diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-131727-put-banana peel-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-131727-put-banana peel-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..2050cabdd25530a21bafc336061e902bd6dd5d24 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-131727-put-banana peel-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,326 @@ +{ + "task_description": "把香蕉皮放进白色垃圾桶里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近白色垃圾桶：60%\n爪夹将香蕉皮放在白色垃圾桶的正上方：80%\n爪夹松开香蕉皮落入白色垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767679386192": { + "instances": [ + { + "height": 0.30210583267508373, + "id": "bbox_1767679386192_1767679623210_s632kmmn0", + "width": 0.1005116585105755, + "x": 0.4838187788073058, + "y": 0.6108683106790329 + } + ], + "type": "bbox" + }, + "bbox_1767679395673": { + "instances": [ + { + "height": 0.30437730510121214, + "id": "bbox_1767679395673_1767679635762_2byaoqgyq", + "width": 0.19931972958876837, + "x": 0.683138508396074, + "y": 0.4541367132761699 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹右后方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右侧移动接近白色垃圾桶，爪夹下降，香蕉皮在垃圾桶的正上方，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向上抬升，随后向爪夹右后方移动，下降接近香蕉皮。", + "time": 1.460837683367237 + }, + { + "action_description": "爪夹向上抬升，随后向爪夹的右前方移动。", + "annotations": { + "bbox_1767679386192": { + "instances": [ + { + "height": 0.2998343602489553, + "id": "bbox_1767679386192_1767679594476_juqt7pscy", + "width": 0.1056224208077234, + "x": 0.47870801651015793, + "y": 0.6176827279574183 + } + ], + "type": "bbox" + }, + "bbox_1767679395673": { + "instances": [ + { + "height": 0.3180061396579828, + "id": "bbox_1767679395673_1767679605690_0b2ol8tiv", + "width": 0.19591255472400304, + "x": 0.6865456832608394, + "y": 0.4450508235716562 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右前方轻微移动，爪夹下降并调整角度接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右侧移动接近白色垃圾桶，爪夹下降，香蕉皮在垃圾桶的正上方，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹向爪夹的右前方移动，水平上接近了香蕉皮。", + "frame": 73, + "progress": 10, + "progress_explanation": "爪夹向爪夹的右前方移动，缩短了与香蕉皮的距离，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，开始接近香蕉皮，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向爪夹的右前方轻微移动，爪夹下降并调整角度，接近香蕉皮。", + "time": 2.4219154925531443 + }, + { + "action_description": "爪夹向爪夹的右侧轻微移动，随后下降。", + "annotations": { + "bbox_1767679386192": { + "instances": [ + { + "height": 0.33390644664088204, + "id": "bbox_1767679386192_1767679575563_9euru9q5h", + "width": 0.10051165851057542, + "x": 0.4855223662396885, + "y": 0.5836106415654915 + } + ], + "type": "bbox" + }, + "bbox_1767679395673": { + "instances": [ + { + "height": 0.3089202499534691, + "id": "bbox_1767679395673_1767679565587_xwta8bri9", + "width": 0.20272690445353359, + "x": 0.6831385083960742, + "y": 0.449593768423913 + } + ], + "type": "bbox" + }, + "point_1767679404240": { + "instances": [ + { + "id": "point_1767679404240_1767679584186_jy0qzzylv", + "x": 0.5008546531311321, + "y": 0.6403974522187028 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右侧移动接近白色垃圾桶，爪夹下降，香蕉皮放在垃圾桶正上方，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹下降接近了香蕉皮，方便抓取香蕉皮。", + "frame": 109, + "progress": 20, + "progress_explanation": "爪夹下降接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的正上方，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 3.627299 + }, + { + "action_description": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "annotations": { + "bbox_1767679386192": { + "instances": [ + { + "height": 0.32482055693636824, + "id": "bbox_1767679386192_1767679547427_2gac7wb9p", + "width": 0.09710448364581019, + "x": 0.48211519137492315, + "y": 0.5995109485483906 + } + ], + "type": "bbox" + }, + "bbox_1767679395673": { + "instances": [ + { + "height": 0.2998343602489553, + "id": "bbox_1767679395673_1767679527228_alc5e85dr", + "width": 