diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000648.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000648.json new file mode 100644 index 0000000000000000000000000000000000000000..cf5e18b4c1e010f756bd8c71773789c6e3b7162c --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000648.json @@ -0,0 +1,100 @@ +{ + "task_description": "抓取黑色外套放在圆桌上：\n准备开始移动：0%\n爪夹靠近黑色外套：20%\n爪夹抓取黑色外套：40%\n爪夹抓紧黑色外套接近桌面：60%\n爪夹将黑色外套放在桌面：80%\n爪夹松开黑色外套落在桌面：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左前方的黑色外套移动，同时调整爪夹的角度使其垂直与桌面，并移动到黑色外套的正上方。接着落下爪夹靠近黑色外套，接近黑色外套后爪夹合拢抓取黑色外套。抓紧黑色外套垂直升高爪夹并向爪夹左前方的圆桌接近，水平到达圆桌的正上方后并下降至合适的位置，松开爪夹，使黑色外套落在圆桌上。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黑色外套，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离黑色外套，未开始移动。\n为完成抓取黑色外套放在圆桌上的任务应当：爪夹向爪夹左前方的黑色外套移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色外套的正上方。", + "time": 1.0408695652173914 + }, + { + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取黑色外套。抓紧黑色外套垂直升高爪夹并向爪夹左前方的圆桌接近，水平到达圆桌的正上方后并下降至合适的位置，松开爪夹，使黑色外套落在圆桌上。", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑色外套，方便抓取。", + "frame": 65, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑色外套。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了黑色外套。准备抓取黑色外套。\n为完成抓取黑色外套放在圆桌的任务应当：爪夹合拢抓取黑色外套。抓紧黑色外套垂直升高爪夹并向爪夹左前方的圆桌接近。", + "time": 2.156086956521739 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧黑色外套垂直升高爪夹并向爪夹左前方的圆桌接近，水平到达圆桌的正上方后并下降至合适的位置，松开爪夹，使黑色外套落在圆桌上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到黑色外套。", + "frame": 95, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到黑色外套。因此进度提升为40%", + "state_description": "爪夹合拢抓取到黑色外套，爪夹角度与桌面接近垂直。\n为完成抓取黑色外套放在圆桌的任务应当：抓紧黑色外套垂直升高爪夹并向爪夹左前方的圆桌接近。", + "time": 3.1721739130434785 + }, + { + "time": 4.8906, + "frame": 147, + "progress": 50, + "action_description": "爪夹夹紧黑色外套，垂直升高，向爪夹左前方移动。", + "state_description": "爪夹合拢夹紧黑色外套，水平上接近了圆桌。\n为完成抓取黑色外套放在圆桌上的任务应当：继续向爪夹左前方的圆桌接近，水平到达圆桌的正上方后并下降至合适的位置，松开爪夹，使黑色外套落在圆桌上。", + "progress_explanation": "爪夹合拢夹紧黑色外套，垂直升高并向爪夹下边的铁圆桌近。缩短了与圆桌的距离。因此进度提升为 50%", + "error_success_analysis": "爪夹合拢继续夹紧黑色外套，水平上接近了圆桌。更加方便接近圆桌。", + "correction_plan": "继续向爪夹左前方的圆桌接近，水平到达圆桌的正上方后并下降至合适的位置，松开爪夹，使黑色外套落在圆桌上。" + }, + { + "time": 6.369130434782609, + "frame": 191, + "progress": 60, + "action_description": "爪夹夹紧黑色外套，向爪夹左前方移动。", + "state_description": "爪夹夹紧黑色外套，爪夹角度接近垂直于桌面，位于圆桌正上方。\n为完成抓取黑色外套放在圆桌上的任务应当：爪夹水平到达圆桌的正上方后并下降至合适的位置", + "progress_explanation": "爪夹夹紧黑色外套，到达爪夹左前方的圆桌正上方，方便将黑色外套放在圆桌上。因此进度提升为60%", + "error_success_analysis": "爪夹到达爪夹左前方的圆桌正上方，方便将黑色外套放在圆桌上。", + "correction_plan": "爪夹水平到达圆桌的正上方后并下降至合适的位置，松开爪夹，使黑色外套落在圆桌上。" + }, + { + "time": 8.128695652173914, + "frame": 244, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧黑色外套，爪夹角度接近垂直于桌面，下降至合适位置。\n为完成抓取黑色外套放在圆桌上的任务应当：松开爪夹，使黑色外套落在圆桌上。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹下降到合适位置。因此进度提升为80%", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹下降到合适位置。", + "correction_plan": "松开爪夹，使黑色外套落在圆桌上。" + }, + { + "time": 9.615652173913045, + "frame": 288, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下与桌面。\n爪夹抓取黑色外套放在圆桌上的任务完成。", + "progress_explanation": "爪夹张开，黑色外套落在圆桌上的任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，黑色外套落在圆桌上。", + "correction_plan": "抓取黑色外套放在圆桌的任务完成" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767164411839", + "name": "黑色外套", + "color": "#4CAF50" + }, + { + "id": "bbox_1767164413098", + "name": "圆桌", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767164423447", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767164423627", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000270.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000270.json new file mode 100644 index 0000000000000000000000000000000000000000..a159ddc0f69c8c260b8e2d681d8939f16919adf5 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000270.json @@ -0,0 +1,115 @@ +{ + "task_description": "爪夹关闭咖啡机的盖子：\n准备开始移动：0%\n爪夹靠近咖啡机盖子：20%\n爪夹准备按压咖啡机盖子：40%\n爪夹按压咖啡机盖子：60%\n爪夹按压咖啡机盖子至完全闭合：80%\n爪夹下压咖啡机把手完全闭合：100%", + "progress_points": [ + { + "time": 0.6239114102074911, + "frame": 19, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离咖啡机盖子，未开始移动。\n为完成爪夹关闭咖啡机盖子的任务应当：爪夹向爪夹右前方的咖啡机移动，同时调整爪夹的角度使其垂直于桌面，并移动到咖啡机的正上方。", + "progress_explanation": "当前为初始状态，远离咖啡机，未开始移动，因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方的咖啡机移动，同时调整爪夹的角度使其垂直于桌面，并移动到咖啡机的正上方。接着落下爪夹靠近咖啡机盖子，接近咖啡机盖子后爪夹合拢按压咖啡机盖子。爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。" + }, + { + "time": 2.865714, + "frame": 86, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度。", + "state_description": "爪夹角度接近垂直于桌面，靠近了咖啡机。\n为完成爪夹关闭咖啡机盖子的任务应当：爪夹合拢按压咖啡机盖子。爪夹接触咖啡机盖子垂直向下按压咖啡机盖子", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了咖啡机，方便关闭。因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了咖啡机，方便关闭。", + "correction_plan": "爪夹合拢按压咖啡机盖子。爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。" + }, + { + "time": 4.989952, + "frame": 150, + "progress": 40, + "action_description": "爪夹合拢，准备按压咖啡机盖子。", + "state_description": "爪夹合拢准备按压，爪夹角度与桌面接近垂直。\n为完成爪夹关闭咖啡机盖子的任务应当：爪夹接触咖啡机盖子垂直向下按压咖啡机盖子。", + "progress_explanation": "爪夹合拢准备按压咖啡机盖子。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便关闭咖啡机盖子。", + "correction_plan": "爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。" + }, + { + "time": 8.149133, + "frame": 244, + "progress": 60, + "action_description": "爪夹按压咖啡机盖子，垂直向下。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，位于咖啡机正上方。\n为完成爪夹关闭咖啡机盖子的任务应当：咖啡机盖子完全闭合后下压咖啡机把手。", + "progress_explanation": "爪夹合拢，到了爪夹右前方的咖啡机正上方，方便关闭。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了咖啡机正上方，方便关闭咖啡机盖子。", + "correction_plan": "咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升。" + }, + { + "time": 10.190601, + "frame": 306, + "progress": 20, + "action_description": "爪夹重新向爪夹右前方移动，调整爪夹角度。", + "state_description": "爪夹角度接近垂直于桌面，靠近了咖啡机。\n为完成爪夹关闭咖啡机盖子的任务应当：爪夹按压咖啡机盖子。爪夹接触咖啡机盖子垂直向下按压咖啡机盖子", + "progress_explanation": "爪夹较低接近垂直于桌面，重新靠近了咖啡机。因此进度降低为20%", + "error_success_analysis": "爪夹较低接近垂直于桌面，重新靠近了咖啡机。", + "correction_plan": "爪夹合拢按压咖啡机盖子。爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。" + }, + { + "time": 12.374302734696114, + "frame": 371, + "progress": 50, + "action_description": "爪夹合拢，垂直升高，向爪夹右前方移动。", + "state_description": "爪夹合拢，水平上接近了咖啡机。\n为完成爪夹关闭咖啡机盖子的任务应当：继续向爪夹右前方的咖啡机接近，爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。", + "progress_explanation": "爪夹合拢，垂直升高并向爪夹右前方的咖啡机接近。因此进度提升为50%", + "error_success_analysis": "爪夹合拢，水平上接近了咖啡机盖子。方便关闭咖啡机盖子。", + "correction_plan": "继续向爪夹右前方的咖啡机接近，爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。" + }, + { + "time": 13.668466, + "frame": 410, + "progress": 60, + "action_description": "爪夹合拢，向爪夹右前方移动。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，位于咖啡机盖子正上方。\n为完成爪夹关闭咖啡机盖子的任务应当：爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。", + "progress_explanation": "爪夹合拢，位于咖啡机盖子正上方。因此进度提升为60%", + "error_success_analysis": "爪夹合拢，位于咖啡机盖子正上方。方便关闭咖啡机盖子。", + "correction_plan": "爪夹接触咖啡机盖子垂直向下按压咖啡机盖子，咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。" + }, + { + "time": 15.616466, + "frame": 468, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动。", + "state_description": "爪夹角度接近垂直于桌面，爪夹持续按压。\n为完成爪夹关闭咖啡机盖子的任务应当：咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。", + "progress_explanation": "爪夹角度接近垂直于桌面，持续按压咖啡机盖子。因此进度提升为 80%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，持续按压咖啡机盖子。", + "correction_plan": "咖啡机盖子完全闭合后下压咖啡机把手，爪夹上升，咖啡机盖子闭合。" + }, + { + "time": 19.445334682175993, + "frame": 583, + "progress": 100, + "action_description": "爪夹下压咖啡机把手完全闭合", + "state_description": "爪夹下压咖啡机把手完全闭合，爪夹角度垂直于桌面。\n爪夹关闭咖啡机盖子的任务完成。", + "progress_explanation": "爪夹下压咖啡机把手完全闭合，爪夹角度垂直于桌面。任务完成，因此进度提升为100%", + "error_success_analysis": "爪夹下压咖啡机把手完全闭合，爪夹角度垂直于桌面。", + "correction_plan": "爪夹关闭咖啡机盖子的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767495801952", + "name": "咖啡机盖子", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767495814314", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767495815112", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.wrist_image_left/episode_000366.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.wrist_image_left/episode_000366.json new file mode 100644 index 0000000000000000000000000000000000000000..6b20c41e1d19b632f498f971bb1b05adfb22ffc7 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-000/observation.images.wrist_image_left/episode_000366.json @@ -0,0 +1,157 @@ +{ + "task_description": "抓取衣架放在黑色置物架上：\n准备开始移动：0%\n爪夹靠近衣架：20%\n爪夹抓取衣架：40%\n爪夹抓紧衣架：60%\n爪夹将衣架放在黑色置物架：80%\n爪夹松开衣架落在黑色置物架：100%", + "progress_points": [ + { + "time": 1.553691060135167, + "frame": 47, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，远离衣架，未开始移动。\n为完成抓取衣架放在黑色置物架的任务应当：爪夹向爪夹前方的衣架移动，同时调整爪夹的角度使其平行于桌面，并移动到衣架的正前方。", + "progress_explanation": "当前为初始状态，远离衣架，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹前方的衣架移动，同时调整爪夹的角度使其平行于桌面，并移动到衣架的正前方。接着爪夹靠近衣架，接近衣架后爪夹合拢抓取衣架。抓紧衣架垂直下降爪夹并向爪夹后方的黑色置物架接近，水平到达黑色置物架的正上方后，垂直下降到合适的位置，松开爪夹，使衣架落在黑色置物架上。", + "annotations": {} + }, + { + "time": 3.853333, + "frame": 116, + "progress": 20, + "action_description": "爪夹向爪夹前方移动并平行向前移动，调整爪夹角度。", + "state_description": "爪夹角度接近平行于桌面，靠近了衣架。准备抓取衣架。\n为完成抓取衣架放在黑色置物架的任务应当：爪夹合拢抓取衣架。抓紧衣架垂直下降爪夹并向爪夹后方的黑色置物架接近。", + "progress_explanation": "爪夹角度接近平行于桌面，靠近了衣架。方便抓取，因此进度提升为20%", + "error_success_analysis": "爪夹平行向前移动，靠近了衣架，方便抓取。", + "correction_plan": "爪夹合拢抓取衣架。抓紧衣架垂直下降爪夹并向爪夹后方的黑色置物架接近，水平到达黑色置物架的正上方后，垂直下降到合适的位置，松开爪夹，使衣架落在黑色置物架上。" + }, + { + "time": 7.205733, + "frame": 216, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到衣架，爪夹角度于桌面接近平行。\n为完成抓取衣架放在黑色置物架的任务应当：抓紧衣架垂直下降爪夹并向爪夹后方的黑色置物架接近。", + "progress_explanation": "爪夹合拢抓取到衣架，因此进度提升为40%", + "error_success_analysis": "爪夹角度接近平行于桌面，方便爪夹合拢抓取到衣架。", + "correction_plan": "抓紧衣架垂直下降爪夹并向爪夹后方的黑色置物架接近，水平到达黑色置物架的正上方后，垂直下降到合适的位置，松开爪夹，使衣架落在黑色置物架上。" + }, + { + "time": 13.139866, + "frame": 394, + "progress": 50, + "action_description": "爪夹夹紧衣架，垂直下降，向爪夹后方移动。", + "state_description": "爪夹合拢夹紧衣架，时评上接近了黑色置物架。\n为完成抓取衣架放在黑色置物架的任务应当：继续向爪夹后方黑色置物架接近 ，水平到达黑色置物架的正上方后，垂直下降到合适的位置", + "progress_explanation": "爪夹合拢夹紧衣架，垂直下降并向爪夹后方的黑色置物架接近，缩短了于黑色置物架的距离。因此进度提升为50%", + "error_success_analysis": "爪夹合拢继续夹紧衣架，水平上接近了黑色置物架。更加方便接近黑色置物架。", + "correction_plan": "继续向爪夹后方黑色置物架接近 ，水平到达黑色置物架的正上方后，垂直下降到合适的位置，松开爪夹，使衣架落在黑色置物架上。" + }, + { + "time": 19.623198484625984, + "frame": 589, + "progress": 60, + "action_description": "爪夹夹紧衣架，向爪夹后方移动。", + "state_description": "爪夹夹紧衣架，爪夹角度接近垂直于桌面。位于黑色置物架正上方。\n为完成抓取衣架放在黑色置物架的任务应当：爪夹垂直下降到合适的位置", + "progress_explanation": "爪夹夹紧衣架，到达爪夹后方的黑色置物架正上方，方便衣架落在黑色置物架上。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了黑色置物架正上方，方便衣架落在黑色置物架上。", + "correction_plan": "水平到达黑色置物架的正上方后，垂直下降到合适的位置，松开爪夹，使衣架落在黑色置物架上。" + }, + { + "time": 25.053518604398068, + "frame": 752, + "progress": 70, + "action_description": "爪夹调整角度，接近黑色置物架。", + "state_description": "爪夹夹紧衣架，接近了黑色置物架。\n为完成抓取衣架放在黑色置物架的任务应当：爪夹继续接近黑色置物架，垂直下降到合适的位置。松开爪夹，使衣架落在黑色置物架上。", + "progress_explanation": "爪夹角度接近垂直于桌面，垂直下降并接近黑色置物架，缩短了于黑色置物架的距离，因此进度提升为70%", + "error_success_analysis": "爪夹垂直下降并接近黑色置物架，方便衣架落在黑色置物架上。", + "correction_plan": "爪夹继续接近黑色置物架，垂直下降到合适的位置。松开爪夹，使衣架落在黑色置物架上。" + }, + { + "time": 30.854087823245525, + "frame": 926, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动。", + "state_description": "爪夹夹紧衣架，爪夹角度接近垂直于桌面，位于黑色置物架正上方。\n为完成抓取衣架放在黑色置物架的任务应当：松开爪夹，使衣架落在黑色置物架上。", + "progress_explanation": "爪夹角度接近垂直于桌面，位于黑色置物架正上方。因此进度提升为80%", + "error_success_analysis": "爪夹位于黑色置物架正上方，方便衣架落在黑色置物架上。", + "correction_plan": "松开爪夹，使衣架落在黑色置物架上。" + }, + { + "time": 38.533333, + "frame": 1156, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开，抓取衣架放在黑色置物台的任务完成。", + "progress_explanation": "爪夹张开，衣架落在黑色置物架上，任务完成，因此进度提升为100%", + "error_success_analysis": "爪夹张开，衣架落在黑色置物架上。", + "correction_plan": "爪夹抓取衣架放在黑色置物台的任务完成。", + "annotations": { + "bbox_1767666575632": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767666575632_1767666760032_v3ikhh14b", + "x": 0.28211106676568193, + "y": 0.29340740288628475, + "width": 0.42199997424316554, + "height": 0.592 + } + ] + }, + "bbox_1767666575863": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767666575863_1767666767711_2vyz6ytxy", + "x": 0.4771110548638272, + "y": 0.18614813910590275, + "width": 0.5149999685668963, + "height": 0.7662222222222224 + } + ] + }, + "point_1767666576783": { + "type": "point", + "instances": [ + { + "id": "point_1767666576783_1767666788001_tntfvpod2", + "x": 0.43611105736626843, + "y": 0.6234814724392361 + } + ] + }, + "point_1767666576999": { + "type": "point", + "instances": [ + { + "id": "point_1767666576999_1767666790331_l7u6zk09t", + "x": 0.7781110364922463, + "y": 0.6377036946614584 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767666575632", + "name": "衣架", + "color": "#4CAF50" + }, + { + "id": "bbox_1767666575863", + "name": "黑色置物架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767666576783", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767666576999", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001476.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001476.json new file mode 100644 index 0000000000000000000000000000000000000000..3f676c49a8b0f88bac8e3409ce1871109d0d016f --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001476.json @@ -0,0 +1,130 @@ +{ + "task_description": "抓取纸杯放在桌面上：\n准备开始移动：0%\n爪夹靠近纸杯：20%\n爪夹抓取纸杯：40%\n爪夹抓紧纸杯接近桌面：60%\n爪夹将纸杯放在桌面：80%\n爪夹松开纸杯落入桌面：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的纸杯移动，同时调整爪夹的角度使其垂直与桌面，并移动到纸杯的正上方。接着落下爪夹靠近纸杯，接近纸杯后爪夹合拢抓取纸杯。抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "当前为初始状态，远离纸杯，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离纸杯，未开始移动。\n为完成抓取纸杯放在桌面上的任务应当：爪夹向爪夹右前方的纸杯移动，同时调整爪夹的角度使其垂直与桌面，并移动到纸杯的正上方。", + "time": 0.7921683731092812 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取纸杯。抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹垂直向下移动，靠近了纸杯，方便抓取。", + "frame": 105, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了纸杯。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了纸杯。准备抓取纸杯。\n为完成抓取纸杯放在桌面上的任务应当：爪夹合拢抓取纸杯。抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近。", + "time": 3.487399 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到纸杯。", + "frame": 150, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到纸杯。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到纸杯，爪夹角度与桌面接近垂直。\n为完成抓取纸杯放在桌面上的任务应当：抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近。", + "time": 4.996133 + }, + { + "action_description": "爪夹张开，纸杯落在桌面上。", + "correction_plan": "爪夹合拢抓取纸杯。抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹张开，纸杯未分离，纸杯落在桌面上。需要重新抓取。", + "frame": 216, + "progress": 30, + "progress_explanation": "爪夹张开，纸杯未分离，纸杯落在桌面上。需要重新抓取。因此进度降低为30%", + "state_description": "爪夹张开，纸杯未分离，纸杯落在桌面上。\n为完成抓取纸杯放在桌面上的任务应当：爪夹合拢抓取纸杯。抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近。", + "time": 7.208751777152993 + }, + { + "action_description": "爪夹重新合拢，抓取纸杯", + "correction_plan": "抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到纸杯。", + "frame": 278, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到纸杯。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到纸杯，爪夹角度与桌面接近垂直。\n为完成抓取纸杯放在桌面上的任务应当：抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近。", + "time": 9.274999 + }, + { + "action_description": "爪夹再次张开，纸杯重新落在桌面上。", + "correction_plan": "爪夹合拢抓取纸杯。抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹张开，纸杯未分离，纸杯落在桌面上。需要重新抓取。", + "frame": 399, + "progress": 30, + "progress_explanation": "爪夹张开，纸杯未分离，纸杯落在桌面上。需要重新抓取。因此进度降低为30%", + "state_description": "爪夹张开，纸杯未分离，纸杯落在桌面上。\n为完成抓取纸杯放在桌面上的任务应当：爪夹合拢抓取纸杯。抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近。", + "time": 13.308466864947631 + }, + { + "action_description": "爪夹再次重新合拢，抓取纸杯", + "correction_plan": "抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到纸杯。", + "frame": 472, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到纸杯。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到纸杯，爪夹角度与桌面接近垂直。\n为完成抓取纸杯放在桌面上的任务应当：抓紧纸杯垂直升高爪夹并向爪夹右前方的桌面接近。", + "time": 15.730399 + }, + { + "action_description": "爪夹夹紧纸杯，向爪夹右前方移动。", + "correction_plan": "爪夹水平到达桌面的正上方后，爪夹下降至合适的位置，松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹移动到了桌面正上方，方便将纸杯分离并放在桌面上。", + "frame": 533, + "progress": 60, + "progress_explanation": "爪夹夹紧纸杯，到了爪夹右前方的桌面正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧纸杯，爪夹角度接近垂直于桌面，位于桌面正上方。\n为完成抓取纸杯放在桌面上的任务应当：爪夹水平到达桌面的正上方后，爪夹下降至合适的位置", + "time": 17.783266 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使纸杯落在桌面上。", + "error_success_analysis": "爪夹夹紧纸杯，爪夹角度接近垂直于桌面。方便将纸杯放在桌面上。", + "frame": 612, + "progress": 80, + "progress_explanation": "爪夹夹紧纸杯，爪夹角度接近垂直于桌面。因此进度提升为 80%。", + "state_description": "爪夹夹紧纸杯，爪夹角度接近垂直于桌面。\n为完成抓取纸杯放在桌面上的任务应当：松开爪夹，使纸杯落在桌面上。", + "time": 20.404999 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取纸杯放在桌面上的任务目标完成。", + "error_success_analysis": "爪夹张开，纸杯落在桌面上。", + "frame": 742, + "progress": 100, + "progress_explanation": "爪夹张开，纸杯落在桌面上，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取纸杯放在桌面上的任务目标完成。", + "time": 24.733333 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767173782610", + "name": "纸杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1767173782893", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767173791628", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767173791804", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001722.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001722.json new file mode 100644 index 0000000000000000000000000000000000000000..681632ce9df5dd471f1f7cce0207356f377f7514 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001722.json @@ -0,0 +1,120 @@ +{ + "task_description": "抓取抹布放在桌面上：\n准备开始移动：0%\n爪夹靠近抹布：20%\n爪夹抓取抹布：40%\n爪夹抓紧抹布接近桌面：60%\n爪夹将抹布放在桌面：80%\n爪夹松开抹布放在桌面：100%", + "progress_points": [ + { + "time": 0.408, + "frame": 12, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离抹布，未开始移动。\n为完成抓取抹布放在桌面的任务应当：爪夹向爪夹前方的抹布移动，同时调整爪夹的角度使其垂直于桌面，并移动到抹布的正上方。", + "progress_explanation": "当前为初始状态，远离抹布，未开始移动。进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹前方的抹布移动，同时调整爪夹的角度使其垂直于桌面，并移动到抹布的正上方。接着落下爪夹靠抹布，接近抹布后爪夹合拢抓取抹布。抓紧抹布垂直升高并向爪夹前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。" + }, + { + "time": 3.397578003416708, + "frame": 102, + "progress": 5, + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "state_description": "爪夹张开爪夹接近垂直于桌面，还未接近抹布。\n为完成抓取抹布放在桌面的任务应当：爪夹向爪夹前方的抹布移动，同时调整爪夹的角度使其垂直于桌面，并移动到抹布的正上方。", + "progress_explanation": "爪夹向爪夹正前方移动，方便抓取。因此进度提升为 5%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，水平上未接近蓝色方块。", + "correction_plan": "爪夹向爪夹前方的抹布移动，同时调整爪夹的角度使其垂直于桌面，并移动到抹布的正上方。接着落下爪夹靠抹布，接近抹布后爪夹合拢抓取抹布。抓紧抹布垂直升高并向爪夹前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。" + }, + { + "time": 6.337791462684898, + "frame": 190, + "progress": 15, + "action_description": "爪夹向爪夹前方移动", + "state_description": "爪夹张开，水平上接近了抹布。\n为完成抓取抹布放在桌面的任务应当：爪夹向爪夹前方的抹布移动，同时调整爪夹的角度使其垂直于桌面，并移动到抹布的正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了蓝色方块。更加方便抓取。因此进度提升为 15%。", + "error_success_analysis": "爪夹角度与桌面接近垂直，缩短了抹布之间的距离。方便后续抓取抹布。", + "correction_plan": "爪夹向爪夹前方的抹布移动，同时调整爪夹的角度使其垂直于桌面，并移动到抹布的正上方。接着落下爪夹靠抹布，接近抹布后爪夹合拢抓取抹布。抓紧抹布垂直升高并向爪夹前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。" + }, + { + "time": 8.624624153226822, + "frame": 259, + "progress": 20, + "action_description": "爪夹向爪夹正前方移动并垂直向下移动，调整爪夹角度。", + "state_description": "爪夹角度接近垂直于桌面，靠近了抹布，准备抓取抹布。\n为完成抓取抹布放在桌面的任务应当：爪夹合拢抓取抹布，抓紧抹布垂直升高并向爪夹前方的桌面接近", + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了抹布。方便抓取，因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了抹布，方便抓取。", + "correction_plan": "爪夹合拢抓取抹布。抓紧抹布垂直升高并向爪夹前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。" + }, + { + "time": 12.586799, + "frame": 378, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到抹布，爪夹角度与桌面接近垂直。\n为完成抓取抹布放在桌面的任务应当：抓紧抹布垂直升高并向爪夹前方的桌面接近", + "progress_explanation": "爪夹合拢抓取到抹布，因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到抹布。", + "correction_plan": "抓紧抹布垂直升高并向爪夹前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。" + }, + { + "time": 15.5856, + "frame": 468, + "progress": 50, + "action_description": "爪夹夹紧抹布，垂直升高爪夹。", + "state_description": "爪夹合拢夹紧抹布 ，水平上接近了抹布。\n为完成抓取抹布放在桌面的任务应当：继续向爪夹正前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。", + "progress_explanation": "爪夹合拢夹紧抹布，垂直升高并向爪夹前边的桌面接近，缩短了与桌面的距离，因此进度提升为50%", + "error_success_analysis": "爪夹合拢继续夹紧抹布，水平上接近了抹布。更加方便接近桌面。", + "correction_plan": "继续向爪夹正前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。" + }, + { + "time": 17.575940684776644, + "frame": 527, + "progress": 60, + "action_description": "爪夹夹紧抹布，向爪夹正前方移动", + "state_description": "爪夹夹紧抹布，爪夹角度接近垂直于桌面，位于 桌面正上方。\n为完成抓取抹布放在桌面的任务应当：垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。", + "progress_explanation": "爪夹夹紧抹布，到了爪夹正前方的桌面的正上方，方便将抹布放在桌面上。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了桌面正上方，水平上接近了桌面。更加方便接近桌面。", + "correction_plan": "垂直向下移动到合适位置，松开爪夹，使抹布落在桌面上。" + }, + { + "time": 18.6048, + "frame": 558, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动。", + "state_description": "爪夹夹紧抹布，爪夹角度接近垂直于桌面，垂直向下移动。\n为完成抓取抹布放在桌面的任务应当：松开爪夹，使抹布落在桌面上。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降到合适位置。因此进度提升为80%", + "error_success_analysis": "爪夹垂直下降到合适的位置，方便抹布落在桌面上。", + "correction_plan": "松开爪夹，使抹布落在桌面上。" + }, + { + "time": 20.4, + "frame": 612, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开抹布落在桌面的任务完成。", + "progress_explanation": "爪夹张开，抹布落在桌面上，任务完成，因此进度提升为100%", + "error_success_analysis": "爪夹张开，抹布落在桌面上。", + "correction_plan": "爪夹松开抹布落在桌面的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767668640131", + "name": "抹布", + "color": "#4CAF50" + }, + { + "id": "bbox_1767668640313", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767668641225", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767668641423", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001991.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001991.json new file mode 100644 index 0000000000000000000000000000000000000000..e4d415c48b4f4bd58b9702fe8bacdd1bc97a6d96 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001991.json @@ -0,0 +1,110 @@ +{ + "task_description": "抓取黑色杯子放在桌面右边：\n准备开始移动：0%\n爪夹靠近黑色杯子：20%\n爪夹抓取黑色杯子：40%\n爪夹抓取黑色杯子靠近桌面右边：60%\n爪夹将黑色杯子放在桌面右边：80%\n爪夹松开黑色杯子落在桌面右边：100%", + "progress_points": [ + { + "time": 0.736333, + "frame": 22, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离黑色杯子，未开始移动。\n为完成抓取黑色杯子放在桌面右边的任务应当：爪夹向爪夹左前方的黑色杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色杯子的正上方。", + "progress_explanation": "当前为初始状态，远离黑色杯子，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左前方的黑色杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色杯子的正上方。接着落下爪夹靠近黑色杯子，接近黑色杯子后爪夹合拢抓取黑色杯子。抓紧黑色杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使黑色杯子落在桌面上。" + }, + { + "time": 1.8565820977596492, + "frame": 56, + "progress": 5, + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "state_description": "爪夹张开，还未接近蓝色方块。\n为完成抓取黑色杯子放在桌面右边的任务应当：爪夹向爪夹左前方的黑色杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色杯子的正上方。", + "progress_explanation": "爪夹向爪夹正前方移动，方便抓取。因此进度提升为5%", + "error_success_analysis": "爪夹向爪夹正前方移动，水平上未接近黑色杯子。", + "correction_plan": "爪夹向爪夹左前方的黑色杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色杯子的正上方。接着落下爪夹靠近黑色杯子，接近黑色杯子后爪夹合拢抓取黑色杯子。抓紧黑色杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使黑色杯子落在桌面上。" + }, + { + "time": 3.4120981113037194, + "frame": 102, + "progress": 15, + "action_description": "爪夹向爪夹左前方移动。", + "state_description": "爪夹张开，水平上接近了黑色杯子。\n为完成抓取黑色杯子放在桌面右边的任务应当：爪夹向爪夹左前方的黑色杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色杯子的正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了蓝色方块。更加方便抓取。因此进度提升为 15%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了与黑色杯子之间的距离。方便后续抓取黑色杯子。", + "correction_plan": "爪夹向爪夹左前方的黑色杯子移动，同时调整爪夹的角度使其垂直于桌面，并移动到黑色杯子的正上方。接着落下爪夹靠近黑色杯子，接近黑色杯子后爪夹合拢抓取黑色杯子。抓紧黑色杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使黑色杯子落在桌面上。" + }, + { + "time": 5.107333, + "frame": 153, + "progress": 20, + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度\n", + "state_description": "爪夹角度接近垂直于桌面，靠近了黑色杯子。准备抓取黑色杯子。\n为完成抓取黑色杯子放在桌面右边的任务应当：爪夹合拢抓取黑色杯子。抓紧黑色杯子垂直升高爪夹并向爪夹右前方的桌面接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了黑色杯子。方便抓取。因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了黑色杯子，方便抓取。", + "correction_plan": "爪夹合拢抓取黑色杯子。抓紧黑色杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使黑色杯子落在桌面上。" + }, + { + "time": 8.366, + "frame": 251, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到黑色杯子，爪夹角度与桌面接近垂直。\n为完成抓取黑色杯子放在桌面右边的任务应当：抓紧黑色杯子垂直升高爪夹并向爪夹右前方的桌面接近。", + "progress_explanation": "爪夹合拢抓取到黑色杯子。因此进度提升为 40%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到黑色杯子。", + "correction_plan": "抓紧黑色杯子垂直升高爪夹并向爪夹右前方的桌面接近，水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使黑色杯子落在桌面上。" + }, + { + "time": 10.183333, + "frame": 305, + "progress": 60, + "action_description": "爪夹夹紧黑色杯子，向爪夹右前方移动。", + "state_description": "爪夹夹紧黑色杯子，爪夹角度接近垂直于桌面，位于桌面正上方。\n为完成抓取黑色杯子放在桌面右边的任务应当：爪夹水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使黑色杯子落在桌面上。", + "progress_explanation": "爪夹夹紧黑色杯子，到了爪夹右前方的桌面正上方，方便黑色杯子落在桌面上。因此进度提升为60%", + "error_success_analysis": "爪夹移动到桌面正上方，方便黑色杯子落在桌面上。", + "correction_plan": "爪夹水平到达桌面正上方后，垂直向下移动到合适位置，松开爪夹，使黑色杯子落在桌面上。" + }, + { + "time": 12.141666, + "frame": 364, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧黑色杯子，爪夹角度接近垂直云桌面，黑色杯子落在桌面上。\n为完成抓取黑色杯子放在桌面右边的任务应当：松开爪夹，使黑色杯子落在桌面上。", + "progress_explanation": "爪夹角度接近垂直于桌面，黑色杯子落在桌面上。因此进度提升为80%", + "error_success_analysis": "爪夹角度接近垂直于桌面，垂直向下移动到合适位置，方便黑色杯子落在桌面上。", + "correction_plan": "松开爪夹，使黑色杯子落在桌面上。" + }, + { + "time": 14.1987007651261, + "frame": 426, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取黑色杯子放在桌面右边的任务完成。", + "progress_explanation": "爪夹张开，黑色杯子落在桌面上，任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，黑色杯子落在桌面上。", + "correction_plan": "爪夹抓取黑色杯子放在桌面右边的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767504258194", + "name": "黑色杯子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767504258423", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767504268294", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767504268477", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001033.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001033.json new file mode 100644 index 0000000000000000000000000000000000000000..a312e3c7b2a86ce006ca1d90fe07515f012ef333 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001033.json @@ -0,0 +1,110 @@ +{ + "task_description": "抓取白色物品放入黄色布袋里：\n准备开始移动：0%\n爪夹靠近白色物品：20%\n爪夹抓取白色物品：40%\n爪夹抓紧白色物品接近黄色布袋：60%\n爪夹将白色物品放入黄色布袋：80%\n爪夹松开白色物品落入黄色布袋：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹前方的白色物品移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色物品的正上方。接着落下爪夹靠近白色物品，接近白色物品后爪夹合拢抓取白色物品。抓紧白色物品垂直升高爪夹并向爪夹前方的黄色布袋接近，水平到达黄色布袋正上方后，垂直向下到达合适的位置，松开爪夹，使白色物品落入黄色布袋。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "当前为初始状态，远离白色物品，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离白色物品，未开始移动。\n为完成抓取白色物品放入黄色布袋的任务应当：爪夹向爪夹前方的白色物品移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色物品的正上方。", + "time": 0.7234153743850247 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹前方的白色物品移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色物品的正上方。接着落下爪夹靠近白色物品，接近白色物品后爪夹合拢抓取白色物品。抓紧白色物品垂直升高爪夹并向爪夹前方的黄色布袋接近，水平到达黄色布袋正上方后，垂直向下到达合适的位置，松开爪夹，使白色物品落入黄色布袋。", + "error_success_analysis": "爪夹的角度接近垂直于桌面，水平上未接近白色物品。", + "frame": 55, + "progress": 5, + "progress_explanation": "爪夹向正前方移动，方便抓取。因此进度提升为5%", + "state_description": "爪夹张开，还未接近白色物品。\n为完成抓取白色物品放入黄色布袋的任务应当：爪夹向爪夹前方的白色物品移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色物品的正上方。", + "time": 1.8414225038377863 + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "爪夹向爪夹前方的白色物品移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色物品的正上方。接着落下爪夹靠近白色物品，接近白色物品后爪夹合拢抓取白色物品。抓紧白色物品垂直升高爪夹并向爪夹前方的黄色布袋接近，水平到达黄色布袋正上方后，垂直向下到达合适的位置，松开爪夹，使白色物品落入黄色布袋。", + "error_success_analysis": "爪夹的角度接近垂直于桌面，缩短了白色物品质检的距离，方便后续抓取白色物品。", + "frame": 97, + "progress": 15, + "progress_explanation": "爪夹角度与桌面垂直，方便抓取。因此进度提升为15%", + "state_description": "爪夹张开，爪夹的角度接近垂直于桌面，水平上接近了白色物品。\n为完成抓取白色物品放入黄色布袋的任务应当：爪夹向爪夹前方的白色物品移动，同时调整爪夹的角度使其垂直于桌面，并移动到白色物品的正上方。", + "time": 3.2224901343382566 + }, + { + "action_description": "爪夹向爪夹前方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取白色物品。抓紧白色物品垂直升高爪夹并向爪夹前方的黄色布袋接近，水平到达黄色布袋正上方后，垂直向下到达合适的位置，松开爪夹，使白色物品落入黄色布袋。", + "error_success_analysis": "爪夹垂直向下移动，靠近了白色物品，方便抓取。", + "frame": 140, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了白色物品。方便抓取，因此进度为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了白色物品，准备抓取白色物品。\n为完成抓取白色物品放入黄色布袋的任务应当：爪夹合拢抓取白色物品。抓紧白色物品垂直升高爪夹并向爪夹前方的黄色布袋接近。", + "time": 4.669322890100655 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧白色物品垂直升高爪夹并向爪夹前方的黄色布袋接近，水平到达黄色布袋正上方后，垂直向下到达合适的位置，松开爪夹，使白色物品落入黄色布袋。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到白色物品。", + "frame": 191, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到白色物品。因此进度提升为40%", + "state_description": "爪夹合拢抓取到白色物品，爪夹角度与桌面接近垂直。\n为完成抓取白色物品放入黄色布袋的任务应当：抓紧白色物品垂直升高爪夹并向爪夹前方的黄色布袋接近。", + "time": 6.3756 + }, + { + "action_description": "爪夹夹紧白色物品，向爪夹前方的黄色布袋移动。", + "correction_plan": "爪夹水平到达黄色布袋正上方后，垂直向下到达合适的位置，松开爪夹，使白色物品落入黄色布袋。", + "error_success_analysis": "爪夹移动到了黄色布袋正上方，方便白色物品落入黄色布袋里。", + "frame": 213, + "progress": 60, + "progress_explanation": "爪夹夹紧白色物品，到了爪夹正前方的黄色布袋正上方，方便白色物品落入黄色布袋。因此进度提升为60%", + "state_description": "爪夹夹紧白色物品，爪夹角度接近垂直于桌面，位于黄色布袋正上方。\n为完成抓取白色物品放入黄色布袋的任务应当：爪夹水平到达黄色布袋正上方后，垂直向下到达合适的位置，松开爪夹，使白色物品落入黄色布袋。", + "time": 7.102632524791958 + }, + { + "action_description": "爪夹调整角度，垂直向下移动。", + "correction_plan": "松开爪夹，使白色物品落入黄色布袋。", + "error_success_analysis": "爪夹垂直下降到合适的位置，方便白色物品落入黄色布袋里。", + "frame": 260, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降到合适的位置，方便白色物品落入黄色布袋。因此进度提升为80%", + "state_description": "爪夹夹紧白色物品，爪夹角度接近垂直于桌面，爪夹垂直下降到合适位置停止。\n为完成抓取白色物品放入黄色布袋的任务应当：松开爪夹，使白色物品落入黄色布袋。", + "time": 8.665066 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取白色物品放入黄色布袋的任务完成。", + "error_success_analysis": "爪夹张开，白色物品落入黄色布袋。", + "frame": 308, + "progress": 100, + "progress_explanation": "爪夹张开，白色物品落入黄色布袋，任务完成，因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开白色物品落入黄色布袋的任务目标完成。", + "time": 10.266667 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767511859377", + "name": "白色物品", + "color": "#4CAF50" + }, + { + "id": "bbox_1767511859568", + "name": "黄色布袋", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767512162446", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767512162639", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001637.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001637.json new file mode 100644 index 0000000000000000000000000000000000000000..9cf12d509e124cb2212364079f467000ebec6abb --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001637.json @@ -0,0 +1,136 @@ +{ + "task_description": "抓取玩具放在桌面上：\n准备开始移动：0%\n爪夹靠近玩具：20%\n爪夹抓取玩具：40%\n爪夹抓紧玩具接近桌面：60%\n爪夹将玩具放在桌面：80%\n爪夹松开玩具落在桌面：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的玩具移动，同时调整爪夹的角度使其垂直于桌面，并移动到玩具的正上方。接着落下爪夹靠近玩具，接近玩具后爪夹合拢抓取玩具。抓紧玩具垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适位置后，松开爪夹，使玩具落在桌面上。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "当前为初始状态，远离玩具，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离玩具，未开始移动。\n为完成抓取玩具放在桌面上的任务应当：爪夹向爪夹右前方的玩具移动，同时调整爪夹的角度使其垂直于桌面，并移动到玩具的正上方。", + "time": 1.4092520572709257, + "annotations": { + "point_1767516968463": { + "type": "point", + "instances": [ + { + "id": "point_1767516968463_1767516987635_buxisobl0", + "x": 0.6228132083194613, + "y": 0.1954511367002211 + } + ] + }, + "point_1767516968653": { + "type": "point", + "instances": [ + { + "id": "point_1767516968653_1767516990583_ax6327bnj", + "x": 0.7368494458995964, + "y": 0.20584824843030364 + } + ] + }, + "bbox_1767516958727": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767516958727_1767516994058_9rxhp5mr5", + "x": 0.5584850742998978, + "y": 0.5853428265783148, + "width": 0.05555611574416845, + "height": 0.12996389662603122 + } + ] + }, + "bbox_1767516958902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767516958902_1767516998243_c6nduz32j", + "x": 0.41228476970998107, + "y": 0.6789168321490574, + "width": 0.14912431068171506, + "height": 0.20794223460165007 + } + ] + } + } + }, + { + "time": 2.326666, + "frame": 70, + "progress": 20, + "action_description": "爪夹向爪夹移动并垂直向下移动，调整爪夹角度。", + "state_description": "爪夹角度接近垂直于桌面，靠近了玩具。准备抓取玩具。\n为完成抓取玩具放在桌面上的任务应当：爪夹合拢抓取玩具。抓紧玩具垂直升高爪夹并向爪夹左前方的桌面接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了玩具。方便抓取，因此进度提升为 20%。", + "error_success_analysis": "爪夹垂直向下移动，靠近了玩具，方便抓取。", + "correction_plan": "爪夹合拢抓取玩具。抓紧玩具垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适位置后，松开爪夹，使玩具落在桌面上。" + }, + { + "time": 3.633333, + "frame": 109, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹角度接近垂直于桌面，靠近了玩具。准备抓取玩具。\n为完成抓取玩具放在桌面上的任务应当：爪夹抓紧玩具垂直升高爪夹并向爪夹左前方的桌面接近。", + "progress_explanation": "爪夹合拢抓取到玩具。因此进度提升为 40%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到玩具。\n", + "correction_plan": "抓紧玩具垂直升高爪夹并向爪夹左前方的桌面接近，水平到达桌面的正上方后，爪夹下降至合适位置后，松开爪夹，使玩具落在桌面上。" + }, + { + "time": 4.793333, + "frame": 144, + "progress": 60, + "action_description": "爪夹夹紧玩具，向爪夹左前方移动。", + "state_description": "爪夹夹紧玩具，爪夹角度接近垂直于桌面，位于桌面正上方。\n为完成抓取玩具放在桌面上的任务应当：爪夹水平到达桌面的正上方后，爪夹下降至合适位置后，松开爪夹，使玩具落在桌面上。", + "progress_explanation": "爪夹夹紧玩具，到了爪夹左前方桌面的正上方，方便玩具落在桌面上。因此进度提升为60%", + "error_success_analysis": "爪夹夹紧玩具，到了爪夹左前方桌面的正上方，方便玩具落在桌面上。", + "correction_plan": "爪夹水平到达桌面的正上方后，爪夹下降至合适位置后，松开爪夹，使玩具落在桌面上。" + }, + { + "time": 5.646666, + "frame": 169, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧玩具，爪夹的角度接近垂直于桌面，位于桌面正上方。\n为完成抓取玩具放在桌面上的任务应当：松开爪夹，使玩具落在桌面上。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹下降至合适的位置。方便玩具落在桌面上。因此进度提升为80%", + "error_success_analysis": "爪夹下降至合适的位置。方便玩具落在桌面上", + "correction_plan": "松开爪夹，使玩具落在桌面上。" + }, + { + "time": 6.666667, + "frame": 200, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取玩具放在桌面上的任务完成。", + "progress_explanation": "爪夹张开，玩具落在桌面上。任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，玩具落在桌面上。", + "correction_plan": "爪夹抓取玩具放在桌面上的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767516958727", + "name": "玩具", + "color": "#4CAF50" + }, + { + "id": "bbox_1767516958902", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767516968463", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767516968653", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002728.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002728.json new file mode 100644 index 0000000000000000000000000000000000000000..9559023e817748dce9807cfc7a9221a305da02c1 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002728.json @@ -0,0 +1,385 @@ +{ + "task_description": "将抽屉合上\n爪夹准备移动：0\n爪夹接近抽屉：25%\n爪夹紧挨着抽屉：50%\n爪夹紧挨着抽屉向前推动：75%\n爪夹向后移动远离抽屉：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向后方移动并下降，接近抽屉，爪夹继续下降，随后紧挨着抽屉，爪夹推动抽屉向前移动，爪夹向后移动远离抽屉，抽屉合上。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "爪夹没有移动，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，没有移动，为完成将抽屉合上的任务，应当：爪夹向后方移动并下降，接近抽屉。", + "time": 1.2666666666666666, + "annotations": { + "point_1768296101344": { + "type": "point", + "instances": [ + { + "id": "point_1768296101344_1768296224974_lfn899tu0", + "x": 0.5499297552150126, + "y": 0.34048127466334893 + } + ] + }, + "point_1768296106496": { + "type": "point", + "instances": [ + { + "id": "point_1768296106496_1768296227911_t7hja3cip", + "x": 0.5800411853821976, + "y": 0.4052826802942126 + } + ] + }, + "bbox_1768296095713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768296095713_1768296232758_32ern37ca", + "x": 0.4754435858540817, + "y": 0.41655248996914546, + "width": 0.19493189002967065, + "height": 0.40289569587884827 + } + ] + } + } + }, + { + "action_description": "爪夹向正后方移动，随后下降。", + "correction_plan": "爪夹向后方移动并下降，接近抽屉，爪夹继续下降，随后紧挨着抽屉，爪夹推动抽屉向前移动，爪夹向后移动远离抽屉，抽屉合上。", + "error_success_analysis": "爪夹向正后方移动并下降，缩短了与抽屉的距离。", + "frame": 145, + "progress": 15, + "progress_explanation": "爪夹向正后方移动并下降，缩短了与抽屉的距离，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，在抽屉正上方，为完成将抽屉合上的任务，应当：爪夹向正后方移动并下降。", + "time": 4.823510947988523, + "annotations": { + "point_1768296106496": { + "type": "point", + "instances": [ + { + "id": "point_1768296106496_1768296212350_4r7gefje9", + "x": 0.516648700819703, + "y": 0.5320680391372068 + } + ] + }, + "bbox_1768296095713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768296095713_1768296220256_4txxo120x", + "x": 0.46276508894158275, + "y": 0.41091758513167903, + "width": 0.21394963539841907, + "height": 0.39444333862264863 + } + ] + } + } + }, + { + "action_description": "爪夹继续向正后方移动并下降", + "correction_plan": "爪夹继续下降，随后紧挨着抽屉，爪夹推动抽屉向前移动，爪夹向后移动远离抽屉，抽屉合上。", + "error_success_analysis": "爪夹向正后方移动并下降，接近了抽屉。", + "frame": 188, + "progress": 25, + "progress_explanation": "爪夹向正后方移动并下降，接近了抽屉，因此任务进度提升为25%。", + "state_description": "爪夹当前为张开的状态，接近抽屉，为完成将抽屉合上的任务，应当：爪夹继续下降，随后紧挨着抽屉。", + "time": 6.276375958454473, + "annotations": { + "point_1768296106496": { + "type": "point", + "instances": [ + { + "id": "point_1768296106496_1768296197415_lka3jznoa", + "x": 0.5071398281353289, + "y": 0.6025043496055369 + } + ] + }, + "bbox_1768296095713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768296095713_1768296203046_1yvk302o8", + "x": 0.4659347131697074, + "y": 0.41091758513167903, + "width": 0.21553444751248155, + "height": 0.39444333862264863 + } + ] + } + } + }, + { + "time": 7.667866, + "frame": 230, + "progress": 40, + "action_description": "爪夹继续下降", + "state_description": "爪夹当前为张开的状态，更加接近抽屉，为完成将抽屉合上的任务，应当：爪夹下降，随后紧挨着抽屉。", + "progress_explanation": "爪夹下降，更加接近抽屉，因此任务进度提升为40%。", + "error_success_analysis": "爪夹下降，更加接近抽屉，方便推动抽屉。", + "correction_plan": "爪夹继续下降，随后紧挨着抽屉，爪夹推动抽屉向前移动，爪夹向后移动远离抽屉，抽屉合上。", + "annotations": { + "bbox_1768296095713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768296095713_1768296189599_bis4gpemy", + "x": 0.4691043373978322, + "y": 0.41655248996914546, + "width": 0.1996863263718578, + "height": 0.385990981366449 + } + ] + }, + "point_1768296106496": { + "type": "point", + "instances": [ + { + "id": "point_1768296106496_1768296192206_xvp84auvr", + "x": 0.4928765191087677, + "y": 0.630678873792869 + } + ] + } + } + }, + { + "action_description": "爪夹下降，随后轻微向前移动。", + "correction_plan": "爪夹推动抽屉向前移动，爪夹向后移动远离抽屉，抽屉合上。", + "error_success_analysis": "爪夹下降并向前移动，紧挨着抽屉，更加方便推动抽屉。", + "frame": 135, + "progress": 50, + "progress_explanation": "爪夹下降并向前移动，紧挨着抽屉，因此任务进度提升为50%。", + "state_description": "爪夹当前为张开状态，紧挨着抽屉，为完成将抽屉合上的任务，应当：爪夹紧挨着抽屉向正前方移动，使抽屉合上。", + "time": 9, + "annotations": { + "point_1768296106496": { + "type": "point", + "instances": [ + { + "id": "point_1768296106496_1768296176335_3dia18kxl", + "x": 0.5087246402493912, + "y": 0.6560359455614678 + } + ] + }, + "bbox_1768296095713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768296095713_1768296183241_m25rh5s4a", + "x": 0.46276508894158275, + "y": 0.39119541820054665, + "width": 0.21553444751248146, + "height": 0.4085306007163146 + } + ] + } + } + }, + { + "action_description": "爪夹紧挨着抽屉向正前方移动", + "correction_plan": "爪夹继续推动抽屉向前移动，爪夹向后移动远离抽屉，抽屉合上。", + "error_success_analysis": "爪夹向正前方移动，抽屉合上一小部分，需继续向前推动抽屉。", + "frame": 315, + "progress": 60, + "progress_explanation": "爪夹向正前方移动，抽屉合上一小部分，因此任务进度提升为60%。", + "state_description": "爪夹当前为张开状态，紧挨着抽屉，为完成将抽屉合上的任务，应当：爪夹继续向前移动，使抽屉合上", + "time": 10.489684488805725, + "annotations": { + "bbox_1768296095713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768296095713_1768296169687_nk36gzcgn", + "x": 0.477028397968144, + "y": 0.39119541820054665, + "width": 0.19334707791560835, + "height": 0.3803560765289825 + } + ] + }, + "point_1768296106496": { + "type": "point", + "instances": [ + { + "id": "point_1768296106496_1768296172343_msdru3abg", + "x": 0.5499297552150126, + "y": 0.6222265165366694 + } + ] + } + } + }, + { + "action_description": "爪夹继续推动抽屉向前移动", + "correction_plan": "爪夹继续推动抽屉向前移动，爪夹向后移动远离抽屉，抽屉合上。", + "error_success_analysis": "爪夹向正前方移动，抽屉合上了一半。", + "frame": 359, + "progress": 75, + "progress_explanation": "爪夹向正前方移动，抽屉合上了一半，因此任务进度提升为75%。", + "state_description": "爪夹当前为张开状态，紧挨着抽屉，为完成将抽屉合上的任务，应当：爪夹继续向前移动，使抽屉合上。", + "time": 11.971606799480993, + "annotations": { + "point_1768296106496": { + "type": "point", + "instances": [ + { + "id": 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"task_description": "从水槽中取出蓝色小包，放在台面的左侧\n爪夹准备移动：0\n爪夹接近蓝色小包：25%\n爪夹抓取蓝色小包：50%\n爪夹夹住蓝色小包接近台面：75%\n爪夹松开，蓝色小包放在台面的左侧：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向正前方移动，随后下降，接近蓝色小包；爪夹下降合拢抓取蓝色小包，爪夹夹住蓝色小包向上抬升，随后向左后方移动远离水槽，爪夹向左后方移动接近台面，爪夹松开，蓝色小包放在台面的左侧。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "爪夹没有移动，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，没有移动，为完成从水槽中取出蓝色小包，放在台面的左侧的任务，应当：爪夹向正前方移动，随后下降，接近蓝色小包。", + "time": 0.45959245199848103, + "annotations": { + "point_1768291428561": { + "type": "point", + "instances": [ + { + "id": "point_1768291428561_1768291551397_rngaypf8n", + "x": 0.7321831483321846, + "y": 0.5264331342997404 + } + ] + }, + "point_1768291417784": { + "type": "point", + "instances": [ + { + "id": "point_1768291417784_1768291554045_ey5b1wnfv", + "x": 0.6925628454806254, + "y": 0.5658774681620053 + } + ] + }, + "bbox_1768291408761": { + "type": "bbox", + "instances": [ + { + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002318.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002318.json new file mode 100644 index 0000000000000000000000000000000000000000..e3414836dfea3c96121e87b1afdddbc3a22181ed --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002318.json @@ -0,0 +1,468 @@ +{ + "task_description": "将盘子里的东西倒到另一个盘子里\n爪夹准备移动：0\n爪夹接近盘子：20%\n爪夹抓取盘子：40%\n爪夹夹住盘子接近另一个盘子：60%\n爪夹夹住盘子将东西倒进另一个盘子：80%\n爪夹夹住盘子接近台面：90%\n爪夹松开，盘子落到台面上：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1768288824535": { + "instances": [ + { + "height": 0.32400702815431853, + "id": "bbox_1768288824535_1768289054627_ooe2oul55", + "width": 0.29160542898747494, + "x": 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"action_description": "爪夹合拢抓住盘子", + "annotations": { + "bbox_1768288824535": { + "instances": [ + { + "height": 0.7438074385455657, + "id": "bbox_1768288824535_1768289004859_gzpoej69b", + "width": 0.3835245316030921, + "x": 0.5863804338384471, + "y": 0.12353743842089222 + } + ], + "type": "bbox" + }, + "point_1768288840344": { + "instances": [ + { + "id": "point_1768288840344_1768289007219_czrdg8p1y", + "x": 0.6038133670931332, + "y": 0.5602425633245389 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹住盘子向上抬升，随后向左侧移动，接近另一个盘子，爪夹移动至另一个盘子正上方，调整角度；爪夹向右侧移动接近台面，随后下降，爪夹松开，盘子落到台面上。", + "error_success_analysis": "爪夹角度接近垂直台面，方便成功抓取盘子。", + "frame": 121, + "progress": 40, + "progress_explanation": "爪夹合拢成功抓住盘子，因此任务进度提升为40%。", + "state_description": "当前爪夹为合拢的状态，夹住盘子，为完成将盘子里的东西倒到另一个盘子里的任务，应当：爪夹向上抬升，随后向左侧移动，接近另一个盘子。", + "time": 4.044176381549823 + }, + { + "action_description": "爪夹向上抬升", + "annotations": { + "bbox_1768288824535": { + "instances": [ + { + "height": 0.7663470578954314, + 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"爪夹向左侧移动。", + "annotations": { + "bbox_1768288824535": { + "instances": [ + { + "height": 0.7494423433830324, + "id": "bbox_1768288824535_1768288962653_beqhy8z6m", + "width": 0.3819397194890297, + "x": 0.5879652459525094, + "y": 0.13198979567709182 + } + ], + "type": "bbox" + }, + "point_1768288840344": { + "instances": [ + { + "id": "point_1768288840344_1768288964780_gkz44fvbg", + "x": 0.6022285549790707, + "y": 0.5630600157432721 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹轻微晃动，使盘子里的东西倒进领一个盘子，爪夹向右侧移动接近台面，随后下降，爪夹松开，盘子落到台面上。", + "error_success_analysis": "爪夹向左侧移动，在另一个盘子正上方。", + "frame": 192, + "progress": 60, + "progress_explanation": "爪夹向左侧移动，在另一个盘子正上方，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，在另一个盘子正上方，为完成将盘子里的东西倒到另一个盘子里的任务，应当：爪夹轻微晃动，使盘子里的东西倒进领一个盘子。", + "time": 6.397152166009856 + }, + { + "action_description": "爪夹轻微晃动。", + "annotations": { + "bbox_1768288824535": { + "instances": [ + { + "height": 0.7297201764518998, + "id": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002432.json new file mode 100644 index 0000000000000000000000000000000000000000..30faab911104ea4bdb4861489d9223b5994218db --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002432.json @@ -0,0 +1,573 @@ +{ + "task_description": "将透明容器的盖子取下\n爪夹准备移动：0\n爪夹接近盖子：25%\n爪夹抓取盖子：50%\n爪夹夹住盖子向外侧移动：75%\n爪夹松开，透明容器的盖子取下：100%\n\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向左侧移动，随后下降并继续向左侧移动，然后爪夹合拢抓住盖子，爪夹夹住盖子向上抬升并向右侧移动，爪夹松开，透明容器的盖子取下。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "爪夹没有移动，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，暂未移动，为完成将透明容器的盖子取下的任务，应当：爪夹向左侧移动，随后下降，接近盖子。", + "time": 0.6277254503786577, + "annotations": { + "point_1768284525585": { + "type": "point", + "instances": [ 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"盖子从爪夹之中滑落，远离了盖子，因此任务进度倒退为10%。", + "state_description": "爪夹当前为张开的状态，爪夹没有接近盖子，为完成将透明容器的盖子取下的任务，应当：爪夹向左侧移动并下降，接近盖子。", + "time": 6.245876803886286, + "annotations": { + "point_1768284530464": { + "type": "point", + "instances": [ + { + "id": "point_1768284530464_1768284651816_qcftjj4pg", + "x": 0.6782995364540642, + "y": 0.5771472778369381 + } + ] + }, + "point_1768284525585": { + "type": "point", + "instances": [ + { + "id": "point_1768284525585_1768284653949_3ta1s5xdv", + "x": 0.5229879492759525, + "y": 0.5855996350931376 + } + ] + } + } + }, + { + "action_description": "爪夹完全张开，向爪夹的左侧移动，随后向爪夹的前方移动", + "correction_plan": "爪夹向前方移动，随后下降调整角度，接近盖子；随后爪夹合拢抓住盖子，爪夹夹住盖子向上抬升并向右侧移动，爪夹松开，透明容器的盖子取下。", + "error_success_analysis": "爪夹向左侧移动，缩短了与盖子的距离。", + "frame": 214, + "progress": 15, + "progress_explanation": "爪夹向左侧移动，水平上接近了盖子，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，接近垂直桌面，为完成将透明容器的盖子取下的任务，应当：爪夹向前方移动，随后下降调整角度，接近盖子。", + "time": 7.124693775384686, + "annotations": { + "point_1768284525585": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002991.json new file mode 100644 index 0000000000000000000000000000000000000000..25bbd9276a0ec47b4af232cfb56e59678456a305 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002991.json @@ -0,0 +1,892 @@ +{ + "task_description": "将桌子上的白色物品放进左侧的黑色盒子\n爪夹准备移动：0\n爪夹接近白色物品：20%\n爪夹抓取白色物品：40%\n爪夹夹住白色物品接近黑色盒子：60%\n爪夹夹住白色物品放入黑色盒子：80%\n爪夹抬升，白色物品完全放进黑色盒子：100%\n\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹下降，随后向右后方移动，然后下降，接近白色物品，爪夹合拢抓取白色物品，爪夹夹住白色物品向上抬升，随后向爪夹的左侧移动至黑色盒子正上方，接近黑色盒子，爪夹下降，将白色物品放入盒子，随后爪夹抬升，白色物品完全放进黑色盒子。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "爪夹没有移动，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，暂未移动，为完成将桌子上的白色物品放进左侧的黑色盒子的任务，应当：爪夹下降，随后向右后方移动，接近白色物品。", + "time": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002995.json new file mode 100644 index 0000000000000000000000000000000000000000..74e5cc44175f1646172baea08a778b371dda62a9 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-002/observation.images.wrist_image_left/episode_002995.json @@ -0,0 +1,598 @@ +{ + "task_description": "将柜台上的蓝色小袋，放在左边的黑色篮子里\n爪夹准备移动：0\n爪夹接近蓝色袋子：20%\n爪夹抓取蓝色袋子：40%\n爪夹夹住蓝色袋子接近黑色篮子：60%\n爪夹夹住蓝色袋子在黑色篮子正上方：80%\n爪夹松开，蓝色袋子落入黑色篮子：100%\n\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1768270044986": { + "instances": [ + { + "height": 0.5719428410028404, + "id": "bbox_1768270044986_1768270284604_ykcvj30r4", + "width": 0.34231941663747056, + "x": 0.5958893065228212, + "y": 0.013656794090297252 + } + ], + "type": "bbox" + }, + "point_1768270033496": { + "instances": [ + { + "id": 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"point_1768270039808", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003557.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003557.json new file mode 100644 index 0000000000000000000000000000000000000000..9146a443fb5b5d98b751ce299ed80ba81767ddba --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003557.json @@ -0,0 +1,500 @@ +{ + "task_description": "把银锅里的东西拿出来，放到平底锅里\n准备开始移动：0%\n接近银锅里的物品：20%\n夹住银锅里的物品：50%\n将银锅里的物品夹起：70%\n将物品夹至平底锅上方：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动至银锅上方，向下移动，合拢爪夹，夹住物品，向上移动，向左移动，移动至平底锅上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 55, + "progress": 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+ "progress": 10, + "progress_explanation": "爪夹准备接近银锅里的物品，进度10%", + "state_description": "当前状态为爪夹准备接近银锅物品\n为了完成把银锅里的东西拿出来，放到平底锅里的任务应当：向下移动，合拢爪夹，夹住物品。", + "time": 3.8488880856927876, + "annotations": { + "bbox_1768462801369": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768462801369_1768462947547_8isdzgctr", + "x": 0.28133329581705957, + "y": 0.5559259168836805, + "width": 0.10399999365234414, + "height": 0.10133333333333339 + } + ] + }, + "point_1768462802269": { + "type": "point", + "instances": [ + { + "id": "point_1768462802269_1768462949931_6rmvi74gd", + "x": 0.40033328855387645, + "y": 0.5488148057725695 + } + ] + }, + "point_1768462802414": { + "type": "point", + "instances": [ + { + "id": "point_1768462802414_1768462953026_nkhpsr623", + "x": 0.43033328672282184, + "y": 0.5754814724392361 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住物品，向上移动，向左移动，移动至平底锅上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下正确，成功更加接近银锅里的物品", + 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}, + { + "action_description": "爪夹首先向下移动，然后向爪夹方向的前方移动至水龙头附近。", + "correction_plan": "爪夹合拢，向爪夹方向左侧推动水龙头，然后再次调整爪夹角度，再次推动水龙头至水槽中心。", + "error_success_analysis": "爪夹调整爪夹角度移动靠近水龙头，方便爪夹推动水龙头。", + "frame": 216, + "progress": 20, + "progress_explanation": "目前爪夹处于张开状态，爪夹移动靠近水龙头，方便爪夹推动水龙头，所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，靠近水龙头。\n为完成爪夹将水龙头推到水槽中心的任务应当:爪夹合拢，向抓夹方向后侧移动贴近水龙头。", + "time": 7.214752272641305, + "annotations": { + "bbox_1766980288947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766980288947_1766980374832_ez9ravpzr", + "x": 0.5096045549195408, + "y": 0.5604006548670364, + "width": 0.2146892803430438, + "height": 0.21895795441469737 + } + ] + }, + "bbox_1766980218900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766980218900_1766980378777_kfc2ovnq4", + "x": 0.6700565433864474, + "y": 0.5262512491326341, + "width": 0.033898307422585816, + "height": 0.08035154290447595 + } + ] + }, + "point_1766980300627": { + "type": "point", + "instances": [ + { + 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0000000000000000000000000000000000000000..cdfc45588828f571eec34d85d8fd4b3e8bb954e3 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004595.json @@ -0,0 +1,318 @@ +{ + "task_description": "把那支紫色的笔放进黑色的垃圾桶里。\n爪夹开始移动：0%\n爪夹靠近紫色笔：30%\n爪夹抓取紫色笔：40%\n爪夹抓取紫色笔移动靠近黑色垃圾桶：60%\n爪夹抓取紫色笔放进黑色垃圾桶里：80%\n爪夹松开，紫色笔落进黑色垃圾桶里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹首先向爪夹方向的前方移动，然后调整爪夹角度旋转使其垂直于桌面，向下移动至紫色笔上方，准备抓取紫色笔，然后抬升至空中，向抓夹方向右侧移动至黑色垃圾桶里，爪夹松开，紫色笔落入黑色垃圾桶里。", + "error_success_analysis": "", + "frame": 11, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把那支紫色的笔放进黑色的垃圾桶里的任务应当:调整爪夹角度旋转使其垂直于桌面，然后向爪夹方向的前方移动至紫色笔上方，准备抓取紫色笔。", + "time": 0.7333333333333333, + "annotations": { + "bbox_1766988431847": { + "type": "bbox", + "instances": [ + { + "id": 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"当前状态为爪夹打开，向紫色笔靠近。\n为完成把那支紫色的笔放进黑色的垃圾桶里的任务应当:爪夹向爪夹方向的前方移动至紫色笔上方，准备抓取紫色笔。", + "progress_explanation": "目前爪夹处于张开状态，向下移动靠近紫色笔，方便抓取紫色笔，所以进度为20%。", + "error_success_analysis": "爪夹处于张开状态，向下移动靠近紫色笔，方便抓取紫色笔。", + "correction_plan": "调整爪夹角度旋转使其垂直于桌面，向下移动至紫色笔上方，准备抓取紫色笔，然后抬升至空中，向抓夹方向右侧移动至黑色垃圾桶里，爪夹松开，紫色笔落入黑色垃圾桶里。", + "annotations": { + "bbox_1766988431847": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766988431847_1766988980811_xfs779ula", + "x": 0.63954806670612, + "y": 0.3116646995439459, + "width": 0.12203390672130902, + "height": 0.17878218296245924 + } + ] + }, + "point_1766988439356": { + "type": "point", + "instances": [ + { + "id": "point_1766988439356_1766988985971_j6rk4h0ul", + "x": 0.6689265998056945, + "y": 0.3377789509879006 + } + ] + }, + "point_1766988447941": { + "type": "point", + "instances": [ + { + "id": "point_1766988447941_1766988988083_7y0srczfw", + "x": 0.64745767177139, + "y": 0.29157681381782685 + } + ] + }, + "bbox_1766988425230": { + "type": "bbox", + 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"id": "point_1766988447941", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004831.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004831.json new file mode 100644 index 0000000000000000000000000000000000000000..435a611b538522428999f2f66737170637f76589 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004831.json @@ -0,0 +1,352 @@ +{ + "task_description": "把左边烧瓶顶部的黑色盖子取下来，然后放在桌子上。\n爪夹开始移动：0%\n爪夹靠近烧瓶顶部盖子：30%\n爪夹抓取烧瓶盖子：40%\n爪夹抓取烧瓶盖子移动：60%\n爪夹抓取烧瓶盖子放在桌面上：80%\n爪夹松开，烧瓶盖子放在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度，向爪夹方向的左前方移动至烧瓶盖子上方，抓取烧瓶盖子抬升至空中，然后向爪夹方向右侧移动，随后下降贴近桌面，松开爪夹，盖子放在桌面上。", + "error_success_analysis": "", + "frame": 7, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，调整爪夹角度，准备开始移动，所以进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触清烧瓶。\n为完成把左边烧瓶顶部的黑色盖子取下来，然后放在桌子上的任务应当:调整爪夹角度，向爪夹方向的左前方移动至烧瓶盖子上方，准备抓取烧瓶盖子。", + "time": 0.4666666666666667, + "annotations": { + "bbox_1766997440441": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997440441_1766997487586_pr5k9rnxg", + "x": 0.4711864731739436, + "y": 0.29961196810827445, + "width": 0.03954802532635018, + "height": 0.060263657178357063 + } + ] + }, + "bbox_1766997451713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997451713_1766997492296_71cohwy1x", + "x": 0.3468926792911287, + "y": 0.3679107795770791, + "width": 0.42372884278232326, + "height": 0.5745135317670038 + } + ] + }, + "point_1766997461664": { + "type": "point", + "instances": [ + { + "id": "point_1766997461664_1766997495985_qnu3gp5m7", + 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"当前状态为爪夹打开，靠近烧瓶顶部盖子。\n为完成把左边烧瓶顶部的黑色盖子取下来，然后放在桌子上的任务应当:爪夹抓取烧瓶盖子后抬升至空中。", + "time": 6.066666666666666, + "annotations": { + "bbox_1766997451713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997451713_1766997565478_86m81snyh", + "x": 0.3457627357103758, + "y": 0.3660846137204648, + "width": 0.4271186735245819, + "height": 0.5845574746300634 + } + ] + }, + "bbox_1766997440441": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997440441_1766997572782_ih7zer015", + "x": 0.47457630391620215, + "y": 0.3158648994051673, + "width": 0.0361581945840916, + "height": 0.044193348597461816 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取烧瓶盖子抬升至空中。", + "correction_plan": "继续保持爪夹合拢，向爪夹方向右侧移动，随后下降贴近桌面，松开爪夹，盖子放在桌面上。", + "error_success_analysis": "爪夹处于合拢状态，烧瓶盖子已被成功抓取抬升，方便向爪夹方向右侧移动。", + "frame": 255, + "progress": 40, + "progress_explanation": "目前爪夹处于合拢状态，烧瓶盖子已被成功抓取抬升，所以进度提升为40%。", + "state_description": 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"爪夹松开，烧瓶盖子成功放在桌面上。", + "error_success_analysis": "爪夹处于合拢状态，抓紧烧瓶盖子放在桌面上。", + "frame": 345, + "progress": 80, + "progress_explanation": "目前爪夹处于合拢状态，抓紧烧瓶盖子放在桌面上，所以进度提升为80%。", + "state_description": "当前状态为爪夹合拢，抓紧烧瓶盖子放在桌面上。\n为完成把左边烧瓶顶部的黑色盖子取下来，然后放在桌子上的任务应当:爪夹松开，烧瓶盖子成功放在桌面上。", + "time": 11.498667557296146, + "annotations": { + "bbox_1766997451713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997451713_1766997678596_vd24tay9f", + "x": 0.3423729049681173, + "y": 0.35987562528663153, + "width": 0.4305085042668405, + "height": 0.5845574746300634 + } + ] + }, + "bbox_1766997440441": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997440441_1766997683051_tome9l6l3", + "x": 0.5310734829538453, + "y": 0.4663414196350623, + "width": 0.037288138164844484, + "height": 0.05825486860574508 + } + ] + } + } + }, + { + "action_description": "爪夹松开，烧瓶盖子成功放在桌面上后微微抬升。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹处于张开状态，爪夹松开，烧瓶盖子成功放在桌面上。", + "frame": 372, + 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-004/observation.images.wrist_image_left/episode_004521.json @@ -0,0 +1,471 @@ +{ + "task_description": "把钳子放回抽屉里，然后关上抽屉。\n爪夹开支移动：0%\n爪夹靠近钳子：20%\n爪夹抓取钳子：40%\n爪夹抓取钳子移动：60%\n爪夹抓取钳子放在抽屉里：70%\n爪夹关上抽屉：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1767001478957": { + "instances": [ + { + "height": 0.43188954311155886, + "id": "bbox_1767001478957_1767001506886_bzdzrktyn", + "width": 0.4734463603354492, + "x": 0.5084746113387879, + "y": 0.36389320243185524 + } + ], + "type": "bbox" + }, + "point_1767001486020": { + "instances": [ + { + "id": "point_1767001486020_1767001509364_j8g4eiwjp", + "x": 0.45536726304340347, + "y": 0.5908863111370002 + } + ], + "type": "point" + }, + "point_1767001491805": { + "instances": [ + { + "id": "point_1767001491805_1767001511612_c5djfmmdf", + "x": 0.7751412963964635, + "y": 0.6431148140249096 + } + ], + "type": "point" + } + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-005/observation.images.wrist_image_left/episode_005845.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-005/observation.images.wrist_image_left/episode_005845.json new file mode 100644 index 0000000000000000000000000000000000000000..e7983cb9792928e479555038993352765a56a0a5 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-005/observation.images.wrist_image_left/episode_005845.json @@ -0,0 +1,497 @@ +{ + "task_description": "任务描述：\n抓住柜子上的门把手并把柜门打开：\n准备开始移动：0%\n爪夹靠近柜门把手：20%\n爪夹抓住柜门把手：40%\n爪夹抓紧柜门把手并把柜门打开：60%\n爪夹将柜门打开：80%\n爪夹松开把柜门打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "point_1767173712134": { + "instances": [ + { + "id": "point_1767173712134_1767174059498_bm2aqdpla", + "x": 0.7740909896295769, + "y": 0.6578838433159723 + } + ], + "type": "point" + }, + 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diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006323.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006323.json new file mode 100644 index 0000000000000000000000000000000000000000..363ea9b61fc2f3888fad6867fc316a6dca1f7cec --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006323.json @@ -0,0 +1,9 @@ +{ + "task_description": "", + "progress_points": [], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0000/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006696.json 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"point_1767672619828", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000836.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000836.json new file mode 100644 index 0000000000000000000000000000000000000000..d732df805c210f3d2d4f550b36472f1cba0009b6 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000836.json @@ -0,0 +1,333 @@ +{ + "task_description": "打开烤箱门\n准备开始移动：0%\n开始接近烤箱：20%\n触碰到烤箱门：50%\n开始打开烤箱门：75%\n打开烤箱门：90%\n烤箱门完全打开：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1766976930530": { + "instances": [ + { + "height": 0.3484444444444445, + "id": "bbox_1766976930530_1766976966641_xw1cmxnie", + 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+ "color": "#F44336", + "id": "point_1766976944514", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000886.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000886.json new file mode 100644 index 0000000000000000000000000000000000000000..fd7eb150b69d3a7f0eaa178f206d847df1e29a1b --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000886.json @@ -0,0 +1,209 @@ +{ + "task_description": "将杯子里的东西倒出来\n准备开始移动：0%\n接近杯子：20%\n触碰到杯子：50%\n将杯子夹起：75%\n将杯子里的东西倒出：90%\n放下杯子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向右前侧移动至杯子上方，向下移动，合拢爪夹，将杯子夹起，旋转爪夹将杯子里的东西倒出来，将杯子放下。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹朝向下，保持张开。\n为了完成将杯子里的东西倒出来的任务应当：向右前侧移动至杯子上方，向下移动，合拢爪夹，将杯子夹起。", + "time": 0.6006867650179981, + "annotations": { + "point_1766989880031": { + "type": "point", + "instances": [ + { + "id": "point_1766989880031_1766989926509_1bp2wmw45", + "x": 0.31833329355875895, + "y": 0.4782962917751736 + } + ] + }, + "point_1766989880327": { + "type": "point", + "instances": [ + { + "id": "point_1766989880327_1766989928141_uw0381ewq", + "x": 0.33033329282633705, + "y": 0.4154814724392361 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向右前侧移动至杯子上方，向下移动，合拢爪夹，将杯子夹起，旋转爪夹将杯子里的东西倒出来，将杯子放下。", + "error_success_analysis": "爪夹调整角度成功，成功爪夹开始移动", + "frame": 96, + "progress": 10, + "progress_explanation": "爪机开始移动，进度10%。", + "state_description": "当前状态为爪机张开。，朝向下。\n为了完成将杯子里的物品到来的任务规定应当：\n继续向右恻移动。", + "time": 3.2089340235800816, + "annotations": { + "point_1766989880031": { + "type": "point", + "instances": [ + { + "id": "point_1766989880031_1766989932972_iybt8sad2", + "x": 0.546333279642744, + "y": 0.2999259168836806 + } + ] + }, + "point_1766989880327": { + "type": "point", + "instances": [ + { + "id": "point_1766989880327_1766989935166_qivncm8m6", + "x": 0.521333281168623, + "y": 0.264370361328125 + } + ] + } + } + }, + { + "action_description": "向右侧移动，然后稍微向下移动。", + "correction_plan": "向下移动，合拢爪夹夹住杯子，向上移动，将杯子夹起，旋转爪夹将杯子里的东西倒出来，将杯子放下。", + "error_success_analysis": "爪夹角度正确，成功接近杯子。", + "frame": 183, + "progress": 20, + "progress_explanation": "爪夹开始接近杯子，进度20%。", + "state_description": "当前状态为爪夹朝向下，保持张开。\n为了完成将杯子里的物品到来的任务规定应当：\n继续向右恻移动，然后向下移动至杯子上方，向下移动。", + "time": 6.101717346712575, + "annotations": { + "point_1766989880327": { + "type": "point", + "instances": [ + { + "id": "point_1766989880327_1766989939453_cn6ou3dc5", + "x": 0.7703332659708699, + "y": 0.6714814724392361 + } + ] + }, + "point_1766989880031": { + "type": "point", + "instances": [ + { + "id": "point_1766989880031_1766989942651_xtxdw9ep0", + "x": 0.6983332703654009, + "y": 0.5577036946614584 + } + ] + } + } + }, + { + "action_description": "向右侧移动，向下移动。", + "correction_plan": "合拢爪夹夹住杯子，向上移动，将杯子夹起，旋转爪夹将杯子里的东西倒出来，将杯子放下。", + "error_success_analysis": "爪夹向下移的，合拢爪夹正确，成功触碰到杯子。", + "frame": 303, + "progress": 50, + "progress_explanation": "爪夹触碰到杯子，进度50%。", + "state_description": "当前状态为爪夹朝向下方。\n为了完成将杯子里的物品到来的任务规定应当：合拢爪夹，夹住杯子，向上移动。", + "time": 10.108933589412503 + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "旋转爪夹将杯子里的东西倒出来，将杯子放下。", + "error_success_analysis": "爪夹合拢正确，成功将杯子夹起至空中。", + "frame": 423, + "progress": 75, + "progress_explanation": "爪夹将杯子夹起，进度75%。", + "state_description": "当前状态为爪夹将杯子到空中。\n为了完成将杯子里的物品到来的任务规定应当：旋转爪夹将杯子里的东西倒出来，将杯子放下。", + "time": 14.092438493398229, + "annotations": { + "bbox_1766989879090": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766989879090_1766989953053_9fm9ta65t", + "x": 0.5503332793986035, + "y": 0.6845185139973958, + "width": 0.2009999877319343, + "height": 0.1973333333333333 + } + ] + }, + "point_1766989880327": { + "type": "point", + "instances": [ + { + "id": "point_1766989880327_1766989955669_iyxrpmb6l", + "x": 0.6053332760416701, + "y": 0.8457036946614583 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，向内侧旋转。", + "correction_plan": "向外恻旋转，向下移动，放下杯子。", + "error_success_analysis": "爪夹旋转角度把握准确，进度90%。", + "frame": 480, + "progress": 90, + "progress_explanation": "爪夹将杯子里的东西掉出，进度90%。", + "state_description": "当前状态为爪夹向内侧旋转，物体掉出。\n为了将杯子里的东西倒出来的任务应当：向外恻旋转，向下移动，放下杯子。", + "time": 16.013056929248492, + "annotations": { + "point_1766989880327": { + "type": "point", + "instances": [ + { + "id": "point_1766989880327_1766989959989_nwy6d0jht", + "x": 0.6813332714029985, + "y": 0.7088148057725695 + } + ] + }, + "bbox_1766989879090": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766989879090_1766989966740_b9izva45o", + "x": 0.632333274393721, + "y": 0.5932592502170139, + "width": 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0000000000000000000000000000000000000000..05b57f4dd8e755c89202369e40321bc18320c78b --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000815.json @@ -0,0 +1,253 @@ +{ + "task_description": "把杯子移到桌子中央\n准备开始移动：0%\n接近杯子：20%\n触碰到杯子：50%\n将杯子夹起：75%\n将杯子移到中央：90%\n放下杯子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动至杯子上方，向下移动，合拢爪夹，将杯子夹起，向桌子中央移动，向下移动，松开爪夹，杯子放在桌子中间。", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，杯子在桌子侧边。\n为了完成把杯子移到桌子中央的任务应当：向前移动至杯子上方，向下移动，合拢爪夹。", + "time": 0.8707450694128984, + "annotations": { + "bbox_1766992755702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992755702_1766992792390_pbqs6l7ym", + "x": 0.5842979249492581, + "y": 0.4284905731581973, + "width": 0.05401073717535691, + "height": 0.16585167902785763 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "向前移动至杯子上方，向下移动，合拢爪夹，将杯子夹起，向桌子中央移动，向下移动，松开爪夹，杯子放在桌子中间。", + "error_success_analysis": "爪夹调整成功，开始移动。", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，准备向爪夹靠近。\n为了完成把杯子移到桌子中央的任务应当：向前移动至杯子上方，向下移动，合拢爪夹。", + "time": 2.3093683124276265, + "annotations": { + "bbox_1766992755702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992755702_1766992799197_k50k9ck5k", + "x": 0.5761144799226889, + "y": 0.41685185884045295, + "width": 0.062194182201926115, + "height": 0.17458071476616588 + } + ] + }, + "point_1766992756574": { + "type": "point", + "instances": [ + { + "id": "point_1766992756574_1766992812493_if8vkd20r", + "x": 0.7397833804540734, + "y": 0.16370982242951235 + } + ] + }, + "point_1766992756752": { + "type": "point", + "instances": [ + { + "id": "point_1766992756752_1766992815180_ru3pok4pe", + "x": 0.7888840506134887, + "y": 0.2626388941303397 + } + ] + } + } + }, + { + "action_description": "爪夹向右前侧移动，同时稍微向下移动。", + "correction_plan": "向下移动，合拢爪夹，将杯子夹起，向桌子中央移动，向下移动，松开爪夹，杯子放在桌子中间。", + "error_success_analysis": "爪夹朝向正确，成功接近杯子。", + "frame": 127, + "progress": 20, + "progress_explanation": "爪夹接近杯子，进度20%。", + "state_description": "当前状态为爪夹张开，朝向杯子。\n为了完成把杯子移到桌子中央的任务应当：向下移动，合拢爪夹，夹住杯子。", + "time": 4.22122288538141, + "annotations": { + "bbox_1766992755702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992755702_1766992820788_zdramwxq0", + "x": 0.5859346139545719, + "y": 0.4255808945787612, + "width": 0.04746398115410155, + "height": 0.1571226432895493 + } + ] + }, + "point_1766992756574": { + "type": "point", + "instances": [ + { + "id": "point_1766992756574_1766992823012_4gbh62xeq", + "x": 0.6514021741671258, + "y": 0.36447764441060315 + } + ] + }, + "point_1766992756752": { + "type": "point", + "instances": [ + { + "id": "point_1766992756752_1766992825117_47s1gd9hn", + "x": 0.7168697343796795, + "y": 0.32374214429849774 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动，合拢爪夹。", + "correction_plan": "将杯子夹起，向桌子中央移动，向下移动，松开爪夹，杯子放在桌子中间。", + "error_success_analysis": "爪夹合拢正确，成功触碰到杯子。", + "frame": 183, + "progress": 50, + "progress_explanation": "爪夹触碰到杯子，进度50%。", + "state_description": "当前状态为爪夹合拢，触碰到杯子。\n为了完成把杯子移到桌子中央的任务应当：将杯子夹起，向桌子中央移动，向下移动，松开爪夹，杯子放在桌子中间。", + "time": 6.114148205137631, + "annotations": { + "bbox_1766992755702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992755702_1766992830548_kvom9wc5g", + "x": 0.5777511689280027, + "y": 0.41976153741988903, + "width": 0.049100670159415306, + "height": 0.15130328613067714 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动，向左后侧移动。", + "correction_plan": "向桌子中央移动，向下移动，松开爪夹，杯子放在桌子中间。", + "error_success_analysis": "爪夹夹起正确，成功夹起杯子。", + "frame": 245, + "progress": 75, + "progress_explanation": "爪夹将杯子夹起，进度75%。", + "state_description": "当前状态为爪夹将杯子夹起。\n为了完成把杯子移到桌子中央的任务应当：向桌子中央移动，向下移动，松开爪夹，杯子放在桌子中间。", + "time": 8.177436803671911, + "annotations": { + "bbox_1766992755702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992755702_1766992836892_acycb2ikr", + "x": 0.595754747986455, + "y": 0.44885832321425007, + "width": 0.06874093822318147, + "height": 0.177490393345602 + } + ] + } + } + }, + { + "action_description": "爪夹向左后侧移动。", + "correction_plan": "松开爪夹，向上移动。", + "error_success_analysis": "爪夹移动幅度准确，成功将杯子移动中间。", + "frame": 282, + "progress": 90, + "progress_explanation": "爪夹将杯子移动到桌子中间，进度90%。", + "state_description": "当前状态为爪夹将杯子移动一部分。\n向下移动，松开爪夹，杯子放在桌子中间。", + "time": 9.388909008315894, + "annotations": { + "bbox_1766992755702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992755702_1766992842300_s19f34xl3", + "x": 0.5941180589811411, + "y": 0.507051894802972, + "width": 0.07201431623380924, + "height": 0.1891291076633464 + } + ] + } + } + }, + { + "action_description": "松开爪夹，向上移动。", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确。", + "frame": 318, + "progress": 100, + "progress_explanation": "任务完成，进度100%。", + "state_description": "当前状态为爪夹张开，杯子在中间。", + "time": 10.606871954102068, + "annotations": { + "bbox_1766992755702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992755702_1766992847139_45it2r1d4", + "x": 0.5941180589811411, + "y": 0.5245099662795886, + "width": 0.07201431623380924, + "height": 0.1716710361867298 + } + ] + }, + "point_1766992756574": { + "type": "point", + "instances": [ + { + "id": "point_1766992756574_1766992849900_fom3njf09", + "x": 0.6252151500821042, + "y": 0.5099615733824081 + } + ] + }, + "point_1766992756752": { + "type": "point", + "instances": [ + { + "id": "point_1766992756752_1766992852420_ut7owfy6z", + "x": 0.690682710294658, + "y": 0.49250350190579145 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766992755702", + "name": "杯子", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1766992756574", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766992756752", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000997.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000997.json new file mode 100644 index 0000000000000000000000000000000000000000..8a604afec2a98c3577e4e5bb76e428de0b6beae1 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000997.json @@ -0,0 +1,263 @@ +{ + "task_description": "将绿色物品放在桌面上\n准备开始移动：0%\n接近绿色物品：20%\n触碰到绿色物品：50%\n将绿色物品夹起：75%\n将绿色物品移到桌面上方：90%\n放下绿色物品：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "爪夹向前移动至绿色物品上方，向下移动，合拢爪夹夹住绿色物品，向上移动，向左侧移动至桌面，向下移动，松开爪夹，绿色物品落在桌面上。", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，绿色物品在红色框里。\n为了完成将绿色物品放在桌面上的任务应当：向前移动，然后向下移动至绿色物品的上方，向下移动。", + "time": 0.9076857519800335, + "annotations": { + "bbox_1766997940087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997940087_1766997968214_qa65uu58i", + "x": 0.7086862893531103, + "y": 0.6350777522981603, + "width": 0.031097091100963058, + "height": 0.049464535850413605 + } + ] + }, + "point_1766997944589": { + "type": "point", + "instances": [ + { + "id": "point_1766997944589_1766997970398_7x2hri0p3", + "x": 0.8036142516613133, + "y": 0.41976153741988903 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向前和向下移动。", + "correction_plan": "爪夹向前移动至绿色物品上方，向下移动，合拢爪夹夹住绿色物品，向上移动，向左侧移动至桌面，向下移动，松开爪夹，绿色物品落在桌面上。", + "error_success_analysis": "爪夹调整角度正确，成功开始移动。", + "frame": 77, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，朝向绿色物品。\n为了完成将绿色物品放在桌面上的任务应当：稍微向前移动，然后向下移动至绿色物品的上方，向下移动。", + "time": 2.5541866566698617, + "annotations": { + "bbox_1766997940087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997940087_1766997992453_iiht63fnb", + "x": 0.6988661553212273, + "y": 0.6525358237747769, + "width": 0.037643847122218424, + "height": 0.03491614295323318 + } + ] + }, + "point_1766997944589": { + "type": "point", + "instances": [ + { + "id": "point_1766997944589_1766997994301_4let2wb2f", + "x": 0.7659704045390949, + "y": 0.49832285906466367 + } + ] + }, + "point_1766997945869": { + "type": "point", + "instances": [ + { + "id": "point_1766997945869_1766997997012_rei6vniky", + "x": 0.8134343856931965, + "y": 0.507051894802972 + } + ] + } + } + }, + { + "action_description": "爪夹向前同时向下移动。", + "correction_plan": "向下移动，合拢爪夹夹住绿色物品，向上移动，向左侧移动至桌面，向下移动，松开爪夹，绿色物品落在桌面上。", + "error_success_analysis": "爪夹向下移动正确，成功接近绿色物品。", + "frame": 143, + "progress": 20, + "progress_explanation": "爪夹接近绿色物品，进度20%。", + "state_description": "当前状态为爪夹朝向下，接近绿色物品。\n为了完成将绿色物品放在桌面上的任务应当：继续向下移动，合拢爪夹夹起绿色物品。", + "time": 4.770630182213861, + "annotations": { + "bbox_1766997940087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997940087_1766998002500_jsm34tjs8", + "x": 0.7054129113424826, + "y": 0.6321680737187242, + "width": 0.02127695706907993, + "height": 0.05237421442984977 + } + ] + }, + "point_1766997944589": { + "type": "point", + "instances": [ + { + "id": "point_1766997944589_1766998004533_wzjesdnd0", + "x": 0.7037762223371689, + "y": 0.6234390379804159 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，合拢爪夹。", + "correction_plan": "向上移动，向左侧移动至桌面，向下移动，松开爪夹，绿色物品落在桌面上。", + "error_success_analysis": "爪夹合拢正确，成功触碰到绿色物品。", + "frame": 207, + "progress": 50, + "progress_explanation": "爪夹触碰到绿色物品，进度50%。", + "state_description": "当前状态为爪夹合拢，爪夹夹住绿色物品。\n为了完成将绿色物品放在桌面上的任务应当：向上移动，向左侧移动至桌面，向下移动，松开爪夹，绿色物品落在桌面上。", + "time": 6.902637763927611, + "annotations": { + "bbox_1766997940087": { + "type": 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"progress": 90, + "progress_explanation": "爪夹将绿色物品夹至桌面上，进度90%。", + "state_description": "当前状态为爪夹将绿色物品夹到桌面上。\n为了完成将绿色物品放在桌面上的任务应当：松开爪夹。", + "time": 10.765582194161441, + "annotations": { + "bbox_1766997940087": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766997940087_1766998018253_wc3h0niuk", + "x": 0.6432187291405566, + "y": 0.7252777882606793, + "width": 0.0327337801062769, + "height": 0.08147100022421086 + } + ] + }, + "point_1766997944589": { + "type": "point", + "instances": [ + { + "id": "point_1766997944589_1766998021750_4ob87f66o", + "x": 0.6399453511299289, + "y": 0.7252777882606793 + } + ] + } + } + }, + { + "action_description": "松开爪夹，稍微向上移动。", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功将绿色物品放在桌面上", + "frame": 353, + "progress": 100, + "progress_explanation": "绿色物品放在桌面上，进度100%。", + "state_description": "当前状态为爪夹松开。", + "time": 11.757704534166848, + "annotations": { + "bbox_1766997940087": { + "type": "bbox", + "instances": [ + { + "id": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.wrist_image_left/episode_000520.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.wrist_image_left/episode_000520.json new file mode 100644 index 0000000000000000000000000000000000000000..70f5860b40b540badf93ea4cc02b124612f9e8ee --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-000/observation.images.wrist_image_left/episode_000520.json @@ -0,0 +1,303 @@ +{ + "task_description": "把杯子移到桌子中央\n准备开始移动：0%\n接近杯子：20%\n触碰到杯子：50%\n将杯子夹起：75%\n将杯子移到中央：90%\n放下杯子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向左侧稍微移动，到杯子上方，然后向下移动，合拢爪夹夹起杯子，向左后侧移动至桌子中央，向下移动，松开爪夹，杯子放在中央。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开。\n为了完成把杯子移到桌子中央的任务应当：向左侧稍微移动，到杯子上方，然后向下移动，合拢爪夹夹起杯子。", + "time": 0.6504773118158163, + "annotations": { + "bbox_1767000301149": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767000301149_1767000329989_wv5nud4lr", + "x": 0.30606079404590447, + "y": 0.5448777163356412, + "width": 0.13584518744104918, + "height": 0.1571226432895493 + } + ] + }, + "point_1767000305998": { + "type": "point", + "instances": [ + { + "id": "point_1767000305998_1767000335150_2ziecm320", + "x": 0.4419059814869536, + "y": 0.597251930765491 + } + ] + }, + "point_1767000306181": { + "type": "point", + "instances": [ + { + "id": "point_1767000306181_1767000337061_fk6h5803f", + "x": 0.7692437825497226, + "y": 0.6379874308775965 + } + ] + } + } + }, + { + "action_description": "爪夹向左后侧移动，然后向下移动。", + "correction_plan": "向右侧稍微移动，到杯子上方，然后向下移动，合拢爪夹夹起杯子，向左后侧移动至桌子中央，向下移动，松开爪夹，杯子放在中央。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 88, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，在杯子的左上方。\n为了完成把杯子移到桌子中央的任务应当：向右侧稍微移动，到杯子上方，然后向下移动，合拢爪夹夹起杯子。", + "time": 2.9271502191226166, + "annotations": { + "point_1767000306181": { + "type": "point", + "instances": [ + { + "id": "point_1767000306181_1767000341708_mubl6jab4", + "x": 0.764333715533781, + "y": 0.6729035738308297 + } + ] + }, + "point_1767000305998": { + "type": "point", + "instances": [ + { + "id": "point_1767000305998_1767000343845_cru2o6k5k", + "x": 0.4451793594975813, + "y": 0.6234390379804159 + } + ] + }, + "bbox_1767000301149": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767000301149_1767000346636_7268ov4ih", + "x": 0.7921574286241164, + "y": 0.4866841447469193, + "width": 0.17021565655263995, + "height": 0.29096785794360985 + } + ] + } + } + }, + { + "action_description": "向向右后侧移动，然后向左前侧移动。", + "correction_plan": "向下移动，合拢爪夹夹起杯子，向上移动，向左后侧移动至桌子中央，向下移动，松开爪夹，杯子放在中央。", + "error_success_analysis": "爪夹移动角度正确，成功接近杯子。", + "frame": 172, + "progress": 20, + "progress_explanation": "爪夹接近杯子，进度20%。", + "state_description": "当前状态为爪夹在杯子的上方。\n为了完成把杯子移到桌子中央的任务应当：向下移动，合拢爪夹夹起杯子，向上移动，向左后侧移动至桌子中央。", + "time": 5.745888104359607, + "annotations": { + "bbox_1767000301149": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767000301149_1767000352806_r31ns8dm2", + "x": 0.4975534076676243, + "y": 0.2568195369714675, + "width": 0.2733270638874122, + "height": 0.44227114407428697 + } + ] + }, + "point_1767000305998": { + "type": "point", + "instances": [ + { + "id": "point_1767000305998_1767000354473_kjs7frnno", + "x": 0.44681604850289514, + "y": 0.6525358237747769 + } + ] + }, + "point_1767000306181": { + "type": "point", + "instances": [ + { + "id": "point_1767000306181_1767000356309_jk1zi9pja", + "x": 0.7692437825497226, + "y": 0.6670842166719574 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，合拢爪夹。", + "correction_plan": "向上移动，向左后侧移动至桌子中央，向下移动，松开爪夹，杯子放在中央。", + "error_success_analysis": "爪夹合拢角度正确，成功夹住杯子。", + "frame": 254, + "progress": 50, + "progress_explanation": "爪夹触碰到杯子，进度50%。", + "state_description": "当前状态为爪夹夹住杯子。\n为了完成把杯子移到桌子中央的任务应当：向上移动，向左后侧移动至桌子中央，向下移动，松开爪夹，杯子放在中央。", + "time": 8.45621299401056, + "annotations": { + "point_1767000305998": { + "type": "point", + "instances": [ + { + "id": "point_1767000305998_1767000366311_giteimh7o", + "x": 0.5695677239014335, + "y": 0.5797938592888744 + } + ] + }, + "bbox_1767000301149": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767000301149_1767000370292_x7nzryqhx", + "x": 0.5286504987685874, + "y": 0.2771872870275202, + "width": 0.43208589740285513, + "height": 0.6343099303170695 + } + ] + } + } + }, + { + "action_description": "稍微向移动，然后向左后侧移动。", + "correction_plan": "向左后侧移动至桌子中央，向下移动，松开爪夹，杯子放在中央。", + "error_success_analysis": "爪夹夹取角度正确，成功夹起。", + "frame": 291, + "progress": 75, + "progress_explanation": "爪夹夹起杯子，进度75%。", + "state_description": "当前状态为爪夹夹住杯子。\n为了完成把杯子移到桌子中央的任务应当：向上移动，向左后侧移动至桌子中央，向下移动，松开爪夹，杯子放在中央。", + "time": 9.692121143691395, + "annotations": { + 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001024.json @@ -0,0 +1,362 @@ +{ + "task_description": "拿起白布，放在木板上\n准备开始移动：0%\n接近白布：20%\n触碰到白布：50%\n将白布夹起：75%\n将白布移到木板上方：90%\n放下白布：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "annotations": { + "bbox_1767001542503": { + "instances": [ + { + "height": 0.1891291076633464, + "id": "bbox_1767001542503_1767001579220_28ps5o9pn", + "width": 0.11947829738791067, + "x": 0.2291364107961537, + "y": 0.594342252186055 + } + ], + "type": "bbox" + }, + "bbox_1767001557965": { + "instances": [ + { + "height": 0.4539098583920313, + "id": "bbox_1767001557965_1767001581812_3eu05qoy8", + "width": 0.30442415498837516, + "x": 0.35188808619469214, + "y": 0.4692260732703027 + } + ], + "type": "bbox" + }, + "point_1767001543308": { + "instances": [ + { + "id": "point_1767001543308_1767001583491_yr64n9xbq", + "x": 0.39444200033285204, + "y": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001290.json @@ -0,0 +1,281 @@ +{ + "task_description": "将窗帘拉开\n准备开始移动：0%\n接近窗帘：20%\n触碰到窗帘：50%\n将窗帘夹住：75%\n拉动窗帘：90%\n完全拉开窗帘：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "爪夹向上旋转，向前移动，夹住窗帘，向左侧移动拉动窗帘，将窗帘拉开。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹朝向下。\n为了完成将窗帘拉开拉开的任务应当：爪夹向上旋转，向前移动，夹住窗帘。", + "time": 1.3709359570560107, + "annotations": { + "bbox_1767002734182": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002734182_1767002763324_dvw6mcgk1", + "x": 0.40262544535942124, + "y": 0.05314203641094059, + "width": 0.5859346639023565, + "height": 0.8321680737187241 + } + ] + }, + "point_1767002737029": { + "type": "point", + "instances": [ + { + "id": "point_1767002737029_1767002769020_o9sim1hnq", + "x": 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"correction_plan": "向左侧移动拉动窗帘，将窗帘拉开。", + "error_success_analysis": "爪夹准确夹取窗帘。", + "frame": 160, + "progress": 50, + "progress_explanation": "触碰到窗帘，进度50%。", + "state_description": "当前状态为爪夹合拢，夹住窗帘。\n为了完成将窗帘拉开拉开的任务应当：向左侧移动拉动窗帘，将窗帘拉开。", + "time": 5.346652659103344, + "annotations": { + "bbox_1767002734182": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002734182_1767002799700_d6hpuwe7r", + "x": 0.44681604850289514, + "y": 0.003677500560526917, + "width": 0.5319239267269996, + "height": 0.8961810024663185 + } + ] + }, + "point_1767002737181": { + "type": "point", + "instances": [ + { + "id": "point_1767002737181_1767002803571_5g1j7afqe", + "x": 0.8150710746985104, + "y": 0.34120021577511433 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "继续向左侧移动拉动窗帘，将窗帘拉开。", + "error_success_analysis": "爪夹成功拉开一些窗帘。", + "frame": 183, + "progress": 75, + "progress_explanation": "爪夹将窗帘拉开一些，进度75%。", + "state_description": "当前状态为爪夹将窗帘拉开一些。\n为了完成将窗帘拉开拉开的任务应当：继续向左侧移动拉动窗帘，将窗帘拉开。", + "time": 6.114377263636621, + "annotations": { + "bbox_1767002734182": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002734182_1767002809324_1843rtyk1", + "x": 0.4746397615932305, + "y": 0.02113557203714351, + "width": 0.5090102806526058, + "height": 0.8408971094570323 + } + ] + }, + "point_1767002737181": { + "type": "point", + "instances": [ + { + "id": "point_1767002737181_1767002812003_vg6r50wa3", + "x": 0.7446934474700149, + "y": 0.33829053719567825 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "继续向左侧移动拉动窗帘，将窗帘拉开。", + "error_success_analysis": "爪夹移动正确，成功拉动窗帘。", + "frame": 216, + "progress": 90, + "progress_explanation": "爪夹拉动窗帘，进度90%。", + "state_description": "当前状态为爪夹夹住窗帘，向左。\n为了完成将窗帘拉开拉开的任务应当：继续向左侧移动拉动窗帘，将窗帘拉开。", + "time": 7.211126698684161, + "annotations": { + "bbox_1767002734182": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002734182_1767002817092_kpk0uqw1f", + "x": 0.4009887563541074, + "y": 0.0298646077754518, + "width": 0.25696017383427366, + "height": 0.8176196808215437 + } + ] + }, + "point_1767002737181": { + "type": "point", + "instances": [ + { + "id": "point_1767002737181_1767002819879_eh1rny1d4", + "x": 0.553200833848295, + "y": 0.2800969656069563 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "", + "error_success_analysis": "爪夹拉的正确，成功将窗帘完全拉开。", + "frame": 304, + "progress": 100, + "progress_explanation": "窗帘完全拉开，进度100%。", + "state_description": "当前状态为爪夹将窗帘完全拉开。", + "time": 10.14493143743633, + "annotations": { + "bbox_1767002734182": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002734182_1767002824564_n3bhfck4a", + "x": 0.37152835425845826, + "y": 0.07350978646699328, + "width": 0.1865825466057783, + "height": 0.8467164666159047 + } + ] + }, + "point_1767002737181": { + "type": "point", + "instances": [ + { + "id": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001481.json @@ -0,0 +1,263 @@ +{ + "task_description": "将笔放在桌子上\n准备开始移动：0%\n接近笔：20%\n触碰到笔：50%\n将笔夹起：75%\n将笔夹到桌子上方：90%\n松开爪夹，笔落在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1767066156651": { + "instances": [ + { + "height": 0.10765810743913562, + "id": "bbox_1767066156651_1767066187065_hrq613hv1", + "width": 0.06055749319661219, + "x": 0.5139202977207628, + "y": 0.3732066801489115 + } + ], + "type": "bbox" + } + }, + "correction_plan": "移动至笔的上方，向下移动，合拢爪夹夹住笔，向上移动，向左侧移动至桌子上方，向下移动松开爪夹，笔落在桌子上。", + "error_success_analysis": "", + "frame": 59, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为笔在黄色杯子里。\n为了完成将笔放在桌子上的任务应当：移动至笔的上方，向下移动，合拢爪夹夹住笔。", + "time": 1.9711658052294814 + }, + { + "action_description": "爪夹向下移动。", + "annotations": { + "bbox_1767066156651": { + "instances": [ + { + "height": 0.08729035738308302, + "id": "bbox_1767066156651_1767066198914_gna0rkwru", + "width": 0.04746398115410146, + "x": 0.5188303647367043, + "y": 0.3790260373077836 + } + ], + "type": "bbox" + }, + "point_1767066161849": { + "instances": [ + { + "id": "point_1767066161849_1767066201566_hz19hebxk", + "x": 0.5286504987685874, + "y": 0.16370982242951235 + } + ], + "type": "point" + }, + "point_1767066162027": { + "instances": [ + { + "id": "point_1767066162027_1767066204393_1v9mqazko", + "x": 0.46481962756134737, + "y": 0.2044453225416177 + } + ], + "type": "point" + } + }, + "correction_plan": "移动至笔的上方，向下移动，合拢爪夹夹住笔，向上移动，向左侧移动至桌子上方，向下移动松开爪夹，笔落在桌子上。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 102, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹朝向下。\n为了完成将笔放在桌子上的任务应当：移动至笔的上方，向下移动，合拢爪夹夹住笔。", + "time": 3.404741297869535 + }, + { + "action_description": "爪夹向下移动。", + "annotations": { + "bbox_1767066156651": { 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+ "color": "#2196F3", + "id": "point_1767066161849", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767066162027", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001492.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001492.json new file mode 100644 index 0000000000000000000000000000000000000000..b2c0304b22704bdf10c51d26080141e9871f3854 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001492.json @@ -0,0 +1,470 @@ +{ + "task_description": "把水龙头移到左边，把把手往上推\n准备开始移动：0%\n开始接近水龙头：10%\n触碰到水龙头：20%\n开始移动水龙头：40%\n将水龙头移动到左侧：50%\n开始接近把手：60%\n触碰到把手：80%\n开始移动把手：90%\n将把手移动到指定位置：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动到水龙头上方，向右侧稍微移动，向下移动，移动至水龙头右侧，向左侧移动，并且推动水龙头，将水龙头移到左侧。向后移动，然后向左移动至把手前方，向前移动触碰把手，向上移动，打开把手。", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，暂未移动。