diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001195.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001195.json new file mode 100644 index 0000000000000000000000000000000000000000..462fa713ba8ecc1e807fd221157f2fd812aab332 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001195.json @@ -0,0 +1,791 @@ +{ + "task_description": "拿起木勺搅拌锅里的食物\n爪夹准备移动：0\n爪夹接近木勺：30%\n爪夹抓取木勺：60%\n爪夹抓住木勺搅拌食物：80%\n爪夹松开，搅拌食物完成：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "correction_plan": "爪夹向右前方移动，爪夹调整角度随后下降，接近木勺；爪夹下降，随后合拢抓取木勺，爪夹夹住木勺向上抬升，随后爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接近木勺，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，没有移动，为完成拿起木勺搅拌锅里的食物的任务，应当：爪夹向右前方移动，随后下降，接近木勺。", + "time": 0, + "annotations": { + "bbox_1768815024948": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768815024948_1768815101790_hrmj7slhx", + "x": 0.5800411853821976, + "y": 0.8121697814299035, + "width": 0.12044572066873967, + "height": 0.09015847739946266 + } + ] + }, + "point_1768815051830": { + "type": "point", + "instances": [ + { + "id": "point_1768815051830_1768815104274_d9lw9lr2u", + "x": 0.6307551730321933, + "y": 0.7445509233803067 + } + ] + }, + "point_1768815057515": { + "type": "point", + "instances": [ + { + "id": "point_1768815057515_1768815106610_af8ze8wod", + "x": 0.6846387849103136, + "y": 0.7642730903114392 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动", + "correction_plan": "爪夹调整角度随后下降，接近木勺；爪夹下降，随后合拢抓取木勺，爪夹夹住木勺向上抬升，随后爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。", + "error_success_analysis": "爪夹向右前方移动至木勺上方，方便抓取木勺", + "frame": 68, + "progress": 15, + "progress_explanation": "爪夹向右前方移动至木勺上方，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，在木勺上方，为完成拿起木勺搅拌锅里的食物的任务，应当：爪夹调整角度，随后下降，接近木勺。", + "time": 2.2706814171528356, + "annotations": { + "point_1768815057515": { + "type": "point", + "instances": [ + { + "id": "point_1768815057515_1768815112096_p939kp0kq", + "x": 0.7258438998759351, + "y": 0.8178046862673699 + } + ] + }, + "point_1768815051830": { + "type": "point", + "instances": [ + { + "id": "point_1768815051830_1768815115402_gdnb7r8dz", + "x": 0.66879066376969, + "y": 0.7642730903114392 + } + ] + }, + "bbox_1768815024948": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768815024948_1768815118929_u5sfbmsaz", + "x": 0.5879652459525094, + "y": 0.8178046862673699, + "width": 0.11093684798436546, + "height": 0.07888866772452982 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度随后下降", + "correction_plan": "爪夹合拢抓取木勺，爪夹夹住木勺向上抬升，随后爪夹夹住木勺顺时针转动搅拌锅里的食物，爪夹松开，搅拌食物完成。", + "error_success_analysis": 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"action_description": "爪夹轻微向前移动并下降，随后爪夹合拢抓取刀具。", + "correction_plan": "爪夹夹住刀具向上抬升，爪夹向后方移动接近台面，随后爪夹松开，刀具落在台面上。", + "error_success_analysis": "爪夹调整了角度，方便爪夹成功抓住刀具。", + "frame": 131, + "progress": 50, + "progress_explanation": "爪夹成功抓住刀具，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，爪夹夹住刀具，为完成从碗碟架上取下银质刀具，放在台面上的任务，应当：爪夹夹住刀具向上抬升，随后向后方移动，接近台面。", + "time": 8.733333333333333, + "annotations": { + "bbox_1768791488226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768791488226_1768791598302_i4ujh8it4", + "x": 0.4865372706525181, + "y": 0.41373503755041224, + "width": 0.32171685915465986, + "height": 0.4874192684408443 + } + ] + }, + "bbox_1768791479336": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768791479336_1768791605782_4p56smba1", + "x": 0.7781426996399932, + "y": 0.41373503755041224, + "width": 0.11410647221249022, + "height": 0.15214243061159308 + } + ] + }, + "point_1768791497890": { + "type": "point", + "instances": [ + { + "id": 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"bbox_1768791488226_1768791585102_dyn46j7je", + "x": 0.48019802219626867, + "y": 0.4221873948066118, + "width": 0.3708460346905932, + "height": 0.49305417327831075 + } + ] + } + } + }, + { + "action_description": "爪夹夹住刀具向上抬升", + "correction_plan": "爪夹向后方移动接近台面，爪夹松开，刀具落在台面上。", + "error_success_analysis": "爪夹夹住刀具抬升，方便接近台面。", + "frame": 306, + "progress": 75, + "progress_explanation": "爪夹夹住刀具抬升，脱离了碗碟架，因此任务进度提升为75%。", + "state_description": "爪夹当前为合拢状态，刀具脱离碗碟架，为完成从碗碟架上取下银质刀具，放在台面上的任务，应当：爪夹向后方移动，爪夹松开，刀具落在桌面上。", + "time": 10.196228171120936, + "annotations": { + "bbox_1768791488226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768791488226_1768791529360_qi5sd8vpz", + "x": 0.4849524585384558, + "y": 0.41655248996914546, + "width": 0.3740156589187179, + "height": 0.4986890781157772 + } + ] + }, + "bbox_1768791479336": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768791479336_1768791537407_zktmka4ge", + "x": 0.7353527725603093, + "y": 0.22496572549528757, + "width": 0.1172760964406149, + "height": 0.2958325039669864 + } + ] + }, + "point_1768791497890": { + "type": "point", + "instances": [ + { + "id": "point_1768791497890_1768791548519_4jvy8ghta", + "x": 0.8272718751759264, + "y": 0.3066718456385505 + } + ] + } + } + }, + { + "action_description": "爪夹向后方移动，随后爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹已松开，任务完成。", + "frame": 165, + "progress": 100, + "progress_explanation": "爪夹松开，刀具落在桌面上，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开的状态，爪夹已完成从碗碟架上取下银质刀具，放在台面上的任务。", + "time": 11, + "annotations": { + "point_1768791497890": { + "type": "point", + "instances": [ + { + "id": "point_1768791497890_1768791511016_gzynkslgq", + "x": 0.7718034511837437, + "y": 0.2559577021013528 + } + ] + }, + "bbox_1768791488226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768791488226_1768791520303_zkrw1ugak", + "x": 0.4865372706525181, + "y": 0.4081001327129458, + "width": 0.28685099264528785, + "height": 0.5071414353719768 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768791479336", + "name": "刀具", + "color": "#4CAF50" + }, + { + "id": "bbox_1768791488226", + "name": "台面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768791492953", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768791497890", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002211.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002211.json new file mode 100644 index 0000000000000000000000000000000000000000..bb2eb4e547ef00a4cb1b3513aada3fd0a807a5d0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002211.json @@ -0,0 +1,364 @@ +{ + "task_description": "抓取杯子放入洗碗池里：\n准备开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓紧杯子接近洗碗池：60%\n爪夹将杯子放在洗碗池里：80%\n爪夹松开过杯子放进洗碗池里：100%", + "progress_points": [ + { + "action_description": "抓夹保持打开状态,开始移动", + "correction_plan": "调整爪夹角度,使其垂直于桌面。然后向爪夹方\n向的右方移动,到达杯子正上方后下降,抓取杯子后竖直上升,向爪夹方向的左边移动,直至杯子处于洗碗池正上方。下降将杯子放进洗碗池,松开爪夹。", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态,开始移动,进度为0%", + "state_description": "当前状态为爪夹打开,开始移动,没有触碰杯子\n为完成抓起杯子便其放在洗碗池的任务应当:调整爪来角度,使其垂直于桌面,然后向爪夹方向的前方移动,准备抓取杯子。", + "time": 1.082933, + "annotations": { + "bbox_1767066758631": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066758631_1767066781323_gb7ye0esd", + "x": 0.524, + "y": 0.5671111111111111, + "width": 0.07000000000000002, + "height": 0.11555555555555554 + } + ] + }, + "bbox_1767066759569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066759569_1767066785253_rz6c9wd3y", + "x": 0.404, + "y": 0.5955555555555556, + "width": 0.23500000000000004, + "height": 0.24177777777777776 + } + ] + }, + "point_1767066768523": { + "type": "point", + "instances": [ + { + "id": "point_1767066768523_1767066804139_b66dvb87e", + "x": 0.556, + "y": 0.5072592502170139 + } + ] + }, + "point_1767066768835": { + "type": "point", + "instances": [ + { + "id": "point_1767066768835_1767066808615_1nez5grob", + "x": 0.568, + "y": 0.5072592502170139 + } + ] + } + } + }, + { + "action_description": "爪夹保持打开状态，向右方开始移动。", + "correction_plan": "调整爪夹角度,使其垂直于桌面。然后向爪夹方\n向的右方移动,到达杯子正上方后下降,抓取杯子后竖直上升,向爪夹方向的左边移动,直至杯子处于洗碗池正上方。下降将杯子放进洗碗池,松开爪夹。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了杯子。", + "frame": 69, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近杯子并开始调整爪\n夹角度方便抓取,因此进度提升为10%。", + "state_description": "为完成抓起杯子放在洗碗池里的任务应当，继续调整爪夹方向直到垂直桌面，继续向爪夹的前方移动直至杯子正上方。", + "time": 2.298133, + "annotations": { + "point_1767066768835": { + "type": "point", + "instances": [ + { + "id": "point_1767066768835_1767066816205_pj4j3mot9", + "x": 0.572, + "y": 0.49659258355034724 + } + ] + }, + "point_1767066768523": { + "type": "point", + "instances": [ + { + "id": "point_1767066768523_1767066820083_tiqtbxx3r", + "x": 0.5509999999999999, + "y": 0.4930370279947917 + } + ] + }, + "bbox_1767066758631": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066758631_1767066824837_o324d6z0d", + "x": 0.534, + "y": 0.5677036946614583, + "width": 0.05600000000000005, + "height": 0.10844444444444443 + } + ] + }, + "bbox_1767066759569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066759569_1767066829055_u9zz0o8r4", + "x": 0.41500000000000004, + "y": 0.6050370279947916, + "width": 0.21099999999999994, + "height": 0.19199999999999992 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右方移动并下降。", + "correction_plan": "下降,抓取杯子后竖直上升,向爪夹方向的左边移动,直至杯子处于洗碗池正上方。下降将杯子放进洗碗池里,松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右方移动至杯子正上方,已调整爪夹角度为垂直,方便抓取杯子。", + "frame": 119, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于杯子正上方,已接近杯子,因此\n进度提升为20%", + "state_description": "当前爪夹打开,垂直于桌面,处于杯子的正上方。为完成抓起杯子放进洗碗池的任务应当；继续向下移动，抓取杯子。", + "time": 3.968, + "annotations": { + "bbox_1767066759569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066759569_1767066834639_r9zd51b5c", + "x": 0.392, + "y": 0.5979259168836806, + "width": 0.246, + "height": 0.2222222222222223 + } + ] + }, + "bbox_1767066758631": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066758631_1767066837779_80jpewmuc", + "x": 0.522, + "y": 0.5570370279947917, + "width": 0.07400000000000002, + "height": 0.11733333333333336 + } + ] + }, + "point_1767066768523": { + "type": "point", + "instances": [ + { + "id": "point_1767066768523_1767066845907_yepth8h4q", + "x": 0.5389999999999999, + "y": 0.5979259168836806 + } + ] + } + } + }, + { + "action_description": "爪夹略微向下后合拢，抓取到杯子。", + "correction_plan": "竖直上升,向爪夹方向的左边移动,直至杯子处于洗碗池上方。下降将杯子放进洗碗池里,松开爪夹。", + "error_success_analysis": "爪夹在杯子尾部竖直下降，成功抓取到杯子。", + "frame": 143, + "progress": 40, + "progress_explanation": "当前爪夹抓取到杯子，因此进度提升为40%", + "state_description": "当前爪夹闭合，垂直于桌面，杯子已被爪夹抓取到。\n为完成抓起杯子放进洗碗池里的任务应当；竖直上升，然后向爪夹的左方移动。", + "time": 4.778133, + "annotations": { + "point_1767066768523": { + "type": "point", + "instances": [ + { + "id": "point_1767066768523_1767066859027_nz085s5vq", + "x": 0.5549999999999999, + "y": 0.5925925835503473 + } + ] + }, + "point_1767066768835": { + "type": "point", + "instances": [ + { + "id": "point_1767066768835_1767066863499_f8ldxnt34", + "x": 0.564, + "y": 0.5908148057725694 + } + ] + }, + "bbox_1767066759569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066759569_1767066868205_pwe0zyl1p", + "x": 0.396, + "y": 0.5979259168836806, + "width": 0.24400000000000005, + "height": 0.19199999999999992 + } + ] + }, + "bbox_1767066758631": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066758631_1767066871745_yru5o9tdw", + "x": 0.531, + "y": 0.5605925835503472, + "width": 0.05499999999999998, + "height": 0.11733333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧杯子，向爪夹左方移动", + "correction_plan": "继续向爪夹下方的洗碗池接近，水平到达洗碗池的正上方后将杯子放入洗碗池，松开爪夹，使杯子放入洗碗池。\n", + "error_success_analysis": "爪夹合拢继续夹紧杯子，水平上接近了洗碗池。更加方便接近洗碗池。", + "frame": 179, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧杯子，并向爪夹下边的洗碗池接近。缩短了与洗碗池的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧杯子，水平上接近了洗碗池。\n为完成抓取杯子放入洗碗池的任务应当：继续向爪夹左方接近，水平到达洗碗池的正上方后将杯子放入洗碗池，松开爪夹，使杯子放入洗碗池。", + "time": 5.968533, + "annotations": { + "bbox_1767066758631": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066758631_1767066876467_o7j2img1p", + "x": 0.532, + "y": 0.5677036946614583, + "width": 0.06299999999999999, + "height": 0.11555555555555554 + } + ] + }, + "bbox_1767066759569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066759569_1767066880229_y6g745ab2", + "x": 0.39, + "y": 0.5979259168836806, + "width": 0.252, + "height": 0.19911111111111104 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧杯子，向爪夹下方移动。", + "correction_plan": "下降将杯子放进洗碗池里,松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动,成功使杯子平移至洗碗池正上方。", + "frame": 200, + "progress": 60, + "progress_explanation": "当前杯子已处于洗碗池的正上方,成功接近洗碗池,因此进度提升为60%", + "state_description": "当前爪夹合找,垂直于洗碗池,杯子悬空于洗碗池的正上方。为完成抓起杯子使其放在洗碗池里的任务应当:竖直下降,将杯子放进洗碗池里。", + "time": 6.654666, + "annotations": { + "bbox_1767066759569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066759569_1767066897463_q83d6qy60", + "x": 0.398, + "y": 0.5997036946614583, + "width": 0.236, + "height": 0.20444444444444435 + } + ] + }, + "bbox_1767066758631": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066758631_1767066901289_615oax26v", + "x": 0.502, + "y": 0.6192592502170139, + "width": 0.09299999999999997, + "height": 0.14222222222222228 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使杯子放入洗碗池。", + "error_success_analysis": "杯子放入洗碗池，方便杯子放入洗碗池。", + "frame": 221, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，杯子放进洗碗池。因此进度提升为 80%。", + "state_description": "爪夹夹紧杯子，爪夹角度接近垂直于桌面。\n为完成抓取杯子放入洗碗池的任务应当：向下移动，松开爪夹，使杯子放入洗碗池。", + "time": 7.3656, + "annotations": { + "bbox_1767066759569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066759569_1767066906779_3u7lc3is0", + "x": 0.403, + "y": 0.5979259168836806, + "width": 0.23499999999999996, + "height": 0.19377777777777783 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，杯子放进洗碗池。", + "frame": 248, + "progress": 100, + "progress_explanation": "爪夹张开，杯子放入洗碗池，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开杯子放进洗碗池的任务目标完成。", + "time": 8.266667, + "annotations": { + "bbox_1767066759569": { + "type": "bbox", + "instances": [ + { + "id": 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+ "error_success_analysis": "爪夹向爪夹方向的前方移动下降，爪夹角度接近垂直于桌面，水平上未接近马克笔。", + "frame": 94, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向的正前方移动下降，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为5%", + "state_description": "爪夹张开接近垂直于桌面，爪夹远离马克笔。\n为完成抓取马克笔落在桌面上的任务应当：爪夹继续向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到的马克笔的正上方。", + "time": 3.131733, + "annotations": { + "point_1767504301450": { + "type": "point", + "instances": [ + { + "id": "point_1767504301450_1767508438246_ewgrw5300", + "x": 0.382, + "y": 0.24533333333333335 + } + ] + }, + "bbox_1767504254123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767504254123_1767508442974_y07vat734", + "x": 0.5549999999999999, + "y": 0.6542222222222223, + "width": 0.03700000000000001, + "height": 0.15288888888888888 + } + ] + }, + "bbox_1767504261082": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767504261082_1767508448806_5l6deyxn2", + "x": 0.246, + "y": 0.16177777777777777, + "width": 0.748, + "height": 0.8142222222222222 + } + ] + } + } + }, + { + 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"correction_plan": "将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。", + "error_success_analysis": "到了爪夹右侧的桌面的正上方，方便将马克笔放在桌面上。", + "frame": 688, + "progress": 60, + "progress_explanation": "爪夹夹紧马克笔，到了爪夹右侧的桌面的正上方，方便将马克笔放在桌面上 。因此进度提升为 60%。", + "state_description": "爪夹夹紧马克笔，爪夹角度接近垂直于桌面，位于桌面的正上方。\n为完成抓取马克笔落在桌面上的任务应当：将马克笔放在桌面上，松开爪夹，使马克笔落在桌面上。", + "time": 22.949733, + "annotations": { + "bbox_1767504254123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767504254123_1767508855861_pnhsweggn", + "x": 0.683, + "y": 0.7573333333333333, + "width": 0.13200000000000003, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1767504261082": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767504261082_1767508861094_eu61io3bu", + "x": 0.248, + "y": 0.15466666666666667, + "width": 0.7470000000000001, + "height": 0.8266666666666668 + } + ] + }, + "point_1767504301450": { + "type": "point", + "instances": [ + { + "id": "point_1767504301450_1767508891981_9g48a5c31", + "x": 0.787, + "y": 0.8835555555555555 + } + 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"爪夹向爪夹方向右后侧移动。", + "correction_plan": "爪夹下降靠近盒子，然后向前移动使爪夹左贴着纸盒盖子向爪夹方向右侧移动直至打开盒子，爪夹微微上升向爪夹方向左侧移动至纸盒盖子上方，将纸盒盖子向下按动，盒子打开，爪夹上升远离盒子。", + "error_success_analysis": "爪夹成功向爪夹方向右后侧移动至盒子上方，方便爪夹下降靠近盒子。", + "frame": 29, + "progress": 10, + "progress_explanation": "目前爪夹处于张开状态，爪夹向爪夹方向右后侧移动至盒子上方，进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹移动至盒子上方。\n为完成打开盒子的任务应当:下降靠近盒子，用爪夹贴着纸盒盖子向爪夹方向右侧移动打开。", + "time": 1.9333333333333333, + "annotations": { + "point_1768789013910": { + "type": "point", + "instances": [ + { + "id": "point_1768789013910_1768789038141_7c0hu1q37", + "x": 0.7721110368584572, + "y": 0.6412592502170139 + } + ] + }, + "point_1768789005807": { + "type": "point", + "instances": [ + { + "id": "point_1768789005807_1768789040781_iuuqe7df4", + "x": 0.46411105565728417, + "y": 0.6288148057725694 + } + ] + }, + "bbox_1768789001071": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768789001071_1768789047165_7lx4wf3ei", + "x": 0.009111083428278599, + "y": 0.020814805772569445, + "width": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002349.json new file mode 100644 index 0000000000000000000000000000000000000000..9786495df04ec8fcc403af942037fc801d4923ca --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002349.json @@ -0,0 +1,630 @@ +{ + "task_description": "拿起那个瓶子，把它放在柜台的左边。\n爪夹开始移动:0%\n爪夹靠近瓶子:20%\n爪夹夹起瓶子:40%\n爪夹移动瓶子:60%\n爪夹将瓶子放在柜台的左边:80%\n爪夹松开，瓶子放在柜台的左边:100%\n", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹向爪夹方向的后方移动至瓶子上方，爪夹下降靠近瓶子，抓取瓶子后竖直上升，向爪夹方向的左方移动，再向爪夹方向后方移动到达柜台的左方，下降将瓶子放在柜台上，调整爪夹角度，然后松开爪夹。", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触瓶子。\n为完成拿起那个瓶子，把它放在柜台的左边的任务应当:调整爪夹向爪夹方向的后方移动至瓶子上方，方便爪夹下降靠近瓶子。", + "time": 1, + "annotations": { + "point_1768792548850": { + "type": "point", + "instances": [ + { + "id": "point_1768792548850_1768792710367_k3o6w4rws", + "x": 0.7691110370415626, + "y": 0.6074814724392361 + } + ] + }, + "point_1768792542121": { + "type": "point", + "instances": [ + { + "id": "point_1768792542121_1768792713958_jlcc0cped", + "x": 0.4501110565117763, + "y": 0.6110370279947916 + } + ] + }, + "bbox_1768792527658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768792527658_1768792726406_r2o3utsgd", + "x": 0.6731110429009373, + "y": 0.7034814724392361, + "width": 0.11899999273681683, + "height": 0.25422222222222224 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后方移动。", + "correction_plan": "爪夹下降靠近瓶子，抓取瓶子后竖直上升，向爪夹方向的左方移动，再向爪夹方向后方移动到达柜台的左方，下降将瓶子放在柜台上，调整爪夹角度，然后松开爪夹。", + "error_success_analysis": "爪夹成功向爪夹方向后方移动，方便爪夹下降靠近瓶子。", + "frame": 51, + "progress": 10, + 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"爪夹抓取瓶子后竖直上升，向爪夹方向的左方移动，再向爪夹方向后方移动到达柜台的左方，下降将瓶子放在柜台上，调整爪夹角度，然后松开爪夹。", + "error_success_analysis": "爪夹调整角度成功靠近瓶子，方便爪夹合拢抓取。", + "frame": 59, + "progress": 20, + "progress_explanation": "目前爪夹调整角度靠近瓶子，方便爪夹合拢抓取，进度提升为20%。", + "state_description": "当前状态为爪夹打开，靠近瓶子。\n为完成拿起那个瓶子，把它放在柜台的左边的任务应当:爪夹合拢抓取瓶子向上抬升。", + "time": 3.933333333333333, + "annotations": { + "bbox_1768792527658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768792527658_1768792680951_upidv28ct", + "x": 0.4691110553521084, + "y": 0.3212592502170139, + "width": 0.19799998791503973, + "height": 0.4071111111111111 + } + ] + }, + "point_1768792542121": { + "type": "point", + "instances": [ + { + "id": "point_1768792542121_1768792683422_zf9kptjsb", + "x": 0.452111056389706, + "y": 0.5897036946614583 + } + ] + }, + "point_1768792548850": { + "type": "point", + "instances": [ + { + "id": "point_1768792548850_1768792685247_ev63q8ji9", + "x": 0.7681110371025978, + "y": 0.6252592502170139 + } + ] + } + } + }, + { + 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"#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002634.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002634.json new file mode 100644 index 0000000000000000000000000000000000000000..5d7964d6412821f725cf9201fc0f8117d53e92aa --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002634.json @@ -0,0 +1,384 @@ +{ + "task_description": "抓取盖子放到碗上：\n准备开始移动：0%\n爪夹靠近盖子：20%\n爪夹抓取盖子：40%\n爪夹抓紧盖子接近碗：60%\n爪夹将盖子放在碗上：80%\n爪夹松开盖子落在碗上：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离盖子，未开始移动。\n为完成抓取盖子使其放在碗上的任务应当：爪夹向爪夹右后方的盖子移动，同时调整爪夹的角度使其垂直与桌面，并移动到盖子的正上方。", + "progress_explanation": "当前为初始状态，远离盖子，未开始移动。进度 0%。\n", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右后方的盖子移动，同时调整爪夹的角度使其垂直与桌面，并移动到盖子的正上方。接着落下爪夹靠近盖子，接近盖子后爪夹合拢抓取盖子。抓紧盖子垂直升高爪夹并向爪夹右前方的碗接近，水平到达碗的正上方后将盖子放在碗上，松开爪夹，使盖子放在碗上。", + "annotations": { + "point_1768273400161": { + "type": "point", + "instances": [ + { + "id": "point_1768273400161_1768273464735_olpfiguq5", + "x": 0.454, + "y": 0.6352592502170139 + } + ] + }, + "point_1768273400281": { + "type": "point", + "instances": [ + { + "id": "point_1768273400281_1768273468263_auwoe5t2x", + "x": 0.771, + "y": 0.6459259168836806 + } + ] + } + } + }, + { + "time": 2.260266, + "frame": 68, + "progress": 5, + "action_description": "爪夹向爪夹右后方移动，调整爪夹角度。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近盖子。\n为完成抓取盖子使其放在碗上的任务应当：爪夹向爪夹右后方的盖子移动，同时调整爪夹的角度使其垂直与桌面，并移动到盖子的正上方。", + "progress_explanation": "爪夹向爪夹右后方移动，爪夹角度与桌面呈 70 度。方便抓取。因此进度提升为 5%。", + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003324.json new file mode 100644 index 0000000000000000000000000000000000000000..27c3b25e0c73cd1c558a2f2cda231ec49e09c50b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003324.json @@ -0,0 +1,514 @@ +{ + "task_description": "抓取杯子放入杯托里：\n准备开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓紧杯子接近杯托：60%\n爪夹将杯子放入杯托：80%\n爪夹松开杯子落入杯托：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "annotations": { + "bbox_1767509920797": { + "instances": [ + { + "height": 0.2524444444444444, + "id": "bbox_1767509920797_1767514443913_xxecjwzs0", + "width": 0.092, + "x": 0.5589999999999999, + "y": 0.3804444444444445 + } + ], + "type": "bbox" + }, + "bbox_1767509925932": { + "instances": [ + { + "height": 0.08711111111111115, + 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"correction_plan": "继续向爪夹方向的左侧移动，直至纸巾盒的正上方后将碗放在纸巾盒上，松开爪夹，使碗落在纸巾盒上。", + "error_success_analysis": "爪夹合拢夹紧碗，水平上接近了纸巾盒，更加方便接近纸巾盒。", + "frame": 132, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧碗，垂直升高并向爪夹左侧的纸巾盒接近，缩短了与纸巾盒的距离。因此进度提升为50%。", + "state_description": "爪夹合拢夹紧碗，水平上接近了纸巾盒。\n为完成抓取碗落在纸巾盒上的任务应当：继续向爪夹左侧的纸巾盒接近，直至纸巾盒的正上方后将碗放纸巾盒上。", + "time": 4.4034, + "annotations": { + "point_1767604401656": { + "type": "point", + "instances": [ + { + "id": "point_1767604401656_1767666665700_atu94ugbv", + "x": 0.5356665932820682, + "y": 0.5522222086588542 + } + ] + }, + "bbox_1767604381359": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604381359_1767666669780_f2ewk9zh5", + "x": 0.5186665943196658, + "y": 0.5059999864366319, + "width": 0.07099999566650421, + "height": 0.11200000000000006 + } + ] + }, + "bbox_1767604386231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604386231_1767666674748_s30zmggef", + "x": 0.46466659761556406, + "y": 0.48644443088107636, + "width": 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+ "point_1767604401656": { + "type": "point", + "instances": [ + { + "id": "point_1767604401656_1767666719683_azitq5tj0", + "x": 0.5776665907185918, + "y": 0.5451110975477431 + } + ] + }, + "bbox_1767604386231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604386231_1767666724372_4eggfil9j", + "x": 0.45666659810384524, + "y": 0.47222220865885417, + "width": 0.10899999334716837, + "height": 0.12800000000000003 + } + ] + }, + "bbox_1767604381359": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604381359_1767666729244_zp0agu6g4", + "x": 0.5616665916951542, + "y": 0.5379999864366319, + "width": 0.06099999627685575, + "height": 0.08533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "爪夹向爪夹方向的正前方移动，调整爪夹的角度使其垂直于桌面，并移动到碗的正上方。接着落下爪夹靠近碗，接近碗后爪夹合拢抓取碗。抓紧碗垂直升高爪夹并向爪夹方向的左侧移动，直至纸巾盒的正上方后将碗放在纸巾盒上，松开爪夹，使碗落在纸巾盒上。", + "error_success_analysis": "爪夹向上抬升，远离碗，重新移动抓取。", + "frame": 246, + "progress": 0, + "progress_explanation": "爪夹回到初始状态，重新开始移动。因此进度降至为0%。", + "state_description": "爪夹张开，远离碗，重新移动抓取。