diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..7c8600e47133e521700b0caa753a75922ec17c04 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,504 @@ +{ + "task_description": "拿起苦瓜玩具，将其放在盘子上。\n爪夹开始移动：0%\n爪夹靠近苦瓜玩具：20%\n爪夹抓取苦瓜玩具：40%\n爪夹抓住苦瓜玩具并接近盘子：60%\n爪夹将苦瓜玩具移动至盘子上方：80%\n爪夹松开，使苦瓜玩具落到盘子上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左方移动，到达苦瓜玩具正上方后下降，合拢爪夹抓取苦瓜玩具后竖直上升，向爪夹方向的左前方移动，直至苦瓜玩具处于盘子正上方。下降将苦瓜玩具放在盘子上，随后松开爪夹，使苦瓜玩具落到盘子上。", + 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"爪夹向爪夹方向的左方移动，移动至苦瓜玩具上方。", + "state_description": "当前爪夹打开，垂直于苦瓜玩具上方。\n为完成拿起苦瓜玩具，将其放在盘子上的任务应当：下降合拢爪夹，抓取苦瓜玩具后竖直上升。", + "progress_explanation": "当前爪夹已悬空于苦瓜玩具正上方，已接近苦瓜玩具，因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，成功垂直于苦瓜玩具的正上方。", + "correction_plan": "下降合拢爪夹，抓取苦瓜玩具后竖直上升，向爪夹方向的左前方移动，直至苦瓜玩具处于盘子正上方。下降将苦瓜玩具放在盘子上，随后松开爪夹，使苦瓜玩具落到盘子上。", + "annotations": { + "point_1767681620965": { + "type": "point", + "instances": [ + { + "id": "point_1767681620965_1767681723826_cogqj5gma", + "x": 0.7196665820516002, + "y": 0.38542589229932517 + } + ] + }, + "point_1767681620820": { + "type": "point", + "instances": [ + { + "id": "point_1767681620820_1767681726203_q3c0i15zr", + "x": 0.6896665838826548, + "y": 0.4480925538661659 + } + ] + }, + "bbox_1767681620328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681620328_1767681754209_3xtob3mc0", + "x": 0.6366665871175179, + "y": 0.4694258854633882, + "width": 0.11299999310302775, + "height": 0.0866666596137159 + } + ] + }, + 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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，到达黄瓜正上方后下降，合拢爪夹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。下降将黄瓜移动至盘子上，随后松开爪夹，使黄瓜落到盘子上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向上成功接近黄瓜，并使爪夹角度垂直于桌面，方便抓取。", + "frame": 116, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上略微接近黄瓜并调整爪夹角度方便抓取，因此进度提升为5%。", + "state_description": "当前状态为爪夹打开，垂直于桌面。\n为完成拿起黄瓜，将其放在盘子上的任务应当：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的前方移动。", + "time": 3.877662336044322, + "annotations": { + "point_1767684798728": { + "type": "point", + "instances": [ + { + "id": "point_1767684798728_1767684832951_fj03d9xf5", + "x": 0.5396665930379276, + "y": 0.5200925480067914 + } + ] + }, + "point_1767684798607": { + "type": "point", + "instances": [ + { + "id": "point_1767684798607_1767684835175_4il3zoxrq", + "x": 0.425666599995935, + "y": 0.5214258812316177 + } + ] + }, + "bbox_1767684797782": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684797782_1767684840443_0506z7bor", + "x": 0.36466660371907933, + "y": 0.5787592098991529, + "width": 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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前方移动，到达黄瓜正上方后下降，合拢爪夹，抓取黄瓜后竖直上升，向爪夹方向的右后方移动，直至黄瓜处于盘子正上方。下降将黄瓜放在盘子上，随后松开爪夹，使黄瓜落到盘子上。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起黄瓜，将其放在盘子上的任务应当：调整爪夹方向直到垂直于桌面，向爪夹方向的左前方移动至黄瓜的正上方。", + "time": 1.3973874563700908, + "annotations": { + "point_1767692849585": { + "type": "point", + "instances": [ + { + "id": "point_1767692849585_1767693102673_kivavyb2u", + "x": 0.5566665920003301, + "y": 0.36942589360140843 + } + ] + }, + "point_1767692849471": { + "type": "point", + "instances": [ + { + "id": "point_1767692849471_1767693105021_onxrpt5lh", + "x": 0.44966659853109137, + "y": 0.37209256005106117 + } + ] + }, + "bbox_1767692848867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692848867_1767693109927_ovz1s4l8w", + "x": 0.5866665901692755, + "y": 0.5694258773253681, + "width": 0.04599999719238301, + "height": 0.3373333058810786 + } + ] + }, + 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+ "error_success_analysis": "爪夹向爪夹方向的下方移动，位于桌面上方，需要抬起爪夹才能继续向茄子继续移动。", + "frame": 146, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向的下方移动，位于桌面上，因此进度下降至5%", + "state_description": "当前爪夹张开，位于桌面上方。\n为完成拿起茄子，把它放到盘子里的任务应当：抬起爪夹，随后向爪夹方向的左方移动，到达茄子正上方后下降。", + "time": 4.871637107463964, + "annotations": { + "bbox_1767842437258": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842437258_1767842509490_jm5tvg5iv", + "x": 0.48166659657796657, + "y": 0.5467592125033194, + "width": 0.22699998614502032, + "height": 0.27066664463975865 + } + ] + }, + "bbox_1767842437384": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842437384_1767842516182_8o3oi9oo6", + "x": 0.5876665901082403, + "y": 0.3840925590744988, + "width": 0.18899998846435614, + "height": 0.13733332215711894 + } + ] + }, + "point_1767842437856": { + "type": "point", + "instances": [ + { + "id": "point_1767842437856_1767842518175_3ht28coyy", + "x": 0.4016666014607787, + "y": 0.5067592157585274 + } + ] + } + } + }, + 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} + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-143602-bad-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-143602-bad-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..4125415e9a20f8431177b04188b153bba0d85d2b --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-143602-bad-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,412 @@ +{ + "task_description": "抓起饮料瓶使其放入快递箱中:\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近快递箱:60%\n爪夹将饮料瓶放入快递箱:80%\n爪夹松开，饮料瓶落入快递箱中:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "bbox_1767687856295": { + "instances": [ + { + "height": 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"抓起饮料瓶使其放入透明塑料圆柱形容器中:\n开始移动:0%\n爪夹接近饮料瓶:20%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近透明塑料圆柱形容器:60%\n爪夹抓住饮料瓶处于透明塑料圆柱形容器正上方:80%\n爪夹松开，饮料瓶放入透明塑料圆柱形容器中:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "bbox_1767778525382": { + "instances": [ + { + "height": 0.23470661672908869, + "id": "bbox_1767778525382_1767778560711_t9ecwkjei", + "width": 0.2234706616729089, + "x": 0.6454431960049937, + "y": 0.7157719517270079 + } + ], + "type": "bbox" + }, + "bbox_1767778525703": { + "instances": [ + { + "height": 0.38451935081148564, + "id": "bbox_1767778525703_1767778572039_mll4mejip", + "width": 0.3058676654182273, + "x": 0.5780274656679151, + "y": 0.2846441947565543 + } + ], + "type": "bbox" + }, + "point_1767778537142": { + "instances": [ + { + "id": "point_1767778537142_1767778581342_cap8c82fx", + "x": 0.45193508114856423, + "y": 0.3695380774032459 + } + ], + "type": "point" + }, + "point_1767778537455": { + "instances": [ + { + "id": 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cooker/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..c5940371e3e4c58a6ab3ec859fc65d653753de3c --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-163127-bad--bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,632 @@ +{ + "task_description": "抓起饮料瓶使其放入电饭煲的内锅中:\n开始移动:0%\n爪夹接近饮料瓶:20%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近电饭煲的内锅:60%\n爪夹抓住饮料瓶处于电饭煲的内锅正上方:80%\n爪夹松开，饮料瓶放入电饭煲的内锅中:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "bbox_1767855082005": { + "instances": [ + { + "height": 0.2399999999999999, + "id": "bbox_1767855082005_1767855529021_oj8l8dryd", + "width": 0.12300000000000004, + "x": 0.6365, + "y": 0.3466666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767855082269": { + "instances": [ + { + "height": 0.29866666666666664, + "id": 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box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,550 @@ +{ + "task_description": "抓起红色方块使其放入快递箱中:\n开始移动:0%\n爪夹接近红色方块:20%\n爪夹抓取红色方块:40%\n爪夹抓住红色方块接近快递箱:60%\n爪夹抓住红色方块处于快递箱正上方:80%\n爪夹松开，红色方块放入快递箱中:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "bbox_1767860204886": { + "instances": [ + { + "height": 0.06799999999999998, + "id": "bbox_1767860204886_1767860550654_ig6bnmq35", + "width": 0.041000000000000016, + "x": 0.6485000000000001, + "y": 0.45733333333333337 + } + ], + "type": "bbox" + }, + "bbox_1767860205206": { + "instances": [ + { + "height": 0.5106666666666667, + "id": "bbox_1767860205206_1767860563262_kqjxy48w3", + "width": 0.29500000000000004, + "x": 0.12050000000000001, + "y": 0.3546666666666667 + } + ], + "type": "bbox" + }, + "point_1767860206150": { + "instances": [ + { + "id": "point_1767860206150_1767860536662_xd9gcx74i", + "x": 0.4335, + "y": 0.36800000000000005 + } + ], + "type": "point" + 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"爪夹与红色方块距离减小。方便爪夹合拢。", + "frame": 478, + "progress": 30, + "progress_explanation": "与上一进度相比，爪夹向红色方块的方向移动了。因此进度提升至30%。", + "state_description": "爪夹处于张开状态。与红色方块距离减小。\n为完成爪夹抓取红色方块放入塑料圆柱形盒中的任务移动应当：爪夹向前方移动。", + "time": 15.938931022900762, + "annotations": { + "bbox_1767946953776": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767946953776_1767947597356_90y80m1nf", + "x": 0.4295, + "y": 0.4426666666666667, + "width": 0.040000000000000036, + "height": 0.06266666666666663 + } + ] + }, + "point_1767946961392": { + "type": "point", + "instances": [ + { + "id": "point_1767946961392_1767947619704_96t5gn651", + "x": 0.4645, + "y": 0.44000000000000006 + } + ] + }, + "point_1767947009456": { + "type": "point", + "instances": [ + { + "id": "point_1767947009456_1767947622062_0iqpebeau", + "x": 0.5415, + "y": 0.428 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹张开。