0.20272690445353359, + "x": 0.6797313335313089, + "y": 0.45413671327616983 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后向爪夹的右侧移动接近白色垃圾桶，爪夹下降，香蕉皮放在垃圾桶的正上方，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹调整了角度接近垂直于桌面，方便爪夹抓取香蕉皮。", + "frame": 145, + "progress": 40, + "progress_explanation": "爪夹成功抓取香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢抓取香蕉皮的状态，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的右侧移动。", + "time": 4.824610015517913 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升，随后向爪夹的右侧轻微移动。", + "annotations": { + "bbox_1767679386192": { + "instances": [ + { + "height": 0.3270920293624966, + "id": "bbox_1767679386192_1767679510924_jr6hz9zri", + "width": 0.13117623229346292, + "x": 0.5400371640759327, + "y": 0.3405630919697475 + } + ], + "type": "bbox" + }, + "bbox_1767679395673": { + "instances": [ + { + "height": 0.30664877752734065, + "id": "bbox_1767679395673_1767679497749_6ecgbn6z8", + "width": 0.201023317021151, + "x": 0.6814349209636914, + "y": 0.4541367132761699 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右侧移动接近白色垃圾桶，爪夹下降，香蕉皮放在垃圾桶的正上方，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹夹住香蕉皮向爪夹的右侧轻微移动，接近了白色垃圾桶。", + "frame": 175, + "progress": 50, + "progress_explanation": "爪夹夹住香蕉皮向爪夹的右侧轻微移动，缩短了与白色垃圾桶的距离，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢抓住香蕉皮的状态，爪夹接近白色垃圾桶，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向爪夹的右侧继续移动，接近白色垃圾桶。", + "time": 5.824130937071258 + }, + { + "action_description": "爪夹向上抬升，随后向爪夹的右侧移动。", + "annotations": { + "bbox_1767679386192": { + "instances": [ + { + "height": 0.41113650912924926, + "id": "bbox_1767679386192_1767679477559_prhwp14f2", + "width": 0.15673004377920244, + "x": 0.6967672078551352, + "y": 0.09978701480013183 + } + ], + "type": "bbox" + }, + "bbox_1767679395673": { + "instances": [ + { + "height": 0.308920249953469, + "id": "bbox_1767679395673_1767679485901_igjrr3xp1", + "width": 0.19420896729162046, + "x": 0.6916564455579872, + "y": 0.449593768423913 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，香蕉皮放在垃圾桶的正上方，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹向右移动，接近垃圾桶的正上方，确保香蕉皮落入垃圾桶。", + "frame": 192, + "progress": 60, + "progress_explanation": "爪夹向右移动，接近垃圾桶的正上方，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢抓住香蕉皮的状态，接近了香蕉皮，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹下降，将香蕉皮放在垃圾桶的正上方。", + "time": 6.400777622582802 + }, + { + "action_description": "爪夹向爪夹的右前方轻微移动，随后下降。", + "annotations": { + "bbox_1767679386192": { + "instances": [ + { + "height": 0.32709202936249665, + "id": "bbox_1767679386192_1767679455558_wv1ywx5wr", + "width": 0.18058026783255937, + "x": 0.7427640685294663, + "y": 0.2996765882994354 + } + ], + "type": "bbox" + }, + "bbox_1767679395673": { + "instances": [ + { + "height": 0.3111917223795974, + "id": "bbox_1767679395673_1767679443638_3pmopiqdb", + "width": 0.20272690445353359, + "x": 0.6831385083960742, + "y": 0.449593768423913 + } + ], + "type": "bbox" + }, + "point_1767679414197": { + "instances": [ + { + "id": "point_1767679414197_1767679466215_w3x3gi6uc", + "x": 0.8569044264991028, + "y": 0.44050787871939917 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹夹住香蕉皮下降放入了白色垃圾桶，确保落入确保香蕉皮落入垃圾桶。", + "frame": 227, + "progress": 80, + "progress_explanation": "爪夹夹住香蕉皮下降放入了白色垃圾桶，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢抓取香蕉皮，在垃圾桶的正上方，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹松开，香蕉皮落入白色垃圾桶。", + "time": 7.554199 + }, + { + "action_description": "爪夹松开，爪夹向上抬升。", + "annotations": { + "bbox_1767679395673": { + "instances": [ + { + "height": 0.30437730510121214, + "id": "bbox_1767679395673_1767679430470_zwpa9y7pp", + "width": 0.19080179242685508, + "x": 0.6882492706932221, + "y": 0.4541367132761699 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，香蕉皮落入白色垃圾桶。", + "frame": 263, + "progress": 