\n为完成抓取碗落在纸巾盒上的任务应当：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与桌面，并移动到碗的正上方。", + "time": 8.2, + "annotations": { + "point_1767604391735": { + "type": "point", + "instances": [ + { + "id": "point_1767604391735_1767666739035_qjbnegovd", + "x": 0.5096665948689822, + "y": 0.41355554199218747 + } + ] + }, + "point_1767604401656": { + "type": "point", + "instances": [ + { + "id": "point_1767604401656_1767666743404_dukio5m4g", + "x": 0.543666592793787, + "y": 0.40999998643663194 + } + ] + }, + "bbox_1767604386231": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604386231_1767666748212_c2abin0x0", + "x": 0.46466659761556406, + "y": 0.48999998643663195, + "width": 0.09299999432373082, + "height": 0.10666666666666669 + } + ] + }, + "bbox_1767604381359": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604381359_1767666753980_xxha0zh8b", + "x": 0.5626665916341191, + "y": 0.5433333197699654, + "width": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003392.json @@ -0,0 +1,672 @@ +{ + "task_description": "抓取杯子放在红色盘子上：\n准备开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓紧杯子接近红色盘子：60%\n爪夹将杯子放在红色盘子上：80%\n爪夹松开杯子落在红色盘子上：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "correction_plan": "爪夹垂直下降保持桌面与垂直，并移动到杯子的正上方。接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的正前方移动，直至红色盘子的正上方后将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离杯子，未开始移动。\n为完成抓取杯子落在红色盘子上的任务应当：爪夹垂直下降保持桌面垂直，并移动到杯子的正上方。", + "time": 1.745799, + "annotations": { + "point_1767667170868": { + "type": "point", + "instances": [ + { + "id": "point_1767667170868_1767671804687_gpj48m7n7", + "x": 0.3446666049397824, + "y": 0.01770369466145833 + } + ] + }, + "bbox_1767667149012": { + "type": "bbox", + 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"error_success_analysis": "爪夹角度与桌面垂直，水平上接近了杯子，更加方便抓取", + "frame": 100, + "progress": 10, + "progress_explanation": "爪夹角度与桌面垂直，水平上接近了杯子，更加方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，角度垂直于桌面，水平上接近了杯子。\n为完成抓取杯子落在红色盘子上的任务应当：爪夹继续垂直下降，直至杯子的正上方，接着落下爪夹靠近杯子。", + "time": 3.342733, + "annotations": { + "point_1767667170868": { + "type": "point", + "instances": [ + { + "id": "point_1767667170868_1767671838719_gsckr0biw", + "x": 0.3616666039021848, + "y": 0.22688887532552085 + } + ] + }, + "point_1767667164515": { + "type": "point", + "instances": [ + { + "id": "point_1767667164515_1767671841927_n0l26e8gr", + "x": 0.3086666071370479, + "y": 0.20911109754774304 + } + ] + }, + "bbox_1767667149012": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767667149012_1767671847215_4ds1sf9mq", + "x": 0.28966660829671576, + "y": 0.23577776421440974, + "width": 0.05299999676513689, + "height": 0.10488888888888886 + } + ] + }, + "bbox_1767667155732": { + "type": "bbox", + "instances": [ + { + "id": 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"爪夹合拢夹紧杯子，水平上接近了红色盘子，更加方便接近红色盘子。", + "frame": 185, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧杯子，垂直升高并向爪夹正前方的红色盘子接近，缩短了与红色盘子的距离。因此进度提升为50%。", + "state_description": "爪夹合拢夹紧杯子，水平上接近了红色盘子。\n为完成抓取杯子落在红色盘子上的任务应当：继续向爪夹正前方的红色盘子接近，直至红色盘子的正上方后将杯子放入红色盘子。", + "time": 6.1620836579624045, + "annotations": { + "bbox_1767667155732": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767667155732_1767671892047_h4u6cy58j", + "x": 0.35666660420736057, + "y": 0.2399259168836806, + "width": 0.10999999328613316, + "height": 0.09244444444444445 + } + ] + }, + "bbox_1767667149012": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767667149012_1767671895495_p3zt234rx", + "x": 0.31366660683187214, + "y": 0.11488887532552083, + "width": 0.05999999633789081, + "height": 0.10844444444444444 + } + ] + }, + "point_1767667164515": { + "type": "point", + "instances": [ + { + "id": "point_1767667164515_1767671898590_jskgmxznn", + "x": 0.3556666042683957, + "y": 0.18955554199218752 + } + ] + }, + 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"爪夹重新垂直下降保持与桌面垂直，并移动到杯子的正上方，接着落下爪夹靠近杯子，接近杯子后爪夹合拢抓取杯子。抓紧杯子垂直升高爪夹并向爪夹方向的正前方移动，直至红色盘子的正上方后将杯子放入红色盘子，松开爪夹，使杯子落在红色盘子上。", + "error_success_analysis": "爪夹回到初始状态，远离了杯子，重新移动", + "frame": 406, + "progress": 0, + "progress_explanation": "爪夹回到初始状态，远离了杯子，重新移动。因此进度降至为0%。", + "state_description": "爪夹回到初始状态，杯子处于桌面上。\n为完成抓取杯子落在红色盘子上的任务应当：爪夹重新垂直下降保持与桌面垂直，并移动到杯子的正上方，接着落下爪夹靠近杯子", + "time": 13.533333, + "annotations": { + "bbox_1767667149012": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767667149012_1767671991295_21yof91aa", + "x": 0.4416665990193726, + "y": 0.25711109754774303, + "width": 0.06199999621582046, + "height": 0.10844444444444443 + } + ] + }, + "bbox_1767667155732": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767667155732_1767671995207_r829ryj8r", + "x": 0.3556666042683957, + "y": 0.23577776421440974, + "width": 0.1129999931030277, + "height": 0.11733333333333332 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767667149012", + "name": "杯子" + }, + { + "color": "#FF9800", + "id": "bbox_1767667155732", + "name": "红色盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767667164515", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767667170868", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003740.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003740.json new file mode 100644 index 0000000000000000000000000000000000000000..6fee85aad8b2a03fce7aa6e747b38ebc8b86b08b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003740.json @@ -0,0 +1,105 @@ +{ + "task_description": "按压闹钟顶部：\n准备开始移动：0%\n爪夹靠近闹钟：20%\n爪夹合拢：40%\n爪夹接近闹钟：60%\n爪夹按压闹钟顶部：80%\n爪夹张开回到待机位置：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右前方的闹钟移动，同时调整爪夹的角度使其垂直于桌面，并移动到闹钟的正上方。接着落下爪夹靠近闹钟，接近闹钟后爪夹合拢并向闹钟顶部移动，到达闹钟正上方后向下移动按压闹钟，爪夹张开，垂直升高，回到待机位置。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "当前为初始状态，远离闹钟，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离闹钟，未开始移动。\n为完成按压闹钟顶部的任务应当：爪夹向爪夹右前方的闹钟移动，同时调整爪夹的角度使其垂直于桌面，并移动到闹钟的正上方。", + "time": 0.657333 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右前方的闹钟移动，同时调整爪夹的角度使其垂直于桌面，并移动到闹钟的正上方。接着落下爪夹靠近闹钟，接近闹钟后爪夹合拢并向闹钟顶部移动，到达闹钟正上方后向下移动按压闹钟，爪夹张开，垂直升高，回到待机位置。", + "error_success_analysis": "爪夹角度接近垂直于桌面，水平上未接近闹钟。", + "frame": 37, + "progress": 5, + "progress_explanation": "抓夹向爪夹正前方移动，爪夹接近 垂直于桌面，方便抓取。因此进度提升为5%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近闹钟。\n为完成按压闹钟顶部的任务应当：爪夹向爪夹右前方的闹钟移动，同时调整爪夹的角度使其垂直于桌面，并移动到闹钟的正上方。", + "time": 1.237333 + }, + { + "action_description": "爪夹向爪夹右前方移动", + "correction_plan": "爪夹继续向爪夹右前方的闹钟移动，同时调整爪夹的角度使其垂直于桌面，并移动到闹钟的正上方。接着落下爪夹靠近闹钟，接近闹钟后爪夹合拢并向闹钟顶部移动，到达闹钟正上方后向下移动按压闹钟，爪夹张开，垂直升高，回到待机位置。", + "error_success_analysis": "爪夹角度与桌面接近垂直，缩短了闹钟和爪夹之间的距离，方便后续按压闹钟顶部。", + "frame": 59, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了闹钟，更加方便按压闹钟顶部。因此进度提升为15%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了闹钟。\n为完成按压闹钟顶部的任务应当：爪夹向爪夹右前方的闹钟移动，同时调整爪夹的角度使其垂直于桌面，并移动到闹钟的正上方。", + "time": 1.9814937775928372 + }, + { + "action_description": "爪夹向爪夹右前方移动并准备垂直向下移动，调整爪夹的角度。", + "correction_plan": "爪夹合拢并向闹钟顶部移动，到达闹钟正上方后向下移动按压闹钟，爪夹张开，垂直升高，回到待机位置。", + "error_success_analysis": "爪夹准备向下移动，靠近了闹钟，方便按压闹钟顶部。", + "frame": 80, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，接近了闹钟，方便按压闹钟顶部。因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，准备靠近闹钟。\n为完成按压闹钟顶部的任务应当：爪夹合拢并向闹钟顶部移动", + "time": 2.6502481826399795 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹到达闹钟正上方后向下移动按压闹钟，爪夹张开，垂直升高，回到待机位置。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢按压闹钟顶部。", + "frame": 106, + "progress": 40, + "progress_explanation": "爪夹合拢准备按压闹钟。因此进度提升为40%", + "state_description": "爪夹合拢准备按压闹钟顶部，爪夹角度与桌面接近垂直。\n为完成按压闹钟顶部的任务应当：爪夹向闹钟顶部移动，到达闹钟正上方后向下移动按压闹钟。", + "time": 3.5171520410344237 + }, + { + "action_description": "爪夹到达闹钟顶部", + "correction_plan": "爪夹向下移动按压闹钟，爪夹张开，垂直升高，回到待机位置。", + "error_success_analysis": "爪夹移动到了闹钟正上方，方便按压闹钟顶部。", + "frame": 121, + "progress": 60, + "progress_explanation": "爪夹合拢到达闹钟正上方，方便按压闹钟顶部。因此进度提升为60%", + "state_description": "爪夹合拢到达闹钟顶部，爪夹角度接近垂直于桌面，位于闹钟正上方。\n为完成按压闹钟顶部的任务应当：爪夹向下移动按压闹钟，爪夹张开，垂直升高，回到待机位置。", + "time": 4.037294356071089 + }, + { + "action_description": "爪夹调整角度，垂直向下移动。", + "correction_plan": "爪夹张开，垂直升高，回到待机位置。", + "error_success_analysis": "爪夹移动到了闹钟正上方并按压闹钟顶部。", + "frame": 147, + "progress": 80, + "progress_explanation": "爪夹调整角度并垂直向下移动，爪夹按压闹钟顶部。因此进度提升为80%", + "state_description": "爪夹调整角度并垂直向下移动，爪夹按压闹钟顶部。\n为完成按压闹钟顶部的任务应当：爪夹张开，垂直升高，回到待机位置。", + "time": 4.887466 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹按压闹钟顶部的任务完成。", + "error_success_analysis": "爪夹张开，垂直升高，回到待机位置。", + "frame": 188, + "progress": 100, + "progress_explanation": "爪夹张开，垂直升高，回到待机位置。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹按压闹钟顶部的任务完成。", + "time": 6.266475706228231 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768790033640", + "name": "闹钟顶部", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768790058590", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768790058775", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003837.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003837.json new file mode 100644 index 0000000000000000000000000000000000000000..886b1e7daefaa2029b68749b20df72a7e6073e78 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003837.json @@ -0,0 +1,135 @@ +{ + "task_description": "爪夹关闭抽屉：\n准备开始移动：0%\n爪夹靠近抽屉：20%\n爪夹紧贴抽屉：40%\n爪夹推动抽屉向前移动：60%\n爪夹推动抽屉移动至关闭：80%\n爪夹松开抽屉合上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹前方的抽屉移动，同时调整爪夹的角度使其垂直于桌面，并移动到抽屉的前方。接着落下爪夹靠近抽屉，接近抽屉后紧贴抽屉。爪夹紧贴抽屉后推动抽屉向前移动，到达指定位置后，松开爪夹，抽屉关闭。", + "error_success_analysis": "", + "frame": 11, + "progress": 0, + "progress_explanation": "当前为初始状态，远离抽屉，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离抽屉，未开始移动。\n为完成爪夹关闭抽屉的任务应当：爪夹向爪夹前方的抽屉移动，同时调整爪夹的角度使其垂直于桌面，并移动到抽屉的前方。", + "time": 0.3520990225574529 + }, + { + "action_description": "爪夹向正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹前方的抽屉移动，同时调整爪夹的角度使其垂直于桌面，并移动到抽屉的前方。接着落下爪夹靠近抽屉，接近抽屉后紧贴抽屉。爪夹紧贴抽屉后推动抽屉向前移动，到达指定位置后，松开爪夹，抽屉关闭。", + "error_success_analysis": "爪夹角度接近垂直于桌面，水平上未接近抽屉。", + "frame": 29, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便接近抽屉。因此进度提升为10%", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，还未接近抽屉。\n为完成爪夹关闭抽屉的任务应当：爪夹向爪夹前方的抽屉移动，同时调整爪夹的角度使其垂直于桌面，并移动到抽屉的前方。", + "time": 0.9527396098669931 + }, + { + "action_description": "爪夹向爪夹正前方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "紧贴抽屉，爪夹紧贴抽屉后推动抽屉向前移动，到达指定位置后，松开爪夹，抽屉关闭。", + "error_success_analysis": "爪夹垂直向下移动，靠近了抽屉，方便紧贴抽屉。", + "frame": 39, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了抽屉，方便紧贴抽屉，因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了抽屉，准备紧贴抽屉。\n为完成爪夹关闭抽屉的任务应当：爪夹紧贴抽屉，爪夹紧贴抽屉后推动抽屉向前移动。", + "time": 1.2841275201067393 + }, + { + "action_description": "爪夹紧贴抽屉", + "correction_plan": "爪夹推动抽屉向前移动，到达指定位置后，松开爪夹，抽屉关闭。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹推动抽屉。", + "frame": 56, + "progress": 40, + "progress_explanation": "爪夹紧贴抽屉，方便后续推动抽屉。因此进度提升为40%", + "state_description": "爪夹紧贴抽屉，爪夹角度接近垂直于桌面。\n为完成爪夹关闭抽屉的任务应当：爪夹推动抽屉向前移动。", + "time": 1.8640563630262954 + }, + { + "action_description": "爪夹紧贴抽屉，向爪夹前方移动。", + "correction_plan": "爪夹推动抽屉到达指定位置后，松开爪夹，抽屉关闭。", + "error_success_analysis": "爪夹角度接近垂直于桌面，向前推动抽屉。", + "frame": 73, + "progress": 60, + "progress_explanation": "爪夹紧贴抽屉，推动抽屉向前移动。因此进度提升为60%", + "state_description": "爪夹紧贴抽屉，爪夹角度接近垂直于桌面，向前推动抽屉。\n为完成爪夹关闭抽屉的任务应当：爪夹推动抽屉到达指定位置后，松开爪夹，抽屉关闭。", + "time": 2.4439852059458516 + }, + { + "action_description": "爪夹垂直升高，调整爪夹角度。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到抽屉的前方。接着落下爪夹靠近抽屉，接近抽屉后紧贴抽屉。爪夹紧贴抽屉后推动抽屉向前移动，到达指定位置后，松开爪夹，抽屉关闭。", + "error_success_analysis": "爪夹垂直升高，需要重新调整爪夹的角度。", + "frame": 106, + "progress": 10, + "progress_explanation": "爪夹张开，垂直升高，重新调整爪夹的角度。因此进度降低为10%", + "state_description": "爪夹张开，垂直升高，重新调整爪夹的角度。\n为完成爪夹关闭抽屉的任务应当：调整爪夹的角度使其垂直于桌面，并移动到抽屉的前方。", + "time": 3.541707658615011 + }, + { + "action_description": "爪夹垂直向下移动，调整爪夹角度。", + "correction_plan": "紧贴抽屉，爪夹紧贴抽屉后推动抽屉向前移动，到达指定位置后，松开爪夹，抽屉关闭。", + "error_success_analysis": "爪夹垂直向下移动，靠近了抽屉，方便紧贴抽屉。", + "frame": 130, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了抽屉，方便紧贴抽屉，因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了抽屉，准备紧贴抽屉。\n为完成爪夹关闭抽屉的任务应当：爪夹紧贴抽屉，爪夹紧贴抽屉后推动抽屉向前移动。", + "time": 4.328753945434409 + }, + { + "time": 4.78441232201406, + "frame": 144, + "progress": 40, + "action_description": "爪夹重新紧贴抽屉", + "state_description": "爪夹紧贴抽屉，爪夹角度接近垂直于桌面。\n为完成爪夹关闭抽屉的任务应当：爪夹推动抽屉向前移动。", + "progress_explanation": "爪夹紧贴抽屉，方便爪夹继续推动抽屉。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹推动抽屉。", + "correction_plan": "爪夹推动抽屉向前移动，到达指定位置后，松开爪夹，抽屉关闭。" + }, + { + "action_description": "爪夹紧贴抽屉，向爪夹前方移动。", + "correction_plan": "爪夹推动抽屉到达指定位置后，松开爪夹，抽屉关闭。", + "error_success_analysis": "爪夹角度接近垂直于桌面，向前推动抽屉。", + "frame": 151, + "progress": 60, + "progress_explanation": "爪夹紧贴抽屉，推动抽屉向前移动。因此进度提升为60%", + "state_description": "爪夹紧贴抽屉，爪夹角度接近垂直于桌面，向前推动抽屉。\n为完成爪夹关闭抽屉的任务应当：爪夹推动抽屉到达指定位置后，松开爪夹，抽屉关闭。", + "time": 5.03295325469387 + }, + { + "action_description": "爪夹继续推动抽屉", + "correction_plan": "松开爪夹，抽屉关闭。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹继续推动抽屉向前移动。", + "frame": 164, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹继续推动抽屉向前移动。因此进度提升为80%", + "state_description": "爪夹推动抽屉至合适位置。\n为完成爪夹关闭抽屉的任务应当：松开爪夹，抽屉关闭。", + "time": 5.477266 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹关闭抽屉的任务完成。", + "error_success_analysis": "爪夹张开，抽屉关闭，任务完成。", + "frame": 194, + "progress": 100, + "progress_explanation": "爪夹张开，抽屉关闭，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹关闭抽屉的任务完成。", + "time": 6.466667 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768804606897", + "name": "抽屉", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768804620584", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768804620768", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003847.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003847.json new file mode 100644 index 0000000000000000000000000000000000000000..9ad1c6941736e575766c3d2fc14a0293e4d9cad7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003847.json @@ -0,0 +1,428 @@ +{ + "task_description": "抓取杯子放入碗里：\n准备开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓紧杯子接近碗：60%\n爪夹将杯子放入碗：80%\n爪夹松开杯子落入碗：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "annotations": { + "bbox_1767075112421": { + "instances": [ + { + "height": 0.08711111111111107, + "id": "bbox_1767075112421_1767075399805_816auhhlp", + "width": 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"progress_explanation": "爪夹角度与桌面垂直，水平上接近了杯子，方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，角度垂直于桌面，水平上接近杯子。\n为完成抓取杯子落入碗的任务应当：调整爪夹的角度使其垂直于桌面，并移动到杯子的正上方。", + "time": 1.736733 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并垂直下降", + "annotations": { + "bbox_1767075112421": { + "instances": [ + { + "height": 0.10666666666666669, + "id": "bbox_1767075112421_1767077088483_iy4by0nnc", + "width": 0.05, + "x": 0.514, + "y": 0.42133333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767075119205": { + "instances": [ + { + "height": 0.1475555555555555, + "id": "bbox_1767075119205_1767077092611_c80h2jy0g", + "width": 0.11099999999999995, + "x": 0.4590000000000001, + "y": 0.48177777777777786 + } + ], + "type": "bbox" + }, + "point_1767075126725": { + "instances": [ + { + "id": "point_1767075126725_1767077083891_n6xc9j9r3", + "x": 0.499, + "y": 0.47644444444444445 + } + ], + "type": "point" + }, + "point_1767075136645": { + "instances": [ + { + "id": "point_1767075136645_1767077080299_he2eaml92", + 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"point_1767075126725": { + "instances": [ + { + "id": "point_1767075126725_1767077110091_4n9nhlx2g", + "x": 0.512, + "y": 0.48533333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取杯子，抓紧杯子垂直升高爪夹并向爪夹方向的左侧移动，直至碗的正上方后将杯子放入碗，松开爪夹，使杯子落入碗。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到杯子。", + "frame": 113, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到杯子，因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到杯子，爪夹角度与桌面接近垂直。\n为完成抓取杯子落入碗的任务应当：抓紧杯子垂直升高爪夹并向爪夹左侧的碗接近。", + "time": 3.764133 + }, + { + "action_description": "爪夹夹紧杯子垂直升高，离开桌面向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767075112421": { + "instances": [ + { + "height": 0.13688888888888892, + "id": "bbox_1767075112421_1767077148779_stbv4tktn", + "width": 0.05599999999999996, + "x": 0.48200000000000004, + "y": 0.29866666666666664 + } + ], + "type": "bbox" + }, + "bbox_1767075119205": { + "instances": [ + { + "height": 0.16533333333333336, + "id": "bbox_1767075119205_1767077153587_921c42bhl", + "width": 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"碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767075126725", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767075136645", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.wrist_image_left/episode_003067.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.wrist_image_left/episode_003067.json new file mode 100644 index 0000000000000000000000000000000000000000..40297f2d58ff9e8af8828ca89475cc7cb267d381 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.wrist_image_left/episode_003067.json @@ -0,0 +1,105 @@ +{ + "task_description": "抓紧柜门打开：\n准备开始移动：0%\n爪夹靠近柜门：20%\n爪夹抓紧柜门：40%\n爪夹抓紧柜门打开：60%\n爪夹将柜门打开：80%\n爪夹松开柜门打开：100%", + "progress_points": [ + { + "time": 0.984666, + "frame": 30, + "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，远离柜门，未开始移动。\n为完成抓取柜门打开的任务应当：爪夹向爪夹右前方移动，调整爪夹的角度使其垂直于桌面，并移动到柜门的正前方。", + "progress_explanation": "当前为初始状态，远离柜门，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方移动，调整爪夹的角度使其垂直于桌面，并移动到柜门的正前方。接着落下爪夹靠近柜门，接近柜门后爪夹合拢抓紧柜门。抓紧柜门水平向左移动，到达合适位置后，松开爪夹，使柜门打开。" + }, + { + "time": 2.039666, + "frame": 61, + "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，爪夹角度接近垂直于桌面，还未接近柜门。\n为完成抓取柜门打开的任务应当：爪夹向爪夹右前方移动，调整爪夹的角度使其垂直于桌面，并移动到柜门的正前方。", + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，方便抓紧柜门。因此进度提升为5%", + "error_success_analysis": "爪夹角度接近垂直于桌面，水平上未接近柜门。", + "correction_plan": "爪夹向爪夹右前方移动，调整爪夹的角度使其垂直于桌面，并移动到柜门的正前方。接着落下爪夹靠近柜门，接近柜门后爪夹合拢抓紧柜门。抓紧柜门水平向左移动，到达合适位置后，松开爪夹，使柜门打开。" + }, + { + "time": 3.052466, + "frame": 92, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了柜门。\n为完成抓取柜门打开的任务应当：爪夹向爪夹右前方移动，调整爪夹的角度使其垂直于桌面，并移动到柜门的正前方。", + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了柜门，更加方便爪夹抓紧柜门。因此进度提升为15%", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了爪夹与柜门的距离，方便后续爪夹抓紧柜门。", + "correction_plan": "爪夹继续向爪夹右前方移动，调整爪夹的角度使其垂直于桌面，并移动到柜门的正前方。接着落下爪夹靠近柜门，接近柜门后爪夹合拢抓紧柜门。抓紧柜门水平向左移动，到达合适位置后，松开爪夹，使柜门打开。" + }, + { + "time": 4.22, + "frame": 127, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了柜门，准备抓紧柜门。\n为完成抓取柜门打开的任务应当：爪夹合拢抓紧柜门。抓紧柜门水平向左移动。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了柜门，方便抓紧柜门，因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了柜门，方便抓紧柜门。", + "correction_plan": "爪夹合拢抓紧柜门。抓紧柜门水平向左移动，到达合适位置后，松开爪夹，使柜门打开。" + }, + { + "time": 5.598533, + "frame": 168, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢夹紧柜门，准备向左移动。\n为完成抓取柜门打开的任务应当：抓紧柜门水平向左移动。", + "progress_explanation": "爪夹合拢抓紧柜门。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓紧柜门。", + "correction_plan": "抓紧柜门水平向左移动，到达合适位置后，松开爪夹，使柜门打开。" + }, + { + "time": 6.848112517615267, + "frame": 205, + "progress": 60, + "action_description": "爪夹夹紧柜门，向爪夹左方移动。", + "state_description": "爪夹夹紧柜门，爪夹角度接近平行于桌面，位于柜门正前方。\n为完成抓取柜门打开的任务应当：爪夹到达合适位置后，松开爪夹，使柜门打开。", + "progress_explanation": "爪夹夹紧柜门，到达爪夹右前方的柜门正前方，方便抓紧柜门 。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了柜门的正前方，方便抓紧柜门打开。", + "correction_plan": "爪夹到达合适位置后，松开爪夹，使柜门打开。" + }, + { + "time": 7.478859849822469, + "frame": 224, + "progress": 80, + "action_description": "爪夹调整角度，向爪夹左方移动。", + "state_description": "爪夹夹紧柜门，爪夹向左移动。\n为完成抓取柜门打开的任务应当：松开爪夹，使柜门打开。", + "progress_explanation": "爪夹夹紧柜门并向左方移动。因此进度提升为80%", + "error_success_analysis": "爪夹夹紧柜门并向左方移动，方便抓紧柜门打开。", + "correction_plan": "松开爪夹，使柜门打开。" + }, + { + "time": 9.686475512547677, + "frame": 291, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，爪夹垂直升高。\n爪夹抓紧柜门打开的任务完成。", + "progress_explanation": "爪夹张开，柜门打开，任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，柜门打开，任务完成。", + "correction_plan": "爪夹抓紧柜门打开的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768810557972", + "name": "柜门", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768810563558", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768810563752", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.wrist_image_left/episode_003899.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.wrist_image_left/episode_003899.json new file mode 100644 index 0000000000000000000000000000000000000000..217a782eb8af50024cd4e724b35a7b2a7b24c295 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.wrist_image_left/episode_003899.json @@ -0,0 +1,622 @@ +{ + "task_description": "抓取蓝色杯子放入橙色杯子里：\n准备开始移动：0%\n爪夹靠近蓝色杯子：20%\n爪夹抓取蓝色杯子：40%\n爪夹抓紧蓝色杯子接近橙色杯子：60%\n爪夹将蓝色杯子放入橙色杯子：80%\n爪夹松开蓝色杯子落入橙色杯子：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "annotations": { + "bbox_1767080361585": { + "instances": [ + { + "height": 0.22933333333333333, + "id": "bbox_1767080361585_1767081472391_4q0ut4n6e", + "width": 0.07999999999999999, + "x": 0.438, + "y": 0.5333333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767080566927": { + "instances": [ + { + "height": 0.24533333333333332, + "id": "bbox_1767080566927_1767081475743_l35ki6zja", + "width": 0.12699999999999995, + "x": 0.611, + "y": 0.4444444444444444 + } + ], + "type": "bbox" + }, + "point_1767080576560": { + "instances": [ + { + "id": "point_1767080576560_1767081490791_iwivctlu5", + "x": 0.45, + "y": 0.6364444444444445 + } + ], + "type": "point" + }, + "point_1767080583984": { + "instances": [ + { + "id": "point_1767080583984_1767081484359_plxqybgoh", + 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newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.wrist_image_left/episode_006257.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.wrist_image_left/episode_006257.json new file mode 100644 index 0000000000000000000000000000000000000000..56bac1358e60607ead724a8e24fecdf2ad51a414 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.wrist_image_left/episode_006257.json @@ -0,0 +1,553 @@ +{ + "task_description": "叠衣服\n开始移动：0%\n爪夹靠近衣服右角：20%\n爪夹夹紧衣服右角：40%\n爪夹靠近衣服左角：60%\n爪夹夹紧衣服左角：80%\n完成叠衣服:100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹下方移动至移动上方，爪夹向爪夹右下移动，爪夹靠近衣服，爪夹合拢加紧衣服的一角，爪夹向上抬升，爪夹向爪夹左下移动，爪夹张开并向上抬升，爪夹向爪夹下移动靠近衣服左角，爪机合拢加紧衣服左角，爪夹向爪夹右上移动，爪夹向爪夹右下角移动靠近桌面爪夹张开", + "error_success_analysis": 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No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.wrist_image_left/episode_006403.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.wrist_image_left/episode_006403.json new file mode 100644 index 0000000000000000000000000000000000000000..df60348fb01f08d7b25b05c59c5db8f848eac426 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.wrist_image_left/episode_006403.json @@ -0,0 +1,333 @@ +{ + "task_description": "关闭抽屉。\n准备开始移动：0%。\n爪夹向下移动25%\n爪夹靠近抽屉：50%\n爪夹准备推动抽屉：75%\n爪夹向爪夹后方移动推动抽屉：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹下方移动，爪夹垂直地面，爪夹水平位置与抽屉处在同一个高度，爪夹向爪夹后方移动推动抽屉到闭合状态。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": 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"爪夹向爪夹右侧移动到地面上发，爪夹向爪夹下方移动到抽屉的水平位置，爪夹向爪夹左侧移动推动抽屉使抽屉关闭。", + "error_success_analysis": "爪夹张开，爪夹向下移动，靠近抽屉，方便关闭抽屉。", + "frame": 50, + "progress": 25, + "progress_explanation": "爪夹向爪夹下方移动，靠近抽屉，因此进度提升到20%。", + "state_description": "爪夹张开，爪夹缩短了与抽屉的距离，爪夹垂直于地面。\n为了完成关闭抽屉的任务应当：爪夹向爪夹右侧移动，移动到地面正上方，向下移动爪夹到抽屉的水平位置，爪夹向爪夹左侧移动，关闭抽屉。", + "time": 3.3333333333333335, + "annotations": { + "bbox_1768808092826": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768808092826_1768808171648_x75i72885", + "x": 0.15666661641439109, + "y": 0.03444443088107639, + "width": 0.6399999609375023, + "height": 0.8391111111111113 + } + ] + }, + "point_1768808093482": { + "type": "point", + "instances": [ + { + "id": "point_1768808093482_1768808173224_11zjis7ez", + "x": 0.45866659798177495, + "y": 0.6531110975477431 + } + ] + }, + "point_1768808093690": { + "type": "point", + "instances": [ + { + "id": "point_1768808093690_1768808174992_1ppzsv8c9", + "x": 0.766666579182948, + "y": 0.6477777642144098 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "爪夹向爪夹正上方移动，爪夹高于抽屉，爪夹向右方移动到地面正上方，爪夹向爪夹正下方移动到抽屉的水平位置，爪夹向爪夹左侧移动推动抽屉到闭合状态。", + "error_success_analysis": "爪夹向下移动，爪夹伸入抽屉内部，无法完成关闭抽屉的动作。", + "frame": 73, + "progress": -10, + "progress_explanation": "爪夹向爪夹正下方移动，爪夹进入抽屉内部，无法完成关闭抽屉。因此进度降低到-10%。", + "state_description": "爪夹向下移动，爪夹伸到抽屉内部。