + "type": "bbox" + }, + "point_1766131495459": { + "instances": [ + { + "id": "point_1766131495459_1766131592843_5rrnv4jzb", + "x": 0.39849999999999997, + "y": 0.392 + } + ], + "type": "point" + }, + "point_1766131504043": { + "instances": [ + { + "id": "point_1766131504043_1766131597755_lxa5liep2", + "x": 0.5025000000000001, + "y": 0.37866666666666665 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，到达装有生菜盘子的正上方后下降，抓取装有生菜的盘子后竖直上升，向爪夹方向的左侧移动，直至装有生菜的盘子处于微波炉正上方。下降将装有生菜的盘子放入微波炉中，爪夹张开。", + "error_success_analysis": "", + "frame": 62, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有触碰装有生菜的盘子。为完成抓起装有生菜的盘子使其放进微波炉中的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取装有生菜的盘子。\n", + "time": 2.058402020103093 + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动，并调整爪夹角度，使其接近于垂直桌面。\n", + "annotations": { + "bbox_1766131470395": { + "instances": [ + { + "height": 0.3359999999999998, + "id": "bbox_1766131470395_1766131613555_aqk4n5xt2", + "width": 0.24200000000000005, + "x": 0.3485, + "y": 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"当前爪夹张开，与水平方向呈60度角。为完成抓起装有生菜的盘子，使其放入微波炉内的任务应当:继续调整爪夹角度直到垂直于桌面，继续向爪夹方向的右方移动直至装有生菜盘子的正上方。", + "time": 3.2273710685567014 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1766131470395": { + "instances": [ + { + "height": 0.3346666666666666, + "id": "bbox_1766131470395_1766131674028_kp1r41r9f", + "width": 0.23899999999999996, + "x": 0.34950000000000003, + "y": 0.5653333333333334 + } + ], + "type": "bbox" + }, + "bbox_1766131488475": { + "instances": [ + { + "height": 0.8773333333333333, + "id": "bbox_1766131488475_1766131700700_borh7irhd", + "width": 0.43900000000000006, + "x": 0.5565, + "y": 0.006666666666666669 + } + ], + "type": "bbox" + }, + "point_1766131495459": { + "instances": [ + { + "id": "point_1766131495459_1766131660611_r83mx0bk1", + "x": 0.27149999999999996, + "y": 0.6333333333333333 + } + ], + "type": "point" + }, + "point_1766131504043": { + "instances": [ + { + "id": "point_1766131504043_1766131665715_33ty2l01o", + "x": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-113737-bad-tripod-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,934 @@ +{ + "task_description": "抓起三脚架并放入快递箱中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近快递箱:60%\n爪夹将三脚架放入快递箱:80%\n爪夹松开，三脚架在快递箱内中:100%", + "progress_points": [ + { + "action_description": "爪夹为打开状态，准备开始移动。", + "annotations": { + "bbox_1766390646182": { + "instances": [ + { + "height": 0.14400000000000002, + "id": "bbox_1766390646182_1766392050013_0xunhue4i", + "width": 0.10399999999999998, + "x": 0.1925, + "y": 0.39599999999999996 + } + ], + "type": "bbox" + }, + "bbox_1766390653454": { + "instances": [ + { + "height": 0.48533333333333334, + "id": "bbox_1766390653454_1766392066421_rxi1vm8jj", + "width": 0.2660000000000001, + "x": 0.7335, + "y": 0.332 + } + ], + "type": "bbox" + }, + "point_1766390659710": { + "instances": [ + { + "id": "point_1766390659710_1766392078245_61hgvykcb", 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17.589468987306066 + }, + { + "action_description": "爪夹合拢，爪夹保持不动。", + "annotations": { + "bbox_1766390646182": { + "instances": [ + { + "height": 0.12533333333333332, + "id": "bbox_1766390646182_1766392786245_l63bpz28r", + "width": 0.11299999999999999, + "x": 0.0815, + "y": 0.452 + } + ], + "type": "bbox" + }, + "bbox_1766390653454": { + "instances": [ + { + "height": 0.4880000000000001, + "id": "bbox_1766390653454_1766392792725_j9sk5rpm9", + "width": 0.267, + "x": 0.7314999999999999, + "y": 0.33199999999999996 + } + ], + "type": "bbox" + }, + "point_1766390659710": { + "instances": [ + { + "id": "point_1766390659710_1766392776493_61zw0gdzt", + "x": 0.08449999999999999, + "y": 0.35866666666666663 + } + ], + "type": "point" + }, + "point_1766390661278": { + "instances": [ + { + "id": "point_1766390661278_1766392779229_0dzt9zjr3", + "x": 0.0885, + "y": 0.36800000000000005 + } + ], + "type": "point" + } + }, + "correction_plan": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-114457-bad-tripof-rice cooker/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a86aac2cade0e6644862a77ab3bf7fdbc2eb9b20 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-114457-bad-tripof-rice cooker/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,646 @@ +{ + "task_description": "抓起三脚架并将其放入电饭煲的内锅中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近电饭煲的内锅:60%\n爪夹将三脚架放入电饭煲的内锅:80%\n爪夹松开，三脚架在电饭煲的内锅中:100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备开始移动。", + "annotations": { + "bbox_1766555599381": { + "instances": [ + { + "height": 0.15200000000000005, + "id": "bbox_1766555599381_1766555649876_xxvvc3r5g", + "width": 0.03399999999999999, + "x": 0.6605000000000001, + "y": 0.2613333333333333 + } + ], + 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0000000000000000000000000000000000000000..3384c48b7cd0932048be01ea4cd24ec4378d0a49 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-134801-good-tripof-rice cooker/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,506 @@ +{ + "task_description": "抓起三脚架并将其放入电饭煲的内锅中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近电饭煲的内锅:60%\n爪夹将三脚架放入电饭煲的内锅:80%\n爪夹松开，三脚架在电饭煲的内锅中:100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备开始移动。", + "annotations": { + "bbox_1766560376336": { + "instances": [ + { + "height": 0.17866666666666664, + "id": "bbox_1766560376336_1766560570134_3v9to4cbu", + "width": 0.079, + "x": 0.2455, + "y": 0.6506666666666666 + } + ], + "type": "bbox" + }, + "bbox_1766560376832": { + "instances": [ + { + "height": 0.2506666666666667, + "id": "bbox_1766560376832_1766560587648_935f3g73r", + "width": 0.2119999999999999, + "x": 0.5005000000000001, + "y": 0.32933333333333337 + } + ], + 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], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766560376336", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1766560376832", + "name": "电饭煲的内锅" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766560391640", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766560392312", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-141110-mix-tripof-rice cooker/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-141110-mix-tripof-rice cooker/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..627c5b9a048b9ce22f4410e28ca27dad38fe8a41 --- /dev/null +++ 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+ { + "color": "#2196F3", + "id": "point_1766566836775", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766566837167", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-143000-good-tripof-round container/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-143000-good-tripof-round container/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..860da4ca04141adc210d5efd36390be5e53a9a48 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-143000-good-tripof-round container/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,560 @@ +{ + "task_description": "抓起三脚架并将其放入透明塑料圆形容器中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近透明塑料圆形容器:60%\n爪夹将三脚架放入透明塑料圆形容器:80%\n爪夹松开，三脚架在透明塑料圆形容器中:100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至三脚架处于透明塑料圆形容器正上方。