开始向爪夹前方移动。爪夹合拢。开始向爪夹左方移动。爪夹张开。", + "error_success_analysis": "爪夹合拢未抓取到红色方块。应该爪夹张开合拢再次抓取。", + 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b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-112931-bad-red-square-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..46a8edeb48b0e641a949635053e44c4408938b1b --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-112931-bad-red-square-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,517 @@ +{ + "task_description": "爪夹抓取红色方块放入塑料圆柱形盒中。\n开始移动：0%\n爪夹向前方移动：10%\n爪夹向前方移动：-10%\n爪夹合拢：-20%\n爪夹张开：10%\n爪夹向右方移动：20%\n爪夹下降：30%\n爪夹合拢：-10%\n爪夹松开：20%\n爪夹向前方移动：30%\n爪夹合拢：-10%\n爪夹松开：20%\n向爪夹右移动：-20%\n\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1767941848059": { + "instances": [ + { + "height": 0.07599999999999998, + "id": "bbox_1767941848059_1767941926614_nlzbznvhz", + "width": 0.05399999999999996, + "x": 0.35550000000000004, + "y": 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"error_success_analysis": "插座成功落入快递箱中，机械臂成功向后方移动后停止。", + "frame": 460, + "progress": 100, + "progress_explanation": "当前插座已落入快递箱中，因此进度提升至100%。", + "state_description": "当前爪夹张开，垂直于桌面。", + "time": 15.333333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767756016646", + "name": "插座" + }, + { + "color": "#FF9800", + "id": "bbox_1767756017198", + "name": "快递箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767756017878", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767756018182", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-131821-good-socket-express-box/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-131821-good-socket-express-box/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 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b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-141809-bad-yellow square-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,565 @@ +{ + "task_description": "拿起黄色方块放入电饭锅内锅中:\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电饭锅内锅:60%\n爪夹将黄色方块移动至电饭锅内锅上方:80%\n爪夹松开90%\n黄色方块落入电饭锅内锅:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768213662346": { + "instances": [ + { + "height": 0.054666666666666565, + "id": "bbox_1768213662346_1768213716322_jf1rp0bbl", + "width": 0.039000000000000055, + "x": 0.33132202148437495, + "y": 0.5220338948567709 + } + ], + "type": "bbox" + }, + "bbox_1768213662706": { + "instances": [ + { + "height": 0.28800000000000003, + "id": "bbox_1768213662706_1768213720874_qslsmwn6h", + "width": 0.229, + "x": 0.038322021484375, + "y": 0.3620338948567709 + } + ], + "type": "bbox" + }, + "bbox_1768213670010": { + "instances": [ + { + "height": 0.3013333333333334, 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], + "type": "bbox" + } + }, + "correction_plan": "应当爪夹上升后，向爪夹的右方移动。", + "error_success_analysis": "爪夹成功向爪夹的左边移动。", + "frame": 402, + "progress": -10, + "progress_explanation": "当前爪夹向左边移动，因此进度降低为-10%。", + "state_description": "当前爪夹向左平面移动，没有上升。", + "time": 13.401581150330218 + }, + { + "action_description": "爪夹上升。", + "annotations": { + "bbox_1768033777918": { + "instances": [ + { + "height": 0.05866666666666672, + "id": "bbox_1768033777918_1768034165446_zyrk5w2l8", + "width": 0.04200000000000004, + "x": 0.298322021484375, + "y": 0.6513672281901042 + } + ], + "type": "bbox" + }, + "bbox_1768033778278": { + "instances": [ + { + "height": 0.328, + "id": "bbox_1768033778278_1768034167806_fwny9hxhd", + "width": 0.236, + "x": 0.291322021484375, + "y": 0.6380338948567709 + } + ], + "type": "bbox" + }, + "point_1768033779174": { + "instances": [ + { + "id": "point_1768033779174_1768034170582_wrsftagpk", + "x": 0.614322021484375, + "y": 0.3900338948567708 + } + ], + "type": "point" + }, + 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cooker/annotations/chunk-000/observation.images.front/episode_000010.json b/annotation_files_raw/0109/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..db219e507af8cba051be02c486c6a82d7cf26b24 --- /dev/null +++ b/annotation_files_raw/0109/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", + "width": 0.051000000000000066, + "x": 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"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。\n为完成抓取黄色方块使其落入饭锅的任务应当：爪夹向爪夹方向前方移动并调整爪夹与桌面的水平角度，使其垂直于桌面。", + "time": 2.8032602444340817 + }, + { + "action_description": "当前爪夹向爪夹方向前方移动并且调整爪夹与桌面水平角度，使其垂直于桌面，此时爪夹与黄色方块水平距离较远。", + "annotations": { + "bbox_1766213528577": { + "instances": [ + { + "height": 0.06933333333333333, + "id": "bbox_1766213528577_1766213945617_3ma6yud04", + "width": 0.053000000000000116, + "x": 0.6655, + "y": 0.46 + } + ], + "type": "bbox" + }, + "bbox_1766213528961": { + "instances": [ + { + "height": 0.3266666666666667, + "id": "bbox_1766213528961_1766213933920_kr4bzv1u3", + "width": 0.24299999999999997, + "x": 0.5795, + "y": 0.624 + } + ], + "type": "bbox" + }, + "point_1766213530089": { + "instances": [ + { + "id": "point_1766213530089_1766213923264_7sm4uru29", + "x": 0.3765, + "y": 0.492 + } + ], + "type": "point" + }, + "point_1766213530441": { + "instances": [ + { + "id": "point_1766213530441_1766213925648_6nlkmu4lt", + "x": 0.4875, + "y": 0.4826666666666667 + } 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container/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-144102-bad-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..c7e27256e8a48d5d7f4c316580cdb9c834a7c607 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-144102-bad-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,752 @@ +{ + "task_description": "拿起黄色方块放入透明圆形容器中:\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圆形容器:60%\n爪夹将黄色方块移动至圆形容器上方:80%\n爪夹松开90%\n黄色方块落入圆形容器:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1767865956179": { + "instances": [ + { + "height": 0.05333333333333332, + "id": "bbox_1767865956179_1767865995075_civ6wod9c", + "width": 0.04300000000000004, + "x": 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"爪夹向爪夹前方移动。", + "error_success_analysis": "爪夹向爪夹方向的上方移动。", + "frame": 121, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上虽然黄色方块较远，但是爪夹开始上升，因此进度提升为5%。", + "state_description": "当前爪夹张开，与黄色方块的水平距离变近。", + "time": 4.027880179603686, + "annotations": { + "bbox_1767865956179": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767865956179_1767925733306_wqnrk8y2i", + "x": 0.183322021484375, + "y": 0.4913672281901042, + "width": 0.045, + "height": 0.05466666666666668 + } + ] + }, + "bbox_1767865956331": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767865956331_1767925736786_30h6q9nb7", + "x": 0.11732202148437501, + "y": 0.5913672281901042, + "width": 0.3400000000000001, + "height": 0.384 + } + ] + }, + "point_1767865957459": { + "type": "point", + "instances": [ + { + "id": "point_1767865957459_1767925739202_81oke24jy", + "x": 0.336322021484375, + "y": 0.2567005615234375 + } + ] + }, + "point_1767865957658": { + "type": "point", + "instances": [ + { + "id": 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+ "progress": 30, + "progress_explanation": "当前抓夹已完全贴近黄色方块，因此进度提升为30%。", + "state_description": "当前爪夹保持张开，爪夹完全贴近黄色方块。", + "time": 9.146780427026366, + "annotations": { + "bbox_1767865956331": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767865956331_1767925969882_5a57jjzs1", + "x": 0.11832202148437503, + "y": 0.5927005615234375, + "width": 0.341, + "height": 0.38133333333333336 + } + ] + }, + "bbox_1767865956179": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767865956179_1767925973178_9qwutvku4", + "x": 0.183322021484375, + "y": 0.49136722819010414, + "width": 0.045, + "height": 0.05466666666666668 + } + ] + }, + "point_1767865957658": { + "type": "point", + "instances": [ + { + "id": "point_1767865957658_1767926026570_wxliylf7b", + "x": 0.259322021484375, + "y": 0.5393672281901042 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹保持合拢，抓取黄色方块垂直上升。", + "error_success_analysis": "当前爪夹已成功抓取黄色方块。", + "frame": 309, + "progress": 40, + 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45, + "progress_explanation": "当前爪夹和上一进度相比，已抓取垂直抬起爪夹，因此进度提升为45%。", + "state_description": "当前爪夹合拢，爪夹抓取黄色方块垂直上升，垂直悬空于桌面。", + "time": 11.358876605376881, + "annotations": { + "bbox_1767865956179": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767865956179_1767926129274_tf4exepml", + "x": 0.156322021484375, + "y": 0.42736722819010414, + "width": 0.06900000000000002, + "height": 0.08000000000000007 + } + ] + }, + "bbox_1767865956331": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767865956331_1767926133546_n5ywz8dmq", + "x": 0.11832202148437501, + "y": 