\n为了完成把水龙头移到左边，把把手往上推的任务应当：向前移动到水龙头上方，向右侧稍微移动，向下移动，移动至水龙头右侧。", + "time": 1.9450166402590003, + "annotations": { + "bbox_1767085595562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085595562_1767085623521_q092700xm", + "x": 0.4123332878214546, + "y": 0.5938518473307292, + "width": 0.10999999328613316, + "height": 0.07466666666666666 + } + ] + }, + "bbox_1767085597123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767085597123_1767085627625_1d9jx7hnu", + "x": 0.3443332919718449, + "y": 0.6092592502170139, + "width": 0.06899999578857448, + "height": 0.11555555555555547 + } + ] + }, + "point_1767085598097": { + "type": "point", + "instances": [ + { + "id": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001521.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001521.json new file mode 100644 index 0000000000000000000000000000000000000000..27b54525a4644471896d0eecba63cadd035991e1 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001521.json @@ -0,0 +1,415 @@ +{ + "task_description": "用咖啡机往杯子里倒些水\n准备开始移动：0%\n开始接近咖啡机：20%\n触碰到咖啡机：50%\n夹住咖啡机：75%%\n往杯子里倒水：90%\n关闭开关：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向下移动，然后向前移动，向右侧移动至开关处，向前移动，合拢爪夹夹住开关，稍微向后拉动开关，开始倒水，向前移动，关闭开关。", + "error_success_analysis": "", + "frame": 70, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": 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"point_1767089674720", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001730.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001730.json new file mode 100644 index 0000000000000000000000000000000000000000..209d73fd7d78c61b08dd00fa238e59a6098624cd --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001730.json @@ -0,0 +1,311 @@ +{ + "task_description": "把蓝色杯子移到右边\n准备开始移动：0%\n开始接近杯子：20%\n触碰到杯子：50%\n将杯子夹起：75%\n将杯子向右移动：90%\n放下杯子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "稍微向前移动，然后向下移动至杯子上方，合拢爪夹，夹住杯子，向上移动，然后向右前侧移动，移动至橙色盒子旁，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 28, + 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"爪夹向下移动，合拢爪夹。", + "correction_plan": "向上移动，然后向右前侧移动，移动至橙色盒子旁，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢角度正确，成功夹住杯子。", + "frame": 337, + "progress": 50, + "progress_explanation": "爪夹成功触碰到杯子，进度50%。", + "state_description": "当前状态为爪夹合拢，夹住杯子。\n为了完成将杯子移倒右边的任务应当：向上移动，然后向右前侧移动，移动至橙色盒子旁，向下移动，松开爪夹。", + "time": 11.217130257826838, + "annotations": { + "bbox_1767149955508": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149955508_1767150023753_jex17d1x6", + "x": 0.5515641448429812, + "y": 0.6729035738308297, + "width": 0.08838120628694765, + "height": 0.19494846482221864 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，然后向后移动，最后向右侧移动。", + "correction_plan": "继续向右前侧移动，移动至橙色盒子旁，向下移动，松开爪夹。", + "error_success_analysis": "爪夹夹取正确，成功夹起杯子。", + "frame": 402, + "progress": 75, + "progress_explanation": "爪夹将杯子夹起，进度75%。", + "state_description": "当前状态为爪夹将杯子夹起至空中。\n为了完成将杯子移倒右边的任务应当：继续向右前侧移动，移动至橙色盒子旁，向下移动，松开爪夹。", + "time": 13.38711101074738, + "annotations": { + "bbox_1767149955508": { + 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"name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001830.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001830.json new file mode 100644 index 0000000000000000000000000000000000000000..a5c61bdd9b1a4c557a042ecd3722cd79b3213676 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001830.json @@ -0,0 +1,342 @@ +{ + "task_description": "将桌上的笔，放在玻璃杯里\n准备开始移动：0%\n开始接近笔：20%\n触碰到笔：50%\n将笔夹起：75%\n将笔移动到玻璃杯上方：90%\n将笔放入玻璃杯：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向下移动至笔的上方，向下移动，合拢爪夹夹住笔，向上移动，向右侧移动至玻璃杯上方，向下移动，松开爪夹，笔落入玻璃杯中。", + "error_success_analysis": "", + "frame": 12, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，笔在桌面上。\n为了完成将笔放在玻璃杯里的任务应当：向下移动至笔的上方，向下移动，合拢爪夹夹住笔。", + "time": 0.3877623034764479, + "annotations": { + "bbox_1767152200934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152200934_1767152228615_d73blzvkp", + "x": 0.4860965846304274, + "y": 0.6729035738308297, + "width": 0.062194182201926115, + "height": 0.08729035738308287 + } + ] + }, + "bbox_1767152201504": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152201504_1767152231252_0gacoepcn", + "x": 0.5842979249492581, + "y": 0.629258395139288, + "width": 0.055647426180670756, + "height": 0.14548392897180495 + } + ] + }, + "point_1767152202401": { + "type": "point", + "instances": [ + { + "id": "point_1767152202401_1767152233301_atnls99vt", + "x": 0.500826785678252, + "y": 0.213174358279926 + } + ] + }, + "point_1767152202588": { + "type": "point", + "instances": [ + { + "id": "point_1767152202588_1767152235219_21iwiw1ng", + "x": 0.5564742118589228, + "y": 0.20735500112105384 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动至笔的上方，向下移动，合拢爪夹夹住笔，向上移动，向右侧移动至玻璃杯上方，向下移动，松开爪夹，笔落入玻璃杯中。", + "error_success_analysis": "爪夹角度调整正确，成功移动。", + "frame": 63, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹保持张开，朝向下。\n为了完成将笔放在玻璃杯里的任务应当：向下移动至笔的上方，向下移动，合拢爪夹夹住笔。", + "time": 2.093919042161397, + "annotations": { + "bbox_1767152200934": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152200934_1767152239445_4qzjexiu3", + "x": 0.4860965846304274, + "y": 0.6699938952513935, + "width": 0.06383087120723996, + "height": 0.09601939312139128 + } + ] + }, + "bbox_1767152201504": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152201504_1767152241880_dg3upynqc", + "x": 0.5777511689280027, + "y": 0.6670842166719574, + "width": 0.05401073717535683, + "height": 0.10183875028026353 + } + ] + }, + "point_1767152202401": { + "type": "point", + 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+1,273 @@ +{ + "task_description": "把锅盖放在桌子上\n准备开始移动：0%\n接近锅盖：20%\n触碰到锅盖：50%\n将锅盖夹起：75%\n将锅盖移动至桌面上方：90%\n将锅盖放在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动至锅盖上方，向下移动，合拢爪夹夹住锅盖，向上移动，向左侧移动至桌面上方，向下移动，松开爪夹，锅盖落在桌面上。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开。\n为了完成把锅盖放在桌子上的任务应当：向前移动至锅盖上方，向下移动，合拢爪夹夹住锅盖。", + "time": 0.28221737398556335, + "annotations": { + "bbox_1767153587034": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767153587034_1767153611546_yn14e6ned", + "x": 0.4991900966729381, + "y": 0.4634067161114305, + "width": 0.06383087120723996, + "height": 0.17749039334560204 + } + ] + }, + "point_1767153590257": { + "type": "point", + "instances": [ + { + "id": "point_1767153590257_1767153613890_xe7bllujr", + "x": 0.7234164904009349, + "y": 0.5477873949150773 + } + ] + }, + "point_1767153590433": { + "type": "point", + "instances": 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+ "progress_explanation": "爪夹将锅盖夹起，进度75%。", + "state_description": "当前状态为爪夹将锅盖夹到空中。\n为了完成把锅盖放在桌子上的任务应当：向左侧移动至桌面上方，向下移动，松开爪夹，锅盖落在桌面上。", + "time": 6.6791575322664025, + "annotations": { + "bbox_1767153587034": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767153587034_1767153643625_v0lqpsp4s", + "x": 0.5581109008642365, + "y": 0.45467768037312223, + "width": 0.08510782827631998, + "height": 0.17458071476616588 + } + ] + }, + "point_1767153590257": { + "type": "point", + "instances": [ + { + "id": "point_1767153590257_1767153645545_ohnty9y8t", + "x": 0.6088482600289657, + "y": 0.5128712519618441 + } + ] + }, + "point_1767153590433": { + "type": "point", + "instances": [ + { + "id": "point_1767153590433_1767153648305_q9hjsw33t", + "x": 0.626851839087418, + "y": 0.536148680597333 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动，然后向下移动。", + "correction_plan": "向下移动，松开爪夹，锅盖落在桌面上。", + "error_success_analysis": "爪夹夹取正确，成功将锅盖移动至桌面上方。", + "frame": 257, + "progress": 90, + "progress_explanation": "锅盖移动至桌面上方，进度90%。", + "state_description": "当前状态为爪夹将锅盖移至桌面。\n为了完成把锅盖放在桌子上的任务应当：向下移动，松开爪夹，锅盖落在桌面上。", + "time": 8.579425049873358, + "annotations": { + "bbox_1767153587034": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767153587034_1767153653464_1qpha41v6", + "x": 0.41735564640724593, + "y": 0.507051894802972, + "width": 0.0900178952922615, + "height": 0.21240653629883516 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功将锅盖放在桌子上。", + "frame": 304, + "progress": 100, + "progress_explanation": "锅盖放在桌子上，进度100%。", + "state_description": "当前状态为爪夹张开，锅盖在桌子上。", + "time": 10.141031029688975, + "annotations": { + "bbox_1767153587034": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767153587034_1767153657881_n29ofwzmd", + "x": 0.3829851772956552, + "y": 0.5274196448590247, + "width": 0.1260250534091661, + "height": 0.23277428635488784 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767153587034", + "name": "锅盖", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767153590257", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767153590433", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001167.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001167.json new file mode 100644 index 0000000000000000000000000000000000000000..3b9311eca4fdd12824e44410ada30869e41c5b22 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001167.json @@ -0,0 +1,308 @@ +{ + "task_description": "把毛巾移到左边\n准备开始移动：0%\n接近毛巾：20%\n触碰到毛巾：50%\n准备移动毛巾：75%\n将毛巾向左移动：90%\n毛巾到达指定位置：100%", + "progress_points": [ + { + "action_description": "爪夹找你玩移动。", + "correction_plan": "向右前侧移动至毛巾上方，向下移动，触碰到毛巾，然后向左侧移动，将毛巾移动到指定位置，向上移动爪夹离开毛巾。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为毛巾在桌子右侧，爪夹暂未出现。\n为了完成把毛巾移到左边的任务应当：向右前侧移动至毛巾上方，向下移动，触碰到毛巾。", + "time": 1.1629441545407089, + "annotations": { + "bbox_1767163415374": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767163415374_1767163446068_wqjn5wrwa", + "x": 0.6121216380395935, + "y": 0.3877550730460919, + "width": 0.1522120774941876, + "height": 0.16876135760729372 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动。", + "correction_plan": "向下移动，触碰到毛巾，然后向左侧移动，将毛巾移动到指定位置，向上移动爪夹离开毛巾。", + "error_success_analysis": "爪夹调整角度正确，成功开始移动。", + "frame": 68, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，朝向毛巾。\n为了完成把毛巾移到左边的任务应当：向下移动，触碰到毛巾，然后向左侧移动。", + "time": 2.2758695708623375, + "annotations": { + "point_1767163416389": { + "type": "point", + "instances": [ + { + "id": "point_1767163416389_1767163452184_bts4snzcq", + "x": 0.7626970265284673, + "y": 0.2364517869154148 + } + ] + }, + "point_1767163416917": { + "type": "point", + "instances": [ + { + "id": "point_1767163416917_1767163455035_5fa1d57rc", + "x": 0.8625350558526117, + "y": 0.2539098583920314 + } + ] + }, + "bbox_1767163415374": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767163415374_1767163458883_o9bmqg3a5", + "x": 0.626851839087418, + "y": 0.3964841087844002, + "width": 0.14893869948355992, + "height": 0.14257425039236887 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动。", + "correction_plan": "向下移动，触碰到毛巾，然后向左侧移动，将毛巾移动到指定位置，向上移动爪夹离开毛巾。", + "error_success_analysis": "爪夹移动角度正确，成功接近毛巾。", + "frame": 96, + "progress": 20, + "progress_explanation": "爪夹接近毛巾，进度20%。", + "state_description": "当前状态为爪夹张开，朝向毛巾。\n为了完成把毛巾移到左边的任务应当：向下移动，触碰到毛巾，然后向左侧移动。", + "time": 3.188718507845246, + "annotations": { + "bbox_1767163415374": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767163415374_1767163465011_zfr7ateut", + "x": 0.6186683940608488, + "y": 0.38193571588721975, + "width": 0.1440286324676184, + "height": 0.1571226432895493 + } + ] + }, + "point_1767163416389": { + "type": "point", + "instances": [ + { + "id": "point_1767163416389_1767163467579_tgoiq8593", + "x": 0.6890460212893441, + "y": 0.37029700156947537 + }, + { + "id": "point_1767163416389_1767163470723_ok6p54gmn", + "x": 0.7692437825497226, + "y": 0.39357443020496413 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向左侧移动，将毛巾移动到指定位置，向上移动爪夹离开毛巾。", + "error_success_analysis": "爪夹向下移动正确，成功触碰到毛巾。", + "frame": 121, + "progress": 50, + "progress_explanation": "爪夹触碰到毛巾，进度50%。", + "state_description": "当前状态为爪夹张开，触碰到毛巾。\n为了完成把毛巾移到左边的任务应当：向左侧移动，将毛巾移动到指定位置，向上移动爪夹离开毛巾。", + "time": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001263.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001263.json new file mode 100644 index 0000000000000000000000000000000000000000..1a0c63e4ce70477f549da1307cd3a6d7d267d443 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001263.json @@ -0,0 +1,233 @@ +{ + "task_description": "将红色物品向外移动一些\n准备开始移动：0%\n接近红色物品：20%\n触碰到红色物品：50%\n夹起红色物品：75%\n向外移动红色物品：90%\n红色物品落地：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动至红色物品上方，向下移动，合拢爪夹，夹住红色物品，向上移动，向前移动，松开爪夹，红色物品向外移动一些。", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹静止，红色物品在桌子上。\n为了完成将红色物品向外移动一些的任务应当：向前移动至红色物品上方，向下移动，合拢爪夹，夹住红色物品。", + "time": 0.29942587143271265, + "annotations": { + "bbox_1767168159581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168159581_1767168188948_npy463oi6", + "x": 0.41080889038599055, + "y": 0.49832285906466367, + "width": 0.031097091100963058, + "height": 0.058193571588722015 + } + ] + }, + "point_1767168160433": { + "type": "point", + "instances": [ + { + "id": "point_1767168160433_1767168193861_pykrq6rm9", + "x": 0.10311135738698765, + "y": 0.4226712159993251 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "向前移动至红色物品上方，向下移动，合拢爪夹，夹住红色物品，向上移动，向前移动，松开爪夹，红色物品向外移动一些。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 63, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，朝向下。\n为了完成将红色物品向外移动一些的任务应当：向前移动至红色物品上方，向下移动，合拢爪夹，夹住红色物品。", + "time": 2.0959841459516277, + "annotations": { + "bbox_1767168159581": { + "type": 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"爪夹夹取正确，成功夹住红色物品。", + "frame": 184, + "progress": 75, + "progress_explanation": "爪夹夹住红色物品，进度75%。", + "state_description": "当前状态为爪夹夹住红色物品。\n为了完成将红色物品向外移动一些的任务应当：向上移动，向前移动，松开爪夹，红色物品向外移动一些。", + "time": 6.121605464781049, + "annotations": { + "bbox_1767168159581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168159581_1767168215901_stkyc04to", + "x": 0.4124455793913044, + "y": 0.5128712519618441, + "width": 0.026187024085021448, + "height": 0.04946453585041368 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "松开爪夹，红色物品向外移动一些。", + "error_success_analysis": "爪夹移动正确。", + "frame": 198, + "progress": 90, + "progress_explanation": "向外移动红色物品，进度90%。", + "state_description": "当前状态为爪夹夹起红色物品。\n为了完成将红色物品向外移动一些的任务应当：松开爪夹，红色物品向外移动一些。", + "time": 6.604014631087053, + "annotations": { + "bbox_1767168159581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168159581_1767168219332_m9pdxg5im", + "x": 0.41080889038599055, + "y": 0.4634067161114305, + 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+ "color": "#2196F3" + }, + { + "id": "point_1767168160433", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001474.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001474.json new file mode 100644 index 0000000000000000000000000000000000000000..149090a19231466e6db0ba9baf3f81faab4399a6 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001474.json @@ -0,0 +1,267 @@ +{ + "task_description": "把黑色的东西稍微向右移动\n准备开始移动：0%\n接近黑色物品：20%\n触碰到黑色物品：50%\n将黑色物品夹起：75%\n移动黑色物品：90%\n将黑色物品移至指定位置：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动至黑色物品上方，向下移动，合拢爪夹夹起黑色物品，向上移动，然后向右侧移动，向下移动，松开爪夹，黑色物品落在桌子上。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，暂未移动。\n为了完成将黑色物品稍微向右移动的任务应当：向前移动至黑色物品上方，向下移动，合拢爪夹夹起黑色物品。", + "time": 1.580190670873103, + "annotations": { + "bbox_1767170925024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170925024_1767170952320_6ydc6z0r1", + "x": 0.5204670537420182, + "y": 0.6030712879243633, + "width": 0.05401073717535691, + "height": 0.08438067880364686 + } + ] + }, + "point_1767170925897": { + "type": "point", + "instances": [ + { + "id": "point_1767170925897_1767170954296_t613h9lxf", + "x": 0.7283265574168765, + "y": 0.5157809305412803 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动。", + "correction_plan": "向前移动至黑色物品上方，向下移动，合拢爪夹夹起黑色物品，向上移动，然后向右侧移动，向下移动，松开爪夹，黑色物品落在桌子上。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 84, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，朝向黑色物品。\n为了完成将黑色物品稍微向右移动的任务应当：向前移动至黑色物品上方，向下移动，合拢爪夹夹起黑色物品。", + "time": 2.801987965736785, + "annotations": { + "bbox_1767170925024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170925024_1767170959216_oto7kfzar", + "x": 0.5204670537420182, + "y": 0.6234390379804159, + "width": 0.0654675602125538, + "height": 0.0465548572709776 + } + ] + }, + "point_1767170925897": { + "type": "point", + "instances": [ + { + "id": "point_1767170925897_1767170961287_ywxbsfwx7", + "x": 0.6235784610767904, + "y": 0.4866841447469193 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹夹起黑色物品，向上移动，然后向右侧移动，向下移动，松开爪夹，黑色物品落在桌子上。", + "error_success_analysis": "爪夹向下移动正确，成功接近黑色物品。", + "frame": 112, + "progress": 20, + "progress_explanation": "爪夹接近黑色物品，进度20%。", + "state_description": "当前状态为爪夹接近黑色物品。\n为了完成将黑色物品稍微向右移动的任务应当：向下移动，合拢爪夹夹起黑色物品。", + "time": 3.7468445404313653, + "annotations": { + "point_1767170925897": { + "type": "point", + "instances": [ + 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"向下移动，合拢爪夹，夹住板擦，向上移动，向右上方移动至白板前面，向前移动，将板擦放在有字处，左右移动，将白板擦干净。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹在空中保持张开。\n为了完成拿起板擦擦白的任务应当：向下移动，合拢爪夹，夹住板擦。", + "time": 0.2827486155245364, + "annotations": { + "bbox_1767496641478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496641478_1767496676664_6xbwu6dn1", + "x": 0.4953332827555369, + "y": 0.4338518473307291, + "width": 0.10699999346923868, + "height": 0.16355555555555562 + } + ] + }, + "point_1767496650517": { + "type": "point", + "instances": [ + { + "id": "point_1767496650517_1767496678661_mz4039e51", + "x": 0.44933328556315394, + "y": 0.6021481391059028 + } + ] + }, + "point_1767496650742": { + "type": "point", + "instances": [ + { + "id": "point_1767496650742_1767496680613_oyd06rc55", + "x": 0.7733332657877645, + "y": 0.6394814724392361 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住板擦，向上移动，向右上方移动至白板前面，向前移动，将板擦放在有字处，左右移动，将白板擦干净。", + "error_success_analysis": "爪夹向下移动正确，稍微接近板擦。", + "frame": 79, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，在板擦的上方。\n为了完成拿起板擦擦白的任务应当：继续向下移动，合拢爪夹，夹住板擦。", + "time": 2.6279031071360097, + "annotations": { + "bbox_1767496641478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496641478_1767496690605_o491oxkph", + "x": 0.5153332815348339, + "y": 0.3129629584418403, + "width": 0.21399998693847727, + "height": 0.28977777777777775 + } + ] + }, + "point_1767496650517": { + "type": "point", + "instances": [ + { + "id": "point_1767496650517_1767496693533_l8h5yv14c", + "x": 0.45133328544108364, + "y": 0.6252592502170139 + } + ] + }, + "point_1767496650742": { + "type": "point", + "instances": [ + { + "id": "point_1767496650742_1767496695644_m6t8z0v5t", + "x": 0.7703332659708699, + "y": 0.648370361328125 + } + ] + } + } + }, + { + "action_description": "向下移动，爪夹向右旋转。", + 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+ "error_success_analysis": "爪夹成功将板擦移动至白板前。", + "correction_plan": "向前移动，将板擦放在有字处，左右移动，将白板擦干净。", + "annotations": { + "point_1767496650742": { + "type": "point", + "instances": [ + { + "id": "point_1767496650742_1767496758543_534j42y9b", + "x": 0.7113332695719439, + "y": 0.561259250217014 + } + ] + }, + "point_1767496650517": { + "type": "point", + "instances": [ + { + "id": "point_1767496650517_1767496761443_i3axf8doz", + "x": 0.5183332813517284, + "y": 0.5594814724392361 + } + ] + }, + "bbox_1767496641478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496641478_1767496765747_h8zbh92hq", + "x": 0.4943332828165721, + "y": 0.1701481391059028, + "width": 0.22899998602295, + "height": 0.7928888888888891 + } + ] + } + } + }, + { + "action_description": "向前移动。", + "correction_plan": "左右移动，将白板擦干净。", + "error_success_analysis": "爪夹移动幅度正确，成功将板擦触碰到白板。", + "frame": 395, + "progress": 70, + "progress_explanation": "板擦触碰到白板，进度70%。", + "state_description": 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"当前状态为爪夹开始擦白板。\n为了完成拿起板擦擦白的任务应当：左右移动，将白板擦干净。", + "time": 15.451407454883855, + "annotations": { + "point_1767496650742": { + "type": "point", + "instances": [ + { + "id": "point_1767496650742_1767496779387_porkcss9i", + "x": 0.7093332696940142, + "y": 0.5547407362196181 + } + ] + }, + "point_1767496650517": { + "type": "point", + "instances": [ + { + "id": "point_1767496650517_1767496781707_anu0sa3de", + "x": 0.5153332815348339, + "y": 0.5559259168836805 + } + ] + }, + "bbox_1767496641478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496641478_1767496785660_hy2m321y3", + "x": 0.5303332806193065, + "y": 0.17548147243923612, + "width": 0.18599998864746164, + "height": 0.7804444444444445 + } + ] + } + } + }, + { + "time": 18.6098, + "frame": 558, + "progress": 90, + "action_description": "爪夹左右移动，然后向后移动。", + "state_description": "当前状态为爪夹将白板擦干净。\n为了完成拿起板擦擦白的任务应当：将板擦放回桌面。", + "progress_explanation": "将白板擦干净，进度90%。", + "error_success_analysis": "爪夹移动幅度正确，成功将白板擦干净。", + "correction_plan": "将板擦放回桌面。", + "annotations": { + "bbox_1767496641478": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496641478_1767496791066_gj8rc2taj", + "x": 0.4983332825724315, + "y": 0.1772592502170139, + "width": 0.2229999863891609, + "height": 0.7822222222222223 + } + ] + }, + "point_1767496650517": { + "type": "point", + "instances": [ + { + "id": "point_1767496650517_1767496793483_6v2advxv5", + "x": 0.5153332815348339, + "y": 0.5825925835503472 + } + ] + }, + "point_1767496650742": { + "type": "point", + "instances": [ + { + "id": "point_1767496650742_1767496796051_aksvn28c7", + "x": 0.7123332695109088, + "y": 0.5559259168836805 + } + ] + } + } + }, + { + "action_description": "爪夹向左下移动，然后向下移动松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹移动角度正确，成功完成任务。", + "frame": 687, + "progress": 100, + "progress_explanation": "放下板擦，进度100%。", + "state_description": "当前状态为爪夹张开，板擦落在桌面上。", + "time": 22.886046162332992, + "annotations": { + "bbox_1767496641478": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.wrist_image_left/episode_001348.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.wrist_image_left/episode_001348.json new file mode 100644 index 0000000000000000000000000000000000000000..f48bf01e955a99ec3621c385790d5b3a9ca0c3c1 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-001/observation.images.wrist_image_left/episode_001348.json @@ -0,0 +1,353 @@ +{ + "task_description": "把钢笔从杯子里拿出来\n准备开始移动：0%\n接近钢笔：20%\n触碰到钢笔：50%\n将钢笔夹起：75%\n将钢笔移动到桌子上方：90%\n松开爪夹钢笔落在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向左后侧移动至钢笔上方，向下移动，合拢爪夹，夹住钢笔，向上移动，向前移动，向下移动松开爪夹，钢笔落在桌子上。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开。\n为了完成把钢笔从杯子里拿出来的任务应当：向左后侧移动至钢笔上方，向下移动，合拢爪夹，夹住钢笔。", + "time": 0.25743738134687544, + "annotations": { + "point_1767173392727": { + "type": "point", + "instances": [ + { + "id": "point_1767173392727_1767173412503_8gqkt0f4y", + "x": 0.4435426704922675, + "y": 0.6234390379804159 + } + ] + }, + "point_1767173392888": { + "type": "point", + "instances": [ + { + "id": "point_1767173392888_1767173414183_00lltm93y", + "x": 0.764333715533781, + "y": 0.6525358237747769 + } + ] + } + } + }, + { + "action_description": "爪夹向左后侧移动。", + "correction_plan": "向左后侧移动至钢笔上方，向下移动，合拢爪夹，夹住钢笔，向上移动，向前移动，向下移动松开爪夹，钢笔落在桌子上。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 44, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，朝向左后侧。\n为了完成把钢笔从杯子里拿出来的任务应当：向左后侧移动至钢笔上方，向下移动，合拢爪夹，夹住钢笔。", + "time": 1.453766183432807, + "annotations": { + "point_1767173392888": { + "type": "point", + "instances": [ + { + "id": "point_1767173392888_1767173418535_kn0f7ujsn", + "x": 0.7708804715550365, + "y": 0.6554455023542131 + } + ] + }, + "point_1767173392727": { + "type": "point", + "instances": [ + { + "id": "point_1767173392727_1767173420375_74vjt492m", + "x": 0.45499949352946434, + "y": 0.6408971094570325 + } + ] + } + } + }, + { + "action_description": "爪夹向左后侧移动。", + "correction_plan": "向下移动，合拢爪夹，夹住钢笔，向上移动，向前移动，向下移动松开爪夹，钢笔落在桌子上。", + "error_success_analysis": "爪夹向左后侧移动，成功接近爪夹。", + "frame": 80, + "progress": 20, + "progress_explanation": "接近钢笔，进度20%。", + "state_description": "当前状态为爪夹张开，接近钢笔。\n为了完成把钢笔从杯子里拿出来的任务应当：向下移动，合拢爪夹，夹住钢笔。", + "time": 2.665238388076789, + "annotations": { + "point_1767173392727": { + "type": "point", + "instances": [ + { + "id": "point_1767173392727_1767173425551_w08epeeri", + "x": 0.4533628045241505, + "y": 0.6030712879243633 + } + ] + }, + "point_1767173392888": { + "type": "point", + "instances": [ + { + "id": "point_1767173392888_1767173427950_5zkrb77jp", + "x": 0.7708804715550365, + "y": 0.6350777522981603 + } + ] + }, + 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002019.json @@ -0,0 +1,352 @@ +{ + "task_description": "将白色物品放在杯子里\n准备开始移动：0%\n接近白色物品：20%\n触碰到白色物品：50%\n将白色物品夹起：75%\n将白色物品移动至杯子上方：90%\n白色物品落入杯子中：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向右侧移动至白色物品上方，向下移动，合拢爪夹夹起白色物品，向上移动，向左侧移动至杯子上方，向下移动，松开爪夹，白色物品落入杯子中。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，没有移动。\n为了完成将白色物品放在杯子里的任务应当：向右侧移动至白色物品上方，向下移动，合拢爪夹夹起白色物品。", + "time": 1.5435938734944346, + "annotations": { + "bbox_1767174685062": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767174685062_1767174715029_vzhcuc0ik", + "x": 0.7005028443265411, + "y": 0.7747423241110931, + "width": 0.040917225132846104, + "height": 0.09601939312139128 + } + ] + }, + "bbox_1767174685229": { + "type": "bbox", + "instances": [ + 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"当前状态为爪夹张开，接近白色物品。\n为了完成将白色物品放在杯子里的任务应当：向下移动，合拢爪夹夹起白色物品，向上移动，向左侧移动至杯子上方。", + "time": 5.14531450463059, + "annotations": { + "bbox_1767174685062": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767174685062_1767174749509_5flh84edv", + "x": 0.6955927773105995, + "y": 0.771832645531657, + "width": 0.0572841151859846, + "height": 0.08729035738308287 + } + ] + }, + "bbox_1767174685229": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767174685229_1767174752229_e7i5l4iwp", + "x": 0.44845273750820897, + "y": 0.684542288148574, + "width": 0.09329127330288918, + "height": 0.1716710361867298 + } + ] + }, + "point_1767174686326": { + "type": "point", + "instances": [ + { + "id": "point_1767174686326_1767174754804_nb2xae2c9", + "x": 0.6677690642202643, + "y": 0.7281874668401156 + } + ] + }, + "point_1767174686517": { + "type": "point", + "instances": [ + { + "id": "point_1767174686517_1767174756932_lnuz1904f", + "x": 0.721779801395621, + "y": 0.7252777882606793 + } + ] + } + } + 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"error_success_analysis": "爪夹向上移动正确，成功将白色物品夹至空中。", + "frame": 281, + "progress": 75, + "progress_explanation": "爪夹将白色物品夹至空中，进度75%。", + "state_description": "当前状态为爪夹将白色物品夹至空中。\n为了完成将白色物品放在杯子里的任务应当：向左侧移动至杯子上方，向下移动，松开爪夹，白色物品落入杯子中。", + "time": 9.351050396888958, + "annotations": { + "bbox_1767174685062": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767174685062_1767174768381_f1u2yoblu", + "x": 0.6448554181458703, + "y": 0.6001616093449271, + "width": 0.04582729214878763, + "height": 0.08438067880364686 + } + ] + }, + "bbox_1767174685229": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767174685229_1767174771108_81bafgl7n", + "x": 0.4304491584497566, + "y": 0.6961810024663184, + "width": 0.12111498639322456, + "height": 0.17167103618672988 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动，然后稍微向下移动。", + "correction_plan": "松开爪夹，白色物品落入杯子中。", + "error_success_analysis": "爪夹向左移动正确，成功将白色物品移动至杯子上方。", + "frame": 336, + "progress": 90, + "progress_explanation": "白色物品移动至杯子上方，进度90%。", + "state_description": "当前状态为爪夹将白色物品夹至杯子上方。\n为了完成将白色物品放在杯子里的任务应当：松开爪夹，白色物品落入杯子中。", + "time": 11.185467115852713, + "annotations": { + "bbox_1767174685229": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767174685229_1767174775756_qvfjia1ht", + "x": 0.43372253646038433, + "y": 0.6961810024663184, + "width": 0.10147471832945838, + "height": 0.2182258934577074 + } + ] + }, + "bbox_1767174685062": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767174685062_1767174778124_j53uwcjrp", + "x": 0.5139202977207628, + "y": 0.6205293594009799, + "width": 0.04582729214878763, + "height": 0.08729035738308294 + } + ] + } + } + }, + { + "action_description": "稍微向下移动，松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹松开角度正确，成功将白色物品落入杯子中。", + "frame": 368, + "progress": 100, + "progress_explanation": "白色物品落入杯子中，进度100%。", + "state_description": "当前状态为爪夹松开，白色物品落入杯子。", + "time": 12.259272024514424, + "annotations": { + "bbox_1767174685229": { + "type": 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+ "name": "杯子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767174686326", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767174686517", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002314.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002314.json new file mode 100644 index 0000000000000000000000000000000000000000..05d7e11eaea5aadacd87fabf70f68dbd8e369119 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002314.json @@ -0,0 +1,384 @@ +{ + "task_description": "把菠萝毛绒玩具放进抽屉里，把它关上\n准备开始移动：0%\n接近菠萝毛绒玩具：20%\n触碰到菠萝毛绒玩具：40%\n夹起菠萝毛绒玩具：50%\n将菠萝毛绒玩具移动至抽屉上方：60%\n将菠萝毛绒玩具放入抽屉：70%\n触碰到抽屉：80%\n开始关闭抽屉：90%\n将抽屉完全关闭：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动至菠萝毛绒玩具上方，向下移动，合拢爪夹，夹住菠萝毛绒玩具，向上移动，向后移动至抽屉上方，向下移动，松开爪夹，将菠萝毛绒玩具放入抽屉，然后向后移动，向下移动至抽屉后侧，然后向前移动将抽屉关上。", + "error_success_analysis": "", + "frame": 7, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为抽屉打开，爪夹在抽屉上方。\n为了完成将菠萝毛绒玩具放入抽屉，并关上抽屉的任务：向前移动至菠萝毛绒玩具上方，向下移动，合拢爪夹，夹住菠萝毛绒玩具。", + "time": 0.22199271466802448, + "annotations": { + "bbox_1767509630168": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509630168_1767509665247_95b9loimj", + "x": 0.23333329874674685, + "y": 0.5600740695529515, + "width": 0.08299999493408236, + "height": 0.12799999999999995 + } + ] + }, + "bbox_1767509630648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509630648_1767509671470_lx0udpyr3", + "x": 0.44433328586832965, + "y": 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"爪夹调整正确，成功开始移动。", + "frame": 109, + "progress": 20, + "progress_explanation": "爪夹接近菠萝毛绒玩具，进度20%。", + "state_description": "当前状态为爪夹张开，朝向下。\n为了完成将菠萝毛绒玩具放入抽屉，并关上抽屉的任务：向前移动至菠萝毛绒玩具上方，向下移动，合拢爪夹，夹住菠萝毛绒玩具。", + "time": 3.630239922891838, + "annotations": { + "bbox_1767509630168": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509630168_1767509701014_r4th7ahs8", + "x": 0.22033329954020386, + "y": 0.536370361328125, + "width": 0.10799999340820352, + "height": 0.17066666666666666 + } + ] + }, + "bbox_1767509630648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509630648_1767509706495_whjopbscv", + "x": 0.45333328531901335, + "y": 0.584370361328125, + "width": 0.32099998040771605, + "height": 0.40177777777777784 + } + ] + }, + "point_1767509631719": { + "type": "point", + "instances": [ + { + "id": "point_1767509631719_1767509710215_viq47snth", + "x": 0.3843332895304389, + "y": 0.5132592502170139 + } + ] + }, + "point_1767509631911": { + "type": "point", + "instances": [ + 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002474.json @@ -0,0 +1,405 @@ +{ + "task_description": "把马克笔从杯子里拿出来，放在桌子上\n准备开始移动：0%\n接近马克笔：20%\n触碰到马克笔：50%\n夹起马克笔：75%\n将马克笔移至桌面上方：90%\n将马克笔放在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔，向上移动，向左侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "爪夹找你玩移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未移动。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔。", + "time": 0.42226761196064977, + "annotations": { + "bbox_1767512904285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767512904285_1767512931126_z2ntytuts", + "x": 0.324333293192548, + "y": 0.6454074028862847, + "width": 0.036999997741699354, + "height": 0.12800000000000003 + } + ] + }, + "point_1767512905014": { + "type": "point", + 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0000000000000000000000000000000000000000..b102e8f28698ecd98ee1f1bdd6fbe6a524d45eb8 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002556.json @@ -0,0 +1,445 @@ +{ + "task_description": "把绿色毛巾移到左边\n准备开始移动：0%\n接近绿色毛巾：20%\n触碰到绿色毛巾：50%\n开始移动绿色毛巾：70%\n将绿色毛巾移到指定位置：90%\n爪夹离开毛巾：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向下移动，爪夹压住绿色毛巾，向左侧移动，将绿色毛巾移动至指定位置，爪夹向上移动，离开绿色毛巾。", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹暂未移动。\n为了完成把绿色毛巾移到左边的任务应当：向下移动，爪夹压住绿色毛巾，向左侧移动。", + "time": 0.9442380195037516, + "annotations": { + "bbox_1767515426955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767515426955_1767515449235_yrxdgenae", + "x": 0.4583332850138375, + "y": 0.4925185139973958, + "width": 0.14299999127197321, + "height": 0.19911111111111113 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，爪夹压住绿色毛巾，向左侧移动，将绿色毛巾移动至指定位置，爪夹向上移动，离开绿色毛巾。", + "error_success_analysis": "爪夹调整角度正确，成功开始移动。", + "frame": 39, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张卡。\n为了完成把绿色毛巾移到左边的任务应当：向下移动，爪夹压住绿色毛巾，向左侧移动。", + "time": 1.298327325058498, + "annotations": { + "bbox_1767515426955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767515426955_1767515453435_hvoxrf74y", + "x": 0.44833328562418906, + "y": 0.49014813910590277, + "width": 0.16399998999023496, + "height": 0.2222222222222223 + } + ] + }, + "point_1767515428379": { + "type": "point", + "instances": [ + { + "id": "point_1767515428379_1767515456146_aj11l82wz", + "x": 0.6933332706705767, + "y": 0.1914814724392361 + } + ] + }, + "point_1767515428562": { + "type": "point", + "instances": [ + { + "id": "point_1767515428562_1767515458581_z3s2numce", + "x": 0.7703332659708699, + "y": 0.15237036132812498 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动。", + "correction_plan": "继续向下移动，爪夹压住绿色毛巾，向左侧移动，将绿色毛巾移动至指定位置，爪夹向上移动，离开绿色毛巾。", + "error_success_analysis": "爪夹向下正确，成功接近绿色毛巾。", + "frame": 54, + "progress": 20, + "progress_explanation": "爪夹接近绿色毛巾，进度20%。", + "state_description": "当前状态为爪夹张开，接近绿色毛巾。\n为了完成把绿色毛巾移到左边的任务应当：继续向下移动，爪夹压住绿色毛巾，向左侧移动。", + "time": 1.8104922134501846, + "annotations": { + "point_1767515428562": { + "type": "point", + "instances": [ + { + "id": "point_1767515428562_1767515462034_438z6al7o", + "x": 0.6163332753702834, + "y": 0.37103702799479166 + } + ] + }, + "point_1767515428379": { + "type": "point", + "instances": [ + { + "id": "point_1767515428379_1767515464474_n746rhft8", + "x": 0.5303332806193065, + "y": 0.38881480577256944 + } + ] + }, + "bbox_1767515426955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767515426955_1767515468859_psma77c2u", + "x": 0.4363332863566109, + "y": 0.47237036132812504, + "width": 0.18399998876953197, + "height": 0.23111111111111107 + 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"action_description": "爪夹暂未移动。", + "correction_plan": "向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔，向上移动，向左侧移动，将马克笔移动至桌面上方，向下移动，，松开爪夹，马克笔落在桌面上。", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹暂未移动。\n为了完成把马克笔从杯子上拿下来，放在桌子上的任务应当：向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔，向上移动。", + "time": 0.32325290733844514, + "annotations": { + "bbox_1767517691152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767517691152_1767517713244_4abufnx1x", + "x": 0.3993332886149116, + "y": 0.6062962917751736, + "width": 0.07199999560546902, + "height": 0.08533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住马克笔，向上移动，向左侧移动，将马克笔移动至桌面上方，向下移动，，松开爪夹，马克笔落在桌面上。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 46, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，朝向下。\n为了完成把马克笔从杯子上拿下来，放在桌子上的任务应当：向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔，向上移动。", + "time": 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"爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002147.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002147.json new file mode 100644 index 0000000000000000000000000000000000000000..7731aa2cad8fd83108bfdf049ae4d2ad01bc46f8 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002147.json @@ -0,0 +1,403 @@ +{ + "task_description": "把马克笔从杯子里拿出来，放在桌子上\n准备开始移动：0%\n接近马克笔：20%\n触碰到马克笔：50%\n夹起马克笔：75%\n将马克笔移至桌面上方：90%\n将马克笔放在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔，向上移动，向左移动，向下移动，松开爪夹，马克笔落在桌面上。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + 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"爪夹合拢正确，成功夹住马克笔。", + "frame": 310, + "progress": 50, + "progress_explanation": "爪夹触碰到马克笔，进度50%。", + "state_description": "当前状态为爪夹合拢，夹住马克笔。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向上移动，向左移动，向下移动，松开爪夹，马克笔落在桌面上。", + "time": 10.320411356791931, + "annotations": { + "point_1767519667631": { + "type": "point", + "instances": [ + { + "id": "point_1767519667631_1767519735779_cgee3pxuz", + "x": 0.6333332743326858, + "y": 0.584370361328125 + } + ] + }, + "point_1767519667429": { + "type": "point", + "instances": [ + { + "id": "point_1767519667429_1767519738107_klm8iy9k8", + "x": 0.6143332754923537, + "y": 0.5648148057725695 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向上移动，向左移动，向下移动，松开爪夹，马克笔落在桌面上。", + "error_success_analysis": "爪夹合拢正确，成功将马克笔夹至杯子上方。", + "frame": 358, + "progress": 60, + "progress_explanation": "爪夹将马克笔移动至杯子上方，进度60%。", + "state_description": "当前状态为爪夹将马克笔，夹至杯子上方。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向上移动，向左移动，向下移动，松开爪夹，马克笔落在桌面上。", + "time": 11.91690610169677, + 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+ "width": 0.03599999780273446, + "height": 0.17955555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "松开爪夹，马克笔落在桌面上。", + "error_success_analysis": "爪夹移动正确，成功将马克笔移至桌面上方。", + "frame": 452, + "progress": 90, + "progress_explanation": "马克笔移至桌面上方，进度90%。", + "state_description": "当前状态为爪夹将马克笔移动至桌面上。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：松开爪夹，马克笔落在桌面上。", + "time": 15.056081161902915, + "annotations": { + "bbox_1767519666726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767519666726_1767519756299_19tqxqh8f", + "x": 0.4543332852579781, + "y": 0.42259258355034723, + "width": 0.04599999719238301, + "height": 0.12088888888888892 + } + ] + } + } + }, + { + "action_description": "松开爪夹。", + "correction_plan": "", + "error_success_analysis": "成功将马克笔夹至桌面上。", + "frame": 494, + "progress": 100, + "progress_explanation": "马克笔放在桌面上，进度100%。", + "state_description": "当前状态为爪夹张开，马克笔落在桌子上。", + "time": 16.455256331594796, + "annotations": { + "bbox_1767519666726": { + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002520.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002520.json new file mode 100644 index 0000000000000000000000000000000000000000..a5e8833ec676446bbd2dc66d1f82d54b59dfa882 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002520.json @@ -0,0 +1,365 @@ +{ + "task_description": "从工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上。\n准备开始移动：0%\n开始接近马克杯：20%\n触碰到马克杯：50%\n将马克杯移至水龙头下：75%\n接满水：80%\n将马克杯移至左边：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向左侧移动至马克杯上方，向下移动，合拢爪夹，夹住马克杯，向上移动，向右侧移动至水龙头下方，接满水后，向左侧移动至桌面上方，向下移动松开爪夹。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，暂未移动\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：向左侧移动至马克杯上方，向下移动，合拢爪夹，夹住马克杯。", + "time": 1.181350962038023, + "annotations": { + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582091956_b7neg3knf", + "x": 0.39033328916422794, + "y": 0.2880740695529514, + "width": 0.043999997314453275, + "height": 0.08888888888888889 + } + ] + }, + "point_1767582064045": { + "type": "point", + "instances": [ + { + "id": "point_1767582064045_1767582094755_aydkfsc5t", + "x": 0.5163332814737986, + "y": 0.3621481391059028 + } + ] + }, + "point_1767582064229": { + "type": "point", + "instances": [ + { + "id": "point_1767582064229_1767582097060_aj3neeizh", + "x": 0.5733332779947949, + "y": 0.3870370279947917 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "向左侧移动至马克杯上方，向下移动，合拢爪夹，夹住马克杯，向上移动，向右侧移动至水龙头下方，接满水后，向左侧移动至桌面上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 113, + 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"error_success_analysis": "爪夹向下移动正确，成功接近马克杯。", + "frame": 213, + "progress": 20, + "progress_explanation": "爪夹接近马克杯，进度20%。", + "state_description": "当前状态为爪夹向下，接近马克杯。\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：向下移动，合拢爪夹，夹住马克杯。", + "time": 7.098120281490663, + "annotations": { + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582115291_2ys89nzf4", + "x": 0.39033328916422794, + "y": 0.2839259168836806, + "width": 0.03399999792480481, + "height": 0.08711111111111111 + } + ] + }, + "point_1767582064045": { + "type": "point", + "instances": [ + { + "id": "point_1767582064045_1767582117979_am7sxx9kf", + "x": 0.4193332873942085, + "y": 0.3461481391059028 + } + ] + }, + "point_1767582064229": { + "type": "point", + "instances": [ + { + "id": "point_1767582064229_1767582120947_te06tsqt8", + "x": 0.44833328562418906, + "y": 0.3390370279947917 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向左侧移动，合拢爪夹。", + "correction_plan": "合拢爪夹，夹住马克杯，向上移动，向右侧移动至水龙头下方，接满水后，向左侧移动至桌面上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，准备夹马克杯。", + "frame": 284, + "progress": 30, + "progress_explanation": "爪夹准备触碰马克杯，进度30%。", + "state_description": "当前状态为爪夹更加接近马克杯，准备触碰马克杯。\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：合拢爪夹，夹住马克杯，向上移动，向右侧移动至水龙头下方。", + "time": 9.470834881677254, + "annotations": { + "point_1767582064229": { + "type": "point", + "instances": [ + { + "id": "point_1767582064229_1767582125641_bmfqsrd90", + "x": 0.4413332860514352, + "y": 0.33725925021701386 + } + ] + }, + "point_1767582064045": { + "type": "point", + "instances": [ + { + "id": "point_1767582064045_1767582128229_8sluc9e0a", + "x": 0.42133328727213815, + "y": 0.33725925021701386 + } + ] + }, + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582131883_m8efyi314", + "x": 0.396333288798017, + "y": 0.29814813910590277, + "width": 0.02999999816894543, + "height": 0.0622222222222222 + } + ] + } + } + }, + { + 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"当前状态为爪夹将马克杯夹住。\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：向右侧移动至水龙头下方，接满水后，向左侧移动至桌面上方，向下移动松开爪夹。", + "time": 13.675645565552225, + "annotations": { + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582149435_0rhdn2qqy", + "x": 0.4643332846476266, + "y": 0.2874814724392361, + "width": 0.04199999743652363, + "height": 0.07111111111111114 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动。", + "correction_plan": "接满水后，向左侧移动至桌面上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹向右移动正确，成功将马克杯移动至水龙头下。", + "frame": 527, + "progress": 75, + "progress_explanation": "将马克杯移至水龙头下，进度75%。", + "state_description": "当前状态为爪夹将马克杯移动至水龙头下。\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：接满水后，向左侧移动至桌面上方，向下移动松开爪夹。", + "time": 17.580112629150413, + "annotations": { + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582154179_obin8xvf2", + "x": 0.5713332781168653, + "y": 0.3479259168836806, + "width": 0.04199999743652363, + "height": 0.0942222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹保持静止。", + "correction_plan": "向左侧移动至桌面上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹判断正确，马克杯成功接满水。", + "frame": 683, + "progress": 80, + "progress_explanation": "接满水，进度80%。\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：向左侧移动至桌面上方，向下移动松开爪夹。", + "state_description": "当前状态为爪夹等待水接满。\n", + "time": 22.776057259938774, + "annotations": { + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582157707_0ofx9hfi4", + "x": 0.5593332788492871, + "y": 0.3799259168836806, + "width": 0.04099999749755874, + "height": 0.07288888888888884 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向后移动，然后向左并向下移动。", + "correction_plan": "向下移动松开爪夹。", + "error_success_analysis": "爪夹成功将马克杯重新移回左侧。", + "frame": 810, + "progress": 90, + "progress_explanation": "将马克杯移至左边，进度90%。", + "state_description": "当前状态为爪夹将马克杯重新放回左侧。\n为了完成将工作台上拿起马克杯，移到右边水龙头，接满水，然后移到左边，回到工作台上的任务应当：向下移动松开爪夹。", + "time": 27.010902305841423, + "annotations": { + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582161578_ash2f7730", + "x": 0.44433328586832965, + "y": 0.26792591688368056, + "width": 0.04199999743652363, + "height": 0.08888888888888885 + } + ] + } + } + }, + { + "action_description": "稍微向下移动，松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹判断正确，成功完成任务。", + "frame": 850, + "progress": 100, + "progress_explanation": "爪夹将马克杯重新放回左边，进度100%", + "state_description": "当前状态为爪夹将马克杯重新放回左边。", + "time": 28.33241423505927, + "annotations": { + "bbox_1767582062542": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767582062542_1767582164973_6oqbd4dgq", + "x": 0.4403332861124703, + "y": 0.2874814724392361, + "width": 0.038999997619629044, + "height": 0.0657777777777778 + } + ] + }, + "point_1767582064045": { + "type": "point", + "instances": [ + { + 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0000000000000000000000000000000000000000..e9df838d0b069760aad899e9c1b9398f114d07ad --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002571.json @@ -0,0 +1,385 @@ +{ + "task_description": "把黄色的小包放在打开的柜子里\n准备开始移动：0%\n接近黄色的小包：20%\n触碰到黄色的小包：50%\n夹起黄色的小包：75%\n将黄色的小包移动到指定位置：90%\n爪夹离开黄色的小包：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动至黄色的小包的上方，向下移动，合拢爪夹，夹住黄色的小包，向上移动至柜子里，向下移动，松开爪夹，黄色的小包落在柜子里。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动。\n为了完成把黄色的小包放在打开的柜子里的任务应当：向前移动至黄色的小包的上方，向下移动，合拢爪夹，夹住黄色的小包。", + "time": 0, + "annotations": { + "bbox_1767521304021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767521304021_1767521326279_k1b36tsk1", + "x": 0.5763332778116895, + "y": 0.7360740695529515, + "width": 0.07799999523925809, + "height": 0.09244444444444437 + } + ] + }, + "point_1767521304908": { + "type": "point", + "instances": [ + { + "id": "point_1767521304908_1767521328556_ap25mq8fu", + "x": 0.7863332649943076, + "y": 0.5203703613281251 + } + ] + }, + "point_1767521305094": { + "type": "point", + "instances": [ + { + "id": "point_1767521305094_1767521330835_bhldvldgl", + "x": 0.8283332624308312, + "y": 0.5008148057725694 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动，同时向左稍微移动。", + "correction_plan": "向下移动，合拢爪夹，夹住黄色的小包，向上移动至柜子里，向下移动，松开爪夹，黄色的小包落在柜子里。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 58, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开准备接近黄色的小包。\n为了完成把黄色的小包放在打开的柜子里的任务应当：向前移动至黄色的小包的上方，向下移动，合拢爪夹，夹住黄色的小包。", + "time": 1.9320499177667099, + "annotations": { + "point_1767521305094": { + "type": "point", + "instances": [ + { + "id": "point_1767521305094_1767521335389_zmh8m0hlf", + "x": 0.7193332690836627, + "y": 0.5737036946614583 + } + ] + }, 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"#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767585024395", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767585024572", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003873.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003873.json new file mode 100644 index 0000000000000000000000000000000000000000..5b72f417982ecd2082205e4ccc0c16dc54c4daa3 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003873.json @@ -0,0 +1,365 @@ +{ + "task_description": "关闭柜门\n准备移动：0%\n接近柜门：20%\n触碰到柜门：50%\n开始关闭柜门：75%\n关闭柜门：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向右移动至打开的柜门，向下移动至柜门的吧手处，向前移动夹住把手，向后移动，然后向左侧移动，关闭柜门。", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "爪夹找你玩移动，进度0%。", + "state_description": "当前状态为爪夹张开，柜门打开。\n为了完成关闭柜门的任务应当：向右移动至打开的柜门，向下移动至柜门的把手处，向前移动夹住把手。", + "time": 0.8812825282975643, + "annotations": { + "bbox_1767597076774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767597076774_1767597164020_4patisq9x", + "x": 0.37233329026286066, + "y": 0.46585184733072915, + "width": 0.022999998596191507, + "height": 0.13333333333333333 + } + ] + }, + "point_1767597079079": { + "type": "point", + "instances": [ + { + "id": "point_1767597079079_1767597166837_3pdeowi21", + "x": 0.5813332775065138, + "y": 0.3265925835503472 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向前移动。", + "correction_plan": "向右移动至打开的柜门，向下移动至柜门的吧手处，向前移动夹住把手，向后移动，然后向左侧移动，关闭柜门。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 86, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，准备接近柜门把手。\n为了完成关闭柜门的任务应当：向右移动至打开的柜门，向下移动至柜门的把手处，向前移动夹住把手。", + "time": 2.8763339068869738, + "annotations": { + "bbox_1767597076774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767597076774_1767597173195_aiop0wfez", + "x": 0.37233329026286066, + "y": 0.4688148057725695, + "width": 0.021999998657226662, + "height": 0.13866666666666663 + } + ] + }, + "point_1767597079079": { + "type": "point", + "instances": [ + { + "id": "point_1767597079079_1767597176029_af299dmgv", + "x": 0.5223332811075878, + "y": 0.33725925021701386 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向右侧移动。", + "correction_plan": "向右移动至打开的柜门，向下移动至柜门的吧手处，向前移动夹住把手，向后移动，然后向左侧移动，关闭柜门。", + "error_success_analysis": "爪夹向右侧移动正确，成功接近柜门。", + "frame": 145, + "progress": 20, + "progress_explanation": "当前状态为爪夹接近柜门，进度20%。", + "state_description": "当前状态为爪夹张开，接近柜门。\n为了完成关闭柜门的任务应当：向右移动至打开的柜门，向下移动至柜门的把手处，向前移动夹住把手。", + "time": 4.82272549575469, + "annotations": { + 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"error_success_analysis": "爪夹角度正确，成功准备关闭柜门。", + "frame": 369, + "progress": 75, + "progress_explanation": "准备关闭柜门，进度75%。", + "state_description": "当前状态为爪夹准备关闭柜门。\n为了完成关闭柜门的任务应当：向前移动，关闭柜门。", + "time": 12.3163331128954, + "annotations": { + "bbox_1767597076774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767597076774_1767597216661_i7e0xwb5r", + "x": 0.35333329142252856, + "y": 0.4652592502170139, + "width": 0.02299999859619146, + "height": 0.13866666666666663 + } + ] + }, + "point_1767597079079": { + "type": "point", + "instances": [ + { + "id": "point_1767597079079_1767597218819_u4q7dyu12", + "x": 0.3653332906901067, + "y": 0.5185925835503472 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "向前移动，关闭柜门。", + "error_success_analysis": "爪夹移动幅度正确，成功进行关闭柜门的操作。", + "frame": 393, + "progress": 80, + "progress_explanation": "关闭柜门中，进度80%。", + "state_description": "当前状态为爪夹夹住把手，关闭柜门中。\n为了完成关闭柜门的任务应当：向前移动，关闭柜门。", + "time": 13.111109678349717, + "annotations": { + "bbox_1767597076774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767597076774_1767597225612_88qcmkvqu", + "x": 0.31633329368082924, + "y": 0.4652592502170139, + "width": 0.02299999859619146, + "height": 0.1422222222222222 + } + ] + }, + "point_1767597079079": { + "type": "point", + "instances": [ + { + "id": "point_1767597079079_1767597228190_3yrtvt7kd", + "x": 0.33033329282633705, + "y": 0.5203703613281251 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹向前移动正确，成功关闭柜门。", + "frame": 422, + "progress": 90, + "progress_explanation": "爪夹将柜门关闭，进度90%。", + "state_description": "当前状态为爪夹将柜门关闭。\n为了完成关闭柜门的任务应当：松开爪夹。", + "time": 14.068085542876346, + "annotations": { + "bbox_1767597076774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767597076774_1767597233852_bnxjptkp7", + "x": 0.23133329886881718, + "y": 0.45992591688368056, + "width": 0.03299999798583997, + "height": 0.14044444444444446 + } + ] + }, + "point_1767597079079": { + "type": "point", + "instances": [ + { + "id": "point_1767597079079_1767597236948_1p6shrgg1", + "x": 0.2463332979532899, + "y": 0.5168148057725694 + } + ] + } + } + }, + { + "action_description": "松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功关闭柜门。", + "frame": 468, + "progress": 100, + "progress_explanation": "完成任务，进度100%", + "state_description": "当前状态为爪夹松开，柜门关闭。", + "time": 15.592758954156057, + "annotations": { + "bbox_1767597076774": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767597076774_1767597245676_f277ql1ur", + "x": 0.24333329813639537, + "y": 0.4670370279947917, + "width": 0.030999998107910275, + "height": 0.14755555555555558 + } + ] + }, + "point_1767597079079": { + "type": "point", + "instances": [ + { + "id": "point_1767597079079_1767597247547_kelovh003", + "x": 0.2633332969156923, + "y": 0.4954814724392361 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767597076774", + "name": "柜门把手", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767597079079", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767597080327", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003135.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003135.json new file mode 100644 index 0000000000000000000000000000000000000000..b62c47cf3e86c6917a91e69cfa6d668c2bb1b36c --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003135.json @@ -0,0 +1,634 @@ +{ + "task_description": "把黑色衣服放到箱子里\n准备开始移动：0%\n接近黑色衣服：20%\n触碰到黑色衣服：50%\n将黑色衣服夹起：70%\n将黑色衣服放入箱子：90%\n松开爪夹：100%%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向左侧移动至黑色衣服上方，向下移动，合拢爪夹，夹住黑色衣服，向上移动，然后向右侧移动至箱子上方，向下移动，松开爪夹，黑色衣服落入箱子。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，朝向下。\n为了完成把黑色衣服放到箱子里的任务应当：向左侧移动至黑色衣服上方，向下移动，合拢爪夹，夹住黑色衣服。", + "time": 0, + "annotations": { + "bbox_1767602401524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602401524_1767602441085_1q0nn9i5l", + "x": 0.3493332916666692, + "y": 0.18318518066406247, + "width": 0.10899999334716833, + "height": 0.23111111111111113 + } + ] + }, + "bbox_1767602401716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602401716_1767602443731_wv77t4k1w", + "x": 0.39233328904215764, + "y": 0.5061481391059028, + "width": 0.287999982421876, + "height": 0.3875555555555555 + } + ] + }, + "point_1767602402653": { + "type": "point", + "instances": [ + { + "id": "point_1767602402653_1767602445687_pkmsz8fcp", + "x": 0.4423332859904, + "y": 0.39059258355034726 + } + ] + }, + "point_1767602402845": { + "type": "point", + "instances": [ + { + "id": "point_1767602402845_1767602447652_8wc8xeiz8", + "x": 0.5123332817179393, + "y": 0.42970369466145836 + } + ] + } + } + }, + { + "action_description": "爪夹向上，然后稍微向左侧移动。", + "correction_plan": "向左侧移动至黑色衣服上方，向下移动，合拢爪夹，夹住黑色衣服，向上移动，然后向右侧移动至箱子上方，向下移动，松开爪夹，黑色衣服落入箱子。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 38, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，准备接近黑色衣服。\n为了完成把黑色衣服放到箱子里的任务应当：向左侧移动至黑色衣服上方，向下移动，合拢爪夹，夹住黑色衣服。", + "time": 1.251981255629439, + "annotations": { + "point_1767602402845": { + "type": "point", + "instances": [ + { + "id": "point_1767602402845_1767602450275_ydat3gitb", + "x": 0.4663332845255563, + "y": 0.21814813910590278 + } + ] + }, + "point_1767602402653": { + "type": "point", + "instances": [ + { + "id": 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2.2132183271044337, + "annotations": { + "bbox_1767602401716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602401716_1767602464836_nhif0ovgq", + "x": 0.35533329130045826, + "y": 0.5025925835503473, + "width": 0.34099997918701297, + "height": 0.4106666666666667 + } + ] + }, + "bbox_1767602401524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767602401524_1767602467171_91q0tfmy0", + "x": 0.35033329160563403, + "y": 0.17903702799479168, + "width": 0.1009999938354496, + "height": 0.1813333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动，合拢爪夹。", + "correction_plan": "松开爪夹，向上移动，向左侧移动至黑色衣服上方，向下移动，合拢爪夹，夹住黑色衣服，向上移动，然后向右侧移动至箱子上方，向下移动，松开爪夹，黑色衣服落入箱子。", + "error_success_analysis": "爪夹识别错误，夹错物品。", + "frame": 105, + "progress": -10, + "progress_explanation": "爪夹夹错物品，进度-10%。", + "state_description": "当前状态为爪夹夹住椅子。\n为了完成把黑色衣服放到箱子里的任务应当：松开爪夹，向上移动，向左侧移动至黑色衣服上方，向下移动，合拢爪夹，夹住黑色衣服。", + "time": 3.512668442246557, + "annotations": { + "bbox_1767602401524": { + "type": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003457.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003457.json new file mode 100644 index 0000000000000000000000000000000000000000..35129f8ef7ace4c0cdd12699476c93ed6dd79c78 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003457.json @@ -0,0 +1,460 @@ +{ + "task_description": "把电缆挑出来放进盒子里\n准备开始移动：0%\n接近电缆：20%\n触碰到电缆：50%\n将电缆夹起：75%\n将电缆夹至盒中：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向上移动，向前移动至电缆上方，向下移动，合拢爪夹，夹住电缆，向上移动，向前移动至盒子上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹暂未移动，电缆在桌子上。\n为了完成把电缆挑出来放进盒子里的任务应当：向上移动，向前移动至电缆上方，向下移动，合拢爪夹，夹住电缆。", + "time": 1.3872618861627082, + "annotations": { + "bbox_1767604217968": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604217968_1767604244215_xy1kvddoh", + "x": 0.521333281168623, + "y": 0.6258518473307292, + "width": 0.11099999322509806, + "height": 0.1262222222222223 + } + ] + }, + "bbox_1767604218138": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604218138_1767604246918_c6mcswpc6", + "x": 0.5333332804362011, + "y": 0.4457036946614583, + "width": 0.11799999279785194, + "height": 0.17422222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "向上移动，向前移动至电缆上方，向下移动，合拢爪夹，夹住电缆，向上移动，向前移动至盒子上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 68, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，朝向下。\n为了完成把电缆挑出来放进盒子里的任务应当：向上移动，向前移动至电缆上方，向下移动，合拢爪夹，夹住电缆。", + "time": 2.268224010111511, + 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+ { + "action_description": "松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹斯卡正确，成功将电缆放入盒子。", + "frame": 345, + "progress": 100, + "progress_explanation": "任务完成，进度100%。", + "state_description": "当前状态为爪夹松开，电缆落入盒子。", + "time": 11.487948307299847, + "annotations": { + "bbox_1767604217968": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604217968_1767604327719_j14eklr16", + "x": 0.5353332803141309, + "y": 0.38348147243923614, + "width": 0.09699999407959022, + "height": 0.18311111111111109 + } + ] + }, + "bbox_1767604218138": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767604218138_1767604329630_d8cmaylww", + "x": 0.5153332815348339, + "y": 0.42437036132812506, + "width": 0.1259999923095707, + "height": 0.16888888888888884 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767604217968", + "name": "电缆", + "color": "#4CAF50" + }, + { + "id": "bbox_1767604218138", + "name": "盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767604219480", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767604219648", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003586.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003586.json new file mode 100644 index 0000000000000000000000000000000000000000..281f2090d180f59b4e4835ec62e9d06fc0a5ee0f --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003586.json @@ -0,0 +1,305 @@ +{ + "task_description": "把灰色的布移到左边\n准备开始移动：0%\n接近灰色的布：20%\n触碰到灰色的布：50%\n将灰色的布夹起：70%\n将灰色的布移至左边：90%\n松开爪夹：100%%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动，然后稍微向右侧移动，向下移动，合拢爪夹，夹住灰色的布，向上移动，向左侧移动，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 57, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为灰色的布子在桌子上。\n为了完成将灰色的布移到左边的任务应当：向前移动，然后稍微向右侧移动，向下移动，合拢爪夹，夹住灰色的布。", + "time": 1.891041802228425, + "annotations": { + "bbox_1767606536970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767606536970_1767606568490_r1ds8obeb", + "x": 0.586333277201338, + "y": 0.26851851399739585, + "width": 0.11899999273681683, + "height": 0.11555555555555554 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住灰色的布，向上移动，向左侧移动，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 159, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，准备接近灰色的布。\n为了完成将灰色的布移到左边的任务应当：向下移动，合拢爪夹，夹住灰色的布。", + "time": 5.299151498089756, + "annotations": { + "bbox_1767606536970": { + "type": "bbox", + "instances": [ + { + "id": 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0.29866666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，稍微向左移动。", + "correction_plan": "向左侧移动，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确。", + "frame": 546, + "progress": 80, + "progress_explanation": "爪夹将灰色的布夹至空中，进度80%。", + "state_description": "当前状态为爪夹将灰色的布夹至空中。\n为了完成将灰色的布移到左边的任务应当：向左侧移动，向下移动，松开爪夹。", + "time": 18.190696869391317, + "annotations": { + "bbox_1767606536970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767606536970_1767606603122_vd2iq2ygj", + "x": 0.5333332804362011, + "y": 0.010148139105902778, + "width": 0.15899999029541068, + "height": 0.3057777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹向左移动正确，成功将灰色的布移至左边", + "frame": 583, + "progress": 90, + "progress_explanation": "将灰色的布移至左边，进度90%。", + "state_description": "当前状态为爪夹将灰色的布夹至左边。\n为了完成将灰色的布移到左边的任务应当：向下移动，松开爪夹。", + "time": 19.418463095229562, + "annotations": { + "bbox_1767606536970": { + 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"point_1767606538954", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003668.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003668.json new file mode 100644 index 0000000000000000000000000000000000000000..a9d8cf9cacb90c904ae46ccf5e323c8f811ef371 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003668.json @@ -0,0 +1,325 @@ +{ + "task_description": "把马克笔从杯子里拿出来，放在桌子上\n准备开始移动：0%\n接近马克笔：20%\n触碰到马克笔：50%\n夹起马克笔：75%\n将马克笔移至桌面上方：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔，向上移动，向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "爪夹暂未移动。", + "state_description": "当前状态为爪夹暂未移动\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔。", + "time": 0.14776610398338685, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607911645_wzp94cp84", + "x": 0.3463332918497747, + "y": 0.538740736219618, + "width": 0.05199999682617205, + "height": 0.06933333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住马克笔，向上移动，向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 34, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹向下，准备接近马克笔\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向下移动，合拢爪夹，夹住马克笔。", + "time": 1.1271474856568966, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607917276_w7fq4bci0", + "x": 0.33833329233805587, + "y": 0.5381481391059028, + "width": 0.06999999572753937, + "height": 0.05866666666666668 + } + ] + }, + "point_1767607888798": { + "type": "point", + "instances": [ + { + "id": "point_1767607888798_1767607919508_zvncmlbkd", + "x": 0.33833329233805587, + "y": 0.2750370279947917 + } + ] + }, + "point_1767607888941": { + "type": "point", + "instances": [ + { + "id": "point_1767607888941_1767607921237_e18p0rduk", + "x": 0.3793332898356146, + "y": 0.3621481391059028 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住马克笔，向上移动，向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "爪夹向下移动正确，成功接近马克笔。", + "frame": 64, + "progress": 20, + "progress_explanation": "爪夹接近马克笔，进度20%。", + "state_description": "当前状态为爪夹接近马克笔。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向下移动，合拢爪夹，夹住马克笔。", + "time": 2.1374567004358855, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607925421_j0nm03g1k", + "x": 0.3443332919718449, + "y": 0.5381481391059028, + "width": 0.08099999505615263, + "height": 0.06222222222222224 + } + ] + }, + "point_1767607888798": { + "type": "point", + "instances": [ + { + "id": "point_1767607888798_1767607927508_ursu5i0hy", + "x": 0.3393332922770207, + "y": 0.360370361328125 + } + ] + }, + "point_1767607888941": { + "type": "point", + "instances": [ + { + "id": "point_1767607888941_1767607929235_aei7ub06m", + "x": 0.3783332898966497, + "y": 0.45281480577256944 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住马克笔，向上移动，向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "爪夹角度正确。", + "frame": 98, + "progress": 30, + "progress_explanation": "爪夹更加接近马克笔，进度30%", + "state_description": "当前状态为爪夹伸进杯子里。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向下移动，合拢爪夹，夹住马克笔。", + "time": 3.2817865253386174, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607935228_jsdxk5s0h", + "x": 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"correction_plan": "向上移动，向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "爪夹合拢正确，成功触碰爪夹。", + "frame": 189, + "progress": 50, + "progress_explanation": "爪夹触碰到马克笔，进度50%。", + "state_description": "当前状态为爪夹夹住马克笔。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向上移动，向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "time": 6.292095614271932, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607945859_ivjdzddu8", + "x": 0.31233329392496983, + "y": 0.5594814724392361, + "width": 0.08299999493408232, + "height": 0.08000000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "爪夹向上移动正确，成功夹起马克笔。", + "frame": 219, + "progress": 75, + "progress_explanation": "爪夹将马克笔夹起，进度75%。", + "state_description": "当前状态为爪夹将马克笔夹至杯子上方。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向右侧移动至桌面上方，向下移动，松开爪夹，马克笔落在在桌面上。", + "time": 7.312714106752748, + "annotations": { + "bbox_1767607887901": { + 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0.0764444444444444 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "松开爪夹，马克笔落在在桌面上。", + "error_success_analysis": "爪夹向下移动正确，成功将马克笔移到桌子上。", + "frame": 275, + "progress": 90, + "progress_explanation": "马克笔移至桌面上方，进度90%。", + "state_description": "当前状态为马克笔在桌子上。\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：松开爪夹，马克笔落在在桌面上。", + "time": 9.168384093081501, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607959260_egwuk2i8p", + "x": 0.4403332861124703, + "y": 0.5849629584418403, + "width": 0.06499999603271504, + "height": 0.08533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务。", + "frame": 149, + "progress": 100, + "progress_explanation": "任务完成，进度100%。", + "state_description": "当前状态为爪夹落在桌面上。", + "time": 9.933333333333334, + "annotations": { + "bbox_1767607887901": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767607887901_1767607962629_bu1zykxyr", + "x": 0.4313332866617866, + "y": 0.561259250217014, + "width": 0.05699999652099637, + "height": 0.09777777777777774 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767607887901", + "name": "马克笔", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767607888798", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767607888941", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003788.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003788.json new file mode 100644 index 0000000000000000000000000000000000000000..a608b950ae1d38dce2d7ccb505985a1e894f5f7e --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003788.json @@ -0,0 +1,363 @@ +{ + "task_description": "把杯子里的东西倒在桌子上\n准备开始移动：0%\n接近杯子：20%\n触碰到杯子50%\n将杯子夹起：70%\n将杯子里的东西掉出：90%\n放下杯子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向左侧移动至杯子上方，向下移动，合拢爪夹，夹住杯子，向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，朝向下。\n为了完成把杯子里的东西倒在桌子上的任务应当：向左侧移动至杯子上方，向下移动，合拢爪夹，夹住杯子。", + "time": 0.7425426023790748, + "annotations": { + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669098099_bq9g1ojww", + "x": 0.37233329026286066, + "y": 0.6240740695529514 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "向左侧移动至杯子上方，向下移动，合拢爪夹，夹住杯子，向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹向左侧移动正确，准备接近杯子。", + "frame": 47, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹向下，准备接近杯子。\n为了完成把杯子里的东西倒在桌子上的任务应当：向左侧移动至杯子上方，向下移动，合拢爪夹，夹住杯子。", + "time": 1.5553260563910694, + "annotations": { + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669103843_4y77spbt4", + "x": 0.324333293192548, + "y": 0.4368148057725695, + "width": 0.0509999968872072, + "height": 0.10488888888888886 + } + ] + }, + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669106266_hav92mez2", + "x": 0.39533328885905217, + "y": 0.4972592502170139 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，然后稍微向左。", + "correction_plan": "向下移动，合拢爪夹，夹住杯子，向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹向下移动正确，成功接近杯子。", + "frame": 81, + "progress": 20, + "progress_explanation": "爪夹接近杯子，进度20%。", + "state_description": "当前状态为爪夹向下，接近杯子。\n为了完成把杯子里的东西倒在桌子上的任务应当：向下移动，合拢爪夹，夹住杯子。", + "time": 2.684191964741062, + "annotations": { + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669110109_txutucvft", + "x": 0.37433329014079036, + "y": 0.4670370279947917 + } + ] + }, + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669112994_x64hqm2rc", + "x": 0.33033329282633705, + "y": 0.41725925021701393, + "width": 0.04799999707031266, + "height": 0.1262222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向左移动，然后向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住杯子，向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近杯子。", + "frame": 122, + "progress": 30, + "progress_explanation": "爪夹更加接近杯子，进度30%。", + "state_description": "当前状态为爪夹更加接近杯子。\n为了完成把杯子里的东西倒在桌子上的任务应当：向下移动，合拢爪夹，夹住杯子。", + "time": 4.0538826002057196, + "annotations": { + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669117361_tcj85igow", + "x": 0.3263332930704777, + "y": 0.45281480577256944, + "width": 0.04999999694824235, + "height": 0.08711111111111115 + } + ] + }, + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669119512_m42ldczon", + "x": 0.36933329044596613, + "y": 0.47770369466145834 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下移动，合拢爪夹。", + "correction_plan": "向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹合拢正确，成功夹住杯子。", + "frame": 147, + "progress": 50, + "progress_explanation": "爪夹触碰到杯子，进度50%。", + "state_description": "当前状态为爪夹夹住杯子。\n为了完成把杯子里的东西倒在桌子上的任务应当：向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "time": 4.896769145107048, + "annotations": { + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669126978_2zea95jkd", + "x": 0.33633329246012617, + "y": 0.4350370279947917, + "width": 0.041999997436523585, + "height": 0.11199999999999997 + } + ] + }, + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669130017_2ig54q0dm", + "x": 0.3653332906901067, + "y": 0.47948147243923617 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将杯子夹起。", + "frame": 174, + "progress": 60, + "progress_explanation": "爪夹将杯子稍微夹起，进度60%。", + "state_description": "当前状态为爪夹将杯子夹至空中。\n为了完成把杯子里的东西倒在桌子上的任务应当：向上移动，向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "time": 5.7848103263423765, + "annotations": { + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669134113_1tpp9fug4", + "x": 0.3583332911173528, + "y": 0.41725925021701393 + } + ] + }, + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669138769_eu3d6uy81", + "x": 0.33233329270426676, + "y": 0.39414813910590274, + "width": 0.052999996765136934, + "height": 0.12444444444444448 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，然后向右移动。", + "correction_plan": "向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹向上移动正确，成功将杯子夹至空中。", + "frame": 210, + "progress": 70, + "progress_explanation": "爪夹将杯子夹至空中，进度70%。", + "state_description": "当前状态为爪夹将杯子夹至空中。\n为了完成把杯子里的东西倒在桌子上的任务应当：向右移动至右侧空旷处，向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "time": 7.003985507360367, + "annotations": { + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669143161_y3mg65ls4", + "x": 0.383333289591474, + "y": 0.38881480577256944, + "width": 0.0759999953613284, + "height": 0.17244444444444448 + } + ] + }, + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669145809_hfbdxwk1o", + "x": 0.41433328769938427, + "y": 0.42437036132812506 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动，向左旋转爪夹。", + "correction_plan": "向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹向右移动正确，成功准备将杯子里的东西倒出。", + "frame": 271, + "progress": 80, + "progress_explanation": "准备将杯子里的东西倒出来。", + "state_description": "当前状态为爪夹准备将杯子里的东西倒出来。\n为了完成把杯子里的东西倒在桌子上的任务应当：向左旋转爪夹，将东西掉出，向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "time": 9.035944142390354, + "annotations": { + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669153080_w9k6wkmto", + "x": 0.5333332804362011, + "y": 0.4670370279947917 + } + ] + }, + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669157328_4ujfe32mb", + "x": 0.5053332821451854, + "y": 0.4457036946614583, + "width": 0.07099999566650421, + "height": 0.17422222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向左旋转。", + "correction_plan": "右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "error_success_analysis": "爪夹旋转角度正确，成功将东西倒出来。", + "frame": 316, + "progress": 90, + "progress_explanation": "将杯子里的东西倒出来，进度90%", + "state_description": "当前状态为爪夹向左旋转，东西掉出来。\n为了完成把杯子里的东西倒在桌子上的任务应当：向右旋转爪夹，向下移动，松开爪夹，放下杯子。", + "time": 10.54109868685701, + "annotations": { + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669162112_8zxioz4x0", + "x": 0.5333332804362011, + "y": 0.39770369466145833, + "width": 0.08599999475097686, + "height": 0.16000000000000006 + } + ] + }, + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669165194_w9xmtqluh", + "x": 0.5613332787272168, + "y": 0.40481480577256945 + } + ] + } + } + }, + { + "action_description": "向右旋转，向下移动，松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹旋转正确，成功完成任务。", + "frame": 438, + "progress": 100, + "progress_explanation": "任务完成，进度100%。", + "state_description": "当前状态为爪夹张开，杯子放在桌面。", + "time": 14.6, + "annotations": { + "point_1767669078858": { + "type": "point", + "instances": [ + { + "id": "point_1767669078858_1767669171801_17c0t2byb", + "x": 0.5003332824503611, + "y": 0.5434814724392362 + } + ] + }, + "bbox_1767669074660": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669074660_1767669175104_05noevvqc", + "x": 0.49233328293864237, + "y": 0.5328148057725695, + "width": 0.0769999953002932, + "height": 0.14933333333333332 + } + ] + }, + "point_1767669078694": { + "type": "point", + "instances": [ + { + "id": "point_1767669078694_1767669177224_8wt5dnszu", + "x": 0.5193332812906932, + "y": 0.48303702799479165 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767669074660", + "name": "杯子", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767669078694", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767669078858", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.wrist_image_left/episode_003466.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.wrist_image_left/episode_003466.json new file mode 100644 index 0000000000000000000000000000000000000000..00c5b2372747f7458e87fd9d2c8588e883356d3f --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-003/observation.images.wrist_image_left/episode_003466.json @@ -0,0 +1,538 @@ +{ + "task_description": "从桌子上拿起绿色物体，把它放在碗里\n准备开始移动：0%\n接近绿色物体：20%\n触碰到绿色物体：50%\n将绿色物体夹起：70%\n将绿色物体夹至碗边：80%\n将绿色物体移至碗上方：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向下移动在绿色物体上方，向下移动，合拢爪夹，向上移动，向左侧移动至碗上方，向下移动，松开爪夹，绿色物体落入碗中。", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，绿色物体在桌子上。\n为了完成从桌子上拿起绿色物体，把它放在碗里的任务应当：向下移动在绿色物体上方，向下移动，合拢爪夹。", + "time": 0.021534805350467305, + "annotations": { + "point_1767672126348": { + "type": "point", + "instances": [ + { + "id": "point_1767672126348_1767672270665_u9clp9j1e", + "x": 0.7693332660319051, + "y": 0.5754814724392361 + } + ] + }, + "point_1767672126180": { + "type": "point", + "instances": [ + { + "id": "point_1767672126180_1767672273737_zs56f344s", + "x": 0.44633328574625936, + "y": 0.568370361328125 + } + ] + }, + "bbox_1767672125013": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767672125013_1767672277652_zsg9j9nu2", + "x": 0.5583332789103224, + "y": 0.5008148057725694, + "width": 0.05499999664306658, + "height": 0.06400000000000006 + } + ] + }, + "bbox_1767672125189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767672125189_1767672282817_uzqtw003p", + "x": 0.34833329172770433, + "y": 0.19681480577256943, + "width": 0.17099998956298892, + "height": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004044.json new file mode 100644 index 0000000000000000000000000000000000000000..7a70447492e7fb1070adeb8934f7d4f5a4488d60 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004044.json @@ -0,0 +1,265 @@ +{ + "task_description": "向下移动绿色的碗\n准备开始移动：0%\n接近绿色的碗：20%\n触碰到绿色的碗：50%\n将绿色的碗夹起：70%\n将绿色的碗移至下侧：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动至碗的上方，向下移动合拢爪夹，夹住碗，向上移动，向后移动至指定位置，向下移动，将碗放在桌子上，松开爪夹。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未移动\n为了完成向下移动绿色的碗的任务应当：向前移动至碗的上方，向下移动合拢爪夹，夹住碗。", + "time": 0.5310421568192532, + "annotations": { + "bbox_1768184750155": { + "type": "bbox", + "instances": [ + { + 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"task_description": "把黑锅移到右边\n准备开始移动：0%\n接近黑锅：20%\n触碰到黑锅：50%\n移动黑锅：70%\n将黑锅移至桌面右边：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向左前移动至黑锅上方，向下移动，触碰到黑锅，将黑锅拉向右侧，向上移动。", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹在屏幕外\n为了完成把黑锅移到右边的任务应当：向左前移动至黑锅上方，向下移动，触碰到黑锅。", + "time": 0.7798392458195168, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201722851_22rkwpl6x", + "x": 0.3643332907511419, + "y": 0.2631851806640625, + "width": 0.11599999291992233, + "height": 0.17066666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向左前移动至黑锅上方，向下移动，触碰到黑锅，将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 80, + "progress": 10, + "progress_explanation": "爪夹准备接近黑锅，进度10%", + "state_description": "当前状态为爪夹张开，准备接近黑锅\n为了完成把黑锅移到右边的任务应当：向左前移动至黑锅上方，向下移动，触碰到黑锅。", + "time": 2.660938742919309, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201727908_6ry3y1k6m", + "x": 0.363333290812177, + "y": 0.28214813910590275, + "width": 0.10899999334716833, + "height": 0.17066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向左前侧移动并且向下移动", + "correction_plan": "向左前移动至黑锅上方，向下移动，触碰到黑锅，将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功接近黑锅", + "frame": 123, + "progress": 20, + "progress_explanation": "爪夹接近黑锅，进度20%", + "state_description": "当前状态为爪夹接近黑锅\n为了完成把黑锅移到右边的任务应当：向左前移动至黑锅上方，向下移动，触碰到黑锅。", + "time": 4.083619034843521, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201731892_kobcq0qqg", + "x": 0.3583332911173528, + "y": 0.27681480577256945, + "width": 0.10599999353027378, + "height": 0.15999999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向左前移动至黑锅上方，向下移动，触碰到黑锅，将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹应向左侧寻找黑锅", + "frame": 161, + "progress": 25, + "progress_explanation": "爪夹在黑锅右侧，进度25%", + "state_description": "当前状态为爪夹在黑锅右侧\n为了完成把黑锅移到右边的任务应当：向左前移动至黑锅上方，向下移动，触碰到黑锅。", + "time": 5.364031297575312, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201736141_ldoj40c45", + "x": 0.3463332918497747, + "y": 0.2572592502170139, + "width": 0.12499999237060591, + "height": 0.17955555555555555 + } + ] + }, + "point_1768201700908": { + "type": "point", + "instances": [ + { + "id": "point_1768201700908_1768201738412_aedyaznou", + "x": 0.4983332825724315, + "y": 0.4332592502170139 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向左前移动至黑锅上方，向下移动，触碰到黑锅，将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹向上移动错误，导致爪夹远离黑锅", + "frame": 201, + "progress": 15, + "progress_explanation": "爪夹稍微远离黑锅，进度15%", + "state_description": "当前状态为爪夹稍微远离黑锅\n为了完成把黑锅移到右边的任务应当：向左前移动至黑锅上方，向下移动，触碰到黑锅。", + "time": 6.7076737955037355, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201746220_xpp1739lq", + "x": 0.37033329038493096, + "y": 0.28570369466145834, + "width": 0.1019999937744144, + "height": 0.1368888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向左前移动至黑锅上方，向下移动，触碰到黑锅，将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹应向左侧寻找黑锅", + "frame": 244, + "progress": 25, + "progress_explanation": "爪夹在黑锅右侧，进度25%", + "state_description": "当前状态为爪夹在黑锅右侧\n为了完成把黑锅移到右边的任务应当：向左前移动至黑锅上方，向下移动，触碰到黑锅。", + "time": 8.130354087427948, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201750165_p3t50te52", + "x": 0.3783332898966497, + "y": 0.29459258355034723, + "width": 0.09199999438476594, + "height": 0.1528888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动然后向左向下移动", + "correction_plan": "向下移动，触碰到黑锅，将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹向左侧移动正确，成功更加接近黑锅", + "frame": 293, + "progress": 30, + "progress_explanation": "爪夹更加接近黑锅，进度30%", + "state_description": "当前状态为爪夹更加接近黑锅\n为了完成把黑锅移到右边的任务应当：向下移动，触碰到黑锅。", + "time": 9.77434020254037, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201754036_gtkbsyhjv", + "x": 0.3623332908732122, + "y": 0.2880740695529514, + "width": 0.11099999322509806, + "height": 0.14755555555555558 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，触碰到黑锅，将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹向下移动正确，成功准备触碰黑锅", + "frame": 322, + "progress": 40, + "progress_explanation": "爪夹准备触碰黑锅，进度40%", + "state_description": "当前状态我为爪夹准备触碰黑锅\n为了完成把黑锅移到右边的任务应当：向下移动，触碰到黑锅。", + "time": 10.722793730489846, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201757972_air0qqo3z", + "x": 0.3623332908732122, + "y": 0.2874814724392361, + "width": 0.11599999291992233, + "height": 0.14933333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹向下移动，成功触碰到黑锅", + "frame": 346, + "progress": 50, + "progress_explanation": "爪夹触碰到黑锅，进度50%", + "state_description": "当前状态为爪夹触碰到黑锅\n为了完成把黑锅移到右边的任务应当：将黑锅拉向右侧，向上移动。", + "time": 11.544786788046059, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201761924_t0e1ek0d4", + "x": 0.3843332895304389, + "y": 0.2697036946614583, + "width": 0.0899999945068363, + "height": 0.17422222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "将黑锅拉向右侧，向上移动。", + "error_success_analysis": "爪夹向右移动正确，成功将黑锅移动", + "frame": 379, + "progress": 70, + "progress_explanation": "爪夹开始向右侧移动黑锅，进度70%", + "state_description": "当前状态为爪夹开始向右侧移动黑锅\n为了完成把黑锅移到右边的任务应当：将黑锅拉向右侧，向上移动。", + "time": 12.619700786388796, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201765797_dxwi85yxz", + "x": 0.4413332860514352, + "y": 0.2999259168836806, + "width": 0.1319999919433598, + "height": 0.16533333333333336 + } + ] + } + } + }, + { + "action_description": "向右侧移动", + "correction_plan": "爪夹向上移动。", + "error_success_analysis": "爪夹向右侧移动正确，成功将黑锅移动至右侧", + "frame": 406, + "progress": 90, + "progress_explanation": "爪夹将黑锅移动至右侧，进度90%", + "state_description": "当前状态为爪夹将黑锅移动至右侧\n为了完成把黑锅移到右边的任务应当：爪夹向上移动。", + "time": 13.536539196739957, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201769851_51yx3obmd", + "x": 0.44933328556315394, + "y": 0.31059258355034725, + "width": 0.1019999937744144, + "height": 0.19555555555555557 + } + ] + } + } + }, + { + "action_description": "爪夹向移动", + "correction_plan": "", + "error_success_analysis": "爪夹向上移动正确，成功完成任务", + "frame": 444, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为黑锅在右边", + "time": 14.801143900672587, + "annotations": { + "bbox_1768201693357": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768201693357_1768201774003_1hc986n8m", + "x": 0.4563332851359078, + "y": 0.31770369466145837, + "width": 0.11199999316406295, + "height": 0.18133333333333335 + } + ] + }, + "point_1768201700908": { + "type": "point", + "instances": [ + { + "id": "point_1768201700908_1768201776091_jcpnbvrw4", + "x": 0.5113332817789745, + "y": 0.2839259168836806 + } + ] + }, + "point_1768201699709": { + "type": "point", + "instances": [ + { + "id": "point_1768201699709_1768201778411_j2lam3kni", + "x": 0.47133328422038057, + "y": 0.2501481391059028 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768201693357", + "name": "黑锅", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768201699709", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768201700908", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004405.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004405.json new file mode 100644 index 0000000000000000000000000000000000000000..60d7a3f4fe7e8db81a024ceaab657a0d7eeb2993 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004405.json @@ -0,0 +1,285 @@ +{ + "task_description": "将板块向前移动\n准备开始移动：0%\n接近板块：20%\n触碰到板块：50%\n移动板块：70%\n将板块移至前边：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向左前侧移动至板块上方，向下移动，压住板块，向前移动板块，将板块向前移动，然后爪夹离开板块。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成将板块向前移动的任务应当：向左前侧移动至板块上方，向下移动，压住板块。", + "time": 0.26639152187754694, + "annotations": { + "bbox_1768204197395": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204197395_1768204264362_4y4go7kum", + "x": 0.33033329282633705, + "y": 0.6092592502170139, + "width": 0.12499999237060595, + "height": 0.08355555555555551 + } + ] + } + } + }, + { + "action_description": "爪夹向右前侧移动", + "correction_plan": "向左前侧移动至板块上方，向下移动，压住板块，向前移动板块，将板块向前移动，然后爪夹离开板块。", + "error_success_analysis": "爪夹向左前侧移动正确，成功准备接近板块。", + "frame": 41, + "progress": 10, + "progress_explanation": "准备接近板块，进度10%", + "state_description": "当前状态为爪夹朝向下，准备接近板块\n为了完成将板块向前移动的任务应当：向左前侧移动至板块上方，向下移动，压住板块。", + "time": 1.3705151637431563, + "annotations": { + "bbox_1768204197395": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204197395_1768204261266_dwu1ucn8n", + "x": 0.3393332922770207, + "y": 0.6128148057725695, + "width": 0.12199999255371141, + "height": 0.08533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，压住板块，向前移动板块，将板块向前移动，然后爪夹离开板块。", + "error_success_analysis": "爪夹向下移动正确，成功接近板块", + "frame": 66, + "progress": 20, + "progress_explanation": "爪夹接近板块，进度20%", + "state_description": "当前状态为爪夹接近板块\n为了完成将板块向前移动的任务应当：向下移动，压住板块。", + "time": 2.201236760956329, + "annotations": { + "bbox_1768204197395": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204197395_1768204258002_rrdlayemx", + "x": 0.33333329264323164, + "y": 0.6181481391059028, + "width": 0.12999999206543017, + "height": 0.09244444444444445 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，压住板块，向前移动板块，将板块向前移动，然后爪夹离开板块。