100, + "progress_explanation": "香蕉皮落入白色垃圾桶，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把香蕉皮放进白色垃圾桶里的任务。", + "time": 8.765029033180134 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767679386192", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767679395673", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767679404240", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767679414197", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-131727-put-banana peel-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-131727-put-banana peel-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..668342e81477d11747194a482132114ba8b3993c --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-131727-put-banana peel-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,342 @@ +{ + "task_description": "把香蕉皮放进白色垃圾桶里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近白色垃圾桶：60%\n爪夹将香蕉皮放在白色垃圾桶的正上方：80%\n爪夹松开香蕉皮落入白色垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767682698313": { + "instances": [ + { + "height": 0.2930199429705699, + "id": "bbox_1767682698313_1767682936803_qos258nxm", + "width": 0.1584336312115851, + "x": 0.46678290448347937, + "y": 0.5858821139916199 + } + ], + "type": "bbox" + }, + "bbox_1767682704561": { + "instances": [ + { + "height": 0.28620552569218455, + "id": "bbox_1767682704561_1767682931908_s4hyvsgeu", + "width": 0.16354439350873298, + "x": 0.32027438529857283, + "y": 0.44277935114552763 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动接近白色垃圾桶，爪夹下降，香蕉皮放入白色垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮。", + "time": 1.5057477517225892 + }, + { + "action_description": "爪夹向上抬升，随后向爪夹的右前方移动，轻微下降。", + "annotations": { + "bbox_1767682698313": { + "instances": [ + { + "height": 0.27484816356154224, + "id": "bbox_1767682698313_1767682910820_ex8pe4h08", + "width": 0.16184080607635032, + "x": 0.46507931705109684, + "y": 0.6040538934006476 + } + ], + "type": "bbox" + }, + "bbox_1767682704561": { + "instances": [ + { + "height": 0.2294187150389734, + "id": "bbox_1767682704561_1767682923308_rupiw03mc", + "width": 0.144804931752524, + "x": 0.3270887350281034, + "y": 0.5018376342248673 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，爪夹下降，接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动接近白色垃圾桶，爪夹下降，香蕉皮放入白色垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹向爪夹的右前方移动，水平上接近了香蕉皮。", + "frame": 83, + "progress": 10, + "progress_explanation": "爪夹向爪夹的右前方移动，缩短了与香蕉皮的距离，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，开始接近香蕉皮，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向爪夹的右前方移动，爪夹下降，接近香蕉皮。", + "time": 2.76053812502419 + }, + { + "action_description": "爪夹向爪夹的右前方移动，随后下降并调整角度。", + "annotations": { + "bbox_1767682698313": { + "instances": [ + { + "height": 0.26576227385702844, + "id": "bbox_1767682698313_1767682890109_p5hjalpji", + "width": 0.1499156940496719, + "x": 0.47359725421301, + "y": 0.6131397831051614 + } + ], + "type": "bbox" + }, + "bbox_1767682704561": { + "instances": [ + { + "height": 0.2521334393002579, + "id": "bbox_1767682704561_1767682899140_ob9a10ozt", + "width": 0.13799058202299347, + "x": 0.3339030847576339, + "y": 0.4813943823897113 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动接近白色垃圾桶，爪夹下降，香蕉皮放入白色垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹下降接近了香蕉皮，方便抓取香蕉皮。", + "frame": 123, + "progress": 20, + "progress_explanation": "爪夹下降接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的正上方，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 4.083771609596788 + }, + { + "action_description": "爪夹继续下降，贴近香蕉皮。", + "annotations": { + "bbox_1767682698313": { + "instances": [ + { + "height": 0.26576227385702855, + "id": "bbox_1767682698313_1767682878029_66yetyouj", + "width": 0.15502645634681986, + "x": 0.46848649191586206, + "y": 0.6199542003835466 + } + ], + "type": "bbox" + }, + "bbox_1767682704561": { + "instances": [ + { + "height": 