\n为了完成关闭抽屉的任务应当：爪夹向爪夹上方移动，爪夹向爪夹右方移动到地面正上方，向下移动爪夹到抽屉的水平位置，爪夹向爪夹左侧移动，关闭抽屉。", + "time": 4.866666666666666, + "annotations": { + "bbox_1768808092826": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768808092826_1768808183103_u0h3xodlj", + "x": 0.0016666258748397292, + "y": 0.004222208658854167, + "width": 0.759999953613284, + "height": 0.9244444444444445 + } + ] + }, + "point_1768808093482": { + "type": "point", + "instances": [ + { + "id": "point_1768808093482_1768808185160_m6zbchdmq", + "x": 0.45866659798177495, + "y": 0.6655555419921876 + } + ] + }, + "point_1768808093690": { + "type": "point", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.wrist_image_left/episode_006664.json @@ -0,0 +1,365 @@ +{ + "task_description": "抓取士力架放置到高台上。\n准备开始移动：0%\n爪夹靠近士力架：20%\n爪夹抓取士力架：40%\n提升爪夹高度：60%\n移动到高台上：80%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹下方移动到士力架的正上方，落下爪夹靠近士力架，合拢爪夹抓取士力架。爪夹抓紧士力架垂直向上移动，高度高于高台，爪夹向爪夹后方移动，水平位置达到高台上放，松开爪夹放置士力架，使其落到高台之上。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹未移动，远离士力架，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离士力架，未开始移动。\n为完成抓取士力架并放置到高台上的任务应当：爪夹向下移动，调整爪夹角度使其垂直于桌面，并移动到士力架正上方。", + "time": 0.6414655273634114, + "annotations": { + "bbox_1768808295301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768808295301_1768808324788_27tnqn93x", + "x": 0.6586665857747445, + "y": 0.4237777642144097, + "width": 0.08799999462890655, + "height": 0.28266666666666673 + } + ] + }, + "point_1768808302533": { + "type": "point", + "instances": [ + { + "id": "point_1768808302533_1768808338988_1jt6478q7", + "x": 0.45866659798177495, + "y": 0.6442222086588542 + } + ] + }, + "point_1768808302709": { + "type": "point", + "instances": [ + { + "id": "point_1768808302709_1768808341227_25wg2v6ym", + "x": 0.766666579182948, + "y": 0.6193333197699653 + } + ] + } + } + }, + { + "action_description": "爪夹向右下方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹正下方移动，靠近士力架，合拢爪夹抓取士力架。紧抓士力架，爪夹向爪夹正上方移动高于高台，爪夹向爪夹后方移动，水平达到高台正上方，松开爪夹放置士力架。", + "error_success_analysis": "爪夹与桌面垂直，位于士力架正上方，还未接近士力架。", + "frame": 83, + "progress": 10, + "progress_explanation": "爪夹向爪夹右下方移动，爪夹与桌面垂直，垂直接近士力架，因此进度提升到10%。", + "state_description": "爪夹张开，爪夹角度与桌面垂直，还未接近士力架。\n为完成抓取士力架并放置到高台上的任务应当：爪夹向爪夹下方移动，靠近士力架，同时调整爪夹角度，并移动到士力架正上方。", + "time": 2.7813966164242077, + "annotations": { + "bbox_1768808295301": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768808295301_1768808349692_80qmwnuvh", + "x": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.wrist_image_left/episode_006747.json new file mode 100644 index 0000000000000000000000000000000000000000..5150f7ffdf49947fd5ca5dcab7403537165d5f7c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.wrist_image_left/episode_006747.json @@ -0,0 +1,333 @@ +{ + "task_description": "向左轻微移动卷尺\n开始准备移动：0%。\n爪夹靠近卷尺：25%\n爪夹抓取卷尺：50%\n爪夹向爪夹左侧移动：75%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右下方移动，靠近卷尺，调整爪夹角度使其垂直于桌面，接着落下爪夹抓取卷尺后垂直升高，爪夹向爪夹左侧稍微移动然后松开爪夹，放置卷尺。", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "当前爪夹未开始移动，爪夹张开，远离卷尺，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离卷尺。\n为完成抓取卷尺向左轻微移动的任务应当：爪夹向爪夹的右下方移动，同时调整爪夹与桌面的角度使其与地面垂直，并移动到卷尺的正上方。", + "time": 0.8408701955042766, + "annotations": { + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007147.json new file mode 100644 index 0000000000000000000000000000000000000000..3b9cd32f8cecb86b009868ce361d93df87a08e62 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007147.json @@ -0,0 +1,377 @@ +{ + "task_description": "把白色毛巾从椅子靠背移到椅子坐垫上。\n开始准备移动：0%\n爪夹靠近白色毛巾：25%\n爪夹合拢抓取白色毛巾：50%\n爪夹向正下方移动：75%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹正前方的白色毛巾移动，同时调整爪夹与地面的角度，接近白色毛巾后合拢爪夹抓取白色毛巾，爪夹向爪夹正下方移动放置白色毛巾到坐垫上。", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离白色毛巾，未开始移动。\n为完成抓取白色毛巾放置到坐垫上的任务应当：爪夹向爪夹的正前方移动，同时调整爪夹角度与地面角度为45度，合拢爪夹抓取白色毛巾，爪夹向爪夹正下方移动。", + "time": 0.9871701484022536, + "annotations": { + "bbox_1768808798688": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768808798688_1768808817679_6atlczz3z", + "x": 0.47966659670003675, + "y": 0.41271603732638895, + "width": 0.13999999145507863, + "height": 0.5439999999999999 + } + ] + }, + "point_1768808804151": { + "type": "point", + "instances": [ + { + "id": "point_1768808804151_1768808819919_rni3id17j", + "x": 0.45866659798177495, + "y": 0.5845678982204862 + } + ] + }, + "point_1768808804423": { + "type": "point", + "instances": [ + { + "id": "point_1768808804423_1768808821791_e6e3riak2", + "x": 0.5326665934651736, + "y": 0.5952345648871529 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前下方移动，同时调整爪夹与地面呈45度角度。", + "correction_plan": "合拢抓夹，抓紧白色毛巾，向下后方移动爪夹，松开爪夹放置白色毛巾到坐垫上。", + "error_success_analysis": "爪夹张开，爪夹角度与地面呈45度，接近白色毛巾方便抓取。", + "frame": 102, + "progress": 25, + "progress_explanation": "爪夹向前下方移动，靠近白色毛巾，因此进度提升到25%。", + "state_description": "爪夹张开，爪夹与地面呈45度角，接近白色毛巾。\n为完成抓取白色毛巾放置到坐垫上的任务应当：合拢爪夹抓取白色毛巾，爪夹向爪夹正下方移动，放置白色毛巾到坐垫上。", + "time": 3.416035896602047, + "annotations": { + "bbox_1768808798688": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768808798688_1768808828414_aet18y34e", + "x": 0.4486665985921265, + "y": 0.42911109754774307, + "width": 0.18799998852539135, + "height": 0.5333333333333333 + } + ] + }, + "point_1768808804151": { + "type": "point", + "instances": [ + { + "id": "point_1768808804151_1768808830382_qot5cvl3u", + "x": 0.5276665937703495, + "y": 0.5197777642144097 + } + ] + }, + "point_1768808804423": { + "type": "point", + "instances": [ + { + "id": "point_1768808804423_1768808832471_0hqi46ry1", + "x": 0.576666590779627, + "y": 0.5339999864366319 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "张开爪夹，爪夹向爪夹正上方移动，抓夹角度与地面保持45度，合拢爪夹抓取白色毛巾，爪夹向爪夹正下移动白色毛巾到坐垫上，松开爪夹放置白色毛巾到坐垫上。", + "error_success_analysis": "爪夹合拢，未能抓紧白色毛巾。", + "frame": 138, + "progress": 15, + 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"correction_plan": "合拢抓夹，夹紧白色毛巾，爪夹向爪夹正下方移动，松开爪夹放置白色毛巾到坐垫上。", + "error_success_analysis": "爪夹向正上方移动，接近白色毛巾。", + "frame": 208, + "progress": 25, + "progress_explanation": "爪夹向正上方移动，接近白色毛巾，因此进度提升到25%。", + "state_description": "爪夹向爪夹正上方移动，同时爪夹角度与地面呈45度，接近了白色毛巾。\n为完成抓取白色毛巾放置到坐垫上的任务应当：合拢抓夹，抓紧白色毛巾，爪夹向爪夹正下方移动，松开爪夹放置白色毛巾到坐垫上。", + "time": 6.942152399471047, + "annotations": { + "bbox_1768808798688": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768808798688_1768808870101_uy396qw4s", + "x": 0.4776665968221071, + "y": 0.48066665310329865, + "width": 0.2509999846801767, + "height": 0.46044444444444443 + } + ] + }, + "point_1768808804151": { + "type": "point", + "instances": [ + { + "id": "point_1768808804151_1768808871925_8dxd9s0wx", + "x": 0.6016665892537482, + "y": 0.5162222086588542 + } + ] + }, + "point_1768808804423": { + "type": "point", + "instances": [ + { + "id": "point_1768808804423_1768808873885_nz5vkjf73", + "x": 0.6476665864461311, + "y": 0.5357777642144097 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧白色毛巾，向爪夹正下方移动，松开爪夹放置白色毛巾到坐垫上。", + "error_success_analysis": "爪夹角度与地面呈45度，爪夹合拢成功夹紧白色毛巾。", + "frame": 120, + "progress": 50, + "progress_explanation": "爪夹合拢，成功夹紧白色毛巾，因此进度提升到50%。", + "state_description": "爪夹合拢爪夹，抓取到了白色毛巾。\n为完成抓取白色毛巾放置到坐垫上的任务应当：夹紧白色毛巾，爪夹向爪夹正下方移动，松开爪夹放置白色毛巾到坐垫上。", + "time": 8, + "annotations": { + "bbox_1768808798688": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768808798688_1768808878765_gpm068sw4", + "x": 0.48566659633382586, + "y": 0.4966666531032986, + "width": 0.25999998413086034, + "height": 0.4426666666666667 + } + ] + }, + "point_1768808804151": { + "type": "point", + "instances": [ + { + "id": "point_1768808804151_1768808881310_byksht649", + "x": 0.6186665882161506, + "y": 0.5677777642144097 + } + ] + }, + "point_1768808804423": { + "type": "point", + "instances": [ + { + "id": "point_1768808804423_1768808885397_5yy8a5ssx", + "x": 0.6296665875447639, + "y": 0.565999986436632 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧白色毛巾，向下垂直移动，调整爪夹角度。", + "correction_plan": "松开爪夹，放置白色毛巾到坐垫上。", + "error_success_analysis": "爪夹夹紧白色毛巾，爪夹移动到坐垫正上方，方便放置白色毛巾到坐垫上。", + "frame": 279, + "progress": 75, + "progress_explanation": "爪夹向正下方移动，爪夹抓紧白色毛巾，爪夹处于做点正上方，因此进度提升到75%。", + "state_description": "爪夹调整爪夹角度垂直地面，爪夹夹紧白色毛巾向下垂直移动。", + "time": 9.28579478808488, + "annotations": { + "bbox_1768808798688": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768808798688_1768808894469_am7ve62fo", + "x": 0.471666597188318, + "y": 0.6228888753255208, + "width": 0.15999999023437556, + "height": 0.33599999999999997 + } + ] + }, + "point_1768808804151": { + "type": "point", + "instances": [ + { + "id": "point_1768808804151_1768808896220_mddon8lm8", + "x": 0.5226665940755252, + "y": 0.7971110975477431 + } + ] + }, + "point_1768808804423": { + "type": "point", + "instances": [ + { + "id": "point_1768808804423_1768808898509_xxcs49e38", + "x": 0.5346665933431034, + "y": 0.8006666531032987 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，使白色毛巾顺利落到坐垫上。", + "frame": 154, + "progress": 100, + "progress_explanation": "爪夹松开，白色毛巾顺利落到坐垫上，因此进度提升到100%。", + "state_description": "爪夹张开，使白色毛巾落于坐垫上，完成了放置白色毛巾到坐垫上的任务目标。", + "time": 10.266666666666667, + "annotations": { + "bbox_1768808798688": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768808798688_1768808903277_rhk8emhb7", + "x": 0.46766659743245864, + "y": 0.7597777642144098, + "width": 0.14499999114990283, + "height": 0.208 + } + ] + }, + "point_1768808804151": { + "type": "point", + "instances": [ + { + "id": "point_1768808804151_1768808904636_t0mg5ifnp", + "x": 0.5266665938313846, + "y": 0.6619999864366319 + } + ] + }, + "point_1768808804423": { + "type": "point", + "instances": [ + { + "id": "point_1768808804423_1768808906965_jko1xrwuc", + "x": 0.576666590779627, + "y": 0.677999986436632 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768808798688", + "name": "白色毛巾", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768808804151", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768808804423", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007328.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007328.json new file mode 100644 index 0000000000000000000000000000000000000000..f66b619c2c44a7e53f6e62d638272493505f43e9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007328.json @@ -0,0 +1,333 @@ +{ + "task_description": "按电饭煲开关打开盖子。\n开始准备移动：0%\n合拢抓夹：25%\n爪夹靠近开关：50%\n爪夹按压开关：75%\n爪夹远离电饭煲打开盖子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向左前方电饭煲的正上方移动，合拢抓夹，并调整爪夹角度与桌面呈45度夹角，爪夹向下移动按压电饭煲的按钮，爪夹向上移动远离电饭煲。", + "error_success_analysis": "", + "frame": 17, + "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，远离电饭煲，未开始移动。\n为完成按电饭煲开关打开盖子的任务应当：合拢抓夹，爪夹向爪夹左前方移动到电饭煲正上方。", + "time": 0.5727370764689288, + "annotations": { + "bbox_1768808937093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768808937093_1768808963571_7wt97snh2", + "x": 0.3376666053670284, + "y": 0.5517777642144097, + "width": 0.11099999322509806, + "height": 0.1564444444444444 + } + ] + }, + "point_1768808944987": { + "type": "point", + "instances": [ + { + "id": "point_1768808944987_1768808965948_dlejxwdr4", + "x": 0.32666660603841513, + "y": 0.6353333197699652 + } + ] + }, + "point_1768808945236": { + "type": "point", + "instances": [ + { + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007880.json @@ -0,0 +1,534 @@ +{ + "task_description": "抓取黑色物体放在桌面上：\n准备开始移动：0%\n爪夹靠近黑色物体：20%\n爪夹抓取黑色物体：40%\n爪夹抓紧黑色物体接近桌面：60%\n爪夹将黑色物体放上桌面：80%\n爪夹松开黑色物体放在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹正前方的黑色物体移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色物体的正上方。接着落下爪夹靠近黑色物体，接近黑色物体后爪夹合拢抓取黑色物体。抓紧黑色物体垂直升高爪夹并向爪夹右方的桌子接近，水平到达杯子的正上方后将黑色物体放在桌子上，松开爪夹，使黑色物体放在桌上。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黑色物体，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离黑色物体，未开始移动。\n为完成抓取黑色物体使其落在桌面的任务应当：爪夹向爪夹左后方的黑色物体移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色物体的正上方。", + "time": 1.1026, + "annotations": { + "bbox_1767596205944": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767596205944_1767596231064_gvhgjfkwc", + "x": 0.5429999999999999, + "y": 0.6921481391059028, + 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"progress_explanation": "爪夹合拢抓取到黑色物体。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到黑色物体，爪夹角度与桌面接近垂直。\n为完成抓取黑色物体使其放在桌上的任务应当：抓紧黑色物体垂直升高爪夹并向爪夹右方的桌子接近。", + "time": 4.514, + "annotations": { + "point_1767596206744": { + "type": "point", + "instances": [ + { + "id": "point_1767596206744_1767596370073_tgxzaagjm", + "x": 0.5549999999999999, + "y": 0.7259259168836806 + } + ] + }, + "point_1767596206871": { + "type": "point", + "instances": [ + { + "id": "point_1767596206871_1767596374096_pzm6lvh63", + "x": 0.5660000000000001, + "y": 0.7099259168836806 + } + ] + }, + "bbox_1767596205944": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767596205944_1767596378540_b58s50ll0", + "x": 0.546, + "y": 0.7028148057725694, + "width": 0.021999999999999974, + "height": 0.03200000000000003 + } + ] + }, + "bbox_1767596206079": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767596206079_1767596383753_l3g7dwc8m", + "x": 0.23199999999999998, + "y": 0.5570370279947917, + "width": 0.5, + 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"爪夹张开，黑色物体放在桌上，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开黑色物体放在桌上的任务目标完成。", + "time": 6.4084, + "annotations": { + "point_1767596206744": { + "type": "point", + "instances": [ + { + "id": "point_1767596206744_1767596459185_drx95fdfs", + "x": 0.558, + "y": 0.6672592502170139 + } + ] + }, + "point_1767596206871": { + "type": "point", + "instances": [ + { + "id": "point_1767596206871_1767596462959_ehkoghx0q", + "x": 0.579, + "y": 0.6530370279947917 + } + ] + }, + "bbox_1767596205944": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767596205944_1767596466652_bb8aizyoj", + "x": 0.556, + "y": 0.6530370279947917, + "width": 0.02999999999999998, + "height": 0.042666666666666624 + } + ] + }, + "bbox_1767596206079": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767596206079_1767596472329_pzvpwzfrm", + "x": 0.231, + "y": 0.5552592502170139, + "width": 0.5119999999999999, + "height": 0.43911111111111106 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767596205944", + "name": "黑色物体", + "color": "#4CAF50" + }, + { + "id": "bbox_1767596206079", + "name": "桌子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767596206744", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767596206871", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.wrist_image_left/episode_007366.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.wrist_image_left/episode_007366.json new file mode 100644 index 0000000000000000000000000000000000000000..0b3a782a806c0440add0a17af97222ad8be4f650 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-007/observation.images.wrist_image_left/episode_007366.json @@ -0,0 +1,1731 @@ +{ + "task_description": "把锅按大小依次垒放。\n准备开始移动：0%\n爪夹靠近第一个锅：8%\n爪夹合拢：16%\n爪夹放置第一个锅：24%\n爪夹张开：32%\n爪夹靠近第二个锅：40%\n爪夹合拢：48%\n爪夹放置第二个锅：56%\n爪夹张开：64%\n爪夹靠近第三个锅：72%\n爪夹合拢：80%\n爪夹放置第三个锅：89%\n爪夹张开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动.", + "correction_plan": "爪夹向爪夹正下方移动，靠近第一个锅，合拢爪夹抓取第一个锅，爪夹抓紧第一个锅向上移动，远离地面，爪夹向爪夹正后方移动到底层的锅正上方，松开爪夹垒放第一个锅。爪夹向爪夹左前方移动到第二个锅正上方，合拢爪夹抓取第二个锅，爪夹向上移动抓起第二个锅，爪夹向爪夹右后方移动到第一个锅的正上方，松开爪夹垒放第二个锅。爪夹向爪夹右方移动到第三个锅正上方，合拢爪夹抓取第三个锅，爪夹向上移动提起第三个锅，爪夹向爪夹左侧移动到第二个锅的正上方，松开爪夹垒放第三个锅。", + "error_success_analysis": "", + "frame": 11, + "progress": 0, + "progress_explanation": "爪夹为初始状态，爪夹未移动，因此进度为0%。", + "state_description": "爪夹张开，未开始移动，远离第一个锅。\n为完成抓取三个锅按照大小依次垒放的任务应当：爪夹向爪夹正下方移动，靠近第一个锅，合拢爪夹抓取第一个锅，爪夹抓紧第一个锅向上移动，远离地面，爪夹向爪夹正后方移动到底层的锅正上方，松开爪夹垒放第一个锅。", + "time": 0.36700804613200416, + "annotations": { + "bbox_1768809121087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768809121087_1768809206525_0i41pi2vh", + "x": 0.41166660085042717, + "y": 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"task_description": "抓取红色方块放入杯子里：\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杯子：60%\n爪夹将红色方块放入杯子：80%\n爪夹松开红色方块落入杯子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "point_1767152212302": { + "instances": [ + { + "id": "point_1767152212302_1767152252768_eua1xqxyn", + "x": 0.45600000000000007, + "y": 0.6530370279947917 + } + ], + "type": "point" + }, + "point_1767152212429": { + "instances": [ + { + "id": "point_1767152212429_1767152258159_de0pvq42d", + "x": 0.772, + "y": 0.6530370279947917 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左后方的红色方块移动，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右方的杯子接近，水平到达杯子的正上方后将红色方块放入杯子，松开爪夹，使红色方块落入杯子。", + "error_success_analysis": "", + "frame": 0, + "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使其落入杯子的任务应当：爪夹向爪夹左后方的红色积木移动，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": 0 + }, + { + "action_description": "爪夹向爪夹左后方移动，调整爪夹角度。", + "annotations": { + "point_1767152212302": { + "instances": [ + { + "id": "point_1767152212302_1767152281729_s9k6aoz54", + "x": 0.45600000000000007, + "y": 0.6619259168836805 + } + ], + "type": "point" + }, + "point_1767152212429": { + "instances": [ + { + "id": "point_1767152212429_1767152278953_3d1vdd17b", + "x": 0.772, + "y": 0.6530370279947917 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左后方的红色方块移动，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右方的杯子接近，水平到达杯子的正上方后将红色方块放入杯子，松开爪夹，使红色方块落入杯子。", + "error_success_analysis": "爪夹的角度与桌面呈80度。水平上未接近红色方块。\n", + "frame": 34, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈80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80度。还未接近红色方块。\n为完成抓取红色方块使其落入杯子的任务应当：爪夹向爪夹左后方的红色积木移动，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": 1.136666 + }, + { + "action_description": "爪夹向爪夹左后方移动\n", + "annotations": { + "bbox_1767152211376": { + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008049.json new file mode 100644 index 0000000000000000000000000000000000000000..6b9a6b246eb743a02a65ad38abb52868f7d58016 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008049.json @@ -0,0 +1,120 @@ +{ + "task_description": "抓取标记物放在桌面上：\n准备开始移动：0%\n爪夹靠近标记物：20%\n爪夹抓取标记物：40%\n爪夹抓紧标记物接近桌面：60%\n爪夹将标记物放在桌面：80%\n爪夹松开标记物落在桌面：100%", + "progress_points": [ + { + "time": 0.752266, + "frame": 23, + "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，远离标记物，未开始移动。\n为完成抓取标记物放在桌面上的任务应当：爪夹向爪夹右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到标记物的正上方。", + "progress_explanation": "当前为初始状态，远离标记物，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到标记物的正上方。接着落下爪夹靠近标记物，接近标记物后爪夹合拢抓取标记物。抓紧标记物垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。" + }, + { + "time": 2.292810089159622, + "frame": 69, + "progress": 5, + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度。", + "state_description": "爪夹张开，爪夹角度接近垂直桌面，还未接近标记物。\n为完成抓取标记物放在桌面上的任务应当：调整爪夹的角度使其垂直于桌面，并移动到标记物的正上方。", + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度接近垂直于桌面，方便抓取。因此进度提升为5%", + "error_success_analysis": "爪夹的角度接近垂直于桌面，水平上未接近标记物。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到标记物的正上方。接着落下爪夹靠近标记物，接近标记物后爪夹合拢抓取标记物。抓紧标记物垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。" + }, + { + "time": 3.7306747871096944, + "frame": 112, + "progress": 15, + "action_description": "爪夹垂直向下移动。", + "state_description": "爪夹张开，爪夹角度接近 垂直于桌面，水平上接近了标记物。\n为完成抓取标记物放在桌面上的任务应当：调整爪夹的角度使其垂直于桌面，并移动到标记物的正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，水平上接近了标记物，更加方便抓取。因此进度提升为15%", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了爪夹与标记物之间的距离，方便后续抓取标记物。", + "correction_plan": "落下爪夹靠近标记物，接近标记物后爪夹合拢抓取标记物。抓紧标记物垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。" + }, + { + "time": 5.179945736922258, + "frame": 155, + "progress": 20, + "action_description": "爪夹垂直向下移动，调整爪夹角度。", + "state_description": "爪夹角度接近垂直于桌面，靠近了标记物，准备抓取标记物。\n为完成抓取标记物放在桌面上的任务应当：爪夹合拢抓取标记物，抓紧标记物垂直升高爪夹并向爪夹左前方的桌面接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了标记物，方便抓取。因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了标记物，方便抓取。", + "correction_plan": "爪夹合拢抓取标记物，抓紧标记物垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。" + }, + { + "time": 6.612666, + "frame": 198, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到标记物 ，爪夹角度接近垂直于桌面。\n为完成抓取标记物放在桌面上的任务应当：抓紧标记物垂直升高爪夹并向爪夹左前方的桌面接近。", + "progress_explanation": "爪夹合拢抓取到标记物。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到标记物。", + "correction_plan": "抓紧标记物垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。" + }, + { + "time": 7.352799, + "frame": 221, + "progress": 50, + "action_description": "爪夹夹紧标记物，垂直升高，向爪夹左前方移动。", + "state_description": "爪夹合拢夹紧标记物，水平上接近了桌面。\n为完成抓取标记物放在桌面上的任务应当：继续向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。", + "progress_explanation": "爪夹合拢夹紧标记物，垂直升高并向爪夹左前方的桌面接近，缩短了标记物与桌面的距离。因此进度提升为50%", + "error_success_analysis": "爪夹合拢继续夹紧标记物，水平上接近了桌面，更加方便接近桌面。", + "correction_plan": "继续向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。" + }, + { + "time": 7.947333, + "frame": 238, + "progress": 60, + "action_description": "爪夹夹紧标记物，向爪夹左前方移动。", + "state_description": "爪夹夹紧标记物，爪夹角度接近垂直于桌面，位于桌面正上方。\n为完成抓取标记物放在桌面上的任务应当：爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。", + "progress_explanation": "爪夹夹紧标记物，到达爪夹左前方的桌面正上方，方便将标记物放在桌面上。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了桌面正上方，方便将标记物放在桌面上。", + "correction_plan": "爪夹垂直下降至合适位置，松开爪夹，使标记物落在桌面上。" + }, + { + "time": 8.820933, + "frame": 265, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动。", + "state_description": "爪夹夹紧标记物，爪夹角度接近垂直于桌面，标价物落在桌面上。\n为完成抓取标记物放在桌面上的任务应当：松开爪夹，使标记物落在桌面上。", + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008017.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008017.json new file mode 100644 index 0000000000000000000000000000000000000000..fe5e0873b4f611a10b782cde19a00085a6665e95 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008017.json @@ -0,0 +1,430 @@ +{ + "task_description": "抓取笔放在桌面上：\n准备开始移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓紧笔接近桌面：60%\n爪夹将笔放上桌面：80%\n爪夹松开笔放在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767493267235": { + "instances": [ + { + "height": 0.12088888888888892, + "id": "bbox_1767493267235_1767493288773_0nbtoayec", + "width": 0.05499999999999998, + 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{ + "action_description": "爪夹合拢", + "correction_plan": "抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至杯子的正上方后将马克笔放入杯子，松开爪夹，使马克笔落入杯子。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到马克笔。", + "frame": 136, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到马克笔，因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到马克笔，爪夹角度与桌面接近垂直。\n为完成抓取马克笔落入杯里的任务应当：抓紧马克笔垂直升高爪夹并向爪夹方向右侧的杯子接近。", + "time": 4.545979595876288, + "annotations": { + "point_1767581285566": { + "type": "point", + "instances": [ + { + "id": "point_1767581285566_1767583233620_1o61ytmi0", + "x": 0.558, + "y": 0.632888888888889 + } + ] + }, + "point_1767581293294": { + "type": "point", + "instances": [ + { + "id": "point_1767581293294_1767583237052_23lyiurfz", + "x": 0.572, + "y": 0.6364444444444445 + } + ] + }, + "bbox_1767581280214": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767581280214_1767583241525_e2vy09sj6", + "x": 0.52, + "y": 0.6275555555555556, + "width": 0.088, + "height": 0.192 + } + ] + } + } + }, + { + "action_description": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008775.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008775.json new file mode 100644 index 0000000000000000000000000000000000000000..38f031eff67d5495e2064cb6fef9faf562921a88 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008775.json @@ -0,0 +1,229 @@ +{ + "task_description": "爪夹将已经打开的柜门关上。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近柜门：30%\n爪夹抵住柜门：50%\n爪夹推动柜门：70%\n爪夹将柜门关上：100%", + "progress_points": [ + { + "time": 0.150333, + "frame": 5, + "progress": 0, + "action_description": "爪夹张开，准备移动。", + "state_description": "当前爪夹张开，没有移动，没有接触已经打开的柜门。\n为完成爪夹将已经打开的柜门关上的任务应当：爪夹保持张开，向爪夹的右前方调整爪夹方向并移动，靠近已经打开的柜门。", + "progress_explanation": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.wrist_image_left/episode_008242.json new file mode 100644 index 0000000000000000000000000000000000000000..8e2052427f99319f90412bacc0bf4dc5b239cadd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.wrist_image_left/episode_008242.json @@ -0,0 +1,426 @@ +{ + "task_description": "用这个工具来搅拌碗里的东西。