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近板块", + "frame": 91, + "progress": 30, + "progress_explanation": "爪夹更加接近板块，进度30%", + "state_description": "当前状态为爪夹更加接近板块\n为了完成将板块向前移动的任务应当：向下移动，压住板块。", + "time": 3.0214428949136387, + "annotations": { + "bbox_1768204197395": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204197395_1768204254706_f9z6ai4lr", + "x": 0.33133329276530193, + "y": 0.6074814724392361, + "width": 0.13399999182128958, + "height": 0.10844444444444443 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向左调整，然后向下移动", + "correction_plan": "向下移动，压住板块，向前移动板块，将板块向前移动，然后爪夹离开板块。", + "error_success_analysis": "爪夹向下移动正确，成功准备触碰板块", + "frame": 116, + "progress": 40, + "progress_explanation": "爪夹准备触碰板块，进度40%", + "state_description": "当前状态为爪夹准备触碰板块\n为了完成将板块向前移动的任务应当：向下移动，压住板块。", + "time": 3.8521644921268114, + "annotations": { + "bbox_1768204197395": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204197395_1768204251130_rkdtf4hr1", + "x": 0.3393332922770207, + "y": 0.5950370279947917, + "width": 0.12299999249267621, + "height": 0.10488888888888886 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动 ", + "correction_plan": "向前移动板块，将板块向前移动，然后爪夹离开板块。", + "error_success_analysis": "爪夹向下移动正确，成功触碰到板块", + "frame": 150, + "progress": 50, + "progress_explanation": "爪夹触碰到板块，进度50%", + "state_description": "当前状态为爪夹触碰到板块\n为了完成将板块向前移动的任务应当：向前移动板块，将板块向前移动，然后爪夹离开板块。", + "time": 4.998349987015873, + "annotations": { + "bbox_1768204197395": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204197395_1768204247978_gra6hw121", + "x": 0.33433329258219646, + "y": 0.5950370279947917, + "width": 0.12599999230957076, + "height": 0.10488888888888886 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "继续向前移动板块，将板块向前移动，然后爪夹离开板块。", + "error_success_analysis": "爪夹向前移动正确，成功开始移动板块", + "frame": 184, + "progress": 70, + "progress_explanation": "爪夹开始移动板块，进度70%", + "state_description": "当前状态为爪夹开始移动板块\n为了完成将板块向前移动的任务应当：继续向前移动板块，将板块向前移动，然后爪夹离开板块。", + "time": 6.13402001864907, + "annotations": { + "bbox_1768204197395": { + "type": "bbox", + 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"progress_explanation": "爪夹将板块移动至指定位置，进度90%", + "state_description": "当前状态为爪夹将板块移动至指定位置\n为了完成将板块向前移动的任务应当：爪夹离开板块。", + "time": 8.272199, + "annotations": { + "bbox_1768204197395": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204197395_1768204237034_l389l84xn", + "x": 0.3513332915445989, + "y": 0.5914814724392361, + "width": 0.10399999365234414, + "height": 0.11199999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "", + "error_success_analysis": "爪夹向上移动正确，任务完成", + "frame": 296, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为板块到达指定位置", + "time": 9.8634, + "annotations": { + "bbox_1768204197395": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204197395_1768204224378_ppe80yss3", + "x": 0.3423332920939152, + "y": 0.5831851806640626, + "width": 0.10799999340820352, + "height": 0.12266666666666666 + } + ] + }, + "point_1768204199853": { + "type": "point", + "instances": [ + { + "id": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005102.json new file mode 100644 index 0000000000000000000000000000000000000000..67b183acc8cca54f825e5f156cecb481bdd863be --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005102.json @@ -0,0 +1,343 @@ +{ + "task_description": "把马克笔从杯子里拿出来，放在桌子上\n准备开始移动：0%\n接近马克笔：20%\n触碰到马克笔：50%\n夹起马克笔：70%\n将马克笔移至桌面上方：90%\n将马克笔放在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔，向上移动，向右移动，向下移动，松开爪夹，马克笔落在桌面上。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成把马克笔从杯子里拿出来，放在桌子上的任务应当：向前移动至马克笔上方，向下移动，合拢爪夹，夹住马克笔。", + "time": 0.6945241962514852, + "annotations": { + "point_1768274540677": { + "type": "point", + 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No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005289.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005289.json new file mode 100644 index 0000000000000000000000000000000000000000..4220d2697ba452c4f17fd26d6e9a3b09cc10518b --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005289.json @@ -0,0 +1,549 @@ +{ + "task_description": "用蓝色毛巾擦白板\n准备开始移动：0%\n接近毛巾：20%\n夹住毛巾：60%\n开始擦白板：70%\n将毛巾放回：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至蓝色毛巾上方，向下移动，合拢爪夹，夹住毛巾，向左侧移动至白板上，开始擦拭，擦拭完成后将毛巾放回原位，松开爪夹。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": 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"bbox_1768449764512", + "name": "蓝色瓶子", + "color": "#4CAF50" + }, + { + "id": "bbox_1768449764770", + "name": "魔方", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768449765609", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768449765800", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006142.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006142.json new file mode 100644 index 0000000000000000000000000000000000000000..ca03dfa93dee73576c1db4f28301d8dc41f09a23 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006142.json @@ -0,0 +1,616 @@ +{ + "task_description": "从平台上移除绳索。\n爪夹开始移动:0%\n爪夹靠近绳索:30%\n爪夹夹起绳索中间:40%\n爪夹移动绳索:60%\n爪夹将绳索后半段放在桌子上:80%\n爪夹夹取绳索右端移动：90%\n爪夹松开，绳索放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "首先调整爪夹向上移动，然后向爪夹方向的前方移动，下降靠近绳索，爪夹合拢抓取绳索向爪夹方向的后方移动，将绳索放在桌子上，然后抬起爪夹向爪夹方向前方移动靠近绳索右端，夹取后向后移动放在桌子上，松开爪夹。", + "error_success_analysis": "", + "frame": 88, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成从平台上移除绳索的任务应当:首先调整爪夹向上移动。", + "time": 2.9310874242983207, + "annotations": { + "bbox_1768204339047": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204339047_1768204371373_3kt0eejo8", + "x": 0.3581110621270104, + "y": 0.28629629177517363, + "width": 0.45199997241211093, + "height": 0.3022222222222222 + } + ] + }, + "bbox_1768204348273": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768204348273_1768204378997_kqc49xmc5", + "x": 0.34111106316460793, + "y": 0.2732592502170139, + "width": 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+ "name": "平台", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768204354806", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768204360030", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006213.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006213.json new file mode 100644 index 0000000000000000000000000000000000000000..d71a78b31a214a5243c012f04a7a55c008d4f5a8 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006213.json @@ -0,0 +1,322 @@ +{ + "task_description": "把笔从杯子里拿出来，放在桌子上。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹夹起笔:40%\n爪夹移动笔:60%\n爪夹将笔放在桌子上:80%\n爪夹松开，笔放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向爪夹方向的前方移动靠近笔，微微调整爪夹后抓取笔后微微抬升至空中，后向爪夹方向的右后方移动，完全远离杯子的范围后开始下降，爪夹松开将笔放在桌子上。", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把笔从杯子里拿出来，放在桌子上的任务应当:调整爪夹角度向爪夹方向的前方移动靠近笔。", + "time": 0.5670100219091029, + "annotations": { + "bbox_1767594248033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594248033_1767594295120_aqmvxjrpd", + "x": 0.5021110533379484, + "y": 0.5974074028862848, + "width": 0.030999998107910275, + "height": 0.09777777777777774 + } + ] + }, + "bbox_1767594256465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594256465_1767594301809_9ljfimbo5", + "x": 0.41211105883111215, + "y": 0.4314814724392362, + "width": 0.3309999797973645, + "height": 0.3644444444444444 + } + ] + }, + "point_1767594271945": { + "type": "point", + "instances": [ + { + "id": "point_1767594271945_1767594315687_pt6kk8kcd", + "x": 0.7041110410088475, + "y": 0.817259250217014 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "爪夹持续向爪夹方向的前方移动靠近笔，微微调整爪夹后抓取笔后微微抬升至空中，后向爪夹方向的右后方移动，完全远离杯子的范围后开始下降，爪夹松开将笔放在桌子上。", + "error_success_analysis": "爪夹调整角度后，向爪夹方向前方移动靠近笔，方便爪夹夹取。", + "frame": 65, + "progress": 10, + "progress_explanation": "目前爪夹调整角度后，向爪夹方向前方移动靠近笔，方便爪夹夹取，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把笔从杯子里拿出来，放在桌子上的任务应当:爪夹持续向爪夹方向的前方移动靠近笔。", + "time": 2.18144291001512, + "annotations": { + "bbox_1767594248033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594248033_1767594325415_uqb1co8fg", + "x": 0.5041110532158781, + "y": 0.6199259168836805, + "width": 0.027999998291015692, + "height": 0.09422222222222226 + } + ] + }, + "bbox_1767594256465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594256465_1767594346870_j56y5xzet", + "x": 0.3741110611504479, + "y": 0.4279259168836806, + "width": 0.3289999799194348, + "height": 0.3982222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹持续向爪夹方向的前方移动。", + "correction_plan": "微微调整爪夹，爪夹夹取笔后微微抬升至空中，后向爪夹方向的右后方移动，完全远离杯子的范围后开始下降，爪夹松开将笔放在桌子上。", + "error_success_analysis": "爪夹持续向爪夹方向前方移动靠近笔，微微调整后方便爪夹夹取。", + "frame": 54, + "progress": 15, + "progress_explanation": "目前爪夹持续向爪夹方向前方移动靠近笔，微微调整后方便爪夹夹取，所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把笔从杯子里拿出来，放在桌子上的任务应当:调整爪夹，使其处在笔的上方位置，方便爪夹夹取笔。", + "time": 3.6, + "annotations": { + "bbox_1767594256465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594256465_1767594342128_k96so910o", + "x": 0.3921110600518151, + "y": 0.440370361328125, + "width": 0.31399998083496217, + "height": 0.3875555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹向下调整角度贴近笔。", + "correction_plan": "爪夹夹取笔后微微抬升至空中，后向爪夹方向的右后方移动，完全远离杯子的范围后开始下降，爪夹松开将笔放在桌子上。", + "error_success_analysis": "爪夹处在笔的上方位置，方便爪夹夹取。", + "frame": 144, + "progress": 20, + "progress_explanation": "目前爪夹处在笔的上方位置，方便爪夹夹取，所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，爪夹贴着笔。\n为完成把笔从杯子里拿出来，放在桌子上的任务应当:爪夹合拢夹取笔抬升至空中。", + "time": 4.816494290601952, + "annotations": { + "bbox_1767594256465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594256465_1767594353551_2q6rj6mqc", + "x": 0.3961110598076746, + "y": 0.4065925835503472, + "width": 0.33399997961425903, + "height": 0.4799999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取笔抬升至空中。", + "correction_plan": "向爪夹方向的右后方移动，完全远离杯子的范围后开始下降，爪夹松开将笔放在桌子上。", + "error_success_analysis": "爪夹成夹取笔微微抬升至空中，并开始向爪夹右后方移动。", + "frame": 89, + "progress": 40, + "progress_explanation": "目前爪夹成功夹取笔微微抬升至空中，所以进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧笔。\n为完成把笔从杯子里拿出来，放在桌子上的任务应当:爪夹夹取笔向爪夹右后方移动。", + "time": 5.933333333333334, + "annotations": { + "bbox_1767594256465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594256465_1767594358143_1wb15v1j1", + "x": 0.3941110599297449, + "y": 0.42259258355034723, + "width": 0.33299997967529416, + "height": 0.3804444444444445 + } + ] + } + } + }, + { + "action_description": "爪夹夹取笔向爪夹右后方移动。", + "correction_plan": "爪夹夹取笔完全远离杯子的范围后开始下降，爪夹松开将笔放在桌子上。", + "error_success_analysis": "爪夹夹取笔向爪夹方向右侧移动。", + "frame": 101, + "progress": 60, + "progress_explanation": "目前爪夹夹取笔向爪夹方向右侧移动，所以进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧笔。\n为完成把笔从杯子里拿出来，放在桌子上的任务应当:爪夹夹取笔下降放在桌子上。", + "time": 6.733333333333333, + "annotations": { + "bbox_1767594248033": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594248033_1767594367127_xr03l8q9x", + "x": 0.5681110493096283, + "y": 0.5488148057725695, + "width": 0.055999996582031385, + "height": 0.07466666666666666 + } + ] + }, + "bbox_1767594256465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767594256465_1767594370199_xgm110qzd", + "x": 0.3971110597466394, + "y": 0.40481480577256945, + "width": 0.33899997930908327, + "height": 0.42133333333333334 + } + ] + }, + "point_1767594271945": { + "type": "point", + 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0000000000000000000000000000000000000000..72632b55fb8f9e7402a72a2b7a0f57ff11f24c52 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006629.json @@ -0,0 +1,317 @@ +{ + "task_description": "将第三根杆子向右移动。\n爪夹开始移动:0%\n爪夹靠近第三根杆子:30%\n爪夹夹起第三根杆子:50%\n爪夹推动第三根杆子:70%\n爪夹松开，第三根杆子成功向右移动:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向下移动靠近第三根杆子，爪夹合拢夹取第三根杆子后，向爪夹方向的右侧推动，然后爪夹松开远离第三根杆子。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成将第三根杆子向右移动的任务应当:调整爪夹角度向下移动靠近第三根杆子。", + "time": 0.6331268730162396, + "annotations": { + "bbox_1767596160898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767596160898_1767596191776_3i8ju1gz0", + "x": 0.48311105449761627, + "y": 0.4871851806640625, + "width": 0.21999998657226633, + "height": 0.11022222222222224 + } + ] + }, + "point_1767596170882": { + "type": "point", + "instances": [ + { + "id": "point_1767596170882_1767596194178_3zkpzyk3x", + "x": 0.44211105700005754, + "y": 0.36392591688368053 + } + ] + }, + "point_1767596176820": { + "type": "point", + "instances": [ + { + "id": "point_1767596176820_1767596196657_caqgf90gp", + "x": 0.46011105590142476, + "y": 0.3568148057725694 + } + ] + } + } + }, + { + "action_description": "爪夹微微调整角度向下移动。", + "correction_plan": "调整爪夹角度向下移动靠近第三根杆子，爪夹合拢夹取第三根杆子后，向爪夹方向的右侧推动，然后爪夹松开远离第三根杆子。", + "error_success_analysis": "爪夹处于张开状态，微微调整爪夹向下移动，方便靠近第三根杆子。", + "frame": 22, + "progress": 10, + "progress_explanation": "目前爪夹处于张开状态，微微调整爪夹向下移动，方便靠近第三根杆子，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，向下移动。\n为完成将第三根杆子向右移动的任务应当:调整爪夹角度向下移动靠近第三根杆子。", + "time": 1.4666666666666666, + "annotations": { + "bbox_1767596160898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767596160898_1767596226056_3pr76edfc", + "x": 0.48411105443658115, 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"调整爪夹角度使其垂直桌面，然后下降靠近书，爪夹合拢夹取书后，向上抬起远离黑色碗，然后向爪夹方向的左侧移动，接着下降爪夹将书放在桌子上，松开爪夹，书成功放在桌子上。", + "error_success_analysis": "爪夹微微调整角度，向爪夹方向前方移动。", + "frame": 36, + "progress": 5, + "progress_explanation": "目前爪夹微微调整角度，向爪夹方向前方移动，所以进度提升为5%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把书从黑色碗里拿出来，放在桌子上的任务应当:调整爪夹角度使其垂直桌面，然后下降靠近书。", + "time": 2.4, + "annotations": { + "bbox_1767599491524": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767599491524_1767599602857_56r1mgnzs", + "x": 0.5621110496758392, + "y": 0.6412592502170139, + "width": 0.08799999462890655, + "height": 0.2524444444444446 + } + ] + }, + "bbox_1767599496573": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767599496573_1767599606969_40ukee4ny", + "x": 0.36711106157769396, + "y": 0.7639259168836806, + "width": 0.2369999855346688, + "height": 0.20444444444444435 + } + ] + }, + "point_1767599504668": { + "type": "point", + "instances": [ + { + "id": "point_1767599504668_1767599615417_lsypqd26o", + "x": 0.9231110276421491, 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-0,0 +1,438 @@ +{ + "task_description": "把那个白色的碗往前移一下。\n爪夹开始移动:0%\n爪夹靠近碗:30%\n爪夹夹取碗:50%\n爪夹向前移动碗:70%\n爪夹松开，碗成功往前移动:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "首先调整爪夹角度，向爪夹方向右前方移动，下降靠近碗，爪夹合拢夹取碗抬升至空中，首先向爪夹方向右侧微微移动，然后向爪夹方向后侧移动，接着又向爪夹方向右侧微微移动，将碗放在桌子上，爪夹松开，碗成功往前移动。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把那个白色的碗往前移一下的任务应当:调整爪夹角度，向爪夹方向右前方移动。", + "time": 0.6401219383896071, + "annotations": { + "point_1767668166194": { + "type": "point", + "instances": [ + { + "id": "point_1767668166194_1767668284087_pe38jk8zr", + "x": 0.5461110506524016, + "y": 0.3870370279947917 + } + ] + }, + "point_1767668161177": { + "type": "point", + "instances": [ + { + "id": "point_1767668161177_1767668286631_lt6lthll5", + "x": 0.5121110527275968, + "y": 0.39414813910590274 + } + ] + }, + "bbox_1767668156776": { + "type": "bbox", + 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"爪夹合拢夹取碗，与上一阶段相比，方便夹取碗，开始向爪夹方向左后方移动。", + "frame": 43, + "progress": 30, + "progress_explanation": "目前爪夹合拢夹取碗，与上一阶段相比，方便夹取碗，开始向爪夹方向左后方移动，所以进度为30%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把那个白色的碗往前移一下的任务应当：爪夹合拢夹取碗。", + "time": 2.8666666666666667, + "annotations": { + "point_1767668166194": { + "type": "point", + "instances": [ + { + "id": "point_1767668166194_1767668254655_ky7rh9ywd", + "x": 0.9181110279473248, + "y": 0.8385925835503473 + } + ] + }, + "point_1767668161177": { + "type": "point", + "instances": [ + { + "id": "point_1767668161177_1767668256775_debg6gqd2", + "x": 0.8271110335015237, + "y": 0.783481472439236 + } + ] + }, + "bbox_1767668156776": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767668156776_1767668259599_jps053ydc", + "x": 0.6471110444878512, + "y": 0.7657036946614584, + "width": 0.31699998065185664, + "height": 0.2044444444444445 + } + ] + }, + "bbox_1767668148545": { + "type": "bbox", + "instances": [ + { + "id": 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"point_targets": [ + { + "id": "point_1767668161177", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767668166194", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006114.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006114.json new file mode 100644 index 0000000000000000000000000000000000000000..318e67e6a9f32dab0609ee7420cc392b04fad1d7 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006114.json @@ -0,0 +1,441 @@ +{ + "task_description": "打开那个白色的盖子。\n爪夹开始移动:0%\n爪夹靠近垃圾箱:30%\n爪夹合拢靠近盖子:50%\n爪夹按盖子:70%\n爪夹松开，盖子成功打开:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "首先调整爪夹角度，首先向爪夹方向前方移动，接着再向爪夹方向后侧移动，然后下降调整爪夹角度处在垃圾箱正上方，微微下降靠近垃圾箱盖子，爪夹合拢按下垃圾箱的盖子，爪夹上升，垃圾箱盖子成功打开。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把那个白色的碗往前移一下的任务应当:调整爪夹角度，向爪夹方向前方移动。", + "time": 1.4, + "annotations": { + "bbox_1767670929697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767670929697_1767670957670_yzh4utn6o", + "x": 0.32211106432427583, + "y": 0.45874073621961803, + "width": 0.24099998529052818, + "height": 0.384 + } + ] + }, + "point_1767670938223": { + "type": "point", + "instances": [ + { + "id": "point_1767670938223_1767670959982_lniv8qmtv", + "x": 0.4501110565117763, + "y": 0.6110370279947916 + } + ] + }, + "point_1767670943879": { + "type": "point", + "instances": [ + { + "id": "point_1767670943879_1767670962102_l6xkzs7r4", + "x": 0.7621110374688087, + "y": 0.6252592502170139 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动。", + "correction_plan": "爪夹向爪夹方向后侧移动，然后下降调整爪夹角度处在垃圾箱正上方，微微下降靠近垃圾箱盖子，爪夹合拢按下垃圾箱的盖子，爪夹上升，垃圾箱盖子成功打开。", + "error_success_analysis": "爪夹调整角度，向爪夹方向前方移动，方便移动靠近垃圾箱。", + "frame": 85, + "progress": 5, + "progress_explanation": "目前爪夹调整角度，向爪夹方向前方移动，所以进度提升为5%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把那个白色的碗往前移一下的任务应当:爪夹再向爪夹方向后侧微微移动。", + "time": 2.8404118903775943, + "annotations": { + "point_1767670943879": { + "type": "point", + "instances": [ + { + "id": "point_1767670943879_1767670966198_0elbqo24f", + "x": 0.7631110374077735, + "y": 0.6311851806640625 + } + ] + }, + "point_1767670938223": { + "type": "point", + "instances": [ + { + "id": "point_1767670938223_1767670968702_wpuczg6vf", + "x": 0.4491110565728115, + "y": 0.6288148057725694 + } + ] + }, + "bbox_1767670929697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767670929697_1767670973254_unb1kpg2o", + "x": 0.3511110625542564, + "y": 0.6021481391059028, + "width": 0.25999998413086034, + "height": 0.3573333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹再向爪夹方向后侧微微移动。", + "correction_plan": "爪夹下降调整爪夹角度处在垃圾箱正上方，微微下降靠近垃圾箱盖子，爪夹合拢按下垃圾箱的盖子，爪夹上升，垃圾箱盖子成功打开。", + "error_success_analysis": "爪夹再次向爪夹方向后侧微微移动，与上一阶段相比，更容易靠近垃圾箱。", + "frame": 62, + "progress": 10, + "progress_explanation": "目前爪夹再次向爪夹方向后侧微微移动。所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把那个白色的碗往前移一下的任务应当:爪夹微微下降，重新调整爪夹角度。", + "time": 4.133333333333334, + "annotations": { + "bbox_1767670929697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767670929697_1767670978509_lu1fic874", + "x": 0.34811106273736186, + "y": 0.2661481391059028, + "width": 0.268999983581544, + "height": 0.5031111111111111 + } + ] + }, + "point_1767670938223": { + "type": "point", + "instances": [ + { + "id": "point_1767670938223_1767670980814_3xz201bbf", + "x": 0.4481110566338466, + "y": 0.6252592502170139 + } + ] + }, + "point_1767670943879": { + "type": "point", + "instances": [ + { + "id": "point_1767670943879_1767670982982_9ynleotae", + "x": 0.7621110374688087, + "y": 0.6217036946614584 + } + ] + } + } + }, + { + "action_description": "爪夹微微下降靠近垃圾箱。", + "correction_plan": "爪夹微微下降靠近垃圾箱盖子，爪夹合拢按下垃圾箱的盖子，爪夹上升，垃圾箱盖子成功打开。", + "error_success_analysis": "爪夹爪夹微微下降，与上一阶段相比更容易靠近垃圾箱。", + "frame": 73, + "progress": 15, + "progress_explanation": "目前爪夹爪夹微微下降，与上一阶段相比更容易靠近垃圾箱。所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，爪夹下降移动。\n为完成把那个白色的碗往前移一下的任务应当:爪夹调整爪夹角度向左下方下降。", + "time": 4.866666666666666, + "annotations": { + "point_1767670943879": { + "type": "point", + "instances": [ + { + "id": "point_1767670943879_1767670986990_2iyx15jpp", + "x": 0.7621110374688087, + "y": 0.6323703613281251 + } + ] + }, + "point_1767670938223": { + "type": "point", + "instances": [ + { + "id": "point_1767670938223_1767670989125_7dlbp95cs", + "x": 0.4501110565117763, + "y": 0.6323703613281251 + } + ] + }, + "bbox_1767670929697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767670929697_1767670993838_c9lrlfy22", + "x": 0.32711106401910006, + "y": 0.3692592502170139, + "width": 0.3029999815063487, + "height": 0.5155555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹下降靠近垃圾箱。", + "correction_plan": "爪夹微微下降靠近垃圾箱盖子，爪夹合拢按下垃圾箱的盖子，爪夹上升，垃圾箱盖子成功打开。", + "error_success_analysis": "爪夹爪夹下降，与上一阶段相比更容易靠近垃圾箱。", + "frame": 98, + "progress": 20, + "progress_explanation": "目前爪夹爪夹下降，与上一阶段相比更容易靠近垃圾箱。所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，爪夹下降移动。\n为完成把那个白色的碗往前移一下的任务应当:爪夹再次向爪夹右后侧移动。", + "time": 6.533333333333333, + "annotations": { + "bbox_1767670929697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767670929697_1767670998782_x7ej2fec8", + "x": 0.4301110577324794, + "y": 0.5328148057725695, + "width": 0.4489999725952165, + "height": 0.42666666666666664 + } + ] + }, + "point_1767670938223": { + "type": "point", + "instances": [ + { + "id": "point_1767670938223_1767671001085_iysvpwqcz", + "x": 0.4511110564507412, + "y": 0.6323703613281251 + } + ] + }, + "point_1767670943879": { + "type": "point", + "instances": [ + { + "id": "point_1767670943879_1767671003005_d6eca91yi", + "x": 0.7631110374077735, + "y": 0.6181481391059028 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后侧移动。", + "correction_plan": "爪夹持续下降靠近垃圾箱盖子，爪夹合拢按下垃圾箱的盖子，爪夹上升，垃圾箱盖子成功打开。", + "error_success_analysis": "爪夹下降至垃圾箱正上方位置，与上一阶段相比更容易打开垃圾箱盖子。", + "frame": 111, + "progress": 25, + "progress_explanation": "目前爪夹下降至垃圾箱正上方位置，与上一阶段相比更容易打开垃圾箱盖子。所以进度提升为25%。", + "state_description": "当前状态为爪夹打开，爪夹靠近垃圾箱。\n为完成把那个白色的碗往前移一下的任务应当:爪夹下降靠近垃圾箱。", + "time": 7.4, + "annotations": { + "point_1767670943879": { + "type": "point", + "instances": [ + { + "id": "point_1767670943879_1767671006829_ku7mv9bte", + "x": 0.7641110373467384, + "y": 0.6305925835503472 + } + ] + }, + "point_1767670938223": { + "type": "point", + "instances": [ + { + "id": "point_1767670938223_1767671009077_wtg0z71ry", + "x": 0.4501110565117763, + "y": 0.6323703613281251 + } + ] + }, + "bbox_1767670929697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767670929697_1767671012325_zysrcgwjs", + "x": 0.25411106847466625, + "y": 0.33014813910590274, + "width": 0.555999966064455, + "height": 0.6257777777777779 + } + ] + } + } + }, + { + "action_description": "爪夹持续下降靠近垃圾箱。", + "correction_plan": "爪夹合拢按下垃圾箱的盖子，爪夹上升，垃圾箱盖子成功打开。", + "error_success_analysis": "爪夹贴近垃圾箱盖子，与上一阶段相比更容易打开垃圾箱盖子。", + "frame": 127, + "progress": 30, + "progress_explanation": "目前爪夹贴近垃圾箱盖子，与上一阶段相比更容易打开垃圾箱盖子。所以进度提升为30%。", + "state_description": "当前状态为爪夹张开，爪夹靠近垃圾箱。\n为完成把那个白色的碗往前移一下的任务应当:爪夹合拢按下垃圾箱盖子。", + "time": 8.466666666666667, + "annotations": { + "bbox_1767670929697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767670929697_1767671021725_3hqxtk32h", + "x": 0.13811107555474392, + "y": 0.3109876437717014, + "width": 0.7899999517822295, + "height": 0.6417777777777778 + } + ] + }, + "point_1767670938223": { + "type": "point", + "instances": [ + { + "id": "point_1767670938223_1767671024301_y14r861a5", + "x": 0.4691110553521084, + "y": 0.6323703613281251 + } + ] + }, + "point_1767670943879": { + "type": "point", + "instances": [ + { + "id": "point_1767670943879_1767671026252_zdiwk7k8x", + "x": 0.7521110380791602, + "y": 0.6199259168836805 + } + ] + } + } + }, + { + "action_description": "爪夹合拢贴近垃圾箱盖子。", + "correction_plan": "爪夹合拢按下垃圾箱的盖子，爪夹上升，垃圾箱盖子成功打开。", + "error_success_analysis": "爪夹合拢贴着垃圾箱盖子，与上一阶段相比更容易打开垃圾箱盖子。", + "frame": 282, + "progress": 50, + "progress_explanation": "目前爪夹合拢贴着垃圾箱盖子，与上一阶段相比更容易打开垃圾箱盖子。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹贴着垃圾箱盖子。\n为完成把那个白色的碗往前移一下的任务应当:爪夹合拢按下垃圾箱盖子。", + "time": 9.387215602145442, + "annotations": { + "point_1767670943879": { + "type": "point", + "instances": [ + { + "id": "point_1767670943879_1767671030517_b9pbaq2cq", + "x": 0.62211104601373, + "y": 0.6057036946614583 + } + ] + }, + "point_1767670938223": { + "type": "point", + "instances": [ + { + "id": "point_1767670938223_1767671033132_4hftx6u0j", + "x": 0.5661110494316987, + "y": 0.5914814724392361 + } + ] + }, + "bbox_1767670929697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767670929697_1767671039004_czashauqc", + "x": 0.17111107354058389, + "y": 0.3248148057725695, + "width": 0.8229999497680696, + "height": 0.6062222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹按下垃圾箱盖子后微微抬升至空中。", + "correction_plan": "爪夹上升，垃圾箱盖子成功打开。", + "error_success_analysis": "爪夹合拢按下垃圾箱盖子，盖子被打开。", + "frame": 152, + "progress": 70, + "progress_explanation": "目前爪夹合拢按下垃圾箱盖子，所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，爪夹远离垃圾箱盖子。\n为完成把那个白色的碗往前移一下的任务应当:爪夹上升，垃圾箱打开。", + "time": 10.133333333333333, + "annotations": { + "point_1767670938223": { + "type": "point", + "instances": [ + { + "id": "point_1767670938223_1767671049500_839wuzpdl", + "x": 0.583111048394101, + "y": 0.5776543104383681 + } + ] + }, + "point_1767670943879": { + "type": "point", + "instances": [ + { + "id": "point_1767670943879_1767671051837_gt1em7ood", + "x": 0.6181110462578706, + "y": 0.568370361328125 + } + ] + } + } + }, + { + "action_description": "爪夹上升，垃圾箱盖子打开。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹合拢按下垃圾箱盖子，微微上升，盖子被成功打开。", + "frame": 322, + "progress": 100, + "progress_explanation": "目前爪夹合拢按下垃圾箱盖子，微微上升，盖子被成功打开，所以进度提升为100%。", + "state_description": "当前状态为爪夹合拢，爪夹打开垃圾箱盖子。\n已完成把那个白色的碗往前移一下的任务。", + "time": 10.745566032138091, + "annotations": { + "point_1767670943879": { + "type": "point", + "instances": [ + { + "id": "point_1767670943879_1767671055564_gbf0hmdvo", + "x": 0.616111046379941, + "y": 0.5701481391059028 + } + ] + }, + "point_1767670938223": { + "type": "point", + "instances": [ + { + "id": "point_1767670938223_1767671057796_8p4k5kncd", + "x": 0.5781110486992768, + "y": 0.5754814724392361 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767670929697", + "name": "垃圾箱盖子", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767670938223", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767670943879", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006553.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006553.json new file mode 100644 index 0000000000000000000000000000000000000000..83551002145492e649995a74805141d0daa32607 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006553.json @@ -0,0 +1,654 @@ +{ + "task_description": "将叉子从盘架移到梳妆台顶部。\n爪夹开始移动:0%\n爪夹靠近叉子:30%\n爪夹夹取叉子:50%\n爪夹移动叉子:70%\n爪夹下降将叉子放在梳妆台顶部：90%\n爪夹松开，插座成功放在梳妆台顶部: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，向上移动，然后向爪夹方向左侧移动，接着下降靠近叉子，爪夹合拢夹取叉子，爪夹向上抬升，然后向爪夹方向右侧移动，爪夹下降，将叉子放在梳妆台顶部，爪夹松开，叉子成功放在梳妆台顶部。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成将叉子从盘架移到梳妆台顶部的任务应当:调整爪夹角度，向上移动。", + "time": 0.5980827060316132, + "annotations": { + "point_1768189119229": { + "type": "point", + "instances": [ + { + "id": "point_1768189119229_1768189843349_26lf3pi4n", + "x": 0.7711110369194923, + "y": 0.6469876437717014 + } + ] + }, + "point_1768189111861": { + "type": "point", + "instances": [ + { + "id": "point_1768189111861_1768189846622_91wezi3em", + "x": 0.45911105596245994, + "y": 0.6039259168836806 + } + ] + }, + "bbox_1768189101662": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768189101662_1768189856981_gptpjsbz1", + "x": 0.4711110552300381, + "y": 0.3799259168836806, + "width": 0.5129999686889667, + "height": 0.45688888888888896 + } + ] + }, + "bbox_1768189096517": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768189096517_1768189863117_8m9cxatln", + "x": 0.08611107872857185, + "y": 0.6821481391059028, + "width": 0.19199998828125073, + "height": 0.15111111111111114 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "爪夹向爪夹方向左侧移动，接着下降靠近叉子，爪夹合拢夹取叉子，爪夹向上抬升，然后向爪夹方向右侧移动，爪夹下降，将叉子放在梳妆台顶部，爪夹松开，叉子成功放在梳妆台顶部。", + "error_success_analysis": "爪夹向上移动，方便爪夹向爪夹方向左侧移动至叉子上方。", + "frame": 26, + "progress": 10, + "progress_explanation": "目前爪夹向上移动，方便爪夹向爪夹方向左侧移动至叉子上方，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成将叉子从盘架移到梳妆台顶部的任务应当:爪夹向爪夹方向左侧移动至叉子上方，方便爪夹下降靠近叉子。", + "time": 1.7333333333333334, + "annotations": { + "bbox_1768189096517": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768189096517_1768189816918_o5p3nd79k", + "x": 0.17311107341851356, + "y": 0.5914814724392361, + "width": 0.14999999084472712, + "height": 0.23466666666666672 + } + ] + }, + "bbox_1768189101662": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768189101662_1768189828975_4c1f2mohn", + "x": 0.5231110520562102, + "y": 0.036814805772569445, + "width": 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20, + "progress_explanation": "目前爪夹向爪夹方向左侧移动至叉子上方，方便爪夹下降靠近叉子。所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，爪夹在叉子上方。\n为完成将叉子从盘架移到梳妆台顶部的任务应当:爪夹下降靠近叉子，合拢抓取叉子向上抬升。", + "time": 4.533333333333333, + "annotations": { + "bbox_1768189096517": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768189096517_1768189785534_hz63c7jdy", + "x": 0.46111105584038964, + "y": 0.17054319932725695, + "width": 0.10899999334716837, + "height": 0.2648888888888889 + } + ] + }, + "point_1768189111861": { + "type": "point", + "instances": [ + { + "id": "point_1768189111861_1768189789542_k79x2vufl", + "x": 0.46111105584038964, + "y": 0.5968148057725694 + } + ] + }, + "point_1768189119229": { + "type": "point", + "instances": [ + { + "id": "point_1768189119229_1768189792534_4si6pxa93", + "x": 0.7721110368584572, + "y": 0.6323703613281251 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢夹取叉子，爪夹向上抬升，然后向爪夹方向右侧移动，爪夹下降，将叉子放在梳妆台顶部，爪夹松开，叉子成功放在梳妆台顶部。", + "error_success_analysis": "爪夹下降，成功靠近叉子，方便爪夹抓取。", + "frame": 188, + "progress": 30, + "progress_explanation": "目前爪夹靠近叉子，方便爪夹抓取。所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近叉子。\n为完成将叉子从盘架移到梳妆台顶部的任务应当:爪夹合拢抓取叉子向上抬升。", + "time": 6.260213038414078, + "annotations": { + "point_1768189111861": { + "type": "point", + "instances": [ + { + "id": "point_1768189111861_1768189766135_d1hvcxcng", + "x": 0.5061110530938078, + "y": 0.5794320882161459 + } + ] + }, + "point_1768189119229": { + "type": "point", + "instances": [ + { + "id": "point_1768189119229_1768189769047_aioc7z1j4", + "x": 0.7171110402153905, + "y": 0.6270370279947917 + } + ] + }, + "bbox_1768189096517": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768189096517_1768189772831_xy8yrymf4", + "x": 0.5721110490654877, + "y": 0.4279259168836806, + "width": 0.176999989196778, + "height": 0.29511111111111116 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取叉子向上抬升。", + "correction_plan": "爪夹向爪夹方向右侧移动，爪夹下降，将叉子放在梳妆台顶部，爪夹松开，叉子成功放在梳妆台顶部。", + 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+ "correction_plan": "爪夹下降，将叉子放在梳妆台顶部，爪夹松开，叉子成功放在梳妆台顶部。", + "error_success_analysis": "爪夹向爪夹方向右侧移动，远离盘架，方便爪夹下降将叉子放在梳妆台顶部。", + "frame": 153, + "progress": 70, + "progress_explanation": "目前爪夹向爪夹方向右侧移动，远离盘架，方便爪夹下降将叉子放在梳妆台顶部。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，抓紧叉子。\n为完成将叉子从盘架移到梳妆台顶部的任务应当:爪夹下降，将叉子放在梳妆台顶部。", + "time": 10.2, + "annotations": { + "point_1768189119229": { + "type": "point", + "instances": [ + { + "id": "point_1768189119229_1768189696585_8fkh4clu6", + "x": 0.6281110456475191, + "y": 0.5541481391059028 + } + ] + }, + "point_1768189111861": { + "type": "point", + "instances": [ + { + "id": "point_1768189111861_1768189702713_xoknz4eu0", + "x": 0.6021110472344331, + "y": 0.5577036946614584 + } + ] + }, + "bbox_1768189101662": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768189101662_1768189707600_9n8z3i6lr", + "x": 0.6971110414360936, + "y": 0.013703694661458335, + "width": 0.2929999821167003, + "height": 0.6311111111111111 + } + ] + }, + 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"frame": 457, + "progress": 90, + "progress_explanation": "目前爪夹持续下降，与上一阶段相比，爪夹将叉子完整的放在梳妆台顶部。所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，抓紧叉子。\n为完成将叉子从盘架移到梳妆台顶部的任务应当:爪夹松开，叉子成功放在梳妆台顶部。", + "time": 15.2302, + "annotations": { + "bbox_1768189096517": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768189096517_1768189411390_xnq1hnood", + "x": 0.590111047966855, + "y": 0.19365431043836806, + "width": 0.16299999005127014, + "height": 0.4426666666666667 + } + ] + }, + "bbox_1768189101662": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768189101662_1768189424494_dsfycz5tb", + "x": 0.3761110610283776, + "y": 0.019037027994791667, + "width": 0.5879999641113303, + "height": 0.8195555555555556 + } + ] + }, + "point_1768189111861": { + "type": "point", + "instances": [ + { + "id": "point_1768189111861_1768189430686_dwhfcx7ld", + "x": 0.6081110468682221, + "y": 0.5541481391059028 + } + ] + }, + "point_1768189119229": { + "type": "point", + "instances": [ + { + "id": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006671.json new file mode 100644 index 0000000000000000000000000000000000000000..dd3869a4faec29b6d3396e3c017ad87fe8010ac9 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006671.json @@ -0,0 +1,409 @@ +{ + "task_description": "关上微波炉的门。\n爪夹开始移动:0%\n爪夹靠近微波炉的门:30%\n爪夹贴着微波炉的门:50%\n爪夹移动微波炉的门:70%\n爪夹成功关上微波炉的门:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹向爪夹方向后方旋转调整角度，使爪夹对着微波炉的门，接着爪夹向爪夹方向左侧移动靠近微波炉的门，爪夹贴着微波炉的门向前推动直至关上，然后爪夹向爪夹方向右侧移动远离微波炉的门。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成关上微波炉的门的任务应当:爪夹向爪夹方向后方逆时针旋转调整角度，使爪夹对着微波炉的门。", + "time": 1.0666666666666667, + "annotations": { + 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"当前状态为爪夹打开，爪夹贴着微波炉的门。\n为完成关上微波炉的门的任务应当:爪夹贴着微波炉的门持续向前推动。", + "time": 9.466666666666667, + "annotations": { + "bbox_1768186665112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768186665112_1768186724782_w2eees04o", + "x": 0.2641110678643147, + "y": 0.25765431043836806, + "width": 0.48899997015381036, + "height": 0.6168888888888888 + } + ] + }, + "point_1768186671248": { + "type": "point", + "instances": [ + { + "id": "point_1768186671248_1768186727710_5spq5i3a9", + "x": 0.452111056389706, + "y": 0.6074814724392361 + } + ] + }, + "point_1768186676505": { + "type": "point", + "instances": [ + { + "id": "point_1768186676505_1768186730015_bnwuitjaj", + "x": 0.7681110371025978, + "y": 0.664370361328125 + } + ] + } + } + }, + { + "action_description": "爪夹持续向前推动门。", + "correction_plan": "爪夹向爪夹方向右侧移动远离微波炉的门。", + "error_success_analysis": "爪夹贴着微波炉的门向前推动成功将门关上。", + "frame": 164, + "progress": 90, + "progress_explanation": "目前爪夹贴着微波炉的门向前推动将门关上，所以进度提升为90%。", + "state_description": 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"state_description": "当前状态为爪夹打开，爪夹远离微波炉的门。\n已完成关上微波炉的门的任务。", + "time": 11.933333333333334, + "annotations": { + "bbox_1768186665112": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768186665112_1768186689663_dl6d1vy1s", + "x": 0.004111083733454362, + "y": 0.19740740288628472, + "width": 0.41599997460937643, + "height": 0.7324444444444445 + } + ] + }, + "point_1768186671248": { + "type": "point", + "instances": [ + { + "id": "point_1768186671248_1768186692959_pvdlxka59", + "x": 0.44111105706109266, + "y": 0.600370361328125 + } + ] + }, + "point_1768186676505": { + "type": "point", + "instances": [ + { + "id": "point_1768186676505_1768186695064_5f8bkaouj", + "x": 0.7621110374688087, + "y": 0.6394814724392361 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768186665112", + "name": "微波炉的门", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768186671248", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768186676505", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006839.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006839.json new file mode 100644 index 0000000000000000000000000000000000000000..df1f8e9e9284f136f8fd94550cebc68001718a7e --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-006/observation.images.wrist_image_left/episode_006839.json @@ -0,0 +1,377 @@ +{ + "task_description": "将这块布折叠一次。\n爪夹开始移动:0%\n爪夹靠近布:30%\n爪夹夹取布:50%\n爪夹移动折叠布:70%\n爪夹下降将布折叠在一起：90%\n爪夹松开，布成功折叠: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，向爪夹方向后方移动，接着下降靠近布，爪夹合拢夹取布，爪夹向上抬升，然后向爪夹方向左侧移动折叠布，爪夹下降，将布折叠在一起，爪夹松开，布成功折叠。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成将这块布折叠一次的任务应当:调整爪夹角度，向爪夹方向后方移动。", + "time": 1.4666666666666666, + "annotations": { + "point_1768183142116": { + "type": "point", + "instances": [ + { + "id": "point_1768183142116_1768183316567_ecwrnnfib", + "x": 0.7681110371025978, + "y": 0.6501481391059029 + } + ] + }, + "point_1768183136764": { + "type": "point", + "instances": [ + { + "id": "point_1768183136764_1768183319126_6wbwwpmmf", + "x": 0.4531110563286709, + "y": 0.6252592502170139 + } + ] + }, + "bbox_1768183132275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768183132275_1768183325230_crlo0v13d", + "x": 0.3201110644463461, + "y": 0.10970369466145832, + "width": 0.5589999658813498, + "height": 0.7484444444444445 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后方移动。", + "correction_plan": "爪夹下降靠近布，爪夹合拢夹取布，爪夹向上抬升，然后向爪夹方向左侧移动折叠布，爪夹下降，将布折叠在一起，爪夹松开，布成功折叠。", + "error_success_analysis": "爪夹向爪夹方向后方移动至布的上方位置，方便爪夹下降靠近布。", + "frame": 65, + "progress": 15, + "progress_explanation": "目前爪夹向爪夹方向后方移动，方便爪夹下降靠近布。所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成将这块布折叠一次的任务应当:爪夹下降靠近布，方便爪夹夹取布。", + "time": 2.182695224132469, + "annotations": { + "bbox_1768183132275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768183132275_1768183309247_lufuwv3ct", + "x": 0.24411106908501773, + "y": 0.005407402886284722, + "width": 0.6839999582519557, + "height": 0.7448888888888888 + } + ] + }, + "point_1768183136764": { + "type": "point", + "instances": [ + { + "id": "point_1768183136764_1768183311673_z8uyuavlh", + "x": 0.45611105614556535, + "y": 0.6199259168836805 + } + ] + }, + "point_1768183142116": { + "type": "point", + "instances": [ + { + "id": "point_1768183142116_1768183313495_rj4ja7qm8", + "x": 0.7641110373467384, + "y": 0.6554814724392362 + } + ] + } + } + }, + { + "time": 2.858666, + "frame": 86, + "progress": 30, + "action_description": "爪夹下降微微合拢。", + "state_description": "当前状态为爪夹打开，靠近布。\n为完成将这块布折叠一次的任务应当:爪夹合拢夹取布。", + "progress_explanation": "目前爪夹靠近布，方便爪夹合拢夹取布。所以进度提升为30%。", + "error_success_analysis": "爪夹下降成功靠近布，方便爪夹合拢夹取布。", + "correction_plan": "爪夹合拢夹取布，爪夹向上抬升，然后向爪夹方向左侧移动折叠布，爪夹下降，将布折叠在一起，爪夹松开，布成功折叠。", + "annotations": { + "point_1768183142116": { + "type": "point", + "instances": [ + { + "id": "point_1768183142116_1768183295047_900rpbsgi", + "x": 0.707111040825742, + "y": 0.6252592502170139 + } + ] + }, + "point_1768183136764": { + "type": "point", + "instances": [ + { + "id": "point_1768183136764_1768183297911_nyydb7e1u", + "x": 0.5081110529717374, + "y": 0.5932592502170139 + } + ] + }, + "bbox_1768183132275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768183132275_1768183303169_xzsav4mvk", + "x": 0.07411107946099368, + "y": 0.013703694661458335, + "width": 0.819999949951175, + "height": 0.8071111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取布。", + "correction_plan": "爪夹向上抬升，然后向爪夹方向左侧移动折叠布，爪夹下降，将布折叠在一起，爪夹松开，布成功折叠。", + "error_success_analysis": "爪夹合拢成功夹取布，方便爪夹向上抬升并开始移动。", + "frame": 106, + "progress": 50, + "progress_explanation": "目前爪夹夹取布，方便爪夹向上抬升并开始移动。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧布。\n为完成将这块布折叠一次的任务应当:爪夹夹取布向上抬升，然后向爪夹方向左移动折叠。", + "time": 3.537471718267526, + "annotations": { + "bbox_1768183132275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768183132275_1768183283479_jqr5vfe4e", + "x": 0.00811108348931375, + "y": 0.01725925021701389, + "width": 0.832999949157718, + "height": 0.8106666666666666 + } + ] + }, + "point_1768183136764": { + "type": "point", + "instances": [ + { + "id": "point_1768183136764_1768183286103_fyqzvkahe", + "x": 0.6061110469902925, + "y": 0.5577036946614584 + } + ] + }, + "point_1768183142116": { + "type": "point", + "instances": [ + { + "id": "point_1768183142116_1768183288819_fc3zjrrqo", + "x": 0.62211104601373, + "y": 0.568370361328125 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向爪夹方向左侧移动折叠布，然后爪夹下降，将布折叠在一起，爪夹松开，布成功折叠。", + "error_success_analysis": "爪夹夹取布，向上抬升，方便爪夹向爪夹方向左侧移动。", + "frame": 65, + "progress": 60, + "progress_explanation": "目前爪夹夹取布，向上抬升。所以进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧布。\n为完成将这块布折叠一次的任务应当:爪夹向爪夹方向左侧移动折叠。", + "time": 4.333333333333333, + "annotations": { + "point_1768183142116": { + "type": "point", + "instances": [ + { + "id": "point_1768183142116_1768183267328_hxjuy62aq", + "x": 0.6241110458916597, + "y": 0.5754814724392361 + } + ] + }, + "point_1768183136764": { + "type": "point", + "instances": [ + { + "id": "point_1768183136764_1768183270087_h2uvicovi", + "x": 0.6021110472344331, + "y": 0.5577036946614584 + } + ] + }, + "bbox_1768183132275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768183132275_1768183276584_9k53hu4ik", + "x": 0.14611107506646268, + "y": 0.013703694661458335, + "width": 0.6499999603271508, + "height": 0.6488888888888888 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左侧移动折叠布。", + "correction_plan": "爪夹下降，将布折叠在一起，爪夹松开，布成功折叠。", + "error_success_analysis": "爪夹夹取布，成功向爪夹方向左侧移动折叠布。", + "frame": 86, + "progress": 70, + "progress_explanation": "目前爪夹夹取布，向爪夹方向左侧移动折叠布。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，抓紧布。\n为完成将这块布折叠一次的任务应当:爪夹下降将布折叠。", + "time": 5.733333333333333, + "annotations": { + "bbox_1768183132275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768183132275_1768183257808_3p8vek8ad", + "x": 0.4471110566948817, + "y": 0.0030370279947916664, + "width": 0.3639999777832045, + "height": 0.6968888888888889 + } + ] + }, + "point_1768183136764": { + "type": "point", + "instances": [ + { + "id": "point_1768183136764_1768183260687_42qj1u3og", + "x": 0.6001110473565034, + "y": 0.561259250217014 + } + ] + }, + "point_1768183142116": { + "type": "point", + "instances": [ + { + "id": "point_1768183142116_1768183263352_r3nrpdrk6", + "x": 0.62211104601373, + "y": 0.561259250217014 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹松开，布成功折叠。", + "error_success_analysis": "爪夹下降，成功将布折叠在一起。", + "frame": 208, + "progress": 90, + "progress_explanation": "目前爪夹下降，将布折叠在一起。所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，抓紧布。\n为完成将这块布折叠一次的任务应当:爪夹松开，布成功折叠。", + "time": 6.9244129536051675, + "annotations": { + "point_1768183142116": { + "type": "point", + "instances": [ + { + "id": "point_1768183142116_1768183238408_f89wq4hbg", + "x": 0.6211110460747652, + "y": 0.584370361328125 + } + ] + }, + "point_1768183136764": { + "type": "point", + "instances": [ + { + "id": "point_1768183136764_1768183241255_z43hdts1u", + "x": 0.5971110475396089, + "y": 0.5505925835503472 + } + ] + }, + "bbox_1768183132275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768183132275_1768183248832_s523hm7in", + "x": 0.4571110560845303, + "y": 0.008370361328125001, + "width": 0.5109999688110369, + "height": 0.8088888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，布成功折叠在一起。", + "frame": 244, + "progress": 100, + "progress_explanation": "目前爪夹张开，布成功折叠在一起。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，布折叠一次。\n已完成将这块布折叠一次的任务应。", + "time": 8.120838948425737, + "annotations": { + "bbox_1768183132275": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768183132275_1768183223355_4wreuaj9n", + "x": 0.4161110585869715, + "y": 0.012518513997395833, + "width": 0.5019999693603533, + "height": 0.8568888888888889 + } + ] + }, + "point_1768183136764": { + "type": "point", + "instances": [ + { + "id": "point_1768183136764_1768183232056_l1omg1l98", + "x": 0.44111105706109266, + "y": 0.6110370279947916 + } + ] + }, + "point_1768183142116": { + "type": "point", + "instances": [ + { + "id": "point_1768183142116_1768183234639_if48jfs16", + "x": 0.7681110371025978, + "y": 0.6501481391059029 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768183132275", + "name": "布", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768183136764", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768183142116", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-007/observation.images.wrist_image_left/episode_007598.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-007/observation.images.wrist_image_left/episode_007598.json new file mode 100644 index 0000000000000000000000000000000000000000..0ee376b7100272187ed31650c3a3f71688f9a21d --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-007/observation.images.wrist_image_left/episode_007598.json @@ -0,0 +1,586 @@ +{ + "task_description": "在水龙头下把牙刷弄湿，然后放回台面上\n爪夹开始移动：0%\n爪夹靠近牙刷：20%\n爪夹抓取牙刷：40%\n爪夹抓紧牙刷接近水龙头：50%\n爪夹将牙刷放在水龙头下：60%\n爪夹抓紧牙刷接近台面：80%\n爪夹松开，牙刷放回台面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的正后方移动，随后向爪夹的左侧移动并下降，接近牙刷；爪夹继续下降至牙刷两侧，爪夹合拢抓取牙刷；爪夹夹住牙刷向爪夹的右侧移动，接近水龙头，爪夹下降，将牙刷放在水龙头的下方，爪夹夹住牙刷向上抬升，随后向爪夹的左侧移动，随后下降接近台面，爪夹松开，牙刷放在台面上。", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "爪夹当前没有任何动作，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，暂未移动，没有接触牙刷，为完成在水龙头下把牙刷弄湿，然后放回台面上的任务，应当：爪夹向爪夹的正后方移动，随后向爪夹的左侧移动，接近牙刷。", + "time": 0.3346098313078434, + "annotations": { + "point_1767591149413": { + "type": "point", + "instances": [ + { + "id": "point_1767591149413_1767597161439_xard2ejdy", + "x": 0.7734286423123538, + "y": 0.5961930484422545 + } + ] + }, + "point_1767591143733": { + "type": "point", + "instances": [ + { + "id": "point_1767591143733_1767597163919_7xw2kas08", + "x": 0.43271115583582676, + "y": 0.5840782099926899 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的正后方移动，随后向爪夹的左侧移动。", + "correction_plan": "爪夹向爪夹的左侧移动并下降，接近牙刷；爪夹继续下降至牙刷两侧，爪夹合拢抓取牙刷；爪夹夹住牙刷向爪夹的右侧移动，接近水龙头，爪夹下降，将牙刷放在水龙头的下方，爪夹夹住牙刷向上抬升，随后向爪夹的左侧移动，随后下降接近台面，爪夹松开，牙刷放在台面上。", + "error_success_analysis": "爪夹向爪夹的正后方移动，向爪夹的左侧移动，水平上接近了牙刷。", + "frame": 42, + "progress": 10, + "progress_explanation": "爪夹向爪夹的正后方移动，向爪夹的左侧移动，方便抓取，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开状态，在牙刷的斜上方，为完成在水龙头下把牙刷弄湿，然后放回台面上的任务，应当：爪夹继续向爪夹的左侧移动至牙刷的正上方，随后下降，接近牙刷。", + "time": 1.3992804301208162, + "annotations": { + "bbox_1767591137965": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767591137965_1767597135344_5fpvaz29x", + "x": 0.006814297740167979, + "y": 0.023766931700324494, + "width": 0.3509390110708228, + "height": 0.8450099818571348 + } + ] + }, + "bbox_1767591091808": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767591091808_1767597143048_8lys6i177", + "x": 0.09029008192691709, + "y": 0.4477862774350875, + "width": 0.07325425959245331, + "height": 0.4664212803082392 + } + ] + }, + "point_1767591143733": { + "type": "point", + 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"爪夹先向左侧移动随后又向右侧移动，确保成功抓取牙刷。", + "frame": 138, + "progress": 20, + "progress_explanation": "爪夹先向左侧移动随后又向右侧移动，完全接近了牙刷，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开状态，接近牙刷，为完成在水龙头下把牙刷弄湿，然后放回台面上的任务，应当：爪夹继续下降至牙刷的两侧，爪夹合拢抓取牙刷。", + "time": 4.593292226559733, + "annotations": { + "bbox_1767591137965": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767591137965_1767597082809_7bmv7ipx1", + "x": 0.01703582233446379, + "y": 0.017709512475542165, + "width": 0.9318623255133014, + "height": 0.8813544972058287 + } + ] + }, + "bbox_1767591091808": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767591091808_1767597089064_jrxqyh0pe", + "x": 0.6030698990740903, + "y": 0.3448101506137879, + "width": 0.05621838526862692, + "height": 0.5330528917808449 + } + ] + }, + "point_1767591143733": { + "type": "point", + "instances": [ + { + "id": "point_1767591143733_1767597091392_igc2bnxt5", + "x": 0.4293039809710614, + "y": 0.587106919605081 + } + ] + }, + "point_1767591149413": { + "type": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008043.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008043.json new file mode 100644 index 0000000000000000000000000000000000000000..34d2715e88efd8ffb95b76bb4ad19192feb3d05b --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008043.json @@ -0,0 +1,293 @@ +{ + "task_description": "按下泵瓶\n爪夹开始移动：0%\n爪夹接近泵瓶：25%\n爪夹紧挨着泵瓶：50%\n爪夹按下泵瓶：75%\n爪夹松开，按下泵瓶完成：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，随后下降调整角度，爪夹合拢，接近泵瓶；爪夹合拢继续下降紧挨着泵瓶，爪夹轻微下降按下泵瓶，爪夹松开，按下泵瓶完成。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接近泵瓶，因此任务进度为0.", + "state_description": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008489.json new file mode 100644 index 0000000000000000000000000000000000000000..0fdfbd0ffc8b60170db2d78fabdeb850bdeac189 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008489.json @@ -0,0 +1,446 @@ +{ + "task_description": "将黑色胶带移动到橙色卷尺的左侧\n爪夹开始移动：0%\n爪夹接近黑色胶带：25%\n爪夹抓取黑色胶带：50%\n爪夹移动黑色胶带接近橙色卷尺：75%\n爪夹松开，黑色胶带落到橙色卷尺的左侧：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，接近黑色胶带；爪夹下降至黑色胶带，爪夹合拢抓取黑色胶带；爪夹夹住黑色胶带向上抬升，随后向爪夹的左前方移动，接近橙色卷尺；爪夹夹住黑色胶带下降，爪夹松开，黑色胶带落到橙色卷尺的左侧。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接触黑色胶带，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，没有移动，没有接触黑色胶带，为完成将黑色胶带移动到橙色卷尺的左侧的任务，应当：爪夹向爪夹的右前方移动，随后下降，接近黑色胶带。", + "time": 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"爪夹继续下降，随后向爪夹的右侧移动，接近黑色胶带；爪夹下降至黑色胶带，爪夹合拢抓取黑色胶带；爪夹夹住黑色胶带向上抬升，随后向爪夹的左前方移动，接近橙色卷尺；爪夹夹住黑色胶带下降，爪夹松开，黑色胶带落到橙色卷尺的左侧。", + "error_success_analysis": "爪夹向爪夹的右侧移动，缩短了与黑色胶带的距离，方便后续抓取黑色胶带。", + "frame": 23, + "progress": 15, + "progress_explanation": "爪夹向爪夹的右侧移动，缩短了与黑色胶带的距离，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开近乎垂直桌面，为完成将黑色胶带移动到橙色卷尺的左侧的任务，应当：爪夹继续下降，随后向爪夹的右侧移动。", + "time": 1.5333333333333334, + "annotations": { + "point_1767670621528": { + "type": "point", + "instances": [ + { + "id": "point_1767670621528_1767670786388_kvu4ltjws", + "x": 0.45996855475394893, + "y": 0.605279177279428 + } + ] + }, + "point_1767670616147": { + "type": "point", + "instances": [ + { + "id": "point_1767670616147_1767670788661_mukw0fzs4", + "x": 0.39863940718817403, + "y": 0.5537911138687782 + } + ] + }, + "bbox_1767670609340": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767670609340_1767670794492_4bon776wh", + "x": 0.5281120520492543, + "y": 0.5325901465820401, + "width": 0.057921972701009586, + 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"将四块黑色物品排成一条直线\n爪夹开始移动：0\n爪夹接近第二块黑色物品：10%\n爪夹抓取第二块黑色物品：20%\n爪夹抓紧第二块黑色物品放在第一块黑色物品左侧：30%\n爪夹接近第三块黑色物品：40%\n爪夹抓取第三块黑色物品：50%\n爪夹抓紧第三块黑色物品放在第二块黑色物品左侧：60%\n爪夹接近第四块黑色物品：70%\n爪夹抓取第四块黑色物品：80%\n爪夹抓紧第四块黑色物品放在第三块黑色物品左侧：90%\n爪夹松开，四块黑色物品排成一条直线：100%\n\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹旋转角度向右前方向移动并下降，接近第二块黑色物品，爪夹下降随后合拢抓住第二块黑色物品，爪夹夹住第二块黑色物品向上抬升，随后向右后方向移动接近第一块黑色物体，将第二块黑色物品放在第一块黑色物品左侧；爪夹松开，向上抬升，向右前方移动，接近第三块黑色物品；爪夹下降，爪夹合拢抓住第三块黑色物品，爪夹夹住第三块黑色物品向右后方向移动，将第三块黑色物品放在第二块黑色物品左侧；爪夹旋转角度向左前方向移动，接近第四块黑色物体；爪夹合拢抓取第四块黑色物品，爪夹夹住第四块黑色物体向右侧移动，将第四块黑色物品放在第三块黑色物品左侧；爪夹松开，四块黑色物品排成一条直线。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接触第二块黑色物品，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，没有移动，没有接触第二块黑色物品，为完成将四块黑色物品排成一条直线的任务，应当：爪夹旋转角度向右前方向移动并下降，接近第二块黑色物品。", + "time": 0, + "annotations": { + "point_1768206763687": { + "type": "point", + "instances": [ + { + "id": "point_1768206763687_1768207252019_aaxy7zz0p", + "x": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.wrist_image_left/episode_008400.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.wrist_image_left/episode_008400.json new file mode 100644 index 0000000000000000000000000000000000000000..e64824a822ac71b312aaf6908fd6e9e6fee692e8 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-008/observation.images.wrist_image_left/episode_008400.json @@ -0,0 +1,397 @@ +{ + "task_description": "将粉色篮球推向左侧\n爪夹开始移动：0%\n爪夹接近粉色篮球：25%\n爪夹第一次推动粉色篮球向左滚动：50%\n爪夹第二次推动粉色篮球向左滚动：75%\n爪夹上升，粉色篮球成功推向左侧：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向右侧移动，随后下降，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹下降，向左侧移动，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "爪夹没有移动，没有接触第二块黑色物品，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，没有移动，没有接触第粉色篮球，为完成将粉色篮球推向左侧的任务，应当：爪夹向右侧移动，随后下降，接近粉色篮球。", + "time": 1.2666666666666666, + "annotations": { + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210157337_fc8qn3snn", + "x": 0.7666142925828232, + "y": 0.623451434953775 + } + ] + }, + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210160766_w168om2k4", + "x": 0.43782191813297466, + "y": 0.6143653061166015 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右侧移动。", + "correction_plan": "爪夹向右侧移动，随后下降，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹下降，向左侧移动，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "爪夹向右侧移动，缩短了与粉色篮球的距离。", + "frame": 31, + "progress": 10, + "progress_explanation": "爪夹向右侧移动，接近粉色篮球，因此任务进度提升为10%。", + "state_description": "当前爪夹为张开的状态，垂直于桌面，为完成将粉色篮球推向左侧的任务，应当：爪夹继续向右侧移动，随后下降，接近粉色篮球。", + "time": 2.066666666666667, + "annotations": { + "bbox_1768210031129": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768210031129_1768210149336_hqc5nzckl", + "x": 0.6899528581256046, + "y": 0.34178144100139674, + "width": 0.22146636620974255, + "height": 0.3573877342621573 + } + ] + }, + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210151407_q6pubghbb", + "x": 0.4446362678625052, + "y": 0.6083078868918191 + } + ] + }, + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210153071_s1897zkx1", + "x": 0.7751322297447364, + "y": 0.6264801445661662 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "爪夹下降，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹下降，向左侧移动，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "爪夹向右侧移动，在粉色篮球的右上方", + "frame": 44, + "progress": 20, + "progress_explanation": "爪夹向右侧移动，在粉色篮球的右上方，因此任务进度提升为20%。", + "state_description": "当前爪夹为张开状态，在粉色篮球的右上方，为完成将粉色篮球推向左侧的任务，应当：爪夹下降，接近了粉色篮球。", + "time": 2.933333333333333, + "annotations": { + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210125945_4wyxxhiqd", + "x": 0.7802429920418843, + "y": 0.623451434953775 + } + ] + }, + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210127759_tlacyqei8", + "x": 0.4395255055653573, + "y": 0.6204227253413838 + } + ] + }, + "bbox_1768210031129": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768210031129_1768210135590_danuertj4", + "x": 0.1243618305745698, + "y": 0.3387527313890056, + "width": 0.3304959618822312, + "height": 0.5572825686799743 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向右侧移动并下降。", + "correction_plan": "爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹下降，向左侧移动，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "爪夹轻微向右侧移动并下降，更加方便推动粉色篮球。", + "frame": 112, + "progress": 25, + "progress_explanation": "爪夹轻微向右侧移动并下降，更加方便推动粉色篮球，因此任务进度提升为25%。", + "state_description": "当前爪夹为张开状态，在粉色篮球的右侧，为完成将粉色篮球推向左侧的任务，应当：爪夹向左侧移动，推动粉色篮球向左滚动。", + "time": 3.7293404410005695, + "annotations": { + "bbox_1768210031129": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768210031129_1768210116538_4w81optga", + "x": 0.0034071228754027094, + "y": 0.1661162834827092, + "width": 0.24531659026309943, + "height": 0.739005145423444 + } + ] + }, + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210118375_wym36ni4n", + "x": 0.43782191813297466, + "y": 0.6173940157289927 + } + ] + }, + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210120135_yg5q0tfh2", + "x": 0.7785394046095017, + "y": 0.6264801445661662 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动，推动粉色篮球向左滚动，随后向上抬升。", + "correction_plan": "爪夹下降，向左侧移动，接近粉色篮球，爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "爪夹在粉色篮球右侧，成功推动粉色篮球向左滚动。", + "frame": 77, + "progress": 50, + "progress_explanation": "爪夹第一次推动粉色篮球向左滚动，因此任务进度提升为50%。", + "state_description": "当前爪夹为张开状态，在粉色篮球的正上方，为完成将粉色篮球推向左侧的任务，应当：爪夹下降，向右侧移动，接近粉色篮球。", + "time": 5.133333333333334, + "annotations": { + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210098072_o2c3802rc", + "x": 0.7785394046095017, + "y": 0.623451434953775 + } + ] + }, + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210101407_yb6ayavbd", + "x": 0.43782191813297466, + "y": 0.6173940157289927 + } + ] + }, + "bbox_1768210031129": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768210031129_1768210107175_o306bdhum", + "x": 0.41737886894438303, + "y": 0.2690924103040088, + "width": 0.22146636620974255, + "height": 0.39676095922324256 + } + ] + } + } + }, + { + "action_description": "爪夹下降，向右侧移动。", + "correction_plan": "爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "爪夹下降在粉色篮球的右侧，方便推动粉色篮球。", + "frame": 204, + "progress": 60, + "progress_explanation": "爪夹向右侧移动并下降，更加方便推动粉色篮球，因此任务进度提升为60%。", + "state_description": "当前爪夹为张开状态，在粉色篮球的右侧，为完成将粉色篮球推向左侧的任务，应当：爪夹向左侧移动，推动粉色篮球向左滚动。", + "time": 6.816406107216418, + "annotations": { + "bbox_1768210031129": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768210031129_1768210090170_p6adaos5b", + "x": 0.008517885172550614, + "y": 0.568934661930734, + "width": 0.2555381148573953, + "height": 0.4088757976728071 + } + ] + }, + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210092296_w14ma8o4j", + "x": 0.43782191813297466, + "y": 0.6204227253413838 + } + ] + }, + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210094095_3agp7ujxh", + "x": 0.7802429920418843, + "y": 0.6143653061166015 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向上抬升，随后下降向左侧移动。", + "correction_plan": "爪夹向左侧移动推动粉色篮球向左侧滚动，爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "爪夹向左侧移动并下降，更加接近粉色篮球", + "frame": 128, + "progress": 70, + "progress_explanation": "爪夹向左侧移动并下降，更加接近粉色篮球，因此任务进度提升为67%。", + "state_description": "当前爪夹为张开状态，在粉色篮球的右侧，为完成将粉色篮球推向左侧的任务，应当：爪夹向左侧移动，推动粉色篮球向左滚动。", + "time": 8.533333333333333, + "annotations": { + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210075761_vw3uezvmb", + "x": 0.4395255055653573, + "y": 0.6083078868918191 + } + ] + }, + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210077720_rf26c9l1a", + "x": 0.7870573417714148, + "y": 0.623451434953775 + } + ] + }, + "bbox_1768210031129": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768210031129_1768210083999_sz6y91axo", + "x": 0.011925060037315884, + "y": 0.5083604696829107, + "width": 0.3492354236384402, + "height": 0.4755074091454128 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动并轻微向上抬升。", + "correction_plan": "爪夹上升，粉色篮球成功推向左侧。", + "error_success_analysis": "爪夹向左侧移动并成功第二次推动粉色篮球向左滚动。", + "frame": 290, + "progress": 75, + "progress_explanation": "爪夹向左侧移动并成功第二次推动粉色篮球向左滚动，因此任务进度提升为75%。", + "state_description": "当前爪夹为张开状态，在粉色篮球的上方，为完成将粉色篮球推向左侧的任务，应当：爪夹上升，粉色篮球成功推向左侧", + "time": 9.675567596731765, + "annotations": { + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210061520_onb8x26dq", + "x": 0.43611833070059197, + "y": 0.6173940157289927 + } + ] + }, + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210063312_ldx9uuzm7", + "x": 0.7802429920418843, + "y": 0.623451434953775 + } + ] + }, + "bbox_1768210031129": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768210031129_1768210070791_i9opwh03g", + "x": 0.240205775976589, + "y": 0.19337466999422967, + "width": 0.38160358485371026, + "height": 0.6178567609277975 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，随后向右移动。", + "correction_plan": "", + "error_success_analysis": "爪夹上升，任务完成。", + "frame": 320, + "progress": 100, + "progress_explanation": "爪夹上升，粉色篮球成功推向左侧，因此任务进度提升为100%。", + "state_description": "当前爪夹为张开状态，垂直于桌面，爪夹已完成将粉色篮球推向左侧的任务。", + "time": 10.670058549606669, + "annotations": { + "point_1768210045033": { + "type": "point", + "instances": [ + { + "id": "point_1768210045033_1768210056399_8nr8fxssg", + "x": 0.776835817177119, + "y": 0.623451434953775 + } + ] + }, + "point_1768210040024": { + "type": "point", + "instances": [ + { + "id": "point_1768210040024_1768210058384_3e894odb3", + "x": 0.4395255055653573, + "y": 0.6173940157289927 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768210031129", + "name": "粉色篮球", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768210040024", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768210045033", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009195.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009195.json new file mode 100644 index 0000000000000000000000000000000000000000..d2468d46498ae2af45dfa3496d16bc9db89ec282 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009195.json @@ -0,0 +1,403 @@ +{ + "task_description": "将毛巾向爪夹右侧滑动。\n爪夹开始移动:0%\n爪夹靠近毛巾:30%\n爪夹夹起毛巾:50%\n爪夹移动毛巾 :70%\n爪夹将毛巾移动到爪夹右侧桌子:90%\n爪夹松开，毛巾放在右侧桌子边:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整夹爪角度，使其垂直于桌面，然后向爪夹\n方向的左前方移动到达毛巾的上方后下降，抓\n取毛巾后，向爪夹的右侧滑动，直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "error_success_analysis": "", + "frame": 3, + "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为完成将毛巾向爪夹右侧滑动的任务应当:调\n整爪夹角度使其垂直于桌面，然后向爪夹方向\n的左侧移动至毛巾上方，准备抓取毛巾。", + "time": 0.11486765345196889, + "annotations": { + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492720375_niyk8smge", + "x": 0.5131110526665617, + "y": 0.8277777642144097, + "width": 0.13399999182128958, + "height": 0.13511111111111107 + } + ] + }, + "point_1767492692823": { + "type": "point", + "instances": [ + { + "id": "point_1767492692823_1767492724984_t7o2h8a8a", + "x": 0.5941110477227143, + "y": 0.759629625108507 + } + ] + }, + "point_1767492699310": { + "type": "point", + "instances": [ + { + "id": "point_1767492699310_1767492727495_ia7ybnmca", + "x": 0.662111043572324, + "y": 0.791629625108507 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左侧移动到毛巾上方，方便爪夹下降靠近毛巾。", + "correction_plan": "爪夹下降抓取毛巾后，向爪夹方向的右侧滑动，直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "error_success_analysis": "爪夹保持张开状态，向爪夹左侧移动靠近毛巾，方便爪夹下降抓取毛巾。", + "frame": 30, + "progress": 15, + "progress_explanation": "目前爪夹处于张开状态，向爪夹左侧移动靠近毛巾，方便爪夹下降抓取毛巾，所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，准备靠近毛巾。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹下降靠近毛巾，准备抓取毛巾。", + "time": 2, + "annotations": { + "point_1767492699310": { + "type": "point", + "instances": [ + { + "id": "point_1767492699310_1767492735242_9r6lxwthx", + "x": 0.62211104601373, + "y": 0.7169629584418402 + } + ] + }, + "point_1767492692823": { + "type": "point", + "instances": [ + { + "id": "point_1767492692823_1767492738422_bo643a125", + "x": 0.5711110491265228, + "y": 0.6849629584418403 + } + ] + }, + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492753006_6qk2li0y7", + "x": 0.5081110529717374, + "y": 0.8360740695529515, + "width": 0.14599999108886771, + "height": 0.12799999999999995 + } + ] + } + } + }, + { + "time": 4.0766, + "frame": 122, + "progress": 20, + "action_description": "爪夹向下移动靠近毛巾。", + "state_description": "当前状态为爪夹打开，靠近毛巾。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹合拢抓取毛巾后，向爪夹方向的右侧滑动。", + "progress_explanation": "目前爪夹处于张开状态，爪夹下降方便抓取毛巾，所以进度提升为20%。", + "error_success_analysis": "爪夹靠近毛巾，方便爪夹合拢抓取毛巾。", + "correction_plan": "爪夹合拢抓取毛巾后，向爪夹方向的右侧滑动，直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "annotations": { + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492759926_301ymlndo", + "x": 0.511111052788632, + "y": 0.8307407362196181, + "width": 0.14799999096679742, + "height": 0.12088888888888884 + } + ] + }, + "point_1767492699310": { + "type": "point", + "instances": [ + { + "id": "point_1767492699310_1767492765813_upo4kcgem", + "x": 0.5231110520562102, + "y": 0.8574074028862847 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动贴近毛巾。", + "correction_plan": "爪夹合拢抓取毛巾后，向爪夹方向的右侧滑动，直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "error_success_analysis": "爪夹处于毛巾正上方，方便爪夹合拢抓取毛巾。", + "frame": 98, + "progress": 25, + "progress_explanation": "目前爪夹处于张开状态，爪夹下降方便抓取毛巾，所以进度提升为25%。", + "state_description": "当前状态为爪夹打开，贴近毛巾。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹合拢抓取毛巾后，向爪夹方向的右侧滑动。", + "time": 6.533333333333333, + "annotations": { + "point_1767492699310": { + "type": "point", + "instances": [ + { + "id": "point_1767492699310_1767492772525_osuleixhe", + "x": 0.5581110499199798, + "y": 0.8698518473307292 + } + ] + }, + "point_1767492692823": { + "type": "point", + "instances": [ + { + "id": "point_1767492692823_1767492775005_8kxhu9cjq", + "x": 0.5301110516289641, + "y": 0.8449629584418403 + } + ] + }, + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492782030_kilb1jwng", + "x": 0.49711105364312413, + "y": 0.8502962917751737, + "width": 0.16499998992919984, + "height": 0.1262222222222222 + } + ] + } + } + }, + { + "time": 8.502, + "frame": 255, + "progress": 30, + "action_description": "爪夹向爪夹方向左下方移动移动贴近毛巾。", + "state_description": "当前状态为爪夹打开，贴近毛巾。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹合拢抓取毛巾后，向爪夹方向的右侧滑动。", + "progress_explanation": "目前爪夹处于张开状态，爪夹贴近毛巾，方便抓取毛巾，所以进度提升为30%。", + "error_success_analysis": "爪夹处于张开状态，爪夹贴近毛巾，方便抓取毛巾。", + "correction_plan": "爪夹合拢抓取毛巾后，向爪夹方向的右侧滑动，直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "annotations": { + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492787189_8sw6izco1", + "x": 0.5121110527275968, + "y": 0.8449629584418403, + "width": 0.14899999090576221, + "height": 0.1297777777777777 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取毛巾微微上升。", + "correction_plan": "爪夹抓取毛巾，向爪夹方向的右侧滑动，直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "error_success_analysis": "爪夹处于合拢状态，爪夹抓取毛巾抬升至空中,方便向爪夹方向右侧滑动。", + "frame": 159, + "progress": 50, + "progress_explanation": "目前爪夹处于合拢状态，爪夹抓取毛巾抬升至空中，所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取毛巾。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹抓取毛巾向爪夹方向的右侧滑动。", + "time": 10.6, + "annotations": { + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492791740_eijrzcasq", + "x": 0.5191110523003507, + "y": 0.8218518473307292, + "width": 0.150999990783692, + "height": 0.14044444444444446 + } + ] + }, + "point_1767492699310": { + "type": "point", + "instances": [ + { + "id": "point_1767492699310_1767492796356_6lik9yf3g", + "x": 0.5821110484551362, + "y": 0.8732098524305556 + } + ] + }, + "point_1767492692823": { + "type": "point", + "instances": [ + { + "id": "point_1767492692823_1767492799180_dndjov1ot", + "x": 0.5711110491265228, + "y": 0.8574074028862847 + } + ] + } + } + }, + { + "time": 12.0336, + "frame": 361, + "progress": 60, + "action_description": "爪夹抓取毛巾向爪夹方向右侧滑动。", + "state_description": "当前状态为爪夹合拢，爪夹抓取毛巾。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹抓取毛巾向爪夹方向的右侧滑动。", + "progress_explanation": "目前爪夹处于合拢状态，爪夹抓取毛巾向爪夹方向右侧滑动，所以进度提升为60%。", + "error_success_analysis": "爪夹处于合拢状态，爪夹抓取毛巾向爪夹方向右侧滑动。", + "correction_plan": "爪夹抓取毛巾直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "annotations": { + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492812381_3bdtz5g7v", + "x": 0.5221110521172453, + "y": 0.8364691297743055, + "width": 0.1749999893188483, + "height": 0.12444444444444448 + } + ] + } + } + }, + { + "action_description": "爪夹抓取毛巾向爪夹方向右侧移动。", + "correction_plan": "爪夹抓取毛巾直至到达桌子的边缘，松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "error_success_analysis": "爪夹处于合拢状态，爪夹抓取毛巾向爪夹方向右侧滑动，方便爪夹将毛巾滑向桌子边缘。", + "frame": 401, + "progress": 70, + "progress_explanation": "目前爪夹处于合拢状态，爪夹抓取毛巾向爪夹方向右侧滑动，所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取毛巾。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹抓取毛巾持续向爪夹方向的右侧滑动。", + "time": 13.374660633541106, + "annotations": { + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492820987_n6n3s7xu0", + "x": 0.6171110463189058, + "y": 0.8058518473307292, + "width": 0.16999998962402402, + "height": 0.16711111111111102 + } + ] + }, + "point_1767492692823": { + "type": "point", + "instances": [ + { + "id": "point_1767492692823_1767492826988_b1denc9tv", + "x": 0.68811104198541, + "y": 0.8751851806640626 + } + ] + }, + "point_1767492699310": { + "type": "point", + "instances": [ + { + "id": "point_1767492699310_1767492834052_voh0vcpc6", + "x": 0.6981110413750584, + "y": 0.8858518473307291 + } + ] + } + } + }, + { + "time": 14.88043373466987, + "frame": 446, + "progress": 80, + "action_description": "爪夹抓取毛巾靠近桌子右侧边缘。", + "state_description": "当前状态为爪夹合拢，爪夹抓取毛巾靠近桌子边缘。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹抓取毛巾在桌子右侧边缘。", + "progress_explanation": "目前爪夹处于合拢状态，爪夹抓取毛巾靠近桌子右侧边缘，所以进度提升为80%。", + "error_success_analysis": "爪夹处于合拢状态，爪夹抓取毛巾靠近桌子右侧边缘，方便爪夹将毛巾放在桌子边缘。", + "correction_plan": "松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "annotations": { + "bbox_1767492686006": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492686006_1767492841693_pe920briq", + "x": 0.6911110418023045, + "y": 0.8574074028862847, + "width": 0.18199998889160218, + "height": 0.12088888888888899 + } + ] + } + } + }, + { + "action_description": "爪夹抓取毛巾靠近桌子右侧边缘。", + "correction_plan": "松开爪夹将毛巾放在桌子上，然后爪夹微微上升。", + "error_success_analysis": "爪夹处于合拢状态，爪夹抓取毛巾靠近桌子右侧边缘，方便爪夹将毛巾放在桌子边缘。", + "frame": 473, + "progress": 90, + "progress_explanation": "目前爪夹处于合拢状态，爪夹抓取毛巾靠近桌子右侧边缘，所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取毛巾靠近桌子边缘。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹抓取毛巾在桌子右侧边缘。", + "time": 15.756928524879156 + }, + { + "time": 17.2656, + "frame": 518, + "progress": 95, + "action_description": "爪夹松开，毛巾放在桌子边缘，爪夹微微抬升至空中。", + "state_description": "当前状态为爪夹张开，已完成爪夹将毛巾向爪夹右侧滑动的任务。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹松开，毛巾放在桌子右侧边缘。", + "progress_explanation": "目前爪夹处于张开状态，爪夹松开，毛巾放在桌子右侧边缘，所以进度提升为95%。", + "error_success_analysis": "爪夹处于张开状态，爪夹松开，毛巾放在桌子右侧边缘", + "correction_plan": "爪夹张开，微微抬升至空中。" + }, + { + "action_description": "爪夹微微抬升至空中。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹处于张开状态，爪夹松开，毛巾放在桌子右侧边缘。", + "frame": 556, + "progress": 100, + "progress_explanation": "目前爪夹处于张开状态，爪夹松开，毛巾放在桌子右侧边缘，所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，已完成爪夹将毛巾向爪夹右侧滑动的任务。\n为完成将毛巾向爪夹右侧滑动的任务应当:爪夹松开，毛巾放在桌子右侧边缘。", + "time": 18.52125824784689, + "annotations": { + "point_1767492692823": { + "type": "point", + "instances": [ + { + "id": "point_1767492692823_1767492859539_n168tgzya", + "x": 0.8621110313652934, + "y": 0.9042222086588543 + } + ] + }, + "point_1767492699310": { + "type": "point", + "instances": [ + { + "id": "point_1767492699310_1767492862427_x38oo1uow", + "x": 0.8741110306328717, + "y": 0.8982962917751737 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767492686006", + "name": "毛巾", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767492692823", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767492699310", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009419.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009419.json new file mode 100644 index 0000000000000000000000000000000000000000..b3729de3ea2648f9587e92ea70804803895250bc --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009419.json @@ -0,0 +1,438 @@ +{ + "task_description": "把银锅的盖子拿起来，放在桌子上。\n爪夹开始移动:0%\n爪夹靠近银锅:30%\n爪夹夹起银锅:50%\n爪夹移动银锅 :70%\n爪夹将银锅移动到桌子右侧:90%\n爪夹松开，银锅放在桌子边:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整夹爪角度，使其垂直于桌面，然后向爪夹\n方向的前方移动到达银锅盖子的上方后下降，抓\n取银锅盖子后竖直上升，向爪夹的右方移动，直至到达桌子的右侧，下降将银锅盖子放在桌子上，然后松开爪夹。", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，调整角度准备开始移动，所以进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触银锅盖子 。\n为完成把银锅的盖子拿起来，放在桌子上的任务应当:调整爪夹角度向爪夹方向的前方移动。", + "time": 0.6633368552051753, + "annotations": { + "bbox_1767498459152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498459152_1767498519253_m0ydnf3tb", + "x": 0.5641110495537689, + "y": 0.6197777642144098, + "width": 0.11599999291992225, + "height": 0.1511111111111112 + } + ] + }, + "bbox_1767498471584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498471584_1767498531973_qupp12y7r", + "x": 0.39811105968560423, + "y": 0.36851851399739577, + "width": 0.4869999702758804, + "height": 0.5760000000000001 + } + ] + }, + "point_1767498480445": { + "type": "point", + "instances": [ + { + "id": "point_1767498480445_1767498535212_hlxbp9gpm", + "x": 0.9461110262383405, + "y": 0.13740740288628472 + } + ] + }, + "point_1767498487205": { + "type": "point", + "instances": [ + { + "id": "point_1767498487205_1767498538355_gs2v538uh", + "x": 0.9311110271538678, + "y": 0.1231851806640625 + } + ] + } + } + }, + { + "action_description": "爪夹微微调整角度垂直桌面，准备向爪夹方向前方移动。", + "correction_plan": "向爪夹方向的前方移动到达银锅盖子的上方后下降，抓取银锅盖子后竖直上升，向爪夹的右方移动，直至到达桌子的右侧，下降将银锅盖子放在桌子上，然后松开爪夹。", + "error_success_analysis": "爪夹处于初始状态，向爪夹方向的前方移动，方便下降抓取银锅盖子。", + "frame": 49, + "progress": 15, + "progress_explanation": "目前爪夹处于初始状态，向爪夹方向的前方移动，所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，调整角度，准备开始移动 。\n为完成把银锅的盖子拿起来，放在桌子上的任务应当:向爪夹方向的前方移动，然后下降靠近至银锅盖子，准备抓取银锅盖子。", + "time": 1.6192130445432655, + "annotations": { + "bbox_1767498471584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498471584_1767498559258_286esws5t", + "x": 0.3961110598076746, + "y": 0.35291357421874997, + "width": 0.48699997027588077, + "height": 0.5777777777777777 + } + ] + }, + "bbox_1767498459152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498459152_1767498563212_6qm3i4wwt", + "x": 0.5701110491875581, + "y": 0.6227407362196181, + "width": 0.10799999340820347, + "height": 0.14044444444444446 + } + ] + }, + "point_1767498480445": { + "type": "point", + "instances": [ + { + "id": "point_1767498480445_1767498572300_52coybfw0", + "x": 0.7761110366143165, + "y": 0.510740736219618 + } + ] + }, + "point_1767498487205": { + "type": "point", + "instances": [ + { + "id": "point_1767498487205_1767498574838_d28d0pqs0", + "x": 0.8081110346611917, + "y": 0.4431851806640625 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动靠近银锅盖子。", + "correction_plan": "爪夹合拢抓取银锅盖子后竖直上升，向爪夹的右方移动，直至到达桌子的右侧，下降将银锅盖子放在桌子上，然后松开爪夹。", + "error_success_analysis": "爪夹保持张开状态，靠近银锅盖子，方便爪夹合拢抓取盖子。", + "frame": 90, + "progress": 30, + "progress_explanation": "目前爪夹保持张开状态，靠近银锅盖子，方便爪夹合拢抓取，所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近银锅盖子。\n为完成把银锅的盖子拿起来，放在桌子上的任务应当:爪夹合拢抓取银锅盖子微微抬升空中。", + "time": 3.0027180554273434, + "annotations": { + "bbox_1767498459152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498459152_1767498594074_e39vipnvv", + "x": 0.5641110495537689, + "y": 0.6124691297743056, + "width": 0.11899999273681683, + "height": 0.16888888888888892 + } + ] + }, + "bbox_1767498471584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498471584_1767498599699_t24rcqevw", + "x": 0.4011110595024988, + "y": 0.35607406955295146, + "width": 0.49299996990966977, + "height": 0.5653333333333332 + } + ] + }, + "point_1767498480445": { + "type": "point", + "instances": [ + { + "id": "point_1767498480445_1767498602994_yiyyylbc7", + "x": 0.62211104601373, + "y": 0.7062962917751736 + } + ] + }, + "point_1767498487205": { + "type": "point", + "instances": [ + { + "id": "point_1767498487205_1767498605724_cw0bxid6m", + "x": 0.6721110429619724, + "y": 0.6245185139973959 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取银锅盖子抬升并移动。", + "correction_plan": "爪夹合拢抓取银锅盖子后竖直上升，向爪夹的右方移动，直至到达桌子的右侧，下降将银锅盖子放在桌子上，然后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，抓取锅盖把手成功使锅盖抬升并移动。", + "frame": 125, + "progress": 50, + "progress_explanation": "银锅盖子已被抓取并成功开始抬升和移动，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧银锅盖子。\n为完成把银锅的盖子拿起来，放在桌子上的任务应当:继续保持爪夹合拢，向爪夹方向的右侧移动，完全脱离锅的范围后开始下降。", + "time": 4.176601094965349, + "annotations": { + "bbox_1767498471584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498471584_1767498627318_oe7l3w74j", + "x": 0.39511105986870965, + "y": 0.34402468532986114, + "width": 0.4889999701538105, + "height": 0.5724444444444444 + } + ] + }, + "bbox_1767498459152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498459152_1767498631242_j2nred9ja", + "x": 0.5591110498589447, + "y": 0.6369629584418403, + "width": 0.11499999298095745, + "height": 0.14933333333333337 + } + ] + }, + "point_1767498480445": { + "type": "point", + "instances": [ + { + "id": "point_1767498480445_1767498635321_p10ejz58s", + "x": 0.6141110465020112, + "y": 0.7365185139973959 + } + ] + } + } + }, + { + "time": 5.018266, + "frame": 151, + "progress": 60, + "action_description": "爪夹合拢抓取银锅盖子向抓夹方向右侧移动。", + "state_description": "当前状态为爪夹合拢，抓紧银锅盖子抬升空中。\n为完成把银锅的盖子拿起来，放在桌子上的任务应当:向爪夹方向的右侧移动，完全脱离锅的范围后开始下降。", + "progress_explanation": "银锅盖子已被抓取并成功向爪夹右侧移动，因此进度提升为60%。", + "error_success_analysis": "银锅盖子已被抓取并成功向爪夹右侧移动，方便爪夹将锅盖放在桌子上。", + "correction_plan": "向爪夹的右方移动，直至到达桌子的右侧，下降将银锅盖子放在桌子上，然后松开爪夹。", + "annotations": { + "bbox_1767498471584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498471584_1767498653865_rrr7d04y4", + "x": 0.3851110604790612, + "y": 0.37246912977430563, + "width": 0.49899996954345893, + "height": 0.5404444444444443 + } + ] + }, + "bbox_1767498459152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498459152_1767498657962_hyqo623pr", + "x": 0.6241110458916597, + "y": 0.4289629584418403, + "width": 0.10999999328613334, + "height": 0.11733333333333336 + } + ] + }, + "point_1767498480445": { + "type": "point", + "instances": [ + { + "id": "point_1767498480445_1767498661289_8u6st4oi8", + "x": 0.6861110421074803, + "y": 0.5071851806640625 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取银锅盖子持续向抓夹方向右侧移动靠近桌子边缘。", + "correction_plan": "爪夹抓取银锅盖子下降放在桌子上，然后松开爪夹。", + "error_success_analysis": "爪夹抓取银锅盖子向爪夹右侧移动，靠近桌子边缘，方便下降。", + "frame": 180, + "progress": 70, + "progress_explanation": "爪夹抓取银锅盖子向爪夹右侧移动，靠近桌子边缘，方便下降，因此进度提升为70%。", + "state_description": "当前状态为爪夹合拢，抓紧银锅盖子靠近桌子边缘。\n为完成把银锅的盖子拿起来，放在桌子上的任务应当:爪夹抓取锅盖靠近桌子边缘。", + "time": 6.012889563956943, + "annotations": { + "bbox_1767498459152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498459152_1767498686801_rdthpasku", + "x": 0.7461110384453711, + "y": 0.35646912977430556, + "width": 0.0959999941406254, + "height": 0.08000000000000003 + } + ] + }, + "bbox_1767498471584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498471584_1767498690985_gtttgrgiz", + "x": 0.3891110602349206, + "y": 0.3720740695529514, + "width": 0.48799997021484565, + "height": 0.5493333333333333 + } + ] + }, + "point_1767498480445": { + "type": "point", + "instances": [ + { + "id": 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"point_1767498480445": { + "type": "point", + "instances": [ + { + "id": "point_1767498480445_1767498715152_anbls175y", + "x": 0.8041110349053323, + "y": 0.5071851806640625 + } + ] + } + } + }, + { + "action_description": "爪夹松开，银锅盖子放在桌子上，爪夹抬升至空中。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹松开，银锅盖子被放在桌子上后，爪夹微微抬升。", + "frame": 230, + "progress": 100, + "progress_explanation": "爪夹松开，银锅盖子被放在桌子上后，爪夹微微抬升，因此进度提升为100%。", + "state_description": "当前状态为爪夹张开，已完成当前状态为爪夹合拢，银锅盖子放在桌子上。\n为完成把银锅的盖子拿起来，放在桌子上的任务应当:锅盖被放在桌子上，爪夹抬升至空中。", + "time": 7.656325819310151, + "annotations": { + "bbox_1767498459152": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498459152_1767498742295_qfgn2iy2g", + "x": 0.7421110386895118, + "y": 0.48091357421875, + "width": 0.08399999487304717, + "height": 0.08177777777777785 + } + ] + }, + "bbox_1767498471584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498471584_1767498746338_59iq6ywwt", + "x": 0.38811106029595577, + "y": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009476.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009476.json new file mode 100644 index 0000000000000000000000000000000000000000..64196fc47a5a633463ec35a53c7a0d77939ebdeb --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009476.json @@ -0,0 +1,474 @@ +{ + "task_description": "将物体移到杯子上面。\n爪夹开始移动:0%\n爪夹靠近物体:30%\n爪夹夹起物体:50%\n爪夹移动物体 :70%\n爪夹将物体移动到杯子上:90%\n爪夹松开，物体放在杯子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整夹爪角度，使其垂直于桌面，然后向爪夹\n方向的右前方移动到达物体的上方后下降，抓\n取物体后竖直上升，向爪夹的左侧移动，直至\n到达杯子的上方，下降然后松开爪夹，将物体放在杯子上。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动，没有接触物体。\n为完成将物体移到杯子上面的任务应当:调整夹爪角度，使其垂直于桌面，然后向爪夹方向的右前方移动，靠近物体。", + "time": 1.2, + "annotations": { + "bbox_1767513258403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513258403_1767513289562_58n5vzszc", + "x": 0.662111043572324, + "y": 0.6845185139973958, + "width": 0.057999996459961164, + "height": 0.14755555555555563 + } + ] + }, + "bbox_1767513263443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513263443_1767513292905_4jqtajqqp", + "x": 0.4891110541314053, + "y": 0.6394814724392361, + "width": 0.08499999481201206, + "height": 0.16355555555555554 + } + ] + }, + "point_1767513268114": { + "type": "point", + "instances": [ + { + "id": "point_1767513268114_1767513295778_wd7ut5tqm", + "x": 0.38411106054009636, + "y": 0.312370361328125 + } + ] + }, + "point_1767513274554": { + "type": "point", + "instances": [ + { + "id": "point_1767513274554_1767513298466_bjioowq60", + "x": 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0000000000000000000000000000000000000000..801b2f89c840848ac82e88837f61b814a810ec1e --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009071.json @@ -0,0 +1,303 @@ +{ + "task_description": "关上顶部的门。\n爪夹开始移动:0%\n爪夹靠近门:30%\n爪夹贴近门:50%\n爪夹推动门 :70%\n爪夹将门关上:100%\n", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整夹爪角度，使其向爪夹方向的下方移动贴近门，推着门向爪夹方向的前方移动，直至将门关上。", + "error_success_analysis": "", + "frame": 31, + "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，没有接触门。\n为完成关上顶部的门的任务应当:调整夹爪角度，使其垂直于地面，然后向下移动，靠近门。", + "time": 1.0346540755264075, + "annotations": { + "bbox_1767520133064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767520133064_1767520165182_6ok9ywen5", + "x": 0.2131110709771075, + "y": 0.23632096354166668, + "width": 0.189999988403321, + "height": 0.22222222222222227 + } + 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"#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767520138024", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767520146184", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009095.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009095.json new file mode 100644 index 0000000000000000000000000000000000000000..1ee48e5fd8705c644f92b2b135eec97abfac3693 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0001/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009095.json @@ -0,0 +1,458 @@ +{ + "task_description": "把那条橙色的毛巾移到左边。\n爪夹开始移动:0%\n爪夹靠近橙色毛巾:30%\n爪夹贴着橙色毛巾:50%\n爪夹移动橙色毛巾:70%\n爪夹将橙色毛巾放在桌子左边:90%\n爪夹松开，橙色毛巾放在桌子左边:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整夹爪角度，向下移动使其垂直于桌面，然后向爪夹右侧移动，靠近橙色毛巾，贴着毛巾向爪夹方向左侧推动，直至到达桌子边缘，然后抬起爪夹。", + "error_success_analysis": "", + "frame": 57, + "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，没有接触毛巾。\n为完成把那条橙色的毛巾移到左边的任务应当:调整夹爪角度，向下移动使其垂直于桌面。", + "time": 1.8979759367320936, + "annotations": { + "bbox_1767581561628": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767581561628_1767581613427_nn3p24tji", + "x": 0.5581110499199798, + "y": 0.44985184733072914, + "width": 0.1519999907226568, + "height": 0.16355555555555562 + } + ] + }, + "bbox_1767581594638": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767581594638_1767581618931_7p3fvzqbf", + "x": 0.2871110664605062, + "y": 0.2892592502170139, + "width": 0.5069999690551777, + "height": 0.6115555555555555 + } + ] + } + } + }, + { + "action_description": "调整爪夹角度微微向下移动。", + "correction_plan": "爪夹向爪夹方向右侧移动，靠近橙色毛巾，贴着毛巾向爪夹方向左侧推动，直至到达桌子边缘，然后抬起爪夹。", + "error_success_analysis": "爪夹调整角度向下移动，准备向爪夹右侧移动，方便靠近毛巾。", + "frame": 71, + "progress": 10, + "progress_explanation": "目前爪夹调整角度向下移动，准备向爪夹右侧移动，方便靠近毛巾，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，调整爪夹角度。\n为完成把那条橙色的毛巾移到左边的任务应当:持续向下移动靠近桌子，然后向爪夹右侧移动，靠近橙色毛巾。", + "time": 2.359006808753649, + "annotations": { + "bbox_1767581594638": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767581594638_1767581639491_a44ctd8v0", + "x": 0.28411106664361163, + "y": 0.30209875488281246, + "width": 0.5059999691162127, + "height": 0.6008888888888889 + } + ] + }, + "bbox_1767581561628": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767581561628_1767581642379_7n3s6mzdf", + "x": 0.5601110497979096, + "y": 0.4421481391059027, + "width": 0.150999990783692, + "height": 0.17244444444444448 + } + ] + }, + "point_1767581575532": { + "type": "point", + "instances": [ + { + "id": "point_1767581575532_1767581644875_izz4kuzcs", + "x": 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} + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768457392619", + "name": "皮带", + "color": "#4CAF50" + }, + { + "id": "bbox_1768457396465", + "name": "棕色沙发的扶手", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768457401340", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768457406900", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003486.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003486.json new file mode 100644 index 0000000000000000000000000000000000000000..b4314d03b0d8d536f15c25a5435813ea03f2ea50 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0002/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003486.json @@ 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] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005736.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005736.json new file mode 100644 index 0000000000000000000000000000000000000000..97f5144edb514e07f6d45ea1cd6c53fef014eeb7 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005736.json @@ -0,0 +1,478 @@ +{ + "task_description": "取下黑色锅的盖子\n开始移动0%\n爪夹靠近锅盖20%\n爪夹抓取锅盖40%\n爪夹抓住锅盖远离黑色锅60%\n爪夹将锅盖下降靠近桌面80%\n爪夹松开，锅盖置于桌面100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1767170838248": { + "instances": [ + { + "height": 0.1653333333333332, + "id": "bbox_1767170838248_1767170879959_wwgroty08", + "width": 0.13800000000000004, + "x": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005501.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005501.json new file mode 100644 index 0000000000000000000000000000000000000000..1dd9c857bc1c44b0f6a1ee7dd773dca724f0bcc9 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0002/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005501.json @@ -0,0 +1,725 @@ +{ + "task_description": "拿起那块蓝布，然后再放下来\n开始移动0%\n爪夹靠近蓝布20%\n爪夹抓取蓝布40%\n爪夹向上拿起蓝布60%\n爪夹向下放下蓝布80%\n爪夹张开，蓝布被完全放下100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向前移动至蓝布位置下降，抓取蓝布，保持爪夹合拢状态向爪夹方向上方移动，拿起蓝布，之后保持爪夹合拢状态向爪夹方向下方移动放下蓝布，张开爪夹使蓝布置于桌面。蓝布被完全放下", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + 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"progress_explanation": "完全将马克笔放进杯子里任务完成进度为100%", + "state_description": "爪夹张开完全将马克笔放进杯子里 ，任务完成", + "time": 7.434592242559107 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767664305770", + "name": "马克笔" + }, + { + "color": "#FF9800", + "id": "bbox_1767664306313", + "name": "杯子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767664307481", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767664308673", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0002/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007191.