下降将三脚架放入透明塑料圆形容器中，爪夹张开。", + "error_success_analysis": "", + "frame": 70, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放进透明塑料圆形容器中的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左前方移动直至三脚架的正上方。", + "time": 2.322849143864598, + "annotations": { + "point_1766569782047": { + "type": "point", + "instances": [ + { + "id": "point_1766569782047_1766569800471_6ogw0amtm", + "x": 0.35750000000000004, + "y": 0.38666666666666666 + } + ] + }, + "point_1766569782759": { + "type": "point", + "instances": [ + { + "id": "point_1766569782759_1766569803335_ibgy4pg6e", + "x": 0.46349999999999997, + "y": 0.38666666666666666 + } + ] + }, + "bbox_1766569770903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766569770903_1766569982966_fcskx7mad", + "x": 0.5575, + "y": 0.388, + "width": 0.09699999999999998, + "height": 0.14933333333333335 + } + ] + }, + "bbox_1766569771359": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766569771359_1766569995126_7n58m86f5", + "x": 0.044500000000000005, + "y": 0.5266666666666666, + "width": 0.33399999999999996, + "height": 0.44400000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹上升，向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至三脚架处于透明塑料圆形容器正上方。下降将三脚架放入透明塑料圆形容器中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上接近三脚架，并开始调整爪夹角度，使其垂直于桌面方便抓取。", + "frame": 113, + "progress": 10, + "progress_explanation": "当前爪夹向爪夹方向的左前方移动，在水平方向上接近三脚架，并开始调整爪夹角度，因此进度提升至10%。", + "state_description": "当前状态为爪夹打开，与水平方向呈60度夹角，爪夹在水平方向上接近了三脚架。\n为完成抓起三脚架使其放进透明塑料圆形容器中的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左前方移动，准备抓取三脚架。", + "time": 3.770773294329897, + "annotations": { + "point_1766569782759": { + "type": "point", + "instances": [ + { + "id": "point_1766569782759_1766569807319_5jhwbhfcs", + "x": 0.4875, + "y": 0.396 + } + ] + }, + "point_1766569782047": { + "type": "point", + "instances": [ + { + "id": "point_1766569782047_1766569811479_n9l9qav7r", + "x": 0.3645, + "y": 0.4106666666666667 + } + ] + }, + "bbox_1766569771359": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766569771359_1766570012854_t81w4q611", + "x": 0.043500000000000004, + "y": 0.5306666666666667, + "width": 0.339, + "height": 0.4466666666666666 + } + ] + }, + "bbox_1766569770903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766569770903_1766570215966_xd8l1snyz", + "x": 0.5545, + "y": 0.3893333333333333, + "width": 0.10099999999999998, + "height": 0.14800000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并略微下降，调整爪夹角度，使其垂直于桌面。", + "correction_plan": "然后向爪夹方向的左侧移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至三脚架处于透明塑料圆形容器正上方。下降将三脚架放入透明塑料圆形容器中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上更接近三脚架，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 132, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上更接近三脚架，爪夹角度垂直于桌面，因此进度提升至15%。", + "state_description": "当前状态为爪夹打开，爪夹垂直于桌面，爪夹在水平方向上更加接近三脚架。\n为完成抓起三脚架使其放进透明塑料圆形容器中的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左侧移动，准备抓取三脚架。", + "time": 4.391733, + "annotations": { + "point_1766569782047": { + "type": "point", + "instances": [ + { + "id": "point_1766569782047_1766569817671_hzv1zwv74", + "x": 0.47750000000000004, + "y": 0.5026666666666667 + } + ] + }, + "point_1766569782759": { + "type": "point", + "instances": [ + { + "id": "point_1766569782759_1766569820511_kecsabocd", + "x": 0.5815, + "y": 0.456 + } + ] + }, + "bbox_1766569771359": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766569771359_1766570025230_mgsxqbwb8", + 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+ }, + { + "action_description": "爪夹抓住三脚架向前略微移动后下降。", + "correction_plan": "爪夹向爪夹方向的前方移动，直至三脚架处于透明塑料圆形容器正上方。下降将三脚架放入透明塑料圆形容器中，爪夹张开。", + "error_success_analysis": "爪夹保持合找，抓紧三脚架，向爪夹方向的前方移动，在水平方向上更接近透明塑料圆形容器。", + "frame": 270, + "progress": 70, + "progress_explanation": "较上一步相比爪夹在水平方向上更接近透明塑料圆形容器，因此进度提升为70%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，在水平方向上接近了透明塑料圆形容器。\n为完成抓起三脚架使其放进透明塑料圆形容器中的任务应当:爪夹向爪夹方向的前方移动，直至三脚架处于透明塑料圆形容器正上方。", + "time": 9.00329125528914, + "annotations": { + "point_1766569782047": { + "type": "point", + "instances": [ + { + "id": "point_1766569782047_1766569864567_fbdizgwg8", + "x": 0.22949999999999998, + "y": 0.624 + } + ] + }, + "point_1766569782759": { + "type": "point", + "instances": [ + { + "id": "point_1766569782759_1766569867471_qwaep32cc", + "x": 0.2665, + "y": 0.6293333333333333 + } + ] + }, + "bbox_1766569770903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766569770903_1766570081670_8diuzcyjm", + "x": 0.20450000000000004, + "y": 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"color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766569782047", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766569782759", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-144434-mix-tripof-round container/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-144434-mix-tripof-round container/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..e8c665b1a2e021e7fda2706e88413575fd540fea --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-144434-mix-tripof-round container/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,1084 @@ +{ + "task_description": "抓起三脚架并将其放入透明塑料圆形容器中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近透明塑料圆形容器:60%\n爪夹将三脚架放入透明塑料圆形容器:80%\n爪夹松开，三脚架在透明塑料圆形容器中:100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备开始移动。", + "annotations": { + "bbox_1766628469701": { + "instances": [ + { + "height": 0.15200000000000002, + "id": "bbox_1766628469701_1766628762598_q2bmlg0vj", + "width": 0.088, + "x": 0.47350000000000003, + "y": 0.40800000000000003 + } + ], + "type": "bbox" + }, + "bbox_1766628470110": { + "instances": [ + { + "height": 0.4413333333333334, + "id": "bbox_1766628470110_1766628772862_zprw90kcn", + "width": 0.338, + "x": 0.0485, + "y": 0.5226666666666666 + } + ], + "type": "bbox" + }, + "point_1766628470846": { + "instances": [ + { + "id": "point_1766628470846_1766628508270_f8ezzt4ym", + "x": 0.3925, + "y": 0.396 + } + ], + "type": "point" + }, + "point_1766628471110": { + "instances": [ + { + "id": "point_1766628471110_1766628658701_8rfoyeqk3", + "x": 0.49350000000000005, + "y": 0.37733333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至三脚架处于透明塑料圆形容器正上方。