\n爪夹开始移动:0%\n爪夹靠近工具:30%\n爪夹夹起工具:50%\n爪夹晃动工具:70%\n爪夹成功晃动工具搅拌东西:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向爪夹方向的右后方移动至工具上方，爪夹向爪夹方向左侧逆时针旋转，使爪夹两侧处于工具两侧，爪夹合拢抓取工具，向爪夹方向前后移动工具，成功搅拌碗里的东西。", + "error_success_analysis": "", + "frame": 107, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动，\n为完成用这个工具来搅拌碗里的东西的任务应当:调整爪夹角度向爪夹方向的右后方移动至工具上方，准备下降抓取工具。", + "time": 3.5633894544218743, + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.wrist_image_left/episode_008884.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.wrist_image_left/episode_008884.json new file mode 100644 index 0000000000000000000000000000000000000000..7377f8967a7da35dee464dae5b179d63566be760 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.wrist_image_left/episode_008884.json @@ -0,0 +1,1162 @@ +{ + "task_description": "拿起放在桌子上的瓶子，将它们直立放置在桌子的左右两侧。\n准备移动：0%\n爪夹抓取右侧瓶子：25%\n爪夹将右侧瓶子直立放置在右侧桌面上：50%\n爪夹抓取左侧瓶子：75%\n爪夹将左侧瓶子直立放置在左侧桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶状态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009606.json @@ -0,0 +1,2506 @@ +{ + "task_description": "抓取物品放在桌面上：\n准备开始移动：0%\n爪夹靠近物品：20%\n爪夹抓取物品：40%\n爪夹抓紧物品接近塑料袋：60%\n爪夹将所有物品放上塑料袋：80%\n爪夹松开物品放在塑料袋里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹前方的黄色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄色盒子的正上方。接着落下爪夹靠近黄色盒子，接近黄色盒子后爪夹合拢抓取黄色盒子。抓紧黄色盒子垂直升高爪夹并向爪夹前方的塑料袋接近，水平到达桌面的正上方后将黄色盒子放在塑料袋，松开爪夹，使黄色盒子放在塑料袋里。继续抓取另一个目标放进塑料袋。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黄色盒子，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离黄色盒子，未开始移动。\n为完成抓取黄色盒子使其放在塑料袋的任务应当：爪夹向爪夹前方的黄色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄色盒子的正上方。", + "time": 0, + "annotations": { + "bbox_1767584138406": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767584138406_1767584234555_2cl2pk6i9", + "x": 0.343, + "y": 0.7419259168836806, + "width": 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"玩偶已到塑料袋正上方，方便玩偶落入塑料袋。", + "frame": 1667, + "progress": 90, + "progress_explanation": "爪夹角度接近垂直于桌面。因此进度提升为 90%。", + "state_description": "爪夹夹紧玩偶，爪夹角度接近垂直于桌面，。\n为完成抓取最后一个物品玩偶使其落入塑料袋的任务应当：松开爪夹，使玩偶落入塑料袋。", + "time": 55.552, + "annotations": { + "point_1767584143595": { + "type": "point", + "instances": [ + { + "id": "point_1767584143595_1767585456673_uvsr9gnrq", + "x": 0.42800000000000005, + "y": 0.47703702799479164 + } + ] + }, + "bbox_1767584141277": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767584141277_1767585462763_baapdpjpo", + "x": 0.302, + "y": 0.354370361328125, + "width": 0.19600000000000004, + "height": 0.23466666666666672 + } + ] + }, + "bbox_1767584138406": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767584138406_1767585466595_gwoc3xzm3", + "x": 0.458, + "y": 0.5054814724392361, + "width": 0.052000000000000046, + "height": 0.10488888888888886 + } + ] + }, + "bbox_1767584138813": { + "type": "bbox", + "instances": [ + { + "id": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009912.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009912.json new file mode 100644 index 0000000000000000000000000000000000000000..81a163ae2f6b2a08b9f0b564c51896aceda52fcc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009912.json @@ -0,0 +1,540 @@ +{ + "task_description": "抓起黄辣椒使其放在桌子上:\n开始移动:0%\n爪夹靠近黄辣椒:20%\n爪夹抓取黄辣椒:40%\n爪夹抓住黄辣椒接近桌子:60%\n爪夹抓住黄辣椒在桌子上:80%\n爪夹松开，将黄辣椒放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1768789417041": { + "instances": [ + { + "height": 0.0657777777777778, + "id": "bbox_1768789417041_1768789483001_et2hxorwk", + "width": 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0000000000000000000000000000000000000000..78e67f84e203452a4d41732bea13c24ea202572e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-009/observation.images.wrist_image_left/episode_009119.json @@ -0,0 +1,418 @@ +{ + "task_description": "抓取玩具放入杯子里：\n准备开始移动：0%\n爪夹靠近玩具：20%\n爪夹抓取玩具：40%\n爪夹抓紧玩具接近杯子：60%\n爪夹将玩具放入杯子：80%\n爪夹松开玩具落入杯子：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "annotations": { + "bbox_1767147080924": { + "instances": [ + { + "height": 0.07644444444444455, + "id": "bbox_1767147080924_1767147554979_n3hiw0cq0", + "width": 0.050999999999999976, + "x": 0.495, + "y": 0.7413333333333333 + } + ], + "type": "bbox" + }, + "point_1767147091611": { + "instances": [ + { + "id": "point_1767147091611_1767147592835_695r2ekgd", + "x": 0.461, + "y": 0.6364444444444445 + } + ], + "type": "point" + }, + "point_1767147098187": { + "instances": [ + { + "id": 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{ + "bbox_1767147080924": { + "instances": [ + { + "height": 0.5493333333333333, + "id": "bbox_1767147080924_1767152343350_jbrvukcph", + "width": 0.23200000000000004, + "x": 0.47400000000000003, + "y": 0.25066666666666665 + } + ], + "type": "bbox" + }, + "point_1767147091611": { + "instances": [ + { + "id": "point_1767147091611_1767152348222_sqi2xui5z", + "x": 0.49800000000000005, + "y": 0.615111111111111 + } + ], + "type": "point" + }, + "point_1767147098187": { + "instances": [ + { + "id": "point_1767147098187_1767152351446_wpmtpsyhq", + "x": 0.688, + "y": 0.6186666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧玩具垂直升高爪夹并向爪夹左侧移动，直至杯子的正上方后将玩具放入杯子，松开爪夹，使玩具落入杯子。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到玩具。", + "frame": 204, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到玩具，因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到玩具，爪夹角度与桌面接近垂直。\n为完成抓取玩具落入杯里的任务应当：抓紧玩具垂直升高爪夹并向爪夹方向的左侧移动，直至杯子的正上方", + "time": 6.78886614742268 + }, + { + "action_description": "爪夹夹紧玩具垂直升高，离开桌面向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767147080924": { + "instances": [ + { + "height": 0.4622222222222223, + "id": "bbox_1767147080924_1767152370046_mv1kokkt6", + "width": 0.21099999999999994, + "x": 0.504, + "y": 0.3217777777777778 + } + ], + "type": "bbox" + }, + "point_1767147091611": { + "instances": [ + { + "id": "point_1767147091611_1767152363782_9pp9hpel3", + "x": 0.534, + "y": 0.6293333333333333 + } + ], + "type": "point" + }, + "point_1767147098187": { + "instances": [ + { + "id": "point_1767147098187_1767152366238_y70qx8cc0", + "x": 0.6910000000000001, + "y": 0.6204444444444445 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左侧移动，直至杯子的正上方后将玩具放入杯子，松开爪夹，使玩具落入杯子。", + "error_success_analysis": "爪夹合拢继续夹紧玩具，水平上接近了杯子。更加方便接近杯子。", + "frame": 238, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧玩具，垂直升高并向爪夹方向的左侧移动，缩短了与杯子的距离。因此进度提升为50%。", + "state_description": "爪夹合拢夹紧玩具，水平上接近了杯子。\n为完成抓取玩具落入杯里的任务应当：继续向爪夹方向的左侧移动，直至杯子的正上方后将玩具放入杯子，松开爪夹，使玩具落入杯子。", + "time": 7.931866 + }, + { + "action_description": "爪夹夹紧玩具，向爪夹方向的左侧移动", + "annotations": { + "bbox_1767147080924": { + "instances": [ + { + "height": 0.4782222222222222, + "id": "bbox_1767147080924_1767152386254_t3k9rz9a4", + "width": 0.20200000000000004, + "x": 0.508, + "y": 0.3217777777777778 + } + ], + "type": "bbox" + }, + "bbox_1767147086715": { + "instances": [ + { + "height": 0.47822222222222216, + "id": "bbox_1767147086715_1767152391086_h2vym5ldo", + "width": 0.271, + "x": 0.45600000000000007, + "y": 0.24177777777777779 + } + ], + "type": "bbox" + }, + "point_1767147091611": { + "instances": [ + { + "id": "point_1767147091611_1767152395846_j5oi6bj96", + "x": 0.532, + "y": 0.6008888888888889 + } + ], + "type": "point" + }, + "point_1767147098187": { + "instances": [ + { + "id": "point_1767147098187_1767152398750_2vt9ixgau", + "x": 0.692, + "y": 0.6222222222222222 + } + ], + "type": "point" + } + }, + "correction_plan": "将玩具放入杯子，松开爪夹，使玩具落入杯子。", + "error_success_analysis": "到了爪夹方向左侧杯子的正上方，方便将玩具放入杯子。", + "frame": 297, + "progress": 60, + "progress_explanation": "爪夹夹紧玩具，到了爪夹方向左侧杯子的正上方，方便将玩具放入杯子。因此进度提升为 60%。", + "state_description": "爪夹夹紧玩具，爪夹角度接近垂直于桌面，位于杯子的正上方。\n为完成抓取玩具落入杯里的任务应当：将玩具放入杯子，松开爪夹，使玩具落入杯子。", + "time": 9.898 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1767147080924": { + "instances": [ + { + "height": 0.22400000000000003, + "id": "bbox_1767147080924_1767152407126_qs0dy629b", + "width": 0.12500000000000008, + "x": 0.49899999999999994, + "y": 0.3662222222222222 + } + ], + "type": "bbox" + }, + "bbox_1767147086715": { + "instances": [ + { + "height": 0.49066666666666664, + "id": "bbox_1767147086715_1767152417383_gj6jroiep", + "width": 0.25599999999999995, + "x": 0.44800000000000006, + "y": 0.2222222222222222 + } + ], + "type": "bbox" + }, + "point_1767147091611": { + "instances": [ + { + "id": "point_1767147091611_1767152425142_6g3c1avqz", + "x": 0.501, + "y": 0.632888888888889 + } + ], + "type": "point" + }, + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-009/observation.images.wrist_image_left/episode_009697.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-009/observation.images.wrist_image_left/episode_009697.json new file mode 100644 index 0000000000000000000000000000000000000000..25244e660ea61f8c66f347ec36eedd504dbfc819 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0003/annotations/chunk-009/observation.images.wrist_image_left/episode_009697.json @@ -0,0 +1,732 @@ +{ + "task_description": "抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉:\n开始移动:0%\n爪夹靠近黄色盖子的白色瓶子:20%\n爪夹抓取黄色盖子的白色瓶子:40%\n爪夹抓住黄色盖子的白色瓶子接近打开的抽屉:60%\n爪夹松开，将黄色盖子的白色瓶子放在打开的抽屉里:80%\n爪夹关上抽屉:100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左后方移动，到达黄色盖子的白色瓶子正上方，后下降，抓取黄色盖子的白色瓶子后上升，向爪夹方向的前方移动，直至处于打开的抽屉正上方。下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰黄色盖子的白色瓶子。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹向爪夹方向的左后方移动，准备抓取黄色盖子的白色瓶子。", + "time": 0.41722846067415736, + "annotations": { + "point_1768803673426": { + "type": "point", + "instances": [ + { + "id": "point_1768803673426_1768807458945_el31jozmm", + "x": 0.4415, + "y": 0.5991111111111111 + } + ] + }, + "point_1768803673706": { + "type": "point", + "instances": [ + { + "id": "point_1768803673706_1768807460889_15sp3u8n7", + "x": 0.7725000000000001, + "y": 0.5937777777777777 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右侧调整，向爪夹方向的左后方移动。", + "correction_plan": "爪夹向爪夹方向的左后方移动，直至黄色盖子的白色瓶子正上方，后下降，抓取黄色盖子的白色瓶子后上升，向爪夹方向的前方移动，直至处于打开的抽屉正上方。下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。", + "error_success_analysis": "爪夹向爪夹方向的右侧调整，向爪夹方向的左后方移动，在水平方向上接近黄色盖子的白色瓶子。", + "frame": 63, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近黄色盖子的白色瓶子，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近黄色盖子的白色瓶子。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹向爪夹方向的左后方移动，直至黄色盖子的白色瓶子正上方。", + "time": 4.2, + "annotations": { + "point_1768803673706": { + "type": "point", + "instances": [ + { + "id": "point_1768803673706_1768807466297_8w9hfcj7y", + "x": 0.7765000000000001, + "y": 0.608 + } + ] + }, + "point_1768803673426": { + "type": "point", + "instances": [ + { + "id": "point_1768803673426_1768807468401_tb60l5npc", + "x": 0.4405, + "y": 0.6044444444444445 + } + ] + }, + "bbox_1768803655058": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768803655058_1768807473465_c03t6304b", + "x": 0.15050000000000002, + "y": 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"当前状态为爪夹张开，爪夹处于黄色盖子的白色瓶子的正上方。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹竖直下降，抓取黄色盖子的白色瓶子后上升，向爪夹方向的前方移动，直至处于打开的抽屉正上方。", + "time": 9.603448189655174, + "annotations": { + "bbox_1768803655058": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768803655058_1768807517512_2ml0nvm9r", + "x": 0.4295, + "y": 0.0017777777777777779, + "width": 0.176, + "height": 0.7377777777777779 + } + ] + }, + "point_1768803673426": { + "type": "point", + "instances": [ + { + "id": "point_1768803673426_1768807519753_qm0p18hm0", + "x": 0.4445, + "y": 0.5937777777777777 + } + ] + }, + "point_1768803673706": { + "type": "point", + "instances": [ + { + "id": "point_1768803673706_1768807521633_tv6xde2el", + "x": 0.7705, + "y": 0.5955555555555556 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降后，合拢抓取。", + "correction_plan": "爪夹张开，竖直下降，再次合拢抓取黄色盖子的白色瓶子，后上升，向爪夹方向的前方移动，直至处于打开的抽屉正上方，下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。", + "error_success_analysis": "爪夹略微下降后，合拢抓取，已进行空抓动作。", + "frame": 174, + "progress": -20, + "progress_explanation": "当前爪夹合拢，爪夹已进行空抓，爪夹需要多一次张开爪夹的动作，才能接近黄色盖子的白色瓶子，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹位于黄色盖子的白色瓶子的正上方，进行合拢空抓。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹张开，竖直下降，再次合拢抓取黄色盖子的白色瓶子。", + "time": 11.6, + "annotations": { + "point_1768803673706": { + "type": "point", + "instances": [ + { + "id": "point_1768803673706_1768807524560_kd22k9srl", + "x": 0.6145, + "y": 0.5599999999999999 + } + ] + }, + "point_1768803673426": { + "type": "point", + "instances": [ + { + "id": "point_1768803673426_1768807527153_ru48f3lgf", + "x": 0.5915, + "y": 0.5528888888888889 + } + ] + }, + "bbox_1768803655058": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768803655058_1768807534425_k3pes554n", + "x": 0.4545, + "y": 0.0017777777777777779, + "width": 0.195, + "height": 0.5493333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向爪夹方向的前方移动。", + "correction_plan": "爪夹竖直下降，合拢抓取黄色盖子的白色瓶子后上升，向爪夹方向的前方移动，直至处于打开的抽屉的正上方，下降将黄色盖子的白色瓶子使其放在打开的抽屉里，爪夹张开。爪夹下降，触碰打开的抽屉，推动打开的抽屉向爪夹方向的左侧移动，直至打开的抽屉完全关闭。", + "error_success_analysis": "爪夹张开，向爪夹方向的前方移动，爪夹位于黄色盖子的白色瓶子的正上方。", + "frame": 197, + "progress": 20, + "progress_explanation": "当前爪夹再次处于黄色盖子的白色瓶子的正上方，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹位于黄色盖子的白色瓶子的正上方。\n为完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务应当:爪夹竖直下降，合拢抓取黄色盖子的白色瓶子后上升，向爪夹方向的前方移动，直至处于打开的抽屉的正上方。", + "time": 13.133333333333333, + "annotations": { + "bbox_1768803655058": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768803655058_1768807545137_d6dviwm6f", + "x": 0.5265000000000001, + "y": 0.12088888888888889, + "width": 0.20999999999999996, + "height": 0.8764444444444444 + } + ] + }, + "point_1768803673426": { + "type": "point", + "instances": [ + { + "id": "point_1768803673426_1768807553297_07vjvhhnw", + "x": 0.4455, + "y": 0.5955555555555556 + } + ] + }, + "point_1768803673706": { + "type": "point", + "instances": [ + { + "id": 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"type": "point", + "instances": [ + { + "id": "point_1768803673706_1768807778312_vj76hvxjj", + "x": 0.7665, + "y": 0.6026666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左侧移动，触碰抽屉把手，推动打开的抽屉向爪夹方向的左侧移动，抽屉完全关闭。", + "correction_plan": "", + "error_success_analysis": "爪夹向爪夹方向的左侧移动，触碰抽屉把手，推动打开的抽屉向爪夹方向的左侧移动，抽屉已完全关闭。", + "frame": 917, + "progress": 100, + "progress_explanation": "当前爪夹张开，抽屉完全关闭，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，抽屉已完全关闭。\n已完成抓起黄色盖子的白色瓶子使其放在打开的抽屉里，然后关上抽屉的任务。", + "time": 30.568006598453607, + "annotations": { + "point_1768803673706": { + "type": "point", + "instances": [ + { + "id": "point_1768803673706_1768807783680_ticho7u65", + "x": 0.7735000000000001, + "y": 0.5991111111111111 + } + ] + }, + "point_1768803673426": { + "type": "point", + "instances": [ + { + "id": "point_1768803673426_1768807786432_fnjvu2jrl", + "x": 0.4445, + "y": 0.592 + } + ] + }, + "bbox_1768803655370": { + "type": "bbox", + "instances": [ + { + "id": 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0000000000000000000000000000000000000000..193bcbd01f0f84dc9a93cd9e7ccfd521c62e0f26 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000565.json @@ -0,0 +1,414 @@ +{ + "task_description": "抓起杯子移动到左侧桌子上:\t\t\n开始移动:0%\t\t\n爪夹靠近杯子:20%\t\t\n爪夹抓取杯子:40%\t\t\n爪夹抓住杯子接近桌子:60%\t\t\n爪夹将杯子放置桌子上:80%\t\t\n爪夹松开，杯子落至桌子:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达杯子正上方后下降，抓取杯子后垂直上升，向爪夹方向的左边移动，直至杯子处于左侧桌子正上方。下降将杯子放置于桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "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%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前状态为爪夹打开，没有移动，没有触杯子，为完成抓起杯子移动到左边的任务应当:使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取杯子。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 0, + "annotations": { + "point_1767511963849": { + "type": "point", + "instances": [ + { + "id": "point_1767511963849_1767511976625_ofuwfyrax", + "x": 0.20740676879882813, + "y": 0.6428722211901851 + } + ] + }, + "bbox_1767512103601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767512103601_1767512229440_4d5acbb82", + "x": 0.28240676879882814, + "y": 0.38409619296558395, + "width": 0.714, + "height": 0.5635640554908543 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右前方移动，使其垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "继续向爪夹方向的右前方移动，到达杯子正上方后下降，抓取杯子后竖直上升，向爪夹方向的左边移动，直至杯子处于左侧桌子正上方。下降将杯子放置桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近杯子，并使爪夹角度向垂直于桌面，方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 44, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近杯子，并调整完爪夹角度方便抓取，因此进度提升为10%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，与杯子的水平距离缩短。为完成抓起杯子移动至左侧桌子上的任务应当:继续向爪夹方向的右前方移动直至杯子正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 1.4546870315555949, + "annotations": { + "point_1767511963849": { + "type": "point", + "instances": [ + { + "id": "point_1767511963849_1767512006744_c9vul6iv5", + "x": 0.2854067687988281, + "y": 0.6948805366639103 + } + ] + }, + "bbox_1767512103601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767512103601_1767512268625_s8lb0lj6p", + "x": 0.27540676879882814, + "y": 0.38765180214849154, + "width": 0.7209999999999999, + "height": 0.5617862508994005 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右侧移动到杯子正上方。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "向右移动爪夹直到杯子正上方，爪夹继续向下抓取杯子，垂直抬起爪夹，然后向爪夹方向的右边移动，直至爪夹处于左侧桌子正上方。下降将杯子放置桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向爪夹方向的右侧移动，并且已经移动到了杯子的正上方，方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 89, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于杯子正上方，已接近杯子，因此进度提升为20%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，爪夹已经移动到杯子上方。为完成抓起杯子移动至左侧桌子上的任务应当:继续向下抓杯子，然后向爪夹的左上方移动，直至杯子正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t", + "time": 2.975110794539304, + "annotations": { + "point_1767512032153": { + "type": "point", + "instances": [ + { + "id": "point_1767512032153_1767512055897_x8b33f8vq", + "x": 0.47940676879882815, + "y": 0.8691053866263824 + } + ] + }, + "point_1767511963849": { + "type": "point", + "instances": [ + { + "id": "point_1767511963849_1767512059417_vg60ssek9", + "x": 0.5704067687988281, + "y": 0.9059873007253474 + } + ] + }, + "bbox_1767512103601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767512103601_1767512301201_uz9penuq9", + "x": 0.28040676879882814, + "y": 0.3947630205143068, + "width": 0.7170000000000002, + "height": 0.5546750325335853 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右下方移动，合拢爪夹抓取杯子。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "垂直抬起爪夹，然后向爪夹方向的左边移动，直至杯子处于左侧桌子正上方。下降将杯子放置桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向爪夹的右下方移动，并成功抓取到杯子。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 160, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于杯子正上方，已抓取杯子，因此进度提升为40%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹合拢，爪夹已经抓取到杯子。为完成抓取杯子移动到左侧桌子的任务应当:垂直抬起爪夹，然后向爪夹的左侧移动，直至移动到左侧桌子的正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 5.3424, + "annotations": { + "bbox_1767512103601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767512103601_1767512327657_ppy47lc2p", + "x": 0.2804067687988282, + "y": 0.38942960673994537, + "width": 0.7169999999999999, + "height": 0.5635640554908543 + } + ] + } + } + }, + { + "action_description": "爪夹上升，抓住杯子向爪夹方向的左侧移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "保持爪夹合拢，向爪夹方向的左前方移动，直至杯子处于左侧桌子的正上方。下降将杯子放置桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹已经抓取到杯子，并且在向着左侧桌子方向移动。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 199, + "progress": 50, + "progress_explanation": "当前爪夹已抓住杯子，与上一进度相比，在水平方向上逐渐接近桌子，因此进度提升为50%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹合拢，抓住杯子处于桌子方向的右上方。为完成抓起被子移动到左侧桌子上的任务应当:爪夹继续合拢，抓取杯子向爪夹方向的左侧移动，直至左侧桌子的正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 6.620477667402074, + "annotations": { + "bbox_1767512103601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767512103601_1767512346369_g96p7axaj", + "x": 0.2764067687988282, + "y": 0.38054058378267636, + "width": 0.7220000000000001, + "height": 0.5777864922224848 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，抓紧杯子向爪夹方向的左侧移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "爪夹保持合拢，进一步移动杯子到左侧桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹保持合拢，并且正确向左侧桌子上移动。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 234, + "progress": 60, + "progress_explanation": 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+ "frame": 40, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上略微接近白色物体并开始调整爪夹角度方便抓取，因此进度提升为5%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，与白色物体的水平距离略微缩短。为完成抓起白色物体使其落入碗中的任务应当:继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的右前方移动直至白色物体正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 1.32379089947303 + }, + { + "action_description": "爪夹向爪夹的左前方移动，并调整爪夹角度，使其垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "继续向爪夹方向的左前方移动，到达白色物体正上方后下降，抓取白色物体后竖直上升，向爪夹方向的左边移动，直至白色物体处于碗正上方。下降将白色物体放入碗中，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近白色物体，并使爪夹角度向垂直于桌面，方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 57, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近白色物体并调整完爪夹角度方便抓取，因此进度提升为15%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，与白色物体的水平距离进一步缩短。为完成抓起白色物体使其落入碗中的任务应当:继续向爪夹方向的左前方移动直至白色物体正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 1.9096, + "annotations": { + 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"垂直抬起爪夹，然后向爪夹方向的右边移动，直至白色物体处于碗正上方。下降将白色物体放入碗中，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向爪夹的下方移动，并成功抓取到白色物体。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 166, + "progress": 40, + "progress_explanation": "当前爪夹已抓起白色物体，因此进度提升为40%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹合拢，爪夹已经抓取到白色物体。为完成抓取白色物体使其落入碗中的任务应当:垂直抬起爪夹，然后向爪夹的右侧移动，直至移动到碗正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 5.5352, + "annotations": { + "bbox_1767511685896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767511685896_1767512757090_urhdgnh0n", + "x": 0.5004067687988282, + "y": 0.5528369649889467, + "width": 0.12999999999999998, + "height": 0.1528911948650267 + } + ] + }, + "bbox_1767511643808": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767511643808_1767512764994_po83gx7yp", + "x": 0.34440676879882814, + "y": 0.780395952695033, + "width": 0.06100000000000003, + "height": 0.16533582700520336 + } + ] + }, + "point_1767511646464": { 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"当前爪夹松开，白色物体落入碗中，因此进度提升为100%", + "state_description": "当前爪夹松开，物体落入碗中\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 8.5184 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767511643808", + "name": "白色物体" + }, + { + "color": "#FF9800", + "id": "bbox_1767511685896", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767511646464", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767511696056", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000829.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000829.json new file mode 100644 index 0000000000000000000000000000000000000000..ddaf8b3354cdb98663f6c1be26fc6057d0ba2c0e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000829.json @@ -0,0 +1,644 @@ +{ + "task_description": "抓起电饭煲顶部电缆移动到左侧桌子上:\n开始移动:0%\n爪夹靠近物体:20%\n爪夹抓取物体:40%\n爪夹抓住物体接近碗:60%\n爪夹将物体移动碗中:80%\n爪夹松开，物体落入碗中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达电缆正上方后下降，抓取电缆后垂直上升，向爪夹方向的左边移动，直至电缆处于桌子正上方。下降将电缆放置桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "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%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前状态为爪夹打开，没有移动，没有触电缆，为完成抓起电饭煲顶部电缆移动到左侧桌子上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取电缆。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 0, + "annotations": { + "bbox_1767513388787": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513388787_1767513443195_ttmmow9c4", + 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"垂直抬起爪夹，然后向爪夹方向的左边移动，直至电缆处于桌子正上方。下降将电缆放至桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向爪夹的下方移动，并成功抓取到电缆。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 194, + "progress": 40, + "progress_explanation": "当前爪夹已接近电缆，已合拢爪夹，因此进度提升为40%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹合拢，爪夹没有抓取到电缆。