0.5927005615234376, + "width": 0.33999999999999997, + "height": 0.37866666666666654 + } + ] + }, + "point_1767865957459": { + "type": "point", + "instances": [ + { + "id": "point_1767865957459_1767926136386_47repr9oa", + "x": 0.162322021484375, + "y": 0.43803389485677086 + } + ] + }, + "point_1767865957658": { + "type": "point", + "instances": [ + { + "id": "point_1767865957658_1767926138690_auos2k8i4", + "x": 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b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-144102-bad-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..3d6d7a03601f7955eaaeea62e48cff5614ef9342 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-144102-bad-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,510 @@ +{ + "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": "当前爪夹与桌面水平角度呈60度角，爪夹张开静止不动，爪夹与黄色方块水平距离较远。", + "annotations": { + "bbox_1766220074317": { + "instances": [ + { + "height": 0.41866663259548886, + "id": "bbox_1766220074317_1766220575532_ea152ell7", + "width": 0.32099998040771605, + "x": 0.07311107952202883, + "y": 0.41264810891535575 + } + ], + "type": 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container/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,1357 @@ +{ + "task_description": "拿起黄色方块放入透明圆形容器中:\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圆形容器:60%\n爪夹将黄色方块移动至圆形容器上方:80%\n爪夹松开90%\n黄色方块落入圆形容器:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768027847423": { + "instances": [ + { + "height": 0.064, + "id": "bbox_1768027847423_1768028290344_b168jgb8q", + "width": 0.041999999999999996, + "x": 0.504322021484375, + "y": 0.39403389485677087 + } + ], + "type": "bbox" + }, + "bbox_1768027847599": { + "instances": [ + { + "height": 0.4173333333333334, + "id": "bbox_1768027847599_1768028294079_k42b756t1", + "width": 0.32399999999999995, + "x": 0.04232202148437501, + "y": 0.4113672281901042 + } + ], + "type": "bbox" + }, + "bbox_1768027851287": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1768027851287_1768028297295_9rjm5zhg1", + "width": 0.10400000000000009, + "x": 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a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-145413-mix-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-145413-mix-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..e882b6c031c0d44a142562c2428a9e65c409ef38 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-145413-mix-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,832 @@ +{ + "task_description": "拿起黄色方块放入透明圆形容器中:\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圆形容器:60%\n爪夹将黄色方块移动至圆形容器上方:80%\n爪夹松开90%\n黄色方块落入圆形容器:100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹保持打开扶态，准备移动。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触黄色方块。", + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的正上方移动，然后向爪夹的左边移动。", + "annotations": { + "bbox_1768211370023": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768211370023_1768211407031_8gdb7qk2g", + "x": 0.344322021484375, + "y": 0.6593672281901042, + "width": 0.04499999999999997, + "height": 0.06666666666666679 + } + ] + }, + "bbox_1768211370167": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768211370167_1768211409256_ybs1xiusm", + "x": 0.5853220214843751, + "y": 0.4900338948567708, + "width": 0.3320000000000002, + "height": 0.4333333333333334 + } + ] + }, + "point_1768211370951": { + "type": "point", + "instances": [ + { + "id": "point_1768211370951_1768211411503_kc9p8xuan", + "x": 0.393322021484375, + "y": 0.3807005615234375 + } + ] + }, + "point_1768211371103": { + "type": "point", + "instances": [ + { + "id": "point_1768211371103_1768211413983_8dt3s5nyn", + "x": 0.498322021484375, + "y": 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container/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,912 @@ +{ + "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": "当前爪夹与桌面水平角度呈60度角，爪夹张开静止不动，爪夹与黄色方块水平距离较远。", + "annotations": { + "bbox_1766373308096": { + "instances": [ + { + "height": 0.4213332990451416, + "id": "bbox_1766373308096_1766373980425_7djmaaryp", + "width": 0.32099998040771605, + "x": 0.34311106304253763, + "y": 0.45768515359007544 + } + ], + "type": "bbox" + }, + "bbox_1766373308296": { + "instances": [ + { + "height": 0.07066666091579912, + "id": "bbox_1766373308296_1766373966640_csdkzfiz7", + "width": 0.05399999670410174, + "x": 0.21911107061089657, + "y": 0.49368515066038815 + } + ], + "type": "bbox" + }, + "point_1766373309144": { + "instances": [ + { + "id": "point_1766373309144_1766373957176_o7ap06xuk", + "x": 0.36711106157769396, + "y": 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"error_success_analysis": "爪夹向爪夹方向的前方移动。", + "correction_plan": "爪夹向爪夹的左侧移动。", + "annotations": { + "bbox_1768207611867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768207611867_1768207700483_k7c8nxv3j", + "x": 0.089322021484375, + "y": 0.5479096069335938, + "width": 0.731, + "height": 0.43733333333333335 + } + ] + }, + "bbox_1768207611691": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768207611691_1768207714739_wgxv53af7", + "x": 0.5503220214843749, + "y": 0.5159096069335937, + "width": 0.11500000000000013, + "height": 0.12133333333333342 + } + ] + }, + "bbox_1768207619443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768207619443_1768207716963_wutyvp6e5", + "x": 0.773322021484375, + "y": 0.3319096069335937, + "width": 0.1920000000000001, + "height": 0.21333333333333335 + } + ] + }, + "point_1768207613091": { + "type": "point", + "instances": [ + { + "id": "point_1768207613091_1768207721755_6koyenyg1", + "x": 0.487322021484375, + "y": 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"error_success_analysis": "爪夹成功合拢。", + "correction_plan": "爪夹应当上升并且打开爪夹。", + "annotations": { + "bbox_1768207611867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768207611867_1768208080924_ghyv29qdf", + "x": 0.073322021484375, + "y": 0.5572429402669272, + "width": 0.741, + "height": 0.4319999999999999 + } + ] + }, + "bbox_1768207619443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768207619443_1768208084283_c2svllkny", + "x": 0.42232202148437503, + "y": 0.4079096069335938, + "width": 0.21799999999999997, + "height": 0.264 + } + ] + }, + "point_1768207613091": { + "type": "point", + "instances": [ + { + "id": "point_1768207613091_1768208093763_zxbd1u3q6", + "x": 0.48832202148437504, + "y": 0.5719096069335937 + } + ] + }, + "point_1768207613259": { + "type": "point", + "instances": [ + { + "id": "point_1768207613259_1768208096235_uvj8g6o29", + "x": 0.498322021484375, + "y": 0.5745762736002604 + } + ] + } + } + }, + { + "time": 12.474458736377205, + "frame": 374, + "progress": -25, + "action_description": "当前爪夹向左边移动。", + "state_description": "当前爪夹向左边移动，但还是拖着陶瓷盘移动。", + "progress_explanation": "当前爪夹虽然移动带还是拖着陶瓷盘移动。因此进度下降为-25%。", + "error_success_analysis": "爪夹成功向左边移动。", + "correction_plan": "爪夹张开，并且向上移动。", + "annotations": { + "bbox_1768207611867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768207611867_1768208126059_6341w8el3", + "x": 0.07232202148437498, + "y": 0.5572429402669271, + "width": 0.7420000000000001, + "height": 0.42266666666666663 + } + ] + }, + "bbox_1768207619443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768207619443_1768208128060_jwhglr9mg", + "x": 0.531322021484375, + "y": 0.31590960693359377, + "width": 0.2119999999999999, + "height": 0.26666666666666666 + } + ] + }, + "point_1768207613091": { + "type": "point", + "instances": [ + { + "id": "point_1768207613091_1768208131459_obhs54d8k", + "x": 0.5923220214843751, + "y": 0.5079096069335938 + } + ] + } + } + }, + { + "time": 13.253771435346277, + 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b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..55df8f01b46dbab7b348157cf19da1b508528998 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,636 @@ +{ + "task_description": "将插座放入电饭锅的内锅中:\n开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近内锅:60%\n爪夹将插座移动至内锅口:80%\n爪夹松开90%\n插座落入内锅中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向爪夹的正上方移动，然后向爪夹前方移动。