下降将三脚架放入透明塑料圆形容器中，爪夹张开。", + "error_success_analysis": "", + "frame": 55, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放进透明塑料圆形容器中的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左前方移动直至三脚架的正上方。", + "time": 1.8369534330042314 + }, + { + "action_description": "爪夹上升，并调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1766628469701": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766628469701_1766628804158_6pyqkhmdr", + "x": 0.4765, + "y": 0.4106666666666667, + "width": 0.08500000000000005, + "height": 0.14800000000000005 + } + ] + }, + "bbox_1766628470110": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766628470110_1766628791526_qbkphwgut", + "x": 0.0495, + "y": 0.5226666666666666, + "width": 0.337, + "height": 0.4413333333333334 + } + ] + }, + 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"爪夹在水平方向上接近三脚架，爪夹角度垂直于桌面，因此进度提升至15%。", + "state_description": "当前状态为爪夹打开，爪夹垂直于桌面，爪夹在水平方向上接近三脚架。\n为完成抓起三脚架使其放进透明塑料圆形容器中的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左侧移动，准备抓取三脚架。", + "time": 3.712176729196051 + }, + { + "action_description": "爪夹向爪夹方向的左后方移动并下降。", + "annotations": { + "bbox_1766628469701": { + "instances": [ + { + "height": 0.15333333333333332, + "id": "bbox_1766628469701_1766628820269_i7clm0uyg", + "width": 0.08700000000000001, + "x": 0.4755, + "y": 0.4066666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766628470110": { + "instances": [ + { + "height": 0.4426666666666667, + "id": "bbox_1766628470110_1766629072965_dspri0nq0", + "width": 0.33799999999999997, + "x": 0.0505, + "y": 0.5226666666666666 + } + ], + "type": "bbox" + }, + "point_1766628470846": { + "instances": [ + { + "id": "point_1766628470846_1766628521278_2e7kk6w7j", + "x": 0.46950000000000003, + "y": 0.464 + } + ], + "type": "point" + } + }, + "correction_plan": 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"当前状态为爪夹张开，爪夹右接触桌面。\n为完成抓起三脚架使其放入透明塑料圆形容器中的任务应当:爪夹略微抬起，向爪夹的右侧移动，直至三脚架的正上方。", + "time": 12.078041237113402 + } + ], + "tags": [ + "custom2" + ], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766632314816", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1766632315216", + "name": "透明塑料圆形容器" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766632326465", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766632326896", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-151930-good-tripof-plate/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-151930-good-tripof-plate/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..331dca3d03ba20b570c0e34bfe35fb17b2ccf4d1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-151930-good-tripof-plate/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,560 @@ +{ + "task_description": "抓起三脚架并将其放入盘子里:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近盘子:60%\n爪夹将三脚架放入盘子:80%\n爪夹松开，三脚架在盘子中:100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备开始移动。", + "annotations": { + "bbox_1766634254502": { + "instances": [ + { + "height": 0.06800000000000009, + "id": "bbox_1766634254502_1766634296453_4yfvfjauo", + "width": 0.14099999999999996, + "x": 0.3965, + "y": 0.5733333333333334 + } + ], + "type": "bbox" + }, + "bbox_1766634254998": { + "instances": [ + { + "height": 0.30933333333333335, + "id": "bbox_1766634254998_1766634316798_mik78zm3k", + "width": 0.23100000000000004, + "x": 0.6115, + "y": 0.6173333333333333 + } + ], + "type": "bbox" + }, 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diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-172658-mix-teapot-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-172658-mix-teapot-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..c71c3804645c2c03280fae619f5b17401eff73cb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251203-172658-mix-teapot-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,820 @@ +{ + "task_description": "抓取茶壶使其落入纸盒中：\n开始移动：0%\n爪夹靠近茶壶：20%\n爪夹抓取茶壶：40%\n爪夹抓住茶壶接近纸盒：60%\n爪夹将茶壶放入纸盒：80%\n爪夹松开，茶壶落入纸盒中：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右前方移动至茶壶正上方并调整爪夹使爪夹与桌面垂直，爪夹垂直下降靠近茶壶，爪夹抓取茶壶并竖直上升，爪夹夹取茶壶向爪夹方向左边移动至纸盒正上方，爪夹夹取茶壶垂直下降至纸盒中，爪夹松开，茶壶落入纸盒中。", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "当前爪夹张开，静止不动。因此当前进度为0%。", + "state_description": "当前爪夹张开，静止不动。为完成抓取茶壶使其落入纸盒中的任务应当：爪夹向爪夹方向右前方移动至茶壶正上方并调整爪夹使爪夹与桌面垂直。", + "time": 1.7374026996869778, + "annotations": { + "point_1766644597981": { + "type": "point", + "instances": [ + { + "id": "point_1766644597981_1766645370668_h4eop022n", + "x": 0.39311105999078, + "y": 0.38464811119400133 + } + ] + }, + "point_1766644598118": { + "type": "point", + "instances": [ + { + "id": "point_1766644598118_1766645372844_wavk0e4vt", + "x": 0.4941110538262296, + "y": 0.38331477796917496 + } + ] + }, + "bbox_1766644597117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766644597117_1766645387644_shm98r5zf", + "x": 0.6851110421685156, + "y": 0.5834629194366114, + "width": 0.11899999273681675, + "height": 0.19466665082465404 + } + ] + }, + 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"爪夹张开并向爪夹方向右前方移动至茶壶正上方并调整爪夹使爪夹与桌面垂直，爪夹垂直下降靠近茶壶，爪夹抓取茶壶并竖直上升，爪夹夹取茶壶向爪夹方向左边移动至纸盒正上方，爪夹夹取茶壶垂直下降至纸盒中，爪夹松开，茶壶落入纸盒中。", + "annotations": { + "point_1766644597981": { + "type": "point", + "instances": [ + { + "id": "point_1766644597981_1766645253980_6qclg9uxi", + "x": 0.5991110474175386, + "y": 0.3086481173788967 + } + ] + }, + "point_1766644598118": { + "type": "point", + "instances": [ + { + "id": "point_1766644598118_1766645256772_9xjqp16sf", + "x": 0.6061110469902925, + "y": 0.3033147844795911 + } + ] + }, + "bbox_1766644597117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766644597117_1766645270900_9de5et0ro", + "x": 0.6831110422905857, + "y": 0.5806480952434818, + "width": 0.12099999261474652, + "height": 0.1959999840494805 + } + ] + }, + "bbox_1766644596894": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766644596894_1766645282764_g2qynzgx9", + "x": 0.0011110839165598193, + "y": 0.39398144376778615, + "width": 0.44399997290039234, + "height": 0.5773332863498303 + } 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"当前爪夹合拢，此时抓夹与纸箱水平距离接近。