0.28620552569218455, + "id": "bbox_1767682704561_1767682873191_1d8dfgh1y", + "width": 0.144804931752524, + "x": 0.3339030847576339, + "y": 0.44050787871939917 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动接近白色垃圾桶，爪夹下降，香蕉皮放入白色垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹下降贴近了香蕉皮，更加方便抓取香蕉皮。", + "frame": 168, + "progress": 30, + "progress_explanation": "爪夹下降贴近了香蕉皮，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开的状态，贴近香蕉皮，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 5.612334427982374 + }, + { + "action_description": "爪夹合拢抓取香蕉皮。", + "annotations": { + "bbox_1767682698313": { + "instances": [ + { + "height": 0.1953466286470467, + "id": "bbox_1767682698313_1767682855065_u8ae7c62y", + "width": 0.16184080607635032, + "x": 0.4701900793482447, + "y": 0.6903698455935285 + } + ], + "type": "bbox" + }, + "bbox_1767682704561": { + "instances": [ + { + "height": 0.28620552569218455, + "id": "bbox_1767682704561_1767682861789_jwrkjqdih", + "width": 0.14139775688775874, + "x": 0.3373102596223992, + "y": 0.4359649338671423 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动接近白色垃圾桶，爪夹下降，香蕉皮放入白色垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹调整了角度，方便爪夹抓取香蕉皮。", + "frame": 215, + "progress": 40, + "progress_explanation": "爪夹成功抓取香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢抓住香蕉皮的状态，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动。", + "time": 7.162799 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升。", + "annotations": { + "bbox_1767682698313": { + "instances": [ + { + "height": 0.2907484705444414, + "id": "bbox_1767682698313_1767682822062_oyisvy7g1", + "width": 0.09369730878104487, + "x": 0.5502586886702285, + "y": 0.495023216946482 + } + ], + "type": "bbox" + }, + "bbox_1767682704561": { + "instances": [ + { + "height": 0.27484816356154235, + "id": "bbox_1767682704561_1767682834030_hjffnsg1z", + "width": 0.1584336312115851, + "x": 0.32197797273095546, + "y": 0.4450508235716561 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的左侧移动接近白色垃圾桶，爪夹下降，香蕉皮放入白色垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹夹住香蕉皮向上抬升，方便接近白色垃圾桶。", + "frame": 245, + "progress": 50, + "progress_explanation": "爪夹夹住香蕉皮向上抬升，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢抓取香蕉皮的状态，香蕉皮脱离桌面，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹夹住香蕉皮向爪夹的左侧移动。", + "time": 8.178799 + }, + { + "action_description": "爪夹夹住香蕉皮向爪夹的左侧移动并向上抬升。", + "annotations": { + "bbox_1767682698313": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682698313_1767682809387_ni5fqjb33", + "x": 0.3321994973252513, + "y": 0.036185786868535304, + "width": 0.13969416945537602, + "height": 0.42703681611214844 + } + ] + }, + "bbox_1767682704561": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682704561_1767682801376_e1vxs11d5", + "x": 0.31686721043380756, + "y": 0.44050787871939917, + "width": 0.16695156837349825, + "height": 0.2816625808399277 + } + ] + } + }, + "correction_plan": "爪夹下降，香蕉皮放入白色垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹夹住香蕉皮向爪夹的左侧移动，更加方便接近白色垃圾桶。", + "frame": 275, + "progress": 60, + "progress_explanation": "爪夹夹住香蕉皮向爪夹的左侧移动至白色垃圾桶的上方，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢抓住香蕉皮的状态，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹夹住香蕉皮下降，香蕉皮放入白色垃圾桶。", + "time": 9.171376214074186 + }, + { + "action_description": "爪夹下降，将香蕉皮放入白色垃圾桶。", + "annotations": { + "bbox_1767682698313": { + "instances": [ + { + "height": 0.19080368379478968, + "id": "bbox_1767682698313_1767682785735_qjbxvu8o3", + "width": 0.08347578418674906, + "x": 0.3713820082700519, + "y": 0.4132502096058578 + } + ], + "type": "bbox" + }, + "bbox_1767682704561": { + "instances": [ + { + "height": 0.2657622738570285, + "id": "bbox_1767682704561_1767682777864_bubusr6b7", + "width": 0.17035874323826353, + "x": 0.3134600355690423, + "y": 0.4541367132761699 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹夹住香蕉皮放在白色垃圾桶的正上方，确保落入确保香蕉皮落入垃圾桶。", + "frame": 