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触插座。", + "time": 0, + "annotations": { + "bbox_1767929670715": { + "type": "bbox", + 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"progress": 5, + "progress_explanation": "当前爪夹在水平方向上虽然插座较远，但是爪夹开始上升，因此进度提升为5%。", + "state_description": "当前爪夹张开，与插座的水平距离变近。", + "time": 3.8471445889062, + "annotations": { + "bbox_1767929670715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929670715_1767929755411_v6f6py1kz", + "x": 0.4413220214843749, + "y": 0.6793672281901042, + "width": 0.08400000000000016, + "height": 0.16133333333333333 + } + ] + }, + "bbox_1767929671179": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929671179_1767929758843_810zpkfu6", + "x": 0.595322021484375, + "y": 0.5353672281901041, + "width": 0.24099999999999983, + "height": 0.3133333333333335 + } + ] + }, + "point_1767929671923": { + "type": "point", + "instances": [ + { + "id": "point_1767929671923_1767929762155_u967bbdw3", + "x": 0.47832202148437497, + "y": 0.3260338948567708 + } + ] + }, + "point_1767929672083": { + "type": "point", + "instances": [ + { + "id": "point_1767929672083_1767929764651_n172bjhqi", + "x": 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"#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..a694cdbdf2f9d6e9a167269ee34a608738a206cf --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,702 @@ +{ + "task_description": "将插座放入电饭锅的内锅中:\n开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近内锅:60%\n爪夹松开80%\n插座落入内锅中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向爪夹的正上方移动，然后微微向下移动。", + 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"error_success_analysis": "爪夹成功打开。", + "frame": 403, + "progress": 80, + "progress_explanation": "当前爪夹打开，因此进度提升为80%", + "state_description": "当前爪夹松开，处于内锅口。", + "time": 13.430196987350243, + "annotations": { + "bbox_1767940125763": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940125763_1767940623571_fsl1zx180", + "x": 0.620322021484375, + "y": 0.3745762736002604, + "width": 0.092, + "height": 0.0733333333333333 + } + ] + }, + "bbox_1767940126234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940126234_1767940626203_zwsxkjlqf", + "x": 0.596322021484375, + "y": 0.2625762736002604, + "width": 0.203, + "height": 0.2693333333333333 + } + ] + }, + "point_1767940126898": { + "type": "point", + "instances": [ + { + "id": "point_1767940126898_1767940635715_4vlutq1ft", + "x": 0.6873220214843749, + "y": 0.3705762736002604 + } + ] + }, + "point_1767940127067": { + "type": "point", + "instances": [ + { + "id": "point_1767940127067_1767940638234_vrrpxenes", + "x": 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b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..41f7abcab034f876e8e0c215345e5e805aefec68 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,702 @@ +{ + "task_description": "将插座放入电饭锅的内锅中:\n开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近内锅:60%\n爪夹松开80%\n插座落入内锅中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向爪夹的正上方移动，然后向爪夹前方移动。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触插座。", + "time": 0, + "annotations": { + "bbox_1767944240972": { + "type": "bbox", + "instances": [ + { + 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"当前爪夹在水平方向上虽然插座较远，但是爪夹开始上升，因此进度提升为10%。", + "state_description": "当前爪夹张开，与插座的水平距离变远。", + "time": 2.3499946833312357, + "annotations": { + "bbox_1767944240972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944240972_1767944332508_hf4jmdub9", + "x": 0.642322021484375, + "y": 0.41724294026692715, + "width": 0.11000000000000006, + "height": 0.12533333333333327 + } + ] + }, + "bbox_1767944241172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944241172_1767944334788_komvka9xt", + "x": 0.384322021484375, + "y": 0.43990960693359377, + "width": 0.22399999999999998, + "height": 0.30266666666666675 + } + ] + }, + "point_1767944241932": { + "type": "point", + "instances": [ + { + "id": "point_1767944241932_1767944337172_nb94tkenx", + "x": 0.48932202148437504, + "y": 0.29457627360026045 + } + ] + }, + "point_1767944242108": { + "type": "point", + "instances": [ + { + "id": "point_1767944242108_1767944339324_ghdalipyo", + "x": 0.5923220214843751, + "y": 0.28390960693359374 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"相比上一进度，爪夹已合拢，因此进度提升为40%。", + "state_description": "当前爪夹合拢抓取插座。", + "time": 6.635974191578659, + "annotations": { + "bbox_1767944240972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944240972_1767944566836_479bbc03c", + "x": 0.651322021484375, + "y": 0.41057627360026044, + "width": 0.10599999999999996, + "height": 0.12666666666666668 + } + ] + }, + "bbox_1767944241172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944241172_1767944569908_lrwpg1ou5", + "x": 0.385322021484375, + "y": 0.4412429402669271, + "width": 0.22299999999999995, + "height": 0.29600000000000004 + } + ] + }, + "point_1767944241932": { + "type": "point", + "instances": [ + { + "id": "point_1767944241932_1767944571812_nx30b029a", + "x": 0.677322021484375, + "y": 0.49057627360026046 + } + ] + }, + "point_1767944242108": { + "type": "point", + "instances": [ + { + "id": "point_1767944242108_1767944573812_heip25fb4", + "x": 0.715322021484375, + "y": 0.42657627360026046 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，垂直上升。", + "correction_plan": "爪夹向爪夹方向的右边移动，到达内锅的正上方后，下降松开爪夹将插座落入内锅中。", + "error_success_analysis": "爪夹成功抓取插座上升，悬空在桌面上。", + "frame": 228, + "progress": 45, + "progress_explanation": "当前爪夹和上一进度相比，已抓取垂直抬起爪夹，因此进度提升为45%。", + "state_description": "当前爪夹合拢，爪夹抓取插座垂直上升，垂直悬空于桌面。", + "time": 7.588414082300307, + "annotations": { + "bbox_1767944240972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944240972_1767944608996_4du29urfg", + "x": 0.644322021484375, + "y": 0.29190960693359375, + "width": 0.12400000000000003, + "height": 0.11600000000000002 + } + ] + }, + "bbox_1767944241172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944241172_1767944612356_tsi999fps", + "x": 0.386322021484375, + "y": 0.43990960693359377, + "width": 0.221, + "height": 0.30266666666666675 + } + ] + }, + "point_1767944241932": { + "type": "point", + "instances": [ + { + "id": "point_1767944241932_1767944614756_5ir4phje6", + "x": 0.672322021484375, + "y": 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"bbox_1767944240972_1767944741244_k3bxta5gd", + "x": 0.460322021484375, + "y": 0.5385762736002604, + "width": 0.10099999999999998, + "height": 0.14533333333333337 + } + ] + }, + "bbox_1767944241172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944241172_1767944744012_corbgzx4m", + "x": 0.386322021484375, + "y": 0.44390960693359377, + "width": 0.22299999999999995, + "height": 0.2946666666666667 + } + ] + }, + "point_1767944241932": { + "type": "point", + "instances": [ + { + "id": "point_1767944241932_1767944752076_7pewxcnco", + "x": 0.46232202148437496, + "y": 0.5332429402669271 + } + ] + }, + "point_1767944242108": { + "type": "point", + "instances": [ + { + "id": "point_1767944242108_1767944754068_j8gmr3oqd", + "x": 0.5663220214843749, + "y": 0.5332429402669271 + } + ] + } + } + }, + { + "action_description": "爪夹向后方移动。", + "correction_plan": "", + "error_success_analysis": "插座成功落入内锅中，机械臂成功向后方移动后停止。", + "frame": 337, + "progress": 100, + "progress_explanation": "当前插座已落入内锅中，因此进度提升至100%。", + "state_description": "当前爪夹张开，垂直于桌面。", + "time": 11.235561956527112, + "annotations": { + "bbox_1767944240972": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944240972_1767944784492_74ngnxxvl", + "x": 0.45832202148437506, + "y": 0.5439096069335938, + "width": 0.09999999999999991, + "height": 0.1466666666666666 + } + ] + }, + "bbox_1767944241172": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944241172_1767944786885_i0hiyglqo", + "x": 0.386322021484375, + "y": 0.4425762736002604, + "width": 0.22199999999999998, + "height": 0.29866666666666675 + } + ] + }, + "point_1767944241932": { + "type": "point", + "instances": [ + { + "id": "point_1767944241932_1767944794524_f4igaroii", + "x": 0.44632202148437505, + "y": 0.4252429402669271 + } + ] + }, + "point_1767944242108": { + "type": "point", + "instances": [ + { + "id": "point_1767944242108_1767944797212_8nhcxn17e", + "x": 0.5503220214843749, + "y": 0.4225762736002604 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767944240972", + "name": "插座", + "color": "#4CAF50" + }, + { + "id": "bbox_1767944241172", + "name": "内锅", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767944241932", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767944242108", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-151549-bad-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-151549-bad-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..7e9cf3f4c29a10d4dd0c08786401f2f258b5ecd2 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-151549-bad-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,540 @@ +{ + "task_description": "抓取插座使其落入饭锅中：\n开始移动：0%\n爪夹靠近插座：20%\n爪夹抓取插座：40%\n爪夹抓住插座接近饭锅：60%\n爪夹将插座放入饭锅：80%\n爪夹松开，插座落入饭锅中：100%", + "progress_points": [ + { + "action_description": "当前爪夹与桌面水平角度呈60度，爪夹张开并且静止不动。", + "correction_plan": "爪夹向爪夹方向前方移动至插座正上方并调整爪夹于桌面的水平角度，使其垂直于桌面，爪夹垂直下降靠近插座，爪夹合拢抓取插座竖直上升，随后夹取插座向爪夹方向左后方移动至饭锅正上方，爪夹垂直下降至饭锅中，爪夹松开，使插座落入饭锅中。", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "当前爪夹与桌面水平角度呈60度，爪夹张开并且静止不动。因此当前进度为0%。\n", + "state_description": "当前爪夹与桌面水平角度呈60度，爪夹张开并且静止不动。