为完成抓取茶壶使其落入纸盒中的任务应当：爪夹张开并调整爪夹与桌面水平角度使其垂直于桌面。", + "progress_explanation": "当前爪夹试图抓起鼠标抓取失败，随后爪夹向爪夹方向左上方摆动。因此当前进度跌落至-10%。", + "error_success_analysis": "爪夹尝试抓取鼠标失败并向茶壶相反方向移动。", + "correction_plan": "爪夹放开并向爪夹方向右边移动至茶壶正上方并调整爪夹使爪夹与桌面垂直，爪夹垂直下降靠近茶壶，爪夹抓取茶壶并竖直上升，爪夹夹取茶壶向爪夹方向左边移动至纸盒正上方，爪夹夹取茶壶垂直下降至纸盒中，爪夹松开，茶壶落入纸盒中。", + "annotations": { + "point_1766644597981": { + "type": "point", + "instances": [ + { + "id": "point_1766644597981_1766645121525_q20rmhlok", + "x": 0.41911105840386603, + "y": 0.6941295770972024 + } + ] + }, + "point_1766644598118": { + "type": "point", + "instances": [ + { + "id": "point_1766644598118_1766645123349_0nnam3eac", + "x": 0.4341110574883388, + "y": 0.712796242244772 + } + ] + }, + "bbox_1766644597117": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766644597117_1766645131140_t1wzjadpx", + "x": 0.6841110422295507, + "y": 0.5847962526614379, + "width": 0.12199999255371123, + "height": 0.19199998437500115 + } + ] + }, + "bbox_1766644596894": { + 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+ "state_description": "当前爪夹合拢，此时爪夹于桌面水平角度呈60度角。为完成抓取茶壶使其落入纸盒中的任务应当：爪夹张开向爪夹方向作弊那移动至茶壶正上方并调整爪夹与桌面水平角度，使其垂直于桌面。", + "progress_explanation": "当前爪夹向爪夹方向右边摆动并合拢爪夹，此时爪夹与茶壶水平距离较远。因次当前进度跌落至-15%。", + "error_success_analysis": "当前爪夹未向爪夹方向左边移动并且爪夹空抓。", + "correction_plan": "爪夹张开向爪夹方向左边移动至茶壶正上方，并且调整爪夹使爪夹向爪夹方向右边逆时针转动90度，使其垂直于桌面，爪夹垂直下降靠近茶壶，爪夹夹取茶壶竖直上升，爪夹抓取茶壶向爪夹方向右前方移动至纸盒正上方，爪夹夹取茶壶垂直下降至纸盒中，爪夹松开使茶壶落入纸盒中。", + "annotations": { + "point_1766632441921": { + "type": "point", + "instances": [ + { + "id": "point_1766632441921_1766632670384_xhzuc9tp3", + "x": 0.5801110485772065, + "y": 0.2901296099748039 + } + ] + }, + "point_1766632442072": { + "type": "point", + "instances": [ + { + "id": "point_1766632442072_1766632672535_w47f9kuns", + "x": 0.5871110481499604, + "y": 0.2847962770754983 + } + ] + }, + "bbox_1766632441208": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766632441208_1766632680007_60288zhcy", + "x": 0.3401110632256431, + "y": 0.40212960086022126, + "width": 0.12199999255371137, + 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at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-103142-bad-teapot-rice cooker/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-103142-bad-teapot-rice cooker/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..e4a0a1e3a18549664654e5df0183c108f9593d66 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-103142-bad-teapot-rice cooker/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,466 @@ +{ + "task_description": "抓取茶壶放入饭锅里：\n准备开始移动：0%\n爪夹靠近茶壶：20%\n爪夹抓取茶壶：40%\n爪夹抓紧茶壶接近饭锅：60%\n爪夹将茶壶放入饭锅：80%\n爪夹松开茶壶落入饭锅：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左前方的茶壶移动，同时调整爪夹的角度使其垂直与桌面，并移动到茶壶壶身两侧的正上方。接着落下爪夹靠近茶壶，接近茶壶后爪夹合拢抓取茶壶。抓紧茶壶垂直升高爪夹并向爪夹右前方的饭锅接近，水平到达饭锅正上方后将茶壶放入饭锅里，松开爪夹，使茶壶落入饭锅。", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，未开始移动。\n为完成使茶壶落入饭锅的任务应当：爪夹向爪夹左前方的茶壶移动，同时调整爪夹的角度使其垂直与桌面，并移动到茶壶壶身两侧的正上方。", + "time": 1.7115979381443296, + "annotations": { + "point_1766628622686": { + "type": "point", + "instances": [ + { + "id": "point_1766628622686_1766628641033_vrmnbh9xp", + "x": 0.4175, + "y": 0.4013333333333334 + } + ] + }, + "point_1766628627567": { + "type": "point", + "instances": [ + { + "id": "point_1766628627567_1766628644278_684tazws7", + "x": 0.5185000000000001, + "y": 0.36800000000000005 + } + ] + }, + "bbox_1766628613424": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766628613424_1766628650238_f2a2lgg16", + "x": 0.6165, + "y": 0.384, + "width": 0.125, + "height": 0.15066666666666664 + } + ] + }, + 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"爪夹张开向爪夹右前方移动，触碰到了碗，并未向茶壶移动。", + "correction_plan": "爪夹向左后方茶壶移动，使爪夹位于茶壶壶身两侧正上方。接着落下爪夹靠近茶壶，接近茶壶后爪夹合拢抓取茶壶。抓紧茶壶垂直升高爪夹并向爪夹右前方的饭锅接近，水平到达饭锅正上方后将茶壶放入饭锅里，松开爪夹，使茶壶落入饭锅。", + "annotations": { + "bbox_1766628613424": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766628613424_1766628768530_d28cv2kow", + "x": 0.6715, + "y": 0.2586666666666667, + "width": 0.13100000000000006, + "height": 0.14533333333333334 + } + ] + }, + "bbox_1766628617313": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766628617313_1766628776258_0ku2la1tt", + "x": 0.17850000000000002, + "y": 0.7226666666666668, + "width": 0.24900000000000003, + "height": 0.2626666666666665 + } + ] + } + } + }, + { + "time": 9.858505154639174, + "frame": 296, + "progress": -20, + "action_description": "爪夹向右前方移动升高并合拢", + "state_description": "爪夹合拢，角度与桌面呈40度。位于碗的正上方。\n为完成使茶壶落入饭锅的任务应当：张开爪夹，爪夹向左后方茶壶移动并调整爪夹角度使其接近垂直于桌面，使爪夹位于茶壶壶身两侧正上方。", + "progress_explanation": "爪夹合拢，角度与桌面呈40度。比上一阶段多出一步张开爪夹，因此进度降低为-20%。", + "error_success_analysis": "爪夹向右前方移动，推动错误目标碗。水平上更加远离了茶壶。", + "correction_plan": "张开爪夹，爪夹向左后方茶壶移动并调整爪夹角度使其接近垂直于桌面，使爪夹位于茶壶壶身两侧正上方。接着落下爪夹靠近茶壶，接近茶壶后爪夹合拢抓取茶壶。抓紧茶壶垂直升高爪夹并向爪夹右前方的饭锅接近，水平到达饭锅正上方后将茶壶放入饭锅里，松开爪夹，使茶壶落入饭锅。", + "annotations": { + "point_1766628622686": { + "type": "point", + "instances": [ + { + "id": "point_1766628622686_1766628790972_zb2zpfekf", + "x": 0.4685, + "y": 0.8800000000000001 + } + ] + }, + "point_1766628627567": { + "type": "point", + "instances": [ + { + "id": "point_1766628627567_1766628794169_wkqj1ilsi", + "x": 0.47750000000000004, + "y": 0.8893333333333333 + } + ] + }, + "bbox_1766628613424": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766628613424_1766628800652_mpmdadh9i", + "x": 0.6755, + "y": 0.25733333333333336, + "width": 0.12700000000000006, + "height": 0.156 + } + ] + }, + "bbox_1766628617313": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766628617313_1766628807846_rueny3v7m", + "x": 0.1805, + "y": 0.7200000000000001, + "width": 0.25200000000000006, + "height": 