为完成抓起电饭煲顶部电缆移动到左侧桌子上的任务应当:垂直抬起爪夹，然后向爪夹的左侧移动，直至移动到桌子正上方。", + "time": 6.4538043914531515, + "annotations": { + "bbox_1767513388787": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513388787_1767513683227_j5m7h7e0p", + "x": 0.5674067687988281, + "y": 0.5723928154949386, + "width": 0.16500000000000004, + "height": 0.31644921727877623 + } + ] + }, + "bbox_1767513389227": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513389227_1767513696875_vjua8d1nj", + "x": 0.2584067687988282, + "y": 0.6381715853787291, + "width": 0.616, + "height": 0.33956067696767567 + } + ] + }, + "point_1767513390115": { + "type": "point", + "instances": [ 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"爪夹保持合拢，向左下移动，并且正确移动到了桌子的正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 365, + "progress": 60, + "progress_explanation": "当前爪夹已抓住电缆，并移动到了桌子的正上方，因此进度提升为60%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹合找，垂直于桌面，抓住电缆处于桌子方向的正上方。为完成抓起电饭煲顶部电缆移动到左侧桌子上的任务应当:爪夹继续合拢，下降将电缆放至桌子上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 12.169655947649243, + "annotations": { + "point_1767513390507": { + "type": "point", + "instances": [ + { + "id": "point_1767513390507_1767513884203_auae0gmf6", + "x": 0.5134067687988282, + "y": 0.6186157348727374 + } + ] + }, + "point_1767513390115": { + "type": "point", + "instances": [ + { + "id": "point_1767513390115_1767513887259_0xjwpsnpb", + "x": 0.5014067687988282, + "y": 0.6186157348727374 + } + ] + }, + "bbox_1767513389227": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513389227_1767513891819_9y4aa6pe5", + "x": 0.2574067687988281, + "y": 0.6559496312932671, + "width": 0.6210000000000001, + "height": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.wrist_image_left/episode_000034.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.wrist_image_left/episode_000034.json new file mode 100644 index 0000000000000000000000000000000000000000..e3b69cc3e19012c1842ccc72467fb6abb1bca3b4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.wrist_image_left/episode_000034.json @@ -0,0 +1,694 @@ +{ + "task_description": "从冰箱里拿出一罐饮料并放在椅子上:\n开始移动:0%\n爪夹靠近饮料:20%\n爪夹抓取饮料:40%\n爪夹抓住饮料接近椅子:60%\n爪夹将饮料移动至椅子上:80%\n爪夹松开，物体落入碗中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1767514105147": { + "instances": [ + { + "height": 0.43200651572327314, + "id": "bbox_1767514105147_1767514139331_piy74apom", + 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+ "action_description": "爪夹松开。\n", + "annotations": { + "bbox_1767514104764": { + "instances": [ + { + "height": 0.282670930041154, + "id": "bbox_1767514104764_1767515387741_u0ocl51j2", + "width": 0.146, + "x": 0.46640676879882825, + "y": 0.003495346229722861 + } + ], + "type": "bbox" + }, + "bbox_1767514105147": { + "instances": [ + { + "height": 0.7306776870875114, + "id": "bbox_1767514105147_1767515405901_k5z36f6ma", + "width": 0.852, + "x": 0.002406768798828125, + "y": 0.005273150821176665 + } + ], + "type": "bbox" + }, + "point_1767514105964": { + "instances": [ + { + "id": "point_1767514105964_1767515411694_v4eatlh0p", + "x": 0.45440676879882813, + "y": 0.6577274358847209 + } + ], + "type": "point" + }, + "point_1767514106291": { + "instances": [ + { + "id": "point_1767514106291_1767515414061_r5n1cxavn", + "x": 0.7724067687988281, + "y": 0.6506162175189057 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，并且饮料成功落在桌子上。\n", + "frame": 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/dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.wrist_image_left/episode_000121.json @@ -0,0 +1,622 @@ +{ + "task_description": "将甜甜圈玩具向左边移动:\n开始移动:0%\n爪夹靠近甜甜圈玩具:20%\n爪夹抓取甜甜圈玩具:40%\n爪夹抓住甜甜圈玩具接近桌面:60%\n爪夹将甜甜圈玩具移动至左边桌面:80%\n爪夹松开，甜甜圈玩具落入桌面:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达甜甜圈玩具正上方后下降，抓取甜甜圈玩具后垂直上升，向爪夹方向的左边移动，直至甜甜圈玩具处于桌子正上方。下降将甜甜圈玩具放在桌面上，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "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%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触甜甜圈玩具，为完成将甜甜圈玩具向左边移动的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取将甜甜圈玩具向左边移动。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 0, + "annotations": { + "bbox_1767515829286": { + "type": "bbox", + "instances": [ + { + "id": 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+ "action_description": "爪夹打开，", + "state_description": "爪夹打开位于毛巾正上方。", + "progress_explanation": "与上一进度相比爪夹打开，毛巾二次折叠。因此进度提升为100%。", + "error_success_analysis": "爪夹打开毛巾折叠，完成折叠毛巾。", + "correction_plan": "", + "annotations": { + "bbox_1767585047699": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767585047699_1767585559411_cvb0450to", + "x": 0.4847457580566405, + "y": 0.25949920739906995, + "width": 0.36000000000000015, + "height": 0.6382318483319139 + } + ] + }, + "point_1767585048571": { + "type": "point", + "instances": [ + { + "id": "point_1767585048571_1767585590163_v14ywy6d3", + "x": 0.45074575805664063, + "y": 0.6506162175189057 + } + ] + }, + "point_1767585049115": { + "type": "point", + "instances": [ + { + "id": "point_1767585049115_1767585592083_ef8urtq3b", + "x": 0.7797457580566406, + "y": 0.6737276772078051 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767585047699", + "name": "毛巾", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767585048571", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767585049115", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.wrist_image_left/episode_000716.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.wrist_image_left/episode_000716.json new file mode 100644 index 0000000000000000000000000000000000000000..41cfd6c30efdec57471c7edf63fd8ba0ff487d2e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.wrist_image_left/episode_000716.json @@ -0,0 +1,939 @@ +{ + "task_description": "将橙色环放在木板左侧:\n开始移动:0%\n爪夹靠近橙色环:20%\n爪夹抓取橙色环:40%\n爪夹抓取橙色环接近木板左侧:60%\n爪夹将橙色环放在木板左侧:80%\n爪夹松开，橙色环落在模板左侧:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右后方移动，到达橙色环正上方后下降，抓取橙色环后垂直上升，向爪夹方向的前边移动，直至橙色环处于木板左侧正上方。下降将橙色环放在木板左侧，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "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%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触橙色环，为完成将橙色环放在木板左侧的任务应当:使其垂直于桌面。然后向爪夹方向的右后方移动，准备抓取橙色环。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 0, + "annotations": { + "bbox_1767599377921": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767599377921_1767599405346_lc8b2gh15", + "x": 0.6157457580566408, + "y": 0.6252147011820165, + "width": 0.21999999999999983, + "height": 0.26667068871806987 + } + ] + }, + "point_1767599371625": { + "type": "point", + "instances": [ + { + "id": "point_1767599371625_1767599433561_yb589d5gp", + "x": 0.45474575805664064, + "y": 0.6729141036035591 + } + ] + }, + "point_1767599372033": { + "type": "point", 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+ "action_description": "爪夹松开。\n", + "correction_plan": "", + "error_success_analysis": "爪夹松开，橙色环成功落在桌子上。\n", + "frame": 356, + "progress": 100, + "progress_explanation": "当前爪夹松开，橙色环落在木板左侧，因此进度提升为100%\n", + "state_description": "当前爪夹松开，橙色环落在木板左侧。\n", + "time": 11.866667, + "annotations": { + "bbox_1767599377921": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767599377921_1767600246418_mdrivy8ip", + "x": 0.4557457580566406, + "y": -0.0014463515671514617, + "width": 0.37799999999999995, + "height": 0.35200530910785216 + } + ] + }, + "bbox_1767599378329": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767599378329_1767600268530_j0uyjsclo", + "x": 0.5627457580566406, + "y": 0.003887062207209939, + "width": 0.07699999999999996, + "height": 0.11733510303595074 + } + ] + }, + "point_1767599371625": { + "type": "point", + "instances": [ + { + "id": "point_1767599371625_1767600282650_qkfy6s9za", + "x": 0.45474575805664064, + "y": 0.6723415885938384 + } + ] + }, + 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0000000000000000000000000000000000000000..6bd13b4239881f4b1819258493300582caf82110 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.wrist_image_left/episode_000943.json @@ -0,0 +1,1081 @@ +{ + "task_description": "从容器中抓取刮刀在白色陶瓷碗中搅拌:\n开始移动:0%\n爪夹靠近刮刀:20%\n爪夹抓取刮刀:40%\n爪夹抓取刮刀接近陶瓷碗:60%\n爪夹抓取刮刀在陶瓷碗中一次搅拌:80%\n爪夹抓取刮刀在陶瓷碗中二次搅拌:85%\n爪夹抓取刮刀在陶瓷碗中三次搅拌:90%\n爪夹松开，刮刀落下:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "调整爪夹位置，使其垂直于台面。然后向爪夹方向的右前方移动，到达刮刀正上方后下降，抓取刮刀后垂直上升，向爪夹方向的左后方移动，直至刮刀处于陶瓷碗正上方。下降刮刀至陶瓷碗中搅拌，搅拌完成上升，向爪夹方向的右前方移动，将刮刀放回，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "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%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触刮刀，为完成从容器中抓取刮刀在白色陶瓷碗中搅拌的任务应当:使其垂直于台面。然后向爪夹方向的右前方移动，准备抓取刮刀。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 0, + "annotations": { + "point_1767600536218": { + "type": "point", + "instances": [ + { + "id": "point_1767600536218_1767668034810_znxwfokid", + "x": 0.45474575805664064, + "y": 0.6590532547637166 + } + ] + }, + "point_1767600536387": { + "type": "point", + "instances": [ + { + "id": "point_1767600536387_1767668037618_jikpuduxq", + "x": 0.7727457580566407, + "y": 0.6445294964843762 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右边移动，使其接近于垂直台面\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": "向爪夹方向的右前方移动，到达刮刀正上方后下降，抓取刮刀后垂直上升，向爪夹方向的左后方移动，直至刮刀处于陶瓷碗正上方。下降刮刀至陶瓷碗中搅拌，搅拌完成上升，向爪夹方向的右前方移动，将刮刀放回，松开爪夹。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向爪夹方向的右边移动，水平方向上接近刮刀，并使爪夹角度向垂直于桌面，方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 65, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上虽然离刮刀较远，但是开始移动，因此进度提升为5%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，与刮刀的水平距离变近。为完成从容器中抓取刮刀在白色陶瓷碗中搅拌的任务应当:继续调整爪夹方向直到垂直于台面，继续向爪夹方向的右前方移动，直至刮刀正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 2.172771671221389, + "annotations": { + "point_1767600536387": { + "type": "point", + "instances": [ + { + "id": "point_1767600536387_1767668044186_lwwxrida6", + "x": 0.7727457580566407, + "y": 0.6424805018218048 + } + ] + }, + "point_1767600536218": { + "type": "point", + "instances": [ + { + "id": "point_1767600536218_1767668046250_fnbw4uiwx", + "x": 0.46074575805664064, + "y": 0.667369766102158 + } + ] + }, + "bbox_1767600535450": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767600535450_1767668049578_y0vv94tdw", + "x": 0.4757457580566406, + "y": 0.7047036625226878, + "width": 0.15899999999999997, + "height": 0.1528911948650267 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右前方移动。", + "correction_plan": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.wrist_image_left/episode_001176.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.wrist_image_left/episode_001176.json new file mode 100644 index 0000000000000000000000000000000000000000..7e7a2e66d33c6fac966d7ad91c64d1de974a1baf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.wrist_image_left/episode_001176.json @@ -0,0 +1,245 @@ +{ + "task_description": "爪夹将门关上：\n爪夹开始移动：10%\n爪夹靠近门：40%\n爪夹抵住门：70%\n爪夹抵住门将门关上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左后方移动并下降，直至抵住门，抵住门后向爪夹方向的后方移动，直至门关上。", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": 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"爪夹向爪夹方向的左后方移动并下降，再次拉近与门的水平距离。因此进度提升至40%", + "state_description": "当前爪夹张开，拉近与门的水平距离。\n为完成爪夹将门关上的任务应当：继续向爪夹方向的后方移动并下降，直至抵住门。", + "time": 5.333561487286094, + "annotations": { + "bbox_1768550498113": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768550498113_1768550544987_d4jm4hner", + "x": 0.0016666258748397292, + "y": 0.0020987413194444447, + "width": 0.9969999391479527, + "height": 0.9724444444444446 + } + ] + }, + "point_1768550498539": { + "type": "point", + "instances": [ + { + "id": "point_1768550498539_1768550547288_8jy4x535t", + "x": 0.4416665990193726, + "y": 0.5798765190972222 + } + ] + }, + "point_1768550498663": { + "type": "point", + "instances": [ + { + "id": "point_1768550498663_1768550549091_mohi14wsa", + "x": 0.7756665786336316, + "y": 0.5798765190972222 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动并微微向下移动。", + "correction_plan": "继续向爪夹方向的后方移动，直至门关上。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动并下降，成功抵住门。", + "frame": 188, + "progress": 70, + "progress_explanation": "当前爪夹已抵住门。因此进度提升至70%", + "state_description": "当前爪夹张开，抵住门。\n为完成爪夹将门关上的任务应当：继续向爪夹方向的后方移动，直至门关上。", + "time": 6.271018442731629, + "annotations": { + "bbox_1768550498113": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768550498113_1768550558465_ydt10obiz", + "x": 0.0016666258748397292, + "y": 0.00032096354166666666, + "width": 0.9969999391479527, + "height": 0.9564444444444444 + } + ] + }, + "point_1768550498539": { + "type": "point", + "instances": [ + { + "id": "point_1768550498539_1768550561263_xiiec62xz", + "x": 0.45166659840902107, + "y": 0.6172098524305555 + } + ] + }, + "point_1768550498663": { + "type": "point", + "instances": [ + { + "id": "point_1768550498663_1768550563211_ggvxiz3ow", + "x": 0.7686665790608778, + "y": 0.6047654079861111 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的后方移动。", + "correction_plan": "", + "error_success_analysis": "爪夹成功将门关上。", + "frame": 239, + "progress": 100, + "progress_explanation": 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"point_1768550498663", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.wrist_image_left/episode_001269.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.wrist_image_left/episode_001269.json new file mode 100644 index 0000000000000000000000000000000000000000..6c93997bd567384e600be797aaf16bf2c7f3b4ae --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.wrist_image_left/episode_001269.json @@ -0,0 +1,504 @@ +{ + "task_description": "抓取盒子到桌面左侧：\n爪夹准备移动：0%\n爪夹靠近盒子：20%\n爪夹抓取盒子：40%\n爪夹抓取盒子移动至桌面左侧正上方：60%\n爪夹抓取盒子垂直下降接近桌面：80%\n爪夹松开使盒子落在桌面左侧：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": 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"爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004321.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004321.json new file mode 100644 index 0000000000000000000000000000000000000000..41c62a62cf5b4a81502570867948c703d1952b88 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004321.json @@ -0,0 +1,504 @@ +{ + "task_description": "把记号笔放在银锅里。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近记号笔：20%\n爪夹抓住记号笔：40%\n爪夹抓住记号笔并接近银锅：60%\n爪夹保持合拢并移动到银锅的正上方：80%\n爪夹松开，使记号笔落入银锅中：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": 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"当前爪夹张开，与记号笔的水平距离再次缩短。\n为完成把记号笔放在银锅里的任务应当：爪夹向爪夹的前方移动，并向爪夹的下方移动，同时向爪夹的左边调整爪夹方向，爪夹移动到记号笔的正上方。", + "time": 3.8151203530927833, + "annotations": { + "point_1768188382552": { + "type": "point", + "instances": [ + { + "id": "point_1768188382552_1768190257324_vchmy4b6j", + "x": 0.5485, + "y": 0.05511111111111111 + } + ] + }, + "point_1768188382344": { + "type": "point", + "instances": [ + { + "id": "point_1768188382344_1768190259452_l5pa8z33f", + "x": 0.4625, + "y": 0.09066666666666667 + } + ] + }, + "bbox_1768188381560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768188381560_1768190262812_hl48hkcbp", + "x": 0.46749999999999997, + "y": 0.4248888888888889, + "width": 0.07800000000000003, + "height": 0.12799999999999995 + } + ] + }, + "bbox_1768188381264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768188381264_1768190266412_iu34gqpyo", + "x": 0.5785, + "y": 0.46755555555555556, + "width": 0.06200000000000001, + "height": 0.0906666666666667 + } + ] + } + } + }, + { + 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278, + "progress": 40, + "progress_explanation": "当前爪夹合拢，抓住记号笔，并垂直于桌面，因此进度提升至40%。", + "state_description": "当前爪夹合拢，已经抓住记号笔。\n为完成把记号笔放在银锅里的任务应当：爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近银锅。", + "time": 9.265292286082476, + "annotations": { + "bbox_1768188381264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768188381264_1768190293660_vtwh3nl52", + "x": 0.5995, + "y": 0.45866666666666667, + "width": 0.06600000000000002, + "height": 0.0782222222222222 + } + ] + }, + "bbox_1768188381560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768188381560_1768190296876_vua5z2bqn", + "x": 0.4685, + "y": 0.42133333333333334, + "width": 0.07599999999999998, + "height": 0.13333333333333333 + } + ] + }, + "point_1768188382344": { + "type": "point", + "instances": [ + { + "id": "point_1768188382344_1768190298812_v8lt1hyfz", + "x": 0.6125, + "y": 0.5048888888888888 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左后方移动，靠近银锅", + "correction_plan": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004472.json new file mode 100644 index 0000000000000000000000000000000000000000..3f52ce48174b194be76688e98be8c53d3c39346a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004472.json @@ -0,0 +1,542 @@ +{ + "task_description": "按住右边的一个字母方块使其移动至桌子的左边:\n开始移动:0%\n爪夹靠近右边的一个字母方块:20%\n爪夹按住右边的一个字母方块:40%\n爪夹按住右边的一个字母方块接近桌子的左边:60%\n爪夹按住右边的一个字母方块在桌子的左边:80%\n爪夹松开，右边的一个字母方块在桌子的左边:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的右前方移动，，到达右边的一个字母方块正上方，后下降，按住右边的一个字母方块，向爪夹方向的左方移动，直至桌子的左边，爪夹松开，右边的一个字母方块在桌子的左边。", + "error_success_analysis": "", + "frame": 6, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰右边的一个字母方块。\n为完成按住右边的一个字母方块使其移动至桌子的左边的任务应当:爪夹向爪夹方向的右前方移动，准备按住右边的一个字母方块。", + "time": 0.4, + "annotations": { + "point_1768547972855": { + "type": "point", + "instances": [ + { + "id": "point_1768547972855_1768549679032_tu1ott00p", + "x": 0.36581819859730214, + "y": 0.3235101182725695 + } + ] + }, + "bbox_1768547696399": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696399_1768549688160_23k5al1up", + "x": 0.49981820677601363, + "y": 0.6541767849392361, + "width": 0.018000001098632888, + "height": 0.03911111111111107 + } + ] + }, + "bbox_1768547696679": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696679_1768549713880_aeu1maulp", + "x": 0.2638181923717159, + "y": 0.3999545627170139, + "width": 0.5060000308837909, + "height": 0.5991111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并下降。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至右边的一个字母方块正上方，后下降，按住右边的一个字母方块，向爪夹方向的左方移动，直至桌子的左边，爪夹松开，右边的一个字母方块在桌子的左边。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上接近右边的一个字母方块。", + "frame": 59, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近右边的一个字母方块，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近右边的一个字母方块。\n为完成按住右边的一个字母方块使其移动至桌子的左边的任务应当:爪夹向爪夹方向的左前方移动，直至右边的一个字母方块正上方。", + "time": 1.9821310878322067, + "annotations": { + "point_1768547972599": { + "type": "point", + "instances": [ + { + "id": "point_1768547972599_1768549725496_gz6pmvx4z", + "x": 0.4578182042125369, + "y": 0.5083990071614584 + } + ] + }, + "point_1768547972855": { + "type": "point", + "instances": [ + { + "id": "point_1768547972855_1768549727712_llvp6m4o2", + "x": 0.4718182050670291, + "y": 0.5688434516059028 + } + ] + }, + "bbox_1768547696399": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696399_1768549732352_gljgcyb3w", + "x": 0.502818206959119, + "y": 0.6541767849392361, + "width": 0.016000000976562578, + "height": 0.03733333333333333 + } + ] + }, + "bbox_1768547696679": { + "type": "bbox", + 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"当前状态为爪夹合拢，处于右边的一个字母方块的正上方。\n为完成按住右边的一个字母方块使其移动至桌子的左边的任务应当:爪夹竖直下降,按住右边的一个字母方块，向爪夹方向的左方移动，直至桌子的左边。", + "time": 4.691684478943562, + "annotations": { + "point_1768547972855": { + "type": "point", + "instances": [ + { + "id": "point_1768547972855_1768549791000_cc85mjntr", + "x": 0.5078182072642948, + "y": 0.6559545627170139 + } + ] + }, + "bbox_1768547696399": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696399_1768549795137_m7ho1sfs3", + "x": 0.4978182066539433, + "y": 0.6577323404947917, + "width": 0.023000001403808666, + "height": 0.03199999999999995 + } + ] + }, + "bbox_1768547696679": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696679_1768549801713_ljx48yvja", + "x": 0.2598181921275752, + "y": 0.4301767849392361, + "width": 0.48100002935791186, + "height": 0.5671111111111112 + } + ] + } + } + }, + { + "time": 5.646666, + "frame": 169, + "progress": 40, + "action_description": "爪夹竖直下降,按住右边的一个字母方块。", + "state_description": "当前状态为爪夹合拢，右边的一个字母方块已被爪夹按住。\n为完成按住右边的一个字母方块使其移动至桌子的左边的任务应当:爪夹按住右边的一个字母方块，向爪夹方向的左方移动，直至桌子的左边。", + "progress_explanation": "当前爪夹已成功按住右边的一个字母方块，因此进度提升至40%。", + "error_success_analysis": "爪夹在右边的一个字母方块的正上方竖直下降，成功成功按住右边的一个字母方块。", + "correction_plan": "爪夹按住右边的一个字母方块，向爪夹方向的左方移动，直至桌子的左边。爪夹松开，右边的一个字母方块在桌子的左边。", + "annotations": { + "point_1768547972855": { + "type": "point", + "instances": [ + { + "id": "point_1768547972855_1768549809192_kwyojgi7t", + "x": 0.5068182072032597, + "y": 0.6808434516059028 + } + ] + }, + "bbox_1768547696399": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696399_1768549822520_43ih8jv7p", + "x": 0.49981820677601363, + "y": 0.6666212293836805, + "width": 0.019000001159668045, + "height": 0.03733333333333333 + } + ] + }, + "bbox_1768547696679": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696679_1768549829889_fx8giagei", + "x": 0.2578181920055049, + "y": 0.43728789605034724, + "width": 0.4920000300292987, + "height": 0.56 + } + ] + } + } + }, + { + "action_description": "爪夹按住右边的一个字母方块，向爪夹方向的左方略微移动。", + "correction_plan": "爪夹按住右边的一个字母方块，向爪夹方向的左方移动，直至桌子的左边。爪夹松开，右边的一个字母方块在桌子的左边。", + "error_success_analysis": "爪夹按住右边的一个字母方块，向爪夹方向的左方略微移动,在水平方向上略微接近了桌子的左边。", + "frame": 129, + "progress": 50, + "progress_explanation": "当前爪夹按住右边的一个字母方块在水平方向上略微接近了桌子的左边，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹按住右边的一个字母方块在水平方向上略微接近了桌子的左边。\n为完成按住右边的一个字母方块使其移动至桌子的左边的任务应当:爪夹按住右边的一个字母方块，向爪夹方向的左方移动，直至桌子的左边。", + "time": 8.6, + "annotations": { + "bbox_1768547696679": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696679_1768549837744_nha7qexsh", + "x": 0.2558181918834345, + "y": 0.423065673828125, + "width": 0.48100002935791186, + "height": 0.5760000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹按住右边的一个字母方块，向爪夹方向的左方移动。", + "correction_plan": "爪夹按住右边的一个字母方块，向爪夹方向的左方移动，直至桌子的左边。爪夹松开，右边的一个字母方块在桌子的左边。", + "error_success_analysis": "爪夹按住右边的一个字母方块，向爪夹方向的左方移动,在水平方向上接近了桌子的左边。", + "frame": 172, + "progress": 60, + 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"当前爪夹按住右边的一个字母方块,在水平方向上更接近桌子的左边，因此进度提升为75%。", + "state_description": "当前状态为爪夹合拢，爪夹按住右边的一个字母方块,在水平方向上更接近桌子的左边。\n为完成按住右边的一个字母方块使其移动至桌子的左边的任务应当:爪夹按住右边的一个字母方块，向爪夹方向的左方移动，直至桌子的左边。", + "time": 14.666666666666666, + "annotations": { + "bbox_1768547696679": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696679_1768549861584_75h02923s", + "x": 0.26081819218861035, + "y": 0.4248434516059028, + "width": 0.48600002966308775, + "height": 0.5706666666666668 + } + ] + }, + "point_1768547972855": { + "type": "point", + "instances": [ + { + "id": "point_1768547972855_1768549864072_pukqupuv9", + "x": 0.4818182056773807, + "y": 0.6257323404947917 + } + ] + } + } + }, + { + "action_description": "爪夹略微抬升。", + "correction_plan": "爪夹下降,爪夹再次按住右边的一个字母方块,向爪夹方向的左方略微移动，直至桌子的左边。爪夹松开，右边的一个字母方块在桌子的左边。", + "error_success_analysis": "爪夹略微抬升,爪夹位于右边的一个字母方块的正上方。", + "frame": 235, + "progress": 20, + "progress_explanation": "当前爪夹略微抬升,爪夹位于右边的一个字母方块的正上方，因此进度下降为20%。", + "state_description": "当前状态为爪夹合拢，爪夹位于右边的一个字母方块的正上方。\n为完成按住右边的一个字母方块使其移动至桌子的左边的任务应当:爪夹下降,爪夹再次按住右边的一个字母方块,向爪夹方向的左方略微移动，直至桌子的左边。", + "time": 15.666666666666666, + "annotations": { + "point_1768547972855": { + "type": "point", + "instances": [ + { + "id": "point_1768547972855_1768549867128_bneef13v6", + "x": 0.48781820604359166, + "y": 0.6008434516059028 + } + ] + }, + "bbox_1768547696399": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696399_1768549871360_7xjprkvvc", + "x": 0.4798182055553104, + "y": 0.6079545627170139, + "width": 0.018000001098632888, + "height": 0.03733333333333333 + } + ] + }, + "bbox_1768547696679": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696679_1768549878225_ocnrlf4ip", + "x": 0.26181819224964553, + "y": 0.41239900716145833, + "width": 0.48600002966308775, + "height": 0.584888888888889 + } + ] + } + } + }, + { + "time": 17.22336891283358, + "frame": 517, + "progress": 75, + "action_description": "爪夹下降,爪夹再次按住右边的一个字母方块。", + "state_description": "当前状态为爪夹合拢，爪夹再次按住右边的一个字母方块,在水平方向上接近桌子的左边。\n为完成按住右边的一个字母方块使其移动至桌子的左边的任务应当:爪夹按住右边的一个字母方块，向爪夹方向的左方略微移动，直至桌子的左边。", + "progress_explanation": "当前爪夹再次按住右边的一个字母方块,在水平方向上接近桌子的左边，因此进度提升为75%。", + "error_success_analysis": "爪夹下降,爪夹再次按住右边的一个字母方块,在水平方向上接近桌子的左边", + "correction_plan": "爪夹按住右边的一个字母方块，向爪夹方向的左方略微移动，直至桌子的左边。