\n为完成抓取插座使其落入饭锅的任务应当：爪夹向爪夹方向前方移动并调整爪夹与桌面水平角度，使其垂直于桌面。", + "time": 0.019548968223904117, + "annotations": { + "point_1766458155014": { + "type": "point", + "instances": [ + { + "id": "point_1766458155014_1766458755717_7mi0rzjbt", + "x": 0.4511110564507412, + "y": 0.37664811756708844 + } + ] + }, + "point_1766458155141": { + "type": "point", + "instances": [ + { + "id": "point_1766458155141_1766458757565_z5ndzaafd", + "x": 0.544111050774472, + "y": 0.37664811756708844 + } + ] + }, + "bbox_1766458154070": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766458154070_1766458765597_bhnts8ktw", + "x": 0.22111107048882625, + "y": 0.4046481152884428, + "width": 0.23199998583984463, + "height": 0.31066664138455063 + } + ] + }, + "bbox_1766458154246": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766458154246_1766458779005_y6ckpesf8", + "x": 0.43711105730523325, + "y": 0.643314762532368, + "width": 0.11699999285888714, + "height": 0.1479999879557301 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向前方移动，爪夹张开垂直于桌面，此时爪夹与插座水平距离略微接近。", + "correction_plan": "爪夹向爪夹方向左前方移动至插座正上方并调整爪夹于桌面的水平角度，使其垂直于桌面，爪夹垂直下降靠近插座，爪夹合拢抓取插座竖直上升，随后夹取插座向爪夹方向左后方移动至饭锅正上方，爪夹垂直下降至饭锅中，爪夹松开，使插座落入饭锅中", + "error_success_analysis": 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}, + { + "id": "point_1766458155141", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..8ba75e1a5f46bd94910f5d7f2e846b6120f92238 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,682 @@ +{ + "task_description": "拿起黄色方块放入透明圆形容器中:\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圆形容器:60%\n爪夹松开80%\n黄色方块落入圆形容器:100%", + "progress_points": [ + { + "action_description": "爪夹保持合拢状态，准备移动。", + "correction_plan": "爪夹打开，然后向爪夹的上方移动。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹合拢，没有移动，没有接触黄色方块。", + "time": 0.005201034394380234, + "annotations": { + "bbox_1767948459645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948459645_1767948493373_8ajvns9ay", + "x": 0.399322021484375, + "y": 0.47324294026692715, + "width": 0.04500000000000002, + "height": 0.06799999999999991 + } + ] + }, + "bbox_1767948459837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948459837_1767948496213_3nx7229c2", + "x": 0.645322021484375, + "y": 0.43590960693359376, + "width": 0.333, + "height": 0.42533333333333334 + } + ] + }, + "point_1767948460501": { + "type": "point", + "instances": [ + { + "id": "point_1767948460501_1767948499565_84lj49r75", + "x": 0.397322021484375, + "y": 0.3532429402669271 + } + ] + }, + "point_1767948460677": { + "type": "point", + 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"progress_explanation": "当前爪夹在水平方向于黄色方块距离进一步缩短，因此进度提升为25%。", + "state_description": "当前爪夹张开，爪夹垂直下降。", + "time": 7.160184004497473, + "annotations": { + "bbox_1767948459645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948459645_1767948648229_eqa99wkv8", + "x": 0.39932202148437496, + "y": 0.4719096069335938, + "width": 0.041000000000000016, + "height": 0.0693333333333334 + } + ] + }, + "bbox_1767948459837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948459837_1767948651397_75hnycvve", + "x": 0.646322021484375, + "y": 0.4385762736002604, + "width": 0.332, + "height": 0.4226666666666668 + } + ] + }, + "point_1767948460501": { + "type": "point", + "instances": [ + { + "id": "point_1767948460501_1767948654805_57b2owklo", + "x": 0.384322021484375, + "y": 0.5025762736002605 + } + ] + }, + "point_1767948460677": { + "type": "point", + "instances": [ + { + "id": "point_1767948460677_1767948657109_cle6efjae", + "x": 0.500322021484375, + "y": 0.45724294026692713 + } 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"黄色方块成功落入圆形容器中，机械臂成功向后方移动后停止。", + "frame": 470, + "progress": 100, + "progress_explanation": "当前黄色方块已落入圆形容器中，因此进度提升至100%。", + "state_description": "当前爪夹张开，垂直于桌面。", + "time": 15.666667, + "annotations": { + "bbox_1767948459645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948459645_1767948981157_z48ded0sr", + "x": 0.739322021484375, + "y": 0.5972429402669271, + "width": 0.050000000000000086, + "height": 0.06133333333333333 + } + ] + }, + "bbox_1767948459837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948459837_1767948984437_2n2ctcbi2", + "x": 0.644322021484375, + "y": 0.4385762736002604, + "width": 0.33500000000000013, + "height": 0.4213333333333332 + } + ] + }, + "point_1767948460501": { + "type": "point", + "instances": [ + { + "id": "point_1767948460501_1767948986773_sx3s1jsgs", + "x": 0.532322021484375, + "y": 0.25190960693359377 + } + ] + }, + "point_1767948460677": { + "type": "point", + "instances": [ + { + "id": "point_1767948460677_1767948989437_jkzld8l9h", + "x": 0.628322021484375, + "y": 0.2212429402669271 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767948459645", + "name": "黄色方块", + "color": "#4CAF50" + }, + { + "id": "bbox_1767948459837", + "name": "圆形容器", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767948460501", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767948460677", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/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/0109/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/0109/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, + "frame": 270, + "progress": 50, + "action_description": "当前合拢垂直于桌面，爪夹抓取黄色方块竖直上升，此时爪夹于塑料盆水平距离较远。", + "state_description": "当前爪夹合拢垂直于桌面，爪夹夹取黄色方块，此时爪夹于塑料盆水平距离较远。为完成抓取黄色方块使其落入塑料盆中的任务应当：爪夹夹取黄色方块向爪夹方向右边移动至塑料盆正上方。", + "progress_explanation": "当前合拢垂直于桌面，爪夹抓取黄色方块竖直上升，此时爪夹于塑料盆水平距离较远。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功夹取黄色方块并顺利竖直上升。", + "correction_plan": "爪夹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": 10.008366, + "frame": 300, + "progress": 60, + "action_description": "当前爪夹夹取黄色方块向爪夹方向右边移动并接近塑料盆。", + "state_description": "当前爪夹合拢夹取黄色方块，爪夹与桌面水平角度呈80度角，此时爪夹与塑料盆水平距离接近。为完成抓取黄色方块使其落入塑料盆中的任务应当：爪夹继续向爪夹方向右边移动至塑料盆正上方。", + "progress_explanation": "当前爪夹合拢夹取黄色方块，爪夹与桌面水平角度呈80度角，此时爪夹与塑料盆水平距离接近。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功夹取黄色方块向爪夹方向右边移动并顺利接近塑料盆。", + "correction_plan": "爪夹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": 11.7705, + "frame": 353, + "progress": 70, + "action_description": "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。", + "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/0109/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..1581f7e42383fbb61357da94471a48e35b1acbec --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,702 @@ +{ + "task_description": "拿起黄色方块放入透明圆形容器中:\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圆形容器:60%\n爪夹松开80%\n黄色方块落入圆形容器:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1767952194943": { + "instances": [ + { + "height": 0.06000000000000008, + "id": "bbox_1767952194943_1767952226020_nqi016syo", + "width": 0.039999999999999945, + "x": 0.5753220214843751, + "y": 0.5078870061238606 + } + ], + "type": "bbox" + }, + "bbox_1767952195300": { + "instances": [ + { + "height": 0.3453333333333333, + "id": "bbox_1767952195300_1767952228476_k38ai28jx", + "width": 0.34900000000000003, + "x": 0.090322021484375, + "y": 0.6436610158284506 + } + ], + "type": "bbox" + }, + "point_1767952195996": { + "instances": [ + { + "id": "point_1767952195996_1767952231028_8tluh2l5d", + "x": 0.374322021484375, + "y": 0.3849943491617839 + } + ], + "type": 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"progress_explanation": "当前爪夹更加进一步接近圆形容器。因此进度提升为55%", + "state_description": "当前爪夹保持合拢，爪夹处于圆形容器侧上方。", + "time": 9.341395136675208 + }, + { + "action_description": "当前爪夹保持合拢，向爪夹的右前下方移动。", + "annotations": { + "bbox_1767952194943": { + "instances": [ + { + "height": 0.08399999999999999, + "id": "bbox_1767952194943_1767952586180_f6lb6ubk8", + "width": 0.05799999999999996, + "x": 0.23932202148437504, + "y": 0.6759096069335938 + } + ], + "type": "bbox" + }, + "bbox_1767952195300": { + "instances": [ + { + "height": 0.34400000000000014, + "id": "bbox_1767952195300_1767952590244_9kw9xc8m2", + "width": 0.34900000000000003, + "x": 0.090322021484375, + "y": 0.6399096069335938 + } + ], + "type": "bbox" + }, + "point_1767952195996": { + "instances": [ + { + "id": "point_1767952195996_1767952593852_74088g36e", + "x": 0.24332202148437498, + "y": 0.6919096069335938 + } + ], + "type": "point" + }, + "point_1767952196172": { + "instances": [ + { + "id": "point_1767952196172_1767952596092_2eyje409l", + 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"#F44336", + "id": "point_1767952196172", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..02b621bb7d2c2e8b300e48563c513b3c5a3b9bee --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,780 @@ +{ + "task_description": "拿起黄色方块放入透明圆形容器中:\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圆形容器:60%\n爪夹松开80%\n黄色方块落入圆形容器:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + 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"error_success_analysis": "爪夹成功抓取黄色方块上升，悬空在桌面上。", + "frame": 