292, + "progress": 80, + "progress_explanation": "爪夹夹住香蕉皮放在白色垃圾桶的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢抓取香蕉皮，香蕉皮在白色垃圾桶里，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹松开，香蕉皮落入白色垃圾桶。", + "time": 9.741735474665823 + }, + { + "action_description": "爪夹松开，随后爪夹轻微向爪夹的右后方移动。", + "annotations": { + "bbox_1767682704561": { + "instances": [ + { + "height": 0.2725766911354139, + "id": "bbox_1767682704561_1767682763408_u49l8shyo", + "width": 0.16695156837349825, + "x": 0.31175644813665965, + "y": 0.4450508235716561 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，香蕉皮落入白色垃圾桶。", + "frame": 322, + "progress": 100, + "progress_explanation": "香蕉皮落入白色垃圾桶，因此任务进度提升为100%。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把香蕉皮放进白色垃圾桶里的任务。", + "time": 10.722753402883438 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767682698313", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767682704561", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767682714049", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767682718748", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-134524-put-banana peel-white-trash can-mix2/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-134524-put-banana peel-white-trash can-mix2/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..6e194ce76a3b17ee2aa0d19921326d6707a7a233 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-134524-put-banana peel-white-trash can-mix2/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,558 @@ +{ + "task_description": "把香蕉皮放进白色垃圾桶里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近白色垃圾桶：60%\n爪夹将香蕉皮放入白色垃圾桶：80%\n爪夹松开香蕉皮落入白色垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767687760311": { + "instances": [ + { + "height": 0.24304754959574407, + "id": "bbox_1767687760311_1767688072937_t7kntzp24", + "width": 0.1277690574286976, + "x": 0.5161869400225758, + "y": 0.5926965312700053 + } + ], + "type": "bbox" + }, + "bbox_1767687767607": { + "instances": [ + { + "height": 0.2544049117263863, + "id": "bbox_1767687767607_1767688081001_iauwcehn1", + "width": 0.14650851918490665, + "x": 0.4616721421863315, + "y": 0.2974051158733069 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "", + "frame": 67, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮。", + "time": 2.245267811273584 + }, + { + "action_description": "爪夹向上抬升，随后向爪夹的右侧移动。", + "annotations": { + "bbox_1767687760311": { + "instances": [ + { + "height": 0.23850460474348717, + "id": "bbox_1767687760311_1767688065682_2g5oplw83", + "width": 0.12265829513154972, + "x": 0.5195941148873412, + "y": 0.5926965312700053 + } + ], + "type": "bbox" + }, + "bbox_1767687767607": { + "instances": [ + { + "height": 0.20216104592543188, + "id": "bbox_1767687767607_1767688058929_a67jzpxzx", + "width": 0.13458340715822822, + "x": 0.4565613798891836, + "y": 0.3428345643958759 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹向爪夹的右前方移动，缩短了与香蕉皮的距离。", + "frame": 126, + "progress": 10, + "progress_explanation": "爪夹向爪夹的右前方移动，在香蕉皮的正上方，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的正上方，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向下下降，接近香蕉皮。", + "time": 4.214666 + }, + { + "action_description": "爪夹调整角度，随后下降。", + "annotations": { + "bbox_1767687760311": { + "instances": [ + { + "height": 0.24759049444800094, + "id": "bbox_1767687760311_1767688034585_azs0dw725", + "width": 0.12436188256393228, + "x": 0.5195941148873412, + "y": 0.5858821139916199 + } + ], + "type": "bbox" + }, + "bbox_1767687767607": { + "instances": [ + { + "height": 0.24986196687412943, + "id": "bbox_1767687767607_1767688039609_wapg1eabw", + "width": 0.144804931752524, + "x": 0.46337572961871415, + "y": 0.2996765882994354 + } + ], + "type": "bbox" + }, + "point_1767687776854": { + "instances": [ + { + "id": "point_1767687776854_1767688042682_cpqw39mw7", + "x": 0.5877376121826465, + "y": 0.7357992941160976 + } + ], + "type": "point" + }, + "point_1767687790510": { + "instances": [ + { + "id": "point_1767687790510_1767688046605_e6lnbxtlu", + "x": 0.6882492706932221, + "y": 0.6949127904457855 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹下降接近了香蕉皮，方便抓取香蕉皮。", + "frame": 202, + "progress": 20, + "progress_explanation": "爪夹下降接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的正上方，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 6.735806620806076 + }, + { + "action_description": "爪夹合拢抓取香蕉皮，抓取失败，随后合拢向上抬升。", + "annotations": { + "bbox_1767687760311": { + "instances": [ + { + "height": 0.23850460474348717, + "id": "bbox_1767687760311_1767688021017_sbgeakdc4", + "width": 0.1499156940496719, + "x": 0.5161869400225758, + "y": 0.5949680036961337 + } + ], + "type": "bbox" + }, + "bbox_1767687767607": { + "instances": [ + { + "height": 0.2544049117263863, + "id": "bbox_1767687767607_1767688015882_tozvx29yl", + "width": 0.16013721864396774, + "x": 0.44974703015965306, + "y": 0.2996765882994354 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，随后爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹没有抓取成功，需重新接近并抓取。", + "frame": 276, + "progress": 15, + "progress_explanation": "爪夹没有抓取成功，在香蕉皮的正上方，因此任务进度倒退为15%。", + "state_description": "爪夹当前为合拢的状态，爪夹在香蕉皮的正上方，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹张开，垂直下降，接近香蕉皮。", + "time": 9.189938295783136 + }, + { + "action_description": "爪夹轻微向爪夹左侧移动，随后爪夹张开并下降。", + "annotations": { + "bbox_1767687760311": { + "instances": [ + { + "height": 0.2566763841525147, + "id": "bbox_1767687760311_1767687970379_shvmy6fy2", + "width": 0.11073318310487128, + "x": 0.5536658635349938, + "y": 0.5790676967132347 + } + ], + "type": "bbox" + }, + "bbox_1767687767607": { + "instances": [ + { + "height": 0.247590494448001, + "id": "bbox_1767687767607_1767687976707_aafkcrl94", + "width": 0.15161928148205456, + "x": 0.4616721421863315, + "y": 0.2996765882994354 + } + ], + "type": "bbox" + }, + "point_1767687776854": { + "instances": [ + { + "id": "point_1767687776854_1767687979275_rub5cy0dq", + "x": 0.5843304373178813, + "y": 0.7312563492638408 + } + ], + "type": "point" + }, + "point_1767687790510": { + "instances": [ + { + "id": "point_1767687790510_1767687981790_qdl1vm6ac", + "x": 0.664399046639865, + "y": 0.713084569854813 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹张开下降接近了香蕉皮，方便抓取香蕉皮。", + "frame": 321, + "progress": 20, + "progress_explanation": "爪夹张开下降接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，角度接近垂直桌面，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 10.696533 + }, + { + "action_description": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "annotations": { + "bbox_1767687760311": { + "instances": [ + { + "height": 0.18398926651640438, + "id": "bbox_1767687760311_1767687960448_wvouuzpdq", + "width": 0.15673004377920235, + "x": 0.5195941148873412, + "y": 0.6381259797925743 + } + ], + "type": "bbox" + }, + "bbox_1767687767607": { + "instances": [ + { + "height": 0.20216104592543196, + "id": "bbox_1767687767607_1767687956162_ttzh8f1qc", + "width": 0.1448049317525239, + "x": 0.45996855475394893, + "y": 0.3019480607255638 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹轻微调整了角度，方便爪夹抓取成功。", + "frame": 371, + "progress": 40, + "progress_explanation": "爪夹成功抓取香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢抓取香蕉皮的状态，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动。", + "time": 12.366666666666667 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升，随后爪夹夹住香蕉皮向爪夹的左前方移动。", + "annotations": { + "bbox_1767687760311": { + "instances": [ + { + "height": 0.20216104592543196, + "id": "bbox_1767687760311_1767687933445_0341b3mpq", + "width": 0.0783650218896013, + "x": 0.4599685547539488, + "y": 0.19291738427139826 + } + ], + "type": "bbox" + }, + "bbox_1767687767607": { + "instances": [ + { + "height": 0.25667638415251476, + "id": "bbox_1767687767607_1767687946291_4g0l9wjjz", + "width": 