爪夹松开，右边的一个字母方块在桌子的左边。", + "annotations": { + "point_1768547972855": { + "type": "point", + "instances": [ + { + "id": "point_1768547972855_1768549892137_7c5dfuy8w", + "x": 0.48581820592152136, + "y": 0.6328434516059028 + } + ] + }, + "bbox_1768547696679": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696679_1768549900785_u73v48vpw", + "x": 0.26481819243275095, + "y": 0.4195101182725694, + "width": 0.48400002954101745, + "height": 0.5795555555555556 + } + ] + } + } + }, + { + "action_description": "爪夹按住右边的一个字母方块，向爪夹方向的左方略微移动。", + "correction_plan": "爪夹上升并张开,右边的一个字母方块在桌子的左边。", + "error_success_analysis": "爪夹按住右边的一个字母方块，向爪夹方向的左方略微移动,爪夹按住右边的一个字母方块在桌子的左边。", + "frame": 558, + "progress": 80, + "progress_explanation": "当前爪夹按住右边的一个字母方块在桌子的左边，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹按住右边的一个字母方块在桌子的左边。\n为完成按住右边的一个字母方块使其移动至桌子的左边的任务应当:爪夹上升并张开,右边的一个字母方块在桌子的左边。", + "time": 18.599313994257315, + "annotations": { + "point_1768547972855": { + "type": "point", + "instances": [ + { + "id": "point_1768547972855_1768549907752_xrw0pqbv6", + "x": 0.4828182057384159, + "y": 0.6328434516059028 + } + ] + }, + "bbox_1768547696679": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696679_1768549914512_jh6shcdxk", + "x": 0.26281819231068065, + "y": 0.4177323404947917, + "width": 0.48200002941894715, + "height": 0.5795555555555556 + } + ] + } + } + }, + { + "time": 19.936770572823598, + "frame": 598, + "progress": 100, + "action_description": "爪夹上升并张开,右边的一个字母方块在桌子的左边。", + "state_description": "当前状态为爪夹张开，边的一个字母方块已经在桌子的左边。\n已完成按住右边的一个字母方块使其移动至桌子的左边的任务。", + "progress_explanation": "当前爪夹上升并张开,右边的一个字母方块在桌子的左边，因此进度提升至100%。", + "error_success_analysis": "爪夹张开，边的一个字母方块已经在桌子的左边。", + "correction_plan": "", + "annotations": { + "point_1768547972855": { + "type": "point", + "instances": [ + { + "id": "point_1768547972855_1768549929216_f2oth7v7s", + "x": 0.48581820592152136, + "y": 0.5546212293836805 + } + ] + }, + "point_1768547972599": { + "type": "point", + "instances": [ + { + "id": "point_1768547972599_1768549931792_soyzrdbgy", + "x": 0.45681820415150176, + "y": 0.5208434516059028 + } + ] + }, + "bbox_1768547696399": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696399_1768549936793_yxm9657j4", + "x": 0.4798182055553104, + "y": 0.6079545627170139, + "width": 0.017000001037597735, + "height": 0.03200000000000003 + } + ] + }, + "bbox_1768547696679": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768547696679_1768549941808_pi2y353ya", + "x": 0.26281819231068065, + "y": 0.40528789605034726, + "width": 0.5010000305786152, + "height": 0.5902222222222223 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768547696399", + "name": "一个字母方块", + "color": "#4CAF50" + }, + { + "id": "bbox_1768547696679", + "name": "桌子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768547972599", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768547972855", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004616.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004616.json new file mode 100644 index 0000000000000000000000000000000000000000..894d3f0a709594b516d74dd97744590896126832 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004616.json @@ -0,0 +1,590 @@ +{ + "task_description": "抓起碗中的记号笔使其放在桌子上:\n开始移动:0%\n爪夹靠近碗中的记号笔:20%\n爪夹抓取碗中的记号笔:40%\n爪夹抓住碗中的记号笔接近桌子:60%\n爪夹抓住碗中的记号笔在桌子的正上方:80%\n爪夹松开，将碗中的记号笔放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，到达碗中的记号笔正上方，后下降，抓取碗中的记号笔，后上升，向爪夹方向的左侧移动，直至处于桌子正上方。下降将碗中的记号笔放在桌子上，爪夹张开。\n", + "error_success_analysis": "", + "frame": 37, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰碗中的记号笔。\n为完成抓起碗中的记号笔使其放在桌子上的任务应当:爪夹向爪夹方向的左前方移动，准备抓取碗中的记号笔。", + "time": 1.2386504459121828, + "annotations": { + "point_1768534421814": { + "type": "point", + "instances": [ + { + "id": "point_1768534421814_1768535921815_32qqz2ruo", + "x": 0.6188182140391976, + "y": 0.04439900716145833 + } + ] + }, + "point_1768534422062": { + "type": "point", + "instances": [ + { + "id": "point_1768534422062_1768535924047_a5a00adl2", + "x": 0.6538182161754282, + "y": 0.019510118272569446 + } + ] + }, + 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"爪夹向爪夹方向的后方略微移动，直至碗中的记号笔的正上方，后下降，抓取碗中的记号笔，后上升，向爪夹方向的左侧移动，直至处于桌子正上方。下降将碗中的记号笔放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右侧调整，并下降，在垂直方向上接近碗中的记号笔。", + "frame": 83, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在垂直方向上接近碗中的记号笔，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹在垂直方向上接近碗中的记号笔。\n为完成抓起碗中的记号笔使其放在桌子上的任务应当:爪夹向爪夹方向的后方略微移动，直至碗中的记号笔的正上方。", + "time": 2.763503965732146, + "annotations": { + "point_1768534421814": { + "type": "point", + "instances": [ + { + "id": "point_1768534421814_1768535991087_jplbdbknr", + "x": 0.5478182097057013, + "y": 0.24528789605034723 + } + ] + }, + "point_1768534422062": { + "type": "point", + "instances": [ + { + "id": "point_1768534422062_1768535993399_famn50ofl", + "x": 0.6018182130015999, + "y": 0.24351011827256946 + } + ] + }, + "bbox_1768534413654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768534413654_1768536179047_e7ogvsf65", + "x": 0.5558182101939825, + "y": 0.25773234049479166, + "width": 0.024000001464843913, + 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"point_1768534422062", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004806.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004806.json new file mode 100644 index 0000000000000000000000000000000000000000..2de84d3bf26372441c85706730bc1a2e4a7ab2fb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004806.json @@ -0,0 +1,273 @@ +{ + "task_description": "爪夹按压咖啡机顶部按钮:\n开始移动:0%\n爪夹合拢，接近咖啡机顶部按钮:20%\n爪夹靠近咖啡机顶部按钮:40%\n爪夹触碰咖啡机顶部按钮:60%\n爪夹按压咖啡机顶部按钮:80%\n爪夹离开，已完成按压咖啡机顶部按钮:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹合拢，向爪夹方向的左侧移动，到达咖啡机顶部按钮正上方，后下降，按压咖啡机顶部按钮后上升。", + "error_success_analysis": "", + "frame": 210, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰咖啡机顶部按钮。\n为完成爪夹按压咖啡机顶部按钮的任务应当:爪夹合拢，向爪夹方向的前方移动，准备按压咖啡机顶部按钮。", + "time": 7.0101808517673145, + "annotations": { + "point_1768529261763": { + "type": "point", + "instances": [ + { + "id": "point_1768529261763_1768530461019_dphhjrhp7", + "x": 0.5698182110484747, + "y": 0.010621229383680555 + } + ] + }, + "point_1768529262011": { + "type": "point", + "instances": [ + { + "id": "point_1768529262011_1768530464299_ujpoqb6rm", + "x": 0.6098182134898812, + "y": 0.008843451605902778 + } + ] + }, + "bbox_1768529260626": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768529260626_1768530561491_fkmw2nxni", + "x": 0.5468182096446661, + "y": 0.11195456271701389, + "width": 0.03900000238037125, + "height": 0.02844444444444445 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，爪夹略微下降。", + "correction_plan": "爪夹向爪夹方向的左侧移动，直至咖啡机顶部按钮的正上方。后下降，按压咖啡机顶部按钮后上升。", + "error_success_analysis": "爪夹合拢，在垂直方向上略微接近咖啡机顶部按钮。", + "frame": 246, + "progress": 20, + "progress_explanation": "当前爪夹合拢，在垂直方向上略微接近咖啡机顶部按钮，因此进度提升为20%。", + "state_description": "当前状态为爪夹合拢，爪夹在垂直方向上略微接近咖啡机顶部按钮。\n为完成爪夹按压咖啡机顶部按钮的任务应当:爪夹向爪夹方向的左侧移动，直至咖啡机顶部按钮的正上方。", + "time": 8.18638569266787, + "annotations": { + "point_1768529261763": { + "type": "point", + "instances": [ + { + "id": "point_1768529261763_1768530496555_1pwgrzkas", + "x": 0.5728182112315803, + "y": 0.04617678493923611 + } + ] + }, + "bbox_1768529260626": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768529260626_1768530557468_tmd6n28md", + "x": 0.5498182098277715, + "y": 0.10128789605034723, + "width": 0.035000002136230626, + "height": 0.03733333333333333 + } + ] + } + } + }, + { + "time": 9.395689357211042, + "frame": 282, + "progress": 35, + "action_description": "爪夹继续下降。", + "state_description": 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"当前爪夹处于咖啡机顶部按钮的正上方，已接近咖啡机顶部按钮，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，爪夹处于咖啡机顶部按钮的正上方。\n为完成爪夹按压咖啡机顶部按钮的任务应当:爪夹竖直下降，按压咖啡机顶部按钮后上升。", + "time": 9.792278435604665, + "annotations": { + "point_1768529261763": { + "type": "point", + "instances": [ + { + "id": "point_1768529261763_1768530517667_d6x9cvheh", + "x": 0.564818210743299, + "y": 0.09951011827256945 + } + ] + }, + "bbox_1768529260626": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768529260626_1768530548827_241stxr3v", + "x": 0.5518182099498419, + "y": 0.09773234049479168, + "width": 0.035000002136230626, + "height": 0.0391111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹下降，爪夹触碰咖啡机顶部按钮。", + "correction_plan": "爪夹下降，按压咖啡机顶部按钮后上升。", + "error_success_analysis": "爪夹下降，爪夹触碰咖啡机顶部按钮。", + "frame": 302, + "progress": 60, + "progress_explanation": "当前爪夹触碰到咖啡机顶部按钮，因此进度提升至60%。", + "state_description": "当前状态为爪夹合拢，爪夹触碰到咖啡机顶部按钮。\n为完成爪夹按压咖啡机顶部按钮的任务应当:爪夹下降，按压咖啡机顶部按钮后上升。", + "time": 10.068313438108758, + 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"当前爪夹向爪夹方向的右侧旋转，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，柜门把手在爪夹方向的右前方。\n为完成抓取柜门把手打开柜门的任务应当:爪夹继续向爪夹方向的右侧旋转，然后向爪夹方向的前方移动，直至柜门把手的正前方。", + "time": 4.743557979818381, + "annotations": { + "point_1768379396278": { + "type": "point", + "instances": [ + { + "id": "point_1768379396278_1768383163513_fodffjfa9", + "x": 0.4565555141262503, + "y": 0.5895061577690973 + } + ] + }, + "point_1768379396518": { + "type": "point", + "instances": [ + { + "id": "point_1768379396518_1768383166009_edxdd7jv3", + "x": 0.7835554941677554, + "y": 0.5841728244357639 + } + ] + }, + "bbox_1768379406854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768379406854_1768383172921_avskckc7m", + "x": 0.602555505215118, + "y": 0.5752839355468751, + "width": 0.18599998864746164, + "height": 0.10844444444444443 + } + ] + }, + "bbox_1768383069976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768383069976_1768383181417_vn6fq7fq0", + "x": 0.3485555207180468, + "y": 0.4650617133246528, + "width": 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+ "state_description": "当前状态为爪夹合拢，柜门把手已被抓取。\n为完成抓取柜门把手打开柜门的任务应当:爪夹抓住柜门把手向爪夹方向的后方移动，直至柜门完全打开。", + "time": 9.333333333333334, + "annotations": { + "point_1768379396278": { + "type": "point", + "instances": [ + { + "id": "point_1768379396278_1768383258281_ul5rly90j", + "x": 0.5915555058865047, + "y": 0.5592839355468749 + } + ] + }, + "point_1768379396518": { + "type": "point", + "instances": [ + { + "id": "point_1768379396518_1768383260697_a97e3c9qz", + "x": 0.6435555027126767, + "y": 0.5521728244357639 + } + ] + }, + "bbox_1768379406854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768379406854_1768383265889_4l4xbo5vt", + "x": 0.6065555049709774, + "y": 0.48106171332465275, + "width": 0.0499999969482424, + "height": 0.4142222222222223 + } + ] + }, + "bbox_1768383069976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768383069976_1768383271377_affrexsdx", + "x": 0.4815555126003715, + "y": 0.2481728244357639, + "width": 0.5159999685058613, + "height": 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+ } + } + }, + { + "action_description": "爪夹张开，柜门打开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，柜门已被打开。", + "frame": 387, + "progress": 100, + "progress_explanation": "当前爪夹张开，柜门打开，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，柜门已被打开。\n已完成抓取柜门把手打开柜门的任务。", + "time": 12.903969678713224, + "annotations": { + "point_1768379396278": { + "type": "point", + "instances": [ + { + "id": "point_1768379396278_1768383333921_7xrvuxljk", + "x": 0.45755551406521516, + "y": 0.5877283799913194 + } + ] + }, + "point_1768379396518": { + "type": "point", + "instances": [ + { + "id": "point_1768379396518_1768383336001_y95l5cqpx", + "x": 0.7815554942898257, + "y": 0.591283935546875 + } + ] + }, + "bbox_1768379406854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768379406854_1768383341889_wb4wmihve", + "x": 0.7155554983181458, + "y": 0.6606172688802083, + "width": 0.05899999639892606, + "height": 0.33599999999999997 + } + ] + }, + "bbox_1768383069976": { + "type": "bbox", + 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0000000000000000000000000000000000000000..318bd1ede5ad4b829f7ce0e37c1c433586d5467e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.wrist_image_left/episode_004200.json @@ -0,0 +1,606 @@ +{ + "task_description": "抓起玻璃杯中的记号笔使其放在书的上面:\n开始移动:0%\n爪夹靠近玻璃杯中的记号笔:20%\n爪夹抓取玻璃杯中的记号笔:40%\n爪夹抓住玻璃杯中的记号笔接近书:60%\n爪夹抓住玻璃杯中的记号在书的正上方:80%\n爪夹松开，将玻璃杯中的记号笔放在书的上面:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，到达玻璃杯中的记号笔的正上方后下降，抓取玻璃杯中的记号笔后上升，向爪夹方向的左后方移动，直至处于书的正上方。下降将玻璃杯中的记号笔放在书的上面，爪夹张开。", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰玻璃杯中的记号笔。\n为完成抓起玻璃杯中的记号笔使其放在书的上面的任务应当:爪夹向爪夹方向的左前方移动，准备抓取玻璃杯中的记号笔。", + "time": 0.6666666666666666, + "annotations": { + "point_1768375855883": { + "type": "point", + "instances": [ + { + "id": 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0000000000000000000000000000000000000000..6ab8edf1985469e63c8692177546605407836640 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.wrist_image_left/episode_004605.json @@ -0,0 +1,1036 @@ +{ + "task_description": "抓起白色毛巾擦拭桌子，后分别抓起白色盖子、透明杯子使其放在桌子上:\n开始移动:0%\n爪夹靠近白色毛巾:10%\n爪夹抓取白色毛巾:20%\n爪夹张开，白色毛巾已擦拭桌子:30%\n爪夹靠近白色盖子:40%\n爪夹抓取白色盖子:50%\n爪夹松开，将白色盖子放在桌子上:60%\n爪夹靠近透明杯子:70%\n爪夹抓取透明杯子:80%\n爪夹松开，将透明杯子放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的前方移动，到达白色毛巾正上方后下降，抓取白色毛巾向爪夹方向左右来回移动，擦拭桌子，然后爪夹张开并抬升，向爪夹方向的左前方移动，直至处于白色盖子正上方，下降，抓取白色盖子后上升，向爪夹方向的右后方移动，直至处于桌子正上方。下降将白色盖子放在桌子上，爪夹张开。然后爪夹抬升向爪夹方向的右侧移动，到达透明杯子的正上方后下降，抓取透明杯子后上升，向爪夹方向的左后方移动，直至处于桌子正上方。下降将透明杯子放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰白色毛巾。\n为完成抓起白色毛巾擦拭桌子，后分别抓起白色盖子、透明杯子使其放在桌子上的任务应当:爪夹向爪夹方向的前方移动，准备抓取白色毛巾。", + "time": 0.884443, + "annotations": { + "point_1768442779982": { + "type": "point", + "instances": [ + { + "id": "point_1768442779982_1768449438038_2nq3a85dz", + "x": 0.4445555148586721, + "y": 0.5745431857638889 + } + ] + }, + "point_1768442780670": { + "type": "point", + "instances": [ + { + "id": "point_1768442780670_1768449440598_9nbka6o64", + "x": 0.7725554948391421, + "y": 0.5692098524305556 + } + ] + }, + "bbox_1768442778446": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768442778446_1768449448910_8ob1lb2xc", + "x": 0.4485555146145315, + "y": 0.19232096354166667, + "width": 0.2749999832153331, + "height": 0.3751111111111112 + } + ] + }, + "bbox_1768442781590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768442781590_1768449462878_x7qjcxub7", + "x": 0.2255555282253706, + "y": 0.15320985243055554, + "width": 0.08699999468994171, + "height": 0.13866666666666666 + } + 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"action_description": "爪夹张开，透明杯子放在桌子上。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，透明杯子已被放在桌子上。", + "frame": 1127, + "progress": 100, + "progress_explanation": "当前爪夹张开，透明杯子放在桌子上，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，透明杯子已被放在桌子上。\n已完成抓起白色毛巾擦拭桌子，后分别抓起白色盖子、透明杯子使其放在桌子上的任务。", + "time": 37.57252716018832, + "annotations": { + "point_1768442779982": { + "type": "point", + "instances": [ + { + "id": "point_1768442779982_1768459410674_pk2l20eoo", + "x": 0.5355555093044733, + "y": 0.5318765190972222 + } + ] + }, + "point_1768442780670": { + "type": "point", + "instances": [ + { + "id": "point_1768442780670_1768459413306_bmzaji49f", + "x": 0.668555501186798, + "y": 0.5372098524305555 + } + ] + }, + "bbox_1768442783462": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768442783462_1768459419619_c5fmy5deo", + "x": 0.602555505215118, + "y": 0.3007654079861111, + "width": 0.3049999813842785, + "height": 0.488888888888889 + } + ] + }, + "bbox_1768442778446": { + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.wrist_image_left/episode_004861.json new file mode 100644 index 0000000000000000000000000000000000000000..3402dfdd29b3dc1a34405007f0d99e05514f4bab --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.wrist_image_left/episode_004861.json @@ -0,0 +1,542 @@ +{ + "task_description": "\n抓起木托盘上排左边的小瓶子使其放在桌子上:\n开始移动:0%\n爪夹靠近木托盘上排左边的小瓶子:20%\n爪夹抓取木托盘上排左边的小瓶子:40%\n爪夹抓住木托盘上排左边的小瓶子接近桌子:60%\n爪夹将木托盘上排左边的小瓶子放在桌子上:80%\n爪夹松开，木托盘上排左边的小瓶子放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的前方移动，到达木托盘上排左边的小瓶子的正上方后下降，抓取木托盘上排左边的小瓶子后上升，向爪夹方向的左前方移动，直至处于桌子正上方。下降将木托盘上排左边的小瓶子放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": 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+ }, + { + "color": "#F44336", + "id": "point_1766804164044", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000202.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000202.json new file mode 100644 index 0000000000000000000000000000000000000000..238e1bdf38ffaeb51615380fab9d1d3ecd1a2b75 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000202.json @@ -0,0 +1,408 @@ +{ + "task_description": "将碗中的勺子放在灶台上\n爪夹开始移动：0\n爪夹接近勺子：25%\n爪夹夹取勺子：50%\n爪夹夹取勺子接近炉灶：75%\n爪夹松开，勺子落到炉灶上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1766817688727": { + "type": "bbox", + 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}, + "correction_plan": "向爪夹的前方轻微移动并调整角度，接近勺子，爪夹向爪夹的前方移动至勺子的两侧，爪夹合拢抓取勺子，随后爪夹抓紧勺子向上抬升，向爪夹的左侧移动至炉灶的左侧，接近炉灶，然后爪夹下降将勺子放在炉灶上，爪夹松开，勺子落在炉灶上。", + "error_success_analysis": "爪夹没有出现错误动作，向爪夹的右侧移动，接近碗。", + "frame": 22, + "progress": 15, + "progress_explanation": "爪夹开始移动接近碗，没有完全接近勺子，因此任务进度提升为15%。", + "state_description": "当前爪夹为张开状态，爪夹接近碗，为完成将碗中的勺子放在灶台上的任务，应当：爪夹向爪夹的前方轻微移动，接近勺子。", + "time": 1.4666666666666666 + }, + { + "action_description": "爪夹向爪夹的前方移动，轻微调整爪夹角度，接近勺子的手柄。", + "annotations": { + "bbox_1766817688727": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817688727_1766817822982_jpdue5ohk", + "x": 0.5127797651578107, + "y": 0.6264801445661662, + "width": 0.09029013391627964, + "height": 0.07874644992217025 + } + ] + }, + "point_1766817715897": { + "type": "point", + "instances": [ + { + "id": "point_1766817715897_1766817825829_opjq1mxku", + "x": 0.5417407515083154, + "y": 0.6264801445661662 + } + ] + }, + "bbox_1766980411400": { + "type": "bbox", + "instances": [ + { + "id": 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"action_description": "爪夹轻微调整角度，随后爪夹松开，勺子落在桌面上。", + "annotations": { + "bbox_1766817688727": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817688727_1766817749062_6cuix1cuq", + "x": 0.47359725421301, + "y": 0.7748869155733332, + "width": 0.12947264486108026, + "height": 0.06663161147260549 + } + ] + }, + "point_1766817715897": { + "type": "point", + "instances": [ + { + "id": "point_1766817715897_1766817744118_9x4cwse0b", + "x": 0.4344147432682094, + "y": 0.7748869155733332 + } + ] + }, + "bbox_1766980411400": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766980411400_1767174462159_332hk1sng", + "x": 0.24531653827373687, + "y": 0.699169175263554, + "width": 0.5468515657948259, + "height": 0.2332106401541197 + } + ] + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹轻微调整角度，随后爪夹松开，爪夹成功完成任务。", + "frame": 189, + "progress": 100, + "progress_explanation": "勺子成功放在炉灶上，因此任务进度提升为100%。", + "state_description": "爪夹为张开的状态，离勺子有一定的距离，爪夹已完成将碗中的勺子放在灶台上的任务。", + "time": 12.6 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766817688727", + "name": "勺子" + }, + { + "color": "#FF9800", + "id": "bbox_1766980411400", + "name": "炉灶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766817715897", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766817724599", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000229.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000229.json new file mode 100644 index 0000000000000000000000000000000000000000..5f776cb01f2ae8553be5eafd6b4f7bb79ec304e9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000229.json @@ -0,0 +1,406 @@ +{ + "task_description": "将螺丝刀放进抽屉，合上抽屉\n爪夹开始移动：0\n爪夹接近螺丝刀：15%\n爪夹夹取螺丝刀：30%\n爪夹夹取螺丝刀接近抽屉：45%\n爪夹松开，螺丝刀落入抽屉：60%\n爪夹接近抽屉：75%\n爪夹合拢，推动抽屉：90%\n爪夹松开，抽屉合上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的右前方移动，随后下降轻微调整角度接近螺丝刀，爪夹合拢抓取螺丝刀，爪夹夹取螺丝刀向上抬升，随后向爪夹的右后方移动，接近抽屉，爪夹松开，螺丝刀落入抽屉，爪夹张开向爪夹的正后方移动，接近抽屉，爪夹合拢，推动抽屉，然后爪夹松开，抽屉合上。", + "error_success_analysis": "", + "frame": 7, + "progress": 0, + "progress_explanation": "爪夹没有动作，没有接近螺丝刀，因此任务进度为0.", + "state_description": "爪夹为张开的状态，没有移动，没有接近螺丝刀，为完成将螺丝刀放进抽屉，合上抽屉的任务，应当：爪夹向爪夹的右前方移动，随后下降接近螺丝刀。", + "time": 0.4666666666666667, + "annotations": { + "point_1766974869375": { + "type": "point", + "instances": [ + { + "id": "point_1766974869375_1766980360545_xms8yz03l", + "x": 0.1482120546279267, + "y": 0.08736983356053894 + } + ] + }, + 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+ "error_success_analysis": "爪夹向爪夹的右后方移动至抽屉的上方，确保螺丝刀落入抽屉。", + "frame": 85, + "progress": 60, + "progress_explanation": "爪夹当前为张开的状态，螺丝刀成功落入抽屉，因此任务进度提升为60%。", + "state_description": "爪夹当前为张开状态，爪夹在抽屉上方，为完成将螺丝刀放进抽屉，合上抽屉的任务，应当：爪夹向爪夹的右后方移动，随后爪夹向爪夹的后方倾斜，接近抽屉。", + "time": 5.666666666666667 + }, + { + "action_description": "爪夹向爪夹的右后方移动，随后爪夹下降并倾斜，接近抽屉。", + "annotations": { + "bbox_1766974848135": { + "instances": [ + { + "height": 0.05754548263543218, + "id": "bbox_1766974848135_1766975076514_zlqo5cjcu", + "width": 0.08177219675436649, + "x": 0.3321994973252513, + "y": 0.6507098214652954 + } + ], + "type": "bbox" + }, + "bbox_1766974931998": { + "instances": [ + { + "height": 0.5845409551914947, + "id": "bbox_1766974931998_1766975083124_9eqeqti05", + "width": 0.4616721941756941, + "x": 0.19080174043749257, + "y": 0.40235563324921997 + } + ], + "type": "bbox" + }, + "point_1766974863704": { + "instances": [ + { + "id": "point_1766974863704_1766975072025_pgoj950uo", + "x": 0.17546945354604887, + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000519.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000519.json new file mode 100644 index 0000000000000000000000000000000000000000..8b8fa89b896247d914b7e6afba46b19b0161e487 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000519.json @@ -0,0 +1,328 @@ +{ + "task_description": "把绿色钢笔从杯子中拿出来放在桌子上\n爪夹开始移动：0\n爪夹接近绿色钢笔：25%\n爪夹夹取绿色钢笔：50%\n爪夹夹取绿色钢笔接近桌子：75%\n爪夹松开，绿色钢笔落到桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1766979884827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766979884827_1766980313497_fii33nn17", + "x": 0.5383335766435502, + "y": 0.7991165924724625, + "width": 0.054514797836244265, + "height": 0.051488063410649765 + } + ] + }, + "point_1766979896311": { + "type": "point", + "instances": [ + { + "id": "point_1766979896311_1766980323894_z4kkhm53k", + "x": 0.3747891831348172, + "y": 0.4780733735589991 + } + ] + }, + "point_1766979905345": { + "type": "point", + "instances": [ + { + "id": "point_1766979905345_1766980320553_qjcoszd1j", + "x": 0.40204658205293936, + "y": 0.5053317600705196 + } + ] + }, + "bbox_1766979885369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766979885369_1767174352969_vlh9laret", + "x": 0.3373102596223992, + "y": 0.42658531014834933, + "width": 0.4395255575547199, + "height": 0.5421390206180183 + } + ] + } + }, + "correction_plan": "爪夹向爪夹的右前方移动并下降，随后向爪夹的右侧旋转并下降，接近杯子；然后爪夹继续下降至杯子内部，接近钢笔；爪夹合拢抓取钢笔，随后爪夹向上抬升，向爪夹的左侧移动，接近桌子，爪夹松开，钢笔落到桌子上。