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0002/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007191.json new file mode 100644 index 0000000000000000000000000000000000000000..73cf3d47a42eb99da5d34b18e2d7576c0a3bd7af --- /dev/null +++ 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"time": 0.234 + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "爪夹继续向爪夹方向前方勺子移动，移动至勺子正上方后下降，下降至勺子位置合拢爪夹，抓取勺子，之后保持爪夹合拢状态抬升并调整爪夹角度，使勺子对准蓝色杯子，之后向爪夹方向左方移动，移动至蓝色杯子上方后下降爪夹，使勺子落入蓝色杯子，之后张开爪夹，保持爪夹张开状态向爪夹方向右前方移动，移动至橙色碗上方后下降爪夹，下降至橙色碗的位置合拢爪夹，抓取橙色碗，之后保持爪夹合拢状态抬升并向爪夹方向后方蓝色碗移动，移动至蓝色碗上方使，调整爪夹角度使橙色碗里的东西倒入蓝色碗。继续保持爪夹合拢状态向爪夹方向前方移动，直至橙色碗移动离开蓝色碗范围后下降爪夹，之后张开爪夹放下橙色碗", + "error_success_analysis": "爪夹开始移动，成功向爪夹方向前下方勺子靠近", + "frame": 41, + "progress": 5, + "progress_explanation": "爪夹开始移动，向勺子位置略微靠近，因此进度小幅提升至5%", + "state_description": "当前状态为爪夹张开，位于勺子后上方，勺子尚未被夹取。\n为完成将勺子放入蓝色杯子中，然后将橙色碗里的东西倒入蓝色碗中的任务应当：爪夹向爪夹放下前方移动，移动至勺子上方后下降，下降至勺子位置抓取勺子。", + "time": 1.365 + }, + { + "action_description": "爪夹向爪夹方向前下方移动", + "correction_plan": "爪夹下降，下降至勺子位置合拢爪夹，抓取勺子，之后保持爪夹合拢状态抬升并调整爪夹角度，使勺子对准蓝色杯子，之后向爪夹方向左方移动，移动至蓝色杯子上方后下降爪夹，使勺子落入蓝色杯子，之后张开爪夹，保持爪夹张开状态向爪夹方向右前方移动，移动至橙色碗上方后下降爪夹，下降至橙色碗的位置合拢爪夹，抓取橙色碗，之后保持爪夹合拢状态抬升并向爪夹方向后方蓝色碗移动，移动至蓝色碗上方使，调整爪夹角度使橙色碗里的东西倒入蓝色碗。继续保持爪夹合拢状态向爪夹方向前方移动，直至橙色碗移动离开蓝色碗范围后下降爪夹，之后张开爪夹放下橙色碗", + 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"id": "bbox_1767512390551", + "name": "盖子", + "color": "#2196F3" + }, + { + "id": "bbox_1767512466520", + "name": "秤", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1767512419194", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767512419402", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0002/annotations/chunk-007/observation.images.wrist_image_left/episode_007953.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0002/annotations/chunk-007/observation.images.wrist_image_left/episode_007953.json new file mode 100644 index 0000000000000000000000000000000000000000..af4a7a2fd702affdc252a5d0599efd6b6022fb13 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0002/annotations/chunk-007/observation.images.wrist_image_left/episode_007953.json @@ -0,0 +1,88 @@ +{ + "task_description": 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"task_description": "抓取黄色杯子放入黄色碗并把黄色小刀放入黄色杯子里：\n准备开始移动：0%\n爪夹靠近黄色杯子：10%\n爪夹抓取黄色杯子：20%\n爪夹抓紧黄色杯子接近黄色碗：30%\n爪夹将黄色杯子放入黄色碗：40%\n爪夹松开黄色杯子落入黄色碗：50%\n爪夹靠近黄色小刀：60%\n爪夹抓取黄色小刀：70%\n爪夹抓紧黄色小刀接近黄色杯子；80%\n爪夹将黄色小刀放入黄色杯子：90%\n爪夹松开黄色小刀落入黄色杯子：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "correction_plan": "垂直下降移动到黄色杯子的正上方。接着落下爪夹靠近黄色杯子，接近黄色杯子后爪夹合拢抓取黄色杯子。抓紧黄色杯子垂直升高爪夹并向爪夹方向的左侧移动，直至黄色碗的正上方后将黄色杯子放入黄色碗，松开爪夹，使黄色杯子落入黄色碗后爪夹向爪夹方向的右侧移动，直至黄色小刀的正上方，接着落下爪夹靠近黄色小刀，接近黄色小刀后爪夹合拢抓取黄色小刀，抓紧黄色小刀垂直升高爪夹并向爪夹方向的左侧移动，直至黄色杯子的正上方后将黄色小刀放入黄色杯子，松开爪夹，使黄色小刀落入黄色杯子。", + "error_success_analysis": "", + "frame": 18, + "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，远离黄色杯子，未开始移动。\n为完成抓取黄色杯子落入黄色碗并把黄色小刀落入黄色杯子里的任务应当：爪夹应垂直下降，移动到黄色杯子的正上方。", + "time": 0.593066, + "annotations": { + "bbox_1767595626120": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767595626120_1767599926147_p0b5tfo7n", + "x": 0.35666660420736057, + "y": 0.6505925835503472, + "width": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000579.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000579.json new file mode 100644 index 0000000000000000000000000000000000000000..9b8bb4428f5e23b54f4d8587255c9aedbb338996 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000579.json @@ -0,0 +1,448 @@ +{ + "task_description": "抓取马克笔放入线圈里：\n准备开始移动：0%\n爪夹靠近马克笔：20%\n爪夹抓取马克笔：40%\n爪夹抓紧马克笔接近线圈：60%\n爪夹将马克笔放入线圈：80%\n爪夹松开马克笔落入线圈：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "annotations": { + "bbox_1767600869170": { + "instances": [ + { + "height": 0.16355555555555562, + "id": "bbox_1767600869170_1767603562128_78tfqy5en", + "width": 0.0959999941406254, + "x": 0.6436665866902718, + "y": 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+{ + "task_description": "抓取饮料放入不锈钢凹槽里：\n准备开始移动：0%\n爪夹靠近饮料：20%\n爪夹抓取饮料：40%\n爪夹抓紧饮料接近不锈钢凹槽：60%\n爪夹将饮料放入不锈钢凹槽：80%\n爪夹松开饮料落入不锈钢凹槽：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "annotations": { + "bbox_1767062882658": { + "instances": [ + { + "height": 0.48000000000000004, + "id": "bbox_1767062882658_1767063028817_is86jhggg", + "width": 0.561, + "x": 0.248, + "y": 0.45155555555555554 + } + ], + "type": "bbox" + }, + "point_1767062938810": { + "instances": [ + { + "id": "point_1767062938810_1767062976330_xixqiypgt", + "x": 0.44499999999999995, + "y": 0.5617777777777777 + } + ], + "type": "point" + }, + "point_1767062947234": { + "instances": [ + { + "id": "point_1767062947234_1767063003585_1skpkfmtw", + "x": 0.7649999999999999, + "y": 0.6222222222222222 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到饮料的正上方。接着落下爪夹靠近饮料，接近饮料后爪夹合拢抓取饮料。抓紧饮料垂直升高爪夹并向爪夹方向的左侧移动，直至不锈钢凹槽的正上方后将饮料放入不锈钢凹槽，松开爪夹，使饮料落入不锈钢凹槽。", + "error_success_analysis": "", + "frame": 20, + "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，远离饮料，未开始移动。\n为完成抓取饮料落入不锈钢凹槽里的任务应当：爪夹向爪夹方向的右后方移动，同时调整爪夹的角度使其垂直于桌面，并移动到饮料的正上方。", + "time": 0.670933 + }, + { + "action_description": "爪夹向爪夹方向的右侧移动，调整爪夹角度垂直于桌面。", + "annotations": { + "bbox_1767062865657": { + "instances": [ + { + "height": 0.26844444444444443, + "id": "bbox_1767062865657_1767065027023_66tbio35v", + "width": 0.10700000000000003, + "x": 0.563, + "y": 0.592 + } + ], + "type": "bbox" + }, + "bbox_1767062882658": { + "instances": [ + { + "height": 0.6222222222222223, + "id": "bbox_1767062882658_1767065016471_kpe30ypvo", + "width": 0.5349999999999999, + "x": 0.015, + "y": 0.32355555555555554 + } + ], + "type": "bbox" + }, + "point_1767062938810": { + "instances": [ + { + "id": "point_1767062938810_1767065046423_q2joi6vnv", + "x": 0.44400000000000006, + "y": 0.5706666666666667 + } + ], + "type": "point" + }, + "point_1767062947234": { + "instances": [ + { + "id": 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"爪夹合拢夹紧牙膏，水平上接近了桌面。\n为完成抓取牙膏使其放到右侧桌面的任务应当：爪夹向爪夹左前方的牙膏移动，同时调整爪夹的角度使其垂直与桌面，并移动到牙膏的正上方。", + "time": 8.818399, + "annotations": { + "bbox_1767669884752": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669884752_1767670026716_y5vmn0090", + "x": 0.041999999999999996, + "y": 0.0005925835503472223, + "width": 0.16899999999999998, + "height": 0.3111111111111111 + } + ] + }, + "bbox_1767669884874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669884874_1767670033688_p4jxmpr1l", + "x": 0.002, + "y": 0.066370361328125, + "width": 0.6930000000000001, + "height": 0.9297777777777777 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧牙膏，向爪夹右方移动", + "correction_plan": "将牙膏放在桌面，松开爪夹，使牙膏放在桌面。\n", + "error_success_analysis": "爪夹移动到了桌面正上方，方便将目标放在桌面。", + "frame": 282, + "progress": 60, + "progress_explanation": "爪夹夹紧牙膏，到了爪夹右前方的桌面正上方，方便放在桌面。因此进度提升为 60%。", + "state_description": "爪夹夹紧牙膏，爪夹角度接近垂直于桌面，位于桌面正上方。\n为完成抓取牙膏使其放到右侧桌面的任务应当：爪夹向爪夹左前方的牙膏移动，同时调整爪夹的角度使其垂直与桌面，并移动到牙膏的正上方。", + 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"progress": 60, + "progress_explanation": "爪夹夹紧绿色方块，到了爪夹右侧的紫色方块的正上方，方便将绿色方块放在紫色方块上 。因此进度提升为 60%。", + "state_description": "爪夹夹紧绿色方块，爪夹角度接近垂直于桌面，位于紫色方块正上方。\n为完成抓取绿色方块落在紫色方块上的任务应当：将绿色方块放在紫色方块上，松开爪夹，使绿色方块落在紫色方块上。", + "time": 23.9994 + }, + { + "action_description": "爪夹垂直向下移动，张开爪夹", + "annotations": { + "bbox_1767490394432": { + "instances": [ + { + "height": 0.07999999999999995, + "id": "bbox_1767490394432_1767496655690_4jwvz6e5l", + "width": 0.03599999999999994, + "x": 0.5940000000000001, + "y": 0.5902222222222223 + } + ], + "type": "bbox" + }, + "bbox_1767490405744": { + "instances": [ + { + "height": 0.08533333333333333, + "id": "bbox_1767490405744_1767496661098_rm4sk9gkf", + "width": 0.06400000000000006, + "x": 0.5820000000000001, + "y": 0.6133333333333334 + } + ], + "type": "bbox" + }, + "point_1767490409897": { + "instances": [ + { + "id": "point_1767490409897_1767496648002_6mniz63be", + "x": 0.6020000000000001, + "y": 0.6115555555555555 + } + ], + "type": "point" + }, + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001705.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001705.json new file mode 100644 index 0000000000000000000000000000000000000000..bf0b25f7f3b529aaa8e70d87cde2fcefcdc6e7e5 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001705.json @@ -0,0 +1,478 @@ +{ + "task_description": "抓取锅盖放在锅上：\n准备开始移动：0%\n爪夹靠近锅盖：20%\n爪夹抓取锅盖：40%\n爪夹抓紧锅盖接近锅：60%\n爪夹将锅盖放在锅上：80%\n爪夹松开过锅盖落在锅上：100%", + "progress_points": [ + { + "action_description": "抓夹保持打开状态,开始移动", + "annotations": { + "bbox_1767062388044": { + "instances": [ + { + "height": 0.14755555555555558, + "id": "bbox_1767062388044_1767062451494_3ctr89z8w", + "width": 0.09700000000000006, + "x": 0.75, + "y": 0.7685925835503473 + } 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{ + "action_description": "爪夹保持打开状态，向前方开始移动", + "annotations": { + "bbox_1767062388044": { + "instances": [ + { + "height": 0.15644444444444458, + "id": "bbox_1767062388044_1767062480024_n2rn8nq96", + "width": 0.10499999999999998, + "x": 0.747, + "y": 0.7597036946614583 + } + ], + "type": "bbox" + }, + "bbox_1767062388532": { + "instances": [ + { + "height": 0.16888888888888892, + "id": "bbox_1767062388532_1767062475134_sk662xx7p", + "width": 0.125, + "x": 0.654, + "y": 0.5997036946614583 + } + ], + "type": "bbox" + }, + "point_1767062405134": { + "instances": [ + { + "id": "point_1767062405134_1767062470052_0tfuh9nu3", + "x": 0.647, + "y": 0.6121481391059028 + } + ], + "type": "point" + }, + "point_1767062405454": { + "instances": [ + { + "id": "point_1767062405454_1767062466744_2gppphv67", + "x": 0.6980000000000001, + "y": 0.6494814724392362 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度,使其垂直于桌面。然后向爪夹方\n向的前方移动,到达锅盖正上方后下降,抓取锅盖后竖直上升,向爪夹方向的左边移动,直至锅盖处于锅正上方。下降将锅盖放在锅上,松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的前方移动,水平方向上成功接\n近锅盖,并使爪夹角度向垂直于桌面调整,方便\n抓取。", + "frame": 99, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近锅盖并开始调整爪\n夹角度方便抓取,因此进度提升为10%。", + "state_description": "为完成抓起锅盖放在锅上的任务应当，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锅盖正上方", + "time": 3.285866 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "annotations": { + "bbox_1767062388044": { + "instances": [ + { + "height": 0.16533333333333328, + "id": "bbox_1767062388044_1767062507488_mpw6bplqb", + "width": 0.10899999999999999, + "x": 0.742, + "y": 0.7614814724392361 + } + ], + "type": "bbox" + }, + "bbox_1767062388532": { + "instances": [ + { + "height": 0.16533333333333336, + "id": "bbox_1767062388532_1767062503094_tt57epfy9", + "width": 0.13399999999999998, + "x": 0.654, + "y": 0.5979259168836806 + } + ], + "type": "bbox" + }, + "point_1767062405134": { + "instances": [ + { + "id": 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+ "error_success_analysis": "爪夹合拢继续夹紧锅盖，水平上接近了锅。更加方便接近锅", + "frame": 247, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧锅盖，并向爪夹下边的锅接近。缩短了与锅的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧锅盖，水平上接近了锅。\n为完成抓取锅盖放在锅上的任务应当：继续向爪夹左方接近，水平到达锅的正上方后将锅盖放在锅上，松开爪夹，使锅盖放在锅上。", + "time": 8.228133, + "annotations": { + "bbox_1767062388044": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062388044_1767072802962_7uidrk1gv", + "x": 0.744, + "y": 0.6121481391059028, + "width": 0.11100000000000003, + "height": 0.11911111111111118 + } + ] + }, + "bbox_1767062388532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062388532_1767072806770_eh613fp08", + "x": 0.647, + "y": 0.6032592502170139, + "width": 0.125, + "height": 0.17244444444444457 + } + ] + }, + "point_1767062405134": { + "type": "point", + "instances": [ + { + "id": "point_1767062405134_1767072816286_lt7vc18al", + "x": 0.786, + "y": 0.6459259168836806 + } + ] + }, + "point_1767062405454": { + "type": "point", + "instances": 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0.6192592502170139 + } + ], + "type": "point" + } + }, + "correction_plan": "下降将锅盖放在锅上,松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动,成功使锅盖平移至盘\n子正上方。", + "frame": 272, + "progress": 60, + "progress_explanation": "当前锅盖已处于锅的正上方,成功接近锅,因此进度提升为60%", + "state_description": "当前爪夹合找,垂直于盘子,锅盖悬空于锅的正上方。为完成抓起锅盖使其放在锅上的任务应当:竖直下降,将锅盖放在锅上。", + "time": 9.063066 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使锅盖放在锅上。", + "error_success_analysis": "锅盖放在锅上，方便锅盖放在锅上。", + "frame": 284, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，锅盖放在锅上。因此进度提升为 80%。", + "state_description": "爪夹夹紧锅盖，爪夹角度接近垂直于桌面。为完成抓取锅盖放在锅上的任务应当：向下移动，松开爪夹，使锅盖放在锅上。", + "time": 9.4536, + "annotations": { + "point_1767062405454": { + "type": "point", + "instances": [ + { + "id": "point_1767062405454_1767072827931_6fndzbt9e", + "x": 0.738, + "y": 0.642370361328125 + } + ] + }, + "point_1767062405134": { + "type": "point", + "instances": [ + { + "id": "point_1767062405134_1767072831490_olroxpike", + 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"point_1767062405454", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001852.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001852.json new file mode 100644 index 0000000000000000000000000000000000000000..ba3d1b2ed8b2d0d758f573d53df7b03fec3f52f6 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001852.json @@ -0,0 +1,404 @@ +{ + "task_description": "从罐子里抓取小玩具放在柜子上：\n准备开始移动：0%\n爪夹靠近罐子：20%\n爪夹抓取玩具：40%\n爪夹抓紧玩具接近柜子：60%\n爪夹将玩具放在柜子上：80%\n爪夹松开玩具落在柜子上：100%", + "progress_points": [ + { + "action_description": "抓夹保持打开状态,开始移动", + "correction_plan": "爪夹向爪夹正前方的罐子移动，同时调整爪夹的角度使其垂直与桌面，并移动到罐子的正上方。接着落下爪夹靠近玩具，接近罐子后爪夹合拢抓取玩具。抓紧玩具垂直升高爪夹并向爪夹右方的柜子接近，水平到达柜子的正上方后将玩具放在柜子上，松开爪夹，使玩具放在柜子上。", + "error_success_analysis": "", + "frame": 76, + "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,没有触碰玩具\n为完成抓起玩具便其落在柜子上的任务应当:调整\n爪来角度,使其垂直于桌面,然后向爪夹方向的\n前方移动,准备抓取玩具", + "time": 2.541666, + "annotations": { + "point_1767598856973": { + "type": "point", + "instances": [ + { + "id": "point_1767598856973_1767600291163_71xaxukrv", + "x": 0.603, + "y": 0.00948147243923611 + } + ] + }, + "point_1767598856845": { + "type": "point", + "instances": [ + { + "id": "point_1767598856845_1767600296545_rtj183bu4", + "x": 0.504, + "y": 0.016592583550347224 + } + ] + }, + "bbox_1767598856109": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598856109_1767600303559_ryuuznax2", + "x": 0.422, + "y": 0.11970369466145833, + "width": 0.546, + "height": 0.8782222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹正前方的罐子移动，同时调整爪夹的角度使其垂直与桌面，并移动到罐子的正上方。接着落下爪夹靠近玩具，接近罐子后爪夹合拢抓取玩具。抓紧玩具垂直升高爪夹并向爪夹右方的柜子接近，水平到达柜子的正上方后将玩具放在柜子上，松开爪夹，使玩具放在柜子上。", + "error_success_analysis": "爪夹的角度与桌面呈 70 度。水平上未接近玩具。", + "frame": 117, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈 70 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近罐子。\n为完成抓取玩具使其放在柜子上的任务应当：爪夹向爪夹正前方的罐子移动，同时调整爪夹的角度使其垂直与桌面，并移动到罐子的正上方。", + "time": 3.891666, + "annotations": { + "point_1767598856973": { + "type": "point", + "instances": [ + { + "id": "point_1767598856973_1767600316423_1wa27tjb1", + "x": 0.724, + "y": 0.023703694661458337 + } + ] + }, + "point_1767598856845": { + "type": "point", + "instances": [ + { + "id": "point_1767598856845_1767600319713_o2c1f5wce", + "x": 0.647, + "y": 0.037925916883680556 + } + ] + }, + "bbox_1767598856109": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598856109_1767600325427_406nwkr6o", + "x": 0.41900000000000004, + "y": 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"爪夹角度接近垂直于桌面，玩具放在柜子上。因此进度提升为 80%。", + "state_description": "爪夹夹紧玩具，爪夹角度接近垂直于桌面，玩具放在柜子上。\n为完成抓取玩具使其放在柜子上的任务应当：继续向爪夹右方的柜子接近，水平到达柜子的正上方后将玩具放在橞子上，松开爪夹，使玩具放在柜子上。", + "time": 7.324999, + "annotations": { + "bbox_1767598856109": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598856109_1767600431165_264btjzj8", + "x": 0.41500000000000004, + "y": 0.13570369466145832, + "width": 0.5589999999999999, + "height": 0.8622222222222223 + } + ] + }, + "bbox_1767598855973": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598855973_1767600435123_2tiao8iyp", + "x": 0.791, + "y": 0.11437036132812499, + "width": 0.10299999999999994, + "height": 0.10844444444444444 + } + ] + }, + "point_1767598856973": { + "type": "point", + "instances": [ + { + "id": "point_1767598856973_1767600439011_j8ioe15kc", + "x": 0.8240000000000001, + "y": 0.18014813910590277 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，玩具放在柜子上。", + "frame": 236, + "progress": 100, + "progress_explanation": "爪夹张开，玩具放在柜子上，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爪夹松开玩具放在柜子上的任务目标完成。", + "time": 7.883333, + "annotations": { + "point_1767598856973": { + "type": "point", + "instances": [ + { + "id": "point_1767598856973_1767600442275_7mnwf0r8i", + "x": 0.8140000000000001, + "y": 0.22992591688368055 + } + ] + }, + "point_1767598856845": { + "type": "point", + "instances": [ + { + "id": "point_1767598856845_1767600444669_v4qsi27k6", + "x": 0.782, + "y": 0.226370361328125 + } + ] + }, + "bbox_1767598856109": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598856109_1767600451997_8w9micqxb", + "x": 0.422, + "y": 0.13570369466145832, + "width": 0.5490000000000002, + "height": 0.8551111111111112 + } + ] + }, + "bbox_1767598855973": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598855973_1767600457685_5eco1jpv3", + "x": 0.804, + "y": 0.13037036132812502, + "width": 0.08399999999999999, + "height": 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b/annotation_files_raw/0116/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": "bbox_1767066759569_1767066912957_4uawsrsb5", + "x": 0.396, + "y": 0.5890370279947917, + "width": 0.242, + "height": 0.21511111111111103 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767066758631", + "name": "杯子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767066759569", + "name": "洗碗池", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767066768523", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767066768835", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002621.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002621.json new file mode 100644 index 0000000000000000000000000000000000000000..e15e5bcfcbd79c6a7700c75f512cfe87a913ac0d --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002621.json @@ -0,0 +1,448 @@ +{ + "task_description": "抓取马克笔放在桌面上：\n准备开始移动：0%\n爪夹靠近马克笔：20%\n爪夹抓取马克笔：40%\n爪夹抓紧马克笔接近桌面：60%\n爪夹将马克笔放在桌面上：80%\n爪夹松开马克笔落在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "annotations": { + "bbox_1767497280945": { + "instances": [ + { + "height": 0.0782222222222222, + "id": "bbox_1767497280945_1767499871551_vc0d397bd", + "width": 0.04299999999999997, + "x": 0.44000000000000006, + "y": 0.5706666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767497288529": { + "instances": [ + { + "height": 0.4675555555555556, + "id": "bbox_1767497288529_1767499876511_rxajmxskj", + "width": 0.34800000000000003, + "x": 0.31499999999999995, + "y": 0.5137777777777778 + } + ], + "type": "bbox" + }, + "point_1767497311089": { + "instances": [ + { + "id": "point_1767497311089_1767499902863_3nj29f9wv", + "x": 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"爪夹张开，角度垂直于桌面，水平上接近了马克笔。\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正前方微调下降，直至马克笔的正上方。", + "time": 6.230171906185567, + "annotations": { + "point_1767504301450": { + "type": "point", + "instances": [ + { + "id": "point_1767504301450_1767508505510_grcn27nb5", + "x": 0.538, + "y": 0.5973333333333333 + } + ] + }, + "point_1767504267274": { + "type": "point", + "instances": [ + { + "id": "point_1767504267274_1767508509006_wcmkplo40", + "x": 0.5740000000000001, + "y": 0.5013333333333333 + } + ] + }, + "bbox_1767504254123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767504254123_1767508513838_x761wq3v3", + "x": 0.5479999999999999, + "y": 0.6488888888888888, + "width": 0.04400000000000004, + "height": 0.16177777777777788 + } + ] + }, + "bbox_1767504261082": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767504261082_1767508528190_q7gkmc65z", + "x": 0.246, + "y": 0.1848888888888889, + "width": 0.7479999999999999, + "height": 0.7893333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的正前方移动并垂直下降", + "correction_plan": "爪夹合拢抓取马克笔，抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至桌面的正上方后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": "爪夹垂直向下移动，处于马克笔的正上方，方便抓取。", + "frame": 263, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，处于马克笔的正上方。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度垂直于桌面，处于马克笔的正上方，准备抓取马克笔。\n为完成抓取马克笔落在桌面上的任务应当：爪夹合拢抓取马克笔，抓紧马克笔垂直升高并向爪夹方向的右侧移动，直至桌面的正上方", + "time": 8.752508710309279, + "annotations": { + "bbox_1767504254123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767504254123_1767508559678_3pbpl7jaw", + "x": 0.546, + "y": 0.6791111111111111, + "width": 0.040000000000000036, + "height": 0.1528888888888888 + } + ] + }, + "bbox_1767504261082": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767504261082_1767508568094_ql3jfo2to", + "x": 0.24, + "y": 0.14755555555555558, + "width": 0.7550000000000001, + "height": 0.8355555555555556 + } + ] + }, + "point_1767504301450": { + "type": "point", + "instances": [ + { + "id": 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newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002199.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002199.json new file mode 100644 index 0000000000000000000000000000000000000000..c74a1488402e59746b6e28196d8c72f08f36105d --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002199.json @@ -0,0 +1,7 @@ +{ + "task_description": "", + "progress_points": [], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002237.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002237.json new file mode 100644 index 0000000000000000000000000000000000000000..c46ee0048c916e8b0f18b7d53f263b03991d8197 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-002/observation.images.wrist_image_left/episode_002237.json @@ -0,0 +1,422 @@ +{ + "task_description": "抓取红色盒子放入箱子里：\n准备开始移动：0%\n爪夹靠近红色盒子：20%\n爪夹抓取红色盒子：40%\n爪夹抓紧红色盒子接近箱子：60%\n爪夹将红色盒子放在箱子里：80%\n爪夹松开过红色盒子放进箱子里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左后方的红色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色盒子的正上方。接着落下爪夹靠近红色盒子，接近红色盒子后爪夹合拢抓取红色盒子。抓紧红色盒子垂直升高爪夹并向爪夹右前方的箱子接近，水平到达箱子的正上方后将红色盒子放入箱子，松开爪夹，红色盒子落入箱子。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前为初始状态，远离红色盒子，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离红色盒子，未开始移动。\n为完成抓取红色盒子放入箱子的任务应当：爪夹向爪夹左后方的红色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色盒子的正上方。", + "time": 1.4981443515463917, + "annotations": { + "point_1767079168936": { + "type": "point", + "instances": [ + { + "id": "point_1767079168936_1767079773748_g7hgl6y6y", + "x": 0.438, + "y": 0.571259250217014 + } + ] + }, + "point_1767079169832": { + "type": "point", + "instances": [ + { + "id": "point_1767079169832_1767079791618_oht83p29q", + "x": 0.766, + "y": 0.6192592502170139 + } + ] + }, + "bbox_1767079146285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767079146285_1767079815062_4p19ohz4f", + "x": 0.002, + "y": 0.6761481391059028, + "width": 0.128, + "height": 0.31466666666666676 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹左后方的红色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色盒子的正上方。接着落下爪夹靠近红色盒子，接近红色盒子后爪夹合拢抓取红色盒子。抓紧红色盒子垂直升高爪夹并向爪夹右前方的箱子接近，水平到达箱子的正上方后将红色盒子放入箱子，松开爪夹，红色盒子落入箱子。", + "error_success_analysis": "爪夹的角度与桌面呈90度。水平上未接近红色盒子。\n", + "frame": 86, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度与桌面呈90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90度。还未接近红色盒子。\n为完成抓取红色盒子落入箱子的任务应当：爪夹向爪夹左后方的红色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色盒子的正上方。", + "time": 2.883333, + "annotations": { + "bbox_1767079146285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767079146285_1767079826995_ak5v8xz1f", + "x": 0.127, + "y": 0.39881480577256945, + "width": 0.211, + "height": 0.4106666666666667 + } + ] + }, + "point_1767079168936": { + "type": "point", + "instances": [ + { + "id": "point_1767079168936_1767079831952_n58x564un", + "x": 0.442, + "y": 0.5641481391059028 + } + ] + }, + "point_1767079169832": { + "type": "point", + "instances": [ + { + "id": "point_1767079169832_1767079835080_8cm8sdbst", + "x": 0.767, + "y": 0.6210370279947917 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动。", + "correction_plan": "爪夹向爪夹左后方的红色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色盒子的正上方。接着落下爪夹靠近红色盒子，接近红色盒子后爪夹合拢抓取红色盒子。抓紧红色盒子垂直升高爪夹并向爪夹右前方的箱子接近，水平到达箱子的正上方后将红色盒子放入箱子，松开爪夹，红色盒子落入箱子。", + "error_success_analysis": "爪夹角度与桌面呈90度，缩短了红色盒子之间的距离。方便后续抓取红色盒子。", + "frame": 127, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了红色盒子。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈90度。还未接近红色盒子。\n为完成抓取红色盒子落入箱子的任务应当：爪夹向爪夹左后方的红色盒子移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色盒子的正上方。", + "time": 4.2212, + "annotations": { + "point_1767079168936": { + "type": "point", + "instances": [ + { + "id": "point_1767079168936_1767080069515_tksjp5mbq", + "x": 0.45200000000000007, + "y": 0.6210370279947917 + } + ] + }, + "point_1767079169832": { + "type": "point", + "instances": [ + { + "id": "point_1767079169832_1767080072681_ortc9e6wr", + "x": 0.768, + "y": 0.6263703613281251 + } + ] + }, + "bbox_1767079146285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767079146285_1767080080675_u0y8lme9t", + "x": 0.45, + "y": 0.030814805772569443, + 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"继续向爪夹右前方的箱子接近，水平到达箱子的正上方后将红色盒子放入箱子，松开爪夹，使红色盒子落入箱子。\n", + "error_success_analysis": "爪夹合拢继续夹紧红色盒子，水平上接近了箱子。更加方便接近箱子。", + "frame": 329, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧红色盒子，垂直升高并向爪夹右边的箱子接近。缩短了与箱子的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧红色盒子，水平上接近了箱子。\n为完成抓取红色盒子落入箱子的任务应当：继续向爪夹右方的箱子接近，水平到达箱子的正上方后将红色盒子放入箱子，松开爪夹，使蓝色方块落入箱子。", + "time": 10.956666, + "annotations": { + "point_1767079168936": { + "type": "point", + "instances": [ + { + "id": "point_1767079168936_1767080380709_6b44ckimr", + "x": 0.519, + "y": 0.5605925835503472 + } + ] + }, + "bbox_1767079146285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767079146285_1767080383697_sfie0xzd2", + "x": 0.49000000000000005, + "y": 0.322370361328125, + "width": 0.24500000000000002, + "height": 0.6222222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧红色盒子，向爪夹右方移动", + "correction_plan": "将红色盒子放入箱子，松开爪夹，使红色盒子落入箱子。\n", + "error_success_analysis": "爪夹移动到了铁盒正上方，方便将目标放入箱子。", + "frame": 390, + 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No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003200.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003200.json new file mode 100644 index 0000000000000000000000000000000000000000..e5958101d95f6d15bed3e1e3d4a6517c217d6d73 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003200.json @@ -0,0 +1,372 @@ +{ + "task_description": "抓取杯子放在直尺上：\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爪夹抓紧杯子接近直尺：60%\n爪夹将杯子放在直尺上：80%\n爪夹松开杯子落在直尺上：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "annotations": { + "bbox_1767515332672": { + "instances": [ + { + "height": 0.21688888888888885, + "id": "bbox_1767515332672_1767515809215_k2kdxhzjr", + "width": 0.11699999999999999, 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"point_1767604401656", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003392.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003392.json new file mode 100644 index 0000000000000000000000000000000000000000..a77401dc5c2cddfcbf6cc28fd0952c301ab32ebf --- /dev/null +++ b/annotation_files_raw/0116/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", + "instances": [ + { + "id": "bbox_1767667149012_1767671811271_cci83ysz0", + "x": 0.281666608784997, + "y": 0.2233333197699653, + "width": 0.05999999633789081, + "height": 0.1191111111111111 + } + ] + }, + "bbox_1767667155732": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767667155732_1767671815135_v98nzuljz", + "x": 0.3596666040242551, + "y": 0.2375555419921875, + "width": 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b/annotation_files_raw/0116/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/0116/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": 0.051999999999999956, + "x": 0.512, + "y": 0.42844444444444446 + } + ], + "type": "bbox" + }, + "bbox_1767075119205": { + "instances": [ + { + "height": 0.15466666666666667, + "id": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005778.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005778.json new file mode 100644 index 0000000000000000000000000000000000000000..5970d523204e5386886ead91c2c7c6e75b5f0637 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005778.json @@ -0,0 +1,458 @@ +{ + "task_description": "抓取蓝色杯子放入橙色杯子上：\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爪夹将蓝色杯子放橙色杯子上：80%\n爪夹松开蓝色杯子落在橙色杯子上：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "annotations": { + "bbox_1767170129181": { + "instances": [ + { + "height": 0.08711111111111107, + "id": "bbox_1767170129181_1767175577271_2ej92rc7w", + "width": 0.03600000000000003, + "x": 0.568, + 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+ }, + { + "color": "#F44336", + "id": "point_1767145087549", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005602.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005602.json new file mode 100644 index 0000000000000000000000000000000000000000..49be88da5cfca7cc53ef08587e84438e1c912663 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005602.json @@ -0,0 +1,524 @@ +{ + "task_description": "抓取胡萝卜放入不锈钢盆里：\n准备开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓胡萝卜接近不锈钢盆：60%\n爪夹将胡萝卜放入不锈钢盆：80%\n爪夹松开胡萝卜落入不锈钢盆：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，未开始移动。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹方向的右前方移动，直至不锈钢盆的正上方后将胡萝卜放入不锈钢盆，松开爪夹，使胡萝卜落入不锈钢盆。", + "error_success_analysis": "", + "frame": 40, + "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，远离胡萝卜，未开始移动。\n为完成抓取胡萝卜落入不锈钢盆里的任务应当：爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到胡萝卜的正上方。", + "time": 1.3457731958762886, + "annotations": { + "point_1767171048180": { + "type": "point", + "instances": [ + { + "id": "point_1767171048180_1767174998680_0g53a2wk8", + "x": 0.191, + "y": 0.03733333333333333 + } + ] + }, + "bbox_1767171035844": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767171035844_1767175012816_5uekab99z", + "x": 0.45200000000000007, + "y": 0.5493333333333333, + "width": 0.06599999999999992, + "height": 0.10133333333333339 + } + ] + }, + "bbox_1767171027875": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767171027875_1767175016848_5bwgbii04", + "x": 0.379, + "y": 0.5635555555555556, + "width": 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"爪夹合拢。", + "correction_plan": "抓紧胡萝卜后垂直升高爪夹并向爪夹方向的右前方移动，直至不锈钢盆的正上方后将胡萝卜放入不锈钢盆，松开爪夹，使胡萝卜落入不锈钢盆。", + "error_success_analysis": "爪夹角度垂直于桌面，方便爪夹合拢抓取到胡萝卜。", + "frame": 180, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到胡萝卜，因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到胡萝卜，爪夹角度与桌面接近垂直。\n为完成抓取胡萝卜落入不锈钢盆里的任务应当：抓紧胡萝卜后垂直升高爪夹并向爪夹方向的右前方移动，直至不锈钢盆的正上方", + "time": 5.999381443298969, + "annotations": { + "point_1767171048180": { + "type": "point", + "instances": [ + { + "id": "point_1767171048180_1767175090143_0xtz4u91p", + "x": 0.418, + "y": 0.632888888888889 + } + ] + }, + "point_1767171057771": { + "type": "point", + "instances": [ + { + "id": "point_1767171057771_1767175093703_fneqp60x6", + "x": 0.442, + "y": 0.632888888888889 + } + ] + }, + "bbox_1767171027875": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767171027875_1767175099304_so15odzuv", + "x": 0.41500000000000004, + "y": 0.5475555555555556, + "width": 0.03499999999999996, + "height": 0.18666666666666665 + } + ] + }, + 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"error_success_analysis": "爪夹下降并打开爪夹，胡萝卜落到桌面", + "frame": 316, + "progress": 20, + "progress_explanation": "爪夹下降并打开爪夹，胡萝卜落到桌面，爪夹处于胡萝卜的正上方。因此进度降至为 20%。", + "state_description": "爪夹角度垂直于桌面，处于胡萝卜的正上方.\n为完成抓取胡萝卜落入不锈钢盆里的任务应当：爪夹重新下降并合拢抓取胡萝卜，抓紧胡萝卜后垂直升高爪夹并向爪夹方向的右前方移动", + "time": 10.52721649484536, + "annotations": { + "bbox_1767171027875": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767171027875_1767175149023_6yxzijlki", + "x": 0.38499999999999995, + "y": 0.4853333333333334, + "width": 0.03400000000000007, + "height": 0.14399999999999993 + } + ] + }, + "point_1767171048180": { + "type": "point", + "instances": [ + { + "id": "point_1767171048180_1767175156927_d06qqa73h", + "x": 0.384, + "y": 0.5582222222222223 + } + ] + }, + "point_1767171057771": { + "type": "point", + "instances": [ + { + "id": "point_1767171057771_1767175160072_ut4sslunb", + "x": 0.42800000000000005, + "y": 0.5564444444444444 + } + ] + }, + "bbox_1767171035844": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767171035844_1767175164224_2vfpwsuxo", + "x": 0.45499999999999996, + "y": 0.5422222222222223, + "width": 0.06699999999999999, + "height": 0.12266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向上升起。", + "correction_plan": "爪夹重新垂直下降，直至胡萝卜的正上方。接着落下爪夹靠近胡萝卜，接近胡萝卜后爪夹合拢抓取胡萝卜。抓紧胡萝卜垂直升高爪夹并向爪夹方向的右前方移动，直至不锈钢盆的正上方后将胡萝卜放入不锈钢盆，松开爪夹，使胡萝卜落入不锈钢盆。", + "error_success_analysis": "与上一步相比，爪夹没有按原定方向下降然后合拢，而是向上升起，导致爪夹远离胡萝卜", + "frame": 366, + "progress": 0, + "progress_explanation": "爪夹回到初始状态，爪夹张开，远离胡萝卜，因此进度降至0%", + "state_description": "爪夹打开垂直于桌面，远离胡萝卜。\n为完成抓取胡萝卜落入不锈钢盆里的任务应当：爪夹重新垂直下降，直至胡萝卜的正上方。", + "time": 12.2, + "annotations": { + "point_1767171048180": { + "type": "point", + "instances": [ + { + "id": "point_1767171048180_1767175191047_zun90g1fy", + "x": 0.359, + "y": 0.45155555555555554 + } + ] + }, + "point_1767171057771": { + "type": "point", + "instances": [ + { + "id": "point_1767171057771_1767175193855_mt8ywecrf", + "x": 0.41900000000000004, + "y": 0.4408888888888889 + } + ] + }, + "bbox_1767171027875": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767171027875_1767175197952_tekrnuvo0", + "x": 0.384, + "y": 0.48000000000000004, + "width": 0.03399999999999999, + "height": 0.13866666666666663 + } + ] + }, + "bbox_1767171035844": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767171035844_1767175200967_6jamlzdvf", + "x": 0.4450000000000001, + "y": 0.5582222222222223, + "width": 0.07799999999999985, + "height": 0.09422222222222226 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767171027875", + "name": "胡萝卜" + }, + { + "color": "#FF9800", + "id": "bbox_1767171035844", + "name": "不锈钢盆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767171048180", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767171057771", + "name": "抓夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005958.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005958.json new file mode 100644 index 0000000000000000000000000000000000000000..563689710e0ce52a6e127c06fdd1ab387e8a3195 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005958.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取红色方块放在蓝色方块上：\n准备开始移动：0%\n爪夹靠近红色方块：20%\n爪夹抓取和色方块：40%\n爪夹抓紧红色方块接近蓝色方块：60%\n爪夹将红色方块放在蓝色方块上：80%\n爪夹松开红色方块落在蓝色方块上：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后方的蓝色方块接近，水平到达蓝色方块的正上方后将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "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放在蓝色积木上的任务应当：爪夹向爪夹前方的红色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色积木的正上方。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹前方的红色方块移动，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后方的蓝色方块接近，水平到达蓝色方块的正上方后将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "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": 136, + "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。还未接近蓝色方块。\n为完成抓取红色方块使其放在蓝色积木上的任务应当：爪夹向爪夹前方的红色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色积木的正上方。", + "time": 4.549999 + }, + { + "action_description": "爪夹向爪夹前方移动\n", + "correction_plan": "爪夹向爪夹前方的红色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色方块的正上方。接着落下爪夹靠近红色方块，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后方的蓝色方块接近，水平到达蓝色方块的正上方后将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "error_success_analysis": "爪夹角度与桌面呈90度，缩短了红色方块之间的距离。方便后续抓取红色方块。", + "frame": 165, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了红色方块。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈90度。还未接近蓝色方块。\n为完成抓取红色方块使其放在蓝色积木上的任务应当：爪夹向爪夹前方的红色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到红色积木的正上方。", + "time": 5.496399 + }, + { + "action_description": "爪夹向爪夹左后方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取红色方块，抓紧红色方块垂直升高爪夹并向爪夹后方的蓝色方块接近，水平到达蓝色方块的正上方后将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "error_success_analysis": "爪夹垂直向下移动，靠近了红色方块，方便抓取。", + "frame": 192, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了红色方块。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了红色方块。准备抓取红色方块。\n为完成抓取红色方块使其放在蓝色方块上的任务应当：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后方的蓝色方块接近", + "time": 6.394266 + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧红色方块垂直升高爪夹并向爪夹后方的蓝色方块接近，水平到达蓝色方块的正上方后将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到红色方块。", + "frame": 213, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到红色方块。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到红色方块，爪夹角度与桌面接近垂直。\n为完成抓取红色方块放在蓝色方块上的任务应当：抓紧红色方块垂直升高爪夹并向爪夹后方的蓝色方块接近", + "time": 7.097999 + }, + { + "action_description": "爪夹夹紧红色方块，垂直升高，向爪夹右前方移动。", + "correction_plan": "继续向爪夹后方的蓝色而方块接近，水平到达蓝色方块的正上方后将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "error_success_analysis": "爪夹合拢继续夹紧红色方块，水平上接近了蓝色方块。更加方便接近蓝色方块。", + "frame": 235, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧红色方块，垂直升高并向爪夹后边的蓝色方块接近。缩短了与蓝色方块的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧红色方块，水平上接近了蓝色方块。\n为完成抓取红色方块使其放在蓝色方块上的任务应当：继续向爪夹后方的蓝色方块接近，水平到达蓝色方块的正上方后将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "time": 7.825999 + }, + { + "action_description": "爪夹夹紧红色方块，向爪夹后方移动", + "correction_plan": "将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "error_success_analysis": "爪夹移动到了蓝色方块正上方，方便将目标放在蓝色方块上。", + "frame": 256, + "progress": 60, + "progress_explanation": "爪夹夹紧红色方块，到了爪夹后方的蓝色方块正上方。因此进度提升为 60%。", + "state_description": "爪夹夹紧红色方块，爪夹角度接近垂直于桌面，位于蓝色方块正上方。\n为完成抓取红色方块使其放在蓝色方块上的任务应当：将红色方块放在蓝色方块上，松开爪夹，使红色方块放在蓝色方块上。", + "time": 8.541866 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使红色方块放在蓝色方块上。", + "error_success_analysis": "红色方块放在蓝色方块上，方便红色方块放在蓝色方块上。", + "frame": 277, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，红色方块插入到对应孔洞。因此进度提升为 80%。", + "state_description": "爪夹夹紧红色方块，爪夹角度接近垂直于桌面，红色方块放在蓝色方块上。\n为完成抓取红色方块使其放在蓝色方块上的任务应当：松开爪夹，使红色方块放在蓝色方块上。", + "time": 9.233466 + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，红色积木放在蓝色积木上。", + "frame": 332, + "progress": 100, + "progress_explanation": "爪夹张开，红色积木放在蓝色积木上，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爪夹松开红色方块放在蓝色方块上的任务目标完成。", + "time": 11.065599 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006132.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006132.json new file mode 100644 index 0000000000000000000000000000000000000000..1b3c1a7e66eb36c0181b063d03522cee82126d60 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006132.json @@ -0,0 +1,337 @@ +{ + "task_description": "把桌上的餐巾挪一下\n开始移动：0%\n爪夹靠近餐巾纸：25%\n抓紧餐巾纸：50%\n移动餐巾纸：75%\n爪夹松开餐巾纸：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前移动调整爪夹角度使其垂直桌面，爪夹向爪夹左移动至餐巾纸上方，爪夹向爪夹下方餐巾纸移动靠近餐巾纸，爪夹合拢，爪夹夹紧餐巾纸向爪夹左移动，爪夹张开松开餐巾纸", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹未开始移动进度为0%", + "state_description": 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newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008868.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008868.json new file mode 100644 index 0000000000000000000000000000000000000000..c35a181f73d412e1fd868c159359be724ee68a24 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008868.json @@ -0,0 +1,514 @@ +{ + "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_1767494720531": { + "instances": [ + { + "height": 0.13866666666666666, + "id": "bbox_1767494720531_1767494739626_nfxq32pln", + "width": 0.05700000000000003, + "x": 0.43, + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-009/observation.images.wrist_image_left/episode_009119.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0003/annotations/chunk-009/observation.images.wrist_image_left/episode_009119.json new file mode 100644 index 0000000000000000000000000000000000000000..78e67f84e203452a4d41732bea13c24ea202572e --- /dev/null +++ b/annotation_files_raw/0116/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 + } + ], + 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"error_success_analysis": "当前爪夹成功下降至桌子边缘。", + "correction_plan": "爪夹松开，红色物体被放至桌子边缘。", + "annotations": { + "point_1766800407418": { + "type": "point", + "instances": [ + { + "id": "point_1766800407418_1766800504624_0tugh2m9c", + "x": 0.5685, + "y": 0.5137777777777778 + } + ] + }, + "point_1766800407545": { + "type": "point", + "instances": [ + { + "id": "point_1766800407545_1766800507334_dat4a7uw5", + "x": 0.5795, + "y": 0.5084444444444445 + } + ] + }, + "bbox_1766800406528": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766800406528_1766800531330_zhh4uq40v", + "x": 0.0025, + "y": 0.27911111111111114, + "width": 0.6009999999999999, + "height": 0.6968888888888888 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开，红色物体被防止桌子边缘。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将红色物体放至桌子边缘。", + "frame": 122, + "progress": 100, + "progress_explanation": "当前红色物体已被放至桌子边缘。因此当前进度提升至100%。", + "state_description": "当前爪夹松开，红色物体被防止桌子边缘。已完成抓取红色物体放至桌子边缘的任务。", + "time": 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"抓取茶杯放至茶杯右侧桌面上：\n爪夹准备移动：0%\n爪夹靠近茶杯：20%\n爪夹夹取茶杯：40%\n爪夹抓取茶杯接近茶杯右侧桌面：60%\n爪夹抓取茶杯下降至茶杯右侧桌面：80%\n爪夹松开，茶杯被放至茶杯右侧桌面上：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "当前爪夹向爪夹方向前方移动至茶杯正上方，爪夹垂直下降靠近茶杯，爪夹合拢抓取茶杯向爪夹方向右边移动直至接近茶杯右侧桌面，爪夹向爪夹方向右下方移动至茶杯右侧，松开爪夹将茶杯放至茶杯右侧桌面上。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹静止不动。因此当前进度为0%。", + "state_description": "爪夹张开，爪夹静止不动。为完成抓取茶杯放至茶杯右侧桌面上的任务应当：爪夹向爪夹方向前方移动至杯子正上方。", + "time": 0.5333333333333333, + "annotations": { + "point_1766803535533": { + "type": "point", + "instances": [ + { + "id": "point_1766803535533_1766803989633_x7u50mc6r", + "x": 0.6955, + "y": 0.20977777777777776 + } + ] + }, + "point_1766803535653": { + "type": "point", + "instances": [ + { + "id": "point_1766803535653_1766803992389_3bha56dou", + "x": 0.6735, + "y": 0.192 + } + ] + }, + "bbox_1766803534477": { + "type": "bbox", + "instances": [ + { + "id": 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"当前爪夹张开，爪夹准备抓取茶杯，为完成抓取茶杯放至茶杯右侧桌面上的任务应当：爪夹合拢抓取茶杯。", + "time": 2.3236082474226802, + "annotations": { + "point_1766803535533": { + "type": "point", + "instances": [ + { + "id": "point_1766803535533_1766803922928_ci157ssgg", + "x": 0.4545, + "y": 0.5066666666666667 + } + ] + }, + "bbox_1766803534477": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534477_1766803928781_1mjp0a4f1", + "x": 0.4765, + "y": 0.4248888888888889, + "width": 0.10200000000000005, + "height": 0.14577777777777776 + } + ] + }, + "bbox_1766803534614": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534614_1766803934533_cbk662fhw", + "x": -0.0015000000000000013, + "y": 0.47111111111111115, + "width": 0.9440000000000002, + "height": 0.48177777777777775 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取茶杯准备向爪夹方向右上方移动。", + "correction_plan": "爪夹合拢抓取茶杯向爪夹方向右边移动直至接近茶杯右侧桌面，爪夹向爪夹方向右下方移动至茶杯右侧，松开爪夹将茶杯放至茶杯右侧桌面上。", + "error_success_analysis": "当前爪夹成功抓取茶杯。", + "frame": 94, + "progress": 40, + "progress_explanation": "当前爪夹合拢抓取茶杯。因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取茶杯。为完成抓取茶杯放至茶杯右侧桌面上的任务应当：爪夹抓取茶杯向爪夹方向右上方移动直至接近茶杯右侧桌面。", + "time": 3.1401030927835047, + "annotations": { + "point_1766803535533": { + "type": "point", + "instances": [ + { + "id": "point_1766803535533_1766803865901_b2odi6tez", + "x": 0.4774999999999999, + "y": 0.5173333333333333 + } + ] + }, + "bbox_1766803534477": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534477_1766803897803_v9s722qzs", + "x": 0.4665, + "y": 0.4177777777777777, + "width": 0.11200000000000002, + "height": 0.1440000000000001 + } + ] + }, + "bbox_1766803534614": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534614_1766803909469_fuxhiq5dv", + "x": 0.0035000000000000005, + "y": 0.44266666666666665, + "width": 0.9390000000000001, + "height": 0.5155555555555555 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取茶杯向爪夹右上方移动直至接近茶杯右侧桌面。", + "correction_plan": "爪夹垂直下降至茶杯右侧，松开爪夹将茶杯放至茶杯右侧桌面上。", + "error_success_analysis": "当爪夹夹取茶杯成功接近茶杯右侧桌面。", + "frame": 67, + "progress": 60, + "progress_explanation": "当前爪夹合拢抓取茶杯，此时爪夹与茶杯右侧水平距离接近。因此当前进度提升至60%。", + "state_description": "当前爪夹合拢抓取茶杯，此时爪夹与茶杯右侧水平距离接近。为完成抓取茶杯放至茶杯右侧桌面上的任务应当：爪夹抓取茶杯垂直下降至茶杯右侧桌面。", + "time": 4.466666666666667, + "annotations": { + "point_1766803535533": { + "type": "point", + "instances": [ + { + "id": "point_1766803535533_1766803827773_hiw3jxd7f", + "x": 0.4755, + "y": 0.4657777777777778 + } + ] + }, + "bbox_1766803534477": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534477_1766803833916_7gxfk2mic", + "x": 0.47350000000000014, + "y": 0.37333333333333335, + "width": 0.07899999999999982, + "height": 0.11733333333333336 + } + ] + }, + "bbox_1766803534614": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534614_1766803852226_s05fjy9zz", + "x": 0.0024999999999999996, + "y": 0.4426666666666667, + "width": 0.9410000000000001, + "height": 0.5173333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取茶杯垂直下降至茶杯右侧桌面。", + "correction_plan": "松开爪夹将茶杯放至茶杯右侧桌面上。", + "error_success_analysis": "爪夹成功抓取茶杯移动到茶杯右侧桌面上。", + "frame": 77, + "progress": 80, + "progress_explanation": "爪夹合拢抓取茶杯垂直下降至茶杯右侧桌面。因此当前进度提升至80%。", + "state_description": "茶杯合拢抓取茶杯，此时茶杯位于茶杯右侧桌面上。为完成抓取茶杯放至茶杯右侧桌面上的任务应当：爪夹松开，茶杯被放至茶杯右侧桌面上。", + "time": 5.133333333333334, + "annotations": { + "point_1766803535533": { + "type": "point", + "instances": [ + { + "id": "point_1766803535533_1766803776085_x61ux54ng", + "x": 0.4795, + "y": 0.48533333333333334 + } + ] + }, + "bbox_1766803534477": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534477_1766803784275_p9pw95d8o", + "x": 0.47650000000000003, + "y": 0.40177777777777784, + "width": 0.07799999999999993, + "height": 0.1191111111111111 + } + ] + }, + "bbox_1766803534614": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766803534614_1766803811493_06s3s4hje", + "x": 0.0035000000000000005, + "y": 0.44088888888888894, + "width": 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new file mode 100644 index 0000000000000000000000000000000000000000..7c2eebe4a1841b9050260a3647457e3d5efea873 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000174.json @@ -0,0 +1,401 @@ +{ + "task_description": "抓取门把手打开文件柜门：\n爪夹准备移动：0%\n爪夹靠近柜门把手：20%\n爪夹夹取柜门把手：40%\n爪夹抓取柜门把手向爪夹后方拉动：60%\n爪夹抓取柜门把手向爪夹后方拉动即将完全拉开：80%\n爪夹抓取柜门把手向爪夹后方拉动将柜门完全拉开：100%", + "progress_points": [ + { + "action_description": "此时爪夹在屏幕外，爪夹未开始移动。", + "correction_plan": "爪夹向爪夹前方移动靠近柜门，爪夹继续向前移动靠近柜门把手，爪夹夹取柜门把手，爪夹夹取贵门把手向爪夹方向后方拉扯，爪夹抓取贵门把手向爪夹后方拉动并即将完全拉开，爪夹继续向爪夹后方拉扯直至完全将柜门拉开。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前爪夹在屏幕外，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹在屏幕外，爪夹准备移动。抓取门把手打开文件柜门：爪夹向爪夹前方移动靠近柜门把手。", + "time": 0.6004123711340207, + "annotations": { + "bbox_1766814622401": { + "type": "bbox", + "instances": [ + { + "id": 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"当前爪夹松开，记号笔被放至桌面。因此当前进度提升至100%。", + "state_description": "当前爪夹放开，记号笔被放至桌面。已完成抓取记号笔放至桌面。", + "time": 12.489896907216496, + "annotations": { + "point_1766818340500": { + "type": "point", + "instances": [ + { + "id": "point_1766818340500_1766818359223_v27bg6aau", + "x": 0.6275000000000001, + "y": 0.7911111111111111 + } + ] + }, + "point_1766818340356": { + "type": "point", + "instances": [ + { + "id": "point_1766818340356_1766818361262_i85ito7zk", + "x": 0.5845, + "y": 0.7164444444444444 + } + ] + }, + "bbox_1766818339342": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766818339342_1766818394865_ifih900s0", + "x": 0.5645, + "y": 0.7911111111111111, + "width": 0.06800000000000006, + "height": 0.11555555555555562 + } + ] + }, + "bbox_1766818339480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766818339480_1766818413636_tr76d65jt", + "x": 0.4025, + "y": 0.5422222222222223, + "width": 0.5950000000000002, + "height": 0.44622222222222224 + } + ] + } + } + } + ], + "tags": 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"当前爪夹张开，此时爪夹水平角度呈30角度。为完成抓取螺丝刀放入工具柜并关闭工具柜任务应当：爪夹向爪夹前下方移动并夹取螺丝刀。", + "progress_explanation": "当前爪夹张开向爪夹方向前方移动靠近螺丝刀。因此当前进度提升至20%", + "error_success_analysis": "当前爪夹向爪夹方向前方移动并成功接近螺丝刀。", + "correction_plan": "爪夹下降靠近螺丝刀，爪夹夹取螺丝刀并向爪夹方向后方移动直至接近工具柜，爪夹松开使螺丝刀落入工具柜，爪夹向爪夹方向右下方移动直至靠近工具柜门，爪夹向爪夹方向前方移动关闭工具柜门。", + "annotations": { + "point_1766821751926": { + "type": "point", + "instances": [ + { + "id": "point_1766821751926_1766822082595_u8f1ugfuc", + "x": 0.3735, + "y": 0.39822222222222226 + } + ] + }, + "point_1766821752055": { + "type": "point", + "instances": [ + { + "id": "point_1766821752055_1766822084689_1flzz18yy", + "x": 0.4135, + "y": 0.3804444444444445 + } + ] + }, + "bbox_1766821751199": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766821751199_1766822090277_q33bdknsf", + "x": 0.3885, + "y": 0.3928888888888889, + "width": 0.04599999999999995, + "height": 0.048 + } + ] + }, + "bbox_1766821751053": { + "type": "bbox", + "instances": [ + { + "id": 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"当前爪夹张开，此时爪夹顶住工具柜门准备关闭工具柜。因此当前进度提升至90%。", + "error_success_analysis": "爪夹成功移动至工具柜门前。", + "correction_plan": "爪夹向爪夹方向前方移动关闭工具柜门。", + "annotations": { + "point_1766821751926": { + "type": "point", + "instances": [ + { + "id": "point_1766821751926_1766821944219_q48dj5jsi", + "x": 0.3105, + "y": 0.7253333333333334 + } + ] + }, + "point_1766821752055": { + "type": "point", + "instances": [ + { + "id": "point_1766821752055_1766821945972_m9tr9eo7y", + "x": 0.3325, + "y": 0.7466666666666667 + } + ] + }, + "bbox_1766821751053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766821751053_1766821970715_4nu5dzy5m", + "x": 0.24149999999999996, + "y": 0.47466666666666657, + "width": 0.33100000000000007, + "height": 0.4764444444444446 + } + ] + } + } + }, + { + "time": 8.1224, + "frame": 244, + "progress": 100, + "action_description": "当前爪夹合拢并向爪夹方向前方移动推动工具柜门直至关闭工具柜。", + "state_description": "当前爪夹合拢，爪夹抵住工具柜门，此时工具柜门关闭。已完成抓取螺丝刀放入工具柜并关闭工具柜的任务。", + "progress_explanation": "当前爪夹合拢并向爪夹方向前方移动推动工具柜门直至关闭工具柜。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功将工具箱关闭。", + "correction_plan": "", + "annotations": { + "point_1766821751926": { + "type": "point", + "instances": [ + { + "id": "point_1766821751926_1766821875825_07img1trq", + "x": 0.40149999999999997, + "y": 0.5599999999999999 + } + ] + }, + "point_1766821752055": { + "type": "point", + "instances": [ + { + "id": "point_1766821752055_1766821878577_9hipgsbg2", + "x": 0.4085, + "y": 0.5528888888888889 + } + ] + }, + "bbox_1766821751053": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766821751053_1766821890391_6awccm6zj", + "x": 0.32150000000000006, + "y": 0.43200000000000005, + "width": 0.32, + "height": 0.352 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766821751053", + "name": "工具柜", + "color": "#4CAF50" + }, + { + "id": "bbox_1766821751199", + "name": "螺丝刀", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766821751926", + "name": 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"爪夹向爪夹右前方移动并调整爪夹与桌面水平角度，使爪夹与桌面呈30度角，爪夹向爪夹方向右前方移动靠近红色气球，爪夹下降并抓取红色气球竖直上升，爪夹夹取红色气球向爪夹方向后方移动至盒子正上方，爪夹抓取红色气球垂直下降至盒子中，爪夹松开使红色气球落入盒子中。", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成抓取红色气球放至盒子中的任务应当：爪夹向爪夹右前方移动并调整爪夹与桌面水平角度，使爪夹与桌面呈30度角。", + "time": 0.5602405262886598, + "annotations": { + "point_1766825886178": { + "type": "point", + "instances": [ + { + "id": "point_1766825886178_1766826149545_ekhcfk3ia", + "x": 0.6075, + "y": 0.7413333333333333 + } + ] + }, + "point_1766825886306": { + "type": "point", + "instances": [ + { + "id": "point_1766825886306_1766826151413_wsd055obm", + "x": 0.6345, + "y": 0.6293333333333333 + } + ] + }, + "bbox_1766825885256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766825885256_1766826157208_08t6l9bbf", + "x": 0.5045, + "y": 0.6577777777777778, + "width": 0.03100000000000005, + "height": 0.07288888888888892 + } + ] + }, + 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"#2196F3", + "id": "point_1766826190572", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766826190714", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.wrist_image_left/episode_000149.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.wrist_image_left/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..95ec9b1ad46bbe315bb2534c51862da044a20d5a --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-000/observation.images.wrist_image_left/episode_000149.json @@ -0,0 +1,442 @@ +{ + "task_description": "抓取红色皮球放至盒子中：\n爪夹准备移动：0%\n爪夹靠近红色皮球：20%\n爪夹夹取红色皮球：40%\n爪夹抓取红色皮球接近盒子：60%\n爪夹抓取红色皮球移动至盒子正上方：80%\n爪夹松开，红色皮球落入盒子：100%", + "progress_points": [ + { + "time": 0.6093126891752578, + "frame": 18, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动。为完成抓取红色皮球放至盒子中的任务应当：爪夹向爪夹方向左下方移动，并调整爪夹与桌面之间的水平角度，使其与桌面垂直。", + "progress_explanation": "当前爪夹张开，爪夹静止不动，因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向左下方移动，并调整爪夹与桌面之间的水平角度，使其与桌面垂直，爪夹继续向爪夹左下方移动并下降直至红色皮球正上方，爪夹垂直下降靠近红色皮球，爪夹合拢抓取红色皮球向爪夹方向前上方移动接近盒子，爪夹抓取红色皮球向爪夹方向前方移动盒子正上方，爪夹松开，使红色皮球落入盒子中。", + "annotations": { + "point_1766971994921": { + "type": "point", + "instances": [ + { + "id": "point_1766971994921_1766972350049_7g359q6xt", + "x": 0.4495, + "y": 0.5973333333333333 + } + ] + }, + "point_1766971995052": { + "type": "point", + "instances": [ + { + "id": "point_1766971995052_1766972352750_tcqnd8ql3", + "x": 0.7715, + "y": 0.632888888888889 + } + ] + }, + "bbox_1766971994160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766971994160_1766972359262_q8x337kjh", + "x": 0.14550000000000002, + "y": 0.5955555555555555, + "width": 0.24799999999999994, + "height": 0.3680000000000002 + } + 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new file mode 100644 index 0000000000000000000000000000000000000000..71cc86a5b6f48e43fdd4913a279e7624a8642100 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001490.json @@ -0,0 +1,458 @@ +{ + "task_description": "抓取锅盖放至台面：\n爪夹准备移动：0%\n爪夹靠近锅盖：20%\n爪夹夹取锅盖：40%\n爪夹抓取锅盖至台面正上方：60%\n爪夹抓取锅盖接近台面：80%\n爪夹松开，锅盖被放至台面：100%", + "progress_points": [ + { + "time": 0.6517525773195876, + "frame": 20, + "progress": 0, + "action_description": "当前爪夹张开爪，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动。为完成抓取锅盖放至台面的任务应当：爪夹向爪夹方向前下方移动至锅盖正上方。", + "progress_explanation": "当前爪夹张开爪，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向前下方移动至锅盖正上方，爪夹垂直下降靠近锅盖，爪夹合拢抓取锅盖，爪夹抓取锅盖向爪夹方向左上方移动至台面正上方，爪夹夹取锅盖垂直下降直至接近台面，爪夹松开，锅盖被放至台面上。", + "annotations": { + "point_1767057695694": { + "type": "point", + "instances": [ + { + "id": "point_1767057695694_1767057972484_91gz7iyk7", + "x": 0.6885, + "y": 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"color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001666.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001666.json new file mode 100644 index 0000000000000000000000000000000000000000..86677255b3a8bc1f9dc508fff13bd8ff8e58d733 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001666.json @@ -0,0 +1,590 @@ +{ + "task_description": "抓取橙色盖子放至木架上：\n爪夹准备移动：0%\n爪夹靠近橙色盖子：20%\n爪夹抓取橙色盖子40%\n爪夹抓取橙色盖子接近木架60%\n爪夹抓取橙色盖子移动至木架正上方80%\n爪夹松开，使橙色盖子落入木架：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方移动至橙色盖子正上方，爪夹垂直下降靠近橙色盖子，爪夹抓取橙色盖子，爪夹抓取橙色盖子竖直上升，爪夹抓取橙色盖子向爪夹方向前方移动至木架正上方，爪夹松开，使橙色盖子落入木架。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹静止不动。为完成抓取橙色盖子放至木架上的任务应当：爪夹向爪夹方向前方移动至盖子正上方。", + "time": 0, + "annotations": { + "point_1767065201911": { + "type": "point", + "instances": [ + { + "id": "point_1767065201911_1767065371281_qotrla2xj", + "x": 0.3375, + "y": 0.3413333333333333 + } + ] + }, + "point_1767065202035": { + "type": "point", + "instances": [ + { + "id": "point_1767065202035_1767065373543_1gmaifhdb", + "x": 0.3625, + "y": 0.3537777777777778 + } + ] + }, + "bbox_1767065201187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767065201187_1767065378089_wlksiitsx", + "x": 0.5075000000000001, + "y": 0.6506666666666667, + "width": 0.029000000000000005, + "height": 0.03911111111111107 + } + ] + }, + "bbox_1767065201026": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767065201026_1767065381733_gqq7cfkwg", + "x": 0.5105, + "y": 0.5315555555555556, + "width": 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"error_success_analysis": "当前爪夹成功抓取红色皮球下降至盘子中。", + "correction_plan": "爪夹松开，红色皮球落入盘子中。", + "annotations": { + "point_1767073965567": { + "type": "point", + "instances": [ + { + "id": "point_1767073965567_1767074063681_g4ti51tke", + "x": 0.5585, + "y": 0.5671111111111111 + } + ] + }, + "point_1767073965705": { + "type": "point", + "instances": [ + { + "id": "point_1767073965705_1767074065671_4qn65xbi9", + "x": 0.5875, + "y": 0.5688888888888889 + } + ] + }, + "bbox_1767073964727": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767073964727_1767074070120_x3xc7se46", + "x": 0.5585, + "y": 0.5475555555555556, + "width": 0.028000000000000025, + "height": 0.05511111111111112 + } + ] + }, + "bbox_1767073964589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767073964589_1767074076335_rrae3mon5", + "x": 0.5335, + "y": 0.5333333333333333, + "width": 0.09400000000000004, + "height": 0.09955555555555556 + } + ] + } + } + }, + { + "time": 10.991616, + "frame": 330, + "progress": 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"爪夹向爪夹方向左边移动到红色球体正上方，爪夹垂直下降靠近红色球体，爪夹合拢抓取红色球体，爪夹抓取红色球体竖直上升，爪夹抓取红色球体向爪夹方向左后方移动直至接近白色碗，爪夹抓取红色球体向爪夹方向左下方移动至白色碗内，爪夹松开使红色球体落入碗内，爪夹向爪夹方向前上方移动至绿色球体正上方，爪夹垂直下降靠近绿色球体，爪夹抓取绿色球体，爪夹抓取绿色球体竖直上升，爪夹抓取绿色球体向爪夹后方移动至接近白色碗，爪夹抓取绿色球体继续向后下方移动至白色碗内，爪夹松开使绿色球体落入白色碗内，爪夹竖直上升后向爪夹方向前上方移动至黄色球体正上方，爪夹垂直下降靠近黄色球体，爪夹合拢抓取黄色球体，爪夹抓取黄色球体竖直上升，爪夹抓取黄色球体向爪夹方向左后方移动直至接近白色碗，爪夹抓取黄色球体向爪夹方向左下方移动至白色碗内，爪夹松开使黄色球体落入白色碗内。", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹垂直于桌面。为完成将红色、绿色和黄色的球从白色盘子移到白色碗里的任务应当：爪夹向爪夹方向左边移动至红色球体正上方。", + "time": 2.010466, + "annotations": { + "point_1767145113348": { + "type": "point", + "instances": [ + { + "id": "point_1767145113348_1767146189368_gxbw4hrx8", + "x": 0.4535, + "y": 0.608 + } + ] + }, + "point_1767145113482": { + "type": "point", + "instances": [ + { + "id": "point_1767145113482_1767146190960_fnemji775", + "x": 0.7865, + "y": 0.608 + } + ] + }, + "bbox_1767145110140": { + "type": "bbox", + 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"抓取黑色方块放至右侧桌面：\n爪夹准备移动：0%\n爪夹靠近黑色方块：20%\n爪夹夹取黑色方块：40%\n爪夹抓取黑色方块接近右侧桌面：60%\n爪夹抓取黑色方块下降至右侧桌面：80%\n爪夹松开，黑色方块被放至右侧桌面上：100%", + "progress_points": [ + { + "time": 1.411199, + "frame": 42, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动。为完成抓取黑色方块放至右侧桌面的任务应当：爪夹向爪夹左下方移动至黑色方块正上方。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左下方移动至黑色方块正上方，爪夹垂直下降靠近黑色方块，爪夹合拢抓取黑色方块，爪夹抓取黑色方块向右上方移动，直至水平距离接近右侧桌面，爪夹抓取黑色方块继续向爪夹右边移动至右侧桌面正上方，爪夹夹取黑色方块垂直下降至右侧桌面上，松开爪夹使黑色方块落在右侧桌面上。", + "annotations": { + "point_1767170501701": { + "type": "point", + "instances": [ + { + "id": "point_1767170501701_1767170788221_esfflm3sj", + "x": 0.2965, + "y": 0.09066666666666667 + } + ] + }, + "bbox_1767170500809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170500809_1767170797027_jdpqenk1d", + "x": 0.3415, + "y": 0.44977777777777783, + "width": 0.10899999999999999, + "height": 0.1315555555555555 + } + ] + }, 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"爪夹抓取黑色方块向右上方移动直至水平距离接近右侧桌面，爪夹抓取黑色方块继续向爪夹右边移动至右侧桌面正上方，爪夹夹取黑色方块垂直下降至右侧桌面上，松开爪夹使黑色方块落在右侧桌面上。", + "annotations": { + "point_1767170501701": { + "type": "point", + "instances": [ + { + "id": "point_1767170501701_1767170690699_15qg9ymdp", + "x": 0.4025, + "y": 0.512 + } + ] + }, + "bbox_1767170500809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170500809_1767170696647_cl9ge4rjg", + "x": 0.3435, + "y": 0.45688888888888884, + "width": 0.11299999999999995, + "height": 0.12088888888888892 + } + ] + }, + "bbox_1767170500950": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170500950_1767170715803_be80186k1", + "x": 0.3055, + "y": 0.3111111111111111, + "width": 0.6900000000000001, + "height": 0.6275555555555556 + } + ] + } + } + }, + { + "time": 4.736666, + "frame": 142, + "progress": 60, + "action_description": "当前爪夹抓取黑色方块向爪夹方向右上方移动直至接近右侧桌面。", + "state_description": "当前爪夹合拢抓取黑色方块，此时爪夹与右侧桌面水平距离接近。为完成抓取黑色方块放至右侧桌面的任务应当：爪夹抓取黑色方块向抓夹方向右边移动至右侧桌面正上方。", + "progress_explanation": "当前爪夹抓取黑色方块向爪夹方向右上方移动直至接近右侧桌面。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取黑色方块接近右侧桌面。", + "correction_plan": "爪夹抓取黑色方块向爪夹右边移动至右侧桌面正上方，爪夹夹取黑色方块垂直下降至右侧桌面上，松开爪夹使黑色方块落在右侧桌面上。", + "annotations": { + "point_1767170501701": { + "type": "point", + "instances": [ + { + "id": "point_1767170501701_1767170657183_s43mljka6", + "x": 0.7345, + "y": 0.4 + } + ] + }, + "bbox_1767170500809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170500809_1767170668705_7vykjk4mp", + "x": 0.6535, + "y": 0.3324444444444445, + "width": 0.17300000000000004, + "height": 0.12088888888888884 + } + ] + }, + "bbox_1767170500950": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170500950_1767170680303_f5rjvjwkl", + "x": 0.30650000000000005, + "y": 0.3128888888888889, + "width": 0.69, + "height": 0.6346666666666666 + } + ] + } + } + }, + { + "time": 4.945733, + "frame": 148, + "progress": 70, + "action_description": "当前爪夹合拢抓取黑色方块向爪夹方向右边移动至右侧桌面正上方。", + "state_description": "当前爪夹合拢抓取黑色方块，此时爪夹位于右侧桌面正上方。为完成抓取黑色方块放至右侧桌面的任务应当：爪夹抓取黑色方块垂直下降至右侧桌面。", + "progress_explanation": "当前爪夹合拢抓取黑色方块向爪夹方向右边移动至右侧桌面正上方。因此当前进度提升至70%。", + "error_success_analysis": "当前爪夹成功抓取黑色方块移动至右侧桌面正上方。", + "correction_plan": "爪夹夹取黑色方块垂直下降至右侧桌面上，松开爪夹使黑色方块落在右侧桌面上。", + "annotations": { + "point_1767170501701": { + "type": "point", + "instances": [ + { + "id": "point_1767170501701_1767170620545_n7qjfhvcd", + "x": 0.8195, + "y": 0.5048888888888889 + } + ] + }, + "bbox_1767170500809": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170500809_1767170631813_jit74td4j", + "x": 0.7325, + "y": 0.4195555555555555, + "width": 0.19099999999999992, + "height": 0.12444444444444448 + } + ] + }, + "bbox_1767170500950": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170500950_1767170646671_nbcc75vhv", + "x": 0.3035, + "y": 0.30933333333333335, + "width": 0.692, + "height": 0.6471111111111111 + } + ] + } + } + }, + { + "time": 5.789071869587628, + "frame": 174, + 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/dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002610.json @@ -0,0 +1,304 @@ +{ + "task_description": "抓取塑料瓶放至桌面：\n爪夹准备移动：0%\n爪夹靠近塑料瓶：20%\n爪夹夹取塑料瓶：40%\n爪夹抓取塑料瓶移动至桌面正上方：60%\n爪夹抓取塑料瓶下降至桌面：80%\n爪夹松开，塑料瓶被放至桌面：100%", + "progress_points": [ + { + "time": 0.675979381443299, + "frame": 20, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成爪夹抓取塑料瓶放至桌面的任务应当：爪夹向爪夹方向前方移动并调整爪夹与塑料瓶之间的水平角度，使爪夹垂直于塑料瓶。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向前方移动并调整爪夹与塑料瓶之间的水平角度，使爪夹垂直于塑料瓶，爪夹向爪夹前方移动靠近塑料瓶，爪夹合拢抓取塑料瓶，爪夹抓取塑料瓶后向爪夹方向后方移动至柜门外，爪夹抓取瓶子向爪夹方向左下方移动直至桌面正上方，爪夹抓取瓶子垂直下降接近桌面，爪夹抓取塑料瓶下降至桌面，爪夹松开使塑料瓶被放至桌面。", + "annotations": { + "point_1767516676390": { + "type": "point", + "instances": [ + { + "id": "point_1767516676390_1767516913028_f4dl4kdvs", + "x": 0.6805, + "y": 0.6951111111111111 + } + ] + }, + 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"error_success_analysis": "当前爪夹成功夹取塑料瓶接近桌面。", + "correction_plan": "爪夹抓取塑料瓶下降至桌面，爪夹松开使塑料瓶被放至桌面。", + "annotations": { + "point_1767516676390": { + "type": "point", + "instances": [ + { + "id": "point_1767516676390_1767516746952_8bcsxjz2v", + "x": 0.5805, + "y": 0.8480000000000001 + } + ] + }, + "point_1767516676532": { + "type": "point", + "instances": [ + { + "id": "point_1767516676532_1767516748946_9t3rjvitc", + "x": 0.5945, + "y": 0.8568888888888889 + } + ] + }, + "bbox_1767516675382": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767516675382_1767516753768_ylcva746g", + "x": 0.5525, + "y": 0.8053333333333332, + "width": 0.06300000000000008, + "height": 0.18311111111111117 + } + ] + } + } + }, + { + "time": 13.755773195876289, + "frame": 413, + "progress": 80, + "action_description": "当前爪夹夹取塑料瓶垂直下降至桌面。", + "state_description": "当前爪夹合拢抓取塑料瓶，此时塑料瓶位于桌面。为完成爪夹抓取塑料瓶放至桌面的任务应当：爪夹松开使塑料瓶被放至桌面。", + "progress_explanation": "当前爪夹夹取塑料瓶垂直下降至桌面。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取塑料瓶下降至桌面。", + "correction_plan": "爪夹松开使塑料瓶被放至桌面。" + }, + { + "time": 15.6104, + "frame": 468, + "progress": 100, + "action_description": "当前爪夹松开使塑料瓶被放至桌面。", + "state_description": "当前爪夹松开，此时塑料瓶被放至桌面。已完成爪夹抓取塑料瓶放至桌面的任务。", + "progress_explanation": "当前爪夹松开使塑料瓶被放至桌面。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功将塑料瓶放至桌面。", + "correction_plan": "", + "annotations": {} + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767516675382", + "name": "塑料瓶", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767516676390", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767516676532", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002623.json 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"error_success_analysis": "", + "correction_plan": "爪夹垂直下降并调整爪夹与手套之间的水平角度，使其接近垂直于手套，爪夹继续下降靠近手套，爪夹合拢抓取手套，爪夹抓取手套向爪夹方向右后方移动，爪夹抓取手套继续向爪夹方向右后方移动直至接近水槽右侧正上方，爪夹抓取手套向爪夹右边移动至水槽右侧正上方，爪夹抓取手套下降至水槽左侧，爪夹松开使手套落在水槽右侧。", + "annotations": { + "point_1767507234125": { + "type": "point", + "instances": [ + { + "id": "point_1767507234125_1767507451560_xq5l2g3a4", + "x": 0.4525, + "y": 0.5724444444444445 + } + ] + }, + "point_1767507234283": { + "type": "point", + "instances": [ + { + "id": "point_1767507234283_1767507453923_19e8y4qte", + "x": 0.7825, + "y": 0.5848888888888889 + } + ] + }, + "bbox_1767507233291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767507233291_1767507460799_xe05etjcx", + "x": 0.2835, + "y": 0.0017777777777777779, + "width": 0.21000000000000005, + "height": 0.3111111111111111 + } + ] + }, + "bbox_1767507233127": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767507233127_1767507470269_bzxiaxhdn", + "x": 0.9155, + "y": 0.005333333333333333, + "width": 0.083, + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003100.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003100.json new file mode 100644 index 0000000000000000000000000000000000000000..d6317eaddf6b957dad215fbcdcb0537d220c735b --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003100.json @@ -0,0 +1,685 @@ +{ + "task_description": "抓取门把手打开文件柜门：\n爪夹准备移动：0%\n爪夹靠近柜门把手：20%\n爪夹夹取柜门把手：40%\n爪夹抓取柜门把手向爪夹后方拉动：60%\n爪夹抓取柜门把手向爪夹后方拉动即将完全拉开：80%\n爪夹抓取柜门把手向爪夹后方拉动将柜门完全拉开：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右前方移动至文件柜门正前方，爪夹向爪夹方向前方移动靠近柜门把手，爪夹向爪夹方向下方移动将爪夹左搭在柜门把手上，爪夹合拢抓取柜门把手准备拉开柜门，爪夹抓取柜门抓取柜门把手向爪夹方向后方拉扯柜门即将拉开，爪夹抓取柜门把手继续向爪夹方向后方拉扯将柜门完全拉开。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成抓取门把手打开文件柜门的任务应当：爪夹向爪夹方向右前方移动至文件柜门正前方。", + "time": 1.016736, + "annotations": { + "point_1767513967640": { + "type": "point", + "instances": [ + { + "id": "point_1767513967640_1767514351663_hvaln3nes", + "x": 0.5595, + "y": 0.912 + } + ] + }, + "point_1767513967756": { + "type": "point", + "instances": [ + { + "id": "point_1767513967756_1767514353398_amm0wojck", + "x": 0.6035, + "y": 0.8355555555555556 + } + ] + }, + "bbox_1767513966768": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513966768_1767514419064_o4ubq2xhs", + "x": 0.5855, + "y": 0.6168888888888888, + "width": 0.13799999999999998, + "height": 0.22044444444444447 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向右方移动至柜门正前方。", + "correction_plan": "爪夹向爪夹方向前方移动靠近柜门把手，爪夹向爪夹方向下方移动将爪夹左搭在柜门把手上，爪夹合拢抓取柜门把手准备拉开柜门，爪夹抓取柜门抓取柜门把手向爪夹方向后方拉扯柜门即将拉开，爪夹抓取柜门把手继续向爪夹方向后方拉扯将柜门完全拉开。", + "error_success_analysis": "当前爪夹成功移动至柜门正前方。", + "frame": 75, + "progress": 10, + "progress_explanation": "当前爪夹向爪夹方向右方移动至柜门正前方。因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹位于柜门正前方。为完成抓取门把手打开文件柜门的任务应当：爪夹向爪夹方向前方移动靠近柜门把手。", + "time": 2.483906, + "annotations": { + "point_1767513967640": { + "type": "point", + "instances": [ + { + "id": "point_1767513967640_1767514337518_yfyncqpjn", + "x": 0.6545, + "y": 0.7751111111111112 + } + ] + }, + "point_1767513967756": { + "type": "point", + "instances": [ + { + "id": "point_1767513967756_1767514339500_yxyvzok6t", + "x": 0.7045, + "y": 0.7928888888888889 + } + ] + }, + "bbox_1767513966768": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513966768_1767514345744_48bwhaobf", + "x": 0.5835, + "y": 0.6097777777777778, + "width": 0.137, + "height": 0.22222222222222215 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向右侧顺时针转动90度。", + "correction_plan": "爪夹向爪夹方向前方移动靠近柜门把手，爪夹向爪夹方向下方移动将爪夹左搭在柜门把手上，爪夹合拢抓取柜门把手准备拉开柜门，爪夹抓取柜门抓取柜门把手向爪夹方向后方拉扯柜门即将拉开，爪夹抓取柜门把手继续向爪夹方向后方拉扯将柜门完全拉开。", + "error_success_analysis": "当前爪夹成功调整爪夹与柜门把手之间的位置。", + "frame": 122, + "progress": 15, + "progress_explanation": "当前爪夹向爪夹方向右侧顺时针转动90度。因此当前进度提升至15%。", + "state_description": "当前爪夹张开，此时爪夹位于柜门正前方，为完成抓取门把手打开文件柜门的任务应当：爪夹向爪夹方向前方移动靠近柜门把手。", + "time": 4.055999, + "annotations": { + "point_1767513967640": { + "type": "point", + "instances": [ + { + "id": "point_1767513967640_1767514317413_8fvrud2uq", + "x": 0.6725000000000001, + "y": 0.7217777777777779 + } + ] + }, + "point_1767513967756": { + "type": "point", + "instances": [ + { + "id": "point_1767513967756_1767514319764_9h6txor8g", + "x": 0.6925, + "y": 0.8088888888888889 + } + ] + }, + "bbox_1767513966768": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513966768_1767514327078_w4pz4tkm7", + "x": 0.5835, + "y": 0.6115555555555555, + "width": 0.13600000000000012, + "height": 0.22577777777777777 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开向爪夹方向前方移动尝试接近柜门把手。", + "correction_plan": "爪夹向爪夹方向前方移动靠近柜门把手，爪夹向爪夹方向下方移动将爪夹左搭在柜门把手上，爪夹合拢抓取柜门把手准备拉开柜门，爪夹抓取柜门抓取柜门把手向爪夹方向后方拉扯柜门即将拉开，爪夹抓取柜门把手继续向爪夹方向后方拉扯将柜门完全拉开。", + "error_success_analysis": "当前爪夹又一次成功调整爪夹与柜门之间的距离。", + "frame": 167, + "progress": 18, + "progress_explanation": "当前爪夹张开，此时爪夹与柜门之间水平角度呈45度角。，因此当前进度提升至18%。", + "state_description": "当前爪夹张开，此时爪夹与柜门之间水平角度呈45度角。为完成抓取门把手打开文件柜门的任务应当：爪夹向爪夹前下方移动靠近柜门把手。", + "time": 5.568, + "annotations": { + "point_1767513967640": { + "type": "point", + "instances": [ + { + "id": "point_1767513967640_1767514301466_9wma2bpfl", + "x": 0.6605000000000001, + "y": 0.7288888888888888 + } + ] + }, + "point_1767513967756": { + "type": "point", + "instances": [ + { + "id": "point_1767513967756_1767514303850_gtl5woxaz", + "x": 0.6805, + "y": 0.8017777777777777 + } + ] + }, + "bbox_1767513966768": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513966768_1767514311716_gft9q25ki", + "x": 0.5835, + "y": 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[ + { + "id": "point_1767578520105", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767578520245", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.wrist_image_left/episode_003269.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.wrist_image_left/episode_003269.json new file mode 100644 index 0000000000000000000000000000000000000000..5b19f6794d05fc6eaf198dff29cf05f85461a933 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-003/observation.images.wrist_image_left/episode_003269.json @@ -0,0 +1,406 @@ +{ + "task_description": "抓取绿色物体放进杯子：\n爪夹准备移动：0%\n爪夹靠近绿色物体：20%\n爪夹夹取绿色物体：40%\n爪夹抓取绿色物体移动至杯子正上方：60%\n爪夹抓取绿色物体下降直至接近杯子：80%\n爪夹松开，绿色物体被放进杯子：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004466.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004466.json new file mode 100644 index 0000000000000000000000000000000000000000..ec22e623ec6d584062f3b1a2925afaec2448a6fe --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004466.json @@ -0,0 +1,371 @@ +{ + "task_description": "抓取枕头向左移动：\n爪夹准备移动：0%\n爪夹靠近枕头：20%\n爪夹夹取枕头：40%\n爪夹抓取枕头向左边移动：60%\n爪夹抓取枕头下降至枕头左边：80%\n爪夹松开，枕头被放至枕头左边：100%", + "progress_points": [ + { + "time": 0.48213057371134016, + "frame": 14, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取枕头向左移动的任务应当：爪夹向爪夹方向前下方移动并调整爪夹水平角度，使爪夹与床水平角度呈30度角。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + 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--git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.wrist_image_left/episode_004479.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.wrist_image_left/episode_004479.json new file mode 100644 index 0000000000000000000000000000000000000000..177fc492a9e33528413ac76d6845f18bce09fbb7 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.wrist_image_left/episode_004479.json @@ -0,0 +1,418 @@ +{ + "task_description": "抓取瓶子放进碗里：\n爪夹准备移动：0%\n爪夹靠近瓶子：20%\n爪夹夹取瓶子：40%\n爪夹抓取瓶子至碗正上方：60%\n爪夹抓取瓶子下降至碗内：80%\n爪夹松开，瓶子被放至碗内：100%", + "progress_points": [ + { + "time": 1.271338, + "frame": 38, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成抓取瓶子放进碗里的任务应当：爪夹向爪夹方向左后方移动并下降至瓶子正上方。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "应当：爪夹向爪夹方向左后方移动并下降至瓶子正上方，爪夹垂直下降靠近瓶子，爪夹合拢抓取瓶子，爪夹抓取瓶子竖直上升，爪夹抓取瓶子向爪夹方向左后方移动至碗正上方，爪夹抓取瓶子下降至桶内，爪夹松开，瓶子落入碗内。", + "annotations": { + "point_1767664704851": { + "type": "point", + "instances": [ + { + "id": "point_1767664704851_1767664933403_llmpypjom", + "x": 0.43550000000000005, + "y": 0.5742222222222222 + } + ] + }, + "point_1767664704969": { + "type": "point", + "instances": [ + { + "id": "point_1767664704969_1767664935655_fhdydthg2", + "x": 0.7715, + "y": 0.5760000000000001 + } + ] + } + } + }, + { + "time": 3.083733, + "frame": 93, + "progress": 10, + "action_description": "爪夹张开向爪夹方向左后方移动并下降至瓶子正上方。", + "state_description": "当前爪夹张开，此时爪夹位于瓶子正上方，为完成抓取瓶子放进碗里的任务应当：当前爪夹垂直下降靠近瓶子。", + "progress_explanation": "爪夹张开向爪夹方向左后方移动并下降至瓶子正上方。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹向爪夹方向左后方移动并下降成功移动至瓶子正上方。", + "correction_plan": "爪夹垂直下降靠近瓶子，爪夹合拢抓取瓶子，爪夹抓取瓶子竖直上升，爪夹抓取瓶子向爪夹方向左后方移动至碗正上方，爪夹抓取瓶子下降至桶内，爪夹松开，瓶子落入碗内。", + "annotations": { + "point_1767664704851": { + "type": "point", + 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"当前爪夹合拢抓取瓶子向爪夹方向左后方移动至碗正上方。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取瓶子移动至碗的正上方。", + "correction_plan": "爪夹抓取瓶子下降至桶内，爪夹松开，瓶子落入碗内。", + "annotations": { + "point_1767664704851": { + "type": "point", + "instances": [ + { + "id": "point_1767664704851_1767664819080_cqkvrbz3l", + "x": 0.5295, + "y": 0.5457777777777778 + } + ] + }, + "point_1767664704969": { + "type": "point", + "instances": [ + { + "id": "point_1767664704969_1767664820897_8z2764w5n", + "x": 0.6625, + "y": 0.5386666666666667 + } + ] + }, + "bbox_1767664703892": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664703892_1767664828240_1h2s2khri", + "x": 0.5285, + "y": 0.4995555555555556, + "width": 0.14800000000000005, + "height": 0.3288888888888889 + } + ] + }, + "bbox_1767664704012": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664704012_1767664836504_o978pb8p7", + "x": 0.44049999999999995, + "y": 0.28800000000000003, + "width": 0.3540000000000001, + "height": 0.512 + } + ] + } + } + }, + { 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.wrist_image_left/episode_004817.json new file mode 100644 index 0000000000000000000000000000000000000000..cc4a3693292165d9480efaac0c598b2466524fc8 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-004/observation.images.wrist_image_left/episode_004817.json @@ -0,0 +1,534 @@ +{ + "task_description": "抓取记号笔放至记号笔左边桌面：\n爪夹准备移动：0%\n爪夹靠近记号笔：20%\n爪夹夹取记号笔：40%\n爪夹抓取记号笔至桌面正上方：60%\n爪夹抓取记号笔接近桌面：80%\n爪夹松开，记号笔被放至桌面：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右边移动至记号笔正上方，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向左后方移动至桌面正上方，爪夹抓取记号笔垂直下降，爪夹松开使记号笔落在桌面。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹静止不动。为完成抓取记号笔放至记号笔左边桌面的任务应当：爪夹向爪夹方向右边移动至记号笔正上方。", + "time": 0.616283, + "annotations": { 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"爪夹向爪夹方向右下方移动至记号笔正上方，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向左后方移动至桌面正上方，爪夹抓取记号笔垂直下降，爪夹松开使记号笔落在桌面。", + "error_success_analysis": "当前爪夹成功向爪夹方向右边移动.", + "frame": 103, + "progress": 5, + "progress_explanation": "当前爪夹张开向爪夹方向右边移动。因此当前进度提升至5%。", + "state_description": "当前爪夹张开，此时爪夹垂直接近垂直于桌面。为完成抓取记号笔放至记号笔左边桌面的任务应当：爪夹向爪夹方向右下方移动至记号笔正上方。", + "time": 3.433848895360825, + "annotations": { + "point_1767667561005": { + "type": "point", + "instances": [ + { + "id": "point_1767667561005_1767667865295_0ew2o5jsd", + "x": 0.4485, + "y": 0.5813333333333334 + } + ] + }, + "point_1767667561153": { + "type": "point", + "instances": [ + { + "id": "point_1767667561153_1767667867121_xxii6sgx6", + "x": 0.7835, + "y": 0.5866666666666667 + } + ] + }, + "bbox_1767667560128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767667560128_1767667873303_emkcm7rk8", + "x": 0.5995, + "y": 0.26666666666666666, + "width": 0.11200000000000002, + "height": 0.37155555555555553 + } + ] + }, + "bbox_1767667560267": 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"当前爪夹向爪夹方向右边转动爪夹并向爪夹方向后方移动。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功调整爪夹与门的水平角度使其更容易抓取门把手。", + "correction_plan": "爪夹向爪夹方向后下方移动靠近门把手，爪夹合拢抓取门把手，爪夹抓取门把手向爪夹左下方移动转动门把手，爪夹合拢再次抓取门把手向爪夹方向前方移动，爪夹松开，门被打开。", + "annotations": { + "point_1767670104306": { + "type": "point", + "instances": [ + { + "id": "point_1767670104306_1767670261869_0w6slx4qs", + "x": 0.4365, + "y": 0.5546666666666666 + } + ] + }, + "point_1767670104436": { + "type": "point", + "instances": [ + { + "id": "point_1767670104436_1767670263680_fflbqga6v", + "x": 0.7795, + "y": 0.5688888888888889 + } + ] + } + } + }, + { + "time": 3.510072, + "frame": 105, + "progress": 20, + "action_description": "当前爪夹张开向爪夹方向后下方移动靠近门把手。", + "state_description": "当前爪夹张开，此时爪夹靠近门把手，为完成抓取门把手将门打开的任务应当：爪夹合拢抓取门把手。", + "progress_explanation": "当前爪夹张开向爪夹方向后下方移动靠近门把手。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹向爪夹方向后下方移动成功靠近门把手。", + "correction_plan": "爪夹合拢抓取门把手，爪夹抓取门把手向爪夹左下方移动转动门把手，爪夹合拢再次抓取门把手向爪夹方向前方移动，爪夹松开，门被打开。", + "annotations": { + 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"爪夹向爪夹后下方移动至第二个瓶子正上方，爪夹垂直下降靠近第二个瓶子，爪夹合拢抓取第二个瓶子，爪夹抓取第二个瓶子向爪夹前上方移动，爪夹抓取第二个瓶子向爪夹前方移动接近第一个瓶子，爪夹抓取第二个瓶子靠近第一个瓶子，爪夹松开使第二个瓶子落在第一个瓶子右侧，爪夹向爪夹方向右后方移动至第三个瓶子正上方，爪夹垂直下降靠近第三个瓶子，爪夹合拢抓取第三个瓶子，爪夹抓取第三个瓶子竖直上升，爪夹抓取第三个瓶子向爪夹方向左前方移动接近第二个瓶子，爪夹抓取第三个瓶子垂直下降靠近第二个瓶子，爪夹松开使第三个瓶子落在第二个瓶子右侧，爪夹向爪夹方向右上方移动至第四个瓶子前上方，爪夹调整爪夹方向并向右后方移动至第四个瓶子正上方，爪夹垂直下降靠近瓶子，爪夹合拢抓取第四个瓶子，爪夹抓取第四个瓶子向爪夹方向左上方移动，爪夹抓取第四个瓶子向爪夹方向左边移动并下降直至靠近第三个瓶子，爪夹松开使第四个瓶子放在第三个瓶子右侧。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取瓶子将瓶子摆成一排的任务应当：爪夹向爪夹后下方移动至第二个瓶子正上方。", + "time": 0.6221142916650962, + "annotations": { + "point_1768181930499": { + "type": "point", + "instances": [ + { + "id": "point_1768181930499_1768183141414_bhe08wgr0", + "x": 0.4341110574883388, + "y": 0.5624444308810764 + } + ] + }, + "point_1768181931311": { + "type": "point", + "instances": [ + { + "id": "point_1768181931311_1768183143188_pyod93xom", + "x": 0.7761110366143165, + "y": 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"correction_plan": "爪夹继续向爪夹正前方的不锈钢杯移动，移动到不锈钢杯把手的正上方。接着垂直下降抓取不锈钢杯把手。夹紧不锈钢杯向爪夹正后方的粉色马克杯移动，来到粉色马克杯正上方。调整不锈钢杯口角度，使其接近平行于桌面，将不锈钢杯中的物体倒入粉色马克杯中，接着调整不锈钢杯角度，使其接近垂直于桌面。向爪夹正前方不锈钢杯原来位置移动，爪夹移动到原位置正上方垂直落下将不锈钢杯放到桌面上，松开爪夹使其完全落到桌面上。", + "error_success_analysis": "爪夹向爪夹正前方移动，缩短了与不锈钢杯之间的距离，方便抓取不锈钢杯把手。", + "frame": 111, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，水平上接近了不锈钢杯。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，爪夹水平上接近了不锈钢杯。\n为完成抓取不锈钢杯将杯中物体倒入粉色马克杯中然后放回原位置任务目标应当：爪夹继续向爪夹正前方的不锈钢杯移动，移动到不锈钢杯把手的正上方。接着垂直下降抓取不锈钢杯把手。", + "time": 3.6916151561855672, + "annotations": { + "point_1766802590024": { + "type": "point", + "instances": [ + { + "id": "point_1766802590024_1766802639912_s3un4w0re", + "x": 0.8265, + "y": 0.48177777777777775 + } + ] + }, + "point_1766802595192": { + "type": "point", + "instances": [ + { + "id": "point_1766802595192_1766802642700_drgi5r8xy", + "x": 0.8775000000000001, + "y": 0.44977777777777783 + } + ] + }, + "bbox_1766802525875": { + "type": "bbox", + "instances": [ 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0000000000000000000000000000000000000000..412cbc784805d4f1d7f86afa1919b64565cca48d --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-005/observation.images.wrist_image_left/episode_005200.json @@ -0,0 +1,365 @@ +{ + "task_description": "将杯子上的黑色滑盖滑动至另一侧：\n准备开始移动：0%\n爪夹接近黑色滑盖：20%\n爪夹贴近黑色滑盖：40%\n爪夹推动黑色滑盖：60%\n爪夹推动黑色滑盖至滑盖另一侧：80%\n爪夹松开黑色滑盖完全滑动至另一侧：100%", + "progress_points": [ + { + "time": 0.648, + "frame": 19, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，未开始移动。\n为完成将杯子上的黑色滑盖滑动至另一侧的任务应当：爪夹向爪夹后方的黑色滑盖靠近，并垂直下降，调整爪夹角度接近垂直于桌面。", + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹后方的黑色滑盖靠近，并垂直下降，合拢爪夹，调整爪夹角度接近垂直于桌面。移动到黑色滑盖正上方后，继续垂直向下移动贴近黑色滑盖。接着向黑色滑盖另一侧移动爪夹，推动黑色滑盖至另一侧。爪夹松开，黑色滑盖完全滑动至另一侧。", + "annotations": { + "point_1766972800063": { + "type": "point", + "instances": [ + { + "id": "point_1766972800063_1766972867591_67d59cfnb", + "x": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-005/observation.images.wrist_image_left/episode_005249.json new file mode 100644 index 0000000000000000000000000000000000000000..4729dc2530792f2ad74539dd5add7588bf7bc8f1 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0004/annotations/chunk-005/observation.images.wrist_image_left/episode_005249.json @@ -0,0 +1,177 @@ +{ + "task_description": "关闭顶层柜子的抽屉：\n准备开始移动：0%\n爪夹接近抽屉：20%\n爪夹贴近抽屉：40%\n爪夹开始推动抽屉：60%\n爪夹推动抽屉至抽屉关闭：80%\n爪夹松开抽屉完全关闭：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "point_1766974785584": { + "instances": [ + { + "id": "point_1766974785584_1766974801768_37oitifr6", + "x": 0.45949999999999996, + "y": 0.5528888888888889 + } + ], + "type": "point" + }, + "point_1766974790726": { + "instances": [ + { + "id": "point_1766974790726_1766974805490_ve27dbwm2", + "x": 0.7755, + "y": 0.6257777777777778 + } + ], + "type": "point" + } + 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"抓取记号笔放到水杯中：\n准备开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓紧记号笔靠近水杯：60%\n爪夹将记号笔放入水杯：80%\n爪夹松开记号笔落入水杯：100%", + "progress_points": [ + { + "action_description": "爪夹位于屏幕外，未开始移动", + "correction_plan": "爪夹向爪夹正前方移动下降，来到记号笔正上方。落下爪夹靠近记号笔，接近记号笔后爪夹合拢抓取记号笔。抓紧记号笔垂直升高爪夹并向爪夹右方的水杯接近，调整记号笔角度使其接近垂直于桌面。水平到达水杯正上方后将记号笔放入水杯，松开爪夹，使记号笔落入水杯中。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹屏幕外，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹在屏幕外，远离记号笔，未开始移动。\n为完成爪夹抓取记号笔放到水杯中任务应当：爪夹向爪夹正前方移动下降，来到记号笔正上方。", + "time": 0.7978350515463918, + "annotations": { + "bbox_1767148499521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148499521_1767148572650_89qosn4ni", + "x": 0.5235000000000001, + "y": 0.448, + "width": 0.08099999999999996, + "height": 0.07644444444444447 + } + ] + }, + "bbox_1767148505058": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148505058_1767148577214_cqwl3po5c", + "x": 0.5825, + "y": 0.35555555555555557, + "width": 0.07299999999999995, + "height": 0.12800000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动下降", + "correction_plan": "爪夹向爪夹正前方移动下降，来到记号笔正上方。落下爪夹靠近记号笔，接近记号笔后爪夹合拢抓取记号笔。抓紧记号笔垂直升高爪夹并向爪夹右方的水杯接近，调整记号笔角度使其接近垂直于桌面。水平到达水杯正上方后将记号笔放入水杯，松开爪夹，使记号笔落入水杯中。", + "error_success_analysis": "爪夹向爪夹正前方移动下降缩短了与记号笔之间的距离。方便抓取记号笔。", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上略微接近了记号笔，方便抓取。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。水平和垂直上略微接近了记号笔。\n为完成爪夹抓取记号笔放到水杯中任务应当：爪夹向爪夹正前方移动下降，来到记号笔正上方。", + "time": 2.3146, + "annotations": { + "point_1767148510334": { + "type": "point", + "instances": [ + { + "id": "point_1767148510334_1767148596258_5s9bh3tvv", + "x": 0.5895, + "y": 0.16355555555555557 + } + ] + }, + "point_1767148515634": { + "type": "point", + "instances": [ + { + "id": "point_1767148515634_1767148598410_wgxrsbldo", + "x": 0.6335, + "y": 0.18666666666666668 + } + ] + }, + "bbox_1767148499521": { + "type": "bbox", + "instances": [ + { + "id": 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"当前为初始状态，爪夹张开，未开始移动。\n为完成依次将桌上的橙色币拿起来，放入透明的杯子中；把蓝色币拿起来，放入白色的杯子中的任务应当：爪夹向爪夹左下方第一个橙色币移动靠近，来到第一个橙色币正上方，下降爪夹合拢，抓取第一个橙色币。", + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左下方第一个橙色币移动靠近，来到第一个橙色币正上方，下降爪夹合拢，抓取第一个橙色币。抓紧第一个橙色币垂直上升，并向爪夹左前方的透明杯子移动，来到透明杯子正上方后将第一个橙色币放入透明杯子，爪夹松开，使第一个橙色落入透明杯子。接着向爪夹正前方蓝色币移动靠近，来到蓝色币正上方，下降爪夹合拢，抓取蓝色币。抓紧蓝色币垂直上升，并向爪夹右方的白色杯子移动，来到白色杯子正上方后将蓝色币放入白色杯子，爪夹松开，使蓝色币落入白色杯子。接着爪夹向爪夹左方第二个橙色币移动靠近，来到第二个橙色币正上方，下降爪夹合拢，抓取第二个橙色币。抓紧第二个橙色币垂直上升，并向爪夹左后方的透明杯子移动，来到透明杯子正上方后将第二个橙色币放入透明杯子，爪夹松开，使第二个橙色落入透明杯子。接着爪夹向爪夹右前方第三个橙色币移动靠近，来到第三个橙色币正上方，下降爪夹合拢，抓取第三个橙色币。抓紧第三个橙色币垂直上升，并向爪夹左后方的透明杯子移动，来到透明杯子正上方后将第三个橙色币放入透明杯子，爪夹松开，使第三个橙色落入透明杯子。接着爪夹向爪夹右前方第四个橙色币移动靠近，来到第四个橙色币正上方，下降爪夹合拢，抓取第四个橙色币。抓紧第四个橙色币垂直上升，并向爪夹左后方的透明杯子移动，来到透明杯子正上方后将第四个橙色币放入透明杯子，爪夹松开，使第四个橙色落入透明杯子。接着爪夹向爪夹右前方第五个橙色币移动靠近，来到第五个橙色币正上方，下降爪夹合拢，抓取第五个橙色币。抓紧第五个橙色币垂直上升，并向爪夹左后方的透明杯子移动，来到透明杯子正上方后将第五个橙色币放入透明杯子，爪夹松开，使第五个橙色落入透明杯子。", + "annotations": { + "bbox_1767495428739": { + "type": "bbox", + 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"抓取架子第二层上的苹果把它放在架子第一层上：\n准备开始移动：0%\n爪夹靠近苹果：20%\n爪夹抓取苹果：40%\n爪夹抓紧苹果靠近架子第一层平台面：60%\n爪夹夹紧苹果靠近架子第一层平台面：80%\n爪夹松开苹果使其落入第一层平台面：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，远离苹果，未开始移动。\n为完成抓取架子第二层上的苹果把它放在架子第一层上的任务应当：爪夹向爪夹下方垂直下降并向爪夹正后方移动，调整爪夹角度，使其接近垂直于苹果，靠近苹果。", + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹下方垂直下降并向爪夹正后方移动，调整爪夹角度，使其接近垂直于苹果，靠近苹果。爪夹合拢抓取苹果，爪夹夹紧苹果向爪夹前方移动升高，接着向爪夹正后方移动靠近架子第一层平台面，来到平台面正上方。爪夹垂直下降将苹果放到第一层平台面上。