0.14139775688775869, + "x": 0.46507931705109684, + "y": 0.2974051158733069 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹向左前方移动，更加方便接近白色垃圾桶。", + "frame": 426, + "progress": 60, + "progress_explanation": "爪夹向左前方移动，接近白色垃圾桶的上方，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢抓取香蕉皮的状态，接近了白色垃圾桶，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹夹住香蕉皮下降，将香蕉皮放入白色垃圾桶。", + "time": 14.184533 + }, + { + "action_description": "爪夹向爪夹的正前方轻微移动，随后下降爪夹张开。", + "annotations": { + "bbox_1767687760311": { + "instances": [ + { + "height": 0.30210583267508373, + "id": "bbox_1767687760311_1767687911948_1jvo70wo0", + "width": 0.1720623306706462, + "x": 0.46848649191586206, + "y": 0.5495385551735648 + } + ], + "type": "bbox" + }, + "bbox_1767687767607": { + "instances": [ + { + "height": 0.26576227385702855, + "id": "bbox_1767687767607_1767687918588_r2bciumex", + "width": 0.14310134432014135, + "x": 0.4667829044834795, + "y": 0.2815048088904078 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹调整角度，随后向爪夹的右侧轻微移动，爪夹下降，接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "夹紧的香蕉皮掉落桌面上，水平和高度上远离了香蕉皮。需重新抓取香蕉皮。", + "frame": 513, + "progress": 10, + "progress_explanation": "爪夹夹紧的香蕉皮掉落桌面，远离了香蕉皮。需重新抓取香蕉皮，因此进度降低为 10%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的上方，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹调整角度，随后向爪夹的右侧轻微移动，爪夹下降，接近香蕉皮。", + "time": 17.1 + }, + { + "action_description": "爪夹调整角度，随后向爪夹的右侧轻微移动，爪夹下降，接近香蕉皮。", + "annotations": { + "bbox_1767687760311": { + "instances": [ + { + "height": 0.26349080143090015, + "id": "bbox_1767687760311_1767687882188_rnerag493", + "width": 0.17717309296779407, + "x": 0.4616721421863315, + "y": 0.5926965312700053 + } + ], + "type": "bbox" + }, + "bbox_1767687767607": { + "instances": [ + { + "height": 0.2407760771696156, + "id": "bbox_1767687767607_1767687894869_kk7sf4zmq", + "width": 0.15502645634681986, + "x": 0.45485779245680097, + "y": 0.29059069859492154 + } + ], + "type": "bbox" + }, + "point_1767687776854": { + "instances": [ + { + "id": "point_1767687776854_1767687899245_vi1w0p6ay", + "x": 0.5178905274549586, + "y": 0.6426689246448312 + } + ], + "type": "point" + }, + "point_1767687790510": { + "instances": [ + { + "id": "point_1767687790510_1767687901781_h0tx01n5l", + "x": 0.5877376121826465, + "y": 0.6313115625141889 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹下降接近了香蕉皮，方便抓取香蕉皮。", + "frame": 556, + "progress": 20, + "progress_explanation": "爪夹下降接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的正上方，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 18.536524887717047 + }, + { + "action_description": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "annotations": { + "bbox_1767687760311": { + "instances": [ + { + "height": 0.18171779409027594, + "id": "bbox_1767687760311_1767687873045_gptu4gmww", + "width": 0.1754695055354114, + "x": 0.45996855475394893, + "y": 0.6631121764799872 + } + ], + "type": "bbox" + }, + "bbox_1767687767607": { + "instances": [ + { + "height": 0.24759049444800088, + "id": "bbox_1767687767607_1767687867149_wt7reklo4", + "width": 0.15502645634681977, + "x": 0.45996855475394893, + "y": 0.2974051158733069 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹下降至香蕉皮的正上方，方便爪夹抓取香蕉皮。", + "frame": 627, + "progress": 40, + "progress_explanation": "爪夹成功抓取香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢抓取香蕉皮的状态，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动。", + "time": 20.898933 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动。", + "annotations": { + "bbox_1767687760311": { + "instances": [ + { + "height": 0.22033282533445958, + "id": "bbox_1767687760311_1767687852141_l4s9787ro", + "width": 0.12095470769916714, + "x": 0.5025582405635147, + "y": 0.30421953315169226 + } + ], + "type": "bbox" + }, + "bbox_1767687767607": { + "instances": [ + { + "height": 