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "爪夹没有动作，没有接近钢笔，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，没有移动，没有接近钢笔，为完成把绿色钢笔从杯子中拿出来放在桌子上的任务，应当：爪夹向爪夹的右前方移动并下降，随后向爪夹的右侧旋转，接近钢笔。", + "time": 0.698442298809036 + }, + { + "action_description": "爪夹向爪夹的右前方移动并下降，随后向爪夹的右侧旋转并继续下降，接近白色杯子。", + "annotations": { + "bbox_1766979884827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766979884827_1766980306602_8d2u4p1tn", + "x": 0.5383335766435502, + "y": 0.8021453020848537, + "width": 0.057921972701009586, + "height": 0.05754548263543218 + } + ] + }, + "point_1766979896311": { + "type": "point", + "instances": [ + { + "id": "point_1766979896311_1766980291396_ek6uxxdph", + "x": 0.5468515138054633, + "y": 0.6870543368139894 + } + ] + }, + "point_1766979905345": { + "type": "point", + "instances": [ + { + "id": "point_1766979905345_1766980293435_vgngi8q1t", + "x": 0.5144833525901932, + "y": 0.7779156251857243 + } + ] + }, + "bbox_1766979885369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766979885369_1767174343912_ln2yo5zk2", + "x": 0.33560667219001655, + "y": 0.420527890923567, + "width": 0.4446363198518677, + "height": 0.5027657956569332 + } + ] + } + }, + "correction_plan": "爪夹继续下降至杯子内部，接近钢笔；爪夹合拢抓取钢笔，随后爪夹向上抬升，向爪夹的左侧移动，接近桌子，爪夹松开，钢笔落到桌子上。", + "error_success_analysis": "爪夹向爪夹的右前方移动，调整角度垂直桌面，方便伸入杯子内部，接近钢笔。", + "frame": 71, + "progress": 15, + "progress_explanation": "爪夹向爪夹的右前方移动，接近杯子，没有接近钢笔，因此任务进度提升为20%。", + "state_description": "当前爪夹为张开垂直桌面的状态，接近杯子，为完成把绿色钢笔从杯子中拿出来放在桌子上的任务，应当：爪夹保持当前角度，继续下降至杯子里边，接近钢笔。", + "time": 4.733333333333333 + }, + { + "action_description": "爪夹开始合拢，继续下降伸入杯子内部，接近钢笔。", + "annotations": { + "bbox_1766979885369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766979885369_1767174333297_zyc3w7tnl", + "x": 0.34071743448716446, + "y": 0.40235563324921997, + "width": 0.43782197012233726, + "height": 0.551225149455192 + } + ] + } + }, + "correction_plan": "爪夹合拢抓取钢笔，随后爪夹向上抬升，向爪夹的左侧移动，接近桌子，爪夹松开，钢笔落到桌子上。", + "error_success_analysis": "爪夹下降至杯子内部，接近钢笔，方便抓取钢笔。", + "frame": 216, + "progress": 25, + "progress_explanation": "当前爪夹下降至杯子内部，接近钢笔，因此任务进度提升为25%。", + "state_description": "爪夹为张开的状态，开始合拢，接近杯子，为完成把绿色钢笔从杯子中拿出来放在桌子上的任务，应当：爪夹合拢抓取钢笔，随后爪夹向上抬升，向爪夹的左侧移动。", + "time": 7.19137619324183 + }, + { + "action_description": "爪夹继续下降，爪夹合拢抓取钢笔，爪夹轻微抬升。", + "annotations": { + "bbox_1766979885369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766979885369_1767174319865_7fyo3hy64", + "x": 0.33560667219001655, + "y": 0.42658531014834933, + "width": 0.448043494716633, + "height": 0.5118519244941069 + } + ] + } + }, + "correction_plan": "爪夹向上抬升，向爪夹的左侧移动，接近桌子，爪夹松开，钢笔落到桌子上。", + "error_success_analysis": "爪夹向爪夹右侧旋转伸进杯子中，成功夹取钢笔。", + "frame": 141, + "progress": 50, + "progress_explanation": "爪夹成功夹取钢笔，向上抬升，因此任务进度提升为50%。", + "state_description": "当前爪夹为合拢抓紧钢笔的状态，为完成把绿色钢笔从杯子中拿出来放在桌子上的任务，应当：爪夹夹紧钢笔向上抬升，随后向爪夹的左侧移动，接近桌子。", + "time": 9.4 + }, + { + "action_description": "爪夹夹紧钢笔向上抬升，使钢笔脱离杯子，向爪夹的左侧移动。", + "annotations": { + "bbox_1766979884827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766979884827_1766980238187_bdq8nkbfj", + "x": 0.5127797651578105, + "y": 0.6295088541785573, + "width": 0.032368161215270155, + "height": 0.11509096527086436 + } + ] + }, + "point_1766979905345": { + "type": "point", + "instances": [ + { + "id": "point_1766979905345_1766980232596_6bhc4c47u", + "x": 0.5366299892111674, + "y": 0.659795950302469 + } + ] + }, + "bbox_1766979885369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766979885369_1767174307698_etz3bogop", + "x": 0.328792322460486, + "y": 0.41144176208639344, + "width": 0.45485784444616356, + "height": 0.536081601393236 + } + ] + } + }, + "correction_plan": "爪夹夹紧钢笔向爪夹的左侧移动，接近桌子，爪夹松开，钢笔落到桌子上。", + "error_success_analysis": "爪夹成功夹紧钢笔远离杯子，开始向爪夹的左侧移动。", + "frame": 162, + "progress": 60, + "progress_explanation": "爪夹成功夹紧钢笔远离杯子，开始向爪夹的左侧移动，因此任务进度提升为60%。", + "state_description": "当前爪夹为合拢抓取钢笔的状态，钢笔脱离杯子，为完成把绿色钢笔从杯子中拿出来放在桌子上的任务，应当：爪夹夹紧钢笔向爪夹的左侧移动，接近桌子。", + "time": 10.8 + }, + { + "action_description": "爪夹夹紧钢笔向爪夹的左侧移动，随后下降，接近桌子。", + "annotations": { + "bbox_1766979884827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766979884827_1766980214675_seozx4sxm", + "x": 0.4310075684034441, + "y": 0.5598485330935605, + "width": 0.04258968580956592, + "height": 0.09691870759651719 + } + ] + }, + "point_1766979905345": { + "type": "point", + "instances": [ + { + "id": "point_1766979905345_1766980205413_70xyziyh7", + "x": 0.4616721421863315, + "y": 0.568934661930734 + } + ] + }, + "bbox_1766979885369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766979885369_1767174293819_cbsyxyghj", + "x": 0.3356066721900165, + "y": 0.41144176208639344, + "width": 0.4446363198518677, + "height": 0.533052891780845 + } + ] + } + }, + "correction_plan": "爪夹松开，钢笔落到桌子上。", + "error_success_analysis": "爪夹夹紧钢笔向爪夹的左侧移动，并接近桌子，确保钢笔落在桌子上。", + "frame": 369, + "progress": 75, + "progress_explanation": "当前爪夹夹紧钢笔向爪夹的左侧移动，并接近桌子，因此任务进度提升为75%。", + "state_description": "爪夹为合拢的状态，爪夹夹紧钢笔，为完成把绿色钢笔从杯子中拿出来放在桌子上的任务，应当：爪夹继续下降，随后爪夹松开，钢笔落在桌子上。", + "time": 12.313292173710726 + }, + { + "action_description": "爪夹继续向左前方移动并下降，随后爪夹松开，钢笔落在桌子上。", + "annotations": { + "bbox_1766979884827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766979884827_1766979938961_tsw3fu147", + "x": 0.42760039353867885, + "y": 0.623451434953775, + "width": 0.06303273499815747, + "height": 0.06360290186021444 + } + ] + }, + "point_1766979905345": { + "type": "point", + "instances": [ + { + "id": "point_1766979905345_1766980197838_9iqybwruq", + "x": 0.48041160394254057, + "y": 0.6204227253413838 + } + ] + }, + "bbox_1766979885369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766979885369_1767174286723_rfdlmmnwh", + "x": 0.3321994973252513, + "y": 0.4053843428616112, + "width": 0.45145066958139835, + "height": 0.5239667629436714 + } + ] + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，爪夹使钢笔成功落在桌子上。", + "frame": 421, + "progress": 100, + "progress_explanation": "钢笔成功落在桌子上，因此任务进度提升为100%。", + "state_description": "当前爪夹为张开状态，爪夹已完成把绿色钢笔从杯子中拿出来放在桌子上的任务。", + "time": 14.020597500533693 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766979884827", + "name": "钢笔" + }, + { + "color": "#FF9800", + "id": "bbox_1766979885369", + "name": "桌子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766979896311", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766979905345", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000784.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000784.json new file mode 100644 index 0000000000000000000000000000000000000000..a9c06443d81be1c2149c6383fa6aa1f5604be24b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000784.json @@ -0,0 +1,352 @@ +{ + "task_description": "将锅盖从锅具上拿下来放到桌子上\n爪夹开始移动：0\n爪夹接近锅盖：25%\n爪夹夹取锅盖：50%\n爪夹夹取锅盖接近桌子：75%\n爪夹松开，锅盖落到桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹合拢，准备移动。", + "annotations": { + "bbox_1766987643234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766987643234_1766987982699_zq61jzzu1", + "x": 0.4974474782663668, + "y": 0.2902933775907469, + "width": 0.15161928148205464, + "height": 0.18172257674346987 + } + ] + }, + "point_1766987655909": { + "type": "point", + "instances": [ + { + "id": "point_1766987655909_1766987977084_bl25hj2z1", + "x": 0.9369730358210868, + "y": 0.3508675698385702 + } + ] + }, + "bbox_1766987651492": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766987651492_1767174204163_yfxalqub9", + "x": 0.2810918743537722, + "y": 0.19337466999422967, + "width": 0.5127798171471732, + "height": 0.7056893396871412 + } + ] + } + }, + "correction_plan": "爪夹向爪夹的正前方移动，随后下降，接近锅盖；爪夹张开，然后合拢抓取锅盖，随后抬升，向爪夹的右侧移动，接近桌子正上方，随后爪夹夹紧锅盖向下移动，将锅盖放在桌子上，随后爪夹松开，锅盖放在桌子上。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接近锅盖，因此任务进度为0.", + "state_description": "爪夹为合拢的状态，接近垂直于桌面，没有移动，没有接近锅盖，为完成将锅盖从锅具上拿下来放到桌子上的任务，应当：爪夹向爪夹的正前方移动，随后下降，接近锅盖。", + "time": 0.48203530713348186 + }, + { + "action_description": "爪夹向爪夹的正前方移动，移动的过程中轻微下降。", + "annotations": { + "bbox_1766987643234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766987643234_1766987963423_35jx7y6us", + "x": 0.4923367159692189, + "y": 0.29029337759074697, + "width": 0.15673004377920252, + "height": 0.1908087055806433 + } + ] + }, + "point_1766987655909": { + "type": "point", + "instances": [ + { + "id": "point_1766987655909_1766987972932_25dtxft1r", + "x": 0.7052851450170483, + "y": 0.2418340237924883 + } + ] + }, + "bbox_1766987651492": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766987651492_1767174221843_464zm286r", + "x": 0.2776846994890069, + "y": 0.18125983154466505, + "width": 0.5178905794443212, + "height": 0.7420338550358353 + } + ] + } + }, + "correction_plan": "爪夹继续向爪夹的正前方移动，随后下降，接近锅盖；爪夹张开，然后合拢抓取锅盖，随后抬升，向爪夹的右侧移动，接近桌子正上方，随后爪夹夹紧锅盖向下移动，将锅盖放在桌子上，随后爪夹松开，锅盖放在桌子上。", + "error_success_analysis": "爪夹没有完全接近锅盖，但爪夹开始向爪夹的正前方移动，方便抓取锅盖。", + "frame": 61, + "progress": 10, + "progress_explanation": "当前爪夹没有完全接近锅盖，但爪夹开始向爪夹的正前方移动，因此任务进度提升为10%。", + "state_description": "爪夹为合拢的状态，没有接近锅盖，为完成将锅盖从锅具上拿下来放到桌子上的任务，应当：爪夹继续向右前方移动，随后下降，接近锅盖。", + "time": 2.0245501729133406 + }, + { + "action_description": "爪夹继续向爪夹的正前方移动，随后下降，接近锅盖。", + "annotations": { + "bbox_1766987643234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766987643234_1766987945124_yu336cpf8", + "x": 0.49404030340160154, + "y": 0.28726466797835576, + "width": 0.15673004377920244, + "height": 0.1998948344178168 + } + ] + }, + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000029.json new file mode 100644 index 0000000000000000000000000000000000000000..d30ae1415db31694a322a236ccb281919ba01fc2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000029.json @@ -0,0 +1,392 @@ +{ + "task_description": "将马克杯中的记号笔移除，然后放在桌子上\n爪夹开始移动：0\n爪夹接近记号笔：25%\n爪夹夹取记号笔：50%\n爪夹夹取记号笔接近桌子：75%\n爪夹松开，记号笔落到桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1766992894606": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992894606_1766993006250_l2m0ksfi9", + "x": 0.12265824314218716, + "y": 0.6961404656511629, + "width": 0.05621838526862697, + "height": 0.23018193054172842 + } + ] + }, + "point_1766992906148": { + "type": "point", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000275.json new file mode 100644 index 0000000000000000000000000000000000000000..17f49f465c6dc95577f3693ce24edc21754b40cb --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000275.json @@ -0,0 +1,340 @@ +{ + "task_description": "将棕色物体向左移动放在桌子上\n爪夹开始移动：0\n爪夹接近棕色物体：25%\n爪夹夹取棕色物体：50%\n爪夹夹取棕色物体接近桌子：75%\n爪夹松开，棕色物体落到桌子上：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1766995893374": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766995893374_1766996026179_kb5ebsdvc", + "x": 0.5485551012378459, + "y": 0.48413079278378146, + "width": 0.02555381148573952, + "height": 0.051488063410649765 + } + ] + }, + "point_1766995903775": { + "type": "point", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.wrist_image_left/episode_000307.json new file mode 100644 index 0000000000000000000000000000000000000000..a43bf67ba5184d6d27136a9b5efdf379b0375412 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.wrist_image_left/episode_000307.json @@ -0,0 +1,309 @@ +{ + "task_description": "打开右边柜子左边的柜门\n爪夹开始移动：0\n爪夹接近柜门把手：25%\n爪夹夹住柜门把手：50%\n爪夹夹紧柜门把手向外侧移动.：75%\n爪夹松开，柜门打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "point_1767066145760": { + "type": "point", + "instances": [ + { + "id": "point_1767066145760_1767066249149_x67c04a00", + "x": 0.4224896312415309, + "y": 0.5760016356214998 + } + ] + }, + "point_1767066151296": { + "type": "point", + "instances": [ + { + "id": "point_1767066151296_1767066235469_k7vrdit2q", + "x": 0.7751322297447364, + "y": 0.5941738932958467 + } + ] + }, + "bbox_1767173762661": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767173762661_1767173789692_gou4jh957", + "x": 0.5979591367769423, + "y": 0.6840256272015982, + "width": 0.06814349729530544, + "height": 0.15446419023194946 + } + ] + } + }, + "correction_plan": "爪夹向爪夹的右侧移动，接近垂直于地面，随后下降，向爪夹的左前方移动，接近柜门把手；爪夹下降至柜门把手的两侧，爪夹合拢抓取柜门把手，爪夹夹紧柜门把手向爪夹右侧移动，爪夹松开，柜门打开。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接近柜门把手，因此任务进度为0.", + "state_description": "当前为初始状态，爪夹张开，远离柜门把手，未开始移动。\n为完成打开右边柜子左边的柜门的任务应当：爪夹向爪夹的右侧移动，随后下降，向爪夹的左前方移动，接近柜门把手。", + "time": 1.3333333333333333 + }, + { + "action_description": "爪夹向爪夹的右侧移动，开始接近柜门把手。", + "annotations": { + "point_1767066145760": { + "instances": [ + { + "id": "point_1767066145760_1767066229334_wacx7ak9a", + "x": 0.41908245637676567, + "y": 0.5881164740710644 + } + ], + "type": "point" + }, + "point_1767066151296": { + "instances": [ + { + "id": 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"instances": [ + { + "id": "bbox_1767173762661_1767173824916_f4l50upsu", + "x": 0.4514506175920358, + "y": 0.5598485330935605, + "width": 0.05962556013339215, + "height": 0.20595225364259906 + } + ] + } + }, + "correction_plan": "爪夹继续下降，向爪夹的左前方移动，接近柜门把手；爪夹下降至柜门把手的两侧，爪夹合拢抓取柜门把手，爪夹夹紧柜门把手向爪夹右侧移动，爪夹松开，柜门打开。", + "error_success_analysis": "爪夹向左前方移动，更加接近柜门把手，方便抓取柜门把手。", + "frame": 57, + "progress": 20, + "progress_explanation": "爪夹向左前方移动，更加接近柜门把手，因此任务进度提升为20%。", + "state_description": "爪夹为张开的状态，更接近柜门把手，为完成打开右边柜子左边的柜门的任务，应当：爪夹继续向爪夹的左前方移动并下降，接近柜门把手。", + "time": 3.8 + }, + { + "action_description": "爪夹向爪夹的左前方移动并下降。", + "annotations": { + "point_1767066145760": { + "type": "point", + "instances": [ + { + "id": "point_1767066145760_1767066185342_74hoghs0x", + "x": 0.4224896312415309, + "y": 0.5850877644586732 + } + ] + }, + "point_1767066151296": { + "type": "point", + "instances": [ + { + "id": "point_1767066151296_1767066187246_5hp6c3hbi", + "x": 0.7700214674475885, + "y": 0.6062887317454113 + } 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mode 100644 index 0000000000000000000000000000000000000000..217cba01b825831cb26b2f6470b22e8daac52d5e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.wrist_image_left/episode_000544.json @@ -0,0 +1,693 @@ +{ + "task_description": "将顶柜的右门打开\n爪夹开始移动：0\n爪夹接近柜门把手：25%\n爪夹勾住柜门把手：50%\n爪夹勾住柜门把手向外侧移动.：75%\n爪夹松开，柜门打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "point_1767503990284": { + "instances": [ + { + "id": "point_1767503990284_1767504302607_7ximxi7qi", + "x": 0.4344147432682094, + "y": 0.5659059523183428 + } + ], + "type": "point" + }, + "point_1767503997028": { + "instances": [ + { + "id": "point_1767503997028_1767504300447_727ogs0fg", + "x": 0.7717250548799711, + "y": 0.5749920811555164 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的正后方移动，随后向上抬升并向爪夹右侧移动，接近柜门把手，爪夹向爪夹的正前方移动至柜门把手，随后爪夹调整角度，爪夹勾住柜门把手，爪夹勾住柜门把手向爪夹的左侧移动，柜门开始打开，然后爪夹松开，柜门打开。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "爪夹暂未移动，没有接近柜门把手，因此任务进度为0.", + "state_description": "当前爪夹为张开的状态，爪夹暂未移动，没有接触柜门把手，为完成将顶柜的右门打开的任务，应当：爪夹向爪夹的正后方移动，随后向上抬升并向爪夹右侧移动，接近柜门。", + "time": 1.0666666666666667 + }, + { + "action_description": "爪夹向爪夹的正后方移动。", + "annotations": { + "point_1767503990284": { + "instances": [ + { + "id": "point_1767503990284_1767504293215_orl8gdlez", + "x": 0.43782191813297466, + "y": 0.5477336946439959 + } + ], + "type": "point" + }, + "point_1767503997028": { + "instances": [ + { + "id": "point_1767503997028_1767504295966_vu1f6lzpg", + "x": 0.7785394046095017, + "y": 0.5628772427059517 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的正后方移动，随后向上抬升并向爪夹右侧移动，接近柜门把手，爪夹向爪夹的正前方移动至柜门把手，随后爪夹调整角度，爪夹勾住柜门把手，爪夹勾住柜门把手向爪夹的左侧移动，柜门开始打开，然后爪夹松开，柜门打开。", + "error_success_analysis": "爪夹向爪夹的正后方移动，开始接近柜门把手。", + "frame": 60, + "progress": 5, + "progress_explanation": "爪夹向爪夹的正后方移动，没有接近柜门把手，因此任务进度提升为5%。", + "state_description": 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"action_description": "爪夹松开，爪夹向右后方移动，随后向爪夹的左侧移动。", + "state_description": "爪夹当前为张开的状态，离柜门把手有一点距离，为完成将顶柜的右门打开的任务，应当：爪夹向右后方移动，随后向爪夹右侧移动。", + "progress_explanation": "爪夹松开，离柜门把手有一点距离，因此任务进度提升为90%。", + "error_success_analysis": "爪夹持续向右后方移动，远离柜门把手。", + "correction_plan": "爪夹向右后方移动，随后向爪夹的左侧移动。", + "annotations": { + "point_1767503997028": { + "type": "point", + "instances": [ + { + "id": "point_1767503997028_1767519431313_enb57kfbk", + "x": 0.776835817177119, + "y": 0.5659059523183428 + } + ] + }, + "point_1767503990284": { + "type": "point", + "instances": [ + { + "id": "point_1767503990284_1767519433863_ink9evvri", + "x": 0.43611833070059197, + "y": 0.5659059523183428 + } + ] + }, + "bbox_1767503978957": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767503978957_1767519442176_av2dcwhb9", + "x": 0.7069887324494311, + "y": 0.37206853712530835, + "width": 0.28279551377551737, + "height": 0.4724786995330216 + } + ] + } + } + }, + { + "action_description": "爪夹松开，爪夹向右后方移动，随后向爪夹的左侧移动。", + "annotations": { + "point_1767503990284": { + "type": "point", + "instances": [ + { + "id": "point_1767503990284_1767504020059_sc1g0l34x", + "x": 0.4344147432682094, + "y": 0.5780207907679075 + } + ] + }, + "point_1767503997028": { + "type": "point", + "instances": [ + { + "id": "point_1767503997028_1767504022636_57hzgjdj0", + "x": 0.7819465794742669, + "y": 0.5810495003802987 + } + ] + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，任务完成。", + "frame": 1094, + "progress": 100, + "progress_explanation": "爪夹松开，柜门已经打开，因此任务进度提升为100%。", + "state_description": "当前爪夹为打开的状态，爪夹已完成将顶柜的右门打开的任务。", + "time": 36.46538584694012 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767503978957", + "name": "柜门把手" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767503990284", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767503997028", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.wrist_image_left/episode_000862.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.wrist_image_left/episode_000862.json new file mode 100644 index 0000000000000000000000000000000000000000..176d239652f7828de1d63effcb4bcab7270e3787 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.wrist_image_left/episode_000862.json @@ -0,0 +1,330 @@ +{ + "task_description": "将绿色物体放进碗里\n爪夹开始移动：0\n爪夹接近绿色物体：20%\n爪夹夹住绿色物体：40%\n爪夹夹紧绿色物体接近碗.：60%\n爪夹夹紧绿色物体移动到碗的上方：80%\n爪夹松开，绿色物体落入碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的右侧移动，随后向爪夹左后方移动，爪夹下降，接近绿色物体；爪夹下降至绿色物体的两侧，爪夹合拢抓取绿色物体，爪夹夹紧绿色物体向上抬升，随后向爪夹的左前方移动，接近碗，爪夹下降，爪夹向爪夹的正前方移动到碗的上方，爪夹松开，绿色物体落入碗里。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接触绿色物体，因此任务进度为0.", + "state_description": "当前爪夹为张开的状态，没有接触绿色物体，为完成将绿色物体放进碗里的任务，应当：爪夹向爪夹的右侧移动，随后向爪夹左后方移动，接近绿色物体。", + "time": 0.2634727376104759, + "annotations": { + "point_1767146815167": { + "type": "point", + "instances": [ + { + "id": "point_1767146815167_1767147113192_8cp8qelfs", + "x": 0.42760039353867885, + "y": 0.5174465985200842 + } + ] + }, + "point_1767146821534": { + "type": "point", + "instances": [ + { + "id": "point_1767146821534_1767147115113_ukxulqg87", + "x": 0.7751322297447364, + "y": 0.514417888907693 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右侧移动，随后向爪夹的正后方移动。", + "correction_plan": "爪夹向爪夹左后方移动，爪夹下降，接近绿色物体；爪夹下降至绿色物体的两侧，爪夹合拢抓取绿色物体，爪夹夹紧绿色物体向上抬升，随后向爪夹的左前方移动，接近碗，爪夹下降，爪夹向爪夹的正前方移动到碗的上方，爪夹松开，绿色物体落入碗里。", + "error_success_analysis": "爪夹向爪夹的左后方移动，接近绿色物体，方便抓取绿色物体。", + "frame": 58, + "progress": 10, + "progress_explanation": "爪夹向爪夹的左后方移动，接近绿色物体，因此任务进度提升为10%。", + "state_description": "当前爪夹为张开状态，接近垂直桌面，为完成将绿色物体放进碗里的任务，应当：爪夹向爪夹的左后方移动，随后下降，接近绿色物体。", + "time": 1.9286224719621679, + "annotations": { + "point_1767146821534": { + "type": "point", + "instances": [ + { + "id": "point_1767146821534_1767147100552_4k6pqxetv", + "x": 0.7802429920418843, + "y": 0.5325901465820401 + } + ] + }, + "point_1767146815167": { + "type": "point", + "instances": [ + { + "id": "point_1767146815167_1767147109560_99v3769ag", + "x": 0.4344147432682094, + "y": 0.5265327273572578 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左后方移动，随后下降，完全接近绿色物体。", + "correction_plan": "爪夹下降至绿色物体的两侧，爪夹合拢抓取绿色物体，爪夹夹紧绿色物体向上抬升，随后向爪夹的左前方移动，接近碗爪夹下降，爪夹向爪夹的正前方移动到碗的上方，爪夹松开，绿色物体落入碗里。", + "error_success_analysis": "爪夹已经接近绿色物体，方便抓取绿色物体。", + "frame": 48, + "progress": 20, + "progress_explanation": "爪夹已经接近绿色物体，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，完全接近绿色物体，为完成将绿色物体放进碗里的任务，应当：爪夹下降至绿色物体的两侧，爪夹合拢抓取绿色物体。", + "time": 3.2, + "annotations": { + "bbox_1767146804927": { + "type": "bbox", + "instances": [ + { + 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"progress_explanation": "爪夹松开，绿色物体落入碗里，因此任务进度提升为100%。", + "state_description": "当前爪夹为张开的状态，接近垂直桌面，爪夹已完成将绿色物体放进碗里的任务。", + "time": 5.669939913068817, + "annotations": { + "bbox_1767146804927": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767146804927_1767146836446_nqyp49ny0", + "x": 0.664399046639865, + "y": 0.29332208720313807, + "width": 0.09880807107819285, + "height": 0.1605216094567317 + } + ] + }, + "point_1767146815167": { + "type": "point", + "instances": [ + { + "id": "point_1767146815167_1767146840041_6xdu9ng0h", + "x": 0.42760039353867885, + "y": 0.5235040177448665 + } + ] + }, + "point_1767146821534": { + "type": "point", + "instances": [ + { + "id": "point_1767146821534_1767146842566_vffvbbnpm", + "x": 0.7785394046095017, + "y": 0.5659059523183428 + } + ] + }, + "bbox_1767146810534": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767146810534_1767146850757_jodxcjxdk", + "x": 0.5008546531311321, + "y": 0.1146282200720594, + "width": 0.429304032960424, + 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b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001440.json @@ -0,0 +1,392 @@ +{ + "task_description": "将记号笔从透明杯子上移动到桌子上\n爪夹开始移动：0\n爪夹接近记号笔：25%\n爪夹夹取记号笔：50%\n爪夹夹取记号笔接近桌子：75%\n爪夹松开，记号笔落到桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹垂直下降，随后向爪夹的右后方移动，接近记号笔；爪夹继续下降至透明杯子里面，随后爪夹合拢，抓取记号笔，爪夹夹紧记号笔向上抬升，脱离透明杯子，爪夹夹紧记号笔向爪夹的左侧移动，随后下降，接近桌子表面，爪夹松开，记号笔落到桌子上。", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近记号笔，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，接近垂直桌面，为完成将记号笔从透明杯子上移动到桌子上的任务，应当：爪夹垂直下降，随后向爪夹的右后方移动，接近记号笔。", + "time": 1.9333333333333333, + "annotations": { + "bbox_1767150330396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767150330396_1767150758195_vcqpx2lqu", + "x": 0.6149950111007687, + "y": 0.2721211199163999, + "width": 0.0442932732419485, + "height": 0.17566515751868755 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"state_description": "当前爪夹为张开状态，近乎垂直桌面，为完成将记号笔从透明杯子上移动到桌子上的任务，应当：爪夹继续下降至透明杯子里面，接近记号笔。", + "time": 3.533333333333333, + "annotations": { + "point_1767150341532": { + "type": "point", + "instances": [ + { + "id": "point_1767150341532_1767150631966_y0dpmzod1", + "x": 0.6235129482626819, + "y": 0.29937950642792044 + } + ] + }, + "point_1767150347740": { + "type": "point", + "instances": [ + { + "id": "point_1767150347740_1767150633973_fuy50g22d", + "x": 0.6524739346131867, + "y": 0.2721211199163999 + } + ] + }, + "bbox_1767150336371": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767150336371_1767150687068_hjcluzgnq", + "x": 0.43611833070059197, + "y": 0.32360918332704974, + "width": 0.4684865439052247, + "height": 0.5481964398428006 + } + ] + }, + "bbox_1767150330396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767150330396_1767150750387_nhkcpy90g", + "x": 0.6132914236683861, + "y": 0.28120724875357345, + "width": 0.04258968580956592, + "height": 0.16960773829390519 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右后方轻微移动，轻微下降。", + "correction_plan": "爪夹向正前方轻微移动，随后爪夹合拢，抓取记号笔，爪夹夹紧记号笔向上抬升，脱离透明杯子，爪夹夹紧记号笔向爪夹的左侧移动，随后下降，接近桌子表面，爪夹松开，记号笔落到桌子上。", + "error_success_analysis": "爪夹已经接近记号笔，方便抓取记号笔。", + "frame": 65, + "progress": 25, + "progress_explanation": "爪夹已经接近记号笔，因此任务进度提升为25%。", + "state_description": "爪夹当前为张开的状态，接近记号笔，为完成将记号笔从透明杯子上移动到桌子上的任务，应当：爪夹向正前方轻微移动，爪夹合拢抓取记号笔。", + "time": 4.333333333333333, + "annotations": { + "bbox_1767150336371": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767150336371_1767150529376_nnmj4lc22", + "x": 0.4310075684034442, + "y": 0.3266378929394409, + "width": 0.47189371876998976, + "height": 0.5300241821684537 + } + ] + }, + "point_1767150341532": { + "type": "point", + "instances": [ + { + "id": "point_1767150341532_1767150601271_kwohv8a1a", + "x": 0.6371416477217429, + "y": 0.32360918332704974 + } + ] + }, + "point_1767150347740": { + "type": "point", + "instances": [ + { + "id": 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8.42514899380506, + "annotations": { + "bbox_1767150330396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767150330396_1767150439441_ir9ninwdz", + "x": 0.47359725421301, + "y": 0.21154692766857666, + "width": 0.0749578470248359, + "height": 0.14234935178238473 + } + ] + }, + "point_1767150341532": { + "type": "point", + "instances": [ + { + "id": "point_1767150341532_1767150444481_sywzn5lkw", + "x": 0.49744747826636687, + "y": 0.2418340237924883 + } + ] + }, + "bbox_1767150336371": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767150336371_1767150453482_6lgodweky", + "x": 0.4344147432682094, + "y": 0.3266378929394409, + "width": 0.4753008936347552, + "height": 0.5391103110056272 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧记号笔继续下降，接近桌子表面。", + "correction_plan": "爪夹松开，记号笔落到桌子上。", + "error_success_analysis": "爪夹夹紧记号笔接近桌子，方便记号笔落在桌子上。", + "frame": 292, + "progress": 75, + "progress_explanation": "爪夹夹紧记号笔接近桌子，因此任务进度提升为75%。", + "state_description": "当前爪夹为合拢夹紧记号笔，接近桌子表面，为完成将记号笔从透明杯子上移动到桌子上的任务，应当：爪夹松开，记号笔落在桌子上。", + "time": 9.74550826471025, + "annotations": { + "point_1767150341532": { + "type": "point", + "instances": [ + { + "id": "point_1767150341532_1767150405123_ev4arn06d", + "x": 0.5127797651578107, + "y": 0.3750972467376995 + } + ] + }, + "bbox_1767150330396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767150330396_1767150412033_f39cqm3p8", + "x": 0.5025582405635147, + "y": 0.3508675698385702, + "width": 0.07155067216007067, + "height": 0.10600483643369074 + } + ] + }, + "bbox_1767150336371": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767150336371_1767150422050_mvviennmb", + "x": 0.4361183307005921, + "y": 0.3357240217766144, + "width": 0.47019013133760723, + "height": 0.536081601393236 + } + ] + } + } + }, + { + "action_description": "爪夹松开，记号笔落在桌子上，爪夹向上抬升。