爪夹松开，苹果落到第一层平台面上。", + "annotations": { + "point_1767601223250": { + "type": "point", + "instances": [ + { + "id": "point_1767601223250_1767601237148_4b1265jvm", + "x": 0.4305, + "y": 0.544 + } + ] + }, + "point_1767601228164": { + "type": "point", + "instances": [ + { + "id": "point_1767601228164_1767601239542_4emnzy4cf", + "x": 0.7555, + "y": 0.5297777777777778 + } + ] + } + } + }, + { + "time": 0.734933, 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"抓取桌面上的盒子放进右边的水槽里：\n爪夹准备开始移动：0%\n爪夹靠近盒子：20%\n爪夹抓取盒子：40%\n爪夹夹紧盒子靠近水槽：60%\n爪夹夹紧盒子将盒子放到水槽里：80%\n爪夹松开盒子落进水槽：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹正前方移动下降，来到盒子正上方，垂直下降靠近盒子。爪夹合拢抓取盒子，抓紧盒子向爪夹右侧移动升高，来到水槽正上方，将盒子垂直下降放进水槽里。爪夹松开，盒子落入水槽。", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离盒子，未开始移动。\n为完成抓取桌面上的盒子放进右边的水槽里的任务应当：爪夹向爪夹正前方移动下降，来到盒子正上方，垂直下降靠近盒子。", + "time": 1.9214089860824741, + "annotations": { + "point_1768182165812": { + "type": "point", + "instances": [ + { + "id": "point_1768182165812_1768182189977_crhgjx2vf", + "x": 0.6475000000000001, + "y": 0.042666666666666665 + } + ] + }, + "point_1768182170667": { + "type": "point", + "instances": [ + { + "id": "point_1768182170667_1768182193213_uidx3z6ji", + "x": 0.7135, + "y": 0.07288888888888889 + } + ] + }, + "bbox_1768182157563": { + "type": "bbox", + "instances": [ + { + 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"爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768187227356", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000318.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000318.json new file mode 100644 index 0000000000000000000000000000000000000000..0a55c05ea17ac4f50b24d001c434b0ba634f8fd2 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000318.json @@ -0,0 +1,530 @@ +{ + "task_description": "把烤箱架放在烤箱里。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近烤箱架：20%\n爪夹抓取烤箱架：40%\n爪夹抓住烤箱架靠近烤箱：60%\n爪夹保持合拢，移动到烤箱的正面：80%\n松开爪夹，使烤箱架进入烤箱里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的下方移动，同时向爪夹的前方移动并调整角度，移动到烤箱架的上方，爪夹向爪夹的下方移动，并合拢爪夹抓住烤箱架，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，将烤箱架前端送入烤箱中，爪夹松开，烤箱架完全进入烤箱中。", + "error_success_analysis": "", + "frame": 84, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，因此进度为0%", + "state_description": "当前状态为爪夹张开，没有接触烤箱架。\n为完成把烤箱架放在烤箱里的任务应当：爪夹向爪夹的下方移动，同时向爪夹的前方移动并调整角度，移动到烤箱架的上方。", + "time": 2.7908935025773194, + "annotations": { + "point_1767592734521": { + "type": "point", + "instances": [ + { + "id": "point_1767592734521_1767598113824_surdi0sj2", + "x": 0.6665, + "y": 0.06933333333333333 + } + ] + }, + "point_1767592734681": { + "type": "point", + "instances": [ + { + "id": "point_1767592734681_1767598115784_h2crw4wjg", + "x": 0.7165, + "y": 0.096 + } + ] + }, + "bbox_1767592733345": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767592733345_1767598119696_amnn51mdu", + "x": 0.29650000000000004, + "y": 0.4728888888888889, + "width": 0.27099999999999996, + "height": 0.33955555555555555 + } + ] + }, + "bbox_1767592733512": { 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0.36150000000000004, + "y": 0.2222222222222222, + "width": 0.053000000000000026, + "height": 0.2026666666666667 + } + ] + }, + "point_1767598617597": { + "type": "point", + "instances": [ + { + "id": "point_1767598617597_1767601480459_91u18ac2o", + "x": 0.3785, + "y": 0.032 + } + ] + }, + "point_1767598617765": { + "type": "point", + "instances": [ + { + "id": "point_1767598617765_1767601483099_gc37l36ps", + "x": 0.43950000000000006, + "y": 0.010666666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左前方移动同时下降", + "correction_plan": "爪夹继续向爪夹的左前方移动，并向爪夹的前方移动同时下降，移动到红色瓶子的正上方，向爪夹的下方移动，并合拢爪夹抓住红色瓶子，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，到达另一个瓶子的正上方，爪夹向爪夹的下方移动，将红色瓶子放在另一个瓶子上，松开爪夹，使红色瓶子落在另一个瓶子上。", + "error_success_analysis": "爪夹向爪夹的左前方移动同时下降，在水平方向上略微接近红色瓶子。", + "frame": 64, + "progress": 10, + "progress_explanation": "当前爪夹于红色瓶子的水平距离略微缩短，因此进度提升至10%。", + "state_description": "当前爪夹张开，在水平方向上略微接近红色瓶子。\n为完成拿起红色瓶子，把它放在另一个瓶子的上面的任务应当：爪夹继续向爪夹的左前方移动，并向爪夹的前方移动同时下降，移动到红色瓶子的正上方。", + "time": 4.266666666666667, + "annotations": { + "point_1767598617765": { + "type": "point", + "instances": [ + { + "id": "point_1767598617765_1767601495307_hm58t0ib3", + "x": 0.3745, + "y": 0.08355555555555556 + } + ] + }, + "point_1767598617597": { + "type": "point", + "instances": [ + { + "id": "point_1767598617597_1767601497555_q9bjqqktp", + "x": 0.3115, + "y": 0.064 + } + ] + }, + "bbox_1767598616613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616613_1767601500987_csywj98pz", + "x": 0.3775, + "y": 0.25422222222222224, + "width": 0.05600000000000001, + "height": 0.22044444444444444 + } + ] + }, + "bbox_1767598616788": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616788_1767601504971_6a7x15wtl", + "x": 0.3585, + "y": 0.21866666666666668, + "width": 0.052000000000000046, + "height": 0.208 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动，同时下降。", + "correction_plan": "继续向爪夹的前方下降，同时移动至红色瓶子的正上方，向爪夹的下方移动，并合拢爪夹抓住红色瓶子，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，到达另一个瓶子的正上方，爪夹向爪夹的下方移动，将红色瓶子放在另一个瓶子上，松开爪夹，使红色瓶子落在另一个瓶子上。", + "error_success_analysis": "爪夹向爪夹的前方移动，同时下降，水平方向上成功接近红色瓶子。", + "frame": 91, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上进一步接近红色瓶子并调整完爪夹角度方便抓取，因此进度提升为20%。\n", + "state_description": "当前爪夹张开，与红色瓶子的水平距离进一步缩短。\n为完成拿起红色瓶子，把它放在另一个瓶子的上面的任务应当：继续向爪夹的前方下降，同时移动至红色瓶子的正上方。", + "time": 6.066666666666666, + "annotations": { + "bbox_1767598616788": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616788_1767601509331_puwf9vakt", + "x": 0.3545, + "y": 0.22044444444444444, + "width": 0.05700000000000003, + "height": 0.2062222222222222 + } + ] + }, + "bbox_1767598616613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616613_1767601512755_p1rzsb2ac", + "x": 0.3765, + "y": 0.25066666666666665, + "width": 0.05799999999999996, + "height": 0.2293333333333334 + } + ] + }, + "point_1767598617597": { + "type": "point", + "instances": [ + { + 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0.29688888888888887 + } + ] + }, + "bbox_1767598616613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616613_1767601524218_ppknrsjvb", + "x": 0.3775, + "y": 0.24711111111111114, + "width": 0.05500000000000003, + "height": 0.22399999999999995 + } + ] + }, + "bbox_1767598616788": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616788_1767601527691_am9xaf9sg", + "x": 0.35750000000000004, + "y": 0.22755555555555557, + "width": 0.05999999999999996, + "height": 0.1991111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓住红色瓶子。", + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的左前方移动，到达另一个瓶子的正上方，爪夹向爪夹的下方移动，将红色瓶子放在另一个瓶子上，松开爪夹，使红色瓶子落在另一个瓶子上。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓住红色瓶子。\n", + "frame": 271, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓住红色瓶子，因此进度提升为40%。\n", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹已经抓住红色瓶子。\n为完成拿起红色瓶子，把它放在另一个瓶子的上面的任务应当：爪夹向爪夹的上方抬起，并向爪夹的左前方移动，到达另一个瓶子的正上方。", + "time": 9.02402047886598, + "annotations": { + "bbox_1767598616788": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616788_1767601532115_3mz0faldh", + "x": 0.3585, + "y": 0.224, + "width": 0.052000000000000046, + "height": 0.20444444444444446 + } + ] + }, + "bbox_1767598616613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616613_1767601536475_l382xp0fn", + "x": 0.3775, + "y": 0.24533333333333335, + "width": 0.052000000000000005, + "height": 0.2293333333333333 + } + ] + }, + "point_1767598617765": { + "type": "point", + "instances": [ + { + "id": "point_1767598617765_1767601539075_q1ovw3by4", + "x": 0.43150000000000005, + "y": 0.3075555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方抬起，并向爪夹的左前方移动。", + "correction_plan": "爪夹继续向爪夹的上方抬起，并向爪夹的左前方移动，到达另一个瓶子的正上方，爪夹向爪夹的下方移动，将红色瓶子放在另一个瓶子上，松开爪夹，使红色瓶子落在另一个瓶子上。", + "error_success_analysis": "爪夹成功抓住红色瓶子，并在向着另一个瓶子的正上方靠近。\n", + "frame": 305, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住红色瓶子，并在水平方向上靠近另一个瓶子，因此进度提升至60%。\n", + 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13.419484328350515, + "annotations": { + "bbox_1767598616613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616613_1767601552611_y2o8ico3t", + "x": 0.3425, + "y": 0.0071111111111111115, + "width": 0.06899999999999999, + "height": 0.2222222222222222 + } + ] + }, + "bbox_1767598616788": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616788_1767601556475_9w7v71keg", + "x": 0.3565, + "y": 0.22577777777777777, + "width": 0.05400000000000005, + "height": 0.20622222222222225 + } + ] + }, + "point_1767598617765": { + "type": "point", + "instances": [ + { + "id": "point_1767598617765_1767601558643_vh53mnxz9", + "x": 0.40049999999999997, + "y": 0.04622222222222223 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，并向爪夹的下方移动，将红色瓶子放在另一个瓶子上。", + "correction_plan": "松开爪夹，使红色瓶子落在另一个瓶子上。", + "error_success_analysis": "爪夹向爪夹的下方移动，成功将红色瓶子放在另一个瓶子上。", + "frame": 490, + "progress": 90, + "progress_explanation": "当前爪夹已抓住红色瓶子，成功将红色瓶子放在另一个瓶子上，因此进度为90%。\n", + "state_description": "当前爪夹保持合拢，抓住红色瓶子并垂直于桌面。\n为完成拿起红色瓶子，把它放在另一个瓶子的上面的任务应当：松开爪夹，使红色瓶子落在另一个瓶子上。", + "time": 16.32759424896907, + "annotations": { + "point_1767598617765": { + "type": "point", + "instances": [ + { + "id": "point_1767598617765_1767601562282_j6ksnfmk6", + "x": 0.4025, + "y": 0.06222222222222223 + } + ] + }, + "bbox_1767598616788": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616788_1767601566595_mbugk8gaw", + "x": 0.3625, + "y": 0.22044444444444444, + "width": 0.04699999999999997, + "height": 0.20444444444444446 + } + ] + }, + "bbox_1767598616613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616613_1767601570522_jw9ap31cg", + "x": 0.34950000000000003, + "y": 0.017777777777777778, + "width": 0.05999999999999996, + "height": 0.21866666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹松开，红色瓶子落下。", + "correction_plan": "", + "error_success_analysis": "爪夹张开开，红色瓶子成功落在另一个瓶子上。", + "frame": 546, + "progress": 100, + "progress_explanation": "当前红色瓶子成功落在另一个瓶子上，因此进度提升至100%。", + "state_description": "当前红色瓶子已经落在另一个瓶子上，已经完成拿起红色瓶子，把它放在另一个瓶子的上面的任务。", + "time": 18.192336488144328, + "annotations": { + "bbox_1767598616613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616613_1767601574915_68vfjx2dt", + "x": 0.35150000000000003, + "y": 0.012444444444444445, + "width": 0.06000000000000001, + "height": 0.2222222222222222 + } + ] + }, + "point_1767598617597": { + "type": "point", + "instances": [ + { + "id": "point_1767598617597_1767601576978_ici9b5gkt", + "x": 0.3565, + "y": 0.03733333333333333 + } + ] + }, + "point_1767598617765": { + "type": "point", + "instances": [ + { + "id": "point_1767598617765_1767601579755_41ey3hule", + "x": 0.41050000000000003, + "y": 0.035555555555555556 + } + ] + }, + "bbox_1767598616788": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598616788_1767601586059_phvfbc6hp", + "x": 0.35550000000000004, + "y": 0.21688888888888888, + "width": 0.05699999999999998, + "height": 0.2062222222222222 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767598616613", + "name": "红色瓶子" + }, + { + "color": "#FF9800", + "id": "bbox_1767598616788", + "name": "另一个瓶子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767598617597", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767598617765", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000459.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000459.json new file mode 100644 index 0000000000000000000000000000000000000000..c506665f260b22a483406d3c8f61d19eda4e1aeb --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_1_left/episode_000459.json @@ -0,0 +1,245 @@ +{ + "task_description": "按炉子左上角的按钮。\n准备移动：0%\n爪夹开始移动：30%\n爪夹靠近按钮：50%\n爪夹合拢，移动到按钮的正前方：80%\n爪夹按住按钮，将按钮打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1767602556485": { + "instances": [ + { + "height": 0.096, + "id": "bbox_1767602556485_1767606713163_fsrzrnvud", + "width": 0.06100000000000003, + "x": 0.3755, + "y": 0.29511111111111116 + } + ], + "type": "bbox" + }, + "point_1767602557285": { + "instances": [ + { + "id": "point_1767602557285_1767606716250_3m1x9wobq", + "x": 0.3855, + "y": 0.7217777777777779 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，向爪夹的左前方移动，并合拢爪夹靠近按钮，移动至按钮的正前方，爪夹保持合拢，向爪夹的前方移动，按住按钮，将按钮打开。", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触按钮。\n为完成按炉子左上角的按钮的任务应当：爪夹向爪夹的上方抬起，向爪夹的左前方移动，并合拢爪夹靠近按钮，移动至按钮的正前方。", + "time": 0.027113401546391754 + }, + { + "action_description": "爪夹向爪夹的上方抬起，并向爪夹的左前方移动，使爪夹在水平方向上接近炉子左上角的按钮。\n", + "annotations": { + "bbox_1767602556485": { + "instances": [ + { + "height": 0.09955555555555556, + "id": "bbox_1767602556485_1767606723363_0b4hvbvcs", + "width": 0.07500000000000004, + "x": 0.3645, + "y": 0.30044444444444446 + } + ], + "type": "bbox" + }, + "point_1767602557125": { + "instances": [ + { + "id": "point_1767602557125_1767606720563_77kvujtio", + "x": 0.3545, + "y": 0.5244444444444445 + } + ], + "type": "point" + }, + "point_1767602557285": { + "instances": [ + { + "id": "point_1767602557285_1767606718787_87r9zdjn9", + "x": 0.41950000000000004, + "y": 0.49244444444444446 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的前方移动，同时略微抬起，并合拢爪夹靠近按钮，移动至按钮的正前方，爪夹保持合拢，向爪夹的前方移动，按住按钮，将按钮打开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动同时略微抬起，水平方向上成功接近按钮。", + "frame": 24, + 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"progress_explanation": "当前爪夹略微远离了按钮，因此下降至60%。", + "state_description": "当前爪夹合拢，略微远离了按钮。\n为完成按炉子左上角的按钮的任务应当：爪夹向爪夹的下方移动，并向爪夹的上方抬起，调整爪夹角度，爪夹向爪夹的下方移动，同时向前移动，将按钮打开。", + "time": 7.79962184484536 + }, + { + "action_description": "爪夹向爪夹的上方移动，并调整角度。", + "annotations": { + "bbox_1767602556485": { + "instances": [ + { + "height": 0.09777777777777778, + "id": "bbox_1767602556485_1767606739362_mw20owm1m", + "width": 0.05800000000000005, + "x": 0.3895, + "y": 0.30577777777777776 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的下方调整角度，并向爪夹的前方移动，到达按钮的正前方，继续向爪夹的前方移动，将按钮打开。", + "error_success_analysis": "爪夹向爪夹的上方移动，并调整爪夹角度，位于炉子的正上方。", + "frame": 156, + "progress": 70, + "progress_explanation": "当前爪夹在水平方向上位于炉子的正上方，因此进度提升至70%。", + "state_description": "当前爪夹保持合拢，垂直于炉子的正上方。\n为完成按炉子左上角的按钮的任务应当：爪夹向爪夹的下方调整角度，并向爪夹的前方移动，到达按钮的正前方。", + "time": 10.4 + }, + { + "action_description": "爪夹向爪夹的下方调整角度，并向爪夹的前方移动。", + "annotations": { + "bbox_1767602556485": { + "instances": [ + { + "height": 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"task_description": "用架子上的勺子搅拌红碗里的东西，然后把勺子放回架子上。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近勺子：15%\n爪夹抓取勺子：20%\n爪夹抓住勺子靠近红碗：25%\n爪夹保持合拢，移动到红碗的正上方：30%\n爪夹下降，将勺子放入红碗中：40%\n爪夹保持合拢，从下向左顺时针转动爪夹三圈，搅拌红碗里的东西：60%\n爪夹上升，靠近架子：80%\n爪夹保持合拢，移动到架子的缺口处：90%\n爪夹向前移动，将勺子放回架子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1767663150406": { + "instances": [ + { + "height": 0.31822222222222224, + "id": "bbox_1767663150406_1767671797433_3hsolt0qj", + "width": 0.11299999999999999, + "x": 0.17650000000000002, + "y": 0.192 + } + ], + "type": "bbox" + }, + "bbox_1767663150797": { + "instances": [ + { + "height": 0.2328888888888889, + "id": "bbox_1767663150797_1767671802305_nr4kbrqty", + "width": 0.14699999999999996, + "x": 0.3705, + "y": 0.6613333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767663154726": { + "instances": [ + { + "height": 0.8391111111111113, + "id": "bbox_1767663154726_1767671807649_d80nlfooz", + "width": 0.35300000000000004, + "x": 0.0405, + "y": 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0000000000000000000000000000000000000000..fb8e3ce41ce5b54db49821385d13e0c2e186b52f --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000684.json @@ -0,0 +1,494 @@ +{ + "task_description": "把白色的杯子移到桌子的右边。\n开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓住杯子并靠近桌子右边：60%\n爪夹保持合拢并移动到桌子右边的正上方：80%\n爪夹松开，使杯子落在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "调整角度，爪夹向爪夹的下方移动至白色杯子的正上方，下降并抓取白色杯子，抬起爪夹，向爪夹的右边移动，到达桌子右边的正上方，下降爪夹，将白色杯子放在桌面上，松开爪夹，使杯子落在桌面上。", + "error_success_analysis": "", + "frame": 53, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触杯子。\n为完成把白色的杯子移到桌子的右边的任务应当：调整角度，向爪夹的下方靠近白色杯子。", + "time": 1.7588659793814434, + "annotations": { + "bbox_1766817842987": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766817842987_1766821035730_oclovvzbg", + "x": 0.5755, + "y": 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newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000971.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000971.json new file mode 100644 index 0000000000000000000000000000000000000000..491b659556b48703cb69db8d44a19ae2ab2a23fc --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000971.json @@ -0,0 +1,262 @@ +{ + "task_description": "打开机器的盖子\n开始移动：0%\n靠近机器：20%\n爪夹抓住盖子：50%\n爪夹抓住盖子并上升：70%\n爪夹松开，盖子打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，没有移动。", + "annotations": { + "bbox_1766824835209": { + "instances": [ + { + "height": 0.07644444444444444, + "id": "bbox_1766824835209_1767075553846_k6m5su7xo", + "width": 0.12800000000000003, + "x": 0.34450000000000003, + "y": 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"bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "盖子成功打开。", + "frame": 582, + "progress": 100, + "progress_explanation": "当前盖子已经成功打开，因此进度提升至100%。", + "state_description": "当前盖子已经打开，已经完成打开机器盖子的任务。", + "time": 19.398213354123712 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766824835209", + "name": "盖子" + }, + { + "color": "#FF9800", + "id": "bbox_1766824876857", + "name": "机器" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766824836385", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766824837345", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000977.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000977.json new file mode 100644 index 0000000000000000000000000000000000000000..89c7cf3e2762484e54aa5a1ec09da28b86216704 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000977.json @@ -0,0 +1,326 @@ +{ + "task_description": "打开炉子\n开始移动：0%\n靠近炉子：30%\n爪夹到达炉子开关的前方：60%\n爪夹抓住开关并转动：90%\n炉子打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1766827247841": { + "instances": [ + { + "height": 0.10844444444444443, + "id": "bbox_1766827247841_1766827275560_12hnlprcm", + "width": 0.10599999999999996, + "x": 0.6245, + "y": 0.256 + } + ], + "type": "bbox" + }, + "bbox_1766827248489": { + "instances": [ + { + "height": 0.8195555555555556, + "id": "bbox_1766827248489_1766827279616_a9wyks7jt", + "width": 0.59, + "x": 0.1805, + "y": 0.17066666666666666 + } + ], + "type": "bbox" + }, + "point_1766827249185": { + "instances": [ + { + "id": "point_1766827249185_1766827282368_vdgwowbv6", + "x": 0.3265, + "y": 0.7093333333333334 + } + ], + "type": "point" + }, + "point_1766827249425": { + "instances": [ + { + "id": "point_1766827249425_1766827284384_fglmlgf3s", + "x": 0.4265, + "y": 0.7751111111111112 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹的前方移动靠近炉子的开关，到达炉子的开关的前方，爪夹合拢抓住开关，并转动开关，使炉子打开。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前爪夹目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前爪夹张开，没有移动。\n为完成打开炉子的任务应当：向爪夹的前方移动靠近炉子的开关。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹的前方移动，靠近开关。", + "annotations": { + "bbox_1766827247841": { + "instances": [ + { + "height": 0.1137777777777778, + "id": "bbox_1766827247841_1766827302944_ugm75b1iv", + "width": 0.09800000000000005, + "x": 0.6305, + "y": 0.2524444444444444 + } + ], + "type": "bbox" + }, + "bbox_1766827248489": { + "instances": [ + { + "height": 0.8142222222222222, + "id": "bbox_1766827248489_1766827294648_g0jkavrxg", + "width": 0.64, + "x": 0.14750000000000002, + "y": 0.18133333333333335 + } + ], + "type": "bbox" + }, + "point_1766827249185": { + "instances": [ + { + "id": "point_1766827249185_1766827297448_auazs7ruw", + "x": 0.4465, + "y": 0.5617777777777778 + } + ], + "type": "point" + }, + "point_1766827249425": { + "instances": [ + { + "id": "point_1766827249425_1766827299744_dmur616rr", + "x": 0.5155000000000001, + "y": 0.5368888888888889 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹到达炉子的开关的前方，爪夹合拢抓住开关，并转动开关，使炉子打开。", + "error_success_analysis": "爪夹在水平距离上接近开关。", + "frame": 33, + "progress": 10, + "progress_explanation": "当前爪夹正在靠近开关。因此进度提上至10%。", + "state_description": "当前爪夹在水平距离上接近开关。\n为完成打开炉子的任务应当：到达炉子的开关的前方，爪夹合拢抓住开关。", + "time": 1.110618556701031 + }, + { + "action_description": "爪夹向爪夹的前方移动，并合拢。", + "annotations": { + "bbox_1766827247841": { + "instances": [ + { + "height": 0.10666666666666669, + "id": "bbox_1766827247841_1766827306336_wntyer462", + "width": 0.10899999999999999, + "x": 0.6265000000000001, + "y": 0.26666666666666666 + } + ], + "type": "bbox" + }, + "bbox_1766827248489": { + "instances": [ + { + "height": 0.8444444444444444, + "id": "bbox_1766827248489_1766827315184_iux8imu88", + "width": 0.609, + "x": 0.1695, + "y": 0.14044444444444446 + } + ], + "type": "bbox" + }, + "point_1766827249185": { + "instances": [ + { + "id": "point_1766827249185_1766827308632_zctb9n63y", + "x": 0.5075000000000001, + "y": 0.4231111111111111 + } + ], + "type": "point" + }, + "point_1766827249425": { + "instances": [ + { + "id": "point_1766827249425_1766827310976_wva38a90x", + "x": 0.5215, + "y": 0.42133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，重新向炉子开关靠近，到达炉子的开关的前方，爪夹合拢抓住开关，并转动开关，使炉子打开。", + "error_success_analysis": "爪夹没有靠近开关，而是合拢。", + "frame": 82, + "progress": 5, + "progress_explanation": "当前爪夹合拢，同上一步比，爪夹需要多一步松开爪夹的步骤才能靠近开关，因此进度下降至5%。", + "state_description": "当前爪夹合拢，位于炉子的上方。\n为完成打开炉子的任务应当：松开爪夹，重新向炉子开关靠近。", + "time": 2.7468 + }, + { + "action_description": "爪夹向爪夹的前方移动。", + "annotations": { + "bbox_1766827247841": { + "instances": [ + { + "height": 0.09777777777777782, + "id": "bbox_1766827247841_1766827324464_nlbdj8ac5", + "width": 0.09699999999999998, + "x": 0.6285000000000001, + "y": 0.26311111111111113 + } + ], + "type": "bbox" + }, + "bbox_1766827248489": { + "instances": [ + { + "height": 0.8551111111111112, + "id": "bbox_1766827248489_1766827320040_g5fzjb4fq", + "width": 0.622, + "x": 0.15350000000000003, + "y": 0.128 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，重新向炉子开关靠近，到达炉子的开关的前方，爪夹合拢抓住开关，并转动开关，使炉子打开。", + "error_success_analysis": "爪夹没有松开，重新靠近开关，而是继续向爪夹的前方移动。", + "frame": 148, + "progress": -10, + "progress_explanation": "当前爪夹合拢，远离了开关，因此进度下降至-10%。", + "state_description": "当前爪夹保持合拢，并远离了开关。\n为完成打开炉子的任务应当：松开爪夹，重新向炉子开关靠近，到达炉子的开关的前方。", + "time": 4.9266 + }, + { + "action_description": "爪夹向爪夹的左侧移动，再次远离了开关。", + "correction_plan": "调整爪夹角度，向爪夹右侧移动，到达开关的正前方，爪夹合拢抓住开关，并转动开关，使炉子打开。", + "error_success_analysis": "爪夹没有向爪夹的右侧移动至开关的正前方，而是继续向爪夹的左侧移动。", + "frame": 243, + "progress": -15, + "progress_explanation": "当前爪夹再次远离了开关，因此进度下降至-15%。", + "state_description": "当前爪夹保持合拢，在水平方向上又远离了开关。\n为完成打开炉子的任务应当：调整爪夹角度，向爪夹右侧移动，到达开关的正前方。", + "time": 8.112061855670104 + }, + { + "action_description": "爪夹保持合拢，并向爪夹的后方移动。", + "annotations": { + "bbox_1766827247841": { + "instances": [ + { + "height": 0.10488888888888895, + "id": "bbox_1766827247841_1767174974242_65aqre7cx", + "width": 0.096, + "x": 0.6315000000000001, + "y": 0.2524444444444444 + } + ], + "type": "bbox" + }, + "bbox_1766827248489": { + "instances": [ + { + "height": 0.7982222222222223, + "id": "bbox_1766827248489_1767174969827_zvgn7w03u", + "width": 0.5790000000000001, + "x": 0.1815, + "y": 0.1848888888888889 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度，向爪夹的右前方移动，到达开关的正前方，爪夹合拢抓住开关，并转动开关，使炉子打开。", + "error_success_analysis": "爪夹没有重新调整角度，向爪夹的右侧移动至开关的正前方，而是继续向爪夹的后方移动，使爪夹进一步远离了开关。", + "frame": 340, + "progress": -20, + "progress_explanation": "当前爪夹向爪夹的后方移动，进一步远离了开关，因此进度下降至-20.", + "state_description": "当前爪夹在水平方向上进一步远离了开关。\n为完成打开炉子的任务应当：调整爪夹角度，向爪夹的右前方移动，到达开关的正前方。", + "time": 11.333505154639173 + }, + { + "action_description": "爪夹向爪夹后方移动并张开爪夹。", + "annotations": { + "bbox_1766827247841": { + "instances": [ + { + "height": 0.11555555555555558, + "id": "bbox_1766827247841_1766827327736_xllt5tzg5", + "width": 0.09699999999999998, + "x": 0.6325000000000001, + "y": 0.2613333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766827248489": { + "instances": [ + { + "height": 0.8195555555555556, + "id": "bbox_1766827248489_1766827334936_wj0pw2w8t", + "width": 0.623, + "x": 0.1635, + "y": 0.17244444444444443 + } + ], + "type": "bbox" + }, + "point_1766827249425": { + "instances": [ + { + "id": "point_1766827249425_1766827330664_wyvw8de8a", + "x": 0.4875, + "y": 0.3875555555555556 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向炉子开关靠近，到达炉子的开关的前方，爪夹合拢抓住开关，并转动开关，使炉子打开。", + "error_success_analysis": "爪夹向爪夹的后方移动，并调整角度。", + "frame": 377, + "progress": -15, + "progress_explanation": "当前爪夹张开，准备重新靠近开关，因此进度提升至-15%。", + "state_description": "当前爪夹张开，准备靠近开关。\n为完成打开炉子的任务应当：炉子开关靠近，到达炉子的开关的前方，爪夹合拢抓住开关。", + "time": 12.580515463917525 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766827247841", + "name": "开关" + }, + { + "color": "#FF9800", + "id": "bbox_1766827248489", + "name": "炉子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766827249185", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766827249425", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.wrist_image_left/episode_000775.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.wrist_image_left/episode_000775.json new file mode 100644 index 0000000000000000000000000000000000000000..66b8af4d25bc76fa2fedeb23f0d7ed82d0825c10 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-000/observation.images.wrist_image_left/episode_000775.json @@ -0,0 +1,478 @@ +{ + "task_description": "拿起马克笔，把它放进白色碗里。\n开始移动：0%\n爪夹靠近马克笔：20%\n爪夹抓取马克笔：40%\n爪夹抓住马克笔并接近白色碗：60%\n爪夹保持合拢并移动到白色碗的上方：80%\n爪夹松开，使马克笔落在白色碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹调整角度，向爪夹的下后方靠近马克笔，到达马克笔的正上方，下降并抓取马克笔，抬起爪夹，向爪夹的左后方移动，到白色碗的正上方，下降爪夹，将马克笔放进白色碗里，松开爪夹，使马克笔落入碗里。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触马克笔。\n为完成拿起马克笔，把它放进白色碗里的任务应当：爪夹调整角度，向爪夹的下后方靠近马克笔。", + "time": 1.360481131443299, + "annotations": { + "bbox_1766973313285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313285_1766973367181_fqwo9yi2u", + "x": 0.5495, + "y": 0.5635555555555556, + "width": 0.04400000000000004, + "height": 0.22044444444444447 + } + ] + }, + "point_1766973314645": { + "type": "point", + "instances": [ + { + "id": "point_1766973314645_1766973369972_fyz9ofvh5", + "x": 0.4615, + "y": 0.6524444444444444 + } + ] + }, + "point_1766973314965": { + "type": "point", + "instances": [ + { + "id": "point_1766973314965_1766973372804_q3zaxe0hl", + "x": 0.7685000000000001, + "y": 0.6435555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹向下后方微调角度，使爪夹接近垂直于桌面。", + "correction_plan": "调整角度，至垂直于桌面，向爪夹的下后方靠近马克笔，到达马克笔的正上方，下降并抓取马克笔，抬起爪夹，向爪夹的左后方移动，到白色碗的正上方，下降爪夹，将马克笔放进白色碗里，松开爪夹，使马克笔落入碗里。", + "error_success_analysis": "爪夹向爪夹方向的下后方移动，水平方向上成功接近黄瓜。", + "frame": 35, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近马克笔，因此进度提升至10%。", + "state_description": "当前爪夹张开，在水平距离上略微接近马克笔。\n为完成拿起马克笔，把它放进白色碗里的任务应当：调整角度，至垂直于桌面，下降至马克笔的正上方。", + "time": 2.3333333333333335, + "annotations": { + "point_1766973314965": { + "type": "point", + "instances": [ + { + "id": "point_1766973314965_1766973376276_gt1oypnaz", + "x": 0.7685000000000001, + "y": 0.6506666666666667 + } + ] + }, + "point_1766973314645": { + "type": "point", + "instances": [ + { + "id": "point_1766973314645_1766973379708_fpj3kth7p", + "x": 0.46349999999999997, + "y": 0.656 + } + ] + }, + "bbox_1766973313285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313285_1766973384324_o8aq7c1sk", + "x": 0.5305, + "y": 0.43377777777777776, + "width": 0.03300000000000001, + "height": 0.25955555555555554 + } + ] + }, + "bbox_1766973313589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313589_1766973389060_htde253lv", + "x": 0.1155, + "y": 0.5955555555555556, + "width": 0.169, + "height": 0.2506666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下后方移动，并调整爪夹角度，使其垂直桌面。", + "correction_plan": "到达马克笔的正上方，下降并抓取马克笔，抬起爪夹，向爪夹的左后方移动，到白色碗的正上方，下降爪夹，将马克笔放进白色碗里，松开爪夹，使马克笔落入碗里。", + "error_success_analysis": "爪夹向爪夹方向的下后方移动，水平方向上成功接近马克笔，并使爪夹角度向垂直于桌面，方便抓取。\n", + "frame": 61, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上进一步接近马克笔并调整完爪夹角度方便抓取，因此进度提升为20%。", + "state_description": "当前爪夹张开，与马克笔的距离进一步接近。\n为完成拿起马克笔，把它放进白色碗里的任务应当：下降至马克笔的正上方，下降并抓取马克笔，抬起爪夹，向爪夹的左后方移动。", + "time": 4.066666666666666, + "annotations": { + "bbox_1766973313589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313589_1766973395004_ifjis68gu", + "x": 0.0045, + "y": 0.5653333333333334, + "width": 0.152, + "height": 0.36444444444444435 + } + ] + }, + "bbox_1766973313285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313285_1766973404644_x8dnsng2o", + "x": 0.5375, + "y": 0.27911111111111114, + "width": 0.04800000000000004, + "height": 0.3928888888888889 + } + ] + }, + "point_1766973314645": { + "type": "point", + "instances": [ + { + "id": "point_1766973314645_1766973407916_p2xwfezs5", + "x": 0.4625, + "y": 0.656 + } + ] + }, + "point_1766973314965": { + "type": "point", + "instances": [ + { + "id": "point_1766973314965_1766973410540_81i927a87", + "x": 0.7665, + "y": 0.6417777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，移动至马克笔的正上方。\n", + "correction_plan": "下降并抓取马克笔，抬起爪夹，向爪夹的左后方移动，到白色碗的正上方，下降爪夹，将马克笔放进白色碗里，松开爪夹，使马克笔落入碗里。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，水平方向上成功接近马克笔，到达马克笔的正上方，准备抓取。\n", + "frame": 92, + "progress": 30, + "progress_explanation": "当前爪夹已成功移动至马克笔的正上方，因此进度为30%。\n", + "state_description": "当前爪夹张开，到达马克笔的正上方。\n为完成拿起马克笔，把它放进白色碗里的任务应当：下降并抓取马克笔，抬起爪夹，向爪夹的左后方移动。", + "time": 6.133333333333334, + "annotations": { + "point_1766973314965": { + "type": "point", + "instances": [ + { + "id": "point_1766973314965_1766973414700_o2ynae7bt", + "x": 0.7675, + "y": 0.6471111111111111 + } + ] + }, + "point_1766973314645": { + "type": "point", + "instances": [ + { + "id": "point_1766973314645_1766973417188_r7ybah3ni", + "x": 0.4625, + "y": 0.6506666666666667 + } + ] + }, + "bbox_1766973313285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313285_1766973421332_hn82qs5ko", + "x": 0.5795, + "y": 0.14400000000000002, + "width": 0.06900000000000003, + "height": 0.7093333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动，合拢爪夹并抓取马克笔。", + "correction_plan": "抬起爪夹，向爪夹的左后方移动，到白色碗的正上方，下降爪夹，将马克笔放进白色碗里，松开爪夹，使马克笔落入碗里。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取马克笔。\n", + "frame": 109, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取马克笔，因此进度提升为40%。", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到马克笔。\n为完成拿起马克笔，把它放进白色碗里的任务应当：抬起爪夹，向爪夹的左后方移动，到白色碗的正上方。", + "time": 7.266666666666667, + "annotations": { + "bbox_1766973313285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313285_1766973428140_qdyyel8ob", + "x": 0.5835, + "y": 0.005333333333333333, + "width": 0.06000000000000005, + "height": 0.727111111111111 + } + ] + }, + "point_1766973314645": { + "type": "point", + "instances": [ + { + "id": "point_1766973314645_1766973431068_gjg6bphuo", + "x": 0.5555, + "y": 0.6115555555555555 + } + ] + }, + "point_1766973314965": { + "type": "point", + "instances": [ + { + "id": "point_1766973314965_1766973433187_cjw3gljpb", + "x": 0.6365000000000001, + "y": 0.6311111111111112 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方移动，抓住马克笔向爪夹方向的左后方移动。\n", + "correction_plan": "向爪夹的左后方移动，到白色碗的正上方，下降爪夹，将马克笔放进白色碗里，松开爪夹，使马克笔落入碗里。", + "error_success_analysis": "爪夹成功抓取马克笔，并在向着白色碗的方向靠近。\n", + "frame": 132, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住马克笔，并在水平方向上靠近白色碗，因此进度为60%。", + "state_description": "当前爪夹合拢，抓住马克笔，位于白色碗的右上方。\n为完成拿起马克笔，把它放进白色碗里的任务应当：向爪夹的左后方移动，到白色碗的正上方。", + "time": 8.8, + "annotations": { + "point_1766973314965": { + "type": "point", + "instances": [ + { + "id": "point_1766973314965_1766973436507_un5gp6zvj", + "x": 0.6405000000000001, + "y": 0.632888888888889 + } + ] + }, + "point_1766973314645": { + "type": "point", + "instances": [ + { + "id": "point_1766973314645_1766973438707_eu8zwryh3", + "x": 0.5515, + "y": 0.6097777777777778 + } + ] + }, + "bbox_1766973313589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313589_1766973444155_04tbz4rq8", + "x": 0.12050000000000001, + "y": 0.05155555555555555, + "width": 0.272, + "height": 0.4195555555555555 + } + ] + }, + "bbox_1766973313285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313285_1766973449635_uoomvzhha", + "x": 0.5855, + "y": 0.0035555555555555557, + "width": 0.06399999999999997, + "height": 0.7555555555555558 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，抓紧马克笔向爪夹方向的左后方移动。\n", + "correction_plan": "下降爪夹，将马克笔放进白色碗里，松开爪夹，使马克笔落入碗里。", + "error_success_analysis": "爪夹已经抓取到马克笔，并移动到了白色碗的正上方。\n", + "frame": 167, + "progress": 80, + "progress_explanation": "当前爪夹已抓住马克笔并移动至白色碗的正上方，因此进度为80%。\n", + "state_description": "当前爪夹合找，垂直于桌面，抓住处于内锅的正上方。\n为完成拿起马克笔，把它放进白色碗里的任务应当：下降爪夹，将马克笔放进白色碗里。", + "time": 11.133333333333333, + "annotations": { + "bbox_1766973313285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313285_1766973453747_5f5x9vzxz", + "x": 0.5785, + "y": 0.0017777777777777779, + "width": 0.07599999999999998, + "height": 0.7235555555555557 + } + ] + }, + "point_1766973314645": { + "type": "point", + "instances": [ + { + "id": "point_1766973314645_1766973455804_zj6vfgyre", + "x": 0.5525, + "y": 0.6062222222222222 + } + ] + }, + "bbox_1766973313589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313589_1766973464731_9su52rnem", + "x": 0.40650000000000003, + "y": 0, + "width": 0.41200000000000003, + "height": 0.23111111111111116 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动，将马克笔放进碗里。", + "correction_plan": "松开爪夹，使马克笔落入碗里。", + "error_success_analysis": "成功将马克笔放进碗里。", + "frame": 186, + "progress": 90, + "progress_explanation": "当前爪夹合拢，成功将马克笔放进碗里，因此进度提升至90%。", + "state_description": "当前爪夹保持合拢，垂直于白色碗。\n为完成拿起马克笔，把它放进白色碗里的任务应当：松开爪夹，使马克笔落入碗里。", + "time": 12.4, + "annotations": { + "bbox_1766973313589": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313589_1766973474011_4rbmjowl3", + "x": 0.31550000000000006, + "y": 0.0017777777777777694, + "width": 0.526, + "height": 0.4639999999999999 + } + ] + }, + "point_1766973314645": { + "type": "point", + "instances": [ + { + "id": "point_1766973314645_1766973481179_z316bczf1", + "x": 0.5535, + "y": 0.6044444444444445 + } + ] + }, + "bbox_1766973313285": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973313285_1766973497427_8zrbkeelf", + "x": 0.5814999999999999, + "y": 0.005333333333333274, + "width": 0.075, + "height": 0.7519999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹张开，马克笔落下。\n", + "correction_plan": "", + "error_success_analysis": "爪夹张开，马克笔落入白色碗里。", + "frame": 199, + "progress": 100, + "progress_explanation": "马克笔成功落入白色碗里，因此进度提升至100%。\n", + "state_description": "当前爪夹张开，马克笔落入白色碗里。已完成拿起马克笔，把它放进白色碗里的任务。\n", + "time": 13.266666666666667, + "annotations": { + "bbox_1766973313285": { + "type": "bbox", + "instances": [ + { + "id": 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+ "id": "point_1766973314645", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766973314965", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001554.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001554.json new file mode 100644 index 0000000000000000000000000000000000000000..0cc475f04d0cedbc3b662bb9681390f404711fb8 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001554.json @@ -0,0 +1,388 @@ +{ + "task_description": "从黑锅上取下玻璃盖。\n开始移动：0%\n爪夹靠近玻璃盖：20%\n爪夹抓取玻璃盖：40%\n爪夹抓住玻璃盖并接近黑锅左侧桌面：60%\n爪夹保持合拢并移动到黑锅左侧桌面的上方：80%\n爪夹松开，使玻璃盖落在桌面上：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "调整爪夹角度，使其垂直于桌面，下降至玻璃盖的正上方，下降爪夹并合拢抓取玻璃盖，抬起爪夹，向爪夹的左方移动，至旁边桌面的正上方，下降爪夹，将玻璃盖放在旁边桌面上，松开爪夹，使玻璃盖落在桌面上。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触玻璃盖。\n为完成从黑锅上取下玻璃盖的任务应当：调整爪夹角度，使其垂直于桌面，下降至玻璃盖的正上方。", + "time": 0.6974226804123711, + "annotations": { + "bbox_1766973799200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973799200_1766975681801_1wsvtz450", + "x": 0.0025000000000000356, + "y": 0.2524444444444444, + "width": 0.778, + "height": 0.7306666666666667 + } + ] + }, + "bbox_1766973798832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973798832_1766975686577_n9ui936sf", + "x": 0.5305, + "y": 0.4391111111111111, + "width": 0.14300000000000007, + "height": 0.1244444444444444 + } + ] + }, + "point_1766973799912": { + "type": "point", + "instances": [ + { + "id": "point_1766973799912_1766975689873_abpzbyp54", + "x": 0.6675, + "y": 0.19733333333333336 + } + ] + }, + "point_1766973800136": { + "type": "point", + "instances": [ + { + "id": "point_1766973800136_1766975692897_43l1bf06n", + "x": 0.6915, + "y": 0.21333333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方微调角度，在水平距离上略微接近玻璃盖。", + "correction_plan": "爪夹下降至玻璃盖的正上方，下降爪夹并合拢抓取玻璃盖，抬起爪夹，向爪夹的左方移动，至旁边桌面的正上方，下降爪夹，将玻璃盖放在旁边桌面上，松开爪夹，使玻璃盖落在桌面上。", + "error_success_analysis": "爪夹向爪夹方向的前方下方移动，在水平方向上接近玉米。\n", + "frame": 38, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近玉米并开始调整爪夹角度方便抓取，因此进度为10%。\n", + "state_description": "当前爪夹张开，在水平距离上略微接近玻璃盖。\n为完成从黑锅上取下玻璃盖的任务应当：爪夹向爪夹下方移动，到达玻璃盖的正上方。", + "time": 1.2722680412371132, + "annotations": { + "bbox_1766973799200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973799200_1766975710265_tsn30kvua", + "x": 0.0034999999999999697, + "y": 0.2524444444444444, + "width": 0.773, + "height": 0.7448888888888889 + } + ] + }, + "bbox_1766973798832": { + "type": "bbox", + "instances": [ + { + "id": 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"type": "point", + "instances": [ + { + "id": "point_1766973800136_1766975739872_hukgswyvi", + "x": 0.6295, + "y": 0.4053333333333334 + } + ] + }, + "point_1766973799912": { + "type": "point", + "instances": [ + { + "id": "point_1766973799912_1766975742496_3g93jqa7t", + "x": 0.6155, + "y": 0.44977777777777783 + } + ] + }, + "bbox_1766973798832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973798832_1766975745752_nx5pxugz9", + "x": 0.5295, + "y": 0.4408888888888889, + "width": 0.14200000000000007, + "height": 0.12444444444444448 + } + ] + }, + "bbox_1766973799200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973799200_1766975747928_c1sdnt4il", + "x": 0.002499999999999991, + "y": 0.2613333333333333, + "width": 0.7829999999999998, + "height": 0.7235555555555556 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动，合拢爪夹并抓取玻璃盖。\n", + "correction_plan": "抬起爪夹，向爪夹的左方移动，至黑锅左侧桌面的正上方，下降爪夹，将玻璃盖放在黑锅左侧桌面上，松开爪夹，使玻璃盖落在桌面上。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取玻璃盖。\n", + "frame": 113, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取玻璃盖，因此进度提升为40%。\n", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到玻璃盖。\n为完成从黑锅上取下玻璃盖的任务应当：抬起爪夹，向爪夹的左方移动，至黑锅左侧桌面的正上方。", + "time": 3.7829896907216494, + "annotations": { + "bbox_1766973798832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973798832_1766975767624_d2e7x0we7", + "x": 0.5245, + "y": 0.43377777777777776, + "width": 0.13799999999999998, + "height": 0.12088888888888892 + } + ] + }, + "bbox_1766973799200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973799200_1766975773024_w4kh6ai45", + "x": 0.0025, + "y": 0.26844444444444443, + "width": 0.7809999999999999, + "height": 0.7182222222222222 + } + ] + }, + "point_1766973799912": { + "type": "point", + "instances": [ + { + "id": "point_1766973799912_1766975783088_1of6uzg07", + "x": 0.5815, + "y": 0.46399999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上方移动，抓住玻璃盖向爪夹方向的左侧移动。\n", + "correction_plan": "爪夹移动至黑锅左侧桌面的正上方，下降爪夹，将玻璃盖放在黑锅左侧桌面上，松开爪夹，使玻璃盖落在桌面上。", + "error_success_analysis": "爪夹成功抓取玻璃盖，并在向着的黑锅左侧桌面方向靠近。\n", + "frame": 157, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住玻璃盖，并在水平方向上靠近黑锅左侧桌面，因此进度为60%。\n", + "state_description": "当前爪夹合拢，抓住玻璃盖，位于黑锅的左上方。\n为完成从黑锅上取下玻璃盖的任务应当：抬起爪夹，爪夹移动至黑锅左侧桌面的正上方，下降爪夹。", + "time": 5.228556701030927, + "annotations": { + "bbox_1766973798832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973798832_1766975790216_md1x99nzr", + "x": 0.5175, + "y": 0.4195555555555555, + "width": 0.16400000000000006, + "height": 0.15466666666666667 + } + ] + }, + "bbox_1766973799200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973799200_1766975793936_2oa8g476r", + "x": 0.004500000000000104, + "y": 0.2488888888888889, + "width": 0.776, + "height": 0.7360000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，抓紧玻璃盖向爪夹方向的左侧移动。\n", + "correction_plan": "下降爪夹，将玻璃盖放在黑锅左侧桌面上，松开爪夹，使玻璃盖落在桌面上。", + "error_success_analysis": "爪夹已经抓取到玻璃盖，并移动到了黑锅左侧桌面的正上方。\n", + "frame": 207, + "progress": 80, + "progress_explanation": "当前爪夹已抓住玻璃盖并移动至黑锅左侧桌面的正上方，因此进度为80%。\n", + "state_description": "当前爪夹合找，垂直于桌面，抓住玻璃盖处于黑锅左侧桌面的正上方。\n为完成从黑锅上取下玻璃盖的任务应当：下降爪夹，将玻璃盖放在黑锅左侧桌面上。", + "time": 6.910824742268041, + "annotations": { + "bbox_1766973798832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973798832_1766975808280_v9wh0zfq2", + "x": 0.5225000000000001, + "y": 0.6026666666666667, + "width": 0.19799999999999995, + "height": 0.30222222222222217 + } + ] + }, + "bbox_1766973799200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973799200_1766975811296_614t65xij", + "x": 0.004500000000000015, + "y": 0.192, + "width": 0.7910000000000001, + "height": 0.7928888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动，将玻璃盖放在黑锅左侧桌面上。\n", + "correction_plan": "松开爪夹，使玻璃盖落在桌面上。", + "error_success_analysis": "成功将玻璃盖放在桌面上。\n", + "frame": 112, + "progress": 90, + "progress_explanation": "当前爪夹合拢，成功将玻璃盖放在桌面上，因此进度提升至90%。", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n为完成从黑锅上取下玻璃盖的任务应当：松开爪夹，使玻璃盖落在桌面上。", + "time": 7.466666666666667, + "annotations": { + "bbox_1766973798832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973798832_1766975830511_2eccsfdho", + "x": 0.5115000000000001, + "y": 0.6382222222222222, + "width": 0.195, + "height": 0.25777777777777783 + } + ] + }, + "bbox_1766973799200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973799200_1766975834375_23j91wccd", + "x": 0.0014999999999999291, + "y": 0.22933333333333333, + "width": 0.7889999999999999, + "height": 0.7591111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹张开，玻璃盖落下。\n", + "correction_plan": "", + "error_success_analysis": "爪夹松开，玻璃盖落在桌面上。\n", + "frame": 122, + "progress": 100, + "progress_explanation": "玻璃盖成功落在桌面上，因此进度提升至100%\n", + "state_description": "当前爪夹张开，玻璃盖落在桌面上。已完成从黑锅上取下玻璃盖的任务。\n", + "time": 8.133333333333333, + "annotations": { + "bbox_1766973798832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973798832_1766975845967_nf9ydwg38", + "x": 0.5035000000000001, + "y": 0.64, + "width": 0.20700000000000002, + "height": 0.26311111111111113 + } + ] + }, + "bbox_1766973799200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766973799200_1766975849655_cqg5x1eqv", + "x": 0.0034999999999999476, + "y": 0.23644444444444446, + "width": 0.7920000000000001, + "height": 0.7466666666666668 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766973798832", + "name": "玻璃盖", + "color": "#4CAF50" + }, + { + "id": "bbox_1766973799200", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766973799912", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766973800136", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001662.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001662.json new file mode 100644 index 0000000000000000000000000000000000000000..bb8ae795f7d947da6c8dd1a5c1a094fd5dd305a2 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001662.json @@ -0,0 +1,418 @@ +{ + "task_description": "按下棕色物体上的按钮。\n爪夹开始移动：0%\n爪夹靠近棕色物体：20%\n爪夹到达棕色物体的正上方：40%\n爪夹合拢下降至按钮的正上方：70%\n爪夹下降按下按钮：100%", + "progress_points": [ + { + "time": 1.281599, + "frame": 38, + "progress": 0, + "action_description": "爪夹没有出现在画面内。", + "state_description": "当前爪夹没有移动，没有在画面内。\n为完成按下棕色物体上的按钮的任务应当：爪夹向爪夹的右下方移动，使爪夹出现在画面内。", + "progress_explanation": "当前爪夹没有在画面内，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的右下方移动，使爪夹出现在画面内，爪夹调整角度，使爪夹垂直于棕色物体，下降至棕色物体的正上方，爪夹合拢向爪夹右边移动，到达按钮的正上方，下降爪夹并按下按钮。", + "annotations": { + "bbox_1766976078228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766976078228_1767075382288_qvmzhpsyi", + "x": 0.5355000000000001, + "y": 0.528, + "width": 0.022999999999999955, + "height": 0.0764444444444444 + } + ] + }, + "bbox_1766976078484": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766976078484_1767075386728_d86dszsyk", + "x": 0.5215, + "y": 0.4746666666666667, + "width": 0.11200000000000002, + "height": 0.17422222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向爪夹的前方下方移动。", + "annotations": { + "bbox_1766976078228": { + "instances": [ + { + "height": 0.07288888888888892, + "id": "bbox_1766976078228_1766978556815_tvy9jlzkb", + "width": 0.020999999999999998, + "x": 0.5345, + "y": 0.5297777777777778 + } + ], + "type": "bbox" + }, + "bbox_1766976078484": { + "instances": [ + { + "height": 0.17244444444444448, + 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] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001322.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001322.json new file mode 100644 index 0000000000000000000000000000000000000000..08f42aae6928865c3ddf234468d3b0de2fe0d069 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001322.json @@ -0,0 +1,432 @@ +{ + "task_description": "把笔从黄色的杯子里拿出来，放到桌子上。\n开始移动：0%\n爪夹靠近黄色杯子：20%\n爪夹抓取笔：40%\n爪夹抓住笔并接近杯子左侧：60%\n爪夹保持合拢并移动到杯子左侧桌面的上方：80%\n爪夹松开，使笔落在桌子上：100%\n", + "progress_points": [ + { + "time": 4.851, + "frame": 146, + "progress": 0, + "action_description": "爪夹没有出现在屏幕内。", + "state_description": "当前爪夹没有出现。\n为完成把笔从黄色的杯子里拿出来，放到桌子上的任务应当：爪夹向下移动，使爪夹出现在画面内。", + "progress_explanation": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001914.json new file mode 100644 index 0000000000000000000000000000000000000000..715731e6ec1a40bd54043defd7c6c8161596de6b --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001914.json @@ -0,0 +1,402 @@ +{ + "task_description": "把毛巾移到右边。\n开始移动：0%\n爪夹靠近毛巾：30%\n爪夹抵住毛巾：60%\n爪夹抵住毛巾靠近桌子右边：80%\n爪夹抵住毛巾移动到桌子右边：100%", + "progress_points": [ + { + "time": 1.7608, + "frame": 53, + "progress": 0, + "action_description": "爪夹没有出现在屏幕内。", + "state_description": "当前爪夹没有出现\n为完成把毛巾移到右边的任务应当：爪夹向前移动，并向下移动，使爪夹出现在屏幕内。", + "progress_explanation": "当前爪夹没有出现，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向前移动，并向下移动，使爪夹出现在屏幕内，调整角度，使爪夹垂直于桌面，下降爪夹至毛巾的正上方，爪夹下降抵住毛巾，向爪夹的右侧移动，直至到达桌子右侧。", + "annotations": { + "bbox_1766992129732": { + "type": "bbox", + "instances": [ + 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"#F44336", + "id": "point_1766992131548", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001120.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001120.json new file mode 100644 index 0000000000000000000000000000000000000000..eeb655a249ee53ca697ead8394de6710071960b5 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001120.json @@ -0,0 +1,468 @@ +{ + "task_description": "拿起一包零食，放在水槽里。\n开始移动：0%\n爪夹靠近零食：20%\n爪夹抓取零食：40%\n爪夹抓住零食并接近水槽：60%\n爪夹保持合拢并移动到水槽的上方：80%\n爪夹松开，使零食落入水槽里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "调整爪夹角度，使爪夹垂直于桌面，下降爪夹，到零食的正上方，下降并抓取零食，垂直抬起爪夹，向爪夹的左侧移到，至水槽的正上方，下降爪夹，将零食放在水槽里，松开爪夹，使零食落在水槽里。", + 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0.003499999999999992, + "y": 0.4746666666666667, + "width": 0.29800000000000004, + "height": 0.5155555555555557 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左下方移到，并调整角度，使爪夹接近垂直于桌面。", + "correction_plan": "调整爪夹角度，使爪夹垂直于桌面，下降爪夹，到零食的正上方，下降并抓取零食，垂直抬起爪夹，向爪夹的左侧移到，至水槽的正上方，下降爪夹，将零食放在水槽里，松开爪夹，使零食落在水槽里。", + "error_success_analysis": "爪夹向爪夹的左下方移动，在水平方向上成功接近零食。", + "frame": 37, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上进一步接近零食，因此进度提升至10%。", + "state_description": "当前爪夹在水平距离上略微接近零食。\n为完成拿起一包零食，放在水槽里的任务应当：调整爪夹角度，使爪夹垂直于桌面。", + "time": 1.2303092783505154, + "annotations": { + "bbox_1766992444896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992444896_1766995020577_0k8fwhth6", + "x": 0.0015, + "y": 0.28622222222222227, + "width": 0.27599999999999997, + "height": 0.7075555555555555 + } + ] + }, + "bbox_1766992444552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992444552_1766995024545_0rw4azm0c", + "x": 0.3725, + "y": 0.4124444444444444, + "width": 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"bbox_1766992444552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992444552_1766995082872_zkkq6ep8y", + "x": 0.5085, + "y": 0.04977777777777778, + "width": 0.21200000000000002, + "height": 0.7982222222222223 + } + ] + }, + "point_1766992445488": { + "type": "point", + "instances": [ + { + "id": "point_1766992445488_1766995096137_6kppuex5v", + "x": 0.5375, + "y": 0.5315555555555556 + } + ] + }, + "bbox_1766992444896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992444896_1766995115809_edtedrxyf", + "x": 0.0045, + "y": 0.0071111111111111115, + "width": 0.29700000000000004, + "height": 0.8782222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，抓紧零食向爪夹方向的左侧移动。\n", + "correction_plan": "下降爪夹，将零食放在水槽里，松开爪夹，使零食落在水槽里。", + "error_success_analysis": "爪夹已经抓取到零食，并移动到了水槽的正上方。\n", + "frame": 326, + "progress": 80, + "progress_explanation": "当前爪夹已抓住零食并移动至水槽的正上方，因此进度为80%。\n", + "state_description": 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"拿起锅盖，关上锅盖。\n开始移动：0%\n爪夹靠近锅盖：20%\n爪夹抓取锅盖：40%\n爪夹抓住锅盖并接近黑锅：60%\n爪夹保持合拢并移动到黑锅的上方：80%\n爪夹松开，使锅盖落在黑锅上：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "调整爪夹角度，并靠近锅盖，向爪夹的左后方移动至锅盖的正上方，下降并抓住锅盖，爪夹抬起，向爪夹的左前方移动，靠近黑锅，到达黑锅的正上方，爪夹下降，将锅盖放在黑锅上，松开爪夹，使锅盖落在黑锅上。", + "error_success_analysis": "", + "frame": 67, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触锅盖。\n为完成拿起锅盖，盖上锅盖的任务应当：调整爪夹角度，并靠近锅盖，向爪夹的左后方移动至锅盖的正上方。", + "time": 2.238350485051546, + "annotations": { + "point_1766996049693": { + "type": "point", + "instances": [ + { + "id": "point_1766996049693_1766998995674_ixtfbuvz7", + "x": 0.4575, + "y": 0.6986666666666667 + } + ] + }, + "point_1766996049989": { + "type": "point", + "instances": [ + { + "id": "point_1766996049989_1766998998033_bhfhen9mz", + "x": 0.7675, + "y": 0.6702222222222223 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左后方移动并微调角度。", + "correction_plan": "调整爪夹角度，使爪夹垂直于桌面，向爪夹的左后方移动至锅盖的正上方，下降并抓住锅盖，爪夹抬起，向爪夹的左前方移动，靠近黑锅，到达黑锅的正上方，爪夹下降，将锅盖放在黑锅上，松开爪夹，使锅盖落在黑锅上。", + "error_success_analysis": "爪夹向爪夹的左后方移动，水平方向上略微接近锅盖。", + "frame": 179, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近锅盖，因此进度提升至10%。", + "state_description": "当前爪夹张开，在水平方向上略微接近锅盖。\n为完成拿起锅盖，盖上锅盖的任务应当：调整爪夹角度，使爪夹垂直于桌面。", + "time": 5.956288578865979, + "annotations": { + "point_1766996049989": { + "type": "point", + "instances": [ + { + "id": "point_1766996049989_1766999001922_up4cea34b", + "x": 0.7715, + "y": 0.6791111111111111 + } + ] + }, + "point_1766996049693": { + "type": "point", + "instances": [ + { + "id": "point_1766996049693_1766999003770_3ipv550hq", + "x": 0.4645, + "y": 0.6826666666666666 + } + ] + }, + "bbox_1766996048613": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766996048613_1766999007082_lhk1lnfl8", + "x": 0.4405, + "y": 0.42666666666666664, + "width": 0.15499999999999997, + "height": 0.23111111111111116 + } + ] + }, + "bbox_1766996048917": { + 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"name": "锅盖", + "color": "#4CAF50" + }, + { + "id": "bbox_1766996048917", + "name": "黑锅", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766996049693", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766996049989", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001647.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001647.json new file mode 100644 index 0000000000000000000000000000000000000000..07831e82deeec85be438bd867b9eac37edfd4c55 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001647.json @@ -0,0 +1,90 @@ +{ + "task_description": "打开水管开关，将水接入马克杯中，接着关闭水管。\n开始移动：0%\n爪夹靠近水管开关：30%\n爪夹将水管开关拨开：50%\n将水接入马克杯中：70%\n爪夹将水管开关关闭：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "向爪夹的后方靠近水管开关，到达开关的周围，将开关拨开，将水接入马克杯中，接着关闭水管。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触水管开关。\n为完成打开水管开关，将水接入马克杯中，接着关闭水管的任务应当：向爪夹的后方靠近水管开关，到达开关的周围，将开关拨开。", + "time": 0.786769775773196 + }, + { + "action_description": "爪夹向爪夹的后方移动，靠近水管开关。", + "correction_plan": "爪夹向爪夹后方移动，到达开关周围，将水管开关拨开，将水接入马克杯中，接着关闭水管。", + "error_success_analysis": "爪夹向爪夹的后方移动，接近水管开关。", + "frame": 28, + "progress": 30, + "progress_explanation": "当前爪夹在水平方向上接近水管开关，因此进度提升至30%。", + "state_description": "当前爪夹垂直于水槽上方，在水平方向上接近水管开关。\n为完成打开水管开关，将水接入马克杯中，接着关闭水管的任务应当：爪夹向爪夹后方移动，到达开关周围，将水管开关拨开。", + "time": 1.8666666666666667 + }, + { + "action_description": "爪夹继续向爪夹的后方移动，到达开关的周围。", + "correction_plan": "爪夹半合拢将开关拨开，将水接入马克杯中，接着关闭水管。", + "error_success_analysis": "爪夹向爪夹的后方移动，成功到达开关的周围", + "frame": 58, + "progress": 50, + "progress_explanation": "当前爪夹成功移动到开关周围，因此进度提升至50%。", + "state_description": "当前爪夹已经位于开关的周围。\n为完成打开水管开关，将水接入马克杯中，接着关闭水管的任务应当：爪夹半合拢将开关拨开。", + "time": 3.8666666666666667 + }, + { + "action_description": "爪夹半合拢并将水管开关拨开。", + "correction_plan": "将水接入马克杯中，接着关闭水管。", + "error_success_analysis": "爪夹成功将开关打开。", + "frame": 178, + "progress": 70, + "progress_explanation": "当前爪夹已经将开关打开，因此进度提升至70%。", + "state_description": "当前爪夹半合拢，垂直于开关上方。\n为完成打开水管开关，将水接入马克杯中，接着关闭水管的任务应当：将水接入马克杯中，接着关闭水管。", + "time": 5.921477786082474 + }, + { + "action_description": "爪夹张开，向爪夹的右侧微调。", + "correction_plan": "合拢爪夹将开关关上。", + "error_success_analysis": "爪夹向爪夹的右侧微调，垂直于开关的上方。", + "frame": 203, + "progress": 80, + "progress_explanation": "当前爪夹垂直于开关的上方，因此进度提升至80%。", + "state_description": "当前爪夹张开，垂直于开关的上方。\n为完成打开水管开关，将水接入马克杯中，接着关闭水管的任务应当：合拢爪夹将开关关上。", + "time": 6.766220071649485 + }, + { + "action_description": "爪夹合拢，将开关向爪夹右侧拨去。", + "correction_plan": "", + "error_success_analysis": "爪夹合拢，成功关上开关。", + "frame": 228, + "progress": 100, + "progress_explanation": "当前爪夹成功关上开关，因此进度提升至100%", + "state_description": "当前爪夹已经将开关关上，已经完成打开水管开关，将水接入马克杯中，接着关闭水管的任务。", + "time": 7.610962357216494 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767056650867", + "name": "水管开关", + "color": "#4CAF50" + }, + { + "id": "bbox_1767056651195", + "name": "马克杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767056652043", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767056652411", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001715.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001715.json new file mode 100644 index 0000000000000000000000000000000000000000..01335a6d6d12752dc20ee2084609be2a14019b50 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-001/observation.images.wrist_image_left/episode_001715.json @@ -0,0 +1,497 @@ +{ + "task_description": "关上打开的抽屉。\n开始移动：0%\n爪夹靠近抽屉门：30%\n爪夹移动到抽屉门的两边，将其向爪夹右侧推去：70%\n爪夹将打开的抽屉关上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "调整爪夹角度，并向爪夹的左下方移动至抽屉门的正上方，使爪夹垂直于抽屉门，向下移动至抽屉门的两边，将抽屉门向爪夹的右侧褪去，使抽屉门关上。", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "当前爪夹是初始状态，没有移动，因此进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成关上打开的抽屉的任务应当：爪夹向抓夹的左下方移动，靠近抽屉门。", + "time": 1.7973539850515463, + "annotations": { + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061057740_bvwcyyngz", + "x": 0.45649999999999996, + "y": 0.632888888888889 + } + ] + }, + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061059676_3m8ijfn4p", + "x": 0.7635, + "y": 0.6257777777777778 + } + ] + }, + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061068340_a35r1roj6", + "x": 0.006499999999999992, + "y": 0.0017777777777777596, + "width": 0.746, + "height": 0.760888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左下方移动。", + "correction_plan": "调整爪夹角度，并向爪夹的左下方移动至抽屉门的正上方，使爪夹垂直于抽屉门，爪夹向下移动至抽屉门的两边，将抽屉门向爪夹的右侧褪去，使抽屉门关上。", + "error_success_analysis": "爪夹向爪夹的左下方移动，在水平方向上接近抽屉门。", + "frame": 89, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上接近抽屉门，因此进度提升至15%。", + "state_description": "当前爪夹位于抽屉的上方，在水平方向上接近抽屉门。\n为完成关上打开的抽屉的任务应当：调整爪夹角度，并向爪夹的左下方移动至抽屉门的正上方，使爪夹垂直于抽屉门。", + "time": 2.9707560685567005, + "annotations": { + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061082188_yb5ztatu6", + "x": 0.4525, + "y": 0.624 + } + ] + }, + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061084515_9rxdlzm4j", + "x": 0.7625, + "y": 0.6275555555555556 + } + ] + }, + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061088163_gkiwb6536", + "x": 0.0025000000000000243, + "y": 0.0017777777777777596, + "width": 0.9190000000000002, + "height": 0.9884444444444446 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹的左下方移动。", + "correction_plan": "调整爪夹角度，使爪夹垂直于抽屉门，爪夹向下移动至抽屉门的两边，将抽屉门向爪夹的右侧褪去，使抽屉门关上。", + "error_success_analysis": "爪夹向爪夹的左下方移动，在水平方向进一步接近抽屉门。", + "frame": 164, + "progress": 30, + "progress_explanation": "当前爪夹在水平方向上进一步接近抽屉门。因此进度提升至30%。", + "state_description": "当前爪夹保持张开，在水平方向上进一步接近抽屉门。\n为完成关上打开的抽屉的任务应当：调整爪夹角度，并向爪夹的左下方移动至抽屉门的正上方，使爪夹垂直于抽屉门", + "time": 5.466563674742267, + "annotations": { + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061106907_cauc72jix", + "x": 0.4575, + "y": 0.624 + } + ] + }, + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061109115_8g3q52efu", + "x": 0.7725000000000001, + "y": 0.6222222222222222 + } + ] + }, + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061113083_lpbduzd1n", + "x": 0.27949999999999997, + "y": 0.0017777777777777794, + "width": 0.7190000000000001, + "height": 0.9955555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左下方移动，到达抽屉门的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，到达抽屉门的两侧，将抽屉门向爪夹的右侧褪去，使抽屉门关上。", + "error_success_analysis": "向爪夹的左下方移动，到达抽屉门的正上方。", + "frame": 95, + "progress": 45, + "progress_explanation": "当前爪夹已经移动至抽屉门的正上方，因此进度提升至45%。", + "state_description": "当前爪夹保持张开，位于抽屉门的正上方。\n为完成关上打开的抽屉的任务应当：爪夹向爪夹的下方移动，到达抽屉门的两侧。", + "time": 6.333333333333333, + "annotations": { + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061125619_nzaawe9w2", + "x": 0.4535, + "y": 0.6346666666666667 + } + ] + }, + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061128267_vsfgt5sv2", + "x": 0.7635, + "y": 0.6204444444444445 + } + ] + }, + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061133091_ptfysk1s8", + "x": 0.35350000000000004, + "y": 0.0035555555555555982, + "width": 0.643, + "height": 0.9902222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，到达抽屉门的两侧。", + "correction_plan": "将抽屉门向爪夹的右侧褪去，使抽屉门关上。", + "error_success_analysis": "向爪夹的下方移动，成功到达抽屉门的两侧。", + "frame": 122, + "progress": 60, + "progress_explanation": "当前爪夹已经移动到抽屉门的两侧，因此进度提升至60%。", + "state_description": "当前爪夹在水平方向上位于抽屉门的两侧。\n为完成关上打开的抽屉的任务应当：将抽屉门向爪夹的右侧褪去，使抽屉门关上。", + "time": 8.2, + "annotations": { + "bbox_1767057501041": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767057501041_1767061146003_qs8nfwgx3", + "x": 0.35550000000000004, + "y": 0.005333333333333338, + "width": 0.639, + "height": 0.9866666666666666 + } + ] + }, + "point_1767057502586": { + "type": "point", + "instances": [ + { + "id": "point_1767057502586_1767061154867_bb6dga0ry", + "x": 0.45149999999999996, + "y": 0.6168888888888889 + } + ] + }, + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061156931_o6fl6vy0f", + "x": 0.7625, + "y": 0.6204444444444445 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右侧推去，并向爪夹的上方移动。", + "correction_plan": "调整爪夹角度，向爪夹的下方移动，到达抽屉门的左侧，重新将抽屉门向爪夹的右侧推去，使抽屉门关上。", + "error_success_analysis": "爪夹向爪夹的右侧推去，将抽屉关上一点。", + "frame": 143, + "progress": 65, + "progress_explanation": "当前爪夹保持张开，位于抽屉门的上方，抽屉门已经关上一点，因此进度提升至65%。", + "state_description": "当前爪夹保持张开，位于抽屉门的上方。\n为完成关上打开的抽屉的任务应当：调整爪夹角度，向爪夹的下方移动，到达抽屉门的左侧。", + "time": 9.533333333333333, + "annotations": { + "point_1767057502978": { + "type": "point", + "instances": [ + { + "id": "point_1767057502978_1767061159939_lu732y2o3", + "x": 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"把杯子从鞋子上取下来，把鞋子放在杯子上。\n开始移动：0%\n爪夹靠近杯子：15%\n爪夹抓住杯子：35%\n爪夹将杯子从鞋子上取下来，放在鞋子右侧的桌面上：55%\n爪夹靠近鞋子：70%\n爪夹抓住鞋子并靠近杯子：90%\n爪夹将鞋子放在杯子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的前方靠近，并向下移动，到达杯子的正上方，下降并抓取杯子，抬起爪夹，向爪夹的后方移动，到达鞋子右侧的正上方，下降爪夹，将杯子放在鞋子右侧的桌面上，松开爪夹，使杯子落在桌面上，抬起爪夹，向爪夹的前方靠近鞋子，到达鞋子的正上方，下降并抓取鞋子，抬起爪夹，向爪夹的后方移动，到达杯子的正上方，下降爪夹，将鞋子放在杯子上，松开爪夹，使鞋子落在杯子上。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触杯子 。\n为完成把杯子从鞋子上取下来，把鞋子放在杯子上的任务应当：向爪夹的前方靠近，并向下移动，到达杯子的正上方。", + "time": 0, + "annotations": { + "bbox_1767062134609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134609_1767065988814_b9tvqhgit", + "x": 0.5215, + "y": 0.7111111111111111, + "width": 0.06699999999999999, + "height": 0.13511111111111107 + } + ] + }, + "bbox_1767062134880": { + "type": "bbox", + "instances": [ + { + "id": 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"当前爪夹在水平方向上接近杯子。\n为完成把杯子从鞋子上取下来，把鞋子放在杯子上的任务应当：爪夹向爪夹的前方移动，并向下移动，到达杯子的正上方，下降爪夹并抓取杯子。", + "time": 0.909999, + "annotations": { + "point_1767062135600": { + "type": "point", + "instances": [ + { + "id": "point_1767062135600_1767066044533_ybe402m2a", + "x": 0.6485000000000001, + "y": 0.6364444444444445 + } + ] + }, + "point_1767062135792": { + "type": "point", + "instances": [ + { + "id": "point_1767062135792_1767066047302_l7xzfs9pr", + "x": 0.6735, + "y": 0.6115555555555555 + } + ] + }, + "bbox_1767062134609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134609_1767066052989_9ijixh72t", + "x": 0.5195000000000001, + "y": 0.704, + "width": 0.06899999999999995, + "height": 0.1422222222222222 + } + ] + }, + "bbox_1767062134880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134880_1767066057765_q2bjnk7md", + "x": 0.49750000000000005, + "y": 0.7484444444444445, + "width": 0.133, + "height": 0.18311111111111117 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动，并向爪夹的下方移动至杯子的正上方。\n", + "correction_plan": "下降爪夹并抓取杯子，抬起爪夹，向爪夹的后方移动，到达鞋子右侧的正上方，下降爪夹，将杯子放在鞋子右侧的桌面上，松开爪夹，使杯子落在桌面上，抬起爪夹，向爪夹的前方靠近鞋子，到达鞋子的正上方，下降并抓取鞋子，抬起爪夹，向爪夹的后方移动，到达杯子的正上方，下降爪夹，将鞋子放在杯子上，松开爪夹，使鞋子落在杯子上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，并向爪夹的下方移动，到达杯子的正上方，准备抓取。\n", + "frame": 35, + "progress": 15, + "progress_explanation": "当前爪夹已成功移动至杯子的正上方，因此进度为15%。\n", + "state_description": "当前爪夹张开，到达杯子的正上方。\n为完成把杯子从鞋子上取下来，把鞋子放在杯子上的任务应当：下降爪夹并抓取杯子，抬起爪夹，向爪夹的后方移动，到达鞋子右侧的正上方。", + "time": 2.3333333333333335, + "annotations": { + "point_1767062135600": { + "type": "point", + "instances": [ + { + "id": "point_1767062135600_1767066069917_h91hoznok", + "x": 0.5325, + "y": 0.760888888888889 + } + ] + }, + "bbox_1767062134609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134609_1767066073877_tmiydvto4", + "x": 0.5115000000000001, + "y": 0.72, + "width": 0.07699999999999996, + "height": 0.12088888888888899 + } + ] + }, + "bbox_1767062134880": { + "type": "bbox", + "instances": 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"爪夹保持合拢，成功将杯子放在桌面上。", + "frame": 100, + "progress": 50, + "progress_explanation": "当前爪夹成功将杯子放在桌面上，因此进度提升至50%。", + "state_description": "当前爪夹保持合拢，位于桌面上。\n为完成把杯子从鞋子上取下来，把鞋子放在杯子上的任务应当：松开爪夹，使杯子落在桌面上，抬起爪夹，向爪夹的前方靠近鞋子，到达鞋子的正上方。", + "time": 6.666666666666667, + "annotations": { + "bbox_1767062134880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134880_1767066129781_sx4n95akz", + "x": 0.4655, + "y": 0.7146666666666668, + "width": 0.15300000000000002, + "height": 0.183111111111111 + } + ] + }, + "point_1767062135600": { + "type": "point", + "instances": [ + { + "id": "point_1767062135600_1767066132645_cog5q2a16", + "x": 0.6015, + "y": 0.8657777777777778 + } + ] + }, + "bbox_1767062134609": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134609_1767066137380_ck079r6sx", + "x": 0.5875, + "y": 0.7875555555555555, + "width": 0.08700000000000001, + "height": 0.13688888888888898 + } + ] + } + } + }, + { + "action_description": "爪夹松开，使杯子落在桌面上，并向爪夹的前方移动，靠近鞋子。", + 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"当前爪夹合拢，已经将鞋子放进杯子上，因此进度提升至95%。\n", + "state_description": "当前爪夹保持合拢，垂直于白杯子。\n为完成把杯子从鞋子上取下来，把鞋子放在杯子上的任务应当：松开爪夹，使鞋子落在杯子上。", + "time": 17.379724837628864, + "annotations": { + "bbox_1767062134880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134880_1767066247235_j46f6xrrp", + "x": 0.5695, + "y": 0.656, + "width": 0.10599999999999996, + "height": 0.2328888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹松开，鞋子落下。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，鞋子成功落在杯子上。", + "frame": 283, + "progress": 100, + "progress_explanation": "当前鞋子已经落在杯子上，因此进度提升至100%。", + "state_description": "当前爪夹张开，鞋子已经落在杯子上，已经完成把杯子从鞋子上取下来，把鞋子放在杯子上的任务。", + "time": 18.866666666666667, + "annotations": { + "bbox_1767062134880": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767062134880_1767066250915_970v4agbl", + "x": 0.5775, + "y": 0.6577777777777778, + "width": 0.10699999999999994, + "height": 0.263111111111111 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767062134609", + "name": "杯子" + }, + { + "color": "#FF9800", + "id": "bbox_1767062134880", + "name": "鞋子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767062135600", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767062135792", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002318.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002318.json new file mode 100644 index 0000000000000000000000000000000000000000..c363bd469380f5bc595ef0e08d5447adb9b607e1 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002318.json @@ -0,0 +1,490 @@ +{ + "task_description": "拿起锅盖，把它放到桌子上。\n开始移动：0%\n爪夹靠近锅盖：20%\n爪夹抓住锅盖：40%\n爪夹抓住锅盖并接近小锅右上方的桌面：60%\n爪夹保持合拢并移动至小锅右上方桌面的正上方：80%\n爪夹松开，使锅盖落在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "爪夹向爪夹的前方移动，并向下移动靠近锅盖，移动至锅盖的正上方，下降并抓取锅盖，抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方，下降爪夹，将锅盖放在桌面上，松开爪夹，使锅盖落在桌面上。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，并未出现在画面中，因此进度为0%。", + "state_description": "当前爪夹没有移动，没有出现在画面中。\n为完成拿起锅盖，把它放到桌子上的任务应当：爪夹向爪夹的前方移动，并向下移动靠近锅盖，移动至锅盖的正上方。", + "time": 1.024054957216495, + "annotations": { + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078009979_1767078047075_i4mfziioy", + "x": 0.47850000000000004, + "y": 0.4088888888888889, + "width": 0.06299999999999999, + "height": 0.0764444444444444 + } + ] + }, + "bbox_1767078010403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078010403_1767078069074_0y0nqp9c0", + "x": 0.27149999999999996, + "y": 0.31822222222222224, + "width": 0.457, + "height": 0.5546666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，靠近锅盖。", + "correction_plan": "爪夹向爪夹的前方并向下移动至锅盖的正上方，下降并抓取锅盖，抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方，下降爪夹，将锅盖放在桌面上，松开爪夹，使锅盖落在桌面上。", + "error_success_analysis": "爪夹向爪夹的下方移动，并向下移动，在水平方向上接近锅盖。", + "frame": 40, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近锅盖，并开始调整爪夹角度方便抓取，因此进度提升至10%。", + "state_description": "当前爪夹垂直于桌面，在水平方向上接近锅盖。\n为完成拿起锅盖，把它放到桌子上的任务应当：向爪夹的前方移动，并下降，到达锅盖的正上方。", + "time": 2.6666666666666665, + "annotations": { + "bbox_1767078010403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078010403_1767078079011_pow26ddpt", + "x": 0.2665, + "y": 0.31466666666666665, + "width": 0.458, + "height": 0.5564444444444445 + } + ] + }, + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078009979_1767078083770_1qcraiuzh", + "x": 0.4765, + "y": 0.4106666666666667, + "width": 0.06400000000000006, + "height": 0.07288888888888892 + } + ] + }, + "point_1767078011763": { + "type": "point", + "instances": [ + { + "id": "point_1767078011763_1767078086083_rzpi3eayr", + "x": 0.48150000000000004, + "y": 0.29688888888888887 + } + ] + } + } + }, + { + "action_description": "爪夹保持张开，向爪夹的前方并向下移动，到达锅盖的正上方。", + "correction_plan": "下降爪夹并抓取锅盖，抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方，下降爪夹，将锅盖放在桌面上，松开爪夹，使锅盖落在桌面上。", + "error_success_analysis": "爪夹向爪夹的前方并向下移动，水平方向上成功接近锅盖，到达锅盖的正上方。", + "frame": 58, + "progress": 20, + "progress_explanation": "当前爪夹已经移动到锅盖的正上方，因此进度提升至20%。", + "state_description": "当前爪夹张开，垂直于锅盖的正上方。\n为完成拿起锅盖，把它放到桌子上的任务应当：下降并抓取锅盖，抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方。", + "time": 3.8666666666666667, + "annotations": { + "point_1767078011763": { + "type": "point", + "instances": [ + { + "id": "point_1767078011763_1767078089242_peh2t9w17", + "x": 0.5115000000000001, + "y": 0.45155555555555554 + } + ] + }, + "point_1767078011123": { + "type": "point", + "instances": [ + { + "id": "point_1767078011123_1767078091755_pa6oe6zm5", + "x": 0.5245, + "y": 0.4106666666666667 + } + ] + }, + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078009979_1767078095754_eqn6qtadc", + "x": 0.4774999999999999, + "y": 0.4124444444444444, + "width": 0.06400000000000006, + "height": 0.07288888888888892 + } + ] + }, + "bbox_1767078010403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078010403_1767078105378_hih3ppo6y", + "x": 0.26949999999999996, + "y": 0.2897777777777778, + "width": 0.4620000000000001, + "height": 0.5955555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动，重新调整角度。", + "correction_plan": "调整爪夹角度，向爪夹的后方移动，到锅盖的正上方，下降爪夹并抓取锅盖，抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方，下降爪夹，将锅盖放在桌面上，松开爪夹，使锅盖落在桌面上。", + "error_success_analysis": "爪夹移动到锅盖的正上方，没有下降并抓取锅盖，而是向爪夹的前方移动，微微远离了锅盖。", + "frame": 70, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上略微远离了锅盖，因此进度下降至15%。", + "state_description": "当前爪夹在水平距离上略微远离了锅盖。\n为完成拿起锅盖，把它放到桌子上的任务应当：调整爪夹角度，向爪夹的后方移动，到锅盖的正上方。", + "time": 4.666666666666667, + "annotations": { + "bbox_1767078010403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078010403_1767078115970_n68s6c51c", + "x": 0.26949999999999996, + "y": 0.3075555555555555, + "width": 0.458, + "height": 0.568888888888889 + } + ] + }, + "point_1767078011763": { + "type": "point", + "instances": [ + { + "id": "point_1767078011763_1767078119042_zia74qnnx", + "x": 0.5215, + "y": 0.45155555555555554 + } + ] + }, + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078009979_1767078123874_dfbchbknj", + "x": 0.4795, + "y": 0.416, + "width": 0.06100000000000003, + "height": 0.08177777777777785 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的后方移动，到达锅盖的正上方。", + "correction_plan": "下降爪夹并抓取锅盖，抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方，下降爪夹，将锅盖放在桌面上，松开爪夹，使锅盖落在桌面上。", + "error_success_analysis": "爪夹向爪夹的后方移动，在水平方向处于锅盖的正上方。", + "frame": 85, + "progress": 20, + "progress_explanation": "当前爪夹已经移动到锅盖的正上方，因此进度提升至20%。", + "state_description": "当前爪夹张开，垂直于锅盖的正上方。\n为完成拿起锅盖，把它放到桌子上的任务应当：下降爪夹并抓取锅盖，抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方。", + "time": 5.666666666666667, + "annotations": { + "bbox_1767078010403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078010403_1767078133394_lxuut1aaq", + "x": 0.26949999999999996, + "y": 0.3111111111111111, + "width": 0.4620000000000001, + "height": 0.5760000000000001 + } + ] + }, + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078009979_1767078138449_wkast9qaf", + "x": 0.47850000000000004, + "y": 0.416, + "width": 0.07199999999999998, + "height": 0.07644444444444447 + } + ] + }, + "point_1767078011763": { + "type": "point", + "instances": [ + { + "id": "point_1767078011763_1767078141226_0r61t7jqd", + "x": 0.5075000000000001, + "y": 0.43733333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢并抓取锅盖。", + "correction_plan": "抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方，下降爪夹，将锅盖放在桌面上，松开爪夹，使锅盖落在桌面上。", + "error_success_analysis": "爪夹向爪夹的下方移动，并合拢成功抓到锅盖。", + "frame": 213, + "progress": 40, + "progress_explanation": "当前爪夹已经成功抓住锅盖，因此进度提升至40%。", + "state_description": "当前爪夹合拢，垂直于桌面，已经抓到锅盖。\n为完成拿起锅盖，把它放到桌子上的任务应当：抬起爪夹，向爪夹的右上方移动，到小锅右上方桌面的正上方。", + "time": 7.085910475773196, + "annotations": { + "point_1767078011763": { + "type": "point", + "instances": [ + { + "id": "point_1767078011763_1767078144658_hokyfnfan", + "x": 0.5155000000000001, + "y": 0.44977777777777783 + } + ] + }, + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078009979_1767078148986_0gwu7u4qj", + "x": 0.4795, + "y": 0.416, + "width": 0.06600000000000002, + "height": 0.06933333333333336 + } + ] + }, + "bbox_1767078010403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078010403_1767078152402_5fqml4ymi", + "x": 0.27149999999999996, + "y": 0.3466666666666666, + "width": 0.45600000000000007, + "height": 0.5191111111111112 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方移动，并向爪夹的右上方移动。", + "correction_plan": "爪夹向爪夹的右上方移动到小锅右上方桌面的正上方，下降爪夹，将锅盖放在桌面上，松开爪夹，使锅盖落在桌面上。", + "error_success_analysis": "爪夹已经抓住锅盖，并在向着小锅右上方桌面的方向靠近。", + "frame": 119, + "progress": 60, + "progress_explanation": "当前爪夹已经抓住锅盖，并垂直于桌面，因此进度提升至60%。", + "state_description": "当前爪夹合拢，抓住锅盖，垂直于桌面。\n为完成拿起锅盖，把它放到桌子上的任务应当：爪夹向爪夹的右上方移动到小锅右上方桌面的正上方，下降爪夹，将锅盖放在桌面上。", + "time": 7.933333333333334, + "annotations": { + "bbox_1767078010403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078010403_1767078164058_itqfse6yr", + "x": 0.23850000000000002, + "y": 0.31466666666666665, + "width": 0.5119999999999999, + "height": 0.5546666666666666 + } + ] + }, + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078009979_1767078168041_pcqvlt3za", + "x": 0.5095, + "y": 0.34844444444444445, + "width": 0.06100000000000003, + "height": 0.06755555555555554 + } + ] + }, + "point_1767078011763": { + "type": "point", + "instances": [ + { + "id": "point_1767078011763_1767078170737_wz6fi50lf", + "x": 0.5395000000000001, + "y": 0.3893333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，并向爪夹的右上方移动。", + "correction_plan": "下降爪夹，将锅盖放在桌面上，松开爪夹，使锅盖落在桌面上。", + "error_success_analysis": "爪夹已经抓取到锅盖，并移动到了桌面的正上方。", + "frame": 135, + "progress": 80, + "progress_explanation": "当前爪夹已抓住锅盖并移动至小锅右上方桌面的正上方，因此进度为80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住锅盖处于小锅右上方桌面的正上方。\n为完成拿起锅盖，把它放到桌子上的任务应当：下降爪夹，将锅盖放在桌面上，松开爪夹，使锅盖落在桌面上。", + "time": 9, + "annotations": { + "point_1767078011763": { + "type": "point", + "instances": [ + { + "id": "point_1767078011763_1767078174049_xpm5bbixj", + "x": 0.5805, + "y": 0.45866666666666667 + } + ] + }, + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078009979_1767078177521_20wy6vt13", + "x": 0.5455, + "y": 0.4142222222222222, + "width": 0.06499999999999995, + "height": 0.09244444444444445 + } + ] + }, + "bbox_1767078010403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078010403_1767078189121_4clupscma", + "x": 0.26949999999999996, + "y": 0.32, + "width": 0.46799999999999997, + "height": 0.5564444444444444 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，并向爪夹的下方移动。", + "correction_plan": "松开爪夹，使锅盖落在桌面上。", + "error_success_analysis": "爪夹向下移动，成功将锅盖放在桌面上。", + "frame": 161, + "progress": 90, + "progress_explanation": "当前爪夹合拢，成功将锅盖放在桌面上，因此进度提升至90%。\n", + "state_description": "当前爪夹合拢，垂直于桌面上。\n为完成拿起锅盖，把它放到桌子上的任务应当：松开爪夹，使锅盖落在桌面上。", + "time": 10.733333333333333, + "annotations": { + "bbox_1767078010403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078010403_1767078194929_6xyx0ixzz", + "x": 0.2655, + "y": 0.32355555555555554, + "width": 0.46799999999999997, + "height": 0.5706666666666667 + } + ] + }, + "point_1767078011763": { + "type": "point", + "instances": [ + { + "id": "point_1767078011763_1767078197553_cfna14rfv", + "x": 0.5785, + "y": 0.4888888888888889 + } + ] + }, + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078009979_1767078202225_jp3l38o8j", + "x": 0.5475000000000001, + "y": 0.43733333333333335, + "width": 0.06399999999999997, + "height": 0.0711111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹松开，锅盖落下。", + "correction_plan": "", + "error_success_analysis": "锅盖成功落在桌面上。", + "frame": 185, + "progress": 100, + "progress_explanation": "当前锅盖已经落在桌面上，因此进度提升至100%。", + "state_description": "当前爪夹松开，垂直于桌面，已经完成拿起锅盖，把它放到桌子上的任务。", + "time": 12.333333333333334, + "annotations": { + "bbox_1767078009979": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767078009979_1767078206433_5p9afg62b", + "x": 0.5495, + "y": 0.4391111111111111, + "width": 0.05800000000000001, + "height": 0.07466666666666666 + } + ] + }, + "point_1767078011763": { + "type": "point", + "instances": [ + { + "id": "point_1767078011763_1767078209041_xa2cpajy7", + "x": 0.5715, + "y": 0.45155555555555554 + } + ] + }, + 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0000000000000000000000000000000000000000..4642f5453b6540322faa64a9c114f846356c0f3e --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002653.json @@ -0,0 +1,446 @@ +{ + "task_description": "把小吃条从水槽里拿出来，放在台面上。\n开始移动：0%\n爪夹靠近小吃条：20%\n爪夹抓住小吃条：40%。\n爪夹抓住小吃条并接近台面：60%\n爪夹保持合拢并移动到台面的正上方：80%\n爪夹松开，小吃条落在台面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，暂未移动。", + "correction_plan": "调整爪夹角度，使爪夹垂直于桌面，爪夹向爪夹的前方并向下方移动，到达小吃条的正上方，下降爪夹并抓取小吃条，垂直抬起爪夹，向爪夹的左侧移动，到达水槽左侧台面的正上方，松开爪夹，使小吃条落在台面上。", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "当前爪夹保持张开状态，没有移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触小吃条。\n为完成把小吃条从水槽里拿出来，放在台面上的任务应当：调整爪夹角度，使爪夹垂直于桌面，爪夹向爪夹的前方并向下方移动，到达小吃条的正上方。", + "time": 0.31278350515463915, + "annotations": { + "bbox_1767080433321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433321_1767080469456_hj51626ah", + "x": 0.6985, + "y": 0.7911111111111111, + "width": 0.04299999999999997, + "height": 0.06933333333333327 + } + ] + }, + "point_1767080434433": { + "type": "point", + "instances": [ + { + "id": "point_1767080434433_1767080472296_8gqplnbe0", + "x": 0.7475, + "y": 0.4142222222222222 + } + ] + }, + "point_1767080434681": { + "type": "point", + "instances": [ + { + "id": "point_1767080434681_1767080475280_xhnc2eh75", + "x": 0.8145, + "y": 0.4 + } + ] + }, + "bbox_1767080433681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433681_1767080484488_y1osnd8ze", + "x": 0.2685, + "y": 0.4995555555555555, + "width": 0.7299999999999999, + "height": 0.48888888888888904 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动并向下移动，并调整爪夹角度，使其接近垂直于桌面。", + "correction_plan": "调整爪夹角度，使爪夹垂直于桌面，爪夹向爪夹的前方并向下方移动，到达小吃条的正上方，下降爪夹并抓取小吃条，垂直抬起爪夹，向爪夹的左侧移动，到达水槽左侧台面的正上方，松开爪夹，使小吃条落在台面上。", + "error_success_analysis": "爪夹向爪夹的前方移动，并向下移动，在水平方向上略微接近小吃条。", + "frame": 43, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近小吃条，因此进度提升至10%。", + "state_description": "当前爪夹张开，在水平方向上略微接近小吃条。\n为完成把小吃条从水槽里拿出来，放在台面上的任务应当：继续调整角度，使爪夹垂直于桌面，并向前移动，再向下移动，到达小吃条的正上方。", + "time": 1.4286597938144328, + "annotations": { + "point_1767080434433": { + "type": "point", + "instances": [ + { + "id": "point_1767080434433_1767080494960_nx1xd9utj", + "x": 0.7525000000000001, + "y": 0.5315555555555556 + } + ] + }, + "point_1767080434681": { + "type": "point", + "instances": [ + { + "id": "point_1767080434681_1767080497824_ujz15v774", + "x": 0.8135, + "y": 0.5173333333333333 + } + ] + }, + "bbox_1767080433321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433321_1767080501600_swj4x92a0", + "x": 0.6985, + "y": 0.7946666666666666, + "width": 0.038999999999999965, + "height": 0.05688888888888894 + } + ] + }, + "bbox_1767080433681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433681_1767080505704_uwj5zclon", + "x": 0.27149999999999996, + "y": 0.4977777777777778, + "width": 0.728, + "height": 0.4888888888888888 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动同时下降。", + "correction_plan": "向爪夹的下方移动，到小吃条的正上方，下降并抓取小吃条，垂直抬起爪夹，并向爪夹的左侧移动，到达水槽左侧台面的正上方，松开爪夹，使小吃条落在台面上。", + "error_success_analysis": "爪夹向爪夹的前方移动同时下降，在水平方向上成功接近小吃条。", + "frame": 135, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上进一步接近小吃条，因此进度提升至20%。", + "state_description": "当前爪夹保持张开，垂直于水槽的正上方。\n为完成把小吃条从水槽里拿出来，放在台面上的任务应当：向爪夹的下方移动，到小吃条的正上方，下降并抓取小吃条。", + "time": 4.505773195876289, + "annotations": { + "point_1767080434433": { + "type": "point", + "instances": [ + { + "id": "point_1767080434433_1767080515120_ox0i4dnv8", + "x": 0.7165, + "y": 0.768 + } + ] + }, + "point_1767080434681": { + "type": "point", + "instances": [ + { + "id": "point_1767080434681_1767080518280_abkmyt95m", + "x": 0.7635, + "y": 0.7573333333333333 + } + ] + }, + "bbox_1767080433321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433321_1767080522536_34elaisoe", + "x": 0.7045, + "y": 0.7964444444444445, + "width": 0.03500000000000005, + "height": 0.05511111111111104 + } + ] + }, + "bbox_1767080433681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433681_1767080528048_lx5xwcmfy", + "x": 0.2565, + "y": 0.5031111111111112, + "width": 0.741, + "height": 0.4853333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动同时下降，移动至小吃条的正上方。\n", + "correction_plan": "下降爪夹并抓取小吃条，垂直抬起爪夹，并向爪夹的左侧移动，到达水槽左侧台面的正上方，松开爪夹，使小吃条落在台面上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动同时下降，水平方向上成功接近小吃条，到达小吃条的正上方，准备抓取。\n", + "frame": 211, + "progress": 30, + "progress_explanation": "当前爪夹在水平方向上已经到达小吃条的正上方，并调整完爪夹角度方便抓取，因此进度提升为30%。", + "state_description": "当前爪夹张开，到达小吃条的正上方。\n为完成把小吃条从水槽里拿出来，放在台面上的任务应当：下降爪夹并抓取小吃条，垂直抬起爪夹，并向爪夹的左侧移动，到达水槽左侧台面的正上方。", + "time": 7.041855670103093, + "annotations": { + "point_1767080434433": { + "type": "point", + "instances": [ + { + "id": "point_1767080434433_1767080536616_ug6ml8qlo", + "x": 0.7215, + "y": 0.8444444444444444 + } + ] + }, + "point_1767080434681": { + "type": "point", + "instances": [ + { + "id": "point_1767080434681_1767080538935_mffi7sf5n", + "x": 0.7695000000000001, + "y": 0.8213333333333334 + } + ] + }, + "bbox_1767080433321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433321_1767080542472_qy1l4v0hy", + "x": 0.6965, + "y": 0.7928888888888889, + "width": 0.051000000000000066, + "height": 0.06755555555555554 + } + ] + }, + "bbox_1767080433681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433681_1767080546439_l2vk7o4c7", + "x": 0.2675, + "y": 0.4888888888888888, + "width": 0.7289999999999999, + "height": 0.5031111111111112 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下方移动，合拢爪夹并抓取小吃条。\n", + "correction_plan": "垂直抬起爪夹，并向爪夹的左侧移动，到达水槽左侧台面的正上方，松开爪夹，使小吃条落在台面上。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取小吃条。\n", + "frame": 140, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取小吃条，因此进度提升为40%。", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到小吃条。\n为完成把小吃条从水槽里拿出来，放在台面上的任务应当：垂直抬起爪夹，并向爪夹的左侧移动，到达水槽左侧台面的正上方.", + "time": 9.333333333333334, + "annotations": { + "bbox_1767080433681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433681_1767080569839_nr472s7mm", + "x": 0.2665, + "y": 0.5031111111111112, + "width": 0.7250000000000001, + "height": 0.4835555555555555 + } + ] + }, + "point_1767080434433": { + "type": "point", + "instances": [ + { + "id": "point_1767080434433_1767080572951_eiet7vz7b", + "x": 0.7225, + "y": 0.8462222222222222 + } + ] + }, + "point_1767080434681": { + "type": "point", + "instances": [ + { + "id": "point_1767080434681_1767080575383_2jdnqtswc", + "x": 0.7455, + "y": 0.839111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹抓住小吃条向爪夹上方移动，并向爪夹方向的左侧移动。\n", + "correction_plan": "爪夹向爪夹的左侧移动，到达水槽左侧台面的正上方，松开爪夹，使小吃条落在台面上。", + "error_success_analysis": "爪夹成功抓取小吃条，并在向着水槽左侧台面的方向靠近。\n", + "frame": 163, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住小吃条，并在水平方向上靠近水槽左侧台面，因此进度为60%。", + "state_description": "当前爪夹合拢，抓住小吃条，垂直于桌面。\n为完成把小吃条从水槽里拿出来，放在台面上的任务应当：爪夹向爪夹的左侧移动，到达水槽左侧台面的正上方。", + "time": 10.866666666666667, + "annotations": { + "bbox_1767080433321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433321_1767080581455_xsnyxt9ib", + "x": 0.6825, + "y": 0.7182222222222222, + "width": 0.05700000000000003, + "height": 0.11199999999999997 + } + ] + }, + "point_1767080434433": { + "type": "point", + "instances": [ + { + "id": "point_1767080434433_1767080583551_bg1qucjde", + "x": 0.7015, + "y": 0.7893333333333334 + } + ] + }, + "bbox_1767080433681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433681_1767080587295_l03z9ow62", + "x": 0.2765, + "y": 0.49777777777777776, + "width": 0.7219999999999999, + "height": 0.4888888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，抓紧小吃条向爪夹方向的左侧移动。\n", + "correction_plan": "松开爪夹，使小吃条落在台面上。", + "error_success_analysis": "爪夹已经抓取到小吃条，并移动到了水槽左侧台面的正上方。\n", + "frame": 406, + "progress": 80, + "progress_explanation": "当前爪夹已抓住小吃条并移动至水槽左侧台面的正上方，因此进度为80%。\n", + "state_description": "当前爪夹合找，垂直于桌面，抓住小吃条处于水槽左侧台面的正上方。\n为完成把小吃条从水槽里拿出来，放在台面上的任务应当：松开爪夹，使小吃条落在台面上。", + "time": 13.517319587628865, + "annotations": { + "point_1767080434433": { + "type": "point", + "instances": [ + { + "id": "point_1767080434433_1767080601247_6hpoep1fl", + "x": 0.5975, + "y": 0.840888888888889 + } + ] + }, + "bbox_1767080433321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433321_1767080605015_c3u6v2o5t", + "x": 0.5605, + "y": 0.7715555555555556, + "width": 0.092, + "height": 0.09422222222222226 + } + ] + }, + "bbox_1767080433681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433681_1767080610159_9ghh569mh", + "x": 0.2685, + "y": 0.5084444444444445, + "width": 0.727, + "height": 0.48177777777777786 + } + ] + } + } + }, + { + "action_description": "爪夹松开，小吃条落下。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，小吃条成功落在台面上。", + "frame": 216, + "progress": 100, + "progress_explanation": "当前小吃条已经落在台面上，因此进度提升至100%。", + "state_description": "当前爪夹张开，小吃条落在台面上，已经完成把小吃条从水槽里拿出来，放在台面上的任务。", + "time": 14.4, + "annotations": { + "bbox_1767080433681": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433681_1767080615663_lwl70i2t2", + "x": 0.2625, + "y": 0.5102222222222222, + "width": 0.736, + "height": 0.48177777777777775 + } + ] + }, + "bbox_1767080433321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080433321_1767080619319_zwgvo3qfg", + "x": 0.5565, + "y": 0.8053333333333333, + "width": 0.09299999999999997, + "height": 0.09066666666666663 + } + ] + }, + "point_1767080434433": { + "type": "point", + "instances": [ + { + "id": "point_1767080434433_1767080621639_hm9lcfog3", + "x": 0.5895, + "y": 0.8533333333333333 + } + ] + }, + "point_1767080434681": { + "type": "point", + "instances": [ + { + "id": "point_1767080434681_1767080623847_dg0k2lqcl", + "x": 0.6165, + "y": 0.7893333333333334 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767080433321", + "name": "小吃条", + "color": "#4CAF50" + }, + { + "id": "bbox_1767080433681", + "name": "台面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767080434433", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767080434681", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002676.