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0000000000000000000000000000000000000000..662db6e5967a93234521f6d0f7b67cfd0463d6f3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-105708-mix-teapot-plate/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,1022 @@ +{ + "task_description": "抓起杯子使其落入盘中:\n开始移动:0%\n爪夹靠近杯子:20%\n爪夹抓取杯子:40%\n爪夹抓住杯子接近盘子:60%\n爪夹将杯子放入盘子:80%\n爪夹松开，杯子落入盘子:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1766484827071": { + "instances": [ + { + "height": 0.1706666527777789, + "id": "bbox_1766484827071_1766485184117_hp8q5ixg1", + "width": 0.1269999922485356, + "x": 0.33566660548909877, + "y": 0.3878333017713784 + } + ], + "type": "bbox" + }, + "bbox_1766484831765": { + "instances": [ + { + "height": 0.30933330815972426, + "id": "bbox_1766484831765_1766485192890_4ezazsm1k", + "width": 0.22899998602295, + "x": 0.5336665934041386, + "y": 0.6038332841932549 + } + ], + "type": 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"继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的前方移动，直至充电器处于透明塑料圆形容器正上方，下降将充电器放入透明塑料圆形容器中，松开爪夹，使充电器落入透明塑料圆形容器中。", + "error_success_analysis": "爪夹调整角度，准备靠近抓取充电器。", + "frame": 108, + "progress": 10, + "progress_explanation": "爪夹正在调整角度，准备靠近充电器。因此进度提升至10%", + "state_description": "当前爪夹张开，爪夹角度调整至倾斜与桌面。\n为完成抓起充电器使其落入透明塑料圆形容器中的任务应当：继续调整爪夹角度直到垂直于桌面，继续向爪夹方向的右方移动至充电器的正上方。", + "time": 3.6083609349603747 + }, + { + "time": 4.392799, + "frame": 132, + "progress": 20, + "action_description": "爪夹向爪夹方向的右方移动。", + "state_description": "当前爪夹半合拢，垂直于充电器上方，\n为完成抓起充电器使其落入透明塑料圆形容器中的任务应当：垂直下降，抓取充电器。", + "progress_explanation": "爪夹成功移动至充电器上方，因此进度提升至20%", + "error_success_analysis": "爪夹成功移动至充电器上方，方便抓取充电器。", + "correction_plan": "下降抓取充电器后竖直上升，向爪夹方向的前方移动，直至充电器处于透明塑料圆形容器正上方，下降将充电器放入透明塑料圆形容器中，松开爪夹，使充电器落入透明塑料圆形容器中。" + }, + { + "time": 5.203984714532613, + "frame": 156, + "progress": -5, + "action_description": "爪夹向爪夹方向的左方移动。", + "state_description": 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box/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,428 @@ +{ + "task_description": "拿起散热器，将其放入快递箱中。\n爪夹开始移动：0%\n爪夹靠近散热器：20%\n爪夹抓取散热器：40%\n爪夹抓住散热器并接近快递箱：60%\n爪夹将散热器放入快递箱中：80%\n爪夹松开，使散热器落入快递箱中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766546037179": { + "instances": [ + { + "height": 0.5839999524739624, + "id": "bbox_1766546037179_1766546071252_d53tf074g", + "width": 0.3769999769897475, + "x": -0.0003333740030899656, + "y": 0.296055528071653 + } + ], + "type": "bbox" + }, + "bbox_1766546037304": { + "instances": [ + { + "height": 0.2839999768880227, + "id": "bbox_1766546037304_1766546086890_gwqz702s7", + "width": 0.17799998913574272, + "x": 0.6566665858968148, + "y": 0.26227775473813847 + } + ], + "type": "bbox" + }, + "point_1766546037976": { + "instances": [ + { + "id": "point_1766546037976_1766546098430_8x7a4pqh9", + "x": 0.4436665988973023, + "y": 0.37961107852286147 + } + ], + "type": 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box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,686 @@ +{ + "task_description": "拿起散热器，将其放入快递箱中。\n爪夹开始移动：0%\n爪夹靠近散热器：20%\n爪夹抓取散热器：40%\n爪夹抓住散热器并接近快递箱：60%\n爪夹将散热器放入快递箱中：80%\n爪夹松开，使散热器落入快递箱中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766562044582": { + "instances": [ + { + "height": 0.26399997851562673, + "id": "bbox_1766562044582_1766562089360_dzb72xtwh", + "width": 0.4179999744873064, + "x": 0.21766661269124676, + "y": 0.704648085152337 + } + ], + "type": "bbox" + }, + "bbox_1766562044972": { + "instances": [ + { + "height": 0.2906666430121548, + "id": "bbox_1766562044972_1766562111683_crmxpbme5", + "width": 0.1779999891357426, + "x": 0.6556665859578499, + "y": 0.3379814483250775 + } + ], + "type": "bbox" + }, + "point_1766562045688": { + "instances": [ + { + "id": "point_1766562045688_1766562128341_hve4iq45v", + "x": 0.3936666019490599, + "y": 0.3739814453953902 + } + ], + "type": "point" + 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0000000000000000000000000000000000000000..5bc0d5417a751534ea9f3f98f87d2d72ef1e2cb7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-180854-good-radiator-rice cooker/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,438 @@ +{ + "task_description": "拿起散热器，将其放入电饭煲的内锅中：\n爪夹开始移动：0%\n爪夹靠近散热器：20%\n爪夹抓取散热器：40%\n爪夹抓住散热器并接近电饭煲的内锅：60%\n爪夹将散热器放入电饭煲的内锅中：80%\n爪夹松开，使散热器落入电饭煲的内锅中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766563821096": { + "instances": [ + { + "height": 0.2879999765625019, + "id": "bbox_1766563821096_1766563839221_6fjb0te3k", + "width": 0.21699998675537188, + "x": 0.3206666064046261, + "y": 0.4193147750394877 + } + ], + "type": "bbox" + }, + "bbox_1766563821330": { + "instances": [ + { + "height": 0.3479999716796899, + "id": "bbox_1766563821330_1766563851673_wrpmv03n1", + "width": 0.15099999078369197, + "x": 0.16666661580403955, + 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cooker/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-182328-mix-radiator-rice cooker/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..5f388ff85c6b5b24c1b51f12a601687f45d05dbd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-2cameras/20251204-182328-mix-radiator-rice cooker/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,900 @@ +{ + "task_description": "拿起散热器，将其放入电饭煲的内锅中：\n爪夹开始移动：0%\n爪夹靠近散热器：20%\n爪夹抓取散热器：40%\n爪夹抓住散热器并接近电饭煲的内锅：60%\n爪夹将散热器放入电饭煲的内锅中：80%\n爪夹松开，使散热器落入电饭煲的内锅中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766571041035": { + "instances": [ + { + "height": 0.2866666433376755, + "id": "bbox_1766571041035_1766624087862_jb7jaereu", + "width": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-3cameras/20251202-150421-good-carrots/annotations/chunk-000/observation.images.wrist/episode_000011.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-3cameras/20251202-150421-good-carrots/annotations/chunk-000/observation.images.wrist/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..1500b6aba3aa654759fbaedbaf6997da5fe7befd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-3cameras/20251202-150421-good-carrots/annotations/chunk-000/observation.images.wrist/episode_000011.json @@ -0,0 +1,550 @@ +{ + "task_description": "把胡萝卜放在盘子上。\n爪夹开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓住胡萝卜并接近白色盘子：60%\n爪夹将胡萝卜放入白色盘子中：80%\n爪夹松开，使胡萝卜落入白字盘子中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。", + "annotations": { + "bbox_1766113346474": { + "type": "bbox", + "instances": [ + { + "id": 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"爪夹向爪夹的右边移动，导致离开胡萝卜正上方。", + "frame": 123, + "progress": 10, + "progress_explanation": "爪夹远离胡萝卜，因此进度下降至10%", + "state_description": "当前状态为爪夹打开，垂直于桌面。