242, + "progress": 45, + "progress_explanation": "当前爪夹和上一进度相比，已抓取垂直抬起爪夹，因此进度提升为45%。", + "state_description": "当前爪夹合拢，爪夹抓取黄色方块垂直上升，垂直悬空于桌面。", + "time": 8.068767945594395, + "annotations": { + "bbox_1768011747602": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011747602_1768012070563_djvcqdh39", + "x": 0.444322021484375, + "y": 0.5870282491048177, + "width": 0.041000000000000016, + "height": 0.05066666666666665 + } + ] + }, + "bbox_1768011747842": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011747842_1768012074611_9obkelqr2", + "x": 0.0013220214843749662, + "y": 0.33236158243815106, + "width": 0.30900000000000005, + "height": 0.4013333333333334 + } + ] + }, + "point_1768011748627": { + "type": "point", + "instances": [ + { + "id": "point_1768011748627_1768012077131_bd15l1sad", + "x": 0.44232202148437505, + "y": 0.6043615824381511 + } + ] + }, + "point_1768011748794": { + "type": "point", + 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"当前爪夹已抓住黄色方块移至圆形容器口，因此进度提升为70%。", + "state_description": "当前爪夹合拢，处于圆形容器口。", + "time": 10.471757636316044, + "annotations": { + "bbox_1768011747842": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011747842_1768012243427_mi4zu31zk", + "x": 0.001322021484375005, + "y": 0.33102824910481765, + "width": 0.30900000000000005, + "height": 0.4013333333333334 + } + ] + }, + "bbox_1768011747602": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011747602_1768012245947_c5jp279hf", + "x": 0.18932202148437502, + "y": 0.4483615824381511, + "width": 0.05500000000000003, + "height": 0.0733333333333332 + } + ] + }, + "point_1768011748627": { + "type": "point", + "instances": [ + { + "id": "point_1768011748627_1768012248147_1o256sx2e", + "x": 0.190322021484375, + "y": 0.468361582438151 + } + ] + }, + "point_1768011748794": { + "type": "point", + "instances": [ + { + "id": "point_1768011748794_1768012250547_x28xynkvl", + "x": 0.224322021484375, + "y": 0.49102824910481774 + } + ] + } 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0000000000000000000000000000000000000000..26c536c41fefbf351ff1fb722c029b2e81a30135 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-153032-mix-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,877 @@ +{ + "task_description": "将饮料放入快递箱中:\n开始移动:0%\n爪夹靠近饮料:20%\n爪夹抓取饮料:40%\n爪夹抓住饮料接近快递箱:60%\n爪夹将饮料移动至快递箱上方:80%\n爪夹松开，饮料落入快递箱:90%\n爪夹回归原位:100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹保持打开扶态，准备移动。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触饮料。", + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的正上方移动，然后向爪夹右前方移动。", + "annotations": { + "bbox_1768204036183": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204036183_1768204129095_he9ri17r7", + "x": 0.45032202148437506, + "y": 0.2887005615234374, + "width": 0.15199999999999997, + "height": 0.1866666666666667 + } + ] + }, + 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+ "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/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/0109/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/0109/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": 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a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-153423-mix-yellow square-rice cooker/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-153423-mix-yellow square-rice cooker/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..ce6176420cd3edd7043c9476f9125c856379f207 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-153423-mix-yellow square-rice cooker/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,841 @@ +{ + "task_description": "抓取黄色方块放入电饭锅内锅中:\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电饭锅内锅:60%\n爪夹将黄色方块移动至电饭锅内锅上方:80%\n爪夹松开90%\n黄色方块落入电饭锅内锅:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向爪夹的正上方移动，然后向爪夹前方移动。", + "error_success_analysis": "", + "frame": 0, + 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file diff --git a/annotation_files_raw/0109/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/0109/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/0109/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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123, + "progress": -20, + "progress_explanation": "当前爪夹靠近西红柿。因此当前进度跌落至-20%。", + "state_description": "当前爪夹张开并垂直于桌面，此时爪夹靠近西红柿，准备抓取西红柿。为完成抓取黄色方块使其落入白色托盘中的任务应当：爪夹竖直向上接着向爪夹方向左后方移动至黄色方块正上方。", + "time": 4.116111880922054, + "annotations": { + "point_1766554951388": { + "type": "point", + "instances": [ + { + "id": "point_1766554951388_1766555454269_7t9uhn779", + "x": 0.3521110624932212, + "y": 0.5461295891414722 + } + ] + }, + "point_1766554951244": { + "type": "point", + "instances": [ + { + "id": "point_1766554951244_1766555457285_feoqn3wm4", + "x": 0.2761110671318928, + "y": 0.5167962581952915 + } + ] + }, + "bbox_1766554950316": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766554950316_1766555462076_tnh1nvhpm", + "x": 0.4431110569390224, + "y": 0.24879628000518555, + "width": 0.5489999664917011, + "height": 0.7199999414062547 + } + ] + } + } + }, + { + "action_description": "当前合拢爪夹抓取西红柿，准备竖直上升。", + "correction_plan": 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100644 index 0000000000000000000000000000000000000000..a904390b69abcd4b285c3ea3957e3bdac69abcab --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,1218 @@ +{ + "task_description": "将饮料方入白色托盘中:\n开始移动:0%\n爪夹靠近饮料:20%\n爪夹抓取饮料:40%\n爪夹抓住饮料接近白色托盘:60%\n爪夹松开80%\n饮料落入白色托盘:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768034543407": { + "instances": [ + { + "height": 0.2839999999999999, + "id": "bbox_1768034543407_1768179682255_y43bbjygz", + "width": 0.08700000000000001, + "x": 0.265322021484375, + "y": 0.35003389485677083 + } + ], + "type": "bbox" + }, + "bbox_1768034543551": { + "instances": [ + { + "height": 0.7520000000000001, + "id": "bbox_1768034543551_1768179684912_ty7jhmd62", + "width": 0.40599999999999997, + "x": 0.5923220214843751, + "y": 0.21936722819010412 + } + ], + "type": "bbox" + 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"error_success_analysis": "爪夹成功完成上升。", + "frame": 538, + "progress": 50, + "progress_explanation": "当前爪夹向上抬起，更近一步完成将饮料放入白色托盘中任务，因此进度提升为50%。", + "state_description": "当前爪夹垂直在桌面上。", + "time": 17.933866 + }, + { + "action_description": "爪夹向爪夹方向的左方移动。", + "annotations": { + "bbox_1768034543407": { + "instances": [ + { + "height": 0.17066666666666658, + "id": "bbox_1768034543407_1768180432312_ap5z8kemr", + "width": 0.16900000000000004, + "x": 0.530322021484375, + "y": 0.4247005615234375 + } + ], + "type": "bbox" + }, + "bbox_1768034543551": { + "instances": [ + { + "height": 0.7493333333333335, + "id": "bbox_1768034543551_1768180436145_x4mcpeas3", + "width": 0.40800000000000003, + "x": 0.5903220214843751, + "y": 0.2207005615234374 + } + ], + "type": "bbox" + }, + "point_1768034544487": { + "instances": [ + { + "id": "point_1768034544487_1768180439544_518nfdzb5", + "x": 0.5763220214843751, + "y": 0.4993672281901042 + } + ], + "type": "point" + }, + "point_1768034544647": { + "instances": [ + 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"bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768034543407", + "name": "饮料" + }, + { + "color": "#FF9800", + "id": "bbox_1768034543551", + "name": "托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768034544487", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768034544647", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..f0029b0993b201c6812d6e01518978ae42501a32 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,366 @@ +{ + "task_description": "抓取瓶子使其落入白色托盘中：\n开始移动：0%\n爪夹靠近瓶子：20%\n爪夹抓取瓶子：40%\n爪夹抓住瓶子接近白色托盘：60%\n爪夹将瓶子放入白色托盘：80%\n爪夹松开，瓶子落入白色托盘中：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹右边移动至瓶子两侧，爪夹靠近瓶子，爪夹夹取瓶子上升，接着爪夹抓取瓶子向爪夹方向左边移动至白色托盘正上方，爪夹夹取瓶子垂直下降至白色托盘中，松开爪夹，使瓶子落入白色托盘中。", + "error_success_analysis": "", + "frame": 84, + "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。为完成抓取瓶子使其落入白色托盘中的任务应当：爪夹向爪夹右边移动至瓶子两侧。", + "time": 2.8113015497351235, + "annotations": { + "point_1766557023894": { + "type": "point", + "instances": [ + { + "id": "point_1766557023894_1766557292767_3p1dq9c2j", + "x": 0.4701110552910732, + "y": 0.37798144506986936 + } + ] + }, + "point_1766557024022": { + "type": "point", + "instances": [ 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box/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-165551-mix-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..608ab4969aad0e67120ff13a05a56635e2d6ce98 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-165551-mix-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,880 @@ +{ + "task_description": "抓取黄色方块放入纸箱里：\n准备开始移动：0%\n爪夹靠近黄色方块：20%\n爪夹抓取黄色方块：40%\n爪夹抓紧黄色方块接近纸箱：60%\n爪夹将黄色方块放入纸箱：80%\n爪夹松开黄色方块落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767685875601": { + "instances": [ + { + "height": 0.11333333333333334, + "id": "bbox_1767685875601_1767693069138_p0xj2168z", + "width": 0.081, + "x": 0.374375, + "y": 0.5108645833333333 + } + ], + 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"爪夹角度垂直于桌面，处于药瓶的正上方。