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002676.json new file mode 100644 index 0000000000000000000000000000000000000000..095427bd2c4e86a7f509c7b8eb91b24a076281b1 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002676.json @@ -0,0 +1,647 @@ +{ + "task_description": "用勺子从盘子里舀出一些谷物，放在红色的碗里。\n开始移动：0%\n爪夹靠近勺子：15%\n爪夹抓取勺子：30%\n爪夹抓住勺子并接近盘子：40%\n爪夹保持合拢，移动到盘子的上方并下降舀向谷物：60%\n爪夹抬起并保持合拢，靠近红色碗：80%\n爪夹保持合拢，移动到红色碗的正上方：90%\n爪夹向爪夹的右前方倾斜，使勺子里的谷物落入盘子里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "向爪夹的右前方移动的同时下降，并调整角度，使爪夹垂直于勺子的正上方，下降并抓取勺子，抬起抓夹，向爪夹的左前方移动，到盘子边缘的正上方，下降爪夹，将勺子放在盘子内侧，爪夹向爪夹的前方移动，使勺子舀到谷物，爪夹向爪夹右侧旋转并垂直抬起，向爪夹的后方移动，到达红色碗的正上方，接着向爪夹的右前方倾斜，使勺子里的谷物落在红色碗里。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触勺子。\n为完成用勺子从盘子里舀出一些谷物，放在红色的碗里的任务应当：向爪夹的右前方移动的同时下降，并调整角度，使爪夹垂直于勺子的正上方。", + "time": 0.7319244087628866, + "annotations": { + "bbox_1767085186085": { + "type": "bbox", + "instances": [ + { + "id": 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0000000000000000000000000000000000000000..fdf58bd6533915b8c83f110a10e3b3c5228b37f6 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002236.json @@ -0,0 +1,582 @@ +{ + "task_description": "用黄色毛巾擦拭台面。\n开始移动：0%\n爪夹靠近黄色毛巾：30%\n爪夹抵住黄色毛巾：50%\n爪夹抵住黄色毛巾并四处擦拭台面：60%\n爪夹抬起：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "下降爪夹，调整角度，使爪夹垂直于桌面，向爪夹的下方移动，到达黄色毛巾的正上方，向爪夹的下方移动，使爪夹抵住黄色毛巾，并擦拭台面，爪夹抵住黄色毛巾向爪夹的前方移动，并擦拭桌面，爪夹向爪夹的右侧移动，擦拭桌面，再次向爪夹的后边移动擦拭桌面，爪夹向爪夹的左前方移动并擦拭桌面，爪夹向爪夹的右侧移动并擦拭桌面，爪夹抬起。", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "当前爪夹没有出现在画面中，因此进度为0%。", + "state_description": "当前状态为爪夹没有移动，没有出现在画面。为完成用黄色毛巾擦拭台面的任务应当：下降爪夹，调整角度，使爪夹垂直于桌面，向爪夹的下方移动，到达黄色毛巾的正上方。", + "time": 0.8666666666666667, + "annotations": { + "bbox_1767148943370": { + "type": "bbox", + "instances": [ + { + "id": 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"progress_explanation": "当前爪夹向爪夹的前方移动至桌面右侧，并擦拭桌面，因此进度提升至60%。", + "state_description": "当前爪夹位于桌面右侧的正上方。\n为完成用黄色毛巾擦拭台面的任务应当：爪夹向爪夹的右侧移动，擦拭桌面。", + "time": 4.733333333333333, + "annotations": { + "point_1767148944538": { + "type": "point", + "instances": [ + { + "id": "point_1767148944538_1767149145415_7aiysdq6p", + "x": 0.4225, + "y": 0.3822222222222222 + } + ] + }, + "point_1767148944314": { + "type": "point", + "instances": [ + { + "id": "point_1767148944314_1767149147711_tx0byde24", + "x": 0.3735, + "y": 0.33955555555555555 + } + ] + }, + "bbox_1767148943370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943370_1767149153535_wi6yayxyk", + "x": 0.28250000000000003, + "y": 0.2808888888888889, + "width": 0.18200000000000002, + "height": 0.15288888888888888 + } + ] + }, + "bbox_1767148943666": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943666_1767149159631_j0jtyvb9h", + "x": 0.0025, + "y": 0.2648888888888889, + "width": 0.588, + "height": 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0.6986666666666667 + } + ] + }, + "point_1767148944314": { + "type": "point", + "instances": [ + { + "id": "point_1767148944314_1767149251758_ahnj3boit", + "x": 0.4205, + "y": 0.256 + } + ] + }, + "point_1767148944538": { + "type": "point", + "instances": [ + { + "id": "point_1767148944538_1767149254294_5agnkddke", + "x": 0.4645, + "y": 0.32355555555555554 + } + ] + }, + "bbox_1767148943370": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767148943370_1767149263262_i4qwq66du", + "x": 0.3465, + "y": 0.29333333333333333, + "width": 0.15600000000000006, + "height": 0.14577777777777778 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767148943370", + "name": "黄色毛巾", + "color": "#4CAF50" + }, + { + "id": "bbox_1767148943666", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767148944314", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767148944538", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002706.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002706.json new file mode 100644 index 0000000000000000000000000000000000000000..16d1ef1a87547294a3ce3d1ce4e63d25eafb0a5f --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002706.json @@ -0,0 +1,318 @@ +{ + "task_description": "把胶棒从杯子里拿出来，放在桌子上。\n开始移动：0%\n爪夹靠近胶棒：20%\n爪夹抓取胶棒：40%\n爪夹抓住胶棒并接近黑色盒子前方的桌面：60%\n爪夹保持合拢并移动到黑色盒子前方的桌面的正上方：80%\n爪夹松开，使胶棒落在桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "爪夹向爪夹的前方移动的同时下降，移动至杯子的正上方，下降爪夹并抓取胶棒，爪夹向上抬升，并向爪夹的前方移动，到黑色盒子前方的桌面的正上方，爪夹向爪夹的下方移动，将胶棒放在桌面上，松开爪夹，使胶棒落在桌子上。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，因此进度为0%。", + "state_description": "当前状态为爪夹没有移动，没有出现在画面。\n为完成把胶棒从杯子里拿出来，放在桌子上的任务应当：向爪夹的前方移动的同时下降，移动至杯子的正上方，下降爪夹并抓取胶棒。", + "time": 1.3451546391752578, + "annotations": { + "bbox_1767149498539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149498539_1767151017122_8yuxgbczg", + "x": 0.17850000000000002, + "y": 0.4053333333333334, + "width": 0.78, + "height": 0.5848888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方微调，并调整爪夹角度，使其接近于垂直桌面。\n", + "correction_plan": "向爪夹的前方移动的同时下降，移动至杯子的正上方，下降爪夹并抓取胶棒，爪夹向上抬升，并向爪夹的前方移动，到黑色盒子前方的桌面的正上方，爪夹向爪夹的下方移动，将胶棒放在桌面上，松开爪夹，使胶棒落在桌子上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动同时下降，在水平方向上接近胶棒。", + "frame": 64, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近胶棒并开始调整爪夹角度方便抓取，因此进度为10%。\n", + "state_description": "当前爪夹张开，在水平距离上接近胶棒。\n为完成把胶棒从杯子里拿出来，放在桌子上的任务应当：向爪夹的前方移动的同时下降，移动至杯子的正上方，下降爪夹并抓取胶棒。", + "time": 2.1418556701030926, + "annotations": { + 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+ "frame": 176, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住胶棒，并在水平方向上靠近黑色盒子前方的桌面，因此进度为60%。\n", + "state_description": "当前爪夹合拢，抓住胶棒，垂直于桌面。\n为完成把胶棒从杯子里拿出来，放在桌子上的任务应当：向爪夹的前方移动，到黑色盒子前方的桌面的正上方，下降爪夹，将胶棒放在桌子上。", + "time": 5.859793814432989, + "annotations": { + "point_1767149499339": { + "type": "point", + "instances": [ + { + "id": "point_1767149499339_1767151046106_ops55mci2", + "x": 0.9755, + "y": 0.8906666666666666 + } + ] + }, + "bbox_1767149498539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767149498539_1767151051658_oed5signl", + "x": 0.17850000000000002, + "y": 0.3928888888888889, + "width": 0.76, + "height": 0.5937777777777777 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，抓紧胶棒向爪夹方向的前方移动。\n", + "correction_plan": "爪夹向爪夹的下方移动，将胶棒放在桌面上，松开爪夹，使胶棒落在桌子上。", + "error_success_analysis": "爪夹已经抓取到胶棒，并移动到了桌面的正上方。\n", + "frame": 224, + "progress": 80, + "progress_explanation": "当前爪夹已抓住胶棒并移动至桌面的正上方，因此进度为80%。\n", + "state_description": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003388.json new file mode 100644 index 0000000000000000000000000000000000000000..bfe5b06f5b98ef4807ed903836fd93f3df6f1d00 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003388.json @@ -0,0 +1,484 @@ +{ + "task_description": "打开箱子。\n开始移动：0%\n爪夹靠近箱子：20%\n爪夹到达盖子的下方：50%\n爪夹向爪夹的上方抬起盖子：70%\n盖子与箱子垂直，箱子完全打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的右前方移动，靠近盖子，到达盖子的下方，爪夹向上抬起，将盖子掀起，盖子与箱子垂直，箱子完全打开。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触盖子。\n为完成打开箱子的任务应当：爪夹向爪夹的右前方移动，靠近盖子，到达盖子的下方。", + "time": 0.4793814510309279, + "annotations": { + "point_1767164744218": { + "type": "point", + 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"当前爪夹在水平方向上位于箱子侧边的上方。\n为完成打开箱子的任务应当：爪夹向爪夹的上方移动，并调整角度向爪夹的下方移动。", + "time": 8.703436566494847, + "annotations": { + "bbox_1767164743234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743234_1767164878784_hc66ldi4p", + "x": 0.3975, + "y": 0.34844444444444445, + "width": 0.194, + "height": 0.2773333333333333 + } + ] + }, + "point_1767164744218": { + "type": "point", + "instances": [ + { + "id": "point_1767164744218_1767164881336_9n0cgvtpp", + "x": 0.4535, + "y": 0.29511111111111116 + } + ] + }, + "point_1767164744410": { + "type": "point", + "instances": [ + { + "id": "point_1767164744410_1767164883464_mvo2i3m0s", + "x": 0.4615, + "y": 0.4 + } + ] + }, + "bbox_1767164743490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743490_1767164889008_v95zxk0jk", + "x": 0.4035, + "y": 0.35555555555555557, + "width": 0.18899999999999997, + "height": 0.11555555555555554 + } + ] + } + } + }, + { + "time": 11.16, + "frame": 335, + "progress": 50, + "action_description": "爪夹调整角度并向爪夹的下方移动。", + "state_description": "当前爪夹的一侧位于盖子的下方。\n为完成打开箱子的任务应当：爪夹向爪夹的上方抬起盖子，使盖子与箱子垂直，箱子完全打开。", + "progress_explanation": "当前爪夹的一侧已经移动至盖子的下方，因此进度提升至50%。", + "error_success_analysis": "爪夹向爪夹的下方移动，成功使爪夹的一侧移动至盖子的下方。", + "correction_plan": "爪夹向爪夹的上方抬起盖子，使盖子与箱子垂直，箱子完全打开。", + "annotations": { + "bbox_1767164743490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743490_1767164896648_5p4vpv697", + "x": 0.41950000000000004, + "y": 0.352, + "width": 0.17299999999999996, + "height": 0.10844444444444443 + } + ] + }, + "bbox_1767164743234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743234_1767164902528_i6vcc41d1", + "x": 0.40549999999999997, + "y": 0.3413333333333333, + "width": 0.19000000000000003, + "height": 0.29688888888888887 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方抬起盖子。", + "correction_plan": "爪夹继续向爪夹的上方抬起盖子，使盖子与箱子垂直，箱子完全打开。", + "error_success_analysis": "爪夹向爪夹的上方抬起盖子，成功移动至半空。", + "frame": 413, + "progress": 70, + "progress_explanation": "当前爪夹向爪夹的上方抬起盖子，已经将盖子抬起至箱子的上方，因此进度提升至70%。", + "state_description": "当前爪夹位于箱子的正上方。\n为完成打开箱子的任务应当：爪夹继续向爪夹的上方抬起盖子，使盖子与箱子垂直，箱子完全打开。", + "time": 13.752921184020618, + "annotations": { + "point_1767164744410": { + "type": "point", + "instances": [ + { + "id": "point_1767164744410_1767164910264_fg5zimabq", + "x": 0.47050000000000003, + "y": 0.3431111111111111 + } + ] + }, + "bbox_1767164743234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743234_1767164914328_8sp2os5c5", + "x": 0.3965, + "y": 0.26844444444444443, + "width": 0.18399999999999994, + "height": 0.3644444444444444 + } + ] + }, + "bbox_1767164743490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743490_1767164918680_v5cltjz0c", + "x": 0.40549999999999997, + "y": 0.2648888888888889, + "width": 0.17700000000000005, + "height": 0.11200000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方抬起盖子，使盖子与箱子垂直。", + "correction_plan": "", + "error_success_analysis": "爪夹向爪夹的上方抬起盖子，盖子与箱子垂直，箱子完全打开。", + "frame": 246, + "progress": 100, + "progress_explanation": "当前爪夹已经将盖子抬起，使盖子与箱子垂直，箱子完全打开，因此进度提升至100%。", + "state_description": "当前盖子与箱子垂直，箱子完全打开，已经完成打开箱子的任务。", + "time": 16.466666666666665, + "annotations": { + "bbox_1767164743490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743490_1767164925352_dugsbn8wt", + "x": 0.40549999999999997, + "y": 0.12977777777777777, + "width": 0.166, + "height": 0.24000000000000002 + } + ] + }, + "point_1767164744410": { + "type": "point", + "instances": [ + { + "id": "point_1767164744410_1767164927992_r0l7ym825", + "x": 0.4955, + "y": 0.192 + } + ] + }, + "bbox_1767164743234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767164743234_1767164932560_oifvhy2k6", + "x": 0.40049999999999997, + "y": 0.12444444444444444, + "width": 0.1830000000000001, + "height": 0.5084444444444445 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767164743234", + "name": "箱子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767164743490", + "name": "盖子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767164744218", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767164744410", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003950.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003950.json new file mode 100644 index 0000000000000000000000000000000000000000..1637159ceb9fc4bc2a77b650ef3efafa08a3600f --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003950.json @@ -0,0 +1,356 @@ +{ + "task_description": "将橙色毛巾移动至桌子的左下方。\n开始移动：0%\n爪夹靠近毛巾：30%\n爪夹轻微合拢抓住毛巾：60%\n爪夹将毛巾移动至桌子的左下方：90%\n爪夹松开，并抬起：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的前方移动同时下降，靠近橙色毛巾，到达橙色毛巾的正上方，下降爪夹并轻微合拢抓取橙色毛巾，爪夹保持轻微合拢的动作并向爪夹的右方移动，到桌子的左下方，松开爪夹并向爪夹的上方抬起。", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触毛巾。\n为完成将橙色毛巾移动至桌子的左下方的任务应当：爪夹向爪夹的前方移动同时下降，靠近橙色毛巾，到达橙色毛巾的正上方。", + "time": 0.9664948453608249, + "annotations": { + "bbox_1767166602436": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166602436_1767166630908_r7mlvy3tk", + "x": 0.3585, + "y": 0.24711111111111114, + "width": 0.41900000000000004, + "height": 0.4782222222222222 + } + ] + }, + "bbox_1767166602052": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166602052_1767166642852_n94gelzg8", + "x": 0.40650000000000003, + "y": 0.2524444444444444, + "width": 0.12299999999999996, + "height": 0.11555555555555554 + } + ] + }, + "point_1767166603692": { + "type": "point", + "instances": [ + { + "id": "point_1767166603692_1767166652012_dh90clukz", + "x": 0.4305, + "y": 0.08177777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动同时下降，靠近橙色毛巾。", + "correction_plan": "继续向爪夹的前方移动同时下降，到橙色毛巾的正上方，下降爪夹并轻微合拢抓取橙色毛巾，爪夹保持轻微合拢的动作并向爪夹的右方移动，到桌子的左下方，松开爪夹并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹方向的左方移动同时下降，水平方向上接近橙色毛巾。", + "frame": 53, + "progress": 25, + "progress_explanation": "当前爪夹在水平方向上接近橙色毛巾并垂直于桌面方便抓取，因此进度提升为25%。\n", + "state_description": "当前爪夹在水平方向上垂直于桌面。\n为完成将橙色毛巾移动至桌子的左下方的任务应当：继续向爪夹的前方移动同时下降，到橙色毛巾的正上方。", + "time": 1.7706185567010309, + "annotations": { + "point_1767166603692": { + "type": "point", + "instances": [ + { + "id": "point_1767166603692_1767166655084_qlurdnaif", + "x": 0.4795, + "y": 0.192 + } + ] + }, + "point_1767166603412": { + "type": "point", + "instances": [ + { + "id": "point_1767166603412_1767166657323_g65mo0idf", + "x": 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"当前爪夹已经成功移动至垃圾桶按钮的正上方，因此进度提升至70%。", + "error_success_analysis": "爪夹向爪夹的前方移动，在水平方向上成功接近垃圾桶，到达垃圾桶按钮的正上方。", + "correction_plan": "向爪夹的下方移动将按钮打开，抬起爪夹，垃圾桶打开。", + "annotations": { + "point_1767492948389": { + "type": "point", + "instances": [ + { + "id": "point_1767492948389_1767493020405_77v26e4i2", + "x": 0.44350000000000006, + "y": 0.6737777777777778 + } + ] + }, + "bbox_1767492947381": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492947381_1767493024414_mnv1xcvyi", + "x": 0.4285, + "y": 0.6062222222222222, + "width": 0.158, + "height": 0.37155555555555553 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，向爪夹下方移动，按向按钮，将按钮打开。", + "correction_plan": "抬起爪夹，垃圾桶打开。", + "error_success_analysis": "爪夹向爪夹的下方移动，成功将按钮打开。", + "frame": 333, + "progress": 80, + "progress_explanation": "当前爪夹向爪夹下方移动，按向按钮，将按钮打开，因此进度提升至80%。", + "state_description": "当前爪夹合拢，成功位于按钮的正上方。\n为完成打开垃圾桶的任务应当：抬起爪夹，垃圾桶打开。", + "time": 11.095361095360827, + "annotations": { + "bbox_1767492947381": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492947381_1767493028990_9f5r4eo5u", + "x": 0.4345, + "y": 0.615111111111111, + "width": 0.15, + "height": 0.3608888888888889 + } + ] + }, + "point_1767492948389": { + "type": "point", + "instances": [ + { + "id": "point_1767492948389_1767493032646_k14vsfyza", + "x": 0.4455, + "y": 0.6791111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方移动，垃圾桶打开。", + "correction_plan": "", + "error_success_analysis": "爪夹向爪夹的上方移动，成功打开垃圾桶。", + "frame": 352, + "progress": 100, + "progress_explanation": "当前垃圾桶已经打开，因此进度提升至100%。", + "state_description": "当前垃圾桶打开，已经完成打开垃圾桶的任务。", + "time": 11.729381729381442, + "annotations": { + "point_1767492948389": { + "type": "point", + "instances": [ + { + "id": "point_1767492948389_1767493040406_6s46s55pw", + "x": 0.4385, + "y": 0.6524444444444444 + } + ] + }, + "bbox_1767492947381": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767492947381_1767493046734_zimtz55pn", + "x": 0.4285, + "y": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.exterior_image_2_left/episode_003775.json @@ -0,0 +1,481 @@ +{ + "task_description": "把笔从杯子里拿出来。\n开始移动：0%\n靠近杯子：20%\n爪夹抓取笔：40%\n爪夹抓住笔并接近杯子下方桌面：60%\n爪夹保持合拢并移动到杯子下方桌面的正上方：80%\n爪夹松开，使笔落在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "向爪夹的右前方移动，调整爪夹角度并靠近杯子，继续向爪夹方向的右前方移动，到达杯子正上方，向爪夹前方移动，并合拢爪夹抓取笔，抬起爪夹，向爪夹的右后方移动，到达杯子的右下方桌面的正上方，松开爪夹，使笔落在桌面上。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触笔。\n为完成把笔从杯子里拿出来的任务应当：向爪夹的右前方移动，调整爪夹角度并靠近杯子。", + "time": 0.2659106654639175, + "annotations": { + "bbox_1767494334064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767494334064_1767494367040_wfor2p3a2", + "x": 0.4405, + "y": 0.5582222222222223, + "width": 0.046, + "height": 0.1013333333333333 + } + ] + }, + "bbox_1767494334296": { + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.wrist_image_left/episode_003305.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.wrist_image_left/episode_003305.json new file mode 100644 index 0000000000000000000000000000000000000000..52cfe0e25eacbfadc1546969026e62921188c214 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-003/observation.images.wrist_image_left/episode_003305.json @@ -0,0 +1,265 @@ +{ + "task_description": "打开左边的柜门。\n开始移动：0%\n爪夹靠近柜子：30%\n爪夹抓取柜子的门把手：60%\n爪夹抓住门把手向后移动：80%\n爪夹松开，柜子打开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的后上方旋转爪夹，并向爪夹的前方靠近，到达门把手的正前方，爪夹向爪夹的前方移动，并合拢爪夹抓住门把手，爪夹保持合拢，向爪夹的后方移动，并向爪夹的右侧移动，松开爪夹，使柜门拉开。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没右接触柜门。\n为完成打开左边的柜门的任务应当：爪夹向爪夹的后上方旋转爪夹，并向爪夹的前方靠近，到达门把手的正前方。", + "time": 0.46487970979381443, + "annotations": { + "point_1767499521057": { + "type": "point", + "instances": [ + { + "id": "point_1767499521057_1767499538529_2ixcaq6e2", + "x": 0.45549999999999996, + "y": 0.6222222222222222 + } + ] + }, + "point_1767499521273": { + "type": "point", + "instances": [ + { + "id": "point_1767499521273_1767499540577_9ia7i6s6g", + "x": 0.7595, + "y": 0.6168888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的后上方旋转爪夹，并调整角度。", + "correction_plan": "调整爪夹角度，并向爪夹的前方靠近，移动至门把手的正前方，爪夹向爪夹的前方移动，并合拢爪夹抓住门把手，爪夹保持合拢，向爪夹的后方移动，并向爪夹的右侧移动，松开爪夹，使柜门拉开。", + "error_success_analysis": "爪夹向爪夹方向的后上方旋转爪夹，并调整角度，在水平方向上接近柜门。\n", + "frame": 69, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上略微接近柜门并开始调整爪夹角度方便抓取，因此进度提升至20%。\n", + "state_description": "当前爪夹张开，在水平距离上接近门把手。\n为完成打开左边的柜门的任务应当：调整爪夹角度，并向爪夹的前方靠近，移动至门把手的正前方。", + "time": 2.3139518139175257, + "annotations": { + "point_1767499521273": { + "type": "point", + "instances": [ + { + "id": "point_1767499521273_1767499543017_khnjehs72", + "x": 0.7595, + "y": 0.6346666666666667 + } + ] + }, + "point_1767499521057": { + "type": "point", + "instances": [ + { + "id": "point_1767499521057_1767499544921_p5mdg4y1z", + "x": 0.4575, + "y": 0.6168888888888889 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动，移动至柜门的正前方。\n", + "correction_plan": "爪夹向爪夹的前方移动，并合拢爪夹抓住门把手，爪夹保持合拢，向爪夹的后方移动，并向爪夹的右侧移动，松开爪夹，使柜门拉开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向上成功接近柜门，到达柜门的正前方，准备抓取。\n", + "frame": 99, + "progress": 40, + "progress_explanation": "当前爪夹已成功移动至柜门的正前方，因此进度提升至40%。\n", + "state_description": "当前爪夹张开，到达柜门的正前方。\n为完成打开左边的柜门的任务应当：爪夹向爪夹的前方移动，并合拢爪夹抓住门把手。", + "time": 3.306391643814433, + "annotations": { + "point_1767499521057": { + "type": "point", + "instances": [ + { + "id": "point_1767499521057_1767499547793_wnyywqmts", + "x": 0.45149999999999996, + "y": 0.624 + } + ] + }, + "point_1767499521273": { + 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+} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004480.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004480.json new file mode 100644 index 0000000000000000000000000000000000000000..d0dc791279f41a7759eec93129621d5ac3b3b722 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004480.json @@ -0,0 +1,408 @@ +{ + "task_description": "从桌子上拿起绿色方块，把它放在碗里。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近绿色方块：30%\n爪夹抓住绿色方块：50%\n爪夹合拢并靠近碗：70%\n爪夹保持合拢并移动至碗的正上方：90%\n爪夹松开，绿色方块落在碗里：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "爪夹向爪夹的右前方移动，并调整爪夹角度靠近绿色方块，爪夹继续向爪夹的右前方移动，到达绿色方块的正上方，爪夹向爪夹的下方移动，合拢爪夹并抓取绿色方块，爪夹向爪夹的上方抬起，并向爪夹的后方移动，到达碗的正上方，松开爪夹，使绿色方块落入碗中。", + 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-0,0 +1,648 @@ +{ + "task_description": "把瓶子从塑料袋里拿出来，放在台面上。\n准备移动：0%\n爪夹靠近塑料袋：20%\n爪夹抓取瓶子：40%\n爪夹抓住瓶子并靠近台面：60%\n爪夹保持合拢移动至台面的正上方：80%\n爪夹松开，使瓶子落在台面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的左下方移动，到达塑料袋的右上方，爪夹向爪夹的下方移动，同时向爪夹的下方旋转爪夹角度，使爪夹和瓶子处于同一水平，爪夹向爪夹的左侧移动，并合拢爪夹抓取瓶子，爪夹向爪夹的右上方移动，将瓶子从塑料袋里拿出来，并向爪夹的右上方旋转爪夹角度，使爪夹垂直于台面，爪夹向爪夹的下方移动，将瓶子放在台面上，松开爪夹，使瓶子落在台面上。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前爪夹张开，没有移动，没有接触瓶子。\n为完成把瓶子从塑料袋里拿出来，放在台面上的任务应当：爪夹向爪夹的左下方移动，到达塑料袋的右上方，爪夹向爪夹的下方移动，同时向爪夹的下方旋转爪夹角度，使爪夹和瓶子处于同一水平。", + "time": 0.6481099726804124, + "annotations": { + "point_1767520379153": { + "type": "point", + "instances": [ + { + "id": "point_1767520379153_1767520403041_48x8zqcg6", + "x": 0.5745, + "y": 0.5173333333333333 + } + ] + }, + "point_1767520379337": { + "type": "point", + "instances": [ + { + "id": 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0000000000000000000000000000000000000000..8252bf2af9f8db8df421ddb306641963ada5a449 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004182.json @@ -0,0 +1,474 @@ +{ + "task_description": "把碗向后移动。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近碗：20%\n爪夹抓取碗：40%\n爪夹抓住碗靠近后方：60%\n爪夹保持合拢，移动到碗后方桌面的正上方：80%\n松开爪夹，使碗落在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的前方移动并调整角度，使爪夹垂直于桌面，爪夹向爪夹的下方移动，到达碗的正上方，向爪夹的下方移动，并合拢爪夹抓取碗，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，到碗原来位置的左后方的正上方，爪夹向爪夹的下方移动，将碗放在桌面上，爪夹松开，使碗落在桌面上。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触碗。\n为完成把碗向后移动的任务应当：爪夹向前调整角度，使爪夹垂直于桌面，爪夹向爪夹的下方移动，到达碗的正上方。", + "time": 0.6072164948453608, + "annotations": { + "bbox_1767576683364": { + "type": "bbox", + "instances": [ + { + "id": 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"当前爪夹张开，在水平方向上垂直于桌面。\n为完成把碗向后移动的任务应当：爪夹向爪夹的下方移动，到达碗的正上方，向爪夹的下方移动，并合拢爪夹抓取碗。", + "time": 1.1870103092783504, + "annotations": { + "bbox_1767576683604": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683604_1767579762337_zmeobqd19", + "x": 0.1315, + "y": 0.4426666666666667, + "width": 0.5349999999999999, + "height": 0.5439999999999999 + } + ] + }, + "bbox_1767576683364": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683364_1767579767049_v606zgnou", + "x": 0.49850000000000005, + "y": 0.6026666666666667, + "width": 0.06499999999999995, + "height": 0.09777777777777774 + } + ] + }, + "point_1767576684420": { + "type": "point", + "instances": [ + { + "id": "point_1767576684420_1767579771625_psvia51p4", + "x": 0.5385, + "y": 0.43733333333333335 + } + ] + }, + "point_1767576684587": { + "type": "point", + "instances": [ + { + "id": "point_1767576684587_1767579774169_qngtukfta", + "x": 0.5465, + "y": 0.4053333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动，保持张开。", + "correction_plan": "继续向爪夹方向的下方移动，直至碗的正上方，向爪夹的下方移动，并合拢爪夹抓取碗，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，到碗原来位置的左后方的正上方，爪夹向爪夹的下方移动，将碗放在桌面上，爪夹松开，使碗落在桌面上。", + "error_success_analysis": "爪夹向爪夹的下方移动，成功接近碗。", + "frame": 32, + "progress": 20, + "progress_explanation": "当前爪夹与碗的水平距离进一步缩短，因此进度提升至20%。", + "state_description": "当前爪夹保持张开，在水平方向上进一步接近碗。\n为完成把碗向后移动的任务应当：继续向爪夹方向的下方移动，直至碗的正上方，向爪夹的下方移动，并合拢爪夹抓取碗。", + "time": 2.1333333333333333, + "annotations": { + "point_1767576684587": { + "type": "point", + "instances": [ + { + "id": "point_1767576684587_1767579777825_cmlm60wg7", + "x": 0.5155000000000001, + "y": 0.4888888888888889 + } + ] + }, + "point_1767576684420": { + "type": "point", + "instances": [ + { + "id": "point_1767576684420_1767579780736_sn431mn4e", + "x": 0.4995, + "y": 0.5084444444444445 + } + ] + }, + "bbox_1767576683364": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683364_1767579785065_zzcdq5unq", + "x": 0.49450000000000005, + "y": 0.5955555555555556, + "width": 0.06799999999999998, + "height": 0.10311111111111113 + } + ] + }, + "bbox_1767576683604": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683604_1767579789081_6denr0voy", + "x": 0.1105, + "y": 0.4497777777777777, + "width": 0.5569999999999999, + "height": 0.5351111111111112 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的下方移动，到碗的正上方。", + "correction_plan": "向爪夹的下方移动，并合拢爪夹抓取碗，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，到碗原来位置的左后方的正上方，爪夹向爪夹的下方移动，将碗放在桌面上，爪夹松开，使碗落在桌面上。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，水平方向上成功接近碗，到达碗的正上方，准备抓取。", + "frame": 102, + "progress": 30, + "progress_explanation": "当前爪夹已成功移动至碗的正上方，因此进度提升至30%。\n", + "state_description": "当前爪夹张开，垂直于碗的正上方。\n为完成把碗向后移动的任务应当：向爪夹的下方移动，并合拢爪夹抓取碗，爪夹向爪夹的上方抬起，并向爪夹的左前方移动，到碗原来位置的左后方的正上方。", + "time": 3.388659793814433, + "annotations": { + "bbox_1767576683364": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683364_1767579915216_5jg44ozka", + "x": 0.4965, + "y": 0.5991111111111111, + 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"当前爪夹合拢，成功抓住碗。\n为完成把碗向后移动的任务应当：爪夹向爪夹的上方抬起，并向爪夹的左前方移动，到碗原来位置的左后方的正上方。", + "time": 4.657938144329897, + "annotations": { + "bbox_1767576683604": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683604_1767579935903_stp6x0ilz", + "x": 0.0935, + "y": 0.42844444444444446, + "width": 0.5730000000000001, + "height": 0.5671111111111112 + } + ] + }, + "point_1767576684420": { + "type": "point", + "instances": [ + { + "id": "point_1767576684420_1767579939480_krxrrti1o", + "x": 0.5065000000000001, + "y": 0.672 + } + ] + }, + "bbox_1767576683364": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683364_1767579942503_8k56p85hb", + "x": 0.4925, + "y": 0.608, + "width": 0.06600000000000002, + "height": 0.09244444444444445 + } + ] + } + } + }, + { + "time": 5.168, + "frame": 155, + "progress": 60, + "action_description": "爪夹抓住碗向爪夹上方移动，并向爪夹方向的左前方移动。\n", + "state_description": "当前爪夹合拢，抓住玉米，垂直于桌面。\n为完成把碗向后移动的任务应当：向爪夹的左前方移动，到碗原来位置的左后方的正上方，爪夹向爪夹的下方移动，将碗放在桌面上。", + "progress_explanation": "当前爪夹成功抓住碗，并在水平方向上靠近碗原来位置的左后方，因此进度提升至60%。\n", + "error_success_analysis": "爪夹成功抓取玉米，并在向着碗原来位置的左后方的正上方靠近。\n", + "correction_plan": "爪夹向爪夹的左前方移动，到碗原来位置的左后方的正上方，爪夹向爪夹的下方移动，将碗放在桌面上，爪夹松开，使碗落在桌面上。", + "annotations": { + "bbox_1767576683364": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683364_1767579946751_gv7tcsy0m", + "x": 0.46749999999999997, + "y": 0.5777777777777777, + "width": 0.06500000000000003, + "height": 0.09955555555555556 + } + ] + }, + "point_1767576684420": { + "type": "point", + "instances": [ + { + "id": "point_1767576684420_1767579949127_0tr6yeret", + "x": 0.48550000000000004, + "y": 0.6524444444444444 + } + ] + }, + "bbox_1767576683604": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683604_1767579953896_9kmx7gwxk", + "x": 0.1265, + "y": 0.44622222222222224, + "width": 0.5539999999999999, + "height": 0.5475555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，向爪夹的左前方移动至碗原来位置的左后方的的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，将碗放在桌面上，爪夹松开，使碗落在桌面上。", + "error_success_analysis": "爪夹向爪夹的左前方移动，成功移动至碗原来位置的左后方的正上方。", + "frame": 167, + "progress": 80, + "progress_explanation": "当前爪夹合拢，垂直于桌面，位于桌面的正上方，因此进度提升至80%。", + "state_description": "当前爪夹合拢，垂直于桌面，抓住碗处于碗原来位置的左后方的的正上方。\n为完成把碗向后移动的任务应当：爪夹向爪夹的下方移动，将碗放在桌面上，爪夹松开，使碗落在桌面上。", + "time": 5.551134020618556, + "annotations": { + "bbox_1767576683604": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683604_1767579958463_lzyseuyux", + "x": 0.1055, + "y": 0.448, + "width": 0.5690000000000001, + "height": 0.5386666666666666 + } + ] + }, + "point_1767576684420": { + "type": "point", + "instances": [ + { + "id": "point_1767576684420_1767579961191_sgxldywwh", + "x": 0.45149999999999996, + "y": 0.6613333333333333 + } + ] + }, + "bbox_1767576683364": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767576683364_1767579964791_dckhv9zlj", + "x": 0.4325, + "y": 0.5760000000000001, + "width": 0.075, + "height": 0.1066666666666666 + } + 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[], + "bbox_targets": [ + { + "id": "bbox_1767576683364", + "name": "碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767576683604", + "name": "桌子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767576684420", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767576684587", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004513.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004513.json new file mode 100644 index 0000000000000000000000000000000000000000..170576a5d16cda16d8438cf30bb9c8256492e16b --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.exterior_image_2_left/episode_004513.json @@ -0,0 +1,358 @@ +{ + "task_description": "拿起马克笔，把它放在蓝色的碗里。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近马克笔：20%\n爪夹抓取马克笔：40%\n爪夹抓住马克笔靠近蓝色碗：60%\n爪夹保持合拢，移动到蓝色碗的正上方：80%\n松开爪夹，使马克笔落在蓝色的碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的右前方移动，并调整爪夹角度，使爪夹垂直于桌面，爪夹向爪夹的右前方移动，同时下降，移动至马克笔的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取马克笔，爪夹抓住马克笔并向爪夹的上方抬升，爪夹向爪夹的左后方移动至蓝色碗的正上方，松开爪夹，使马克笔落入蓝色的碗里。", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触马克笔。\n为完成拿起马克笔，把它放在蓝色的碗里的任务应当：爪夹向爪夹的右前方移动，并调整爪夹角度，使爪夹垂直于桌面，爪夹向爪夹的右前方移动，同时下降，移动至马克笔的正上方。", + "time": 0.76659793814433, + "annotations": { + "bbox_1767580167302": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767580167302_1767581840684_4io87l69b", + "x": 0.4285, + "y": 0.48355555555555557, + "width": 0.11299999999999999, + "height": 0.1671111111111111 + } + ] + }, + "bbox_1767580167574": { + "type": "bbox", + "instances": [ + { + "id": 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"爪夹向爪夹的右前方移动，同时下降，成功移动至马克笔的上方。", + "frame": 59, + "progress": 20, + "progress_explanation": "当前爪夹已经移动到马克笔的正上方，因此进度提升至20%。", + "state_description": "当前爪夹张开，在水平方向上位于马克笔的正上方。\n为完成拿起马克笔，把它放在蓝色的碗里的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取马克笔，爪夹抓住马克笔并向爪夹的上方抬升，爪夹向爪夹的左后方移动至蓝色碗的正上方。", + "time": 3.933333333333333, + "annotations": { + "bbox_1767580167302": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767580167302_1767581864956_18u6728ie", + "x": 0.4285, + "y": 0.4977777777777778, + "width": 0.09900000000000002, + "height": 0.1475555555555555 + } + ] + }, + "point_1767580168278": { + "type": "point", + "instances": [ + { + "id": "point_1767580168278_1767581866940_960ndpu52", + "x": 0.5925, + "y": 0.6773333333333333 + } + ] + }, + "point_1767580168494": { + "type": "point", + "instances": [ + { + "id": "point_1767580168494_1767581869187_wbo0wem7r", + "x": 0.5385, + "y": 0.7502222222222221 + } + ] + }, + "bbox_1767580167574": { + "type": "bbox", + "instances": [ + { + "id": 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+ }, + { + "action_description": "爪夹抓住马克笔并向爪夹的上方抬升，爪夹向爪夹的左后方移动。", + "correction_plan": "爪夹向爪夹的左后方移动至蓝色碗的正上方，松开爪夹，使马克笔落入蓝色的碗里。", + "error_success_analysis": "爪夹向爪夹的上方抬升，并向爪夹的左后方的蓝色碗靠近。", + "frame": 203, + "progress": 60, + "progress_explanation": "当前爪夹合拢，已经抓住马克笔，正在向着蓝色碗的方向靠近，因此进度提升至60%。", + "state_description": "当前爪夹保持合拢，垂直于桌面。\n为完成拿起马克笔，把它放在蓝色的碗里的任务应当：爪夹向爪夹的左后方移动至蓝色碗的正上方，松开爪夹，使马克笔落入蓝色的碗里。", + "time": 6.760000000000001, + "annotations": { + "bbox_1767580167302": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767580167302_1767581886003_k1f5gvfro", + "x": 0.4245, + "y": 0.48177777777777775, + "width": 0.11699999999999999, + "height": 0.15822222222222224 + } + ] + }, + "point_1767580168494": { + "type": "point", + "instances": [ + { + "id": "point_1767580168494_1767581889259_iuads08xp", + "x": 0.5095, + "y": 0.4942222222222223 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左后方移动至蓝色碗的正上方。", + "correction_plan": "松开爪夹，使马克笔落入蓝色的碗里。", + "error_success_analysis": "爪夹抓住马克笔，向爪夹的左后方移动，成功移动至蓝色碗的正上方。", + "frame": 122, + "progress": 80, + "progress_explanation": "当前爪夹已经抓住马克笔，并位于蓝色碗的正上方，因此进度提升至80%。", + "state_description": "当前爪夹保持合拢，在水平方向上垂直于蓝色碗的正上方。\n为完成拿起马克笔，把它放在蓝色的碗里的任务应当：松开爪夹，使马克笔落入蓝色的碗里。", + "time": 8.133333333333333, + "annotations": { + "point_1767580168494": { + "type": "point", + "instances": [ + { + "id": "point_1767580168494_1767581892356_si0jwnqh3", + "x": 0.4925, + "y": 0.5102222222222222 + } + ] + }, + "bbox_1767580167574": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767580167574_1767581901003_9vkwkie5a", + "x": 0.4295, + "y": 0.4746666666666667, + "width": 0.09500000000000001, + "height": 0.05688888888888894 + } + ] + }, + "bbox_1767580167302": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767580167302_1767581904852_8jk23p9hf", + "x": 0.4215, + "y": 0.4711111111111111, + "width": 0.12400000000000003, + "height": 0.1795555555555556 + } + ] + } + } + }, + { + "action_description": "爪夹松开，马克笔落下。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，马克笔落下，成功落入蓝色的碗里。", + "frame": 264, + "progress": 100, + "progress_explanation": "当前马克笔成功落入碗里，因此进度提升至100%。", + "state_description": "当前马克笔落入碗中，已经完成拿起马克笔，把它放在蓝色的碗里的任务。", + "time": 8.807835051546393, + "annotations": { + "bbox_1767580167302": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767580167302_1767581908171_kuqoysrs3", + "x": 0.42350000000000004, + "y": 0.4657777777777778, + "width": 0.12199999999999997, + "height": 0.18311111111111109 + } + ] + }, + "bbox_1767580167574": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767580167574_1767581911787_dmq5gr2c8", + "x": 0.4405, + "y": 0.5546666666666666, + "width": 0.096, + "height": 0.04977777777777774 + } + ] + }, + "point_1767580168494": { + "type": "point", + "instances": [ + { + "id": "point_1767580168494_1767581914307_byto9vovb", + "x": 0.49450000000000005, + "y": 0.5386666666666667 + } + ] + }, + "point_1767580168278": { + "type": "point", + "instances": [ + { + "id": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-004/observation.images.wrist_image_left/episode_004910.json @@ -0,0 +1,436 @@ +{ + "task_description": "从托盘里拿起透明碗放在桌子上。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近透明碗：20%\n爪夹抓取透明碗：40%\n爪夹抓住透明碗靠近笔记本的前方桌面：60%\n爪夹保持合拢，移动到笔记本的前方桌面的正上方：80%\n松开爪夹，使透明碗落在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的右边移动并调整爪夹角度，使爪夹倾斜，并位于透明碗的斜上方，爪夹向爪夹的前方移动，并合拢爪夹抓住透明碗，爪夹向爪夹的上方抬升，并向爪夹的左前方移动，靠近笔记本的前方桌面，直至笔记本的前方桌面的正上方，爪夹向爪夹的下方移动，将透明碗放在桌面上，松开爪夹，使透明碗落在桌面上。", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触透明碗。\n为完成从托盘里拿起透明碗放在桌子上的任务应当：爪夹向爪夹的右边移动并调整爪夹角度，使爪夹倾斜，并位于透明碗的斜上方。", + "time": 0.2517525773195876, + "annotations": { + "point_1767584806466": { + "type": "point", + "instances": [ + { + "id": "point_1767584806466_1767584834082_j9lebbe1x", + "x": 0.7695000000000001, + "y": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005172.json new file mode 100644 index 0000000000000000000000000000000000000000..a2305003379e131f1dfaf1ed8f478d64bdcd5289 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.exterior_image_2_left/episode_005172.json @@ -0,0 +1,356 @@ +{ + "task_description": "移动爪夹，将水龙头转到水槽中央：\n爪夹开始移动：0%\n爪夹靠近水龙头：25%\n爪夹抓住水龙头：50%\n爪夹抓住水龙头向水槽中间转动：70%\n爪夹将水龙头转至水槽中间：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右下方移动，到达水龙头正上方后下降，抓住水龙头，向爪夹方向的右方移动，将水龙头转至水槽中间。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成移动爪夹，将水龙头转到水槽中央的任务应当：向爪夹方向的右下方移动至水龙头的正上方。", + "time": 0.6324547707115081, + "annotations": { + "bbox_1766822890700": { + "type": "bbox", + 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.wrist_image_left/episode_005511.json new file mode 100644 index 0000000000000000000000000000000000000000..61d745777b656a5d326b1aedfd0fd89eb2e9f152 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-005/observation.images.wrist_image_left/episode_005511.json @@ -0,0 +1,609 @@ +{ + "task_description": "拿起绿色杯子，把薯条倒在盘子上：\n爪夹开始移动：0%\n爪夹靠近绿色杯子：20%\n爪夹抓取绿色杯子：40%\n爪夹抓住绿色杯子并接近盘子：60%\n爪夹将绿色杯子旋转90°：80%\n爪夹继续旋转直至薯条掉落：90%\n爪夹往回旋转看到薯条掉落至盘子上：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，到达绿色杯子正上方后下降，抓取绿色杯子后竖直上升，向爪夹方向的右后方移动，直至绿色杯子处于盘子上方。向爪夹方向的右后方旋转爪夹，直至薯条掉落，随后向爪夹方向的左前方旋转爪夹，直至看到薯条掉落盘子上。", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起绿色杯子，把薯条倒在盘子上的任务应当：向爪夹方向的左后方移动，到达绿色杯子正上方后下降。", + "time": 0.7132177187087403, + "annotations": { + "point_1766979070049": { + "type": "point", + "instances": [ + { + "id": "point_1766979070049_1766979105700_83t4im9lo", + "x": 0.445666598775232, + "y": 0.6278765190972222 + } + ] + }, + "point_1766979070175": { + "type": "point", + "instances": [ + { + "id": "point_1766979070175_1766979107329_15u2oxfth", + "x": 0.7826665782063855, + "y": 0.6865431857638888 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动。", + "correction_plan": "继续向爪夹方向的左后方移动，到达绿色杯子正上方后下降，抓取绿色杯子后竖直上升，向爪夹方向的右后方移动，直至绿色杯子处于盘子上方。向爪夹方向的右后方旋转爪夹，直至薯条掉落，随后向爪夹方向的左前方旋转爪夹，直至看到薯条掉落盘子上。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动，水平方向上成功接近绿色杯子。", + "frame": 89, + "progress": 10, + "progress_explanation": "爪夹在水平方向上略微接近绿色杯子。因此进度提升为10%。", + "state_description": "当前状态为爪夹打开，与绿色杯子水平距离拉近。\n为完成拿起绿色杯子，把薯条倒在盘子上的任务应当：继续向爪夹方向的左后方移动，到达绿色杯子正上方后下降。", + "time": 2.97727252779437, + "annotations": { + "point_1766979070049": { + "type": "point", + "instances": [ + { + "id": 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No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006161.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006161.json new file mode 100644 index 0000000000000000000000000000000000000000..95940138919ebbe07c145a80305bd0a5e270fb7f --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006161.json @@ -0,0 +1,735 @@ +{ + "task_description": "把记号笔从杯子里拿出来，放在书上：\n爪夹开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓住记号笔并离开杯子：60%\n爪夹将记号笔移动至书上：80%\n爪夹松开，使记号笔落到书上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右后方移动，到达记号笔正上方后下降，抓取记号笔后竖直上升，向爪夹方向的右方移动，直至记号笔处于书的正上方。下降将记号笔放在书上，松开爪夹，使记号笔落在书上。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006124.json @@ -0,0 +1,310 @@ +{ + "task_description": "从炉灶上拿起柠檬玩具，把它放进水槽里：\n爪夹开始移动：0%\n爪夹靠近柠檬玩具：20%\n爪夹抓取柠檬玩具：40%\n爪夹抓住柠檬玩具并接近水槽：60%\n爪夹将柠檬玩具放入水槽中：80%\n爪夹松开，使柠檬玩具落入水槽里：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的前方移动并下降，到达柠檬玩具正上方后下降，抓取柠檬玩具后竖直上升，向爪夹方向的右方移动，直至柠檬玩具处于水槽正上方。下降将柠檬玩具放入水槽中，松开爪夹，使柠檬玩具落入水槽中。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成从炉灶上拿起柠檬玩具，把它放进水槽里的任务应当：向爪夹方向的前方移动并下降，直至柠檬玩具的正上方。", + "time": 1.4891786118426695, + "annotations": { + "bbox_1767002371560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002371560_1767002413197_iec9azf3f", + "x": 0.5131110526665617, + "y": 0.6375555419921876, + "width": 0.18199998889160227, + "height": 0.28266666666666673 + } + ] + }, + "bbox_1767002371700": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002371700_1767002419051_c9ner9rdc", + "x": 0.48111105461968656, + "y": 0.6174074028862847, + "width": 0.03999999755859385, + "height": 0.05555555555555555 + } + ] + }, + "point_1767002372418": { + "type": "point", + "instances": [ + { + "id": "point_1767002372418_1767002449303_schsj6p20", + "x": 0.05211108080376704, + "y": 0.08762962510850694 + } + ] + }, + "point_1767002372280": { + "type": "point", + "instances": [ + { + "id": "point_1767002372280_1767002451589_4ihdtgn7v", + "x": 0.010111083367243447, + "y": 0.05385184733072917 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时下降。", + "correction_plan": "继续向爪夹方向的前方移动并下降，到达柠檬玩具正上方后下降，抓取柠檬玩具后竖直上升，向爪夹方向的右方移动，直至柠檬玩具处于水槽正上方。下降将柠檬玩具放入水槽中，松开爪夹，使柠檬玩具落入水槽中。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并下降，与柠檬玩具的距离成功拉近。", + "frame": 92, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的前方移动并下降，与柠檬玩具的垂直距离与水平距离拉近。因此进度提升至10%", + "state_description": "当前状态为爪夹打开，与柠檬玩具的垂直距离与水平距离拉近。\n为完成从炉灶上拿起柠檬玩具，把它放进水槽里的任务应当：继续向爪夹方向的前方移动并下降，直至柠檬玩具的正上方。", + "time": 3.0737832781142225, + "annotations": { + "point_1767002372280": { + "type": "point", + "instances": [ + { + "id": "point_1767002372280_1767002456301_wt16r02lh", + "x": 0.31911106450738125, + "y": 0.3987407362196181 + } + ] + }, + "point_1767002372418": { + "type": "point", + "instances": [ + { + "id": "point_1767002372418_1767002458165_bul19tyhk", + "x": 0.38411106054009636, + "y": 0.4502962917751736 + } + ] + }, + "bbox_1767002371700": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002371700_1767002461787_7eeyxnyje", + "x": 0.48611105431451085, + "y": 0.6174074028862847, + "width": 0.03399999792480477, + "height": 0.04266666666666671 + } + ] + }, + "bbox_1767002371560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002371560_1767002467308_m30y3zqwc", + "x": 0.5181110523613859, + "y": 0.6387407362196181, + "width": 0.17599998925781318, + "height": 0.2826666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "correction_plan": "下降抓取柠檬玩具后竖直上升，向爪夹方向的右方移动，直至柠檬玩具处于水槽正上方。下降将柠檬玩具放入水槽中，松开爪夹，使柠檬玩具落入水槽中。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并下降，并且已经移动到了柠檬玩具的正上方，方便抓取。", + "frame": 148, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于柠檬玩具正上方，已接近柠檬玩具，因此进度提升至20%。", + "state_description": "当前状态为爪夹打开，垂直于柠檬玩具的上方。\n为完成从炉灶上拿起柠檬玩具，把它放进水槽里的任务应当：下降抓取柠檬玩具后竖直上升，向爪夹方向的右方移动。", + "time": 4.948697196221786, + "annotations": { + "bbox_1767002371560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002371560_1767002476431_i1eoag9p2", + "x": 0.5181110523613859, + "y": 0.6338024631076389, + "width": 0.17499998931884822, + "height": 0.2826666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并合拢，抓取柠檬玩具。", + "correction_plan": "抓取柠檬玩具后竖直上升，向爪夹方向的右方移动，直至柠檬玩具处于水槽正上方。下降将柠檬玩具放入水槽中，松开爪夹，使柠檬玩具落入水槽中。", + "error_success_analysis": "爪夹成功移动柠檬玩具的正上方，并成功抓取到柠檬玩具。", + "frame": 188, + "progress": 40, + "progress_explanation": "当前爪夹已抓取到柠檬玩具，因此进度提升至40%。", + "state_description": "当前爪夹合拢，抓取到柠檬玩具。\n为完成从炉灶上拿起柠檬玩具，把它放进水槽里的任务应当：抓取柠檬玩具后竖直上升，向爪夹方向的右方移动。", + "time": 6.27928126713683, + "annotations": { + "bbox_1767002371560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002371560_1767002488895_97jk3jcc4", + "x": 0.5171110524224211, + "y": 0.6338024631076389, + "width": 0.1779999891357429, + "height": 0.2933333333333332 + } + ] + }, + "bbox_1767002371700": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002371700_1767002497303_wt1selhni", + "x": 0.4781110548027921, + "y": 0.6138518473307292, + "width": 0.03799999768066416, + "height": 0.05555555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹抬起并向爪夹方向的右边移动。", + "correction_plan": "继续向爪夹方向的右方移动，直至柠檬玩具处于水槽正上方。下降将柠檬玩具放入水槽中，松开爪夹，使柠檬玩具落入水槽中。", + "error_success_analysis": "爪夹已经抓取到柠檬玩具，并且在向着水槽方向移动。", + "frame": 214, + "progress": 50, + "progress_explanation": "当前爪夹已抓住柠檬玩具并抬起爪夹，并向爪夹方向的右边移动，因此进度提升至50%。", + "state_description": "当前爪夹合拢，垂直于桌面。\n为完成从炉灶上拿起柠檬玩具，把它放进水槽里的任务应当：继续向爪夹方向的右方移动，直至柠檬玩具处于水槽正上方。", + "time": 7.126016584991858, + "annotations": { + "bbox_1767002371560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002371560_1767002507458_duycw6uym", + "x": 0.5161110524834562, + "y": 0.6338024631076389, + "width": 0.1769999891967779, + "height": 0.2915555555555557 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右侧移动。", + "correction_plan": "下降将柠檬玩具放入水槽中，松开爪夹，使柠檬玩具落入水槽中。", + "error_success_analysis": "爪夹已经抓取到柠檬玩具，并向爪夹方向的右侧移动到了水槽的正上方。", + "frame": 236, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向的右侧移动至水槽正上方。因此进度提升至60%", + "state_description": "当前爪夹合拢，垂直于水槽正上方。\n为完成从炉灶上拿起柠檬玩具，把它放进水槽里的任务应当：下降将柠檬玩具放入水槽中，松开爪夹。", + "time": 7.875982152234884, + "annotations": { + "bbox_1767002371560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002371560_1767002517430_yvvd8ebh4", + "x": 0.5161110524834562, + "y": 0.6426913519965277, + "width": 0.18299998883056706, + "height": 0.2737777777777778 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方下降。", + "correction_plan": "松开爪夹，使柠檬玩具落入水槽中。", + "error_success_analysis": "爪夹成功向爪夹方向的下方移动至水槽中，成功将柠檬玩具放入水槽中。", + "frame": 282, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的下方移动，将柠檬玩具放入水槽中。因此进度提升至80%", + "state_description": "当前爪夹合拢，垂直于水槽中。\n为完成从炉灶上拿起柠檬玩具，把它放进水槽里的任务应当：松开爪夹，使柠檬玩具落入水槽中。", + "time": 9.412201943200436, + "annotations": { + "bbox_1767002371560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002371560_1767002523051_ggnmw1ijt", + "x": 0.5131110526665617, + "y": 0.6814074028862847, + "width": 0.18299998883056706, + "height": 0.24000000000000019 + } + ] + } + } + }, + { + "action_description": "爪夹松开，柠檬玩具落入水槽中。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，柠檬玩具成功落入水槽里。", + "frame": 309, + "progress": 100, + "progress_explanation": "爪夹松开充电器，散热器成功放入快递箱中。因此进度提升至100%", + "state_description": "当前爪夹松开，柠檬玩具落入水槽里。已完成从炉灶上拿起柠檬玩具，把它放进水槽里的任务。", + "time": 10.307322136361465, + "annotations": { + "bbox_1767002371560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002371560_1767002531236_01zpf6wq8", + "x": 0.5181110523613859, + "y": 0.6711357964409722, + "width": 0.17499998931884822, + "height": 0.23644444444444446 + } + ] + }, + "bbox_1767002371700": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767002371700_1767002541524_ju26ygle5", + "x": 0.590111047966855, + "y": 0.7987407362196182, + "width": 0.025999998413086, + "height": 0.044444444444444446 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767002371560", + "name": "水槽", + "color": "#4CAF50" + }, + { + "id": "bbox_1767002371700", + "name": "柠檬玩具", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767002372280", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767002372418", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006138.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006138.json new file mode 100644 index 0000000000000000000000000000000000000000..6abe7b7a8c1d2df121755519040067312d1f3157 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006138.json @@ -0,0 +1,402 @@ +{ + "task_description": "把绿色毛巾移到桌子左上方：\n爪夹开始移动：0%\n爪夹靠近绿色毛巾：30%\n爪夹抵住绿色毛巾：60%\n爪夹抵住绿色毛巾靠近桌子左上方：80%\n爪夹抵住绿色毛巾移动到桌子左上方：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。向爪夹方向的前方移动并下降，到达绿色毛巾正上方后下降抵住绿色毛巾，向爪夹方向的左前方移动，直至绿色毛巾移动至桌子左上方。", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成把绿色毛巾移到桌子左上方的任务应当：调整爪夹方向直到垂直于桌面，向爪夹方向的前方移动并下降。", + "time": 0.5848184010511637, + "annotations": { + "bbox_1767058275328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058275328_1767058301841_ccs23kxlf", + "x": 0.2561110683525959, + "y": 0.20199998643663197, + "width": 0.5689999652709983, + "height": 0.663111111111111 + } + ] + }, + "bbox_1767058275464": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767058275464_1767058320244_sq586mtd7", + "x": 0.3961110598076746, + "y": 0.41118518066406246, + "width": 0.1929999882202155, + "height": 0.25066666666666676 + } + ] + }, + "point_1767058276382": { + "type": "point", + "instances": [ + { + "id": "point_1767058276382_1767058340070_5y8bhil7m", + "x": 0.36911106145562367, + "y": 0.018296291775173612 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时下降。", + "correction_plan": "继续向爪夹方向的前方移动并下降，到达绿色毛巾正上方后下降抵住绿色毛巾，向爪夹方向的左前方移动，直至绿色毛巾移动至桌子左上方。", + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006242.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006242.json new file mode 100644 index 0000000000000000000000000000000000000000..51d6a461db150bcc4e6b6c190ab2fd9fba9506c8 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006242.json @@ -0,0 +1,269 @@ +{ + "task_description": "将水龙头向左移动：\n爪夹开始移动：0%\n爪夹靠近水龙头：30%\n爪夹抓住水龙头：50%\n爪夹抓住水龙头开始向左移动：70%\n爪夹抓住水龙头移动至左边；100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "向爪夹方向的前方移动并下降，到达水龙头正上方后，抓取水龙头，向爪夹方向的左方移动，直至水龙头移动至左边。", + "error_success_analysis": "", + "frame": 65, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹没有移动，没有出现在画面。\n为完成将水龙头向左移动的任务应当：向爪夹方向的前方移动并下降，移动至水龙头上方。", + "time": 2.1507061202562396, + "annotations": { + "bbox_1767060195990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767060195990_1767060210592_ofknbrmw6", + "x": 0.6076665888875372, + "y": 0.27409874131944445, + "width": 0.08999999450683624, + "height": 0.28444444444444444 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时下降。", + "correction_plan": "继续向爪夹方向的前方移动并下降，到达水龙头正上方后，抓取水龙头，向爪夹方向的左方移动，直至水龙头移动至左边。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并下降，与水龙头的水平距离和垂直距离拉近。", + "frame": 90, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上略微接近水龙头因此进度提升至10%。", + "state_description": "当前爪夹张开，垂直于水槽上方。\n为完成将水龙头向左移动的任务应当：继续向爪夹方向的前方移动并下降，移动至水龙头上方。", + "time": 3.0122181309959095, + "annotations": { + "bbox_1767060195990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767060195990_1767060216724_rr84a6o0g", + "x": 0.6106665887044318, + "y": 0.27409874131944445, + "width": 0.08799999462890665, 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0.3700987413194445 + } + ] + }, + "point_1767060196802": { + "type": "point", + "instances": [ + { + "id": "point_1767060196802_1767060232267_s1tvc4zep", + "x": 0.5856665902303106, + "y": 0.3327654079861111 + } + ] + }, + "bbox_1767060195990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767060195990_1767060237244_vifys9xl3", + "x": 0.6036665891316778, + "y": 0.2705431857638889, + "width": 0.09499999420166061, + "height": 0.28977777777777786 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降，同时合拢爪夹。", + "correction_plan": "向爪夹方向的左方移动，直至水龙头移动至左边。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动并下降，成功移动至水龙头正上方，因此才能成功抓住水龙头。", + "frame": 131, + "progress": 50, + "progress_explanation": "爪夹垂直下降并合拢，已经抓住水龙头。因此进度提升至50%", + "state_description": "当前爪夹合拢，抓住水龙头。\n为完成将水龙头向左移动的任务应当：向爪夹方向的左方移动，直至水龙头移动至左边。", + "time": 4.355860716553193, + "annotations": { + "bbox_1767060195990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767060195990_1767060246964_yjvyl9qmo", + "x": 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"point_1767060196926_1767060260131_mtr7odduz", + "x": 0.635666587178553, + "y": 0.39854318576388886 + } + ] + }, + "point_1767060196802": { + "type": "point", + "instances": [ + { + "id": "point_1767060196802_1767060262717_7yj7whrvm", + "x": 0.6016665892537482, + "y": 0.38787651909722226 + } + ] + }, + "bbox_1767060195990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767060195990_1767060267936_6ryfbxheu", + "x": 0.5956665896199591, + "y": 0.2812098524305556, + "width": 0.10299999371337928, + "height": 0.28088888888888897 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左侧移动，随后爪夹脱离水龙头。", + "correction_plan": "", + "error_success_analysis": "爪夹成功将水龙头向左移动。", + "frame": 189, + "progress": 100, + "progress_explanation": "水龙头已经向左移动。因此进度提升至100%", + "state_description": "当前爪夹半合拢，水龙头已向左移动。已完成将水龙头向左移动的任务。", + "time": 6.312485237208589, + "annotations": { + "bbox_1767060195990": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767060195990_1767060275776_sqya68263", + "x": 0.5466665926106816, + "y": 0.26520985243055556, + "width": 0.15099999078369192, + "height": 0.29333333333333333 + } + ] + }, + "point_1767060196802": { + "type": "point", + "instances": [ + { + "id": "point_1767060196802_1767060283469_gi67mj75h", + "x": 0.5136665946248417, + "y": 0.3238765190972222 + } + ] + }, + "point_1767060196926": { + "type": "point", + "instances": [ + { + "id": "point_1767060196926_1767060285645_fwm2k7avk", + "x": 0.5336665934041386, + "y": 0.3398765190972222 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767060195990", + "name": "水龙头", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767060196802", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767060196926", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006774.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006774.json new file mode 100644 index 0000000000000000000000000000000000000000..48d6171736aba5f49c5353d2559282cc77278a2e --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006774.json @@ -0,0 +1,105 @@ +{ + "task_description": "折叠绿色布料：\n爪夹开始移动：0%\n爪夹靠近绿色布料：30%\n爪夹抓取绿色布料：50%\n爪夹抓住绿色布料并移动至布料的右方，使绿色布料开始折叠：80%\n爪夹将绿色布料折叠：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "向爪夹方向的左前方移动并下降，到达绿色布料正上方后，抓取绿色布料，随后抬起爪夹，向爪夹方向的右方移动，直至绿色布料折叠，随后下降爪夹，使绿色布料完全折叠。", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹没有移动，没有出现在画面。\n为完成折叠绿色布料的任务应当：向爪夹方向的前方移动并下降，移动至绿色布料上方。", + "time": 0.9724930648985517 + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "向爪夹方向的左前方移动并下降，到达绿色布料正上方后，抓取绿色布料，随后抬起爪夹，向爪夹方向的右方移动，直至绿色布料折叠，随后下降爪夹，使绿色布料完全折叠。", + "error_success_analysis": "爪夹垂直下降，成功拉近与绿色布料的垂直距离。", + "frame": 49, + "progress": 10, + "progress_explanation": "爪夹垂直下降，与绿色布料的垂直距离拉近，因此进度提升至10%", + "state_description": "当前爪夹张开，与绿色布料的垂直距离拉近。\n为完成折叠绿色布料的任务应当：向爪夹方向的左前方移动并下降，移动至绿色布料上方。", + "time": 1.6419698337566044 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，同时下降。", + "correction_plan": "继续向爪夹方向的左前方移动并下降，到达绿色布料正上方后，抓取绿色布料，随后抬起爪夹，向爪夹方向的右方移动，直至绿色布料折叠，随后下降爪夹，使绿色布料完全折叠。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，同时爪夹下降。成功拉近与绿色布料的水平距离。", + "frame": 82, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的左前方移动并下降，与绿色布料的水平距离拉近，与绿色布料的垂直距离轻微拉近。因此进度提升至20%", + "state_description": "当前爪夹张开，与绿色布料的水平距离拉近。\n为完成折叠绿色布料的任务应当：继续向爪夹方向的左前方移动并下降，移动至绿色布料上方。", + "time": 2.741351252209268 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "correction_plan": "下降抓取绿色布料，随后抬起爪夹，向爪夹方向的右方移动，直至绿色布料折叠，随后下降爪夹，使绿色布料完全折叠。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，成功移动至绿色布料正上方。", + "frame": 107, + "progress": 30, + "progress_explanation": "当前爪夹已悬空于绿色布料正上方，已接近绿色布料，因此进度提升为20%。", + "state_description": "当前爪夹张开，垂直于绿色布料的正上方。\n为完成折叠绿色布料的任务应当：下降抓取绿色布料，随后抬起爪夹。", + "time": 3.5509732270387486 + }, + { + "action_description": "爪夹垂直下降，同时合拢爪夹。", + "correction_plan": "抬起爪夹，向爪夹方向的右方移动，直至绿色布料折叠，随后下降爪夹，使绿色布料完全折叠。", + "error_success_analysis": "爪夹成功移动至绿色布料正上方，因此才能成功抓取绿色布料。", + "frame": 134, + "progress": 50, + "progress_explanation": "爪夹合拢抓取到绿色布料。因此进度提升至50%", + "state_description": "当前爪夹合拢，抓住绿色布料。\n为完成折叠绿色布料的任务应当：抬起爪夹，向爪夹方向的右方移动。", + "time": 4.4751733981082 + }, + { + "action_description": "爪夹垂直抬起，随后向爪夹方向的右方移动。", + "correction_plan": "抬起爪夹，向爪夹方向的右方移动，直至绿色布料折叠，随后下降爪夹，使绿色布料完全折叠。", + "error_success_analysis": "爪夹成功抓取到绿色布料，开始向爪夹方向的右侧移动。", + "frame": 167, + "progress": 60, + "progress_explanation": "爪夹抬起，开始向爪夹方向的右方移动。因此进度提升至60&", + "state_description": "当前爪夹合拢，垂直于桌面。\n为完成折叠绿色布料的任务应当：继续向爪夹方向的右方移动。", + "time": 5.570766995823874 + }, + { + "action_description": "爪夹向爪夹方向的右方移动，同时下降爪夹。", + "correction_plan": "下降爪夹，使绿色布料完全折叠。", + "error_success_analysis": "爪夹抓住绿色布料成功向爪夹方向的右方移动，使绿色布料开始折叠。", + "frame": 189, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的右方移动，使绿色布料开始折叠，因此进度提升至80%", + "state_description": "当前爪夹合拢，绿色布料半折叠。\n为完成折叠绿色布料的任务应当：下降爪夹，使绿色布料完全折叠。", + "time": 6.295165604881829 + }, + { + "action_description": "爪夹垂直下降，绿色布料完全折叠。", + "correction_plan": "", + "error_success_analysis": "绿色布料已完成折叠。", + "frame": 219, + "progress": 100, + "progress_explanation": "绿色布料已完成折叠。因此进度提升至100%", + "state_description": "当前爪夹张开，垂直于桌面，绿色布料完全折叠。已完成折叠绿色布料的任务。", + "time": 7.304589141722806 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767062555529", + "name": "绿色布料", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767062556071", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767062556192", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.wrist_image_left/episode_006609.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.wrist_image_left/episode_006609.json new file mode 100644 index 0000000000000000000000000000000000000000..f438a0b98bf2930a6b0cf13ae134e8d485d3f9ed --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-006/observation.images.wrist_image_left/episode_006609.json @@ -0,0 +1,108 @@ +{ + "task_description": "将垃圾桶向右移动：\n爪夹开始移动：0%\n爪夹靠近垃圾桶：20%\n爪夹抓取垃圾桶：40%\n爪夹抓住垃圾桶并向垃圾桶右方移动：60%\n爪夹将垃圾桶放在之前垃圾桶位置的右侧：80%\n爪夹松开，使垃圾桶落在之前垃圾桶位置的右侧：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右后方移动并下降，直至爪夹到达垃圾桶正上方，抓取垃圾桶后竖直上升，向爪夹方向的左后方移动，直至垃圾桶处于之前垃圾桶位置的右方。下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将垃圾桶向右移动的任务应当：调整爪夹方向直到垂直于桌面，向爪夹方向的左方移动至散热器的正上方。", + "time": 0.5154633817086205 + }, + { + "action_description": "爪夹向爪夹方向的右后方移动。", + "correction_plan": "继续向爪夹方向的右后方移动并下降，直至爪夹到达垃圾桶正上方，抓取垃圾桶后竖直上升，向爪夹方向的左后方移动，直至垃圾桶处于之前垃圾桶位置的右方。下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动，成功拉近与垃圾桶的距离。", + "frame": 47, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的右后方移动，与垃圾桶的水平距离拉近。因此进度提升至10%", + "state_description": "当前爪夹张开，与垃圾桶水平距离拉近。\n为完成将垃圾桶向右移动的任务应当：继续向爪夹方向的右后方移动并下降，直至爪夹处于垃圾桶正上方。", + "time": 1.5670097072949152 + }, + { + "action_description": "爪夹向爪夹方向的右后方移动并下降。", + "correction_plan": "抓取垃圾桶后竖直上升，向爪夹方向的左后方移动，直至垃圾桶处于之前垃圾桶位置的右方。下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹成功向爪夹方向的左后方移动至垃圾桶的正上方。", + "frame": 76, + "progress": 20, + "progress_explanation": "爪夹当前位于垃圾桶正上方，成功接近垃圾桶。因此进度提升至20%", + "state_description": "当前爪夹张开，垂直于垃圾桶的正上方。\n为完成将垃圾桶向右移动的任务应当：下降抓取垃圾桶后竖直上升，向爪夹方向的左后方移动。", + "time": 2.5319581001858675 + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢爪夹抓取垃圾桶后竖直上升，向爪夹方向的左后方移动，直至垃圾桶处于之前垃圾桶位置的右方。下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹成功调整至合适位置，方便抓取垃圾桶。", + "frame": 100, + "progress": 30, + "progress_explanation": "爪夹垂直下降，使爪夹位于垃圾桶中，与垃圾桶位置进一步拉近。因此进度提升至30%", + "state_description": "当前爪夹张开，垂直于垃圾桶中。\n为完成将垃圾桶向右移动的任务应当：合拢抓取垃圾桶后竖直上升，向爪夹方向的左后方移动。", + "time": 3.336081760928328 + }, + { + "action_description": "爪夹合拢抓取垃圾桶。", + "correction_plan": "抓取垃圾桶后竖直上升，向爪夹方向的左后方移动，直至垃圾桶处于之前垃圾桶位置的右方。下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，爪夹合拢成功抓取到垃圾桶。", + "frame": 131, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到了垃圾桶。因此进度提升至40%", + "state_description": "当前爪夹合拢，抓住垃圾桶。\n为完成将垃圾桶向右移动的任务应当：抓取垃圾桶后竖直上升，向爪夹方向的左后方移动。", + "time": 4.350514686788047 + }, + { + "action_description": "爪夹向爪夹方向的后方移动并上升。", + "correction_plan": "向爪夹方向的左后方移动，直至垃圾桶处于之前垃圾桶位置的右方。下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹抓住垃圾桶并向爪夹方向的后方抬升，方便移动垃圾桶。", + "frame": 159, + "progress": 50, + "progress_explanation": "当前爪夹抓住垃圾桶并抬升。因此进度提升至50%", + "state_description": "当前抓佳合拢，垂直于桌面。\n为完成将垃圾桶向右移动的任务应当：向爪夹方向的左后方移动，直至垃圾桶处于之前垃圾桶位置的右方。", + "time": 5.315463079679001 + }, + { + "action_description": "爪夹向爪夹方向的左后方移动。", + "correction_plan": "继续向爪夹方向的后方移动，直至垃圾桶处于之前垃圾桶位置的右方。下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹抓住垃圾桶，正在向垃圾桶的右方移动。", + "frame": 188, + "progress": 60, + "progress_explanation": "爪夹抓住垃圾桶向爪夹方向的做后方移动，正在向垃圾桶右方移动。因此进度提升至60%", + "state_description": "当前爪夹合拢，垂直于桌面。\n为完成将垃圾桶向右移动的任务应当：继续向爪夹方向的后方移动，直至垃圾桶处于之前垃圾桶位置的右方。", + "time": 6.280411472569952 + }, + { + "action_description": "爪夹向爪夹方向的后方移动。", + "correction_plan": "下降将垃圾桶放到桌子上，松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹向爪夹方向的后方移动，成功将垃圾桶移动至之前垃圾桶位置的右方并垂直于桌面。", + "frame": 241, + "progress": 70, + "progress_explanation": "爪夹向爪夹方向的后方移动，将垃圾桶移动至之前垃圾桶位置的右方并垂直于桌面。因此进度提升至70%", + "state_description": "当前爪夹合拢，垃圾桶处于之前垃圾桶位置的右方并垂直于桌面。\n为完成将垃圾桶向右移动的任务应当：下降将垃圾桶放到桌子上，松开爪夹。", + "time": 8.049483526203367 + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "error_success_analysis": "爪夹成功将垃圾桶移动至之前垃圾桶位置的右方。", + "frame": 287, + "progress": 80, + "progress_explanation": "爪夹下降将垃圾桶放在桌面。因此进度提升至80%", + "state_description": "当前爪夹合拢，垃圾桶处于之前垃圾桶位置的右方。\n为完成将垃圾桶向右移动的任务应当：松开爪夹，使垃圾桶放在之前垃圾桶位置的右方。", + "time": 9.558761781750754 + }, + { + "action_description": "爪夹松开并抬起爪夹。", + "correction_plan": "", + "error_success_analysis": "垃圾桶成功落在之前垃圾桶位置的右侧。", + "frame": 323, + "progress": 100, + "progress_explanation": "爪夹成功将垃圾桶放在之前垃圾桶位置的右侧。因此进度提升至100%", + "state_description": "当前爪夹张开，垃圾桶放在之前垃圾桶位置的右侧。已完成将垃圾桶向右移动的任务。", + "time": 10.75876170624335 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007359.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007359.json new file mode 100644 index 0000000000000000000000000000000000000000..ccfc1a1707f680776e64869d79e4e9b161114330 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007359.json @@ -0,0 +1,135 @@ +{ + "task_description": "将橙色物品稍微向右移动：\n爪夹开始移动：0%\n爪夹靠近橙色物体：20%\n爪夹抓取橙色物体：45%\n爪夹抓住橙色物体并向右移动：70%\n爪夹松开，使橙色物体向右掉落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左下方移动，到橙色物体正上方后下降，抓取橙色物体后竖直上升，向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将橙色物品稍微向右移动的任务应当：向爪夹方向的左下方移动，到橙色物体正上方后下降。", + "time": 1.3906515666119093 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，同时爪夹下降。", + "correction_plan": "继续向爪夹方向的左下方移动，到橙色物体正上方后下降，抓取橙色物体后竖直上升，向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，垂直方向上成功接近散热器。", + "frame": 88, + "progress": 10, + "progress_explanation": "当前爪夹在垂直方向上略微接近橙色物体，因此进度提升为10%。", + "state_description": "当前状态为爪夹打开，与橙色物体的垂直距离拉近。\n为完成将橙色物品稍微向右移动的任务应当：继续向爪夹方向的左下方移动，到橙色物体正上方后继续下降。", + "time": 2.9473524995876983 + }, + { + "action_description": "爪夹向爪夹方向的左后方移动，同时下降爪夹。", + "correction_plan": "向爪夹方向的前方下降并移动，到橙色物体正上方后继续下降，抓取橙色物体后竖直上升，向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹与橙色物体的垂直距离成功拉近，但水平方向上与橙色物体略微拉远。", + "frame": 158, + "progress": 10, + "progress_explanation": "当前爪夹在垂直方向上略微接近橙色物体，但是水平方向上与橙色物体略微拉远，因此进度提升依旧为10%", + "state_description": "当前状态为爪夹打开，与橙色物体的垂直距离拉近，但与橙色物体的水平距离略微拉远。\n为完成将橙色物品稍微向右移动的任务应当：向爪夹方向的前方下降并移动，到橙色物体正上方后继续下降。", + "time": 5.282403899051381 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "correction_plan": "下降抓取橙色物体后竖直上升，向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，同时下降爪夹，成功靠近橙色物体。", + "frame": 235, + "progress": 20, + "progress_explanation": "爪夹位于橙色物体上方，靠近橙色物体，因此进度提升至20%", + "state_description": "当前爪夹张开，垂直于橙色物体上方。\n为完成将橙色物品稍微向右移动的任务应当：下降抓取橙色物体后竖直上升，向爪夹方向的右方移动。", + "time": 7.835393429131676 + }, + { + "action_description": "爪夹轻微调整为之后合拢爪夹。", + "correction_plan": "抓取橙色物体后竖直上升，向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹成功向爪夹方向的前方移动并下降，移动至橙色物体上方，因此才能成功抓取橙色物体。", + "frame": 294, + "progress": 45, + "progress_explanation": "当前爪夹成功抓取橙色物体，因此进度提升至45%", + "state_description": "当前爪夹合拢，抓住橙色物体。\n为完成将橙色物品稍微向右移动的任务应当：抓取橙色物体后竖直上升，向爪夹方向的右方移动。", + "time": 9.796836604681172 + }, + { + "action_description": "爪夹抬起并向爪夹方向的左方移动。", + "correction_plan": "向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹移动方向错误，与橙色物体原先位置的右方相反。", + "frame": 380, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的左方移动，与橙色物体原先位置的右方相反，因此进度下降至30%", + "state_description": "当前爪夹合拢，位于桌面上方。\n为完成将橙色物品稍微向右移动的任务应当：抓取橙色物体后竖直上升，向爪夹方向的右方移动。", + "time": 12.661166321356621 + }, + { + "action_description": "爪夹正在调整角度。", + "correction_plan": "向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹调整角度，准备向爪夹方向的右侧移动。", + "frame": 489, + "progress": 50, + "progress_explanation": "爪夹调整调度，准备向爪夹方向的右方移动，因此进度提升至50%", + "state_description": "当前爪夹合拢，位于桌面上放。\n为完成将橙色物品稍微向右移动的任务应当：抓取橙色物体后竖直上升，向爪夹方向的右方移动。", + "time": 16.303846504519967 + }, + { + "time": 18.9354, + "frame": 568, + "progress": 40, + "action_description": "爪夹想爪夹方向的左上方调整角度。", + "state_description": "当前爪夹合拢。\n为完成将橙色物品稍微向右移动的任务应当：向爪夹方向的右方调整爪夹角度，向爪夹方向的右方移动。", + "progress_explanation": "爪夹调整角度方向与橙色物体右方相反。因此进度下降至%40", + "error_success_analysis": "爪夹调整方向与橙色物体右方相反。", + "correction_plan": "向爪夹方向的右方调整爪夹角度，向爪夹方向的右方移动，直至橙色物体处于橙色物体原先位置的右方。下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。" + }, + { + "action_description": "爪夹向爪夹方向的右方移动。", + "correction_plan": "继续向爪夹方向的右方移动，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹移动方向正确，成功向橙色物体物体原本位置的右侧移动。", + "frame": 636, + "progress": 70, + "progress_explanation": "爪夹向爪夹方向的右方移动并调整爪夹角度。因此进度提升至70%", + "state_description": "当前爪夹合拢，抓住橙色物体。\n为完成将橙色物品稍微向右移动的任务应当：继续向爪夹方向的右方移动。", + "time": 21.191887434063943 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并调整角度。", + "correction_plan": "下降将橙色物体放在桌子上，松开爪夹，使橙色物体掉落至桌面。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，成功将橙色物体移动橙色物体原本位置的右侧", + "frame": 695, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的右方移动，橙色物体已经移动橙色物体原本位置的右侧。因此进度提升至80%", + "state_description": "当前爪夹合拢，与桌面水平呈70°\n为完成将橙色物品稍微向右移动的任务应当：继续向爪夹方向的右方移动。", + "time": 23.153330609613437 + }, + { + "action_description": "爪夹松开，橙色物体掉落至桌面。", + "correction_plan": "", + "error_success_analysis": "橙色物体成功向右移动。", + "frame": 731, + "progress": 100, + "progress_explanation": "爪夹松开，橙色物体已掉落至橙色物体原本位置的右侧。因此进度提升至100%", + "state_description": "当前爪夹打开，橙色物体位于橙色物体原本位置的右侧。已完成将橙色物品稍微向右移动的任务。", + "time": 24.367557337334553 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767083350936", + "name": "橙色物体", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767083351766", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767083351904", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007902.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007902.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf77b9fab63997c40a95d8ac34828a2810925ca --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007902.json @@ -0,0 +1,98 @@ +{ + "task_description": "移动胡萝卜毛绒玩具：\n爪夹开始移动：0%\n爪夹靠近胡萝卜毛绒玩具：30%\n爪夹抓取胡萝卜毛绒玩具：50%\n爪夹抓住胡萝卜毛绒玩具并移动：80%\n爪夹松开，使胡萝卜毛绒玩具落下：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "向爪夹方向的前方移动并下降，到达胡萝卜毛绒玩具正上方后，抓取胡萝卜毛绒玩具，抬起爪夹，向爪夹方向的左方移动，直至胡萝卜毛绒玩具移动至左边，下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹没有移动，没有出现在画面。\n为完成移动胡萝卜毛绒玩具的任务应当：向爪夹方向的前方移动并下降，移动至胡萝卜毛绒玩具上方。", + "time": 1.6773726528586692 + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时爪夹下降。", + "correction_plan": "继续向爪夹方向的前方移动并下降，到达胡萝卜毛绒玩具正上方后，抓取胡萝卜毛绒玩具，抬起爪夹，向爪夹方向的左方移动，直至胡萝卜毛绒玩具移动至左边，下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，成功靠近胡萝卜毛绒玩具。", + "frame": 90, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的前方移动并下降，与胡萝卜毛绒玩具的水平距离拉近。因此进度提升至10%", + "state_description": "当前爪夹张开，与胡萝卜毛绒玩具的水平距离拉近。\n为完成移动胡萝卜毛绒玩具的任务应当：继续向爪夹方向的前方移动并下降，移动至胡萝卜毛绒玩具上方。", + "time": 2.986376043688333 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "correction_plan": "下降抓取胡萝卜毛绒玩具，抬起爪夹，向爪夹方向的左方移动，直至胡萝卜毛绒玩具移动至左边，下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "", + "frame": 123, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于胡萝卜毛绒玩具正上方，已接近胡萝卜毛绒玩具，因此进度提升至20%", + "state_description": "当前爪夹张开，位于胡萝卜毛绒玩具上方。\n为完成移动胡萝卜毛绒玩具的任务应当：下降抓取胡萝卜毛绒玩具，随后抬起爪夹。", + "time": 4.099640609721037 + }, + { + "action_description": "爪夹下降并向爪夹方向的前方移动。", + "correction_plan": "继续下降抓取胡萝卜毛绒玩具，抬起爪夹，向爪夹方向的左方移动，直至胡萝卜毛绒玩具移动至左边，下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "爪夹向爪夹方向的前方与移动并下降，成功与胡萝卜毛绒玩具的距离进一步拉近。", + "frame": 160, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的前方与移动并下降，进一步拉近与胡萝卜毛绒玩具的距离。因此进度提升至30%", + "state_description": "当前爪夹张开，进一步拉近与胡萝卜毛绒玩具的垂直距离。\n为完成移动胡萝卜毛绒玩具的任务应当：继续下降抓取胡萝卜毛绒玩具，随后抬起爪夹。", + "time": 5.335241941251841 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降，随后合拢爪夹。", + "correction_plan": "抓取胡萝卜毛绒玩具后，抬起爪夹，向爪夹方向的左方移动，直至胡萝卜毛绒玩具移动至左边，下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，同时下降爪夹并合拢，成功抓取胡萝卜毛绒玩具。", + "frame": 205, + "progress": 50, + "progress_explanation": "爪夹向爪夹方向的前方移动并下降，已经抓住胡萝卜毛绒玩具。因此进度提升至50%", + "state_description": "当前爪夹合拢，夹住胡萝卜毛绒玩具。\n为完成移动胡萝卜毛绒玩具的任务应当：抬起爪夹，向爪夹方向的左方移动。", + "time": 6.827750480328654 + }, + { + "action_description": "爪夹向爪夹方向的左方移动并抬起。", + "correction_plan": "继续向爪夹方向的左方移动，直至胡萝卜毛绒玩具移动至左边，下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，随后抬起爪夹，开始将胡萝卜毛绒玩具向左方移动。", + "frame": 233, + "progress": 70, + "progress_explanation": "爪夹向爪夹方向的左方移动并抬起，将胡萝卜毛绒玩具向左方移动。因此进度提升至70%", + "state_description": "当前爪夹合拢，抓住胡萝卜毛绒玩具垂直于桌面。\n为完成移动胡萝卜毛绒玩具的任务应当：继续向爪夹方向的左方移动，直至胡萝卜毛绒玩具移动至左边。", + "time": 7.769743574664019 + }, + { + "action_description": "爪夹向爪夹方向的左边移动。", + "correction_plan": "下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "爪夹向爪夹方向的左边移动，成功将胡萝卜毛绒玩具与胡萝卜毛绒玩具的起始位置拉远。", + "frame": 271, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的左边移动，使胡萝卜毛绒玩具位置移动。因此进度提升至80%", + "state_description": "当前爪夹合拢，与胡萝卜毛绒玩具的起始位置拉远。\n为完成移动胡萝卜毛绒玩具的任务应当：下降爪夹将胡萝卜毛绒玩具放下，随后张开爪夹。", + "time": 9.017578582744633 + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "随后张开爪夹，使胡萝卜毛绒玩具落下。", + "error_success_analysis": "爪夹成功将胡萝卜毛绒玩具移动至玉米毛绒玩具上方，成功将胡萝卜毛绒玩具的位置移动。。", + "frame": 298, + "progress": 90, + "progress_explanation": "爪夹垂直下降，将胡萝卜毛绒玩具放在玉米毛绒玩具上方。因此进度提升至90%", + "state_description": "当前爪夹合拢，垂直于桌面。\n为完成移动胡萝卜毛绒玩具的任务应当：随后张开爪夹，使胡萝卜毛绒玩具落下。", + "time": 9.922870647430567 + }, + { + "action_description": "爪夹张开并垂直抬升。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，胡萝卜毛绒玩具落下，成功移动胡萝卜毛绒玩具的位置。", + "frame": 334, + "progress": 100, + "progress_explanation": "爪夹松开，胡萝卜毛绒玩具落下，位于之前胡萝卜毛绒玩具的左方。因此进度提升至100%", + "state_description": "当前爪夹张开，垂直于桌面，胡萝卜毛绒玩具成功向左移动。已完成移动胡萝卜毛绒玩具的任务。", + "time": 11.121770949311943 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007367.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007367.json new file mode 100644 index 0000000000000000000000000000000000000000..17b66d849c00c315fdda5f9d67424ae779461a48 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007367.json @@ -0,0 +1,68 @@ +{ + "task_description": "关闭白色文件柜的顶层白色抽屉：\n爪夹开始移动：0%\n爪夹靠近白色抽屉：30%\n爪夹顶住白色抽屉：60%\n爪夹关闭白色抽屉；100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的上方抬起爪夹，随后向爪夹方向的左前方移动，靠近白色抽屉，随后向爪夹方向的前方移动顶住白色抽屉，继续向爪夹方向的前方移动，将白色抽屉关闭，", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成关闭白色文件柜的顶层白色抽屉的任务应当：向爪夹方向的上方抬起爪夹，随后向爪夹方向的左前方移动。", + "time": 0.845177192283697 + }, + { + "action_description": "爪夹向爪夹方向的上方抬升并慢慢合拢。", + "correction_plan": "向爪夹方向的左前方移动，靠近白色抽屉，随后向爪夹方向的前方移动顶住白色抽屉，继续向爪夹方向的前方移动，将白色抽屉关闭，", + "error_success_analysis": "爪夹向爪夹方向的上方抬起，成功与白色抽屉的垂直距离拉近。", + "frame": 74, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的上方抬起并慢慢合拢，与白色抽屉的垂直距离拉近，因此进度提升至10%", + "state_description": "当前爪夹张开，爪夹半合拢。\n为完成关闭白色文件柜的顶层白色抽屉的任务应当：向爪夹方向的左前方移动，靠近白色抽屉。", + "time": 2.4512251139070105 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并合拢爪夹。", + "correction_plan": "向爪夹方向的前方移动顶住白色抽屉，继续向爪夹方向的前方移动，将白色抽屉关闭。", + "error_success_analysis": "爪夹向爪夹方向的左前方，成功与白色抽屉的水平距离拉近。", + "frame": 98, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的左前方移动，与白色抽屉的水平距离拉近。因此进度提升至30%", + "state_description": "当前爪夹合拢，爪夹垂直于白色抽屉。\n为完成关闭白色文件柜的顶层白色抽屉的任务应当：继续向爪夹方向的前方移动，靠近白色抽屉。", + "time": 3.2795411679725777 + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "继续向爪夹方向的前方移动，将白色抽屉关闭。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，成功顶住白色抽屉。", + "frame": 117, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向的前方移动，顶住白色抽屉。因此进度提升至60%", + "state_description": "当前爪夹合拢，爪夹顶住白色抽屉。\n为完成关闭白色文件柜的顶层白色抽屉的任务应当：继续向爪夹方向的前方移动，将白色抽屉关闭。", + "time": 3.911843499320339 + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "继续向爪夹方向的前方移动，将白色抽屉关闭。", + "error_success_analysis": "爪夹成功顶住白色抽屉，正在关闭白色抽屉。", + "frame": 142, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的前方移动，白色抽屉已关闭一半。因此进度提升至80%", + "state_description": "当前爪夹合拢，白色抽屉关上一半。\n为完成关闭白色文件柜的顶层白色抽屉的任务应当：继续向爪夹方向的前方移动，将白色抽屉关闭。", + "time": 4.721190483445474 + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "", + "error_success_analysis": "白色文件柜的顶层白色抽屉已关闭。", + "frame": 181, + "progress": 100, + "progress_explanation": "爪夹向前移动，使白色抽屉关闭。因此进度提升至100%", + "state_description": "当前爪夹合拢，白色抽屉关闭。已完成关闭白色文件柜的顶层白色抽屉的任务。", + "time": 6.030056309335339 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007778.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007778.json new file mode 100644 index 0000000000000000000000000000000000000000..423f4be665c9ccc23cc7ffaf8ea9b4cfc3eea31d --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007778.json @@ -0,0 +1,58 @@ +{ + "task_description": "拿起卡其色衣服，将其放入快递箱中：\n爪夹开始移动：0%\n爪夹靠近卡其色衣服：20%\n爪夹抓取卡其色衣服：40%\n爪夹抓住卡其色衣服并接近快递箱：60%\n爪夹将卡其色衣服放入快递箱中：80%\n爪夹松开，使卡其色衣服落入快递箱中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左前方移动，到达卡其色衣服正上方后下降，抓取卡其色衣服后竖直上升，向爪夹方向的右方移动，直至卡其色衣服处于快递箱正上方。下降将卡其色衣服放入快递箱中，松开爪夹，使卡其色衣服落入快递箱中。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起卡其色衣服，将其放入快递箱中的任务应当：向爪夹方向的左前方移动至卡其色衣服的正上方。", + "time": 1.4048334898568702 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "correction_plan": "继续向爪夹方向的左前方移动，到达卡其色衣服正上方后下降，抓取卡其色衣服后竖直上升，向爪夹方向的右方移动，直至卡其色衣服处于快递箱正上方。下降将卡其色衣服放入快递箱中，松开爪夹，使卡其色衣服落入快递箱中。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功拉近与卡其色衣服的水平距离。", + "frame": 64, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向的左前方移动，与卡其色衣服的水平距离拉近。因此进度提升至5%", + "state_description": "当前爪夹张开，与卡其色衣服的水平距离拉近。\n为完成拿起卡其色衣服，将其放入快递箱中的任务应当：继续向爪夹方向的左前方移动至卡其色衣服的正上方。", + "time": 2.126620345470918 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "correction_plan": "向爪夹方向的右方移动，到达卡其色衣服正上方后下降，抓取卡其色衣服后竖直上升，向爪夹方向的右方移动，直至卡其色衣服处于快递箱正上方。下降将卡其色衣服放入快递箱中，松开爪夹，使卡其色衣服落入快递箱中。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功与卡其色衣服的水平距离进一步拉近。", + "frame": 92, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的左前方移动，与卡其色衣服的水平距离进一步拉近。因此进度提升至10%", + "state_description": "当前爪夹张开，与卡其色衣服的水平距离进一步拉近。\n为完成拿起卡其色衣服，将其放入快递箱中的任务应当：向爪夹方向的右方移动至卡其色衣服的正上方。", + "time": 3.056379684905963 + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "向爪夹方向的右方移动，到达卡其色衣服正上方后下降，抓取卡其色衣服后竖直上升，向爪夹方向的右方移动，直至卡其色衣服处于快递箱正上方。下降将卡其色衣服放入快递箱中，松开爪夹，使卡其色衣服落入快递箱中。", + "error_success_analysis": "爪夹成功向爪夹方向的前方移动，更加接近卡其色衣服的位置。", + "frame": 126, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的前方移动，更加接近卡其色衣服的位置。因此进度提升至20%", + "state_description": "当前爪夹张开，接近卡其色衣服的位置。\n为完成拿起卡其色衣服，将其放入快递箱中的任务应当：向爪夹方向的右方移动至卡其色衣服的正上方。", + "time": 4.200228345921446 + }, + { + "action_description": "爪夹向爪夹方向的右方移动，同时下降爪夹。", + "correction_plan": "合拢抓取卡其色衣服后竖直上升，向爪夹方向的右方移动，直至卡其色衣服处于快递箱正上方。下降将卡其色衣服放入快递箱中，松开爪夹，使卡其色衣服落入快递箱中。", + "error_success_analysis": "爪夹向爪夹方向的右方移动并下降，垂直于卡其色衣服上，方便抓取。", + "frame": 169, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的右方移动并下降，垂直于卡其色衣服上。因此进度提升至30%", + "state_description": "当前爪夹张开，垂直于卡其色衣服上。\n为完成拿起卡其色衣服，将其放入快递箱中的任务应当：合拢爪夹抓取卡其色衣服后竖直上升，向爪夹方向的右方移动。", + "time": 5.643802057149542 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007924.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007924.json new file mode 100644 index 0000000000000000000000000000000000000000..74e67a8bc72cbfb0d3e9706594a691496e8a32a0 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007924.json @@ -0,0 +1,342 @@ +{ + "task_description": "将杯子向桌子边缘移动：\n爪夹开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓住杯子并接近桌子边缘：60%\n爪夹将杯子放在桌子边缘：80%\n爪夹松开，使杯子放在桌子边缘 ：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的前方移动，到达杯子正上方后下降，抓取杯子后竖直上升，向爪夹方向的后方移动，直至杯子处于桌子边缘。下降并松开爪夹，将杯子放在桌子边缘。", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将杯子向桌子边缘移动的任务应当：向爪夹方向的前方移动，到达杯子正上方后下降。", + "time": 0.29186686804042744, + "annotations": { + "bbox_1767080521096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080521096_1767080546068_b144nmy5h", + "x": -0.0003333740030899656, + "y": 0.28832096354166664, + "width": 0.88499994598389, + "height": 0.7093333333333334 + } + ] + }, + "bbox_1767080521232": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080521232_1767080553615_zx8hhmdzv", + "x": 0.36766660353597386, + "y": 0.6918765190972223, + "width": 0.08199999499511752, + "height": 0.14400000000000002 + } + ] + }, + "point_1767080521838": { + "type": "point", + "instances": [ + { + "id": "point_1767080521838_1767080561234_978fynq55", + "x": 0.4696665973103883, + "y": 0.45187651909722226 + } + ] + }, + "point_1767080521954": { + "type": "point", + "instances": [ + { + "id": "point_1767080521954_1767080562948_ff4alkdfb", + "x": 0.5116665947469119, + "y": 0.4252098524305556 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时爪夹下降。", + "correction_plan": "继续向爪夹方向的前方移动，到达杯子正上方后下降，抓取杯子后竖直上升，向爪夹方向的后方移动，直至杯子处于桌子边缘。下降并松开爪夹，将杯子放在桌子边缘。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向上成功接近杯子。", + "frame": 38, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近杯子。因此进度提升为10%。", + "state_description": "当前状态为爪夹打开，与杯子水平距离拉近。\n为完成将杯子向桌子边缘移动的任务应当：继续向爪夹方向的前方移动，同时让爪夹下降。", + "time": 1.2675369633495235, + "annotations": { + "bbox_1767080521096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080521096_1767080570593_l9e85a5bu", + "x": 0.0016666258748397292, + "y": 0.2847654079861111, + "width": 0.8819999461669953, + "height": 0.7111111111111111 + } + ] + }, + "bbox_1767080521232": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767080521232_1767080576152_im3zf2t5w", + "x": 0.3706666033528684, + "y": 0.6972098524305556, + "width": 0.07399999548339871, + "height": 0.13688888888888898 + } + ] + }, + "point_1767080521838": { + "type": "point", + "instances": [ + { + "id": "point_1767080521838_1767080582341_zlqsqxu0l", + "x": 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"爪夹向爪夹方向的右后方移动，成功将碗的水平位置向桌子里边移动。", + "frame": 76, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的右后方移动，将碗的水平位置向桌子里边移动。因此进度提升至80%", + "state_description": "当前爪夹张开，碗的水平位置向桌子里边移动。\n为完成将碗向桌子里面移动的任务应当：继续向爪夹方向的后方移动爪夹，将碗移动至桌子里边。", + "time": 2.534 + }, + { + "action_description": "爪夹向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767145635583": { + "instances": [ + { + "height": 0.9600000000000001, + "id": "bbox_1767145635583_1767145806692_lm4ngb5oy", + "width": 0.9969999391479527, + "x": 0.0016666258748397292, + "y": 0.00032096354166666666 + } + ], + "type": "bbox" + }, + "bbox_1767145648481": { + "instances": [ + { + "height": 0.9315555555555556, + "id": "bbox_1767145648481_1767145815196_2x1gl5ol9", + "width": 0.6929999577026392, + "x": 0.19666661397298496, + "y": 0.02876540798611111 + } + ], + "type": "bbox" + }, + "point_1767145636241": { + "instances": [ + { + "id": "point_1767145636241_1767145818426_1isispn84", + "x": 0.438666599202478, + "y": 0.6580987413194445 + } + ], + "type": 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index 0000000000000000000000000000000000000000..603fc852979e506cbaa137f3b5d24bceb4ca5945 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008087.json @@ -0,0 +1,438 @@ +{ + "task_description": "将棕色碗向左移动；\n爪夹开始移动：0%\n爪夹靠近棕色碗：20%\n爪夹抓取棕色碗：40%\n爪夹抓住棕色碗并向碗的左侧移动：60%\n爪夹将棕色碗移动至棕色碗左侧的上方：80%\n爪夹松开，使棕色碗落到棕色碗的左方：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右前方移动，同时下降爪夹，到达棕色碗正上方后下降，抓取棕色碗后竖直上升，向爪夹方向的左方移动，直至棕色碗处于之前棕色碗位置的左边的正上方。下降爪夹，随后松开爪夹，使棕色碗落到之前棕色碗位置的左方。", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将棕色碗向左移动的任务应当：向爪夹方向的右前方移动，同时下降爪夹。", + "time": 0.9175712246986483, + "annotations": { + "bbox_1767147530815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767147530815_1767147557571_sol24iuje", + "x": 0.31166660695394244, 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008254.json @@ -0,0 +1,438 @@ +{ + "task_description": "把黑色碗放在粉色碗里面：\n爪夹开始移动：0%\n爪夹靠近黑色碗：20%\n爪夹抓取黑色碗：40%\n爪夹抓住黑色碗并接近粉色碗：60%\n爪夹将黑色碗移动至粉色碗上方：80%\n爪夹松开，使黑色碗落入粉色碗中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的前方移动并下降，到达黑色碗正上方后下降，抓取黑色碗后向爪夹方向的右方移动，随后抬起爪夹，向爪夹方向的右侧移动，直至黑色碗处于粉色碗正上方。下降将黑色碗放入粉色碗中，松开爪夹，使黑色碗落入粉色碗中。", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成把黑色碗放在粉色碗里面的任务应当：向爪夹方向的前方移动并下降，到达黑色碗正上方后继续下降。", + "time": 0.3308815837377437, + "annotations": { + "bbox_1767152740098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152740098_1767152764824_lbqvbcjqd", + "x": 0.5966665895589239, + "y": 0.45720985243055556, + "width": 0.08899999456787144, + "height": 0.09955555555555556 + } + ] 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"当前爪夹合拢抓住黑色碗，垂直于桌面。\n为完成把黑色碗放在粉色碗里面的任务应当：向爪夹方向的右侧移动，直至黑色碗处于粉色碗正上方。", + "time": 4.959953295556182, + "annotations": { + "point_1767152740834": { + "type": "point", + "instances": [ + { + "id": "point_1767152740834_1767152858950_qphjhnnfr", + "x": 0.6036665891316779, + "y": 0.4323209635416667 + } + ] + }, + "bbox_1767152740226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152740226_1767152862310_xoiqn5w5q", + "x": 0.5216665941365604, + "y": 0.39320985243055556, + "width": 0.0989999939575199, + "height": 0.1262222222222222 + } + ] + }, + "bbox_1767152740098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152740098_1767152871060_1wowa7bis", + "x": 0.5986665894368536, + "y": 0.4589876302083334, + "width": 0.08899999456787144, + "height": 0.10666666666666669 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右方移动。", + "correction_plan": "下降将黑色碗放入粉色碗中，松开爪夹，使黑色碗落入粉色碗中。", + "error_success_analysis": "爪夹成功将黑色碗向爪夹方向的右侧移动至粉色碗上方。", + "frame": 180, + "progress": 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"error_success_analysis": "爪夹成功把黑色碗放在粉色碗里面。", + "frame": 225, + "progress": 100, + "progress_explanation": "爪夹松开，黑色碗已经落入粉色碗中。因此进度提升至100%", + "state_description": "当前爪夹张开，黑色碗落入粉色碗中。已完成把黑色碗放在粉色碗里面的任务。", + "time": 7.485794972705521, + "annotations": { + "bbox_1767152740098": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152740098_1767152911440_zm5y4pa0m", + "x": 0.5956665896199591, + "y": 0.46432096354166674, + "width": 0.0999999938964847, + "height": 0.0942222222222222 + } + ] + }, + "bbox_1767152740226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767152740226_1767152922754_4xnsqf18p", + "x": 0.6016665892537482, + "y": 0.4394320746527777, + "width": 0.08699999468994166, + "height": 0.06933333333333336 + } + ] + }, + "point_1767152740834": { + "type": "point", + "instances": [ + { + "id": "point_1767152740834_1767152926228_r20mklzej", + "x": 0.6716665849812875, + "y": 0.42165429687500006 + } + ] + }, + "point_1767152740964": { + "type": "point", + "instances": [ 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008600.json @@ -0,0 +1,393 @@ +{ + "task_description": "将杯子稍微向左移动：\n爪夹开始移动：0%\n爪夹靠近杯子：20%\n爪夹抓取杯子：40%\n爪夹抓住杯子并抬起向杯子左方移动：60%\n爪夹将杯子移动至杯子左侧：80%\n爪夹松开，使杯子落至桌面：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左前方移动并下降，到达杯子正上方后继续下降，合拢爪夹抓取杯子后竖直上升，向爪夹方向的左方移动，直至杯子处于之前杯子位置的左方。下降爪夹，随后松开爪夹，使杯子落至桌面。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将杯子稍微向左移动的任务应当：向爪夹方向的左前方移动并下降，到达杯子正上方后继续下降。", + "time": 1.195554705828121, + "annotations": { + "bbox_1767163854261": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767163854261_1767163870207_vfrcno2n5", + "x": 0.6246665878499397, + "y": 0.4712345377604166, + "width": 0.08999999450683624, + "height": 0.17600000000000005 + } + ] + }, + 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+ "time": 11.733698176758809, + "annotations": { + "bbox_1767163854261": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767163854261_1767163941151_2w74omcij", + "x": 0.6266665877278694, + "y": 0.45720985243055556, + "width": 0.09499999420166043, + "height": 0.16888888888888892 + } + ] + }, + "point_1767163855007": { + "type": "point", + "instances": [ + { + "id": "point_1767163855007_1767163944887_bx9dv8xnb", + "x": 0.7216665819295298, + "y": 0.5372098524305555 + } + ] + } + } + }, + { + "action_description": "爪夹抓住杯子后竖直上升，随后向爪夹方向的左侧移动。", + "correction_plan": "向爪夹方向的左方移动，直至杯子处于之前杯子位置的左方。下降爪夹，随后松开爪夹，使杯子落至桌面。", + "error_success_analysis": "爪夹已经抓取到杯子，抬起并且在向着杯子方向的左方移动。", + "frame": 395, + "progress": 60, + "progress_explanation": "当前爪夹将杯子垂直抬起，并开始向爪夹方向的左侧移动。因此进度提升至60%", + "state_description": "当前爪夹合拢，抓住杯子垂直于桌面上方。\n为完成将杯子稍微向左移动的任务应当：向爪夹方向的左方移动，直至杯子处于之前杯子位置的左方。", + "time": 13.157271943884535, + "annotations": { + "point_1767163855007": { + "type": "point", + "instances": [ + { + "id": 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+ }, + { + "action_description": "爪夹张开，杯子落至桌面。", + "correction_plan": "", + "error_success_analysis": "爪夹成功将杯子稍微向左移动。", + "frame": 505, + "progress": 100, + "progress_explanation": "爪夹松开，杯子已经落在之前杯子位置的左侧。因此进度提升至100%", + "state_description": "当前爪夹张开，杯子放在桌面上。已完成将杯子稍微向左移动的任务。", + "time": 16.836378173209457, + "annotations": { + "bbox_1767163854261": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767163854261_1767163999628_7qwnrqnmn", + "x": 0.5606665917561895, + "y": 0.485654296875, + "width": 0.09399999426269563, + "height": 0.17599999999999996 + } + ] + }, + "point_1767163854873": { + "type": "point", + "instances": [ + { + "id": "point_1767163854873_1767164010169_w28nekgaf", + "x": 0.6326665873616585, + "y": 0.5372098524305555 + } + ] + }, + "point_1767163855007": { + "type": "point", + "instances": [ + { + "id": "point_1767163855007_1767164012271_6nkjzfqcp", + "x": 0.6896665838826548, + "y": 0.5283209635416667 + } + ] + }, + "bbox_1767164016833": { + "type": "bbox", + 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008866.json @@ -0,0 +1,352 @@ +{ + "task_description": "从大容器中拿起紫色玩具，然后将其放入蓝色容器中；\n爪夹开始移动：0%\n爪夹靠近紫色玩具：20%\n爪夹抓取紫色玩具：40%\n爪夹抓住紫色玩具并接近蓝色容器：60%\n爪夹将紫色玩具放入蓝色容器中中：80%\n爪夹松开，使紫色玩具落入蓝色容器中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的前方移动并下降，到达紫色玩具正上方后继续下降，合拢爪夹抓取紫色玩具后竖直上升，向爪夹方向的左方移动，直至紫色玩具处于蓝色容器正上方。下降将紫色玩具放入蓝色容器，松开并抬起爪夹，使紫色玩具落入蓝色容器中。", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成从大容器中拿起紫色玩具，然后将其放入蓝色容器中的任务应当：向爪夹方向的前方移动并下降，到达紫色玩具正上方后继续下降。", + "time": 0.5771358789788706, + "annotations": { + "bbox_1767166079157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767166079157_1767166099997_etrr044pj", + "x": 0.3976666017049193, + "y": 0.6154320746527778, + "width": 0.07399999548339871, + 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"point_targets": [ + { + "id": "point_1767166079991", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767166080189", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.wrist_image_left/episode_008635.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.wrist_image_left/episode_008635.json new file mode 100644 index 0000000000000000000000000000000000000000..363ea9b61fc2f3888fad6867fc316a6dca1f7cec --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-008/observation.images.wrist_image_left/episode_008635.json @@ -0,0 +1,9 @@ +{ + "task_description": "", + "progress_points": [], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009189.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009189.json new file mode 100644 index 0000000000000000000000000000000000000000..52145cc3dbe09344965a68839f50957d78075cfa --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_1_left/episode_009189.json @@ -0,0 +1,347 @@ +{ + "task_description": "将玉米棒子移动到桌子右下方：\n爪夹开始移动：0%\n爪夹靠近玉米棒子：20%\n爪夹抓取玉米棒子：40%\n爪夹抓住玉米棒子并向桌子右下方移动：60%\n爪夹将玉米棒子移动至桌子右下方的上方：80%\n爪夹松开，使玉米棒子放在桌子右下方：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "向爪夹方向的下方下降，随后向爪夹方向的左前方移动，移动至玉米棒子上方后，向爪夹方向的下方移动，合拢爪夹抓取玉米棒子，随后抬起爪夹，向爪夹方向的右方移动，移动至桌子右下方后，下降爪夹，使玉米棒子与桌面的垂直距离拉近，随后松开爪夹，使玉米棒子落至桌子右下方。", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹没有移动，没有出现在画面。\n为完成将玉米棒子移动到桌子右下方的任务应当：向爪夹方向的下方移动，随后向爪夹方向的左前方移动。", + "time": 1.9239397822173894, + "annotations": { + "bbox_1767168779031": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168779031_1767168809869_a3uu1jb7c", + "x": 0.42666659993489986, + "y": 0.7309876302083335, + "width": 0.03599999780273446, + "height": 0.13333333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "correction_plan": "向爪夹方向的左前方移动，移动至玉米棒子上方后，向爪夹方向的下方移动，合拢爪夹抓取玉米棒子，随后抬起爪夹，向爪夹方向的右方移动，移动至桌子右下方后，下降爪夹，使玉米棒子与桌面的垂直距离拉近，随后松开爪夹，使玉米棒子落至桌子右下方。