\n为完成抓起胡萝卜使其落入盘中的任务应当：调整爪夹的角度，向爪夹的左边移动至胡萝卜的正上方。", + "time": 4.10317238398498 + }, + { + "action_description": "爪夹向爪夹的左边移动并垂直于胡萝卜正上方。", + "annotations": { + "bbox_1766113346474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766113346474_1766113650839_n9yjtwbwl", + "x": 0.06811108220757556, + "y": 0.003314809002158557, + "width": 0.28299998400879006, + "height": 0.2693333111979185 + } + ] + }, + "bbox_1766113347400": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766113347400_1766113630500_vw0gnsln4", + "x": 0.38011106078423695, + "y": 0.16064812942316653, + "width": 0.2929999821167003, + "height": 0.6146666166449694 + } + ] + }, + "point_1766113348239": { + "type": "point", + "instances": [ + { + "id": "point_1766113348239_1766113627528_javd4r7nr", + "x": 0.3901110601738854, + "y": 0.5099814343276827 + } + ] + }, + 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new file mode 100644 index 0000000000000000000000000000000000000000..cd4f249f5549232949449ccc799d7ca726e0c047 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-3cameras/20251202-165150-mix-carrots/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,482 @@ +{ + "task_description": "把胡萝卜放在盘子上\n爪夹开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓住胡萝卜并接近白色盘子：60%\n爪夹将胡萝卜放入白色盘子中：80%\n爪夹松开，使胡萝卜落入白字盘子中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。", + "annotations": { + "bbox_1766124721102": { + "instances": [ + { + "height": 0.26666664496527953, + "id": "bbox_1766124721102_1766124755199_ye0pc6obx", + "width": 0.2029999876098641, + "x": 0.5261110518731047, + "y": 0.23279628130726876 + } + ], + "type": "bbox" + }, + "bbox_1766124721965": { + "instances": [ + { + "height": 0.2599999788411474, + "id": "bbox_1766124721965_1766124777829_12avyxzsn", + "width": 0.1279999921875005, + "x": 0.5281110517510345, + "y": 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"progress_explanation": "爪夹正在调整角度，因此进度提升至10%。", + "state_description": "当前爪夹张开，与胡萝卜的水平距离略微缩短。\n为完成抓起胡萝卜使其落入盘中的任务应当：继续调整爪夹方向直到垂直于桌面，调整至胡萝卜的正上方。", + "time": 2.318289024289411 + }, + { + "action_description": "爪夹继续调整角度，直到垂直于桌面。", + "annotations": { + "bbox_1766124721102": { + "instances": [ + { + "height": 0.2653333117404532, + "id": "bbox_1766124721102_1766124889458_9pfpinqcy", + "width": 0.20299998760986399, + "x": 0.5251110519341399, + "y": 0.23264812356379203 + } + ], + "type": "bbox" + }, + "bbox_1766124721965": { + "instances": [ + { + "height": 0.22799998144531408, + "id": "bbox_1766124721965_1766124905625_dpmyuuurc", + "width": 0.12099999261474643, + "x": 0.5271110518120696, + "y": 0.5193147669014675 + } + ], + "type": "bbox" + }, + "point_1766124722851": { + "instances": [ + { + "id": "point_1766124722851_1766124916090_lg2333bq7", + "x": 0.6171110463189058, + "y": 0.7179814174006008 + } + ], + "type": "point" + } + }, + "correction_plan": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-3cameras/20251203-105731-good-cucumbers/annotations/chunk-000/observation.images.head/episode_000024.json new file mode 100644 index 0000000000000000000000000000000000000000..7353a93c2b112e9104f547c24b2e814a7f1ce06c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/ARX-data/human-data-1204-3cameras/20251203-105731-good-cucumbers/annotations/chunk-000/observation.images.head/episode_000024.json @@ -0,0 +1,368 @@ +{ + "task_description": "把黄瓜放在盘子上\n爪夹开始移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓住黄瓜并接近白色托盘：60%\n爪夹将黄瓜放入白色托盘中：80%\n爪夹松开，使黄瓜落入白色托盘中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766137781567": { + "instances": [ + { + "height": 0.30533330848524515, + "id": "bbox_1766137781567_1766137825655_8fohbl7jx", + "width": 0.23399998571777428, + "x": 0.1446666171468129, + "y": 0.5233147665759467 + } + ], + "type": "bbox" + }, + 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"继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左方移动，到达黄瓜正上方后下降，抓取黄瓜后竖直上升，向爪夹方向的左方移动，直至黄瓜处于盘子正上方。下降将黄瓜放入盘中，松开爪夹。", + "error_success_analysis": "爪夹调整角度，靠近黄瓜。", + "frame": 86, + "progress": 10, + "progress_explanation": "爪夹调整角度，靠近黄瓜，因此进度提升至10%", + "state_description": "当前状态为爪夹打开，没有触碰黄瓜。\n为完成抓起黄瓜使其落入盘中的任务应当：继续调整爪夹方向直到垂直于桌面，调整至黄瓜的正上方。", + "time": 2.872805645997878 + }, + { + "action_description": "爪夹角度垂直于桌面，同时向爪夹方向的左前方移动，准备向黄瓜移动。", + "annotations": { + "bbox_1766137781567": { + "instances": [ + { + "height": 0.30533330848524504, + "id": "bbox_1766137781567_1766137929001_ssas6sc8l", + "width": 0.23399998571777428, + "x": 0.14366661720784807, + "y": 0.5246480998007732 + } + ], + "type": "bbox" + }, + "bbox_1766137781711": { + "instances": [ + { + "height": 0.3533333045789953, + "id": "bbox_1766137781711_1766137924451_s8dufxev4", + "width": 0.03799999768066416, + "x": 0.48866659615072044, + "y": 0.533981432374558 + } + ], + "type": "bbox" + } + }, + "correction_plan": 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"error_success_analysis": "爪夹夹取物品有误，应夹取海绵而不是白色垃圾", + "frame": 461, + "progress": -20, + "progress_explanation": "爪夹并未向海绵靠近，并且使垃圾进一步远离海绵。因此进度再次降低至-20%", + "state_description": "当前状态为爪夹合拢，抓紧垃圾。为完成将白色垃圾扫如垃圾桶的任务应当：张开爪夹，向左后方移动至海绵处下降", + "time": 15.356 + }, + { + "action_description": "爪夹由张开变为合拢", + "annotations": { + "bbox_1766634071031": { + "instances": [ + { + "height": 0.17733333333333334, + "id": "bbox_1766634071031_1766634180436_bokodes6v", + "width": 0.10400000000000001, + "x": 0.6655, + "y": 0.36000000000000004 + } + ], + "type": "bbox" + }, + "bbox_1766634454462": { + "instances": [ + { + "height": 0.43733333333333335, + "id": "bbox_1766634454462_1766634498539_slaxlb0l", + "width": 0.147, + "x": 0.0115, + "y": 0.47866666666666663 + } + ], + "type": "bbox" + }, + "point_1766634081653": { + "instances": [ + { + "id": "point_1766634081653_1766634183667_lsdlmwcru", + "x": 0.0645, + "y": 0.6693333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "垃圾已进入垃圾桶，无需后续动作", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003392.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003392.json new file mode 100644 index 0000000000000000000000000000000000000000..4f776c459ea970d8a94bb4e2d977044d469b7fc5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003392.