方便抓取，因此进度提升为 20%。", + "state_description": "当前爪夹打开，垂直于桌面，处于药瓶的正上方。\n为完成抓取药瓶落入纸箱的任务应当：合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的正前方移动", + "time": 23.5021, + "annotations": { + "point_1767769198102": { + "type": "point", + "instances": [ + { + "id": "point_1767769198102_1767773582081_jlwoljbt6", + "x": 0.645375, + "y": 0.4168645833333333 + } + ] + }, + "point_1767769203989": { + "type": "point", + "instances": [ + { + "id": "point_1767769203989_1767773584977_ni50rq8tj", + "x": 0.6863750000000001, + "y": 0.32353125000000005 + } + ] + }, + "bbox_1767769186149": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769186149_1767773590202_wc6thi79x", + "x": 0.641375, + "y": 0.31953125, + "width": 0.07599999999999998, + "height": 0.10133333333333336 + } + ] + }, + "bbox_1767769193958": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769193958_1767773595865_rxwqvbnat", + "x": 0.7013750000000001, + "y": 0.15953125, + "width": 0.29500000000000004, + "height": 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"爪夹张开药瓶落入纸箱，任务完成。因此进度提升为100%。", + "state_description": "爪夹张开，药瓶掉落纸箱里，角度保持垂直向下于桌面。\n爪夹松开药瓶落入纸箱的任务目标完成。", + "time": 35.829766, + "annotations": { + "point_1767769203989": { + "type": "point", + "instances": [ + { + "id": "point_1767769203989_1767773408649_yujzgmzs7", + "x": 0.8703749999999999, + "y": 0.24453125 + } + ] + }, + "point_1767769198102": { + "type": "point", + "instances": [ + { + "id": "point_1767769198102_1767773412794_8gsnk33ce", + "x": 0.8403750000000001, + "y": 0.33253125 + } + ] + }, + "bbox_1767769186149": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769186149_1767773417665_a76m84g7t", + "x": 0.792375, + "y": 0.32186458333333334, + "width": 0.05, + "height": 0.11333333333333334 + } + ] + }, + "bbox_1767769193958": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769193958_1767773430986_6k60fqz4g", + "x": 0.694375, + "y": 0.15786458333333334, + "width": 0.3030000000000001, + "height": 0.5293333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767769186149", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767769193958", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767769198102", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767769203989", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-173905-mix-red square - express box/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-173905-mix-red square - express box/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..f092cfb43e3eb4bf76e23d807d45872ea44e12b1 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-173905-mix-red square - express box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,894 @@ +{ + "task_description": "抓取药瓶和红色方块放入纸箱里：\n准备开始移动：0%\n爪夹靠近药瓶：10%\n爪夹抓取药瓶：20%\n爪夹抓紧药瓶接近纸箱：30%\n爪夹将药瓶放入纸箱：40%\n爪夹松开药瓶落入纸箱：50%\n爪夹靠近红色方块：60%\n爪夹抓取红色方块：70%\n爪夹抓紧红色方块接近纸箱：80%\n爪夹将红色方块放入纸箱：90%\n爪夹松开红色方块落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到药瓶的正上方。接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达纸箱的正上方后将药瓶放入纸箱，松开爪夹，使药瓶落入纸箱。然后爪夹向爪夹方向的右侧移动夹取目标二，直至红色方块的正上方。接着落下爪夹靠近红色方块，接近红色方块后爪夹合拢抓取红色方块。抓紧红色方块垂直升高爪夹并向爪夹方向的左侧移动，水平到达纸箱的正上方后将红色方块放入纸箱，松开爪夹，使红色方块落入纸箱。", + "error_success_analysis": "", + "frame": 65, + "progress": 0, + "progress_explanation": "当前为初始状态，远离药瓶，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离药瓶，未开始移动。\n为完成抓取药瓶和红色方块落入纸箱的任务应当：爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到药瓶的正上方。", + "time": 2.1672, + "annotations": { + "bbox_1767833955522": { + "type": "bbox", + "instances": [ + { + "id": 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a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..81ef43cb23b2ac32aed50eda2e1f7265637a7a10 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,496 @@ +{ + "task_description": "抓取红色方块放入锅里：\n准备开始移动：0%\n爪夹靠近红色方块：20%\n爪夹抓取红色方块：40%\n爪夹抓紧红色方块接近锅：60%\n爪夹将红色方块放入锅：80%\n爪夹松开红色方块落入锅：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767922279612": { + "instances": [ + { + "height": 0.07999999999999995, + "id": 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a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-110507-mix-blue square-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-110507-mix-blue square-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..9892caa3af619a2eb2f19a821036c4be0282a483 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-110507-mix-blue square-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,718 @@ +{ + "task_description": "抓取蓝色方块放入纸箱里：\n准备开始移动：0%\n爪夹靠近蓝色方块：20%\n爪夹抓取蓝色方块：40%\n爪夹抓紧蓝色方块接近纸箱：60%\n爪夹将蓝色方块放入纸箱：80%\n爪夹松开蓝色方块落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767944210918": { + "instances": [ + { + "height": 0.07600000000000004, + "id": 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"爪夹向爪夹正前方移动，还未接近蓝色方块", + "frame": 110, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，还未接近蓝色方块。因此进度提升为 10%。", + "state_description": "爪夹张开，向正前方移动，还未接近蓝色方块。\n为完成抓取蓝色方块落入纸箱的任务应当：爪夹向爪夹方向的左前方移动，直至蓝色方块的正上方，接着落下爪夹靠近蓝色方块。", + "time": 3.683333, + "annotations": { + "bbox_1767951659222": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767951659222_1768023753897_ood4llhd6", + "x": 0.004375, + "y": 0.4861979166666667, + "width": 0.4, + "height": 0.5133333333333334 + } + ] + }, + "bbox_1767951652022": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767951652022_1768023758001_ve3xrpkzj", + "x": 0.5663750000000001, + "y": 0.42753125000000003, + "width": 0.05899999999999998, + "height": 0.0733333333333333 + } + ] + }, + "point_1767951668614": { + "type": "point", + "instances": [ + { + "id": "point_1767951668614_1768023760952_o7ymxzjaw", + "x": 0.555375, + "y": 0.2541979166666667 + } + ] + }, + "point_1767951662407": { + "type": "point", + "instances": [ + { + "id": 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a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-142255-bad-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-142255-bad-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..657fa23edc970d94e06986fb5c6fe1c42933ccfe --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-142255-bad-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取蓝色方块放入盘子里：\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盘子：60%\n爪夹将蓝色方块放入盘子：80%\n爪夹松开蓝色方块落入盘子：100%", + "progress_points": [ + { + "time": 1.475066, + "frame": 44, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离蓝色积木，未开始移动。\n为完成抓取蓝色方块使其落入盘子的任务应当：爪夹向爪夹左前方的蓝色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色积木的正上方。", + "progress_explanation": "当前为初始状态，远离蓝色积木，未开始移动。进度 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盘子接近，水平到达盘子的正上方后将蓝色方块放入盘子，松开爪夹，使蓝色方块落入盘子。" + }, + { + "time": 3.0797, + "frame": 92, + "progress": 5, + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近蓝色方块。\n为完成抓取蓝色方块使其落入盘子的任务应当：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与桌面，并移动到蓝色方块的正上方。", + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈 70 度。方便抓取。因此进度提升为 5%。", + "error_success_analysis": "爪夹的角度与桌面呈 70 度。水平上未接近蓝色方块。\n", + "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盘子接近，水平到达盘子的正上方后将蓝色方块放入盘子，松开爪夹，使蓝色方块落入盘子。" + }, + { + "time": 3.568066, + "frame": 107, + "progress": 15, + "action_description": "爪夹向爪夹左前方移动\n", + "state_description": 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"爪夹角度接近垂直于桌面，触碰到了蓝色方块。\n为完成抓取蓝色方块使其落入盘子的任务应当；爪夹应垂直上升调整位置后并移动到蓝色方块的正上方。", + "progress_explanation": "因爪夹左触碰到蓝色方块，因此进度降低为10%", + "error_success_analysis": "爪夹下降位置错碰到蓝色方块", + "correction_plan": "爪夹重新上升后调整位置，到达蓝色方块正上方后垂直下降重新抓取蓝色方块，随后向爪夹方向的前方移动至盘子正上方，松开爪夹使蓝色方块落入盘子。" + }, + { + "time": 7.255733, + "frame": 218, + "progress": 5, + "action_description": "爪夹向爪夹左侧移动", + "state_description": "爪夹向爪夹左侧移动未重新上升", + "progress_explanation": "因爪夹向爪夹方向的左侧移动未垂直上升，因此进度减低为5%。", + "error_success_analysis": "爪夹应垂直上升重新抓取，但爪夹未上升。爪夹向爪夹方向的左侧移动", + "correction_plan": "垂直上升，调整角度。到达蓝色方块正上方后垂直下降重新抓取蓝色方块，随后向爪夹方向的前方移动至盘子正上方，松开爪夹使蓝色方块落入盘子。" + }, + { + "time": 8.073, + "frame": 242, + "progress": 0, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢未抓取到蓝色方块", + "progress_explanation": "因爪夹未重新上升，爪夹合拢后未抓取到蓝色方块，因此进度降低为0%。", + "error_success_analysis": "爪夹未上升重新抓取蓝色方块", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/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/0109/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/0109/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/0109/project-1/ARX-data/human-data-1128/20251127-142658-bad-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-142658-bad-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..77842ce60c9397d5f80b3aef63b147e21a9e89ad --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-142658-bad-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,478 @@ +{ + "task_description": "抓取红色方块放入内胆里：\n准备开始移动：0%\n爪夹靠近红色方块：20%\n爪夹抓取红色方块：40%\n爪夹抓紧红色方块接近内胆：60%\n爪夹将红色方块放入内胆：80%\n爪夹松开红色方块落入内胆：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红色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色方块的正上方。