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，任务已完成。", + "frame": 162, + "progress": 100, + "progress_explanation": "爪夹松开，记号笔落在桌子上，因此任务进度提升100%。", + "state_description": "爪夹当前为张开状态，垂直桌面，爪夹已完成将记号笔从透明杯子上移动到桌子上的任务。", + "time": 10.8 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767150330396", + "name": "记号笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1767150336371", + "name": "桌子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767150341532", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767150347740", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001002.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001002.json new file mode 100644 index 0000000000000000000000000000000000000000..171cdfe706fc058dfb9787fe154225f20f024f4d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001002.json @@ -0,0 +1,418 @@ +{ + "task_description": "将锅盖放在锅具上。\n爪夹开始移动：0\n爪夹接近锅盖：25%\n爪夹夹取锅盖：50%\n爪夹夹取锅盖接近锅具：75%\n爪夹松开，锅盖落到锅具上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的正前方移动，移动的过程中开始下降，接近锅盖；爪夹下降至锅盖，爪夹合拢抓取锅盖，爪夹夹紧锅盖向上轻微抬升，向爪夹的正后方移动接近锅具，爪夹下降，将锅盖放在锅具上，爪夹松开。", + "error_success_analysis": "", + "frame": 80, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接近锅盖，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，没有接近锅盖，为完成将锅盖放在锅具上的任务，应当：爪夹向爪夹的正前方移动，移动的过程中开始下降。", + "time": 2.6782026670064343, + "annotations": { + "bbox_1767159550632": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767159550632_1767159812564_qenjnx567", + "x": 0.258945237732798, + "y": 0.6446524022405131, + "width": 0.06984708472768805, + "height": 0.08177515953456138 + } + ] + }, + "bbox_1767159557744": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767159557744_1767159830777_8n3kuq143", + "x": 0.20954120219370154, + "y": 0.717341432937901, + "width": 0.09199372134866231, + "height": 0.1090335460460821 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的正前方移动，并开始下降，开始接近锅盖。", + "correction_plan": "爪夹继续下降并向爪夹的正前方移动，接近锅盖；爪夹下降至锅盖，爪夹合拢抓取锅盖，爪夹夹紧锅盖向上轻微抬升，向爪夹的正后方移动接近锅具，爪夹下降，将锅盖放在锅具上，爪夹松开。", + "error_success_analysis": "爪夹向正前方移动，开始接近锅盖，方便抓取锅盖。", + "frame": 122, + "progress": 10, + "progress_explanation": "爪夹向爪夹的正前方移动，并开始下降，因此任务进度提升10%。", + "state_description": "爪夹当前为张开状态，角度接近垂直，为完成将锅盖放在锅具上的任务，应当：爪夹继续下降并向爪夹的正前方移动，接近锅盖。", + "time": 4.0548492903454525, + "annotations": { + "bbox_1767159550632": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767159550632_1767159793899_rhj3xk1ys", + "x": 0.2691667623270938, + "y": 0.6476811118529043, + "width": 0.054514797836244314, + "height": 0.07874644992217025 + } + ] + }, + "bbox_1767159557744": { + "type": "bbox", + "instances": [ + { + 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"type": "bbox", + "instances": [ + { + "id": "bbox_1767159550632_1767159764836_z50fvuvbz", + "x": 0.26746317489471116, + "y": 0.6476811118529043, + "width": 0.06303273499815747, + "height": 0.072689030697388 + } + ] + }, + "point_1767159566762": { + "type": "point", + "instances": [ + { + "id": "point_1767159566762_1767159767339_3tvwlooaf", + "x": 0.2725739371918591, + "y": 0.6900830464263806 + } + ] + }, + "point_1767159573050": { + "type": "point", + "instances": [ + { + "id": "point_1767159573050_1767159771683_h0mwfgiba", + "x": 0.31686721043380756, + "y": 0.6809969175892071 + } + ] + }, + "bbox_1767159557744": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767159557744_1767159777275_74ob1vuev", + "x": 0.20613402732893632, + "y": 0.7143127233255099, + "width": 0.10051165851057549, + "height": 0.11206225565847316 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取锅盖，爪夹轻微向后方晃动。", + "correction_plan": "爪夹夹紧锅盖向上轻微抬升，向爪夹的正后方移动接近锅具，爪夹下降，将锅盖放在锅具上，爪夹松开。", + "error_success_analysis": "爪夹成功抓取锅盖，方便接近锅具。", + "frame": 219, + "progress": 50, + "progress_explanation": "爪夹成功抓取锅盖，因此任务进度提升为50%。", + "state_description": "当前爪夹为合拢状态，爪夹夹取锅盖，为完成将锅盖放在锅具上的任务，应当：爪夹夹紧锅盖向上抬升，随后向爪夹正后方移动。", + "time": 7.283711370540601, + "annotations": { + "point_1767159573050": { + "type": "point", + "instances": [ + { + "id": "point_1767159573050_1767159735684_pr1t8xilu", + "x": 0.30153492354236383, + "y": 0.6779682079768159 + } + ] + }, + "bbox_1767159557744": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767159557744_1767159742012_qgsvgjk4k", + "x": 0.2112447896260842, + "y": 0.7233988521626835, + "width": 0.09369730878104496, + "height": 0.09691870759651712 + } + ] + }, + "bbox_1767159550632": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767159550632_1767159757164_mx4x9b2ck", + "x": 0.2640560000299459, + "y": 0.6658533695272513, + "width": 0.06473632243054013, + "height": 0.06057419224782323 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧锅盖轻微向上抬升，随后向爪夹的正后方移动。", + "correction_plan": "爪夹夹紧锅盖向上抬升，随后向爪夹的正后方移动，接近锅盖。爪夹下降，将锅盖放在锅具上，爪夹松开。", + "error_success_analysis": "爪夹向爪夹的正后方移动，锅盖开始接近锅具。", + "frame": 255, + "progress": 60, + "progress_explanation": "爪夹向爪夹的正后方移动，锅盖开始接近锅具，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，锅盖靠近锅具，为完成将锅盖放在锅具上的任务，应当：爪夹夹紧锅盖向上抬升，随后向爪夹的正后方移动，接近锅具。", + "time": 8.510178362242634, + "annotations": { + "bbox_1767159550632": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767159550632_1767159709732_bshbnzkv4", + "x": 0.23509501367944105, + "y": 0.6779682079768159, + "width": 0.06643990986292278, + "height": 0.060574192247823316 + } + ] + }, + "bbox_1767159557744": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767159557744_1767159714379_ajhq25x87", + "x": 0.20783761476131893, + "y": 0.7264275617750745, + "width": 0.09540089621342758, + "height": 0.10903354604608195 + } + ] + }, + "point_1767159573050": { + "type": "point", + "instances": [ + { + "id": 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"instances": [ + { + "id": "bbox_1767159557744_1767159691668_mxhqzii09", + "x": 0.19931967759940575, + "y": 0.7173414329379011, + "width": 0.11414035796963654, + "height": 0.11811967488325542 + } + ] + } + } + }, + { + "action_description": "爪夹轻微下降，将锅盖放在锅具上，随后向爪夹前方移动。", + "correction_plan": "爪夹松开，锅盖落到锅具上。", + "error_success_analysis": "爪夹将锅盖放在锅具上，爪夹没有松开。", + "frame": 357, + "progress": 85, + "progress_explanation": "爪夹将锅盖放在锅具上，因此任务进度提升为85%。", + "state_description": "当前爪夹为合拢状态，锅盖在锅具上，为完成将锅盖放在锅具上的任务，应当：爪夹松开，锅盖落到锅具上。", + "time": 11.889220074074766, + "annotations": { + "bbox_1767159557744": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767159557744_1767159630663_p3aa18nqn", + "x": 0.20613402732893626, + "y": 0.699169175263554, + "width": 0.11073318310487128, + "height": 0.12114838449564663 + } + ] + }, + "bbox_1767159550632": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767159550632_1767159645675_2r8li53ll", + "x": 0.21465196449084947, + "y": 0.7203701425502922, + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001477.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001477.json new file mode 100644 index 0000000000000000000000000000000000000000..9dc0ef1dacbad1b6bb9b831cc6b305def9537574 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001477.json @@ -0,0 +1,177 @@ +{ + "task_description": "打开米色文件柜最下面的抽屉\n爪夹开始移动：0\n爪夹接近抽屉把手：25%\n爪夹夹取抽屉把手：50%\n爪夹夹取抽屉把手向外侧移动：75%\n爪夹松开，抽屉打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向正前方移动，随后向右侧旋转，接近抽屉把手，爪夹下降，然后爪夹开始合拢，抓取抽屉把手，爪夹向左侧旋转，随后向爪夹的正后方移动，拉动抽屉，爪夹松开，抽屉打开。", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接近抽屉把手，因此任务进度为0.", + "state_description": "爪夹为打开状态，爪夹角度接近垂直地面，没有移动，为完成打开米色文件柜最下面的抽屉的任务，应当：爪夹向正前方移动，随后向右侧旋转，接近抽屉把手。", + "time": 1.142514347190104, + "annotations": { + "point_1767163058174": { + "type": "point", + "instances": [ + { + "id": "point_1767163058174_1767163182451_vkwaarsqm", + "x": 0.5281120520492543, + "y": 0.7203701425502923 + } + ] + }, + "point_1767163052011": { + "type": "point", + "instances": [ + { + "id": "point_1767163052011_1767163184716_vcdnewt67", + "x": 0.47870801651015793, + "y": 0.6900830464263806 + } + ] + }, + "bbox_1767163041334": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767163041334_1767163206203_pr3ev9149", + "x": 0.6320308854245951, + "y": 0.5901356292174722, + "width": 0.05962556013339224, + "height": 0.07268903069738791 + } + ] + } + } + }, + { + "action_description": "爪夹向正前方移动，随后向右轻微旋转。", + "correction_plan": "爪夹向前移动并向右旋转，爪夹下降，然后爪夹开始合拢，抓取抽屉把手，爪夹向左侧旋转，随后向爪夹的正后方移动，拉动抽屉，爪夹松开，抽屉打开。", + "error_success_analysis": "爪夹向正前方移动，并旋转，方便抓取柜门把手。", + "frame": 37, + "progress": 15, + "progress_explanation": "爪夹向正前方移动，没有完全接近柜门把手，因此任务进度提升为15%。", + "state_description": "爪夹当前为打开的状态，接近了抽屉把手，为完成打开米色文件柜最下面的抽屉的任务，应当：爪夹向前移动，完全靠近柜门把手。", + "time": 2.466666666666667 + }, + { + "action_description": "爪夹向前移动，然后向爪夹的右侧旋转，完全接近抽屉把手。", + "correction_plan": "爪夹开始合拢，抓取抽屉把手，爪夹向左侧旋转，随后向爪夹的正后方移动，拉动抽屉，爪夹松开，抽屉打开。", + "error_success_analysis": "爪夹已经接近了抽屉把手，方便抓取。", + "frame": 62, + "progress": 25, + "progress_explanation": "爪夹已经接近了抽屉把手，因此任务进度提升为25%.", + "state_description": "当前爪夹为张开状态，爪夹贴近抽屉把手，为完成打开米色文件柜最下面的抽屉的任务，应当：爪夹合拢，抓取抽屉把手。", + "time": 4.133333333333334 + }, + { + "action_description": "爪夹合拢抓取抽屉把手，然后向爪夹左侧旋转。", + "correction_plan": "爪夹向爪夹的正后方移动，拉动抽屉，爪夹松开，抽屉打开。", + "error_success_analysis": "爪夹抓住抽屉把手，方便拉开抽屉。", + "frame": 166, + "progress": 50, + "progress_explanation": "爪夹抓住抽屉把手，方便拉开抽屉，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，抓住抽屉把手，为完成打开米色文件柜最下面的抽屉的任务，应当：爪夹夹住抽屉把手向爪夹的正后方移动，拉开抽屉。", + "time": 5.522154905685885, + "annotations": { + "point_1767163058174": { + "type": "point", + "instances": [ + { + "id": "point_1767163058174_1767163148331_3h9j99g3e", + "x": 0.6729169838017783, + "y": 0.6567672406900777 + } + ] + } + } + }, + { + "action_description": "爪夹夹住抽屉把手向爪夹的正后方移动。", + "correction_plan": "爪夹向爪夹的正后方移动，让抽屉完全打开，爪夹松开，抽屉打开。", + "error_success_analysis": "爪夹夹住抽屉把手向正后方移动，使抽屉打开。", + "frame": 209, + "progress": 60, + "progress_explanation": "当前爪夹夹住抽屉把手，使抽屉打开，因此任务进度提升为60%。", + "state_description": "当前爪夹为合拢抓住抽屉把手，为完成打开米色文件柜最下面的抽屉的任务，应当：爪夹继续夹住抽屉把手向爪夹的后方移动，使抽屉完全打开。", + "time": 6.950298566064945, + "annotations": { + "point_1767163058174": { + "type": "point", + "instances": [ + { + "id": "point_1767163058174_1767163142933_o0sp6w48y", + "x": 0.6405488225865082, + "y": 0.6655167897526687 + } + ] + } + } + }, + { + "action_description": "爪夹夹住抽屉把手向爪夹正后方移动，抽屉完全打开。", + "correction_plan": "爪夹松开，抽屉打开。", + "error_success_analysis": "爪夹向正后方移动，使抽屉完全打开。", + "frame": 127, + "progress": 75, + "progress_explanation": "当前爪夹向正后方移动，因此任务进度提升75%。", + "state_description": "爪夹当前为合拢抓住抽屉把手，为完成打开米色文件柜最下面的抽屉的任务，应当：爪夹向爪夹左侧旋转，随后爪夹松开，向上抬升。", + "time": 8.466666666666667 + }, + { + "action_description": "爪夹向左侧旋转，随后爪夹松开，爪夹向上抬升。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，抽屉打开。", + "frame": 318, + "progress": 100, + "progress_explanation": "爪夹使抽屉打开，因此任务进度提升为100%。", + "state_description": "当前爪夹为打开的状态，爪夹已完成打开米色文件柜最下面的抽屉的任务。", + "time": 10.6, + "annotations": { + "bbox_1767163041334": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767163041334_1767163090527_o371u9l40", + "x": 0.5451479263730807, + "y": 0.6412871128535393, + "width": 0.06132914756577481, + "height": 0.058584265167946764 + } + ] + }, + "point_1767163058174": { + "type": "point", + "instances": [ + { + "id": "point_1767163058174_1767163103127_gs5yi2kjh", + "x": 0.5962555493445597, + "y": 0.5655693725437603 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767163041334", + "name": "抽屉把手", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767163052011", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767163058174", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001498.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001498.json new file mode 100644 index 0000000000000000000000000000000000000000..2fcd99ef2c78ce117bc46c4b72e90d73f6a5abc1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001498.json @@ -0,0 +1,730 @@ +{ + "task_description": "将黄色物体和蓝色物体放在左上方的柜子中\n爪夹开始移动：0\n爪夹接近柜子：5%\n爪夹打开柜子：10%\n爪夹接近黄色物体：20%\n爪夹夹取黄色物体：30%\n爪夹夹住黄色物体接近柜子：40%\n爪夹夹住黄色物体放入柜子：45%\n爪夹松开，将黄色物体放入柜子：50%\n爪夹接近蓝色物体：60%\n爪夹夹取蓝色物体：70%\n爪夹夹住蓝色物体接近柜子：80%\n爪夹夹住黄色物体放入柜子：90%\n爪夹松开，将蓝色物体放入柜子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹左侧旋转，随后向爪夹左侧移动并向上抬升，接近柜子；爪夹向右侧倾斜，随后向爪夹的左后方移动将柜门打开，爪夹向爪夹右侧移动，下降接近黄色物体；爪夹合拢夹取黄色物体，爪夹夹住黄色物体向上抬升，随后向爪夹的左侧移动接近柜子，爪夹夹住黄色物体向正前方移动，将黄色物体放入柜子，然后爪夹松开，黄色物体放在柜子中，爪夹向正后方移动，随后向右侧移动并下降接近蓝色物体，爪夹合拢，爪夹夹取蓝色物体，爪夹夹住蓝色物体向上抬升，随后向左侧移动，接近柜子，爪夹向前方移动，蓝色物体进入柜子，爪夹松开，蓝色物体放入柜子。", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接近柜子，因此任务进度为0.", + "state_description": "爪夹当前为张开状态，暂未移动，没有接触物品，为完成将黄色物体和蓝色物体放在左上方的柜子中的任务，应当：爪夹向爪夹左侧旋转，随后向爪夹左侧移动并向上抬升。", + "time": 1, + "annotations": { + "point_1767516580419": { + "type": "point", + "instances": [ + { + "id": "point_1767516580419_1767517012546_fkirn1bb8", + "x": 0.6439559974512734, + "y": 0.42658531014834933 + } + ] + }, + "point_1767516587108": { + "type": "point", + "instances": [ + { + "id": "point_1767516587108_1767517021030_a0zlf9br8", + "x": 0.7001743827199005, + "y": 0.4326427293731316 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，向爪夹的左侧移动并调整角度。", + "correction_plan": "爪夹向爪夹左侧移动并向上抬升，接近柜子；爪夹向右侧倾斜，随后向爪夹的左后方移动将柜门打开，爪夹向爪夹右侧移动，下降接近黄色物体；爪夹合拢夹取黄色物体，爪夹夹住黄色物体向上抬升，随后向爪夹的左侧移动接近柜子，爪夹夹住黄色物体向正前方移动，将黄色物体放入柜子，然后爪夹松开，黄色物体放在柜子中，爪夹向正后方移动，随后向右侧移动并下降接近蓝色物体，爪夹合拢，爪夹夹取蓝色物体，爪夹夹住蓝色物体向上抬升，随后向左侧移动，接近柜子，爪夹向前方移动，蓝色物体进入柜子，爪夹松开，蓝色物体放入柜子。", + "error_success_analysis": "爪夹向爪夹的右侧移动，距离接近柜子近了一步。", + "frame": 71, + "progress": 3, + "progress_explanation": "爪夹向爪夹的右侧移动，开始接近柜子，因此任务进度提升为3%。", + "state_description": "爪夹为打开的状态，角度接近垂直，为完成将黄色物体和蓝色物体放在左上方的柜子中的任务，应当：爪夹向上抬升，向爪夹的左侧移动，接近柜子。", + "time": 2.3701768912927537, + "annotations": { + "point_1767516587108": { + "type": "point", + "instances": [ + { + "id": "point_1767516587108_1767516995739_xmuirs5l2", + "x": 0.664399046639865, + "y": 0.3145230544898762 + } + ] + }, + "point_1767516580419": { + "type": "point", + "instances": [ + { + "id": "point_1767516580419_1767516998036_1viyfvwoi", + "x": 0.6064770739388555, + "y": 0.32360918332704974 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的后方移动，随后向爪夹的左方移动，然后向上抬升，接近柜子。", + "correction_plan": "爪夹向右侧倾斜，随后向爪夹的左后方移动将柜门打开，爪夹向爪夹右侧移动，下降接近黄色物体；爪夹合拢夹取黄色物体，爪夹夹住黄色物体向上抬升，随后向爪夹的左侧移动接近柜子，爪夹夹住黄色物体向正前方移动，将黄色物体放入柜子，然后爪夹松开，黄色物体放在柜子中，爪夹向正后方移动，随后向右侧移动并下降接近蓝色物体，爪夹合拢，爪夹夹取蓝色物体，爪夹夹住蓝色物体向上抬升，随后向左侧移动，接近柜子，爪夹向前方移动，蓝色物体进入柜子，爪夹松开，蓝色物体放入柜子。", + "error_success_analysis": "爪夹向右侧移动，接近了柜子，方便打开柜子。", + "frame": 129, + "progress": 5, + "progress_explanation": "爪夹向右侧移动，接近了柜子，因此任务进度提升为5%。", + "state_description": "爪夹当前为打开的状态，接近柜子，为完成将黄色物体和蓝色物体放在左上方的柜子中的任务，应当：爪夹挨着柜子向爪夹的左侧移动，将柜子拉开。", + "time": 4.301434318912754, + "annotations": { + "point_1767516580419": { + "type": "point", + "instances": [ + { + "id": "point_1767516580419_1767516988438_kthbnuyud", + "x": 0.562183800696907, + "y": 0.16914499309510037 + } + ] + }, + "point_1767516587108": { + "type": "point", + "instances": [ + { + "id": "point_1767516587108_1767516990900_b7gp9s54c", + "x": 0.6047734865064729, + "y": 0.18125983154466505 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右侧倾斜，随后向爪夹的左侧移动，将柜门打开，爪夹松开柜门。", + "correction_plan": "爪夹向左前方移动并推动柜门，使柜门完全打开；爪夹向爪夹右侧移动，下降接近黄色物体；爪夹合拢夹取黄色物体，爪夹夹住黄色物体向上抬升，随后向爪夹的左侧移动接近柜子，爪夹夹住黄色物体向正前方移动，将黄色物体放入柜子，然后爪夹松开，黄色物体放在柜子中，爪夹向正后方移动，随后向右侧移动并下降接近蓝色物体，爪夹合拢，爪夹夹取蓝色物体，爪夹夹住蓝色物体向上抬升，随后向左侧移动，接近柜子，爪夹向前方移动，蓝色物体进入柜子，爪夹松开，蓝色物体放入柜子。", + "error_success_analysis": "爪夹向爪夹的左侧移动，距离柜门完全打开又进了一步。", + "frame": 107, + "progress": 8, + "progress_explanation": "爪夹向爪夹的左侧移动，将柜门打开，因此任务进度提升为8%。", + "state_description": "爪夹当前为张开的状态，爪夹接近柜门，为完成将黄色物体和蓝色物体放在左上方的柜子中的任务，应当：爪夹向左前方移动并推动柜门，使柜门完全打开。", + "time": 7.133333333333334, + "annotations": { + "point_1767516587108": { + "type": "point", + "instances": [ + { + "id": "point_1767516587108_1767516980686_9tblchshn", + "x": 0.6201057733979166, + "y": 0.10857080084727709 + } + ] + }, + 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0000000000000000000000000000000000000000..a2875bcf12977d8b9e47e591a5917cdd5d8e1d58 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001576.json @@ -0,0 +1,400 @@ +{ + "task_description": "移动蓝色碗\n爪夹开始移动：0\n爪夹接近蓝色碗：20%\n爪夹夹取蓝色碗：40%\n爪夹夹取蓝色碗接近置物架：60%\n爪夹夹紧蓝色碗放入置物架：80%\n爪夹松开，蓝色碗落入置物架：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1767168726344": { + "instances": [ + { + "height": 0.10297612682129953, + "id": "bbox_1767168726344_1767168999660_09pw2a4xs", + "width": 0.07155067216007067, + "x": 0.5502586886702285, + "y": 0.38418337557487303 + } + ], + "type": "bbox" + }, + "bbox_1767168732702": { + "instances": [ + { + "height": 0.2544116074408578, + "id": "bbox_1767168732702_1767169005153_4i87p5u07", + "width": 0.23509506566880364, + "x": 0.4344147432682094, + "y": 0.32360918332704974 + } + ], + "type": "bbox" + }, + 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001633.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001633.json new file mode 100644 index 0000000000000000000000000000000000000000..63f81901acf5cd279b722302ecf41e87e14dc69e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001633.json @@ -0,0 +1,855 @@ +{ + "task_description": "将书打开然后合上书并将书本摆正\n爪夹开始移动：0\n爪夹接近书的边缘：20%\n爪夹勾住书的边缘：30%\n爪夹勾住书的边缘移动：40%\n爪夹松开，书本翻开：50%\n爪夹接近书的左侧：60%\n爪夹勾住书的边缘：70%\n爪夹勾住书的边缘移动：80%\n爪夹松开，书本合上：90%\n爪夹将书本摆正：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的正前方移动，随后下降接近书的封皮；爪夹下降至书的边缘，用爪夹勾住书的边缘向爪夹的左侧移动将书本轻微翻开，爪夹向爪夹的左侧移动，随后爪夹下降；随后，爪夹松开，书本完全翻开；爪夹下降接近书本的左侧，随后用爪夹勾住书本的左侧向爪夹的右侧移动，爪夹向上抬升并松开，书本合上，爪夹向爪夹的左侧移动并调整角度下降至书的左侧，爪夹推着书本将书本扶正。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "爪夹暂未移动，没有接近书，因此任务进度为0.", + "state_description": "爪夹为张开的状态，暂未移动，为完成将书打开然后合上书并将书本摆正的任务，应当：爪夹向爪夹的正前方移动，随后下降接近书的封皮。", + "time": 0.5389188466724201, + "annotations": { + "point_1767585084389": { + "type": "point", + "instances": [ + { + "id": "point_1767585084389_1767589519432_uaac2x1ok", + "x": 0.2640560000299459, + "y": 0.3750972467376995 + } + ] + }, + "point_1767585073278": { + "type": "point", + "instances": [ + { + "id": "point_1767585073278_1767589521719_zlar444sp", + "x": 0.22828066394991056, + "y": 0.35995369867574367 + } + ] + }, + "bbox_1767585067966": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767585067966_1767589528319_tr72skmjv", + "x": 0.3611604836757561, + "y": 0.5113891792953019, + "width": 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a/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-002/observation.images.wrist_image_left/episode_002110.json b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-002/observation.images.wrist_image_left/episode_002110.json new file mode 100644 index 0000000000000000000000000000000000000000..0429fac81dae8719c48228ab70e8c8d85c340b02 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v1/project-1/droid_lerobot/shard_0009/annotations/chunk-002/observation.images.wrist_image_left/episode_002110.json @@ -0,0 +1,366 @@ +{ + "task_description": "拿起黑色托盘放到右侧的桌子上\n爪夹开始移动：0\n爪夹接近黑色托盘：20%\n爪夹夹取黑色托盘：40%\n爪夹夹取黑色托盘接近右侧的桌子：60%\n爪夹夹紧黑色托盘放在右侧的桌子：80%\n爪夹松开，黑色托盘落入右侧的桌子：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向左旋转，随后向右移动，接近黑色托盘，爪夹下降至托盘边缘，爪夹合拢抓取黑色托盘，爪夹夹住黑色托盘向爪夹的右侧移动，接近桌子，随后爪夹夹住黑色托盘下降，放在桌子上，随后爪夹松开，黑色托盘落入右侧的桌子。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接触黑色托盘，因此任务进度为0.", + "state_description": "当前爪夹为张开的状态，接近垂直地面，为完成拿起黑色托盘放到右侧的桌子上的任务，应当：爪夹向左旋转，随后向右移动，接近黑色托盘。", + "time": 0.815328215925581, + "annotations": { + "point_1767173171458": { + "type": "point", + "instances": [ + { + "id": "point_1767173171458_1767173715637_zeyfpz11g", + "x": 0.4446362678625052, + "y": 0.587106919605081 + } + ] + }, + "point_1767173268914": { + "type": "point", + "instances": [ + { + "id": "point_1767173268914_1767173720254_y03ihbgcs", + "x": 0.7853537543390322, + "y": 0.587106919605081 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向左旋转接近90°。", + "correction_plan": "爪夹向右移动，接近黑色托盘，爪夹下降至托盘边缘，爪夹合拢抓取黑色托盘，爪夹夹住黑色托盘向爪夹的右侧移动，接近桌子，随后爪夹夹住黑色托盘下降，放在桌子上，随后爪夹松开，黑色托盘落入右侧的桌子。", + "error_success_analysis": "爪夹向左旋转接近90°，方便抓取黑色托盘。", + "frame": 90, + "progress": 10, + "progress_explanation": "爪夹还没有接近黑色托盘，因此任务进度提升为10%。", + "state_description": "当前爪夹为张开的状态，还没有接近黑色托盘，为完成拿起黑色托盘放到右侧的桌子上的任务，应当：爪夹向爪夹的左侧移动，随后下降，接近黑色托盘。", + "time": 3.0131724098502732, + "annotations": { + "point_1767173268914": { + "type": "point", + "instances": [ + { + "id": "point_1767173268914_1767173706109_wlxtfwh04", + "x": 0.7785394046095017, + "y": 0.605279177279428 + } + ] + }, + "point_1767173171458": { + "type": "point", + "instances": [ + { + "id": "point_1767173171458_1767173707831_heonyjw7t", + "x": 0.43782191813297466, + "y": 0.5840782099926899 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右侧移动，随后下降，接近托盘。", + "correction_plan": "爪夹下降至托盘边缘，爪夹合拢抓取黑色托盘，爪夹夹住黑色托盘向爪夹的右侧移动，接近桌子，随后爪夹夹住黑色托盘下降，放在桌子上，随后爪夹松开，黑色托盘落入右侧的桌子。", + "error_success_analysis": "爪夹已经接近黑色托盘，更加方便抓取黑色托盘。", + "frame": 83, + "progress": 20, + "progress_explanation": "爪夹已经接近黑色托盘，因此任务进度提升为20%。", + "state_description": "当前爪夹为张开的状态，接近黑色托盘，为完成拿起黑色托盘放到右侧的桌子上的任务，应当：爪夹下降至托盘边缘得到两侧，爪夹合拢，抓取黑色托盘。", + "time": 5.533333333333333, + "annotations": { + "bbox_1767173154907": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767173154907_1767173674430_t48unvh55", + "x": 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"point_1767173171458_1767173655142_xbtzczipx", + "x": 0.580923262453116, + "y": 0.5598485330935605 + } + ] + }, + "bbox_1767173154907": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767173154907_1767173660494_6giq0i9e2", + "x": 0.5877376121826465, + "y": 0.06011144704901846, + "width": 0.40715739633944975, + "height": 0.7995793376712673 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右侧移动。", + "correction_plan": "爪夹夹住黑色托盘向爪夹的右侧移动，接近桌子，随后爪夹夹住黑色托盘下降，放在桌子上，随后爪夹松开，黑色托盘落入右侧的桌子。", + "error_success_analysis": "爪夹向右侧移动，开始接近右侧的桌子，方便托盘方便放在桌子上。", + "frame": 283, + "progress": 50, + "progress_explanation": "爪夹向右侧移动，开始接近右侧的桌子，因此任务进度提升为50%。", + "state_description": "爪夹为合拢抓紧黑色托盘，开始接近黑色托盘，为完成拿起黑色托盘放到右侧的桌子上的任务，应当：爪夹夹住黑色托盘向爪夹右侧移动。", + "time": 9.429459492114294, + "annotations": { + "bbox_1767173154907": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767173154907_1767173646831_4jcrropa3", + "x": 0.5928483744797944, + "y": 0.09039854317293011, + "width": 0.3918251094480061, + "height": 0.7147754685243147 + } + ] + }, + "point_1767173171458": { + "type": "point", + "instances": [ + { + "id": "point_1767173171458_1767173650590_f1gots2pf", + "x": 0.580923262453116, + "y": 0.5537911138687782 + } + ] + } + } + }, + { + "action_description": "爪夹夹住托盘向右侧移动。", + "correction_plan": "爪夹夹住黑色托盘向爪夹的右侧移动，接近桌子，随后爪夹夹住黑色托盘下降，放在桌子上，随后爪夹松开，黑色托盘落入右侧的桌子。", + "error_success_analysis": "爪夹夹住托盘向右侧移动，离桌子更近了一步。", + "frame": 181, + "progress": 55, + "progress_explanation": "爪夹夹住托盘向右侧移动，离桌子更近了一步，因此任务进度提升为55%。", + "state_description": "当前爪夹为合拢抓住托盘，为完成拿起黑色托盘放到右侧的桌子上的任务，应当：爪夹夹住托盘向右侧移动。", + "time": 12.066666666666666, + "annotations": { + "point_1767173171458": { + "type": "point", + "instances": [ + { + "id": "point_1767173171458_1767173623639_db8w2vchn", + "x": 0.5741089127235854, + "y": 0.5568198234811693 + } + ] + }, + "bbox_1767173154907": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767173154907_1767173629528_k66oqbisx", + "x": 0.5826268498854986, + "y": 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"爪夹向右侧旋转，随后下降，将托盘放在桌子上。", + "correction_plan": "爪夹松开，黑色托盘落入右侧的桌子。", + "error_success_analysis": "爪夹将托盘放在桌子上，确保黑色托盘落在桌子上。", + "frame": 500, + "progress": 80, + "progress_explanation": "爪夹将托盘放在桌子上，因此任务进度提升为80%。", + "state_description": "当前爪夹为合拢抓住托盘，放在桌子上，为完成拿起黑色托盘放到右侧的桌子上的任务，应当：爪夹松开，黑色托盘落入右侧的桌子。", + "time": 16.661075872124567, + "annotations": { + "point_1767173171458": { + "type": "point", + "instances": [ + { + "id": "point_1767173171458_1767173557713_zrlmuzil8", + "x": 0.5826268498854986, + "y": 0.5568198234811693 + } + ] + }, + "bbox_1767173154907": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767173154907_1767173566521_qubi5wf5b", + "x": 0.5860340247502639, + "y": 0.07222628549858312, + "width": 0.4071573963394498, + "height": 0.8268377241827878 + } + ] + }, + "bbox_1767173165164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767173165164_1767173579495_7st7d2wzw", + "x": 0.49574389083398424, + "y": -0.00046274519880482067, + "width": 0.46678295647284196, + 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