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取毛巾使其落在左侧桌面上：\n爪夹开始移动：0%\n爪夹接近毛巾：20%\n爪夹抓紧毛巾：40%\n爪夹抓紧毛巾接近左侧桌面：60%\n爪夹将毛巾放在左侧桌面上：80%\n毛巾落在左侧桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.781485, + "frame": 23, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + 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a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003656.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003656.json new file mode 100644 index 0000000000000000000000000000000000000000..1efaf7a47d0ef6223133f69a8330d10f8662fca4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003656.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取小碟，将其内容物倾倒在圆盘内：\n爪夹开始移动：0%\n爪夹接近小碟：20%\n爪夹抓紧小碟：40%\n爪夹抓紧小碟接近圆盘内：60%\n爪夹加紧小碟，将其翻转：80%\n小碟内容物落在圆盘内：90%\n爪甲抓紧小碟，将其放回原位，爪夹移开：100%", + "progress_points": [ + { + "time": 2.087133, + "frame": 63, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + 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@@ +{ + "task_description": "抓取黑色汤勺使其落入收纳桶中：\n爪夹开始移动：0%\n爪夹接近黑色汤勺：20%\n爪夹抓紧黑色汤勺：40%\n爪夹抓紧黑色汤勺接近收纳桶：60%\n爪夹将黑色汤勺放入收纳桶中：80%\n黑色汤勺落入收纳桶中，爪夹移开：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.086399, + "frame": 63, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.3578, + "frame": 101, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.346399, + "frame": 160, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.041736, + 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+} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003712.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003712.json new file mode 100644 index 0000000000000000000000000000000000000000..2f0e6275b99fb121f5181715a6866e81d87ea44c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003712.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取杯子，将其顺时针旋转120度并在桌面向右前方移动：\n爪夹开始移动：0%\n爪夹接近杯子：20%\n爪夹抓紧杯子：40%\n爪夹抓紧物品顺时针旋转120度并向右前方移动：60%\n爪夹将物品放在右前方桌面：80%\n物品落在右前方桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.186401, + "frame": 6, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.666317, + "frame": 50, + "progress": 4, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.084309, + "frame": 63, + "progress": 8, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.055857, + "frame": 92, + "progress": 12, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.903138, + "frame": 117, + "progress": 16, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.727824, + "frame": 142, + "progress": 20, + "action_description": "", + "state_description": "", + 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diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003733.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003733.json new file mode 100644 index 0000000000000000000000000000000000000000..e58a2d6bc6c3c741676b73c189ff4a6e7f62bbee --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003733.json @@ -0,0 +1,78 @@ +{ + "task_description": "关闭微波炉：\n爪夹开始移动：0%\n爪夹接近微波炉门外侧：20%\n爪夹推动微波炉门：40%\n微波炉门关闭一半：60%\n微波炉门关闭：100%", + "progress_points": [ + { + "time": 0.460146, + "frame": 14, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.233933, + "frame": 37, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.9765978190721647, + "frame": 59, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.231276, + "frame": 67, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.85638, + "frame": 86, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.106588, + "frame": 123, + "progress": 90, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.957426, + "frame": 149, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003764.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003764.json new file mode 100644 index 0000000000000000000000000000000000000000..2607ba1bc978c8cd2816bc8f32e94b677830df56 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003764.json @@ -0,0 +1,98 @@ +{ + "task_description": 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a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003825.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003825.json new file mode 100644 index 0000000000000000000000000000000000000000..8454e7d8e42a3ab95988153ca75ddc8e3a0604b2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003825.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取笔，将其放在桌面上：\n爪夹开始移动：0%\n爪夹接近笔：20%\n爪夹抓紧笔：40%\n爪夹抓紧笔接近桌面：60%\n爪夹将笔放在桌面上：80%\n笔落在桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.512796, + "frame": 15, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.177719, + 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], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003330.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003330.json new file mode 100644 index 0000000000000000000000000000000000000000..b49504b307aa8fb41dc7be65ec602cbdb7a11538 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003330.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取红色物体使其落入白色盒子中：\n爪夹开始移动：0%\n爪夹接近红色物体：20%\n爪夹抓紧红色物体：40%\n爪夹抓紧红色物体接近白色盒子：60%\n爪夹将红色物体放入白色盒子中：80%\n红色物体落入白色盒子中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.950732, + "frame": 29, + "progress": 0, + "action_description": "", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003355.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003355.json new file mode 100644 index 0000000000000000000000000000000000000000..4eea193ad2a516321e775a4c2b5cf45ef854e194 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003355.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取食品夹，将其放在灶台左侧：\n爪夹开始移动：0%\n爪夹接近食品夹：20%\n爪夹抓紧食品夹：40%\n爪夹抓紧食品夹接近灶台左侧：60%\n爪夹将食品夹放在灶台左侧：80%\n食品夹落在灶台左侧，爪夹移开：100%", + "progress_points": [ + { + "time": 0.894979, + "frame": 27, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + 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a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003358.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003358.json new file mode 100644 index 0000000000000000000000000000000000000000..4b4acfb042e0562e203f8aee73ab8b662260531e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003358.json @@ -0,0 +1,88 @@ +{ + "task_description": "关闭抽屉：\n爪夹开始移动：0%\n爪夹接近抽屉外侧：20%\n爪夹对准抽屉外侧：40%\n爪夹推动抽屉：60%\n抽屉合上：100%", + "progress_points": [ + { + "time": 0.474476, + "frame": 14, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.419246, + "frame": 73, + 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b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003407.