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，垂直方向上成功接近玉米棒子，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 116, + "progress": 10, + "progress_explanation": "当前爪夹在垂直方向上接近玉米棒子，因此进度提升为10%。", + "state_description": "当前爪夹张开，与玉米棒的子垂直距离拉近。\n为完成将玉米棒子移动到桌子右下方的任务应当：向爪夹方向的左前方移动，移动至玉米棒子上方。", + "time": 3.8517746557579016, + "annotations": { + "bbox_1767168779031": { + 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+ "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767168779818", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009084.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009084.json new file mode 100644 index 0000000000000000000000000000000000000000..f9dcbf30528c685c0bee7cb555b280159aad6e7f --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009084.json @@ -0,0 +1,306 @@ +{ + "task_description": "移动爪夹，将纸移动至杯子的右后方：\n爪夹开始移动：0%\n爪夹靠近纸张：30%\n爪夹抵住纸张：60%\n爪夹抵住纸张向左后方移动：80%\n爪夹抵住纸张移动至杯子右下方：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右前方移动，同时下降爪夹，到达纸张正上方后下降，抵住纸张后，向爪夹方向的左后方拖动纸张，随后向爪夹方向的左方拖动纸张，纸张移动至杯子右下方后，抬起爪夹。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成移动爪夹，将纸移动至杯子的右后方的任务应当：向爪夹方向的右前方移动，同时下降爪夹。", + "time": 1.3751423846697064, + "annotations": { + "bbox_1767170882247": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170882247_1767170898363_ybdkqaowk", + "x": 0.281666608784997, + "y": 0.29187651909722223, + "width": 0.05999999633789081, + "height": 0.13866666666666666 + } + ] + }, + "bbox_1767170882347": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170882347_1767170903032_626yulbiz", + "x": 0.48166659657796657, + "y": 0.31676540798611114, + "width": 0.11899999273681665, + "height": 0.16533333333333333 + } + ] + }, + "point_1767170882990": { + "type": "point", + "instances": [ + { + "id": "point_1767170882990_1767170919811_xht1777b7", + "x": 0.022666624593101526, + "y": 0.38609874131944444 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "继续向爪夹方向的右前方移动，同时下降爪夹，到达纸张正上方后下降，抵住纸张后，向爪夹方向的左后方拖动纸张，随后向爪夹方向的左方拖动纸张，纸张移动至杯子右下方后，抬起爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近纸张。", + "frame": 88, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上略微接近纸张，因此进度提升为10%。", + "state_description": "当前状态为爪夹打开，与纸张的水平距离拉近。\n为完成移动爪夹，将纸移动至杯子的右后方的任务应当：继续向爪夹方向的右前方移动，同时下降爪夹。", + "time": 2.9411216356183774, + "annotations": { + "point_1767170882990": { + "type": "point", + "instances": [ + { + "id": "point_1767170882990_1767170923626_6kow5v99w", + "x": 0.44266659895833743, + "y": 0.32565429687499997 + } + ] + }, + "point_1767170882885": { + "type": "point", + "instances": [ + { + "id": "point_1767170882885_1767170926310_0xau8czaz", + "x": 0.3766666029866575, + "y": 0.32209874131944444 + } + ] + }, + "bbox_1767170882247": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170882247_1767170929598_5xrvhcghs", + "x": 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+ } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动。", + "correction_plan": "向爪夹方向的左方拖动纸张，纸张移动至杯子右下方后，抬起爪夹。", + "error_success_analysis": "爪夹已经抵住纸张，并向着杯子的右下方移动。", + "frame": 285, + "progress": 80, + "progress_explanation": "爪夹抵住纸张向爪夹方向的左后方移动，使纸张与杯子右下方的水平距离拉近。因此进度提升至80%", + "state_description": "当前爪夹合拢，纸张与杯子右下方的水平距离拉近。\n为完成移动爪夹，将纸移动至杯子的右后方的任务应当：向爪夹方向的左方拖动纸张，使纸张移动至杯子右下方。", + "time": 9.508131397661197, + "annotations": { + "point_1767170882990": { + "type": "point", + "instances": [ + { + "id": "point_1767170882990_1767170995734_k1ykpm4h5", + "x": 0.4956665957234743, + "y": 0.4945431857638889 + } + ] + }, + "bbox_1767170882347": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170882347_1767171001226_873v94ksu", + "x": 0.4276665998738647, + "y": 0.357654296875, + "width": 0.16599998986816472, + "height": 0.19377777777777783 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左方移动。", + "correction_plan": "继续向爪夹方向的左方拖动纸张，纸张移动至杯子右下方后，抬起爪夹。", + "error_success_analysis": "爪夹已经抵住纸张，并向着杯子的右下方移动，成功拉近与杯子右下方的水平距离。", + "frame": 348, + "progress": 90, + "progress_explanation": "爪夹抵住纸张向爪夹方向的左方移动，使纸张与杯子右下方的水平距离进一步拉近。因此进度提升至90%", + "state_description": "当前爪夹合拢，位于纸张上。\n为完成移动爪夹，将纸移动至杯子的右后方的任务应当：继续向爪夹方向的左方拖动纸张，使纸张移动至杯子右下方。", + "time": 11.612942218828765, + "annotations": { + "bbox_1767170882347": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170882347_1767171011508_puuknfxfw", + "x": 0.3816666026814818, + "y": 0.3754320746527778, + "width": 0.1739999893798835, + "height": 0.14044444444444446 + } + ] + }, + "point_1767170882990": { + "type": "point", + "instances": [ + { + "id": "point_1767170882990_1767171020456_a7ex0i23w", + "x": 0.4296665997517944, + "y": 0.4732098524305556 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方抬起。", + "correction_plan": "", + "error_success_analysis": "爪夹成功将纸张移动至杯子右下方。", + "frame": 398, + "progress": 100, + "progress_explanation": "纸张已移动至杯子右下方。因此进度提升至100%", + "state_description": "当前爪夹垂直于纸张上方，纸张已移动至杯子的右后方。已完成移动爪夹，将纸移动至杯子的右后方的任务。", + "time": 13.263113902624141, + "annotations": { + "bbox_1767170882347": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170882347_1767171025836_lqqvfx8ap", + "x": 0.30666660725911815, + "y": 0.39320985243055556, + "width": 0.1999999877929695, + "height": 0.12444444444444448 + } + ] + }, + "bbox_1767170882247": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767170882247_1767171031164_rj9ariion", + "x": 0.2836666086629267, + "y": 0.2847654079861111, + "width": 0.048999997009277506, + "height": 0.13866666666666666 + } + ] + }, + "point_1767170882990": { + "type": "point", + "instances": [ + { + "id": "point_1767170882990_1767171034524_ifeb2sdxn", + "x": 0.3626666038411496, + "y": 0.45009874131944444 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767170882247", + "name": "杯子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767170882347", + "name": "纸张", + "color": "#FF9800" + } + ], + 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"action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的前方移动并下降，到达黑色钢笔正上方后继续下降，合拢爪夹抓取黑色钢笔后竖直上升，向爪夹方向的右方移动，直至黑色钢笔处于两个垃圾桶中的上方。向爪夹方向的下方移动，松开爪夹，使黑色钢笔落到两个垃圾桶中间。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成抓起散热器使其落入快递箱中的任务应当：调整爪夹方向直到垂直于桌面，向爪夹方向的左前方移动至黑色钢笔的正上方。", + "time": 0.46872812369572764, + "annotations": { + "bbox_1767172551220": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767172551220_1767172622359_pgutbsdfq", + "x": 0.491666595967615, + "y": 0.5460987413194445, + "width": 0.2809999828491221, + "height": 0.17599999999999996 + } + ] + }, + "bbox_1767172552621": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767172552621_1767172631965_4zkht47r4", + "x": 0.46466659761556406, + "y": 0.5958765190972223, + "width": 0.03499999786376966, + "height": 0.05555555555555555 + } + ] + }, + "point_1767172553291": { + "type": "point", + "instances": [ + { 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"将绿色圆柱体向桌子的右上方移动：\n爪夹开始移动：0%\n爪夹靠近绿色圆柱体：20%\n爪夹抓取绿色圆柱体：40%\n爪夹抓住绿色圆柱体移动至桌子的右上方：70%\n爪夹松开，使绿色圆柱体放在桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动，暂未出现。", + "correction_plan": "向爪夹方向的前方移动并下降，到达绿色圆柱体正上方后，下降抓取绿色圆柱体，向爪夹方向的上方抬起爪夹，随后向爪夹方向的右前方移动，移动至桌面右上方后，向爪夹方向的下方移动，随后张开爪夹，使绿色圆柱体放在桌面上。", + "error_success_analysis": "", + "frame": 77, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹没有移动，没有出现在画面。\n为完成将绿色圆柱体向桌子的右上方移动的任务应当：向爪夹方向的前方移动并下降，到达绿色圆柱体正上方。", + "time": 2.5517978483987496, + "annotations": { + "bbox_1767495584502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767495584502_1767495605252_bb1oxkenp", + "x": 0.31166660695394244, + "y": 0.1887654079861111, + "width": 0.5249999679565449, + "height": 0.7875555555555555 + } + ] + }, + "bbox_1767495585254": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767495585254_1767495620506_cypc77nhp", + "x": 0.609666588765467, + "y": 0.4678765190972222, + "width": 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"当前爪夹合拢，垂直于桌子的右上方。\n为完成将绿色圆柱体向桌子的右上方移动的任务应当：向爪夹方向的右前方移动，移动至桌面右上方后。 ", + "time": 7.343550268537556, + "annotations": { + "bbox_1767495584502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767495584502_1767495698682_52vvst5ox", + "x": 0.3106666070149776, + "y": 0.19409874131944443, + "width": 0.5269999678344746, + "height": 0.7662222222222224 + } + ] + }, + "bbox_1767495585254": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767495585254_1767495707177_m611837pp", + "x": 0.6166665883382209, + "y": 0.17987651909722224, + "width": 0.03599999780273455, + "height": 0.1262222222222222 + } + ] + }, + "point_1767495585790": { + "type": "point", + "instances": [ + { + "id": "point_1767495585790_1767495709181_w189dmx8u", + "x": 0.6146665884602911, + "y": 0.26876540798611115 + } + ] + }, + "point_1767495585916": { + "type": "point", + "instances": [ + { + "id": "point_1767495585916_1767495711434_kjan8fjep", + "x": 0.648666586385096, + "y": 0.245654296875 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动，随后微微向前移动。", + "correction_plan": "张开爪夹，使绿色圆柱体放在桌面上。", + "error_success_analysis": "爪夹成功向爪夹方向的右前方移动至桌子右上方，下降将绿色圆柱体与桌面的垂直距离拉近。", + "frame": 257, + "progress": 90, + "progress_explanation": "爪夹向爪夹方向的下方移动，将绿色圆柱体垂直于桌面上。因此进度提升至90%", + "state_description": "当前爪夹合拢，与桌子的右上方的垂直距离拉近。\n为完成将绿色圆柱体向桌子的右上方移动的任务应当：张开爪夹，使绿色圆柱体放在桌面上。", + "time": 8.564306242239585, + "annotations": { + "bbox_1767495584502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767495584502_1767495718700_omergqgtg", + "x": 0.31166660695394244, + "y": 0.20298763020833333, + "width": 0.5249999679565449, + "height": 0.7591111111111112 + } + ] + }, + "bbox_1767495585254": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767495585254_1767495729928_ic8x1vxrk", + "x": 0.602666589192713, + "y": 0.2865431857638889, + "width": 0.02599999841308609, + "height": 0.09777777777777782 + } + ] + }, + "point_1767495585790": { + "type": "point", + "instances": [ + { + "id": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009688.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009688.json new file mode 100644 index 0000000000000000000000000000000000000000..b4b52bd93dcf0f2bd184285bd7a23e535c988df8 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009688.json @@ -0,0 +1,375 @@ +{ + "task_description": "将米白色小装置向右移动：\n爪夹开始移动：0%\n爪夹靠近米白色小装置：30%\n爪夹抓取米白色小装置：50%\n爪夹抓住米白色小装置并向米白色小装置右方移动：80%\n爪夹将米白色小装置移动至米白色小装置右方：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左前方移动并下降，到达米白色小装置正上方后下降，合拢爪夹抓取米白色小装置后，向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方，随后松开爪夹。", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将米白色小装置向右移动的任务应当：向爪夹方向的左前方移动并下降，到达米白色小装置正上方后下降。", + "time": 1.0510872899264752, + "annotations": { + "bbox_1767498230089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498230089_1767498247502_tms55ia62", + "x": 0.6196665881551154, + "y": 0.6189876302083334, + "width": 0.043999997314453324, + "height": 0.056888888888888864 + } + ] + }, + "point_1767498230959": { + "type": "point", + "instances": [ + { + "id": "point_1767498230959_1767498249949_2ixqpen9a", + "x": 0.4986665955403689, + "y": 0.5869876302083333 + } + ] + }, + "point_1767498230841": { + "type": "point", + "instances": [ + { + "id": "point_1767498230841_1767498252221_d0qhhlzk4", + "x": 0.4776665968221071, + "y": 0.5389876302083333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，同时下降爪夹。", + "correction_plan": "继续向爪夹方向的左前方移动并下降，到达米白色小装置正上方后下降，合拢爪夹抓取米白色小装置后，向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方，随后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近米白色小装置。", + "frame": 103, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近米白色小装置，因此进度提升为10%。", + "state_description": "当前状态为爪夹打开，垂直于桌面上方。\n为完成将米白色小装置向右移动的任务应当：继续向爪夹方向的左前方移动并下降，到达米白色小装置正上方后下降。", + "time": 3.431293285517975, + "annotations": { + "bbox_1767498230089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498230089_1767498258791_l9xyrs9ei", + "x": 0.6176665882771857, + "y": 0.6189876302083334, + "width": 0.0499999969482424, + "height": 0.06044444444444442 + } + ] + }, + "point_1767498230959": { + "type": "point", + "instances": [ + { + "id": "point_1767498230959_1767498261221_6qnnh6310", + "x": 0.6016665892537482, + "y": 0.5869876302083333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "correction_plan": "下降合拢爪夹抓取米白色小装置后，向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方，随后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，并且已经移动到了米白色小装置的正上方，方便抓取。", + "frame": 165, + "progress": 30, + "progress_explanation": "当前爪夹已悬空于米白色小装置正上方，已接近米白色小装置，因此进度提升为30%。", + "state_description": "当前爪夹打开，垂直于米白色小装置上方。\n为完成将米白色小装置向右移动的任务应当：下降合拢爪夹抓取米白色小装置，随后向爪夹方向的右方移动。", + "time": 5.48600102530209, + "annotations": { + "bbox_1767498230089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498230089_1767498267126_pozpapt76", + "x": 0.6196665881551154, + "y": 0.6172098524305555, + "width": 0.04599999719238301, + "height": 0.06400000000000006 + } + ] + }, + "point_1767498230959": { + "type": "point", + "instances": [ + { + "id": "point_1767498230959_1767498269007_lcz81ro2j", + "x": 0.6436665866902718, + "y": 0.6243209635416667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方下降。", + "correction_plan": "合拢爪夹抓取米白色小装置后，向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方，随后松开爪夹。", + "error_success_analysis": "爪夹已成功下降，位于米白色小装置两侧，方便抓取米白色小装置。", + "frame": 223, + "progress": 40, + "progress_explanation": "爪夹下降，与米白色小装置垂直距离进一步拉近。因此进度提升至40%", + "state_description": "当前爪夹张开，位于米白色小装置两侧。\n为完成将米白色小装置向右移动的任务应当：合拢爪夹抓取米白色小装置，随后向爪夹方向的右方移动。", + "time": 7.418646919158436, + "annotations": { + "point_1767498230959": { + "type": "point", + "instances": [ + { + "id": "point_1767498230959_1767498271527_hv5gl4hh6", + "x": 0.635666587178553, + "y": 0.645654296875 + } + ] + }, + "bbox_1767498230089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498230089_1767498277231_afadao3l9", + "x": 0.6216665880330451, + "y": 0.6207654079861111, + "width": 0.04299999737548843, + "height": 0.06222222222222224 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方轻微移动，同时合拢爪夹。", + "correction_plan": "向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方，随后松开爪夹。", + "error_success_analysis": "爪夹成功移动至米白色小装置正上方，爪夹向爪夹的下方移动，并成功抓取到米白色小装置。", + "frame": 263, + "progress": 50, + "progress_explanation": "当前爪夹已抓取到米白色小装置，因此进度提升为50%。", + "state_description": "当前爪夹合拢，抓住米白色小装置。\n为完成将米白色小装置向右移动的任务应当：向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方。", + "time": 8.761327224363898, + "annotations": { + "bbox_1767498230089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498230089_1767498281820_vmz51gu1u", + "x": 0.62266658797201, + "y": 0.6189876302083334, + "width": 0.04599999719238292, + "height": 0.06755555555555554 + } + ] + }, + "point_1767498230959": { + "type": "point", + "instances": [ + { + "id": "point_1767498230959_1767498284205_ne5y0yb3y", + "x": 0.6466665865071664, + "y": 0.6545431857638889 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右方移动。", + "correction_plan": "继续向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方，随后松开爪夹。", + "error_success_analysis": "爪夹开始将米白色小装置向米白色小装置的右方移动。", + "frame": 332, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向的右方移动，将米白色小装置向爪夹方向的右方轻微移动。因此进度提升至60%", + "state_description": "当前爪夹合拢，垂直于桌面上。\n为完成将米白色小装置向右移动的任务应当：继续向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方。", + "time": 11.080502296991513, + "annotations": { + "point_1767498230959": { + "type": "point", + "instances": [ + { + "id": "point_1767498230959_1767498287619_k7kwokmoa", + "x": 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0.0657777777777778 + } + ] + } + } + }, + { + "time": 16.634316286705012, + "frame": 499, + "progress": 80, + "action_description": "爪夹抓住米白色小装置向爪夹方向的右方移动。", + "state_description": "当前爪夹合拢，与米白色小装置右方的水平距离拉近。\n为完成将米白色小装置向右移动的任务应当：继续向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方。", + "progress_explanation": "爪夹向爪夹方向的右方移动，与米白色小装置右方的水平距离拉近。因此进度提升至80%", + "error_success_analysis": "爪夹成功抓住米白色小装置，开始将米白色小装置向米白色小装置右方移动。", + "correction_plan": "继续向爪夹方向的右方移动，直至米白色小装置移动至米白色小装置原本位置的右方，随后松开爪夹。", + "annotations": { + "bbox_1767498230089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498230089_1767498314071_8n0gp26z6", + "x": 0.6396665869344124, + "y": 0.6563209635416667, + "width": 0.048999997009277506, + "height": 0.06933333333333336 + } + ] + }, + "point_1767498230959": { + "type": "point", + "instances": [ + { + "id": "point_1767498230959_1767498316406_iq5qzksyx", + "x": 0.6626665855306039, + "y": 0.677654296875 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右方移动，随后张开爪夹。", + "correction_plan": "", + "error_success_analysis": "米白色小装置已成功移动至米白色小装置原本位置的右方。", + "frame": 548, + "progress": 100, + "progress_explanation": "米白色小装置已移动至米白色小装置的右方。因此进度提升至100%", + "state_description": "当前爪夹张开，使米白色小装置移动至原本米白色小装置的右方。已完成将米白色小装置向右移动的任务。", + "time": 18.282151206729896, + "annotations": { + "point_1767498230959": { + "type": "point", + "instances": [ + { + "id": "point_1767498230959_1767498319970_wzlp7tse2", + "x": 0.6516665862019905, + "y": 0.7043209635416667 + } + ] + }, + "bbox_1767498230089": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767498230089_1767498323636_8rt0opxrn", + "x": 0.6376665870564826, + "y": 0.6954320746527778, + "width": 0.053999996704101785, + "height": 0.06222222222222216 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767498230089", + "name": "米白色小装置", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767498230841", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767498230959", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.wrist_image_left/episode_009111.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.wrist_image_left/episode_009111.json new file mode 100644 index 0000000000000000000000000000000000000000..fd21b468995f7ded9cf98776adbfd66f373a5fd7 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.wrist_image_left/episode_009111.json @@ -0,0 +1,2050 @@ +{ + "task_description": "将桌子上的东西移到黑布的左下角：\n爪夹准备移动：0%\n爪夹开始移动：10%\n爪夹抓取第一根白色绳子放在黑布的左下角：25%\n爪夹抓取白色毛巾放在黑布的左下角：40%\n爪夹抓取绿色毛巾放在黑布的左下角：55%\n爪夹抓取第二根白色绳子放在黑布的左下角：70%\n爪夹抓取橘色布偶放在黑布的左下角：85%\n爪夹抓取米白色衣服放在黑布的左下角：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1767515010769": 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0000000000000000000000000000000000000000..eec77db91c13197d63c5e736bd83690f68218561 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0005/annotations/chunk-009/observation.images.wrist_image_left/episode_009672.json @@ -0,0 +1,377 @@ +{ + "task_description": "将白色杯子向右前方移动：\n爪夹开始移动：0%\n爪夹靠近白色杯子：30%\n爪夹抓取白色杯子：50%\n爪夹抓住白色杯子向白色杯子原本位置的右前方移动：70%\n爪夹将白色杯子放至白色杯子原本位置的右前方：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，到达白色杯子的正上方后下降，抓取白色杯子后上升，向爪夹方向的右后方移动，直至白色杯子处于白色杯子原本位置的右前方，随后张开爪夹。", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将白色杯子向右前方移动的任务应当：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左下方移动。", + "time": 0.5051539781611191, + "annotations": { + "bbox_1767578235055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767578235055_1767578258617_c9gb6th79", + "x": 0.5066665950520877, + "y": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001383.json new file mode 100644 index 0000000000000000000000000000000000000000..7e6bcbedef2564ddfc2b9e796a42fb33f722f27a --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001383.json @@ -0,0 +1,546 @@ +{ + "task_description": "抓起透明塑料容器使其放在水槽中:\n开始移动:0%\n爪夹靠近透明塑料容器:20%\n爪夹抓取透明塑料容器:40%\n爪夹抓住透明塑料容器靠近水槽:60%\n爪夹抓住透明塑料容器接近水槽:80%\n爪夹松开，透明塑料容器放在水槽中: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，直至透明塑料容器的正上方。竖直下降，抓取透明塑料容器，后上升，向爪夹方向的右侧移动，直至透明塑料容器处于水槽正上方。下降将透明塑料容器放在水槽中，爪夹张开。", + "error_success_analysis": "", + "frame": 19, + "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，没有触透明塑料容器。\n为完成抓起透明塑料容器将其放在水槽中的任务应当:爪夹向爪夹方向的右前方移动，直至透明塑料容器的正上方。", + 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"爪夹下降，调整爪夹角度使其于透明塑料容器平行，准备抓取透明塑料容器。", + "correction_plan": "爪夹合拢，抓取透明塑料容器。后上升，向爪夹方向的右侧移动，直至透明塑料容器处于水槽正上方。下降将透明塑料容器放在水槽中，爪夹张开。", + "error_success_analysis": "爪夹下降，调整爪夹角度使其于透明塑料容器平行，爪夹在透明塑料容器的正前方，准备抓取透明塑料容器。", + "frame": 148, + "progress": 35, + "progress_explanation": "爪夹下降，调整爪夹角度使其于透明塑料容器平行，准备抓取透明塑料容器，因此进度提升至35%。", + "state_description": "当前状态为爪夹张开，爪夹在透明塑料容器的正前方。\n为完成抓起透明塑料容器将其放在水槽中的任务应当:爪夹合拢，抓取透明塑料容器。", + "time": 4.949333333333334, + "annotations": { + "bbox_1767066908069": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066908069_1767067102252_oy9i618r3", + "x": 0.5595, + "y": 0.5937777777777777, + "width": 0.09000000000000004, + "height": 0.06933333333333336 + } + ] + }, + "bbox_1767066908533": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767066908533_1767067111381_svz6c2fqx", + "x": 0.5025000000000001, + "y": 0.4426666666666667, + "width": 0.36099999999999993, + "height": 0.24711111111111106 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓住透明塑料容器。", + 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+ "task_description": "抓起上面干燥器里的黑色衣服将其取出:\n开始移动:0%\n爪夹靠近上面干燥器里的黑色衣服:20%\n爪夹抓取上面干燥器里的黑色衣服:40%\n爪夹抓住上面干燥器里的黑色衣服接近干燥器口:60%\n爪夹抓住上面干燥器里的黑色衣服将其取出干燥器:80%\n爪夹松开，上面干燥器里的黑色衣服被取出: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，直至上面干燥器里的黑色衣服的正上方。下降，抓取上面干燥器里的黑色衣服， 后上升，向爪夹方向的左后方移动，直至上面干燥器里的黑色衣服取出干燥器，爪夹张开。", + "error_success_analysis": "", + "frame": 11, + "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，没有触碰上面干燥器里的黑色衣服。\n为完成抓起上面干燥器里的黑色衣服将其取出的任务应当:爪夹向爪夹方向的右前方移动，直至上面干燥器里的黑色衣服的正上方。", + "time": 0.36740714569852245, + "annotations": { + "point_1767082778538": { + "type": "point", + "instances": [ + { + "id": "point_1767082778538_1767082822938_8us0epvew", + "x": 0.648555502407501, + "y": 0.30787651909722225 + } + ] + }, + "point_1767082778906": { + "type": "point", + "instances": [ + { + "id": "point_1767082778906_1767082825490_pnkq2jubt", + "x": 0.6705555010647276, + "y": 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"爪夹向爪夹方向的前方移动并略微抬升，直至上面干燥器里的黑色衣服的正上方。下降，抓取上面干燥器里的黑色衣服， 后上升，向爪夹方向的左后方移动，直至上面干燥器里的黑色衣服取出干燥器，爪夹张开。", + "error_success_analysis": "爪夹向爪夹的前方移动并略微下降，爪夹在水平方向上更接近上面干燥器里的黑色衣服。", + "frame": 79, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上更接近上面干燥器里的黑色衣服，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上更接近上面干燥器里的黑色衣服。\n为完成抓起上面干燥器里的黑色衣服将其取出的任务应当:爪夹向爪夹方向的前方移动并略微抬升，直至上面干燥器里的黑色衣服的正上方。", + "time": 2.631110342852137, + "annotations": { + "point_1767082778906": { + "type": "point", + "instances": [ + { + "id": "point_1767082778906_1767082841074_oyn1vmmni", + "x": 0.563555507595489, + "y": 0.24920985243055552 + } + ] + }, + "point_1767082778538": { + "type": "point", + "instances": [ + { + "id": "point_1767082778538_1767082843914_rr63kphyf", + "x": 0.5585555079006648, + "y": 0.24920985243055552 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动后下降。", + "correction_plan": "爪夹抬升，向爪夹方向的前方略微移动，直至上面干燥器里的黑色衣服的正上方，下降，抓取上面干燥器里的黑色衣服， 后上升，向爪夹方向的左后方移动，直至上面干燥器里的黑色衣服取出干燥器，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到目标物品。", + "frame": 108, + "progress": -10, + "progress_explanation": "爪夹在错误地点下降，触碰干燥器口，因此进度降低到-10%。", + "state_description": "当前状态为爪夹张开，在干燥器口下降。\n为完成抓起上面干燥器里的黑色衣服将其取出的任务应当:爪夹抬升，向爪夹方向的前方略微移动，直至上面干燥器里的黑色衣服的正上方，再次下降。", + "time": 3.6088880367458858 + }, + { + "action_description": "爪夹下降，进行空抓动作。", + "correction_plan": "爪夹张开并抬起，向爪夹方向的前方略微移动，直至上面干燥器里的黑色衣服的正上方，下降，抓取上面干燥器里的黑色衣服， 后上升，向爪夹方向的左后方移动，直至上面干燥器里的黑色衣服取出干燥器，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢空抓。", + "frame": 68, + "progress": -20, + "progress_explanation": "与上一阶段相比，爪夹需要多一次张开爪夹的动作才能接近上面干燥器里的黑色衣服，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹已经进行空抓动作。\n为完成抓起上面干燥器里的黑色衣服将其取出的任务应当:爪夹张开并抬起，向爪夹方向的前方略微移动，直至上面干燥器里的黑色衣服的正上方，再次下降。", + "time": 4.533333333333333 + }, + { + "action_description": "爪夹向爪夹方向的后侧移动并抬升，爪夹张开。", + "correction_plan": "爪夹向爪夹方向的前方移动，直至上面干燥器里的黑色衣服的正上方。下降，抓取上面干燥器里的黑色衣服， 后上升，向爪夹方向的左后方移动，直至上面干燥器里的黑色衣服取出干燥器，爪夹张开。", + "error_success_analysis": "爪夹由合拢到张开，爪夹向爪夹方向的后侧移动，在水平方向上接近上面干燥器里的黑色衣服。", + "frame": 192, + "progress": 10, + "progress_explanation": "爪夹张开，爪夹向爪夹方向的后侧移动，在水平方向上接近上面干燥器里的黑色衣服，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上面干燥器里的黑色衣服。\n为完成抓起上面干燥器里的黑色衣服将其取出的任务应当:爪夹向爪夹方向的前方移动，直至上面干燥器里的黑色衣服的正上方。", + "time": 6.39999890840622, + "annotations": { + "point_1767082778538": { + "type": "point", + "instances": [ + { + "id": "point_1767082778538_1767082955378_9afavomr9", + "x": 0.5685555072903132, + "y": 0.2243209635416667 + } + ] + }, + "point_1767082778906": { + "type": "point", + "instances": [ + { + "id": "point_1767082778906_1767082958170_ilxnuae8t", + "x": 0.5695555072292782, + "y": 0.2243209635416667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动。", + "correction_plan": "爪夹向爪夹方向的前方移动并下降，直至上面干燥器里的黑色衣服的正上方。下降，抓取上面干燥器里的黑色衣服， 后上升，向爪夹方向的左后方移动，直至上面干燥器里的黑色衣服取出干燥器，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，爪夹在水平方向上逐渐接近上面干燥器里的黑色衣服。", + "frame": 217, + "progress": 15, + "progress_explanation": 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0000000000000000000000000000000000000000..b12d46244fb75b823977ebad9877dc013287eee8 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001761.json @@ -0,0 +1,546 @@ +{ + "task_description": "抓起杯子使其放在桌子上:\n开始移动:0%\n爪夹靠近杯子:20%\n爪夹抓取杯子:40%\n爪夹抓住杯子接近桌子:60%\n爪夹抓住杯子靠近桌子:80%\n爪夹松开，杯子放在桌子:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹调整爪夹角度，于桌面平行，爪夹向爪夹方向的右前方移动，直至杯子的正上方。竖直下降，抓取杯子，后上升，向爪夹方向的左前方移动，直至杯子处于桌子正上方。下降将杯子放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 12, + "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，没有触碰杯子。\n为完成抓起杯子将其放在桌子上的任务应当:爪夹调整爪夹角度，于桌面平行，爪夹向爪夹方向的右前方移动，直至杯子的正上方。", + "time": 0.3854222293333333, + "annotations": { + "point_1767075404467": { + "type": "point", + "instances": [ + { + "id": "point_1767075404467_1767077581016_uirlpifwf", + "x": 0.40650000000000003, + "y": 0.112 + } + ] + }, + "point_1767075404843": { + "type": "point", + "instances": [ + { + "id": "point_1767075404843_1767077583504_7bvetato5", + "x": 0.47350000000000003, + "y": 0.16177777777777777 + } + ] + }, + "bbox_1767075397011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767075397011_1767077680328_c84se25mb", + "x": 0.5575, + "y": 0.3324444444444445, + "width": 0.07599999999999989, + "height": 0.22933333333333333 + } + ] + }, + "bbox_1767075397403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767075397403_1767077846336_fz0shrxxk", + "x": 0.2435, + "y": 0.32, + "width": 0.7529999999999999, + "height": 0.6684444444444446 + } + ] + } + } + }, + { + "action_description": "爪夹下降，并调整爪夹角度使其于桌面平行。", + "correction_plan": "爪夹调整爪夹角度，于桌面平行，爪夹向爪夹方向的右前方移动，直至杯子的正上方。竖直下降，抓取杯子，后上升，向爪夹方向的左前方移动，直至杯子处于桌子正上方。下降将杯子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹下降，垂直方向上成功接近杯子，并使爪夹角度向平行于桌面调整，方便抓取。", + "frame": 67, + "progress": 10, + "progress_explanation": "当前爪夹在垂直方向上略微接近杯子并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，爪夹在垂直方向上接近杯子。\n为完成抓起杯子将其放在桌子上的任务应当:爪夹调整爪夹角度，于桌面平行，爪夹向爪夹方向的右前方移动，直至杯子的正上方。", + "time": 2.2443643025773197, + "annotations": { + "point_1767075404843": { + "type": "point", + "instances": [ + { + "id": "point_1767075404843_1767077588408_daieldjf8", + "x": 0.49350000000000005, + "y": 0.3217777777777778 + } + ] + }, + "point_1767075404467": { + "type": "point", + "instances": [ + { + "id": "point_1767075404467_1767077660848_g0986pfdk", + "x": 0.5025000000000001, + "y": 0.24711111111111114 + } + ] + }, + "bbox_1767075397011": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767075397011_1767077695608_md2vre78i", + "x": 0.5555, + "y": 0.3324444444444445, + "width": 0.08000000000000007, + "height": 0.23111111111111107 + } + ] + }, + "bbox_1767075397403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767075397403_1767077860560_fsxfxonan", + "x": 0.24050000000000002, + "y": 0.2951111111111111, + "width": 0.756, + "height": 0.6844444444444444 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降，调整爪夹角度使其于桌面平行。", + "correction_plan": "爪夹调整爪夹角度，于桌面平行，爪夹下降，直至爪夹处于杯子的正后方。竖直下降，抓取杯子，后上升，向爪夹方向的左前方移动，直至杯子处于桌子正上方。下降将杯子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动并下降，爪夹在水平，垂直方向上逐渐接近杯子。", + "frame": 102, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在垂直，水平方向上逐渐接近杯子，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平，垂直方向上逐渐接近杯子。\n为完成抓起杯子将其放在桌子上的任务应当:爪夹调整爪夹角度，于桌面平行，爪夹下降，直至爪夹处于杯子的正后方。", + "time": 3.3991409561855668, + "annotations": { + "point_1767075404843": { + "type": "point", + "instances": [ + { + "id": "point_1767075404843_1767077592536_unvjpe370", + "x": 0.5935, + "y": 0.3662222222222222 + } + ] + }, + "point_1767075404467": { + "type": "point", + "instances": [ + { + "id": "point_1767075404467_1767077670512_1idi22u0v", + "x": 0.6094999999999999, + "y": 0.30044444444444446 + } + ] + }, + "bbox_1767075397011": { + "type": "bbox", + "instances": [ + { 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-001/observation.images.wrist_image_left/episode_001257.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-001/observation.images.wrist_image_left/episode_001257.json new file mode 100644 index 0000000000000000000000000000000000000000..d4564a14c52785bcf6f9b9f9b2540b4542acd1bc --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-001/observation.images.wrist_image_left/episode_001257.json @@ -0,0 +1,578 @@ +{ + "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放在桌子上:80%\n爪夹松开，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。", + "annotations": { + "bbox_1767060175005": { + "instances": [ + { + "height": 0.4942222222222221, + "id": "bbox_1767060175005_1767060212805_2sq91tqb9", + "width": 0.7070000000000001, + "x": 0.0055, + "y": 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diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002538.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002538.json new file mode 100644 index 0000000000000000000000000000000000000000..e93bce728c10d09a1bf56ca42a81b52f1a1f55e5 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002538.json @@ -0,0 +1,950 @@ +{ + "task_description": "抓取白色盖子使其盖在食物容器上:\n开始移动:0%\n爪夹靠近白色盖子:20%\n爪夹抓取白色盖子:40%\n爪夹抓住白色盖子接近食物容器:60%\n爪夹抓住白色盖子接触食物容器:80%\n爪夹松开，白色盖子盖在食物容器上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至白色盖子的正上方。下降，抓取白色盖子，后上升，向爪夹方向的左前方移动，直至食物容器的正上方，下降将白色盖子盖在食物容器上，爪夹张开。", + "error_success_analysis": "", + "frame": 87, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰白色盖子。\n为完成爪夹抓取白色盖子使其盖在食物容器上的任务应当:爪夹向爪夹方向的左前方移动，直至白色盖子的正上方。", + "time": 2.9101718489690716, + "annotations": { + "point_1767169527853": { + "type": "point", + "instances": [ + { + "id": "point_1767169527853_1767169577421_3jznd72gy", + "x": 0.3735, + "y": 0.10666666666666666 + } + ] + }, + "point_1767169528077": { + "type": "point", + "instances": [ + { + "id": "point_1767169528077_1767169714485_tl7slk3ub", + "x": 0.45549999999999996, + "y": 0.12088888888888889 + } + ] + }, + "bbox_1767169526701": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767169526701_1767169751469_zthjm3ed8", + "x": 0.4505, + "y": 0.6880000000000001, + "width": 0.10700000000000003, + "height": 0.15466666666666662 + } + ] + }, + "bbox_1767169526965": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767169526965_1767170148853_barjnmfwz", + "x": 0.4325, + "y": 0.5102222222222222, + "width": 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"爪夹向爪夹方向的后方移动直至食物容器的正上方。下降将白色盖子盖在食物容器上，爪夹张开。", + "annotations": { + "point_1767169528077": { + "type": "point", + "instances": [ + { + "id": "point_1767169528077_1767169646941_fueskho9g", + "x": 0.4845, + "y": 0.5084444444444445 + } + ] + }, + "bbox_1767169526701": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767169526701_1767169938405_bjywsok4h", + "x": 0.42750000000000005, + "y": 0.4497777777777777, + "width": 0.09699999999999998, + "height": 0.14044444444444454 + } + ] + }, + "bbox_1767169526965": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767169526965_1767170078989_rjdxez4wr", + "x": 0.4265, + "y": 0.5368888888888889, + "width": 0.09800000000000005, + "height": 0.18488888888888896 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的后方移动，调整爪夹角度使其垂直于桌面。", + "correction_plan": "爪夹下降，将白色盖子盖在食物容器上。", + "error_success_analysis": "爪夹向爪夹方向的后方移动，爪夹在食物容器的正上方，爪夹抓住白色盖子接触食物容器。", + "frame": 826, + "progress": 80, + "progress_explanation": 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"取出蓝色杯子里的标记笔使其放在桌子上:\n开始移动:0%\n爪夹靠近蓝色杯子里的标记笔:20%\n爪夹抓取蓝色杯子里的标记笔:40%\n爪夹抓住蓝色杯子里的标记笔靠近桌子:60%\n爪夹抓住蓝色杯子里的标记笔接近桌子:80%\n爪夹松开，蓝色杯子里的标记笔放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至蓝色杯子里的标记笔的正上方。下降，抓取蓝色杯子里的标记笔，后上升，向爪夹方向的左侧移动，直至桌子的正上方。下降将蓝色杯子里的标记笔放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 15, + "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，没有触碰蓝色杯子里的标记笔。\n为完成爪夹抓取蓝色杯子里的标记笔使其放在桌子上的任务应当:爪夹向爪夹方向的右前方移动，直至蓝色杯子里的标记笔的正上方。", + "time": 0.48951890979381446, + "annotations": { + "bbox_1767172532236": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767172532236_1767172611900_h0c4xilob", + "x": 0.5215, + "y": 0.40355555555555556, + "width": 0.016000000000000014, + "height": 0.11733333333333336 + } + ] + }, + "bbox_1767172532685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767172532685_1767172617829_1m7bazjw7", + "x": 0.3065, + "y": 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"爪夹调整爪夹角度，使其粉色衣架于桌面垂直，爪夹抓住粉色衣架向爪夹方向的前方移动，直至桌子的正上方。下降，将粉色衣架放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 378, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹合拢，没有移动，爪夹抓住粉色衣架。\n为完成将粉色衣架使其放在桌子上的任务应当:爪夹调整爪夹角度，使其粉色衣架于桌面垂直，爪夹抓住粉色衣架向爪夹方向的前方移动，直至桌子的正上方。", + "time": 12.593778002666665, + "annotations": { + "bbox_1767496152697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496152697_1767496263672_7ycvd0dq9", + "x": 0.4225, + "y": 0.3608888888888889, + "width": 0.575, + "height": 0.6346666666666667 + } + ] + }, + "bbox_1767496152233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496152233_1767496364257_jygxn0bk2", + "x": 0.7435, + "y": 0.0017777777777777779, + "width": 0.25299999999999995, + "height": 0.47466666666666674 + } + ] + }, + "point_1767496164840": { + "type": "point", + "instances": [ + { + "id": "point_1767496164840_1767496376553_q1pnufwnh", + "x": 0.8695, + "y": 0.07822222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹抓住粉色衣架下降，并开始调整爪夹角度，使其粉色衣架于桌面垂直。", + "correction_plan": "爪夹调整爪夹角度，使其粉色衣架于桌面垂直，向爪夹方向的前方移动，直至桌子的正上方。下降，将粉色衣架放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹抓住粉色衣架下降，在垂直方向上接近桌子，并开始调整爪夹角度，使其粉色衣架于桌面垂直，方便放下。", + "frame": 423, + "progress": 10, + "progress_explanation": "爪夹抓住粉色衣架下降，在垂直方向上接近桌子，因此进度提升至10%。", + "state_description": "当前状态为爪夹合拢，在垂直方向上接近桌子。\n为完成将粉色衣架使其放在桌子上的任务应当:爪夹调整爪夹角度，使其粉色衣架于桌面垂直，向爪夹方向的前方移动，直至桌子的正上方。", + "time": 14.093333, + "annotations": { + "bbox_1767496152697": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496152697_1767496256456_xexl5bg4h", + "x": 0.44750000000000006, + "y": 0.3608888888888889, + "width": 0.5489999999999999, + "height": 0.6382222222222222 + } + ] + }, + "bbox_1767496152233": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767496152233_1767496348257_wg6e3m0vc", + "x": 0.7195, + "y": 0.14755555555555558, + "width": 0.2800000000000001, + "height": 0.43199999999999994 + } + ] + }, + "point_1767496164840": 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at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002483.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002483.json new file mode 100644 index 0000000000000000000000000000000000000000..d29580f037211d00ee918704477c91f2912eb97e --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002483.json @@ -0,0 +1,688 @@ +{ + "task_description": "抓取白色的布将其放在盘子上:\n开始移动:0%\n爪夹靠近白色的布:20%\n爪夹抓取白色的布:40%\n爪夹抓住白色的布接近盘子:60%\n爪夹抓住白色的布接触盘子:80%\n爪夹松开，白色的布放在盘子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至白色的布的正上方。下降，抓取白色的布，后上升，向爪夹方向的右侧移动，直至盘子正上方。下降将白色的布放在盘子上，爪夹张开。", + "error_success_analysis": "", + "frame": 111, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰白色的布。\n为完成抓取白色的布将其放在盘子上的任务应当:爪夹向爪夹方向的右前方移动，直至白色的布的正上方。", + "time": 3.6952577319587627, + "annotations": { + "bbox_1767509782455": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509782455_1767509822927_x933u3qen", + "x": 0.5575, + "y": 0.5955555555555556, + "width": 0.17, + "height": 0.16177777777777771 + } + ] + }, + "bbox_1767509782895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509782895_1767509839527_5keve61t6", + "x": 0.49350000000000005, + "y": 0.5528888888888889, + "width": 0.09499999999999993, + "height": 0.09422222222222226 + } + ] + }, + "point_1767509797975": { + "type": "point", + "instances": [ + { + "id": "point_1767509797975_1767509851767_c2lxejp2y", + "x": 0.4655, + "y": 0.5031111111111112 + } + ] + }, + "point_1767509798335": { + "type": "point", + "instances": [ + { + "id": "point_1767509798335_1767509854719_fh9gl7d4u", + "x": 0.5205, + "y": 0.5422222222222223 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动并下降。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至白色的布的正上方。下降，抓取白色的布，后上升，向爪夹方向的右侧移动，直至盘子正上方。下降将白色的布放在盘子上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动，在水平方向上接近白色的布，爪夹垂直于桌面，方便抓取。", + "frame": 170, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近白色的布，爪夹垂直于桌面，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹在水平方向上接近白色的布。\n为完成抓取白色的布将其放在盘子上的任务应当:爪夹向爪夹方向的右前方移动，直至白色的布的正上方。", + "time": 5.6608, + "annotations": { + "point_1767509798335": { + "type": "point", + "instances": [ + { + "id": "point_1767509798335_1767509858455_mt9ds37w3", + "x": 0.6054999999999999, + "y": 0.5031111111111112 + } + ] + }, + "point_1767509797975": { + "type": "point", + "instances": [ + { + "id": "point_1767509797975_1767509937447_i8yuxijdk", + "x": 0.5645, + "y": 0.496 + } + ] + }, + "bbox_1767509782895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767509782895_1767509945079_k3pqpa4dr", + "x": 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0000000000000000000000000000000000000000..312cc698e297e87cec7d3c0107c2c7b312017aa0 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.exterior_image_2_left/episode_002698.json @@ -0,0 +1,554 @@ +{ + "task_description": "抓取杯子将其放在桌子上:\n开始移动:0%\n爪夹靠近杯子:20%\n爪夹抓取杯子:40%\n爪夹抓住杯子接近桌子:60%\n爪夹抓住杯子接触桌子:80%\n爪夹松开，杯子放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "bbox_1767512499992": { + "instances": [ + { + "height": 0.2595555555555556, + "id": "bbox_1767512499992_1767512552544_lshj4yhfd", + "width": 0.12199999999999997, + "x": 0.3075, + "y": 0.33066666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767512500367": { + "instances": [ + { + "height": 0.8640000000000001, + "id": "bbox_1767512500367_1767512791456_7car2vuct", + "width": 0.943, + "x": 0.006500000000000001, + "y": 0.13511111111111113 + } + ], + "type": "bbox" + }, + "point_1767512512232": { + "instances": [ 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-002/observation.images.wrist_image_left/episode_002838.json @@ -0,0 +1,578 @@ +{ + "task_description": "抓取灰色的锅使其放在炉灶左上角的炉盘上:\n开始移动:0%\n爪夹靠近灰色的锅:20%\n爪夹抓取灰色的锅:40%\n爪夹抓住灰色的锅靠近炉灶左上角的炉盘:60%\n爪夹抓住灰色的锅接近炉灶左上角的炉盘:80%\n爪夹松开，灰色的锅放在炉灶左上角的炉盘上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "point_1767515670352": { + "type": "point", + "instances": [ + { + "id": "point_1767515670352_1767516102808_w9tkamrtb", + "x": 0.44903225806451613, + "y": 0.596415770609319 + } + ] + }, + "point_1767515670720": { + "type": "point", + "instances": [ + { + "id": "point_1767515670720_1767516105120_6snd5adh8", + "x": 0.7716129032258064, + "y": 0.596415770609319 + } + ] + }, + "bbox_1767515655648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767515655648_1767518830681_xwfiytrca", + "x": 0.445555514797637, + "y": 0.7452098524305556, + "width": 0.2689999835815439, + "height": 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{ + "action_description": "爪夹上升。", + "annotations": { + "bbox_1768189520082": { + "instances": [ + { + "height": 0.46933333333333327, + "id": "bbox_1768189520082_1768189567410_7h8n2bvu9", + "width": 0.26199998400879004, + "x": 0.4108888299018048, + "y": 0.28832096354166675 + } + ], + "type": "bbox" + }, + "bbox_1768206852559": { + "instances": [ + { + "height": 0.9582222222222223, + "id": "bbox_1768206852559_1768206871368_igwwun8bi", + "width": 0.994, + "x": 0.0015, + "y": 0.0035555555555555557 + } + ], + "type": "bbox" + }, + "point_1768189521258": { + "instances": [ + { + "id": "point_1768189521258_1768189560809_oxm1ljne8", + "x": 0.45188882739936354, + "y": 0.6189876302083334 + } + ], + "type": "point" + }, + "point_1768189521538": { + "instances": [ + { + "id": "point_1768189521538_1768189557833_24amuhg40", + "x": 0.7708888079291498, + "y": 0.6278765190972222 + } + ], + "type": "point" + } + }, + "correction_plan": "球滚动至桌子的中间。", + "error_success_analysis": "爪夹上升，球在水平方向上接近桌子的中间.", + 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-003/observation.images.wrist_image_left/episode_003879.json new file mode 100644 index 0000000000000000000000000000000000000000..03e743ca1e8a5334eefe0272d2e15258a2efa842 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-003/observation.images.wrist_image_left/episode_003879.json @@ -0,0 +1,990 @@ +{ + "task_description": "先将两个堆叠的咖啡杯直立放置，再抓取紫色小袋放入咖啡杯中:\n开始移动:0%\n爪夹放倒两个堆叠的咖啡杯:20%\n爪夹抓取两个堆叠的咖啡杯使其直立放置:40%\n爪夹抓取紫色小袋接近两个堆叠的咖啡杯:60%\n爪夹将紫色小袋放入两个堆叠的咖啡杯:80%\n爪夹松开，紫色小袋放入两个堆叠的咖啡杯中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，爪夹准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左侧移动，直至两个堆叠的咖啡杯的正上方。下降，将两个堆叠的咖啡杯放倒，爪夹上升向爪夹方向的右后方移动，直至两个堆叠的咖啡杯杯口的正上方。抓取两个堆叠的咖啡杯上升将其直立放置。爪夹向爪夹方向的左侧移动，直至紫色小袋的正上方，下降，抓取紫色小袋，后上升，爪夹向爪夹方向的右侧移动，直至两个堆叠的咖啡杯的正上方，下降，将紫色小袋放入两个堆叠的咖啡杯中，爪夹张开。", + "error_success_analysis": "", + "frame": 15, + "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，没有触碰两个堆叠的咖啡杯。\n为完成先将两个堆叠的咖啡杯直立放置，再抓取紫色小袋放入咖啡杯中的任务应当:爪夹向爪夹方向的左侧移动，直至两个堆叠的咖啡杯的正上方。", + "time": 0.492611675773196, + "annotations": { + "point_1767596824157": { + "type": "point", + "instances": [ + { + "id": "point_1767596824157_1767596841205_dts25wibd", + "x": 0.4585, + "y": 0.5688888888888889 + } + ] + }, + "point_1767596824469": { + "type": "point", + "instances": [ + { + "id": "point_1767596824469_1767596936892_0t9dyk9br", + "x": 0.7825, + "y": 0.5831111111111111 + } + ] + }, + "bbox_1767596807413": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767596807413_1767596954845_j205eohlo", + "x": 0.0045, + "y": 0.0035555555555555557, + "width": 0.29400000000000004, + "height": 0.3662222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动并上升。", + "correction_plan": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004129.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004129.json new file mode 100644 index 0000000000000000000000000000000000000000..526705da29090b7c81ccd5e0570568b2528c2a3d --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004129.json @@ -0,0 +1,758 @@ +{ + "task_description": "钩住透明塑料盒使其放在桌子中间:\n开始移动:0%\n爪夹靠近透明塑料盒:20%\n爪夹触碰透明塑料盒:40%\n爪夹抓住透明塑料盒接近桌子中间:60%\n爪夹钩住透明塑料盒在桌子中间:80%\n爪夹离开，透明塑料盒放在在桌子中间: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，直至透明塑料盒的正上方，后下降，钩取透明塑料盒，向爪夹方向的后方移动，直至桌子的正上方。爪夹上升将透明塑料盒放在桌子中间。", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004138.json new file mode 100644 index 0000000000000000000000000000000000000000..bbde609136cb7cb7a87754959f80f68b6a8e4a96 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004138.json @@ -0,0 +1,560 @@ +{ + "task_description": "抓取箱子里的塑料袋使其放在沙发上:\n开始移动:0%\n爪夹靠近箱子里的塑料袋:20%\n爪夹抓取箱子里的塑料袋:40%\n爪夹抓住箱子里的塑料袋接近沙发:60%\n爪夹将箱子里的塑料袋放在沙发上:80%\n爪夹松开，箱子里的塑料袋放在沙发上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，爪夹准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至箱子里的塑料袋的正上方。下降，抓取箱子里的塑料袋，后上升，爪夹向爪夹方向右方移动，直至沙发的正上方，下降，将箱子里的塑料袋放在沙发上，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，没有触碰箱子里的塑料袋。\n为完成抓起箱子里的塑料袋使其放在沙发上的任务应当:爪夹向爪夹方向的左前方移动，直至箱子里的塑料袋的正上方。", + "time": 0.6666666666666666, + "annotations": { + "bbox_1767599565641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767599565641_1767599609825_q3t7p3txf", + "x": 0.34450000000000003, + "y": 0.6133333333333334, + "width": 0.12199999999999997, + "height": 0.19555555555555548 + } + ] + }, + "bbox_1767599565993": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767599565993_1767599624745_fd959p45p", + "x": 0.47850000000000004, + "y": 0.48000000000000004, + "width": 0.43000000000000005, + "height": 0.5191111111111111 + } + ] + }, + "point_1767599578137": { + "type": "point", + "instances": [ + { + "id": "point_1767599578137_1767599635977_1hc14thu6", + "x": 0.5185000000000001, + "y": 0.47644444444444445 + } + ] + }, + "point_1767599578409": { + "type": "point", + "instances": [ + { + "id": "point_1767599578409_1767599638489_xb044iuyj", + "x": 0.5775, + "y": 0.45333333333333337 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至箱子里的塑料袋的正上方。下降，抓取箱子里的塑料袋，后上升，爪夹向爪夹方向右方移动，直至沙发的正上方，下降，将箱子里的塑料袋放在沙发上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动后，在水平方向上接近箱子里的塑料袋。", + "frame": 49, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近箱子里的塑料袋，因此进度提升至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近箱子里的塑料袋。\n为完成抓起箱子里的塑料袋使其放在沙发上的任务应当:爪夹向爪夹方向的左前方移动，直至箱子里的塑料袋的正上方。", + "time": 1.638775510204082, + "annotations": { + "point_1767599578409": { + "type": "point", + "instances": [ + { + "id": "point_1767599578409_1767599642329_88xmeqmgi", + "x": 0.47450000000000003, + "y": 0.48000000000000004 + } + ] + }, + "point_1767599578137": { + "type": "point", + "instances": [ + { + "id": "point_1767599578137_1767599645617_e986c6qwy", + "x": 0.43550000000000005, + "y": 0.5475555555555556 + } + ] + }, + "bbox_1767599565993": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767599565993_1767600012305_zazkrc5jk", + "x": 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diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004431.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004431.json new file mode 100644 index 0000000000000000000000000000000000000000..cb137b826950608fdffe8c467fea518c5640bcfe --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.exterior_image_1_left/episode_004431.json @@ -0,0 +1,717 @@ +{ + "task_description": "抓起台面上的螺丝刀使其放入敞开的抽屉中，将抽屉关上:\n爪夹抓取台面上的螺丝刀:20%\n爪夹抓住台面上的螺丝刀接近敞开的抽屉:40%\n爪夹张开，台面上的螺丝刀放入敞开的抽屉中:60%\n爪夹张开，接近敞开的抽屉:80%\n爪夹张开，敞开的抽屉关上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，爪夹准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至台面上的螺丝刀的正上方。下降，抓取台面上的螺丝刀，后上升，爪夹向爪夹方向的后方移动，直至敞开的抽屉的正上方，下降，将台面上的螺丝刀放入敞开的抽屉中，爪夹张开。爪夹下降，向爪夹方向的后侧移动直至敞开的抽屉的边缘，向爪夹方向的前方移动，直至敞开的抽屉关上。", + "error_success_analysis": "", + "frame": 49, + "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，没有触碰台面上的螺丝刀。\n为完成抓起台面上的螺丝刀使其放入敞开的抽屉中，将抽屉关上的任务应当:爪夹向爪夹方向的左前方移动，直至台面上的螺丝刀的正上方。", + "time": 1.6219931778350514, + "annotations": { + "bbox_1767664961284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664961284_1767665077021_4ugr3pk3j", + "x": 0.5285, + "y": 0.30044444444444446, + "width": 0.07599999999999998, + "height": 0.05866666666666668 + } + ] + }, + "bbox_1767664961996": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664961996_1767665097388_pd2z6zcoa", + "x": 0.4665000000000001, + "y": 0.33777777777777784, + "width": 0.364, + "height": 0.448 + } + ] + }, + "point_1767664985229": { + "type": "point", + "instances": [ + { + "id": "point_1767664985229_1767665133044_wev7zx5zr", + "x": 0.8035, + "y": 0.128 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至台面上的螺丝刀的正上方。下降，抓取台面上的螺丝刀，后上升，爪夹向爪夹方向的后方移动，直至敞开的抽屉的正上方，下降，将台面上的螺丝刀放入敞开的抽屉中，爪夹张开。爪夹下降，向爪夹方向的后侧移动直至敞开的抽屉的边缘，向爪夹方向的前方移动，直至敞开的抽屉关上。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动后，爪夹在水平方向上略微接近台面上的螺丝刀。", + "frame": 63, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上略微接近台面上的螺丝刀，因此进度提升至5%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微接近台面上的螺丝刀。\n为完成抓起台面上的螺丝刀使其放入敞开的抽屉中，将抽屉关上的任务应当:爪夹向爪夹方向的左前方移动，直至台面上的螺丝刀的正上方。", + "time": 2.0952381607142856, + "annotations": { + "point_1767664985229": { + "type": "point", + "instances": [ + { + "id": "point_1767664985229_1767665122869_gip89o7er", + "x": 0.7165, + "y": 0.2773333333333333 + } + ] + }, + "point_1767664985548": { + "type": "point", + "instances": [ + { + "id": "point_1767664985548_1767665127828_byu732bjn", + "x": 0.7165, + "y": 0.224 + } + ] + }, + "bbox_1767664961284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767664961284_1767665148676_o5bm4sbxs", + "x": 0.5305, + "y": 0.304, + "width": 0.07600000000000007, + 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"#FF9800" + }, + { + "id": "bbox_1767665015180", + "name": "敞开的抽屉关上", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1767664985229", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767664985548", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.wrist_image_left/episode_004154.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.wrist_image_left/episode_004154.json new file mode 100644 index 0000000000000000000000000000000000000000..9256bc149c38bc2409ce032796a92bd58a208e4f --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-004/observation.images.wrist_image_left/episode_004154.json @@ -0,0 +1,636 @@ +{ + "task_description": "抓起粉色盖子使其放在桌子上:\n开始移动:0%\n爪夹靠近粉色盖子:20%\n爪夹抓取粉色盖子:40%\n爪夹抓住粉色盖子接近桌子:60%\n爪夹将粉色盖子放在桌子上:80%\n爪夹松开，粉色盖子放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，爪夹准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至粉色盖子的正上方。下降，抓取粉色盖子，后上升，爪夹向爪夹方向的右后方移动，直至桌子的正上方，下降，将粉色盖子放在桌子上，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，没有触碰粉色盖子。\n为完成抓起粉色盖子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，直至粉色盖子的正上方。", + "time": 0.32818427235772357, + "annotations": { + "bbox_1767669053685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669053685_1767669094149_rp4y6aeh9", + "x": 0.3355, + "y": 0.035555555555555556, + "width": 0.19499999999999998, + "height": 0.3697777777777778 + } + ] + }, + "point_1767669065325": { + "type": "point", + "instances": [ + { + "id": "point_1767669065325_1767669101869_npk7l7pxq", + "x": 0.4495, + "y": 0.5973333333333333 + } + ] + }, + "point_1767669065597": { + 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+ "progress_explanation": "较上一阶段相比，爪夹在水平垂直方向上更接近粉色盖子，爪夹垂直于桌面，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹在水平垂直方向上更接近粉色盖子。\n为完成抓起粉色盖子使其放在桌子上的任务应当:", + "time": 2.9692862737127377, + "annotations": { + "point_1767669065325": { + "type": "point", + "instances": [ + { + "id": "point_1767669065325_1767669300629_lj0121915", + "x": 0.44750000000000006, + "y": 0.5866666666666667 + } + ] + }, + "point_1767669065597": { + "type": "point", + "instances": [ + { + "id": "point_1767669065597_1767669303077_q8n3ot101", + "x": 0.7695000000000001, + "y": 0.592 + } + ] + }, + "bbox_1767669053685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669053685_1767669394165_t4rl4orcm", + "x": 0.1305, + "y": 0.2808888888888889, + "width": 0.37700000000000006, + "height": 0.6026666666666668 + } + ] + }, + "bbox_1767669054061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669054061_1767669585373_lximqof70", + "x": 0.006500000000000001, + "y": 0.0071111111111111115, + "width": 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"action_description": "爪夹抓住粉色盖子向爪夹方向的左后方移动。", + "correction_plan": "爪夹抓住粉色盖子向爪夹方向的左后方移动，直至桌子的正上方。下降，将粉色盖子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹抓住粉色盖子向爪夹方向的左后方移动后，在水平方向上接近桌子。", + "frame": 256, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住粉色盖子在水平方向上接近桌子，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，爪夹抓住粉色盖子在水平方向上接近桌子。\n为完成抓起粉色盖子使其放在桌子上的任务应当:爪夹抓住粉色盖子向爪夹方向的左后方移动，直至桌子的正上方。", + "time": 8.548418903794039, + "annotations": { + "point_1767669065325": { + "type": "point", + "instances": [ + { + "id": "point_1767669065325_1767669338317_fouifcoqb", + "x": 0.5815, + "y": 0.5493333333333333 + } + ] + }, + "point_1767669065597": { + "type": "point", + "instances": [ + { + "id": "point_1767669065597_1767669340613_ygc97ynjs", + "x": 0.6255, + "y": 0.5564444444444444 + } + ] + }, + "bbox_1767669053685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669053685_1767669462421_2xrf8ur0v", + "x": 0.2225, + "y": 0.044444444444444446, + "width": 0.4029999999999999, + 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+ "state_description": "当前状态为爪夹张开，粉色盖子已被放在桌子上。\n已完成抓起粉色盖子使其放在桌子上的任务。", + "time": 10.345618490514905, + "annotations": { + "point_1767669065597": { + "type": "point", + "instances": [ + { + "id": "point_1767669065597_1767669357205_vs3acaz7s", + "x": 0.6995, + "y": 0.5688888888888889 + } + ] + }, + "point_1767669065325": { + "type": "point", + "instances": [ + { + "id": "point_1767669065325_1767669359421_7fqgfb4ax", + "x": 0.5035000000000001, + "y": 0.5599999999999999 + } + ] + }, + "bbox_1767669053685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669053685_1767669500021_2or6mxqp5", + "x": 0.14950000000000002, + "y": 0.11911111111111111, + "width": 0.45, + "height": 0.7751111111111112 + } + ] + }, + "bbox_1767669054061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767669054061_1767669528757_49sv4vvfw", + "x": 0.0045, + "y": 0.0071111111111111115, + "width": 0.9890000000000001, + "height": 0.9831111111111112 + } + ] + } + } + } + ], + "tags": [], + 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the yellow mug backwards\n将黄色杯子向后移动\n抓起绿色杯子使其放在桌子上:\n开始移动:0%\n爪夹靠近绿色杯子:20%\n爪夹抓取绿色杯子:40%\n爪夹抓住绿色杯子接近桌子:60%\n爪夹将绿色杯子放在桌子上:80%\n爪夹松开，绿色杯子放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，爪夹准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左后方移动，直至绿色杯子的正上方。下降，抓取绿色杯子，后上升，爪夹向爪夹方向的左后方移动，直至桌子的正上方，下降，将绿色杯子放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 39, + "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，没有触碰绿色杯子。\n为完成抓起绿色杯子使其放入碗中的任务应当:爪夹向爪夹方向的左后方移动，直至绿色杯子的正上方。", + "time": 1.2985566664948456, + "annotations": { + "point_1767671549581": { + "type": "point", + "instances": [ + { + "id": "point_1767671549581_1767671581125_8dbrdh311", + "x": 0.4485, + "y": 0.5937777777777777 + } + ] + }, + "point_1767671549813": { + "type": "point", + "instances": [ + { + "id": "point_1767671549813_1767671631293_y6fyqqnkf", + "x": 0.7715, + "y": 0.6062222222222222 + } + ] + }, + "bbox_1767671548229": { + "type": "bbox", + 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"爪夹向爪夹方向的后方移动，在水平方向上更接近绿色立方体，爪夹垂直于桌面，方便抓取绿色立方体。", + "frame": 74, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上更接近绿色杯子，爪夹垂直于桌面，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹在水平方向上更接近绿色立方体。\n为完成抓起绿色杯子使其放入碗中的任务应当:爪夹向爪夹方向的右前方移动，直至绿色杯子的正上方。", + "time": 4.933333333333334, + "annotations": { + "point_1767671549581": { + "type": "point", + "instances": [ + { + "id": "point_1767671549581_1767671586493_82tx5h99d", + "x": 0.4525, + "y": 0.6062222222222222 + } + ] + }, + "point_1767671549813": { + "type": "point", + "instances": [ + { + "id": "point_1767671549813_1767671624445_hkcthexcg", + "x": 0.7695000000000001, + "y": 0.6044444444444445 + } + ] + }, + "bbox_1767671548229": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767671548229_1767671660541_ouup5gej4", + "x": 0.5645, + "y": 0.17244444444444443, + "width": 0.30700000000000005, + "height": 0.5511111111111111 + } + ] + }, + "bbox_1767671548533": { + "type": "bbox", + "instances": [ + { + "id": 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"correction_plan": "向爪夹右前方移动，移动至杯子正上方后，爪夹下降，抓取杯子，向爪夹方向的左方移动，移动至杯子原本位置的左方后，爪夹下降，将杯子放在桌面上，随后松开爪夹。", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "爪夹还处于原位。因此进度为0%", + "state_description": "爪夹还未开始移动，还未开始抓取。\n为完成抓起水杯移动到左边的任务应当：继续向爪夹方向的右前方移动，移动至杯子正上方。", + "time": 0.6294845582474227 + }, + { + "action_description": "爪夹向爪夹右前移动杯子。", + "annotations": { + "bbox_1766805403909": { + "instances": [ + { + "height": 0.2026666666666666, + "id": "bbox_1766805403909_1767069273198_xx8dc6zbk", + "width": 0.09699999999999998, + "x": 0.5985, + "y": 0.39822222222222226 + } + ], + "type": "bbox" + }, + "point_1766805559667": { + "instances": [ + { + "id": "point_1766805559667_1767069275252_qo3znshed", + "x": 0.6075, + "y": 0.4106666666666667 + } + ], + "type": "point" + }, + "point_1766805592345": { + "instances": [ + { + "id": "point_1766805592345_1767069276949_xd2jd57eh", + "x": 0.6335, + "y": 0.48355555555555557 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取杯子，向爪夹左移动杯子，杯子放在桌子上，爪夹松开向爪夹右前方移动，移动至杯子正上方后，爪夹下降，抓取到杯子后垂直抬升，向爪夹方向的左方移动，移动至杯子原本位置的左方后，爪夹下降，将杯子放在桌面上，随后松开爪夹。", + "error_success_analysis": "向爪夹右靠近了杯子，可抓取杯子。", + "frame": 107, + "progress": 20, + "progress_explanation": "爪夹移动到了杯子的正上方。因此进度提升至20%。", + "state_description": "爪夹在杯子正上方。\n为完成爪夹抓起水杯移动到左边的任务应当;爪夹合拢抓取杯子。", + "time": 3.5768386139175252 + }, + { + "action_description": "爪夹合拢抓取杯子。", + "annotations": { + "bbox_1766805403909": { + "instances": [ + { + "height": 0.20622222222222225, + "id": "bbox_1766805403909_1767069200765_5ezsoserl", + "width": 0.10299999999999994, + "x": 0.5935, + "y": 0.39644444444444443 + } + ], + "type": "bbox" + }, + "point_1766805559667": { + "instances": [ + { + "id": "point_1766805559667_1767069202769_d4dpesrer", + "x": 0.6085, + "y": 0.4071111111111111 + } + ], + "type": "point" + }, + "point_1766805592345": { + "instances": [ + { + "id": "point_1766805592345_1767069204601_uzl0esye7", + "x": 0.6265000000000001, + "y": 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+ } + ], + "type": "point" + } + }, + "correction_plan": "把杯子放在桌面上，随后松开爪夹，使杯子放在桌面上。", + "error_success_analysis": "向爪夹左边移动了杯子，可放置杯子在桌上。", + "frame": 224, + "progress": 60, + "progress_explanation": "爪夹把杯子向杯子左边移动了。因此进度提升至60%。", + "state_description": "杯子向杯子左边移动了。\n为完成把水杯放下的任务应当：把杯子放在桌子上", + "time": 7.4513404685567 + }, + { + "action_description": "把杯子放在桌子上。", + "annotations": { + "bbox_1766805403909": { + "instances": [ + { + "height": 0.14933333333333335, + "id": "bbox_1766805403909_1767069298387_tg1xetvlk", + "width": 0.06700000000000009, + "x": 0.40149999999999997, + "y": 0.224 + } + ], + "type": "bbox" + }, + "point_1766805559667": { + "instances": [ + { + "id": "point_1766805559667_1767069247342_wm264rmjm", + "x": 0.4125, + "y": 0.256 + } + ], + "type": "point" + }, + "point_1766805592345": { + "instances": [ + { + "id": "point_1766805592345_1767069249426_ce3dynbnx", + "x": 0.4255, + "y": 0.2648888888888889 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使杯子放在桌面上。", + "error_success_analysis": "杯子靠右放在原来位置的左方。可松开爪夹。", + "frame": 244, + "progress": 80, + "progress_explanation": "杯子已经被放在桌子上，因此进度提升至80%。", + "state_description": "爪夹保持合拢，夹住杯子，杯子在桌子上。\n为完成把水杯放下的任务应当：爪夹松开", + "time": 8.134502004639174 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1766805403909": { + "instances": [ + { + "height": 0.16533333333333328, + "id": "bbox_1766805403909_1767074550015_15txidwb8", + "width": 0.07000000000000002, + "x": 0.3995, + "y": 0.2026666666666667 + } + ], + "type": "bbox" + }, + "point_1766805559667": { + "instances": [ + { + "id": "point_1766805559667_1767069305501_dk5p865e4", + "x": 0.3935, + "y": 0.15466666666666667 + } + ], + "type": "point" + }, + "point_1766805592345": { + "instances": [ + { + "id": "point_1766805592345_1767069307723_uy3dzkrv0", + "x": 0.4365, + "y": 0.17244444444444443 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，已经完成抓起水杯移动到左边的任务。", + "frame": 274, + "progress": 100, + "progress_explanation": "与上一阶段相比，爪夹松开并上移，因此进度提升至100%。", + "state_description": "爪夹是打开状态，杯子在爪夹下方。\n完成爪夹抓起水杯移动到左边的任务", + "time": 9.139725407731959 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766805403909", + "name": "水杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766805559667", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766805592345", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005934.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005934.json new file mode 100644 index 0000000000000000000000000000000000000000..92c55a0519aa5c311780eb91052f018dd9eb7f94 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.exterior_image_1_left/episode_005934.json @@ -0,0 +1,257 @@ +{ + "task_description": "爪夹抓起笔放至笔在靠左桌面上。\n开始移动:0%\n爪夹开始向笔的方向移动：10%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹向爪夹的左边移动笔:60%\n爪夹将笔放在桌面上:80%\n爪夹松开:100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。即将向爪夹下方移动靠近笔。", + "annotations": { + "bbox_1766806128852": { + "instances": [ + { + "height": 0.15288888888888888, + "id": "bbox_1766806128852_1766806166316_699oi2ee4", + "width": 0.06199999999999992, + "x": 0.5225000000000001, + "y": 0.4728888888888889 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹右移动，下降，爪夹合拢，抓取笔，抬升，向爪夹左移动，下降，松开爪夹，把笔放在桌面上。", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "爪夹还未开始移动。准备向爪夹下边移动。进度为0%。", + "state_description": "即将向爪夹下方移动靠近笔。\n为完成把笔抓出移动放置到应放置的位置上应当：向爪夹下方移动靠近笔。", + "time": 1.117663200515464 + }, + { + "action_description": "爪夹向右下方移动。", + "correction_plan": "继续向爪夹右下方移动。爪夹合拢，抓取笔后，爪夹抬升，向爪夹左方移动，下降，松开爪夹，把笔放在桌面上。", + "error_success_analysis": "爪夹向右下方移动接近了杯子。方便爪夹继续向右下方移动靠近笔。", + "frame": 96, + "progress": 10, + "progress_explanation": "爪夹移动减小了与杯子的距离。因此进度提升至10%。", + "state_description": "爪夹与杯子的距离减小。爪夹处于张开状态。\n为完成把笔抓出移动放置到应放置的位置上应当：继续向爪夹下方移动靠近笔。", + "time": 3.1979380592783504, + "annotations": { + "point_1766806136070": { + "type": "point", + "instances": [ + { + "id": "point_1766806136070_1767746348715_p45l399ye", + "x": 0.5065000000000001, + "y": 0.33422222222222225 + } + ] + }, + "point_1766806144258": { + "type": "point", + "instances": [ + { + "id": "point_1766806144258_1767746350493_cgqi89q6g", + "x": 0.5775, + "y": 0.28800000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右下移动，处于杯子左上方。", + "annotations": { + "bbox_1766806128852": { + "instances": [ + { + "height": 0.14933333333333332, + "id": "bbox_1766806128852_1766806206331_6l7qjdn5w", + "width": 0.054000000000000006, + "x": 0.5285, + "y": 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"point_1766806136070": { + "instances": [ + { + "id": "point_1766806136070_1767077226457_pdb7frifv", + "x": 0.40049999999999997, + "y": 0.5013333333333333 + } + ], + "type": "point" + }, + "point_1766806144258": { + "instances": [ + { + "id": "point_1766806144258_1767077228561_oeld7kptx", + "x": 0.46950000000000003, + "y": 0.5048888888888888 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，笔被放置在笔原来位置的左边。完成爪夹抓起笔放置笔在桌面靠左的任务。", + "frame": 368, + "progress": 100, + "progress_explanation": "爪夹张开把笔放在了桌面上。因此进度提升至100%。", + "state_description": "笔被放至在桌面上。\n任务完成。", + "time": 12.281374243814433 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766806128852", + "name": "笔" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766806136070", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766806144258", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.wrist_image_left/episode_005222.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.wrist_image_left/episode_005222.json new file mode 100644 index 0000000000000000000000000000000000000000..31dda5ddc191a6a52123a487e4bdbb2c442c8dd3 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.wrist_image_left/episode_005222.json @@ -0,0 +1,243 @@ +{ + "task_description": "爪夹抓起笔靠右放置桌面上。\n开始移动:0%\n爪夹开始移动：10%\n爪夹向爪夹左下方靠近笔:20%\n爪夹抓取笔:40%\n爪夹向爪夹右方移动笔:60%\n爪夹把笔放在桌面上:80%\n爪夹松开:100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "point_1766806358642": { + "instances": [ + { + "id": "point_1766806358642_1766806422536_08z8ltbgs", + "x": 0.4485, + "y": 0.6062222222222222 + } + ], + "type": "point" + }, + "point_1766806377364": { + "instances": [ + { + "id": "point_1766806377364_1766806424858_9ppa30o6y", + "x": 0.7885, + "y": 0.6097777777777778 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左方移动，爪夹合拢抓取笔，爪夹向爪夹右下方移动笔，把笔放在桌面上，爪夹松开。", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "爪夹还没有开始移动。正处于原位。因此进度为0%。", + "state_description": "爪夹正处于原位。\n为完成把笔从杯中取出放到桌面上应当：准备向爪夹左移动。", + "time": 0.8532646376288661 + }, + { + "action_description": "向左下方移动爪夹。", + "correction_plan": "继续向左下方移动爪夹。爪夹合拢抓取笔，爪夹向爪夹右下方移动笔，把笔放在桌面上，爪夹松开。", + "error_success_analysis": "向左下方移动爪夹。爪夹与杯子和笔的距离减小。方便爪夹继续向左下方移动抓取笔。", + "frame": 86, + "progress": 10, + "progress_explanation": "向左下方移动爪夹。爪夹与杯子和笔的距离减小。因此进度提升至10%。", + "state_description": "爪夹靠近了杯子，处于张开状态，与笔的距离减小。\n为完成把笔从杯中取出放到桌面上应当：继续向左下方移动爪夹。", + "time": 2.8546392850515465 + }, + { + "action_description": "爪夹向爪夹左下方移动。", + "annotations": { + "bbox_1766806335281": { + "instances": [ + { + "height": 0.5813333333333333, + "id": "bbox_1766806335281_1766806476022_ibydp5mhc", + "width": 0.092, + "x": 0.5525, + "y": 0.1831111111111111 + } + ], + "type": "bbox" + }, + "point_1766806358642": { + "instances": [ + { + "id": "point_1766806358642_1767079079231_y0wpgqi4k", + "x": 0.5045, + "y": 0.5848888888888889 + } + ], + "type": "point" + }, + "point_1766806377364": { + "instances": [ + { + "id": "point_1766806377364_1767079081141_s1pdmvo2m", + "x": 0.7175, + "y": 0.5813333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取笔，爪夹向爪夹右下方移动笔，把笔放在桌面上，爪夹松开。", + "error_success_analysis": "爪夹向爪夹左下方移动。爪夹在笔正上方。爪夹可以合拢抓取笔。", + "frame": 138, + "progress": 20, + "progress_explanation": "爪夹移动到了笔的正上方，与笔的距离减小了。因此进度提升至20%。", + "state_description": "爪夹在笔正上方。\n为完成把笔从杯中取出放到桌面上应当：爪夹合拢抓取笔。", + "time": 4.596907393298969 + }, + { + "action_description": "爪夹合拢抓取笔。", + "annotations": { + "bbox_1766806335281": { + "instances": [ + { + "height": 0.5564444444444444, + "id": "bbox_1766806335281_1766806525034_eo76vt58m", + "width": 0.06200000000000001, + "x": 0.5735, + "y": 0.1831111111111111 + } + ], + "type": "bbox" + }, + "point_1766806358642": { + "instances": [ + { + "id": "point_1766806358642_1766806530194_13gwdq88h", + "x": 0.5715, + "y": 0.5653333333333334 + } + ], + "type": "point" + }, + "point_1766806377364": { + "instances": [ + { + "id": "point_1766806377364_1766806532320_612eqwd4f", + "x": 0.6365000000000001, + "y": 0.5617777777777778 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右下方移动笔，把笔放在桌面上，爪夹松开。", + "error_success_analysis": "爪夹合拢抓取了笔。可以向爪夹右下方移动笔。", + "frame": 156, + "progress": 40, + "progress_explanation": "爪夹合拢正夹住了笔。因此进度提升至40%。", + "state_description": "爪夹抓取了笔，笔被抓取到。\n为完成把笔从杯中取出放到桌面上应当：爪夹向爪夹右下方移动笔。", + "time": 5.213402262371134 + }, + { + "action_description": "爪夹向爪夹右下方移动笔。", + "annotations": { + "bbox_1766806335281": { + "instances": [ + { + "height": 0.7342222222222222, + "id": "bbox_1766806335281_1766806553613_iy152ukfg", + "width": 0.06100000000000003, + "x": 0.5835, + "y": 0.0071111111111111115 + } + ], + "type": "bbox" + }, + "point_1766806358642": { + "instances": [ + { + "id": "point_1766806358642_1766806558815_4jq2tvq2h", + "x": 0.5705, + "y": 0.5599999999999999 + } + ], + "type": "point" + }, + "point_1766806377364": { + "instances": [ + { + "id": "point_1766806377364_1766806560919_nhuazqcdo", + "x": 0.6435000000000001, + "y": 0.5564444444444444 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开。笔被放置在桌面上。", + "error_success_analysis": "笔正被放置在桌面上。方便爪夹松开笔放在桌面。", + "frame": 247, + "progress": 60, + "progress_explanation": "爪夹正合拢并抓取笔并放置在桌面上。因此进度提升至60%。", + "state_description": "笔被爪夹抓取放置在桌面上。", + "time": 8.242268358247422 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1766806335281": { + "instances": [ + { + "height": 0.632888888888889, + "id": "bbox_1766806335281_1766806590037_08abaxp2p", + "width": 0.166, + "x": 0.5195000000000001, + "y": 0.0035555555555555557 + } + ], + "type": "bbox" + }, + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.wrist_image_left/episode_005654.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.wrist_image_left/episode_005654.json new file mode 100644 index 0000000000000000000000000000000000000000..00499e957b66f1c967e60731d01594ccc883b1e9 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.wrist_image_left/episode_005654.json @@ -0,0 +1,333 @@ +{ + "task_description": "爪夹抓取盘子靠右放置拉篮中\n开始移动：0%\n爪夹开始移动：10%\n⽖夹靠右下接近盘子：20%\n爪夹合拢抓紧盘子：40%\n移动盘子：80%\n完全移除盘子⾄拉篮中：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。即将向爪夹下方移动。", + "annotations": { + "bbox_1766806672495": { + "instances": [ + { + "height": 0.2577777777777777, + "id": "bbox_1766806672495_1766806725572_5tzokp92q", + "width": 0.21100000000000002, + "x": 0.5555, + "y": 0.5422222222222223 + } + ], + "type": "bbox" + }, + "point_1766806681715": { + "instances": [ + { + "id": "point_1766806681715_1766806733742_oe4qbv5uh", + "x": 0.4375, + "y": 0.5724444444444445 + } + ], + "type": "point" + }, + "point_1766806695785": { + "instances": [ + { + "id": "point_1766806695785_1766806735908_un07yvk2l", + "x": 0.7895000000000001, + "y": 0.5831111111111111 + } + ], + "type": "point" + } + }, + "correction_plan": "⽖夹靠右下方接近盘子，爪夹合拢抓紧盘子，爪夹向右下方移动盘子。把盘子放入拉篮中，爪夹松开。", + "error_success_analysis": "", + "frame": 5, + "progress": 0, + "progress_explanation": "爪夹还没有开始移动。因此进度为0%。", + "state_description": "爪夹处于原位。\n为完成移动盘子放置拉篮中的任务应当：⽖夹靠右下接近盘子", + "time": 0.1515463917525773 + }, + { + "action_description": "爪夹向下方移动。", + "correction_plan": "向爪夹的方移动靠近盘子。爪夹合拢抓紧盘子，爪夹向右下方移动盘子。把盘子放入拉篮中，爪夹松开。", + "error_success_analysis": "爪夹向下移动到了盘子正上方。方便向右移动靠近盘子。", + "frame": 189, + "progress": 10, + "progress_explanation": "爪夹移动到了盘子的正上方。因此进度提升至10%。", + "state_description": "爪夹移动靠近盘子。处在盘子正上方。\n为完成移动盘子放置拉篮中的任务应当：向爪夹右方移动靠近盘子。", + 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.wrist_image_left/episode_005933.json new file mode 100644 index 0000000000000000000000000000000000000000..d32cf8d14232fcc30c026e75cf24bfd596a2adb8 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-005/observation.images.wrist_image_left/episode_005933.json @@ -0,0 +1,299 @@ +{ + "task_description": "爪夹抓起笔靠左放置盘中\n开始移动：0%\n爪夹开始移动：10%\n⽖夹向爪夹的下边移动向笔靠近：10%\n⽖夹向爪夹的下边移动接近笔：20%\n爪夹抓取笔：40%\n向爪夹的左边移动笔：60%\n完全移动笔至盘中：100%", + "progress_points": [ + { + "action_description": "爪夹还没有开始移动。准备开始向笔移动。", + "annotations": { + "bbox_1766806969879": { + "instances": [ + { + "height": 0.3466666666666667, + "id": "bbox_1766806969879_1766807032087_jpfraiemd", + "width": 0.15300000000000002, + "x": 0.3165, + "y": 0.21688888888888888 + } + ], + "type": "bbox" + }, + "point_1766806974770": { + "instances": [ + { + "id": 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"point_1766807508961", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766810399368", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006324.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006324.json new file mode 100644 index 0000000000000000000000000000000000000000..5145088b18c17b574aba534a7639672386316cc4 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006324.json @@ -0,0 +1,377 @@ +{ + "task_description": "爪夹抓起球放入靠右碗中\n开始移动：0%\n爪夹开始移动：10%\n靠近第一个球：10%\n抓紧第一个球：25%\n完全移动球放入靠右碗中：50%\n靠近第二个球：60%\n抓紧第二个球：75%\n完全移动球放入靠右碗中：100%\n", + "progress_points": [ + { + "action_description": "暂未移动。爪夹准备向左下方移动。", + "annotations": { + 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"progress_points": [ + { + "action_description": "暂未移动。爪夹即将向爪夹下方移动。", + "annotations": { + "bbox_1766823407188": { + "instances": [ + { + "height": 0.12799999999999995, + "id": "bbox_1766823407188_1766823949356_2aeht2ycr", + "width": 0.09000000000000004, + "x": 0.4375, + "y": 0.7466666666666667 + } + ], + "type": "bbox" + }, + "point_1766823424139": { + "instances": [ + { + "id": "point_1766823424139_1766823951600_uvndqepzn", + "x": 0.40149999999999997, + "y": 0.5102222222222222 + } + ], + "type": "point" + }, + "point_1766823430559": { + "instances": [ + { + "id": "point_1766823430559_1766823953531_o5srhgiee", + "x": 0.4565, + "y": 0.5226666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹下方移动。在包装物品的正上方。爪夹合拢抓取包装物品。向爪夹上方移动。包装物品即将接近上柜层板。松开爪夹。物品被放置在上柜层板上。", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "爪夹还未移动。因此进度位0%。\n", + "state_description": "爪夹处在原位。\n为完成把包装品移动至上柜层板上的任务应当：向爪夹下方移动。", + "time": 0.1365979407216495 + }, + { + "action_description": "向爪夹下方移动。", + "correction_plan": "爪夹合拢抓取包装物品。向爪夹上方移动。包装物品即将接近上柜层板。松开爪夹。物品被放置在上柜层板上。\n", + "error_success_analysis": "向爪夹下方移动。在包装商品的正上方。方便爪夹合拢抓取包装物品。", + "frame": 67, + "progress": 25, + "progress_explanation": "爪夹移动到了包装品的正上方。因此进度提升至25%。", + "state_description": "在包装商品的正上方。\n为完成把包装品移动至上柜层板上的任务应当：爪夹合拢抓取包装物品。", + "time": 2.2493127572164946, + "annotations": { + "bbox_1766823407188": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766823407188_1767746687552_cmccrc9m5", + "x": 0.44350000000000006, + "y": 0.7448888888888889, + "width": 0.07999999999999999, + "height": 0.13333333333333333 + } + ] + }, + "point_1766823424139": { + "type": "point", + "instances": [ + { + "id": "point_1766823424139_1767746689344_a884y8ucz", + "x": 0.4525, + "y": 0.7395555555555556 + } + ] + }, + "point_1766823430559": { + "type": "point", + "instances": [ + { + "id": "point_1766823430559_1767746691197_sjvs209k8", + "x": 0.5075000000000001, + "y": 0.7555555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取包装物品。", + "annotations": { + "bbox_1766823407188": { + "instances": [ + { + "height": 0.12977777777777785, + "id": "bbox_1766823407188_1766824652936_8frn4tlkl", + "width": 0.07999999999999999, + "x": 0.4365, + "y": 0.7484444444444445 + } + ], + "type": "bbox" + }, + "point_1766823424139": { + "instances": [ + { + "id": "point_1766823424139_1766824640660_qk3i69zbj", + "x": 0.4645, + "y": 0.7591111111111112 + } + ], + "type": "point" + }, + "point_1766823430559": { + "instances": [ + { + "id": "point_1766823430559_1766824642660_1iuo6bmbj", + "x": 0.49450000000000005, + "y": 0.7573333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹上方移动。包装物品即将接近上柜层板。松开爪夹。物品被放置在上柜层板上。\n", + "error_success_analysis": "爪夹已经抓取到包装品。方便向爪夹上方移动。", + "frame": 120, + "progress": 50, + "progress_explanation": "包装物品被爪夹抓取。因此进度提升至50%。", + "state_description": "爪夹处于合拢状态。包装物品被爪夹抓取。\n为完成把包装品移动至上柜层板上的任务应当：向爪夹上方移动。\n", + "time": 4.015979457216495 + }, + { + "action_description": "爪夹向爪夹的上方移动。", + "correction_plan": "继续向爪夹上方移动。包装物品即将接近上柜层板。松开爪夹。物品被放置在上柜层板上。\n", + "error_success_analysis": "爪夹向层板方向移动。即将到达层板。", + "frame": 211, + "progress": 60, + "progress_explanation": "爪夹将包装商品移动到空中，即将到达层板的位置。因此进度提升至60%。", + "state_description": "爪夹正处于合拢状态。抓取包装品至空中。\n为完成把包装品移动至上柜层板上的任务应当：继续向爪夹上方移动。", + "time": 7.039347211855671, + "annotations": { + "bbox_1766823407188": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766823407188_1767746703309_akqz82veq", + "x": 0.3365, + "y": 0.3288888888888889, + "width": 0.1, + "height": 0.12799999999999995 + } + ] + }, + "point_1766823424139": { + "type": "point", + "instances": [ + { + "id": "point_1766823424139_1767746705102_lvwzbuyov", + "x": 0.3705, + "y": 0.32533333333333336 + } + ] + }, + "point_1766823430559": { + "type": "point", + "instances": [ + { + "id": "point_1766823430559_1767746707282_ms72sl95f", + "x": 0.4025, + "y": 0.32533333333333336 + } + ] + } + } + }, + { + "action_description": "向爪夹上方移动。", + "correction_plan": "松开爪夹。物品被放置在上柜层板上。", + "error_success_analysis": "爪夹将包装品移动到了层板的正上方。\n方便松开爪夹。", + "frame": 343, + "progress": 75, + "progress_explanation": "向爪夹上方移动。包装物品即将接近上柜层板。因此进度提升至75%。", + "state_description": "爪夹处于合拢状态。包装物品在上柜层板上方。\n为完成把包装品移动至上柜层板上的任务应当：\n松开爪夹。", + "time": 11.428694373711341, + "annotations": { + "point_1766823424139": { + "type": "point", + "instances": [ + { + "id": "point_1766823424139_1767746713717_l8a7wuizo", + "x": 0.4365, + "y": 0.112 + } + ] + }, + "point_1766823430559": { + "type": "point", + "instances": [ + { + "id": "point_1766823430559_1767746716283_pm3nkb7uq", + "x": 0.4565, + "y": 0.112 + } + ] + }, + "bbox_1766823407188": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766823407188_1767746729515_ozn8oniet", + "x": 0.4125, + "y": 0.1031111111111111, + "width": 0.07999999999999999, + "height": 0.07822222222222223 + } + ] + } + } + }, + { + "action_description": "松开爪夹。", + "annotations": { + "bbox_1766823407188": { + 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006363.json new file mode 100644 index 0000000000000000000000000000000000000000..898d5418c12e34fb433781987871eecc28fb0f26 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.exterior_image_2_left/episode_006363.json @@ -0,0 +1,177 @@ +{ + "task_description": "爪夹拉开抽屉。\n开始移动：0%\n⽖夹靠近抽屉：25%\n拉开抽屉：50%\n再拉开抽屉。：75%\n完全松开抽屉：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "correction_plan": "爪夹向爪夹前方移动。拉开抽屉。爪夹松开一些。再拉开抽屉。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "爪夹还未移动。因此进度位0%。", + "state_description": "爪夹处在原位。爪夹即将向爪夹前方移动。\n为完成爪夹拉开抽屉的任务应当：向爪夹前方移动。拉开抽屉。", + "time": 0.5354248366013071 + }, + { + "action_description": "爪夹向爪夹前方移动。", + "annotations": { + "bbox_1766825749058": { + "instances": [ + { + "height": 0.11911111111111118, + "id": "bbox_1766825749058_1766825953188_ide562ubw", + "width": 0.154, + "x": 0.5465, + "y": 0.6986666666666667 + } + ], + "type": "bbox" + }, + "point_1766825752548": { + "instances": [ + { + "id": "point_1766825752548_1766825969732_un8s97bmx", + "x": 0.6195, + "y": 0.7377777777777779 + } + ], + "type": "point" + }, + "point_1766825761246": { + "instances": [ + { + "id": "point_1766825761246_1766825972197_owwmm734t", + "x": 0.6455, + "y": 0.7893333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "拉开抽屉。爪夹松开一些。再拉开抽屉。", + "error_success_analysis": "爪夹向爪夹前方移动到了抽屉正前方。方便爪夹拉开抽屉。", + "frame": 93, + "progress": 25, + "progress_explanation": "爪夹移动到抽屉正前方。因此进度提升至25%。", + "state_description": "爪夹处于张开状态。爪夹在抽屉正前方。\n为完成爪夹拉开抽屉的任务应当：拉开抽屉。\n", + "time": 3.0976 + }, + { + "action_description": "拉开抽屉。", + "annotations": { + "bbox_1766825749058": { + "instances": [ + { + "height": 0.29965059399021665, + "id": "bbox_1766825749058_1767163497621_pr4gybml8", + "width": 0.19119496855345916, + "x": 0.5547169811320755, + "y": 0.6060097833682739 + } + ], + "type": "bbox" + }, + "point_1766825752548": { + "instances": [ + { + "id": "point_1766825752548_1767163491499_oi93j3yx3", + "x": 0.6503144654088051, + "y": 0.8184486373165618 + } + ], + "type": "point" + }, + "point_1766825761246": { + "instances": [ + { + "id": "point_1766825761246_1767163494005_nh9d4ktr0", + "x": 0.7044025157232705, + "y": 0.8609364081062195 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开一些。再拉开抽屉。", + "error_success_analysis": "爪夹把抽屉拉开了一些。", + "frame": 242, + "progress": 50, + "progress_explanation": "爪夹拉开了抽屉。因此进度提升至50%。", + "state_description": "爪夹正张开。抽屉被拉开。\n为完成爪夹拉开抽屉的任务应当：爪夹松开一些。再拉开抽屉。", + "time": 8.056082474226804 + }, + { + "action_description": "爪夹松开一些。", + "correction_plan": "再拉开抽屉。\n", + "error_success_analysis": "爪夹松开了一些。方便再次移动抽屉。\n", + "frame": 285, + "progress": 75, + "progress_explanation": "爪夹再张开，方便再次移动抽屉。因此进度提升至75%。\n\n", + "state_description": "抽屉位置没有变动。\n为完成爪夹拉开抽屉的任务应当：再拉开抽屉。", + "time": 9.507628865979383 + }, + { + "action_description": "再拉开抽屉。", + "annotations": { + "bbox_1766825749058": { + "instances": [ + { + "height": 0.3413333333333334, + "id": "bbox_1766825749058_1766826576666_iflw9p4sj", + "width": 0.18000000000000008, + "x": 0.5465, + "y": 0.6097777777777778 + } + ], + "type": "bbox" + }, + "point_1766825752548": { + "instances": [ + { + "id": "point_1766825752548_1766826579880_lhio79m3g", + "x": 0.6825, + "y": 0.8853333333333334 + } + ], + "type": "point" + }, + "point_1766825761246": { + "instances": [ + { + "id": "point_1766825761246_1766826582242_59jqbek4l", + "x": 0.7235, + "y": 0.9404444444444444 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "抽屉被拉开。任务完成。", + "frame": 317, + "progress": 100, + "progress_explanation": "抽屉被拉开。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。抽屉被拉开。\n任务完成。", + "time": 10.550103092783507 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766825749058", + "name": "抽屉" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766825752548", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766825761246", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.wrist_image_left/episode_006050.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.wrist_image_left/episode_006050.json new file mode 100644 index 0000000000000000000000000000000000000000..b9f84b1fffaafb56a4b499778411d8296aa90ebb --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.wrist_image_left/episode_006050.json @@ -0,0 +1,321 @@ +{ + "task_description": "爪夹把瓶子移动到右方按下瓶子。\n开始移动：0%\n⽖夹接近瓶子：25%\n抓紧瓶子：50%\n移动瓶子：60%\n松开瓶子：70%\n按下瓶子：80%\n在目标位置完全松开瓶子：100%", + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.wrist_image_left/episode_006249.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.wrist_image_left/episode_006249.json new file mode 100644 index 0000000000000000000000000000000000000000..c010a3e18e2e13fee062b0f9d29f1edd015b4970 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.wrist_image_left/episode_006249.json @@ -0,0 +1,145 @@ +{ + "task_description": "爪夹移动靠近抽屉\n开始移动：0%\n爪夹合拢：50%\n靠近抽屉：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "point_1766829918700": { + "instances": [ + { + "id": "point_1766829918700_1766829952606_3n11afca7", + "x": 0.45949999999999996, + "y": 0.5599999999999999 + } + ], + "type": "point" + }, + "point_1766829925434": { + "instances": [ + { + "id": 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+ } + }, + "correction_plan": "爪夹向左移动。", + "error_success_analysis": "爪夹被合拢。方便再次移动。", + "frame": 57, + "progress": 50, + "progress_explanation": "爪夹合拢即将靠近抽屉。因此进度提升至50%。", + "state_description": "爪夹被合拢。\n为完成靠近抽屉的任务应当：爪夹向左移动。", + "time": 1.903333431443299 + }, + { + "action_description": "爪夹向左抽屉方向移动。", + "annotations": { + "bbox_1766829910783": { + "instances": [ + { + "height": 0.9302585604472398, + "id": "bbox_1766829910783_1767168159164_d0ya7gad7", + "width": 0.7660377358490565, + "x": 0.2289308176100629, + "y": 0.0044723969252271146 + } + ], + "type": "bbox" + }, + "point_1766829918700": { + "instances": [ + { + "id": "point_1766829918700_1767168099305_026xe061y", + "x": 0.5911949685534592, + "y": 0.5366876310272537 + } + ], + "type": "point" + }, + "point_1766829925434": { + "instances": [ + { + "id": "point_1766829925434_1767168100746_rvfm4wec5", + "x": 0.6377358490566037, + "y": 0.5255066387141859 + } + ], + "type": "point" + } + }, + "correction_plan": "", + 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-006/observation.images.wrist_image_left/episode_006586.json @@ -0,0 +1,233 @@ +{ + "task_description": "爪夹抓取杯子向左移动杯子\n开始移动：0%\n⽖夹接近杯子：25%\n抓紧杯子：50%\n移动杯子：75%\n完全移动杯子⾄目标位置：100%", + "progress_points": [ + { + "action_description": "暂未移动。即将向爪夹左下方移动。", + "annotations": { + "point_1766830655295": { + "instances": [ + { + "id": "point_1766830655295_1767169661816_9om54keiw", + "x": 0.44150943396226416, + "y": 0.5814116002795249 + } + ], + "type": "point" + }, + "point_1766830660828": { + "instances": [ + { + "id": "point_1766830660828_1767169675178_tsnx3pnzd", + "x": 0.7811320754716982, + "y": 0.5836477987421383 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左方移动。合拢爪夹抓取杯子。向爪夹右移动。杯子即将被放在桌面上。松开爪夹。", + "error_success_analysis": "暂未移动。处在原位。方便向爪夹左下方移动。", + "frame": 5, + "progress": 0, + "progress_explanation": "爪夹还未开始移动。因此进度为0%。", + "state_description": "爪夹处在原位。\n为完成抓取杯子向左移动杯子的任务应当：向爪夹左方移动。", + "time": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007976.json @@ -0,0 +1,269 @@ +{ + "task_description": "爪夹移动锅盖至锅盖原位置右方。\n开始移动：0%\n接近锅盖把⼿：25%\n抓紧锅盖把⼿：50%\n移动锅盖：75%\n至目标位置完全松开：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1766972379041": { + "instances": [ + { + "height": 0.2791111111111111, + "id": "bbox_1766972379041_1766972597172_io8ti9ct8", + "width": 0.265, + "x": 0.5285, + "y": 0.4106666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹前面下方移动。爪夹合拢抓取锅盖。爪夹抬升，右移，下降。锅盖即将被放置在原位置右方。松开爪夹。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹还没有开始移动。因此进度为0%。", + "state_description": "爪夹处于原位。即将向爪夹前面下方移动。\n为完成移动锅盖至锅盖原位置右方的任务应当：向爪夹前面下方移动。\n", + "time": 0 + }, + { + "action_description": "爪夹向前下方移动。", + "annotations": { + "bbox_1766972379041": { + "instances": [ + { + "height": 0.27022222222222225, + 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"point_1766972390204", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007620.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007620.json new file mode 100644 index 0000000000000000000000000000000000000000..6538b115e721d527781f07adbf2e5c957ca66ae4 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007620.json @@ -0,0 +1,255 @@ +{ + "task_description": "爪夹抓取盖子移动放置原来位置靠右方向桌面上。\n开始移动：0%\n爪夹开始移动：10%\n接近盖子：25%\n抓紧盖子：50%\n向爪夹左移动盖子：75%\n至目标位置完全松开：100%", + "progress_points": [ + { + "action_description": "暂未移动。即将向爪夹前面下方移动。", + "correction_plan": "向爪夹前面下方移动。合拢爪夹抓取盖子。爪夹抬升，左移，下降。松开爪夹。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + 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"爪夹抓取瓶子向后移动。\n开始移动：0%\n接近瓶子：10%\n抓紧瓶子：25%\n向爪夹后移动瓶子：40%\n至1位置放下瓶子：50%\n靠近瓶子：60%\n抓紧瓶子：75%\n向爪夹后移动瓶子：80%\n至目标位置完全松开：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "point_1766975506023": { + "instances": [ + { + "id": "point_1766975506023_1766975642296_8olzbvzjw", + "x": 0.4285, + "y": 0.5795555555555556 + } + ], + "type": "point" + }, + "point_1766975513263": { + "instances": [ + { + "id": "point_1766975513263_1766975644170_rpskdti1u", + "x": 0.7775000000000001, + "y": 0.5813333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "向前下方移动。在瓶子正上方。爪夹合拢。向后移动。爪夹张开。爪夹合拢。向后移动。瓶子被放在原来位置的后方。松开爪夹。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹还未开始移动。因此进度为0%。", + "state_description": "爪夹处在原位。