接着落下爪夹靠近蓝色方块，接近红色方块后爪夹合拢抓取红色方块。抓紧红色方块垂直升高爪夹并向爪夹右方的内胆接近，水平到达内胆的正上方后将红色方块放入内胆，松开爪夹，使红色方块落入内胆。", + "error_success_analysis": "", + "frame": 104, + "progress": 0, + "progress_explanation": "当前为初始状态，远离红色积木，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离红色积木，未开始移动。\n为完成抓取红色方块插入相应的孔洞使其落入铁盒的任务应当：爪夹向爪夹左前方的红色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色积木的正上方。", + "time": 3.4504, + "annotations": { + "bbox_1767857762278": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857762278_1767857788128_v14o0rco8", + "x": 0.7310000000000001, + "y": 0.6017777709960938, + "width": 0.11500000000000003, + "height": 0.16000000000000003 + } + ] + }, + "bbox_1767857762406": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857762406_1767857793102_nfnenmw7j", + "x": 0.44699999999999995, + "y": 0.5217777709960937, + "width": 0.25900000000000006, + "height": 0.336 + } + ] + }, + "point_1767857763006": { + "type": "point", + "instances": [ + 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"point_1767941125570", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/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/0109/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/0109/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": { + 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"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": 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"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/0109/project-1/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..0d8796e83f2a9728769dc51c76436d45706edc21 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,566 @@ +{ + "task_description": "抓取插排放入塑料碗里：\n准备开始移动：0%\n爪夹靠近插排：20%\n爪夹抓取插排：40%\n爪夹抓紧插排接近塑料碗：60%\n爪夹将插排放入塑料碗：80%\n爪夹松开插排落入塑料碗：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767948159621": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1767948159621_1767948182513_dvdwx6qe9", + "width": 0.12400000000000003, + "x": 0.584, + "y": 0.4982222188313802 + } + ], + "type": "bbox" + }, + "bbox_1767948159751": { + "instances": [ + { + 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"action_description": "爪夹向爪夹左前方移动，调整爪夹角度。", + "annotations": { + "bbox_1767948159621": { + "instances": [ + { + "height": 0.1293333333333334, + "id": "bbox_1767948159621_1767948208027_gx4zzvuoh", + "width": 0.13100000000000006, + "x": 0.58, + "y": 0.49111110432942706 + } + ], + "type": "bbox" + }, + "bbox_1767948159751": { + "instances": [ + { + "height": 0.38266666666666665, + "id": "bbox_1767948159751_1767948212909_tsrdx0bxn", + "width": 0.38900000000000007, + "x": 0.41500000000000004, + "y": 0.6137777709960938 + } + ], + "type": "bbox" + }, + "point_1767948161025": { + "instances": [ + { + "id": "point_1767948161025_1767948200029_zcycf30ly", + "x": 0.44299999999999995, + "y": 0.4111111043294271 + } + ], + "type": "point" + }, + "point_1767948161165": { + "instances": [ + { + "id": "point_1767948161165_1767948202885_idf3l4t8r", + "x": 0.546, + "y": 0.4124444376627604 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。接着落下爪夹靠近插排，接近插排后爪夹合拢抓取插排。抓紧插排垂直升高爪夹并向爪夹前方的塑料碗接近，水平到达铁盒的正上方后将插排放入塑料碗，松开爪夹，使插排落入塑料碗。", + "error_success_analysis": "爪夹的角度与桌面呈 70 度。水平上未接近插排。\n", + "frame": 97, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈 70 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近插排。\n为完成抓取插排使其落入塑料碗的任务应当：爪夹向爪夹左前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。", + "time": 3.233333 + }, + { + "action_description": "爪夹向爪夹左后方移动\n", + "annotations": { + "bbox_1767948159621": { + "instances": [ + { + "height": 0.12800000000000006, + "id": "bbox_1767948159621_1767948223965_mpwx49gnq", + "width": 0.12400000000000003, + "x": 0.584, + "y": 0.4924444376627604 + } + ], + "type": "bbox" + }, + "bbox_1767948159751": { + "instances": [ + { + "height": 0.39466666666666667, + "id": "bbox_1767948159751_1767948219181_sys8y4hjs", + "width": 0.3909999999999999, + "x": 0.41200000000000003, + "y": 0.5991111043294272 + } + ], + "type": "bbox" + }, + 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"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": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 0.767852, + "frame": 23, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.013598, + "frame": 60, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.130474, + "frame": 94, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.118479, + "frame": 124, + "progress": 40, + "action_description": 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+} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-2/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000984.json b/annotation_files_raw/0109/project-2/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000984.json new file mode 100644 index 0000000000000000000000000000000000000000..149f4faf09d89f97c98f9a457f4dbcf8b6d69df7 --- /dev/null +++ b/annotation_files_raw/0109/project-2/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000984.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取橙色玩偶使其落入黑色锅中：\n爪夹开始移动：0%\n爪夹接近橙色玩偶：20%\n爪夹抓紧橙色玩偶：40%\n爪夹抓紧橙色玩偶接近黑色锅：60%\n爪夹将橙色玩偶放入黑色锅中：80%\n橙色玩偶落入黑色锅中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.52479, + "frame": 16, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + 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"压住毛巾，将其向桌面右侧移动：\n爪夹开始移动：0%\n爪夹接近毛巾：20%\n爪夹压住毛巾：40%\n爪夹压住毛巾滑向右侧桌面：70%\n毛巾停留右侧桌面上，爪夹移开：100%", + "progress_points": [ + { + "time": 1.016386, + "frame": 30, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.412482, + "frame": 72, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.586122, + "frame": 108, + "progress": 20, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 4.353207, + "frame": 131, + "progress": 40, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 5.37343, + "frame": 161, + "progress": 70, + 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a/annotation_files_raw/0109/project-2/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.wrist_image_left/episode_003718.json b/annotation_files_raw/0109/project-2/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.wrist_image_left/episode_003718.json new file mode 100644 index 0000000000000000000000000000000000000000..96a35f80621c307986380f86b71ab3920921f2b0 --- /dev/null +++ b/annotation_files_raw/0109/project-2/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.wrist_image_left/episode_003718.json @@ -0,0 +1,68 @@ +{ + "task_description": "按下适配器右侧第三个按钮：\n开始移动：0%\n爪夹靠近适配器：20%\n爪夹闭合：60%\n爪夹靠近按钮：80%\n爪夹触碰按钮：100%\n", + "progress_points": [ + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + 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newline at end of file diff --git a/annotation_files_raw/0109/project-2/droid_lerobot/shard_0000/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008163.json b/annotation_files_raw/0109/project-2/droid_lerobot/shard_0000/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008163.json new file mode 100644 index 0000000000000000000000000000000000000000..529650341354b295b60f768c72b95eba9644152a --- /dev/null +++ b/annotation_files_raw/0109/project-2/droid_lerobot/shard_0000/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008163.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取杯子使其落在仪器上：\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爪夹抓紧杯子接近：60%\n爪夹将杯子放在仪器上：80%\n杯子落在仪器上，爪夹移开：100%", + "progress_points": [ + { + "time": 0.544769, + "frame": 16, + "progress": -5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.343375, + 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a/annotation_files_raw/0109/project-2/libero/annotations/chunk-001/observation.images.image/episode_001158.json b/annotation_files_raw/0109/project-2/libero/annotations/chunk-001/observation.images.image/episode_001158.json new file mode 100644 index 0000000000000000000000000000000000000000..45e2414019e385aec37c129696e9e79c8ae37784 --- /dev/null +++ b/annotation_files_raw/0109/project-2/libero/annotations/chunk-001/observation.images.image/episode_001158.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓起橙色长方体物品放入篮子中：\n开始移动：0%\n爪夹靠进橙长方体物品：20%\n爪夹抓取橙长方体物品：40%\n爪夹抓取橙长方体物品靠近篮子：60%\n橙长方体物品准备落进篮子：80%\n橙长方体物品安稳落进篮子：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.0817634074881073, + "frame": 92, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + 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