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取香蕉，将其在桌面向左前方移动：\n爪夹开始移动：0%\n爪夹接近香蕉：20%\n爪夹抓紧香蕉：40%\n爪夹抓紧香蕉向左前方移动：60%\n爪夹将香蕉放在左前方桌面：80%\n香蕉落在左前方桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.635983, + "frame": 49, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.177066, + "frame": 95, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.433193, + "frame": 133, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.318549, + "frame": 160, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.525866, + "frame": 196, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.402666, + "frame": 252, + "progress": 70, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.604184, + "frame": 288, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.425383, + "frame": 313, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003415.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003415.json new file mode 100644 index 0000000000000000000000000000000000000000..d955036113b47cd0d5612b55a638e9292809c217 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003415.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取绿色包装物体，将其放在水槽左侧：\n爪夹开始移动：0%\n爪夹接近绿色包装物体：20%\n爪夹抓紧绿色包装物体：40%\n爪夹抓紧绿色包装物体接近水槽左侧：60%\n爪夹将绿色包装物体放在水槽左侧：80%\n绿色包装物体落在水槽左侧，爪夹移开：100%", + "progress_points": [ + { + "time": 0.1152, + "frame": 3, + "progress": 0, + "action_description": "", + "state_description": "", 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+ "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.681171, + "frame": 350, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.458577, + "frame": 404, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003442.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003442.json new file mode 100644 index 0000000000000000000000000000000000000000..758e06d2f7bd7449171f1b3cabc94edf23ee8da8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003442.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取白色罐子，将其在桌面向左方移动：\n爪夹开始移动：0%\n爪夹接近白色罐子：20%\n爪夹抓紧白色罐子：40%\n爪夹抓紧白色罐子向左方移动：60%\n爪夹将白色罐子放在左方桌面：80%\n白色罐子落在左方桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.649616, + "frame": 49, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.445083, + "frame": 73, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.870606, + "frame": 146, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 6.174651, + "frame": 185, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.074442, + "frame": 212, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 8.378486, + "frame": 251, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.034623, + "frame": 301, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.169142, + "frame": 335, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003446.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003446.json new file mode 100644 index 0000000000000000000000000000000000000000..134b57fd77e47a1c4cb9fb050d2a620606e827ec --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003446.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取白色柱状物体使其落入白色盒子中：\n爪夹开始移动：0%\n爪夹接近白色柱状物体：20%\n爪夹抓紧白色柱状物体：40%\n爪夹抓紧白色柱状物体接近白色盒子：60%\n爪夹将白色柱状物体放入白色盒子中：80%\n白色柱状物体落入白色盒子中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.310495, + "frame": 9, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 1.934623, + "frame": 58, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.444107, + "frame": 103, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.40903, + "frame": 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8.975697, + "frame": 269, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003449.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003449.json new file mode 100644 index 0000000000000000000000000000000000000000..73d7ccef603a95e8de3af013f1e95ac681a7beff --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003449.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取笔，将其放置在杯子右侧：\n爪夹开始移动：0%\n爪夹接近笔：20%\n爪夹抓紧笔：40%\n爪夹抓紧笔接近杯子右侧：60%\n爪夹将笔放在杯子右侧：80%\n笔落在杯子右侧，爪夹移开：100%", + "progress_points": [ + { + "time": 0.636854, + "frame": 19, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.968723, + "frame": 89, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 7.377719, + "frame": 221, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 9.082531, + "frame": 272, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 10.297454, + "frame": 309, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 11.708333, + "frame": 351, + "progress": 50, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 13.43274, + "frame": 403, + "progress": 60, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 15.647035, + "frame": 469, + "progress": 80, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 16.920745, + "frame": 508, + "progress": 100, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": 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end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003530.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003530.json new file mode 100644 index 0000000000000000000000000000000000000000..801fd725c06e31271674534dd1787d2231f6a069 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003530.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取笔，使其落入碗中：\n爪夹开始移动：0%\n爪夹接近笔：20%\n爪夹抓紧笔：40%\n爪夹抓紧笔接近碗：60%\n爪夹将笔放入碗中：80%\n笔落入碗中，爪夹移开：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": -15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + 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newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008768.json b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008768.json new file mode 100644 index 0000000000000000000000000000000000000000..ef2d6fd531ff09bbd9f0c1c4e4b6a941a50ad48f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-2/droid_lerobot/shard_0002/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008768.json @@ -0,0 +1,118 @@ +{ + "task_description": "关上灶台上的灯：\n开始移动：0%\n爪夹接近灯的开关：25%\n爪夹触碰灯的开关：50%\n爪夹推动灯的开关：75%\n爪夹离开，灯被关上：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + 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