\n为完成的任务应当：向前下方移动。", + "time": 0 + }, + { + "action_description": "爪夹向前面下方移动。", + "annotations": { + "bbox_1766975495311": { + "type": "bbox", + "instances": [ + { + "id": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-007/observation.images.wrist_image_left/episode_007721.json new file mode 100644 index 0000000000000000000000000000000000000000..dbfc07bb7badee71ff5723fabdcd34921d76dc09 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-007/observation.images.wrist_image_left/episode_007721.json @@ -0,0 +1,201 @@ +{ + "task_description": "爪夹移动靠近电源，按下电源\n开始移动：0%\n向爪夹下方移动：10%\n靠近电源：50%\n按下电源：100%\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1766981463844": { + "instances": [ + { + "height": 0.4071111111111111, + "id": "bbox_1766981463844_1766981507336_72ehnblne", + "width": 0.303, + "x": 0.20249999999999999, + "y": 0.42844444444444446 + } + ], + "type": "bbox" + }, + "point_1766981473862": { + "instances": [ + { + "id": "point_1766981473862_1766981509137_2qhlzs73i", + "x": 0.4325, + "y": 0.5795555555555556 + } + ], + "type": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008620.json @@ -0,0 +1,151 @@ +{ + "task_description": "爪夹抓取衣服后松开，衣服在靠左抽屉中\n开始移动：0%\n爪夹接近衣服：25%\n抓紧衣服：50%\n移动衣服：75%\n松开衣服：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1766997378261": { + "instances": [ + { + "height": 0.18844444444444444, + "id": "bbox_1766997378261_1766997404007_k3etegycc", + "width": 0.11900000000000004, + "x": 0.5585, + "y": 0.624 + } + ], + "type": "bbox" + }, + "point_1766997385279": { + "instances": [ + { + "id": "point_1766997385279_1766997406351_barjus4yp", + "x": 0.3715, + "y": 0.5084444444444445 + } + ], + "type": "point" + }, + "point_1766997392842": { + "instances": [ + { + "id": "point_1766997392842_1766997408343_ovknrsizv", + "x": 0.4215, + "y": 0.5813333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹下方移动。合拢爪夹抓取衣服。爪夹向左移动。爪夹松开。", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "爪夹没有移动。因此进度为0%。\n", + "state_description": "爪夹处于原位。\n为完成抓取衣服后松开，衣服在靠左抽屉中的任务应当：爪夹向下移动。", + "time": 0.053199 + }, + { + "action_description": "向爪夹下方移动。", + "annotations": { + "bbox_1766997378261": { + "instances": [ + { + "height": 0.16355555555555554, + "id": "bbox_1766997378261_1766997419955_e3wyjdrue", + "width": 0.088, + "x": 0.5905, + "y": 0.6364444444444445 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹抓取衣服。爪夹向左移动。爪夹松开。", + "error_success_analysis": "爪夹移动到了衣服的正上方。方便合拢爪夹。", + "frame": 284, + "progress": 25, + "progress_explanation": "与上一进度相比,爪夹更靠近衣服。因此进度提升至25%。", + "state_description": "爪夹在衣服正上方。\n为完成抓取衣服后松开，衣服在靠左抽屉中的任务应当：合拢爪夹。", + "time": 9.469599 + }, + { + "action_description": "合拢爪夹。", + "correction_plan": "爪夹向左移动。爪夹松开。", + "error_success_analysis": "爪夹合拢抓取了衣服。方便爪夹向左移动。", + "frame": 323, + "progress": 50, + "progress_explanation": "与上一进度相比,爪夹合拢了。\n因此进度提升至50%。", + 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+ "error_success_analysis": "爪夹处于松开状态。衣服被向左移了。完成爪夹抓取衣服后松开，衣服在靠左抽屉中的任务。", + "frame": 525, + "progress": 100, + "progress_explanation": "与上一进度相比,衣服放在了抽屉里。\n因此进度提升至100%。", + "state_description": "爪夹处于松开状态。衣服被向左移了。\n完成爪夹抓取衣服后松开，衣服在靠左抽屉中的任务。", + "time": 17.502799 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766997378261", + "name": "衣服" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766997385279", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766997392842", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008902.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008902.json new file mode 100644 index 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009736.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009736.json new file mode 100644 index 0000000000000000000000000000000000000000..bc7be2732ecd56cdde65776d27232f3f10c99ba3 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009736.json @@ -0,0 +1,445 @@ +{ + "task_description": "爪夹把笔放进玻璃杯里，把笔从玻璃杯里取出来。\n开始移动:0%\n在笔正上方：20%\n合拢爪夹：30%\n向右移动：40%\n松开爪夹：50%\n爪夹向下方移动：60%\n合拢爪夹：70%\n向上方移动：80%\n向左方移动：90%\n松开爪夹：100%\n\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1767677966702": { + "instances": [ + { + "height": 0.06933333333333336, + "id": "bbox_1767677966702_1767677995673_8ht6wd2os", + "width": 0.079, + "x": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0006/annotations/chunk-009/observation.images.exterior_image_2_left/episode_009971.json @@ -0,0 +1,425 @@ +{ + "task_description": "爪夹抓取胶带放入盘中。\n开始移动:0%\n爪夹向下方移动：10%\n继续向爪夹下方移动：20%\n继续向爪夹下方移动：30%\n继续向爪夹下方移动：40%\n爪夹合拢：50%\n向前移动：70%\n向前移动：80%\n爪夹下降：90%\n松开爪夹：100%", + "progress_points": [ + { + "time": 0.423, + "frame": 13, + "progress": 0, + "action_description": "暂未移动。", + "state_description": "爪夹处于原位。\n为完成爪夹抓取胶带放入盘中的任务应当：向爪夹下方移动。", + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "开始向爪夹下方移动。爪夹合拢。开始向爪夹前方移动。爪夹下降。松开爪夹。", + "annotations": { + "bbox_1768182739405": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768182739405_1768182802615_r4dbc593p", + "x": 0.6925, + "y": 0.5617777777777778, + "width": 0.13200000000000012, + "height": 0.1884444444444444 + } + ] + } + } + }, + { + "time": 1.8417302798982191, + "frame": 55, + "progress": 10, + "action_description": 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b/annotation_files_raw/0116/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": 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+ "id": "bbox_1767512103601", + "name": "桌子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767511963849", + "name": "爪夹右", + "color": "#2196F3" + }, + { + "id": "point_1767512032153", + "name": "爪夹左", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000625.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000625.json new file mode 100644 index 0000000000000000000000000000000000000000..4c45a166c486a940f36243af42c49b6a534cee61 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000625.json @@ -0,0 +1,544 @@ +{ + "task_description": "抓起白色物体将其落入碗中:\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", + "annotations": { + "bbox_1767511643808": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767511643808_1767511720760_oswghfhaw", + "x": 0.35491497941212335, + "y": 0.8203201531304255, + "width": 0.06000031494305933, + "height": 0.1351111111111109 + } + ] + }, + "bbox_1767511685896": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767511685896_1767511764368_jms1xpua2", + "x": 0.4989157352754659, + "y": 0.5571186455620659, + "width": 0.13200069287473068, + "height": 0.14400000000000002 + } + ] + }, + "point_1767511646464": { + "type": "point", + "instances": [ + { + "id": "point_1767511646464_1767512593977_cm499had5", + "x": 0.7764067687988281, + "y": 0.08566608697765732 + } + ] + }, + "point_1767511696056": { + "type": "point", + "instances": [ + { + "id": 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"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": { + "point_1767511696056": { + "type": "point", + "instances": [ + { + "id": "point_1767511696056_1767512615017_0ksfzrqab", + "x": 0.5964067687988281, + "y": 0.4657245400077106 + } + ] + }, + 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"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", + "x": 0.5644067687988282, + "y": 0.5757676290365056, + "width": 0.16499999999999995, + "height": 0.32356043564459136 + } + ] + }, + "bbox_1767513389227": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513389227_1767513467859_7pxtna5h1", + "x": 0.2454067687988281, + "y": 0.6926507497508914, + 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"frame": 131, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于电缆正上方，已接近电缆，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，爪夹已经移动到电缆上方。为完成抓起电饭煲顶部电缆移动到左侧桌子上任务应当:继续向下抓取电缆，然后向爪夹的左上方移动，直至电缆正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 4.367847070657453, + "annotations": { + "point_1767513390115": { + "type": "point", + "instances": [ + { + "id": "point_1767513390115_1767513614892_rkhpc6d35", + "x": 0.7194067687988281, + "y": 0.5439479420316777 + } + ] + }, + "point_1767513390507": { + "type": "point", + "instances": [ + { + "id": "point_1767513390507_1767513617363_dk52o4fks", + "x": 0.7694067687988281, + "y": 0.5510591603974929 + } + ] + }, + "bbox_1767513388787": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767513388787_1767513624387_sica49p93", + "x": 0.5644067687988282, + "y": 0.5848374476351151, + "width": 0.16399999999999998, + "height": 0.29867117136423826 + } + ] + }, + "bbox_1767513389227": { + "type": "bbox", + 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0000000000000000000000000000000000000000..e3b69cc3e19012c1842ccc72467fb6abb1bca3b4 --- /dev/null +++ b/annotation_files_raw/0116/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", + "width": 0.496, + "x": 0.10140676879882812, + "y": -6.026295318473228e-05 + } + ], + "type": "bbox" + }, + "point_1767514105964": { + "instances": [ + { + "id": "point_1767514105964_1767514153547_70pq7hk4i", + "x": 0.4574067687988282, + "y": 0.6648386542505361 + } + ], + "type": "point" + }, + "point_1767514106291": { + "instances": [ + { + "id": 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"当前爪夹张开，与饮料的水平距离变近。为完成从冰箱里拿出一罐饮料并放在椅子上的任务应当:继续调整爪夹方向直到平行于饮料侧上方，继续向爪夹方向的前下方移动直至饮料侧上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 1.4955090480389235 + }, + { + "action_description": "爪夹向爪夹方向的前方微调，并调整爪夹角度，使其接近于饮料侧上方\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1767514104764": { + "instances": [ + { + "height": 0.40356164226001234, + "id": "bbox_1767514104764_1767514203523_3f1ao783j", + "width": 0.12600000000000006, + "x": 0.49240676879882816, + "y": 0.2683882303563389 + } + ], + "type": "bbox" + }, + "point_1767514105964": { + "instances": [ + { + "id": "point_1767514105964_1767514214595_6g96qhl4t", + "x": 0.45940676879882814, + "y": 0.6541718267018133 + } + ], + "type": "point" + }, + "point_1767514106291": { + "instances": [ + { + "id": "point_1767514106291_1767514217627_ao0suun62", + "x": 0.7724067687988281, + "y": 0.6470606083359981 + } + ], + "type": "point" + } + }, + "correction_plan": 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"point_1767514106291", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.wrist_image_left/episode_000121.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.wrist_image_left/episode_000121.json new file mode 100644 index 0000000000000000000000000000000000000000..8abf736474375e63dac6a01fa25cfcc315ce9f35 --- /dev/null +++ b/annotation_files_raw/0116/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": 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"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，没有接触毛巾，为完成折叠毛巾的任务应当:使其垂直于桌面。然后向爪夹方向的左下方移动，准备抓取毛巾。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 0, + "annotations": { + "bbox_1767585047699": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767585047699_1767585085595_3b9cxjibc", + "x": 0.2357457580566406, + "y": 0.3674933017652935, + "width": 0.31700000000000006, + "height": 0.23822581525480907 + } + ] + }, + "point_1767585048571": { + "type": "point", + "instances": [ + { + "id": "point_1767585048571_1767585088779_u41002ggj", + "x": 0.45474575805664064, + "y": 0.6516407148501914 + } + ] + }, + "point_1767585049115": { + "type": "point", + "instances": [ + { + "id": "point_1767585049115_1767585090915_k9py47znu", + "x": 0.7687457580566407, + "y": 0.6391960827100148 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左侧移动，使其接近于垂直毛巾\t\t\t\t\t\t\t\t\t\t\t\t\n", + "correction_plan": 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0000000000000000000000000000000000000000..41cfd6c30efdec57471c7edf63fd8ba0ff487d2e --- /dev/null +++ b/annotation_files_raw/0116/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": 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"name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.wrist_image_left/episode_000943.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-000/observation.images.wrist_image_left/episode_000943.json new file mode 100644 index 0000000000000000000000000000000000000000..6bd13b4239881f4b1819258493300582caf82110 --- /dev/null +++ b/annotation_files_raw/0116/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 + } + ] + }, + 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"当前爪夹张开，爪夹已经移动到刮刀上方。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:继续向下抓取刮刀，然后向爪夹的左后方移动，并垂直上升，直至陶瓷碗正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 8.014146184623451, + "annotations": { + "point_1767600536218": { + "type": "point", + "instances": [ + { + "id": "point_1767600536218_1767668118922_k1fyepivt", + "x": 0.45774575805664064, + "y": 0.6531473293705277 + } + ] + }, + "point_1767600536387": { + "type": "point", + "instances": [ + { + "id": "point_1767600536387_1767668120514_73blh2am2", + "x": 0.7747457580566406, + "y": 0.6389248926388972 + } + ] + }, + "bbox_1767600535010": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767600535010_1767668125938_ol47exdgn", + "x": 0.6017457580566407, + "y": 0.7491487773090327, + "width": 0.12599999999999997, + "height": 0.10844608007868178 + } + ] + }, + "bbox_1767600535450": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767600535450_1767668131498_15u2guppx", + "x": 0.9427457580566407, + "y": 0.0024708488984371934, + "width": 0.05500000000000007, + "height": 0.43378432031472697 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动。", + "correction_plan": "爪夹继续下降，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。", + "error_success_analysis": "爪夹向爪夹的下方移动。成功更接近刮刀。", + "frame": 283, + "progress": 30, + "progress_explanation": "爪夹更接近刮刀，因此进度提升为30%。", + "state_description": "当前爪夹张开，爪夹向爪夹的下方移动。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:继续向下抓取刮刀，然后向爪夹的左后方移动，并垂直上升，直至陶瓷碗正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 9.421706308334791, + "annotations": { + "bbox_1767600535450": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767600535450_1767668144563_ncrdd39iy", + "x": 0.9647457580566406, + "y": 0.004248653489890998, + "width": 0.03399999999999999, + "height": 0.30222678054714586 + } + ] + }, + "point_1767600536218": { + "type": "point", + "instances": [ + { + "id": "point_1767600536218_1767668148938_k4gqzwq2j", + "x": 0.45774575805664064, + "y": 0.6513695247790738 + } + ] + }, + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001236.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001236.json new file mode 100644 index 0000000000000000000000000000000000000000..a1b67d1fc3c1ae383972257245009f62f444377c --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001236.json @@ -0,0 +1,1255 @@ +{ + "task_description": "从水槽中取出刮刀，用它搅拌陶瓷碗内的东西，然后将刮刀放回水槽：\n爪夹开始移动：0%\n爪夹靠近刮刀：10%\n爪夹抓取刮刀：20%\n爪夹抓住刮刀并接近陶瓷碗：30%\n爪夹将刮刀放入陶瓷碗：50%\n爪夹使刮刀开始搅拌陶瓷碗中的东西：55%\n爪夹使刮刀搅拌完陶瓷碗中的东西：75%\n爪夹向水槽移动：80%\n爪夹将刮刀移动到水槽上：90%\n爪夹松开，使刮刀落入水槽中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "调整爪夹角度，然后向爪夹方向的左方移动，到达刮刀正上方后下降，抓取刮刀后竖直上升，向爪夹方向的右方移动，直至刮刀处于陶瓷碗正上方。下降将刮刀放入陶瓷碗中，搅拌陶瓷碗中的东西，搅拌完成后，随后抬起爪夹，向爪夹方向的左方移动，移动至水槽上方后，下降将刮刀放入水槽中，随后松开爪夹，使刮刀落入水槽中。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成从水槽中取出刮刀，用它搅拌陶瓷碗内的东西，然后将刮刀放回水槽的任务应当：调整爪夹角度，然后向爪夹方向的左方移动，到达刮刀正上方后下降。", + "time": 1.182587468743112, + "annotations": { + "bbox_1767598917160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598917160_1767598943614_jnu7xzayx", + "x": 0.12366661842855112, + "y": 0.5869876302083333, + "width": 0.3459999788818372, + "height": 0.3324444444444445 + } + ] + }, + "bbox_1767598917286": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767598917286_1767598951080_4ephjrtk5", + "x": 0.14766661696370745, + "y": 0.7754320746527779, + "width": 0.23899998541259854, + "height": 0.044444444444444446 + } + ] + }, + "bbox_1767598917808": { + "type": "bbox", + "instances": [ + { + "id": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001860.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001860.json new file mode 100644 index 0000000000000000000000000000000000000000..020ae7e511d29d6cca65f942436deb60f3c68513 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-001/observation.images.exterior_image_1_left/episode_001860.json @@ -0,0 +1,1291 @@ +{ + "task_description": "爪夹夹起刮刀，用刮刀搅拌白色碗中的内容物，然后将其放回另一个碗中：\n爪夹开始移动：0%\n爪夹靠近刮刀：10%\n爪夹抓取刮刀：20%\n爪夹抓住刮刀并接近白色碗：30%\n爪夹将刮刀放入白色碗：40%\n爪夹使刮刀开始搅拌白色碗中的内容物：45%\n爪夹使刮刀搅拌完白色碗中的内容物：75%\n爪夹向另一个碗移动：80%\n爪夹将刮刀移动到另一个碗上：90%\n爪夹松开，使刮刀落入另一个碗中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左方移动并下降，移动至刮刀上方后，继续下降爪夹，使爪夹位于刮刀两侧后，合拢爪夹抓取刮刀。向爪夹方向的后方移动，同时向爪夹方向的后方抬起爪夹，移动至白色碗上方后，下降使刮刀落入白色碗中，开始搅拌白色碗中的内容物，在白色碗中向顺时针方向搅拌四圈。搅拌完成后抬起爪夹，向爪夹方向的前方移动，使刮刀移动至另一个碗上方，随后下降爪夹，将刮刀放在另一个碗中，随后张开爪夹，使刮刀落在另一个碗中。", + "error_success_analysis": "", + "frame": 6, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成爪夹夹起刮刀，用刮刀搅拌白色碗中的内容物，然后将其放回另一个碗中的任务应当：向爪夹方向的左方移动并下降，移动至刮刀上方后，继续下降爪夹。", + "time": 0.21264503635398402, + "annotations": { + "point_1767670350029": { + "type": "point", + "instances": [ + { + "id": "point_1767670350029_1767670375954_3ksn0cfx2", + "x": 0.6296665875447639, + "y": 0.229654296875 + } + ] + }, + "point_1767670350168": { + "type": "point", + "instances": [ + { + "id": "point_1767670350168_1767670377902_1asy02vl7", + "x": 0.6666665852864633, + "y": 0.2065431857638889 + } + ] + }, + "bbox_1767670347281": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767670347281_1767670384965_5khq3x9p9", + "x": 0.6116665886433966, + 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"碗", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768189236439", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768189236592", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002506.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002506.json new file mode 100644 index 0000000000000000000000000000000000000000..2c44e76c071d33251d21ed91bc0f57335174d34b --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002506.json @@ -0,0 +1,636 @@ +{ + "task_description": "将瓶子移动至托盘中:\n开始移动:0%\n爪夹靠近瓶子:20%\n爪夹抓取瓶子:40%\n爪夹抓住瓶子接近托盘:60%\n爪夹抓住瓶子移动至托盘上方:80%\n爪夹松开，瓶子落入托盘:90%\n爪夹向上方移动后停止:100%", + 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"point_1768468160377_1768468203537_hro1n2k1j", + "x": 0.328322021484375, + "y": 0.9742670543750606 + } + ] + } + } + }, + { + "time": 2.180087236227448, + "frame": 65, + "progress": 5, + "action_description": "爪夹向爪夹的前方移动。", + "state_description": "当前爪夹张开，与瓶子的水平距离变近。为完成将瓶子移动至托盘中的任务应当:下降爪夹，到达瓶子的正上方之后垂直下降爪夹。", + "progress_explanation": "当前爪夹在水平方向上虽然瓶子较远，但是爪夹开始下降，因此进度提升为5%。", + "error_success_analysis": "爪夹成功向爪夹的前方移动。", + "correction_plan": "爪夹继续向爪夹方向的前方移动，然后下降爪夹，到达瓶子的正上方之后垂直下降爪夹。抓取瓶子后向爪夹的右上放移动。抵达托盘的正上方后，下降松开爪夹瓶子落入托盘中。", + "annotations": { + "bbox_1768468159145": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768468159145_1768468234153_ij7urr67m", + "x": 0.665322021484375, + "y": 0.6613734462791919, + "width": 0.03699999999999992, + "height": 0.1013348617128665 + } + ] + }, + "bbox_1768468159313": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768468159313_1768468236577_rcl28uoby", + "x": 0.7223220214843751, + "y": 0.04803086222763125, + "width": 0.274, + "height": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002558.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002558.json new file mode 100644 index 0000000000000000000000000000000000000000..2f3d8006b973c66d9f946494787298f7fcdf2128 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-002/observation.images.exterior_image_1_left/episode_002558.json @@ -0,0 +1,652 @@ +{ + "task_description": "抓起记号笔放入容器中:\n开始移动:0%\n爪夹靠近记号笔:20%\n爪夹抓取记号笔:40%\n爪夹抓住记号笔接近容器:60%\n爪夹将记号笔移动至容器上方:80%\n爪夹松开，记号笔落入容器:95%\n爪夹上升后停止移动:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向爪夹的右下方移动。\n到达记号笔上方垂直下降，靠近记号笔。\n之后爪夹合拢抓取记号笔上升，并向左上方移动，抵达容器上方后下降松开爪夹。\n然后爪夹上升后停止。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触插记号笔。\n为完成抓起记号笔放入容器中的任务应当:向爪夹的右下方移动。\n到达记号笔上方垂直下降，靠近记号笔。\n之后爪夹合拢抓取记号笔上升，并向左上方移动，抵达容器上方后下降松开爪夹。\n然后爪夹上升后停止。", + "time": 0, + "annotations": { + "bbox_1768469531892": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768469531892_1768529490872_gu5zkhk6b", + "x": 0.586322021484375, + "y": 0.5103203053952311, + "width": 0.07999999999999999, + "height": 0.08533462038978239 + } + ] + }, + "bbox_1768469532060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768469532060_1768529493272_fq5xwgah4", + "x": 0.47232202148437497, + "y": 0.4338747079627177, + "width": 0.09000000000000004, + "height": 0.14044656272485018 + } + ] + }, + "point_1768469532885": { + "type": "point", + "instances": [ + { + "id": "point_1768469532885_1768529510208_bmfkajjcq", + "x": 0.40432202148437496, + "y": 0.1565371916959251 + } + ] + }, + "point_1768469533052": { + "type": "point", + "instances": [ + { + "id": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003201.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003201.json new file mode 100644 index 0000000000000000000000000000000000000000..37dcbe1c02b3b541360355fa6248b7eb8fb40337 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003201.json @@ -0,0 +1,445 @@ +{ + "task_description": "将水龙头左转:\n开始移动:0%\n爪夹靠近水龙头:20%\n爪夹抓取水龙头:40%\n爪夹抓住水龙头向左转:60%\n爪夹松开:80%\n爪夹上升:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。\t\t\t\t\t", + "annotations": { + "bbox_1767678507733": { + "instances": [ + { + "height": 0.20978094179154827, + "id": "bbox_1767678507733_1767678547069_n4wrpl1gj", + "width": 0.07400000000000002, + "x": 0.6667457580566406, + "y": 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"correction_plan": "", + "error_success_analysis": "爪夹松开，并且爪夹成功向后上方上升。", + "frame": 218, + "progress": 0, + "progress_explanation": "当前爪夹松开，完成水龙头左转。因此进度提升为100%\n", + "state_description": "当前爪夹升起。", + "time": 7.266667 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767678507733", + "name": "水龙头" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767678509853", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767678510261", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003548.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003548.json new file mode 100644 index 0000000000000000000000000000000000000000..94518f8b2ee33667b612120377f995fd7c900b10 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003548.json @@ -0,0 +1,163 @@ +{ + "task_description": "关闭左侧底部抽屉:\n开始移动:0%\n机械臂靠近抽屉:20%\n机械臂推动抽屉:40%\n抽屉关闭:100%", + "progress_points": [ + { + "action_description": "机械臂准备移动。", + "annotations": { + "bbox_1768271087914": { + "instances": [ + { + "height": 0.08533462038978239, + "id": "bbox_1768271087914_1768271128538_3t8d4qhd6", + "width": 0.15900000000000003, + "x": 0.388322021484375, + "y": 0.899599261534001 + } + ], + "type": "bbox" + }, + "bbox_1768271088058": { + "instances": [ + { + "height": 0.6293428253746449, + "id": "bbox_1768271088058_1768271132834_bfyxn6ov9", + "width": 0.466, + "x": 0.5323220214843751, + "y": 0.33781301063460045 + } + ], + "type": "bbox" + } + }, + "correction_plan": "机械臂向右前方移动，并且调整机械臂。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态看不到爪夹，机械臂没有移动，没有接触抽屉。为完成关闭左侧底部抽屉的任务应当:机械臂向右前方移动，并且调整机械臂。", + "time": 0.009575346327319588 + }, + { + "action_description": "当前爪夹向右前方移动，并且调整机械臂。", + "annotations": { + "bbox_1768271087914": { + "instances": [ + { + "height": 0.08889022957268998, + "id": "bbox_1768271087914_1768271182826_zq5rj0pal", + "width": 0.11399999999999996, + "x": 0.436322021484375, + "y": 0.8960436523510934 + } + ], + "type": "bbox" + }, + "bbox_1768271088058": { + "instances": [ + { + "height": 0.6168981932344683, + "id": "bbox_1768271088058_1768271167058_4qfrtgrfk", + "width": 0.46699999999999997, + "x": 0.5303220214843751, + "y": 0.3449242290004157 + } + ], + "type": "bbox" + } + }, + "correction_plan": "机械臂继续调整角度，并向右前方移动。", + "error_success_analysis": "爪夹成功调整机械臂，并向右前移动。", + "frame": 42, + "progress": 10, + "progress_explanation": "当前机械臂向右前方移动并调整。因此进度提升为10%。", + "state_description": "当前状态还是看不到爪夹，机械臂调整。为完成关闭左侧底部抽屉的任务应当:机械臂继续调整角度，并向右前方移动。", + "time": 1.384 + }, + { + "action_description": "机械臂继续向右前方移动，并且继续调整机械臂。", + "annotations": { + "bbox_1768271088058": { + "instances": [ + { + "height": 0.567119664673762, + "id": "bbox_1768271088058_1768271208386_kavi0yh5q", + "width": 0.499, + "x": 0.498322021484375, + "y": 0.39114714837821446 + } + ], + "type": "bbox" + } + }, + "correction_plan": "机械臂向前方推动抽屉。", + "error_success_analysis": "机械臂成功向右前方移动。", + "frame": 62, + "progress": 20, + "progress_explanation": "当前机械臂贴近抽屉。因此进度提升为20%。", + "state_description": "当前机械臂靠近抽屉。为完成关闭左侧底部抽屉的任务应当:机械臂向前方推动抽屉。", + "time": 2.068 + }, + { + "action_description": "机械臂向前方移动。", + "annotations": { + "bbox_1768271088058": { + "instances": [ + { + "height": 0.567119664673762, + "id": "bbox_1768271088058_1768271234883_lcc83unkr", + "width": 0.5049999999999999, + "x": 0.494322021484375, + "y": 0.39825836674402965 + } + ], + "type": "bbox" + } + }, + "correction_plan": "机械臂继续向前方推动抽屉。", + "error_success_analysis": "机械臂成功向前方推动抽屉。", + "frame": 80, + "progress": 40, + "progress_explanation": "相比上一进度，机械臂向前方推动抽屉，因此进度提升为40%。", + "state_description": "当前机械臂向前方推动抽屉。为完成关闭左侧底部抽屉的任务应当:机械臂继续向前方推动抽屉。", + "time": 2.656998026739691 + }, + { + "action_description": "当前机械臂再次向前方移动。", + "annotations": { + "bbox_1768271088058": { + "instances": [ + { + "height": 0.49422967642415616, + "id": "bbox_1768271088058_1768271261922_rdu3s1doi", + "width": 0.5670000000000001, + "x": 0.43032202148437493, + "y": 0.465814941219274 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "机械臂成功推动抽屉关闭。", + "frame": 120, + "progress": 100, + "progress_explanation": "当前抽屉关闭。因此进度提升为100%。", + "state_description": "当前机械臂继续向前方推动。", + "time": 4 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768271087914", + "name": "抽屉" + }, + { + "color": "#FF9800", + "id": "bbox_1768271088058", + "name": "机械臂" + } + ], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003869.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003869.json new file mode 100644 index 0000000000000000000000000000000000000000..6e5b4f2fb46ba4812c71936addc902b64b3ac96c --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.exterior_image_1_left/episode_003869.json @@ -0,0 +1,738 @@ +{ + "task_description": "抓取木勺将其放入勺架中:\n开始移动:0%\n爪夹靠近木勺:20%\n爪夹抓取木勺:40%\n爪夹抓住木勺接近勺架:60%\n爪夹将木勺放入勺架:80%\n爪夹松开，木勺落入勺架:90%\n爪夹向后方移动后停止:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768276638482": { + "instances": [ + { + "height": 0.1528911948650267, + "id": "bbox_1768276638482_1768276664674_0043s9099", + "width": 0.11000000000000006, + "x": 0.504322021484375, + "y": 0.6489288141390154 + } + ], + "type": "bbox" + }, + "bbox_1768276638674": { + "instances": [ + { + "height": 0.33422726319331425, + "id": "bbox_1768276638674_1768276667194_4z7ljtpno", + "width": 0.137, + "x": 0.409322021484375, + "y": 0.5298159065116107 + } + ], + "type": "bbox" + }, + "point_1768276639538": { + "instances": [ + { + "id": "point_1768276639538_1768276670266_y1bngccvn", + "x": 0.564322021484375, + "y": 0.4942598146825348 + } + ], + "type": "point" + }, + "point_1768276639874": { + "instances": [ + { + "id": "point_1768276639874_1768276673675_bucbp8e55", + "x": 0.608322021484375, + "y": 0.46403713662782026 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向下方移动。并调整角度。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触木勺。为完成抓取木勺将其放入勺架中的任务应当:爪夹向下方移动。并调整角度。", + "time": 0 + }, + { + "action_description": "当前爪夹向下方移动，并且调整角度。", + "annotations": { + "bbox_1768276638482": { + "instances": [ + { + "height": 0.1528911948650267, + "id": "bbox_1768276638482_1768276708579_uc4zwd3uw", + "width": 0.11199999999999992, + "x": 0.5043220214843751, + "y": 0.6489288141390154 + } + ], + "type": "bbox" + }, + "bbox_1768276638674": { + "instances": [ + { + "height": 0.3324494586018604, + "id": "bbox_1768276638674_1768276711458_5q6xbx0be", + "width": 0.13999999999999999, + "x": 0.40632202148437513, + "y": 0.5333715156945183 + } + ], + "type": "bbox" + }, + "point_1768276639538": { + "instances": [ + { + "id": "point_1768276639538_1768276713706_e2eec91ae", + "x": 0.573322021484375, + "y": 0.6844849059680913 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续调整角度，并向下方移动。", + "error_success_analysis": "爪夹成功向下方移动。", + "frame": 125, + "progress": 20, + "progress_explanation": "当前爪夹靠近木勺。因此进度提升为20%。", + "state_description": "当前爪夹保持张开，处于木勺侧上方。为完成抓取木勺将其放入勺架中的任务应当:爪夹继续调整角度，并向下方移动。", + "time": 4.181717810064383 + }, + { + "action_description": "爪夹向爪夹方向的下方移动，继续调整角度。", + "annotations": { + "bbox_1768276638482": { + "instances": [ + { + "height": 0.1155572984444969, + "id": "bbox_1768276638482_1768276780555_tmfuyx309", + "width": 0.06000000000000005, + "x": 0.503322021484375, + "y": 0.688040515150999 + } + ], + "type": "bbox" + }, + "bbox_1768276638674": { + "instances": [ + { + "height": 0.33778287237622184, + "id": "bbox_1768276638674_1768276782594_b6eslziqp", + "width": 0.142, + "x": 0.409322021484375, + "y": 0.5315937111030645 + } + ], + "type": "bbox" + }, + "point_1768276639538": { + "instances": [ + { + "id": "point_1768276639538_1768276792611_czaw7y4bf", + "x": 0.565322021484375, + "y": 0.8124868365527648 + } + ], + "type": "point" + }, + "point_1768276639874": { + "instances": [ + { + "id": "point_1768276639874_1768276794971_jencyd5rj", + "x": 0.541322021484375, + "y": 0.7342634345287976 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢，抓取木勺。", + "error_success_analysis": "爪夹成功向下方移动，并且调整爪夹角度。方便抓取。", + "frame": 220, + "progress": 30, + "progress_explanation": "当前爪夹完全贴近木勺。因此进度提升为300%。", + "state_description": "当前爪夹处于木勺正上方。为完成抓取木勺将其放入勺架中的任务应当:爪夹合拢，抓取木勺。", + "time": 7.3324394214045885 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768276638482": { + "instances": [ + { + "height": 0.09777925252995891, + "id": "bbox_1768276638482_1768276828379_e2fg0186s", + "width": 0.04900000000000002, + "x": 0.494322021484375, + "y": 0.6844849059680913 + } + ], + "type": "bbox" + }, + "bbox_1768276638674": { + "instances": [ + { + "height": 0.32533824023604524, + "id": "bbox_1768276638674_1768276830787_wy0oua9tn", + "width": 0.13700000000000007, + "x": 0.4083220214843751, + "y": 0.536927124877426 + } + ], + "type": "bbox" + }, + "point_1768276639538": { + "instances": [ + { + "id": "point_1768276639538_1768276832915_bot8vwppg", + "x": 0.546322021484375, + "y": 0.7822641584980502 + } + ], + "type": "point" + }, + "point_1768276639874": { + "instances": [ + { + "id": "point_1768276639874_1768276834843_npmrsjij2", + "x": 0.529322021484375, + "y": 0.748485871260428 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，向爪夹的上方移动。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 255, + "progress": 40, + "progress_explanation": "相比上一进度爪夹已合拢抓取木勺。因此进度提升为40%。", + "state_description": "当前爪夹合拢。为完成抓取木勺将其放入勺架中的任务应当:爪夹保持合拢，向爪夹的上方移动。", + "time": 8.496219476043764 + }, + { + "action_description": "爪夹向爪夹方向的上方移动。", + "annotations": { + "bbox_1768276638482": { + "instances": [ + { + "height": 0.0800012066154209, + "id": "bbox_1768276638482_1768276868771_pao4f1e1k", + "width": 0.133, + "x": 0.513322021484375, + "y": 0.6222617452672083 + } + ], + "type": "bbox" + }, + "bbox_1768276638674": { + "instances": [ + { + "height": 0.32533824023604524, + "id": "bbox_1768276638674_1768276866603_a87xs0t86", + "width": 0.13799999999999998, + "x": 0.407322021484375, + "y": 0.5387049294688797 + } + ], + "type": "bbox" + }, + "point_1768276639538": { + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003079.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003079.json new file mode 100644 index 0000000000000000000000000000000000000000..54752a3cf6424a81cfd3ef299551c5f9d0854037 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003079.json @@ -0,0 +1,398 @@ +{ + "task_description": "按下烤面包机的开关:\n开始移动:0%\n爪夹接近烤面包机:20%\n爪夹移动至开关上方:40%\n爪夹按下开关:60%\n爪夹上升离开开关:80%\n爪夹上升停止移动:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768289675848": { + "instances": [ + { + "height": 0.44445114786344975, + "id": "bbox_1768289675848_1768289732519_givu2dg47", + "width": 0.22999999999999998, + "x": 0.175322021484375, + "y": 0.5102600560056191 + } + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003510.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003510.json new file mode 100644 index 0000000000000000000000000000000000000000..9ff9c9afab377e61e160c5db929b3edca5f58eb6 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-003/observation.images.wrist_image_left/episode_003510.json @@ -0,0 +1,453 @@ +{ + "task_description": "打开烤箱门:\n开始移动:0%\n爪夹接近烤箱门:20%\n爪夹下压烤箱门:40%\n爪夹更加下压烤箱门:60%\n爪夹上升离开烤箱门:80%\n爪夹上升停止移动:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "point_1768294111774": { + "instances": [ + { + "id": "point_1768294111774_1768294136606_1t0hw22e8", + "x": 0.45032202148437495, + "y": 0.6453732049561077 + } + ], + "type": "point" + }, + "point_1768294113014": { + 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"name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.wrist_image_left/episode_004200.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.wrist_image_left/episode_004200.json new file mode 100644 index 0000000000000000000000000000000000000000..318bd1ede5ad4b829f7ce0e37c1c433586d5467e --- /dev/null +++ b/annotation_files_raw/0116/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。", + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.wrist_image_left/episode_004605.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.wrist_image_left/episode_004605.json new file mode 100644 index 0000000000000000000000000000000000000000..6ab8edf1985469e63c8692177546605407836640 --- /dev/null +++ b/annotation_files_raw/0116/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": 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"color": "#2196F3" + }, + { + "id": "bbox_1768442783462", + "name": "透明杯子", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1768442779982", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768442780670", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-004/observation.images.wrist_image_left/episode_004861.json b/annotation_files_raw/0116/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/0116/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": "当前状态为爪夹张开，没有移动，没有触碰木托盘上排左边的小瓶子。\n为完成抓起木托盘上排左边的小瓶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，准备抓取木托盘上排左边的小瓶子。", + "time": 1.1174570840206184, + "annotations": { + "bbox_1768363020921": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768363020921_1768370384175_o8935jx6a", + "x": 0.5235000000000001, + "y": 0.22755555555555557, + "width": 0.07199999999999998, + "height": 0.12977777777777783 + } + ] + }, + "point_1768363021945": { + "type": "point", + "instances": [ + { + "id": 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+ "progress": 30, + "progress_explanation": "当前爪夹下降，在垂直方向上接近木托盘上排左边的小瓶子，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，爪夹左触碰到木托盘上排右边的小瓶子，爪夹在垂直方向上接近木托盘上排左边的小瓶子。\n为完成抓起木托盘上排左边的小瓶子使其放在桌子上的任务应当:爪夹继续下降，合拢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。", + "time": 4.790133, + "annotations": { + "point_1768363021945": { + "type": "point", + "instances": [ + { + "id": "point_1768363021945_1768363207985_lfp66cr0g", + "x": 0.4505, + "y": 0.5884444444444444 + } + ] + }, + "point_1768363022177": { + "type": "point", + "instances": [ + { + "id": "point_1768363022177_1768363210441_5lyhasz87", + "x": 0.7685000000000001, + "y": 0.615111111111111 + } + ] + }, + "bbox_1768363020921": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768363020921_1768363215969_rzfohppem", + "x": 0.6055, + "y": 0.26666666666666666, + "width": 0.24099999999999994, + "height": 0.4835555555555555 + } + ] + }, + "bbox_1768363021257": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768363021257_1768363228017_yuamuurge", + "x": 0.0055, + "y": 0.005333333333333333, + "width": 0.991, + "height": 0.9866666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降后合拢，抓取到木托盘上排左边的小瓶子。", + "correction_plan": "爪夹抓住木托盘上排左边的小瓶子上升，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": "爪夹在木托盘上排左边的小瓶子的正上方竖直下降，成功抓取到木托盘上排左边的小瓶子。", + "frame": 84, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到木托盘上排左边的小瓶子，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，木托盘上排左边的小瓶子已被爪夹抓取。\n为完成抓起木托盘上排左边的小瓶子使其放在桌子上的任务应当:爪夹抓住木托盘上排左边的小瓶子上升，向爪夹方向的左前方移动，直至处于桌子正上方。", + "time": 5.6, + "annotations": { + "point_1768363021945": { + "type": "point", + "instances": [ + { + "id": "point_1768363021945_1768363185825_7w1fcnk7y", + "x": 0.5525, + "y": 0.5582222222222223 + } + ] + }, + "point_1768363022177": { + "type": "point", + "instances": [ + { + "id": "point_1768363022177_1768363187697_tduykkxa4", + "x": 0.6735, + "y": 0.5795555555555556 + } + ] + }, + "bbox_1768363020921": { + "type": "bbox", + "instances": 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at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007348.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007348.json new file mode 100644 index 0000000000000000000000000000000000000000..14b15c2d3ed98df6a4b2ce062ce43acc5eeea846 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007348.json @@ -0,0 +1,662 @@ +{ + "task_description": "抓起银色盖子使其放在银色杯子上:\n开始移动:0%\n爪夹靠近银色盖子:20%\n爪夹抓取银色盖子:40%\n爪夹抓住银色盖子接近银色杯子:60%\n爪夹将银色盖子放在银色杯子上:80%\n爪夹松开，银色盖子放在银色杯子上: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，到达银色盖子正上方后下降，抓取银色盖子后竖直上升，向爪夹方向的右后方移动，直至银色盖子处于银色杯子正上方。下降将银色盖子放在银色杯子上，爪夹张开。", + "error_success_analysis": "", + "frame": 7, + "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，没有触碰银色盖子。\n为完成抓起银色盖子放在银色杯子上的任务应当:爪夹向爪夹方向的左前方移动，准备抓取银色盖子。", + "time": 0.242666, + "annotations": { + "point_1768269501410": { + "type": "point", + "instances": [ + { + "id": "point_1768269501410_1768269527170_e87xyi15g", + "x": 0.5745, + "y": 0.20977777777777776 + } + ] + }, + "point_1768269501682": { + "type": "point", + "instances": [ + { + "id": "point_1768269501682_1768269530178_vbyeclxll", + "x": 0.6455, + "y": 0.3022222222222222 + } + ] + }, + "bbox_1768269489490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768269489490_1768269537490_dbnnb27ju", + "x": 0.4225, + "y": 0.6808888888888889, + "width": 0.06800000000000006, + "height": 0.096 + } + ] + }, + "bbox_1768269489778": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768269489778_1768269548690_gsblqxpe9", + "x": 0.49650000000000005, + "y": 0.6346666666666667, + "width": 0.07799999999999993, + "height": 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"当前状态为爪夹合拢，垂直于桌面，银色盖子已被爪夹抓取。\n为完成抓起银色盖子放在银色杯子上的任务应当:爪夹抓取银色盖子上升，向爪夹方向的右后方移动，直至银色杯子的正上方。", + "time": 9.090666, + "annotations": { + "point_1768269501410": { + "type": "point", + "instances": [ + { + "id": "point_1768269501410_1768270117194_vhnalr82r", + "x": 0.43950000000000006, + "y": 0.6986666666666667 + } + ] + }, + "point_1768269501682": { + "type": "point", + "instances": [ + { + "id": "point_1768269501682_1768270120387_05w5z1k1m", + "x": 0.4545, + "y": 0.7075555555555556 + } + ] + }, + "bbox_1768269489490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768269489490_1768270126795_kmxwu73sy", + "x": 0.4175, + "y": 0.6808888888888889, + "width": 0.07000000000000002, + "height": 0.08000000000000003 + } + ] + }, + "bbox_1768269489778": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768269489778_1768270133290_58bq82b32", + "x": 0.4955, + "y": 0.6346666666666667, + "width": 0.07999999999999999, + "height": 0.14222222222222203 + } + ] + } + } + }, + { + "action_description": "爪夹抓住银色盖子上升，向爪夹方向的右后方略微移动。", + "correction_plan": "爪夹抓住银色盖子向爪夹方向的右后方移动，直至银色杯子的正上方。下降将银色盖子放在银色杯子上，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，抓紧银色盖子向爪夹方向的诱惑方移动，成功在水平方向上接近银色杯子。", + "frame": 320, + "progress": 50, + "progress_explanation": "当前爪夹已抓住银色盖子在水平方向上略微接近银色杯子，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，爪夹抓住银色盖子在水平方向上略微接近银色杯子。\n为完成抓起银色盖子放在银色杯子上的任务应当:爪夹抓住银色盖子向爪夹方向的右后方移动，直至银色杯子的正上方。", + "time": 10.660399720329023, + "annotations": { + "bbox_1768269489778": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768269489778_1768270149859_ofj2gcfbd", + "x": 0.4955, + "y": 0.6346666666666667, + "width": 0.07999999999999999, + "height": 0.14044444444444446 + } + ] + }, + "point_1768269501682": { + "type": "point", + "instances": [ + { + "id": "point_1768269501682_1768270160427_kc78apqxh", + "x": 0.4605, + "y": 0.5760000000000001 + } + ] + }, + "point_1768269501410": { + "type": "point", + "instances": [ + { + "id": 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} + ] + }, + "bbox_1768269489490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768269489490_1768270201083_586z39be9", + "x": 0.5035000000000001, + "y": 0.6435555555555555, + "width": 0.07199999999999998, + "height": 0.09244444444444437 + } + ] + }, + "bbox_1768269489778": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768269489778_1768270211899_qp4rao248", + "x": 0.49450000000000005, + "y": 0.6453333333333332, + "width": 0.07199999999999998, + "height": 0.1262222222222222 + } + ] + } + } + }, + { + "action_description": "爪夹抓住银色盖子上升向爪夹方向的右前方移动。", + "correction_plan": "爪夹抓住银色盖子向爪夹方向的右前方略微移动，直至银色杯子的正上方。下降将银色盖子放在银色杯子上，爪夹张开。", + "error_success_analysis": "爪夹抓住银色盖子上升向爪夹方向的右前方移动，在水平方向上更接近银色杯子。", + "frame": 403, + "progress": 70, + "progress_explanation": "较上一阶段相比，爪夹抓住银色盖子在水平方向上更接近银色杯子，因此进度提升为70%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住银色盖子在水平方向上更接近银色杯子。\n为完成抓起银色盖子放在银色杯子上的任务应当:爪夹抓住银色盖子向爪夹方向的右前方略微移动，直至银色杯子的正上方。", + "time": 13.424207055229141, + "annotations": { + 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"当前状态为爪夹合拢，银色盖子处于银色杯子的正上方。\n为完成抓起银色盖子放在银色杯子上的任务应当:爪夹张开，银色盖子放在银色杯子上。", + "time": 16.762666, + "annotations": { + "point_1768269501682": { + "type": "point", + "instances": [ + { + "id": "point_1768269501682_1768270262827_9ea907w55", + "x": 0.5505, + "y": 0.656 + } + ] + }, + "bbox_1768269489490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768269489490_1768270268547_ce6cq3ys7", + "x": 0.5145000000000001, + "y": 0.632888888888889, + "width": 0.071, + "height": 0.06222222222222224 + } + ] + }, + "bbox_1768269489778": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768269489778_1768270275419_dsd7ujnqm", + "x": 0.5045, + "y": 0.6293333333333333, + "width": 0.07699999999999992, + "height": 0.13511111111111124 + } + ] + } + } + }, + { + "action_description": "爪夹张开，银色盖子放在银色杯子上。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，银色盖子放在银色杯子上。", + "frame": 536, + "progress": 100, + "progress_explanation": "当前爪夹张开，银色盖子已被放在银色杯子上，因此进度提升为100%。", + "state_description": "当前状态为爪夹张开，银色盖子已被放在银色杯子上。\n已完成抓起银色盖子放在银色杯子上的任务。", + "time": 17.864, + "annotations": { + "point_1768269501682": { + "type": "point", + "instances": [ + { + "id": "point_1768269501682_1768270289763_tol5rmftk", + "x": 0.5435000000000001, + "y": 0.6684444444444445 + } + ] + }, + "bbox_1768269489490": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768269489490_1768270293891_pbjw8vb7o", + "x": 0.5215, + "y": 0.6453333333333334, + "width": 0.06499999999999995, + "height": 0.08000000000000003 + } + ] + }, + "bbox_1768269489778": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768269489778_1768270307515_ty4c25hpn", + "x": 0.5095000000000001, + "y": 0.6435555555555554, + "width": 0.07499999999999991, + "height": 0.12977777777777785 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768269489490", + "name": "银色盖子", + "color": "#4CAF50" + }, + { + "id": "bbox_1768269489778", + "name": "银色杯子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768269501410", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768269501682", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007561.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007561.json new file mode 100644 index 0000000000000000000000000000000000000000..7d5fd167dce4993a4d03ca65a11c048f5f19df92 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_1_left/episode_007561.json @@ -0,0 +1,546 @@ +{ + "task_description": "\n抓起罐子使其放在桌子上:\n开始移动:0%\n爪夹靠近罐子:20%\n爪夹抓取罐子:40%\n爪夹抓住罐子接近桌子:60%\n爪夹抓住罐子在桌子的正上方:80%\n爪夹松开，罐子放在桌子上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的右前方移动，到达罐子正上方后下降，抓取罐子后竖直上升，向爪夹方向的左前方移动，直至处于桌子的正上方。下降将罐子放在桌子上，爪夹张开。", + "error_success_analysis": "", + "frame": 17, + "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，没有触碰罐子。\n为完成抓起罐子使其放在桌子上的任务应当:爪夹向爪夹方向的右前方移动，准备抓取罐子。", + "time": 0.5619243860824742, + "annotations": { + "bbox_1768270656507": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768270656507_1768274919729_nvyldwvux", + "x": 0.49050000000000005, + "y": 0.30044444444444446, + "width": 0.03099999999999996, + "height": 0.12977777777777777 + } + ] + }, + "bbox_1768270656835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768270656835_1768274929673_a8fwsyajw", + "x": 0.017499999999999998, + "y": 0.21688888888888888, + "width": 0.78, + "height": 0.7484444444444445 + } + ] + }, + "point_1768270666659": { + "type": "point", + "instances": [ + { + "id": "point_1768270666659_1768274962713_b1zmd8zoe", + "x": 0.6545, + "y": 0.19022222222222224 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至罐子的正上方，后下降，抓取罐子后竖直上升，向爪夹方向的左前方移动，直至处于桌子的正上方。下降将罐子放在桌子上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上成功接近罐子。", + "frame": 48, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近罐子，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罐子。\n为完成抓起罐子使其放在桌子上的任务应当:爪夹向爪夹方向的右前方移动，直至罐子的正上方。", + "time": 1.6144143783783782, + "annotations": { + "point_1768270666659": { + "type": "point", + "instances": [ + { + "id": "point_1768270666659_1768274971705_a2febvl8h", + "x": 0.5135, + "y": 0.176 + } + ] + }, + "bbox_1768270656507": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768270656507_1768274977409_qhm5o2dba", + "x": 0.4885, + "y": 0.30044444444444446, + "width": 0.03600000000000003, + "height": 0.1315555555555556 + } + ] + }, + "bbox_1768270656835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768270656835_1768274990522_37var6c84", + "x": 0.013500000000000002, 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007950.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007950.json new file mode 100644 index 0000000000000000000000000000000000000000..8e0388066f725fe33499af5b20287563af0ba2ad --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-007/observation.images.exterior_image_2_left/episode_007950.json @@ -0,0 +1,524 @@ +{ + "task_description": "\n抓起炉灶右侧锅上的玻璃锅盖使其放在桌子上:\n开始移动:0%\n爪夹靠近炉灶右侧锅上的玻璃锅盖:20%\n爪夹抓取炉灶右侧锅上的玻璃锅盖:40%\n爪夹抓住炉灶右侧锅上的玻璃锅盖接近桌子:60%\n爪夹抓住炉灶右侧锅上的玻璃锅盖在桌子的正上方:80%\n爪夹松开，炉灶右侧锅上的玻璃锅盖放在桌子上: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，到达炉灶右侧锅上的玻璃锅盖正上方后下降，抓取炉灶右侧锅上的玻璃锅盖后竖直上升，向爪夹方向的左后方移动，直至处于桌子正上方。下降将炉灶右侧锅上的玻璃锅盖放在桌子上，爪夹张开。", + "error_success_analysis": "", + 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"当前爪夹在水平方向上接近炉灶右侧锅上的玻璃锅盖，因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上成功接近炉灶右侧锅上的玻璃锅盖。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至炉灶右侧锅上的玻璃锅盖的正上方，后下降，抓取炉灶右侧锅上的玻璃锅盖后竖直上升，向爪夹方向的左后方移动，直至处于桌子正上方。下降将炉灶右侧锅上的玻璃锅盖放在桌子上，爪夹张开。", + "annotations": { + "point_1768292115305": { + "type": "point", + "instances": [ + { + "id": "point_1768292115305_1768294257876_fo6renjjv", + "x": 0.6395000000000001, + "y": 0.7217777777777779 + } + ] + }, + "bbox_1768292097545": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768292097545_1768294286804_9o6y27pn6", + "x": 0.6065, + "y": 0.784, + "width": 0.19899999999999993, + "height": 0.17600000000000005 + } + ] + }, + "bbox_1768292097769": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768292097769_1768294375940_s0knfxhik", + "x": 0.29449999999999993, + "y": 0.7146666666666666, + "width": 0.619, + "height": 0.2808888888888891 + } + ] + } + } + }, + { + "time": 2.2260869999999997, + "frame": 67, + "progress": 20, + "action_description": 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0.45949999999999996, + "y": 0.5937777777777777 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357430284_fkidlplxo", + "x": 0.7805000000000001, + "y": 0.5955555555555556 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357443212_zperoptfi", + "x": 0.6385, + "y": 0.45866666666666667, + "width": 0.2880000000000001, + "height": 0.4924444444444445 + } + ] + } + } + }, + { + "action_description": "爪夹略微下降，继续调整爪夹角度使其垂直于桌面，爪夹向爪夹方向的右侧略微移动。", + "correction_plan": "爪夹继续下降，调整爪夹角度平行于桌面。然后向爪夹方向的右侧移动至烤箱门的正上方，后下降，爪夹合拢抓取烤箱门，后上升，推动烤箱门直至烤箱关闭。", + "error_success_analysis": "爪夹张开，爪夹在水平方向上更接近烤箱门，爪夹继续调整爪夹角度使其平行于桌面。", + "frame": 209, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近烤箱门，且爪夹继续调整爪夹角度使其平行于桌面，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上更接近烤箱门。\n为完成爪夹关闭烤箱门的任务应当:爪夹继续下降，调整爪夹角度平行于桌面。", + "time": 6.982989690721649, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357447500_mpowa6evp", + "x": 0.45949999999999996, + "y": 0.5848888888888889 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357449956_kemis7jyb", + "x": 0.7795, + "y": 0.5848888888888889 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357458244_y3jb9z80r", + "x": 0.5375, + "y": 0.4195555555555555, + "width": 0.31899999999999995, + "height": 0.5457777777777777 + } + ] + } + } + }, + { + "action_description": "爪夹下降，向爪夹方向的右侧略微移动，继续调整爪夹角度使其平行于桌面。", + "correction_plan": "爪夹下降，合拢抓取烤箱门，后上升，推动烤箱门直至烤箱关闭。", + "error_success_analysis": "爪夹向爪夹方向的右侧略微移动至烤箱门正上方，并调整爪夹角度使其平行于桌面。", + "frame": 133, + "progress": 20, + "progress_explanation": "当前爪夹悬空于烤箱门的正上方，接近烤箱门，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于烤箱门的正上方。\n为完成爪夹关闭烤箱门的任务应当:爪夹下降，合拢抓取烤箱门，后上升，推动烤箱门直至烤箱关闭。", + "time": 8.866666666666667, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357470356_p21bp2fi6", + "x": 0.45149999999999996, + "y": 0.5831111111111111 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357472244_zofpn8o5c", + "x": 0.7795, + "y": 0.5831111111111111 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357479780_5vfej304k", + "x": 0.5465, + "y": 0.1706666666666667, + "width": 0.24700000000000005, + "height": 0.7875555555555555 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右侧略微移动并下降。", + "correction_plan": "爪夹合拢抓取烤箱门，后上升，推动烤箱门直至烤箱关闭。", + "error_success_analysis": "爪夹向爪夹方向的右侧略微移动并下降，爪夹左触碰烤箱门。", + "frame": 304, + "progress": 30, + "progress_explanation": "当前爪夹向爪夹方向的右侧略微移动并下降后，爪夹左触碰烤箱门，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，爪夹左触碰烤箱门。\n为完成爪夹关闭烤箱门的任务应当:爪夹合拢抓取烤箱门，后上升，推动烤箱门直至烤箱关闭。", + "time": 10.13659793814433, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357491284_r3f17mm09", + "x": 0.5225000000000001, + "y": 0.5688888888888889 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357493284_iug8ebugc", + "x": 0.7045, + "y": 0.5795555555555556 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357502117_ayqu7wmnx", + "x": 0.5155000000000001, + "y": 0.12266666666666666, + "width": 0.257, + "height": 0.8355555555555556 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取烤箱门。", + "correction_plan": "爪夹抓住烤箱门上升，直至烤箱关闭。", + "error_success_analysis": "爪夹合拢成功抓取到烤箱门。", + "frame": 170, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到烤箱门，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，烤箱门已被抓取。\n为完成爪夹关闭烤箱门的任务应当:爪夹抓住烤箱门上升，直至烤箱关闭。", + "time": 11.333333333333334, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357515292_977gn5syt", + "x": 0.5955, + "y": 0.5724444444444445 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357517108_14qw5xg8a", + "x": 0.6475000000000001, + "y": 0.5653333333333334 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357524436_1z2z5qjpc", + "x": 0.5255, + "y": 0.1511111111111111, + "width": 0.2, + "height": 0.8071111111111111 + } + ] + } + } + }, + { + "action_description": "爪夹张开，爪夹推动烤箱门向爪夹的上方移动。", + "correction_plan": "爪夹继续推动烤箱门上升，直至烤箱关闭。", + "error_success_analysis": "爪夹推动烤箱门向爪夹的上方移动，略微接近烤箱。", + "frame": 394, + "progress": 50, + "progress_explanation": "当前爪夹推动烤箱门略微接近烤箱，因此进度提升为50%。", + "state_description": "当前状态为爪夹张开，爪夹推动烤箱门略微接近烤箱。\n为完成爪夹关闭烤箱门的任务应当:爪夹继续推动烤箱门上升，直至烤箱关闭。", + "time": 13.12422680412371, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357537892_34qvf0yvx", + "x": 0.4925, + "y": 0.5760000000000001 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357540212_8afdna1xe", + "x": 0.7315, + "y": 0.5777777777777777 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357547732_yn809rtu5", + "x": 0.3745, + "y": 0.2737777777777778, + "width": 0.16500000000000004, + "height": 0.6933333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹推动烤箱门向爪夹的上方继续移动。", + "correction_plan": "爪夹继续推动烤箱门上升，直至烤箱关闭。", + "error_success_analysis": "爪夹推动烤箱门向爪夹的上方继续移动。", + "frame": 447, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹推动烤箱门接近烤箱，因此进度提升为60%。", + "state_description": "当前状态为爪夹张开，爪夹推动烤箱门接近烤箱。\n为完成爪夹关闭烤箱门的任务应当:爪夹继续推动烤箱门上升，直至烤箱关闭。", + "time": 14.891891891891891, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357558548_9vdwdwkoq", + "x": 0.5305, + "y": 0.5617777777777778 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357561564_nyix75b2y", + "x": 0.6715, + "y": 0.5688888888888889 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357569356_w1krfeoso", + "x": 0.4445, + "y": 0.19733333333333336, + "width": 0.30700000000000005, + "height": 0.7715555555555556 + } + ] + } + } + }, + { + "action_description": "爪夹推动烤箱门向爪夹的上方继续移动。", + "correction_plan": "爪夹继续推动烤箱门上升，直至烤箱关闭。", + "error_success_analysis": "爪夹推动烤箱门向爪夹的上方继续移动，爪夹推动烤箱门更接近烤箱。", + "frame": 501, + "progress": 70, + "progress_explanation": "较上一阶段相比，爪夹推动烤箱门更接近烤箱，因此进度提升为70%。", + "state_description": "当前状态为爪夹张开，爪夹推动烤箱门更接近烤箱。\n为完成爪夹关闭烤箱门的任务应当:", + "time": 16.704639175257732, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357578908_1lyxl7hva", + "x": 0.5395000000000001, + "y": 0.5599999999999999 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357581156_ujnctr9vg", + "x": 0.6785, + "y": 0.5635555555555556 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357587316_zhh9d3pot", + "x": 0.3115, + "y": 0.19377777777777774, + "width": 0.34, + "height": 0.768 + } + ] + } + } + }, + { + "action_description": "爪夹推动烤箱门向爪夹的上方继续移动。", + "correction_plan": "爪夹继续推动烤箱门上升，直至烤箱关闭。", + "error_success_analysis": "爪夹推动烤箱门向爪夹的上方继续移动，爪夹推动烤箱门即将关闭烤箱。", + "frame": 281, + "progress": 80, + "progress_explanation": "较上一阶段相比，爪夹推动烤箱门即将关闭烤箱，因此进度提升为80%。", + "state_description": "当前状态为爪夹张开，爪夹推动烤箱门即将关闭烤箱。\n为完成爪夹关闭烤箱门的任务应当:爪夹继续推动烤箱门上升，直至烤箱关闭。", + "time": 18.733333333333334, + "annotations": { + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357604628_moe0fxjm8", + "x": 0.5155000000000001, + "y": 0.5582222222222223 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357606772_4d0myvnw0", + "x": 0.7075, + "y": 0.5688888888888889 + } + ] + }, + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357621253_ekmbtlzyx", + "x": 0.21950000000000003, + "y": 0.16355555555555557, + "width": 0.395, + "height": 0.7982222222222223 + } + ] + } + } + }, + { + "action_description": "爪夹推动烤箱门向爪夹的上方继续移动，关闭烤箱门。", + "correction_plan": "", + "error_success_analysis": "爪夹推动烤箱门向爪夹的上方继续移动，关闭烤箱门。", + "frame": 305, + "progress": 100, + "progress_explanation": "当前烤箱门完全关闭，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，烤箱门已完全关闭。\n已完成爪夹关闭烤箱门的任务。", + "time": 20.333333333333332, + "annotations": { + "bbox_1768298217649": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768298217649_1768357349188_9lbg0sxgq", + "x": 0.0895, + "y": 0.1262222222222222, + "width": 0.584, + "height": 0.8337777777777778 + } + ] + }, + "point_1768298225705": { + "type": "point", + "instances": [ + { + "id": "point_1768298225705_1768357638620_eaci249qd", + "x": 0.48650000000000004, + "y": 0.5742222222222222 + } + ] + }, + "point_1768298225978": { + "type": "point", + "instances": [ + { + "id": "point_1768298225978_1768357640852_jlkrgvpnn", + "x": 0.7335, + "y": 0.5777777777777777 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768298217649", + "name": "烤箱门" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768298225705", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768298225978", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008540.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008540.json new file mode 100644 index 0000000000000000000000000000000000000000..6948f7c96b916b91e5253985dd7f050c3ba709fa --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.exterior_image_1_left/episode_008540.json @@ -0,0 +1,738 @@ +{ + "task_description": "将瓶子抓起移动至桌子边缘:\n开始移动:0%\n爪夹靠近瓶子:20%\n爪夹抓取瓶子:40%\n爪夹抓住瓶子接近桌子边缘:60%\n爪夹将瓶子放在桌子边缘:80%\n爪夹松开，瓶子落在桌子边缘:90%\n爪夹向上方移动后停止:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768353556257": { + "instances": [ + { + "height": 0.19022509128555648, + "id": "bbox_1768353556257_1768358240039_jfa26a15c", + "width": 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"爪夹向前方移动。", + "annotations": { + "bbox_1768353556257": { + "instances": [ + { + "height": 0.19378070046846407, + "id": "bbox_1768353556257_1768358300591_3h9o2y3gd", + "width": 0.05899999999999998, + "x": 0.395322021484375, + "y": 0.5618163891577791 + } + ], + "type": "bbox" + }, + "bbox_1768358261767": { + "instances": [ + { + "height": 0.5493416187592239, + "id": "bbox_1768358261767_1768358303471_qlgj3gwhs", + "width": 0.5270000000000001, + "x": 0.198322021484375, + "y": 0.42314763102438285 + } + ], + "type": "bbox" + }, + "point_1768353558393": { + "instances": [ + { + "id": "point_1768353558393_1768358305871_dnfop61jw", + "x": 0.574322021484375, + "y": 0.35736886114059224 + } + ], + "type": "point" + }, + "point_1768353558585": { + "instances": [ + { + "id": "point_1768353558585_1768358308063_1oxzuhd92", + "x": 0.623322021484375, + "y": 0.3307017922687853 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向前下方移动。", + "error_success_analysis": "爪夹成功向前方移动。", + "frame": 50, + 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008012.json @@ -0,0 +1,341 @@ +{ + "task_description": "打开微波炉门:\n开始移动:0%\n爪夹接近微波炉门:20%\n爪夹更靠近微波炉门:40%\n爪夹贴近微波炉门:60%\n爪夹抓取微波炉门:70%\n爪夹抓取微波炉门向后移动:80%\n爪夹松开，微波炉打开:90%\n爪夹向后方移动后停止:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768362969269": { + "instances": [ + { + "height": 0.24889264280353188, + "id": "bbox_1768362969269_1768363007853_hifzjzeg0", + "width": 0.26099999999999984, + "x": 0.6353220214843751, + "y": 0.005363552032740076 + } + ], + "type": "bbox" + }, + "point_1768362970325": { + "instances": [ + { + "id": "point_1768362970325_1768363016053_l5yufh3jp", + "x": 0.9063220214843751, + "y": 0.5244824927372493 + } + ], + "type": "point" + }, + "point_1768362970509": { + "instances": [ + { + "id": "point_1768362970509_1768363018621_jgii1b3l9", + "x": 0.879322021484375, + "y": 0.47114835499363544 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右上方移动。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触微波炉。为完成打开微波炉门的任务应当:为爪夹向爪夹的右上方移动。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹的右上方移动。", + "annotations": { + "bbox_1768362969269": { + "instances": [ + { + "height": 0.2560038611693471, + "id": "bbox_1768362969269_1768363079333_tha09dv46", + "width": 0.27199999999999996, + "x": 0.634322021484375, + "y": 3.013825837867702e-05 + } + ], + "type": "bbox" + }, + "point_1768362970325": { + "instances": [ + { + "id": "point_1768362970325_1768363101997_xt67b4xf1", + "x": 0.7133220214843751, + "y": 0.1618103560806744 + } + ], + "type": "point" + }, + "point_1768362970509": { + "instances": [ + { + "id": "point_1768362970509_1768363104645_5mofo2xmj", + "x": 0.766322021484375, + "y": 0.19203303413538897 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向右上方移动，并且调整爪夹角度。", + "error_success_analysis": "爪夹成功向右上方移动。", + "frame": 65, + "progress": 5, + "progress_explanation": "相比上一进度，爪夹略微接近微波炉。因此进度提升为5%。", + "state_description": "当前爪夹张开，处于微波炉前方。为完成打开微波炉门的任务应当:爪夹继续向右上方移动，并且调整爪夹角度。", + "time": 2.1805228205186356 + }, + { + "action_description": "爪夹向爪夹方向的右上方移动。", + "annotations": { + "bbox_1768362969269": { + "instances": [ + { + "height": 0.25244825198643944, + "id": "bbox_1768362969269_1768363126077_7w5o5045n", + "width": 0.2739999999999999, + "x": 0.638322021484375, + "y": 0.005363552032740077 + } + ], + "type": "bbox" + }, + "point_1768362970325": { + "instances": [ + { + "id": "point_1768362970325_1768363119829_dzwdcqsiu", + "x": 0.816322021484375, + "y": 0.05691988518490025 + } + ], + "type": "point" + }, + "point_1768362970509": { + "instances": [ + { + "id": "point_1768362970509_1768363116325_pvkzlh9bl", + "x": 0.880322021484375, + "y": 0.06047549436780785 + } + ], + "type": "point" + } + }, + "correction_plan": 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"time": 8.059560459693895 + }, + { + "action_description": "爪夹向后方移动拉取。", + "annotations": { + "bbox_1768362969269": { + "instances": [ + { + "height": 0.24889264280353188, + "id": "bbox_1768362969269_1768363206829_6lj0lbz12", + "width": 0.27, + "x": 0.632322021484375, + "y": 0.005363552032740077 + } + ], + "type": "bbox" + }, + "point_1768362970325": { + "instances": [ + { + "id": "point_1768362970325_1768363259837_vqgugf3s0", + "x": 0.8133220214843749, + "y": 0.08714256323961483 + } + ], + "type": "point" + }, + "point_1768362970509": { + "instances": [ + { + "id": "point_1768362970509_1768363263437_nkutenu7t", + "x": 0.8353220214843751, + "y": 0.09603158619688382 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，向后方移动。", + "error_success_analysis": "爪夹成功向后方拉取。", + "frame": 306, + "progress": 80, + "progress_explanation": "相比上一进度，微波炉已打开。因此进度提升为80%。", + "state_description": "当前爪夹保持合拢，向后方拉动。为完成打开微波炉门的任务应当:爪夹松开，向后方移动。", + "time": 10.186020882374306 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1768362969269": { + "instances": [ + { + "height": 0.25422605657789327, + "id": "bbox_1768362969269_1768363229061_sosx03u4l", + "width": 0.2800000000000001, + "x": 0.634322021484375, + "y": 0.0035857474412862777 + } + ], + "type": "bbox" + }, + "point_1768362970325": { + "instances": [ + { + "id": "point_1768362970325_1768363270813_5wvrnsbqg", + "x": 0.830322021484375, + "y": 0.04269744845326986 + } + ], + "type": "point" + }, + "point_1768362970509": { + "instances": [ + { + "id": "point_1768362970509_1768363274573_afng20nb6", + "x": 0.864322021484375, + "y": 0.06403110355071545 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向后方移动后停止。", + "error_success_analysis": "爪夹成功松开。", + "frame": 329, + "progress": 90, + "progress_explanation": "相比上一进度，爪夹松开微波炉。因此进度提升为90%。", + "state_description": "当前爪夹张开。为完成打开微波炉门的任务应当:爪夹向后方移动后停止。", + "time": 10.956399 + }, + { + "action_description": "爪夹向后方移动。", + "annotations": { + 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008032.json new file mode 100644 index 0000000000000000000000000000000000000000..23e9bb7ad5adafed87130dd148d667fd4f0114f1 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.exterior_image_2_left/episode_008032.json @@ -0,0 +1,646 @@ +{ + "task_description": "将杯子抓起向左边移动:\n开始移动:0%\n爪夹靠近杯子:20%\n爪夹抓取杯子:40%\n爪夹抓住杯子向左边移动:60%\n爪夹松开，杯子落在桌子上:80%\n爪夹向上方移动后停止:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768375206516": { + "instances": [ + { + "height": 0.1866694821026489, + "id": "bbox_1768375206516_1768375242892_h4pejiddv", + "width": 0.08399999999999999, + "x": 0.40332202148437507, + "y": 0.616928331492847 + } + ], + "type": "bbox" + }, + "bbox_1768375206684": { + "instances": [ + { + "height": 0.5244523544788707, + "id": 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b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.wrist_image_left/episode_008471.json new file mode 100644 index 0000000000000000000000000000000000000000..23d89799d0f0a30aa125075f03da9ae7109d4222 --- /dev/null +++ b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0007/annotations/chunk-008/observation.images.wrist_image_left/episode_008471.json @@ -0,0 +1,542 @@ +{ + "task_description": "将遥控器放入黄色碗中:\n开始移动:0%\n爪夹靠近遥控器:20%\n爪夹抓取遥控器:40%\n爪夹抓住遥控器接近黄色碗:60%\n爪夹将遥控器移动至黄色碗上:80%\n爪夹松开，落入黄色碗中:90%\n爪夹向后上方移动后停止:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1768448392776": { + "instances": [ + { + "height": 0.3128936080958686, + "id": "bbox_1768448392776_1768448470409_qzwhi1cff", + "width": 0.22200000000000006, + "x": 0.6323220214843751, + "y": 0.43914787234746705 + } + ], + "type": "bbox" + }, + "point_1768448393881": { + "instances": [ + { + "id": 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+ { + "action_description": "爪夹继续向爪夹的前方推动抽屉，抽屉合上，爪夹松开并向上抬升。", + "annotations": { + "bbox_1766974931998": { + "instances": [ + { + "height": 0.49973708604454214, + "id": "bbox_1766974931998_1766975122945_2azsfm37l", + "width": 0.37138206025941445, + "x": 0.3032385109747465, + "y": 0.3811546659624818 + } + ], + "type": "bbox" + }, + "point_1766974869375": { + "instances": [ + { + "id": "point_1766974869375_1766975133467_2jt9jybhe", + "x": 0.3594568962433734, + "y": 0.5023030504581284 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹推动抽屉，成功使抽屉合上。", + "frame": 299, + "progress": 100, + "progress_explanation": "爪夹成功使抽屉合上，因此任务进度提升为100%。", + "state_description": "当前爪夹为张开状态，爪夹已完成将螺丝刀放进抽屉，合上抽屉的任务。", + "time": 9.95784304445806 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766974848135", + "name": "螺丝刀" + }, + { + "color": "#FF9800", + "id": "bbox_1766974931998", + "name": "抽屉" + } + ], + "point_targets": [ + { + 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"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": 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"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, + 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b/annotation_files_raw/0116/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/0116/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 + } + ] + }, + "point_1766987655909": { + "type": "point", + "instances": [ + { + "id": "point_1766987655909_1766987939299_625msqgm8", + "x": 0.5741089127235854, + "y": 0.33572402177661437 + } + ] + }, + "bbox_1766987651492": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766987651492_1767174233835_ohlox3d20", + "x": 0.2793882869213896, + "y": 0.16914499309510037, + "width": 0.5110762297147906, + "height": 0.7511199838730088 + } + ] + } + }, + "correction_plan": "爪夹张开，然后抓取锅盖，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": "爪夹向抓夹的正前方移动，接近了锅盖，确保成功抓取锅盖。", + "frame": 117, + "progress": 25, + "progress_explanation": "爪夹向抓夹的正前方移动，接近了锅盖，因此任务进度提升为25%。", + "state_description": "爪夹为合拢的状态，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：爪夹合拢抓取锅盖，爪夹轻微向上抬升。\n", + "time": 3.9141308834936672 + }, + { + "action_description": "爪夹继续下降至锅盖两侧，爪夹合拢抓取锅盖，随后爪夹轻微抬升。", + "annotations": { + "bbox_1766987643234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766987643234_1766987933973_x35pqrqlh", + "x": 0.49574389083398424, + "y": 0.26303499107922645, + "width": 0.1533228689144372, + "height": 0.20898096325499033 + } + ] + }, + "point_1766987655909": { + "type": "point", + "instances": [ + { + "id": "point_1766987655909_1766987928686_bazmpapkd", + "x": 0.580923262453116, + "y": 0.29937950642792044 + } + ] + }, + "bbox_1766987651492": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766987651492_1767174242539_l52g3r3tm", + "x": 0.26746317489471116, + "y": 0.18125983154466505, + "width": 0.5349264537681474, + "height": 0.7268903069738795 + } + ] + } + }, + "correction_plan": "爪夹继续向上抬升，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": "爪夹接近锅盖后垂直下降，成功抓取锅盖。", + "frame": 190, + "progress": 50, + "progress_explanation": "爪夹成功抓取锅盖，向上轻微抬升，因此任务进度提升为50%。", + "state_description": "当前爪夹为合拢抓取锅盖的状态，为完成将锅盖从锅具上拿下来放到桌子上的任务，应当：爪夹夹紧锅盖向上抬升，随后向爪夹的右侧移动，接近桌子正上方。", + "time": 6.343591797096946 + }, + { + "action_description": "爪夹夹紧锅盖向上抬升，锅盖脱离锅具，随后向爪夹的右侧移动。", + "annotations": { + "bbox_1766987643234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766987643234_1766987902633_yucn4v4mu", + "x": 0.6661026340722478, + "y": 0.1661162834827092, + "width": 0.16865515580588095, + "height": 0.22109580170455495 + } + ] + }, + "point_1766987655909": { + "type": "point", + "instances": [ + { + "id": "point_1766987655909_1766987908942_jn7qgr9b8", + "x": 0.75809635542091, + "y": 0.22366176611814134 + } + ] + }, + "bbox_1766987651492": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766987651492_1767174250564_rhcykl1v1", + "x": 0.2810918743537722, + "y": 0.17823112193227386, + "width": 0.5127798171471731, + "height": 0.7329477261986617 + } + ] + } + }, + "correction_plan": "爪夹夹紧锅盖向下移动，贴近桌子，随后爪夹下降将锅盖放在桌子上，随后爪夹松开，锅盖放在桌子上。", + "error_success_analysis": "爪夹夹取锅盖在桌子的上方，没有完全接近桌子。", + "frame": 229, + "progress": 65, + "progress_explanation": "爪夹夹取锅盖在桌子的上方，没有完全接近桌子，因此任务进度提升为65%。", + "state_description": "当前爪夹为合拢抓紧锅盖的状态，锅盖远离锅具，为完成将锅盖从锅具上拿下来放到桌子上的任务，应当：爪夹夹紧锅盖向下下降，使锅盖贴近桌面。", + "time": 7.635447997187578 + }, + { + "action_description": "爪夹夹紧锅盖继续下降，使锅盖贴近桌子。", + "annotations": { + "bbox_1766987643234": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766987643234_1766987709837_yh2rrp3ao", + "x": 0.6439559974512734, + "y": 0.34783886022617905, + "width": 0.1362869945906108, + "height": 0.19686612480542565 + } + ] + }, + "point_1766987655909": { + "type": "point", + "instances": [ + { + "id": "point_1766987655909_1766987729475_32agh6du0", + "x": 0.7291353690704052, + "y": 0.3872120851872642 + } + ] + }, + "bbox_1766987651492": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766987651492_1767174259947_jp2k8lwf1", + "x": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000029.json b/annotation_files_raw/0116/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/0116/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, + 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"error_success_analysis": "爪夹先向正前方移动，随后旋转，方便抓取记号笔。", + "frame": 54, + "progress": 15, + "progress_explanation": "爪夹向正前方移动，随后爪夹旋转接近90°，因此任务进度提升为15%。", + "state_description": "爪夹为张开的状态，开始接近记号笔，为完成将杯子中的记号笔移除，然后放在桌子上的任务，应当：爪夹向爪夹的正后方移动并下降，接近记号笔。", + "time": 3.6 + }, + { + "action_description": "爪夹向爪夹的正后方移动，随后下降，接近记号笔。", + "annotations": { + "bbox_1766992894606": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992894606_1766993058938_p12c29ktq", + "x": 0.13628694260124824, + "y": 0.7112840137131188, + "width": 0.040886098377183246, + "height": 0.21503838247977253 + } + ] + }, + "point_1766992906148": { + "type": "point", + "instances": [ + { + "id": "point_1766992906148_1766993054697_rencyf8ke", + "x": 0.2112447896260842, + "y": 0.6749394983644248 + } + ] + }, + "point_1766992912077": { + "type": "point", + "instances": [ + { + "id": "point_1766992912077_1766993052753_p1eteguu0", + "x": 0.1243618305745698, + "y": 0.6900830464263806 + } + ] + }, + "bbox_1766992901449": { + "type": 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75, + "progress_explanation": "爪夹成功使记号笔贴近桌面，因此任务进度提升为75%。", + "state_description": "当前爪夹为合拢抓紧记号笔，接近桌面，为完成将马克杯中的记号笔移除，然后放在桌子上的任务，应当：爪夹轻微下降，随后爪夹松开，记号笔落在桌面上。", + "time": 12.114010946469337 + }, + { + "action_description": "爪夹松开，记号笔落在桌面上，随后向上抬升。", + "annotations": { + "bbox_1766992894606": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766992894606_1766993148550_m7dc3x1v5", + "x": 0.3236815601633381, + "y": 0.6567672406900777, + "width": 0.06132914756577486, + "height": 0.12720580372042897 + } + ] + }, + "point_1766992906148": { + "type": "point", + "instances": [ + { + "id": "point_1766992906148_1766993141839_0ffl7jzv8", + "x": 0.4105645192148525, + "y": 0.5628772427059517 + } + ] + }, + "point_1766992912077": { + "type": "point", + "instances": [ + { + "id": "point_1766992912077_1766993143512_nayb1nrb4", + "x": 0.34071743448716446, + "y": 0.5447049850316047 + } + ] + }, + "bbox_1766992901449": { + "type": "bbox", + "instances": [ + { + "id": 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.exterior_image_2_left/episode_000275.json b/annotation_files_raw/0116/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/0116/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, + 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b/annotation_files_raw/0116/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/0116/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 + } + ] + 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a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0009/annotations/chunk-000/observation.images.wrist_image_left/episode_000862.json b/annotation_files_raw/0116/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/0116/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/0116/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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"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": "point_1767159573050_1767159729179_a5s2c0vy8", + "x": 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+ "height": 0.07571774030977928 + } + ] + }, + "point_1767159573050": { + "type": "point", + "instances": [ + { + "id": "point_1767159573050_1767159659798_36y3yqwoq", + "x": 0.2640560000299459, + "y": 0.7415711098370305 + } + ] + } + } + }, + { + "action_description": "爪夹轻微晃动，随后爪夹松开，向上轻微抬升。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，任务已完成。", + "frame": 198, + "progress": 100, + "progress_explanation": "爪夹成功将锅盖放在锅具上，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开状态，垂直桌面，爪夹已完成将锅盖放在锅具上的任务.", + "time": 13.2, + "annotations": { + "point_1767159573050": { + "type": "point", + "instances": [ + { + "id": "point_1767159573050_1767159585391_g8td9yo00", + "x": 0.2930169863804507, + "y": 0.7173414329379011 + } + ] + }, + "point_1767159566762": { + "type": "point", + "instances": [ + { + "id": "point_1767159566762_1767159588504_scslvwitw", + "x": 0.23850218854420632, + "y": 0.7052265944883364 + } + ] + }, + "bbox_1767159550632": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767159550632_1767159598287_9tl2n8xlp", + "x": 0.22146631422038002, + "y": 0.7203701425502923, + "width": 0.08517937161913176, + "height": 0.08177515953456138 + } + ] + }, + "bbox_1767159557744": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767159557744_1767159604085_l3kuiommq", + "x": 0.21465196449084947, + "y": 0.6900830464263805, + "width": 0.10391883337534073, + "height": 0.13932064216999357 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767159550632", + "name": "锅盖", + "color": "#4CAF50" + }, + { + "id": "bbox_1767159557744", + "name": "锅具", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767159566762", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767159573050", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001477.json b/annotation_files_raw/0116/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/0116/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/0116/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001498.json b/annotation_files_raw/0116/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/0116/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 + } + ] + }, + "point_1767516580419": { + "type": "point", + "instances": [ + { + "id": "point_1767516580419_1767516983068_b1ed39q6b", + "x": 0.5860340247502639, + "y": 0.09039854317293011 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向爪夹左侧旋转，然后向爪夹的左前方移动，将柜门完全打开。", + "correction_plan": "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": "爪夹向左侧移动将柜门打开，方便放入黄色物体和蓝色物体。", + "frame": 141, + "progress": 10, + "progress_explanation": "爪夹向左侧移动将柜门打开，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，紧挨着柜门，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：爪夹向爪夹的右侧移动，随后下降接近黄色物体。", + "time": 9.4, + "annotations": { + "point_1767516580419": { + "type": "point", + "instances": [ + { + "id": "point_1767516580419_1767516964884_4rzo70mrk", + "x": 0.3867142951614956, + "y": 0.2660637006916176 + } + ] + }, + "point_1767516587108": { + "type": "point", + "instances": [ + { + "id": "point_1767516587108_1767516967260_1gtchph2s", + "x": 0.41567528151200045, + "y": 0.29332208720313807 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右侧移动，并向下下降。", + "correction_plan": "爪夹向爪夹的右侧移动，随后向上抬升接近黄色物体。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，距离黄色物体进了一步。", + "frame": 168, + "progress": 12, + "progress_explanation": "爪夹向爪夹的右侧移动，开始接近黄色物体，因此任务进度提升为12%。", + "state_description": "爪夹当前为张开的状态，接近下方的柜子，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：爪夹向爪夹的右侧移动，随后向上抬升接近黄色物体。", + "time": 11.2, + "annotations": { + "point_1767516580419": { + "type": "point", + "instances": [ + { + "id": "point_1767516580419_1767516961811_cef4rojje", + "x": 0.5451479263730807, + "y": 0.5659059523183428 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右侧移动，随后向左前方移动并下降接近柜门。", + "correction_plan": "爪夹向爪夹的右侧移动，随后向上抬升接近黄色物体。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，接近了柜门，方便打开柜门。", + "frame": 210, + "progress": 14, + "progress_explanation": "爪夹向右侧移动，接近了柜门，因此任务进度提升为14%。", + "state_description": "爪夹为张开的状态，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，随后爪夹向右侧移动，接近黄色物体。", + "time": 14, + "annotations": { + "point_1767516580419": { + "type": "point", + "instances": [ + { + "id": "point_1767516580419_1767516955660_jxh1aldye", + "x": 0.5672945629940549, + "y": 0.659795950302469 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向右侧移动，随后向左前方移动并向上抬升，然后爪夹夹住柜门向左侧移动。", + "correction_plan": "爪夹向爪夹的左侧移动，使柜门打开。爪夹向爪夹的右侧移动，随后向上抬升接近黄色物体。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": "爪夹夹住柜门，向左移动，使柜门轻微打开。", + "frame": 262, + "progress": 16, + "progress_explanation": "爪夹夹住柜门，向左移动，使柜门轻微打开，因此任务进度提升为16%。", + "state_description": "爪夹当前为张开的状态，爪夹夹住柜门，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：爪夹向爪夹的左侧移动，使柜门打开。", + "time": 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"correction_plan": "", + "error_success_analysis": "爪夹松开，蓝色物体放入柜子中。", + "frame": 1419, + "progress": 100, + "progress_explanation": "爪夹将黄色物体和蓝色物体放在左上方的柜子中，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开的状态，爪夹已完成将黄色物体和蓝色物体放在左上方的柜子中的任务。", + "time": 47.31580429772186, + "annotations": { + "point_1767516580419": { + "type": "point", + "instances": [ + { + "id": "point_1767516580419_1767516683281_6mp7jlbh0", + "x": 0.4872259536720711, + "y": 0.2566409920798615 + } + ] + }, + "bbox_1767516574396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767516574396_1767516689762_9dfpb23sj", + "x": 0.44633985529488784, + "y": 0.30812905549051134, + "width": 0.07836502188960122, + "height": 0.045430644185867425 + } + ] + }, + "bbox_1767516495254": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767516495254_1767516733994_4lz9vlnz6", + "x": 0.43782191813297466, + "y": 0.265727120917035, + "width": 0.04770044810671381, + "height": 0.06360290186021449 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767516495254", + "name": "黄色物体", + "color": "#4CAF50" + }, + { + "id": "bbox_1767516574396", + "name": "蓝色物体", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767516580419", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767516587108", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001576.json b/annotation_files_raw/0116/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001576.json new file mode 100644 index 0000000000000000000000000000000000000000..a2875bcf12977d8b9e47e591a5917cdd5d8e1d58 --- /dev/null +++ b/annotation_files_raw/0116/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" + }, + "point_1767168738021": { + "instances": [ + { + "id": "point_1767168738021_1767168988920_y1sj6k5xh", + "x": 0.44974703015965306, + "y": 0.2660637006916176 + } + ], + "type": "point" + }, + "point_1767168743078": { + "instances": [ + { + "id": "point_1767168743078_1767168985897_qdw3b0mir", + 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"bbox_1767168726344": { + "instances": [ + { + "height": 0.10600483643369078, + "id": "bbox_1767168726344_1767168896346_rib1s7faj", + "width": 0.06473632243054013, + "x": 0.5672945629940549, + "y": 0.3205804737146586 + } + ], + "type": "bbox" + }, + "bbox_1767168732702": { + "instances": [ + { + "height": 0.25744031705324893, + "id": "bbox_1767168732702_1767168902522_3zo7xos31", + "width": 0.22998430337165568, + "x": 0.4344147432682094, + "y": 0.3145230544898762 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右侧移动，随后爪夹夹住蓝色碗向爪夹的左侧移动，随后下降，接近置物架，爪夹下降，将蓝色碗放在置物架上，爪夹松开，蓝色碗落在置物架。", + "error_success_analysis": "爪夹脱离置物架，方便移动。", + "frame": 215, + "progress": 50, + "progress_explanation": "爪夹脱离置物架，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢状态，蓝色碗在置物架的侧上方，为完成移动蓝色碗的任务，应当：爪夹向爪夹的右侧移动。", + "time": 7.1651486304571606 + }, + { + "action_description": "爪夹向右侧旋转，中间停顿，随后继续向爪夹右侧旋转。", + "annotations": { + "bbox_1767168726344": { + "instances": [ + { + "height": 0.11206225565847312, + "id": 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"error_success_analysis": "爪夹抓住蓝色碗，在置物架的上方，方便落入置物架。", + "correction_plan": "爪夹夹住蓝色碗下降，放入置物架，爪夹松开，蓝色碗落入置物架。", + "annotations": { + "bbox_1767168726344": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168726344_1767169977420_zafge6azy", + "x": 0.5877376121826465, + "y": 0.32360918332704974, + "width": 0.06303273499815747, + "height": 0.09691870759651727 + } + ] + }, + "bbox_1767168732702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767168732702_1767169982213_a3lstcq0m", + "x": 0.4293039809710614, + "y": 0.30543692565270275, + "width": 0.24361300283071685, + "height": 0.27258386511520477 + } + ] + } + } + }, + { + "action_description": "爪夹夹住蓝色碗下降，放入置物架。", + "annotations": { + "bbox_1767168726344": { + "instances": [ + { + "height": 0.10903354604608191, + "id": "bbox_1767168726344_1767168841605_dyi9qjvyj", + "width": 0.06303273499815747, + "x": 0.5843304373178813, + "y": 0.3538962794509614 + } + ], + "type": "bbox" + }, + "bbox_1767168732702": { + "instances": [ + 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"爪夹移动蓝色碗的任务已完成。", + "frame": 421, + "progress": 100, + "progress_explanation": "蓝色碗在置物架中，因此任务进度提升为100%。", + "state_description": "当前爪夹为张开状态，爪夹已完成移动蓝色碗的任务。", + "time": 14.020118572137305 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767168726344", + "name": "蓝色碗" + }, + { + "color": "#FF9800", + "id": "bbox_1767168732702", + "name": "置物架" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767168738021", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767168743078", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0009/annotations/chunk-001/observation.images.exterior_image_2_left/episode_001633.json b/annotation_files_raw/0116/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/0116/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": { + 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"爪夹开始向爪夹的正前方移动，接近书本，因此任务进度提升10%。", + "state_description": "爪夹当前为张开的状态，在书本的上方，为完成将书打开然后合上书并将书本摆正的任务，应当：爪夹向爪夹的右侧轻微移动，随后下降，接近书本边缘。", + "time": 4.203589371418685, + "annotations": { + "bbox_1767585067966": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767585067966_1767589487272_370sniqjw", + "x": 0.3594568962433734, + "y": 0.5325901465820401, + "width": 0.12776905742869768, + "height": 0.12417709410803768 + } + ] + }, + "point_1767585073278": { + "type": "point", + "instances": [ + { + "id": "point_1767585073278_1767589500192_3qwucurcg", + "x": 0.36797483340528664, + "y": 0.42658531014834933 + } + ] + }, + "point_1767585084389": { + "type": "point", + "instances": [ + { + "id": "point_1767585084389_1767589504440_6l83dvj6w", + "x": 0.43271115583582676, + "y": 0.4356714389855228 + } + ] + } + } + }, + { + "action_description": "爪夹轻微向爪夹的右侧移动，随后下降。", + "correction_plan": 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"", + "error_success_analysis": "爪夹松开，任务已完成。", + "frame": 858, + "progress": 100, + "progress_explanation": "爪夹松开，书本已扶正，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开的状态，爪夹已完成将书打开然后合上书并将书本摆正的任务。", + "time": 57.2 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767585067966", + "name": "书本", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767585073278", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767585084389", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-1/droid_lerobot/shard_0009/annotations/chunk-002/observation.images.wrist_image_left/episode_002110.json b/annotation_files_raw/0116/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/0116/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": 0.5042618279958975, + "y": 0.0025659644135863436, + "width": 0.45315425701378087, + "height": 0.8571248203066996 + } + ] + }, + "point_1767173171458": { + "type": "point", + "instances": [ + { + "id": "point_1767173171458_1767173677406_f28iidc4b", + "x": 0.44633985529488784, + "y": 0.5901356292174722 + } + ] + }, + "point_1767173268914": { + "type": "point", + "instances": [ + { + "id": "point_1767173268914_1767173696094_18hb0abes", + 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"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": 0.0661688662738008, + "width": 0.41397174606898035, + "height": 0.7602061127101821 + } + ] + } + } + }, + { + "action_description": "爪夹夹住黑色托盘向爪夹的右侧移动，完全接近桌子。", + "correction_plan": "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": "爪夹向爪夹的右侧移动，完全接近桌子，方便托盘放在桌子上。", + "frame": 205, + "progress": 60, + "progress_explanation": "当前爪夹向爪夹的右侧移动，完全接近桌子，因此任务进度提升为60%。", + "state_description": 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0000000000000000000000000000000000000000..f5f960ca21be746ce9a2f7d0f517dc7f43074b24 --- /dev/null +++ b/annotation_files_raw/0116/project-2/droid_lerobot/shard_0002/annotations/chunk-006/observation.images.exterior_image_1_left/episode_006962.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取红色易拉罐，将其放入水槽中：\n爪夹开始移动：0%\n爪夹接近红色易拉罐：20%\n爪夹抓紧红色易拉罐：40%\n爪夹抓紧红色易拉罐接近水槽：60%\n爪夹将红色易拉罐放入水槽中：80%\n红色易拉罐落入水槽中，爪夹移开：100%", + "progress_points": [ + { + "time": 0.510878, + "frame": 15, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 2.028033, + "frame": 61, + "progress": 5, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "time": 3.400697, + "frame": 102, + "progress": 10, + "action_description": "", + "state_description": "", + "progress_explanation": "", + 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