0.24759049444800094, + "id": "bbox_1767687767607_1767687857168_jzzv4380d", + "width": 0.1396941694553761, + "x": 0.4565613798891836, + "y": 0.27923333646427934 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹夹住香蕉皮向爪夹的左前方移动，更加方便接近白色垃圾桶。", + "frame": 656, + "progress": 60, + "progress_explanation": "爪夹夹住香蕉皮向爪夹的左前方移动，接近白色垃圾桶的上方，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢抓取香蕉皮的状态，接近白色垃圾桶，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹夹住香蕉皮下降，将香蕉皮放入白色垃圾桶。", + "time": 21.878321211090057 + }, + { + "action_description": "爪夹轻微向爪夹的左前方移动，爪夹轻微下降。", + "annotations": { + "bbox_1767687760311": { + "instances": [ + { + "height": 0.17717484923801902, + "id": "bbox_1767687760311_1767687841773_a44wmvk9e", + "width": 0.09540089621342754, + "x": 0.47359725421301, + "y": 0.2587900846291233 + } + ], + "type": "bbox" + }, + "bbox_1767687767607": { + "instances": [ + { + "height": 0.26121932900477157, + "id": "bbox_1767687767607_1767687833557_dvn2xa80w", + "width": 0.144804931752524, + "x": 0.45145061759203575, + "y": 0.27923333646427934 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹夹住香蕉皮下降放入了白色垃圾桶，确保落入确保香蕉皮落入垃圾桶。", + "frame": 685, + "progress": 80, + "progress_explanation": "爪夹将香蕉皮下降放入了白色垃圾桶，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢抓取香蕉皮，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹松开，香蕉皮落入白色垃圾桶。", + "time": 22.818201427038723 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1767687760311": { + "instances": [ + { + "height": 0.1521886525506061, + "id": "bbox_1767687760311_1767687804534_ht57s745z", + "width": 0.09710448364581019, + "x": 0.5042618279958975, + "y": 0.3587348713787751 + } + ], + "type": "bbox" + }, + "bbox_1767687767607": { + "instances": [ + { + "height": 0.2566763841525147, + "id": "bbox_1767687767607_1767687815419_xuo1svnal", + "width": 0.14310134432014135, + "x": 0.44974703015965306, + "y": 0.28831922616879313 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动并下降，接近香蕉皮，爪夹向右前方移动至香蕉皮的两侧，爪夹合拢抓取香蕉皮，随后爪夹向上抬升，向爪夹的左前方移动至白色垃圾桶的上方，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹松开，香蕉皮并没有完全落入白色垃圾桶，需重新抓取使香蕉皮全部落入垃圾桶。", + "frame": 734, + "progress": 90, + "progress_explanation": "爪夹松开，香蕉皮并没有完全落入白色垃圾桶，因此任务进度提升为90%。", + "state_description": "爪夹当前为张开的状态，香蕉皮一半落入白色垃圾桶，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向爪夹的右前方移动并下降，接近香蕉皮。", + "time": 24.466666666666665 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767687760311", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767687767607", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767687776854", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767687790510", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-140554-put-banana peel-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-140554-put-banana peel-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..cb752283517f5914df5bd21726d06885b948381d --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-140554-put-banana peel-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,386 @@ +{ + "task_description": "把香蕉皮放进白色垃圾桶里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近白色垃圾桶：60%\n爪夹将香蕉皮放入白色垃圾桶：80%\n爪夹松开香蕉皮落入白色垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767692823253": { + "instances": [ + { + "height": 0.18398926651640443, + "id": "bbox_1767692823253_1767693109575_0140f7bj1", + "width": 0.144804931752524, + "x": 0.6473631723160388, + "y": 0.36554928865716035 + } + ], + "type": "bbox" + }, + "bbox_1767692830542": { + "instances": [ + { + "height": 0.24304754959574398, + "id": "bbox_1767692830542_1767693102919_nuad7sgia", + "width": 0.15673004377920244, + "x": 0.5161869400225758, + "y": 0.32693425741297677 + } + ], + "type": "bbox" + }, + "point_1767692837060": { + "instances": [ + { + "id": "point_1767692837060_1767693113230_jcswk7w35", + "x": 0.36627124597290395, + "y": 0.5836106415654915 + } + ], + "type": "point" + }, + "point_1767692843469": { + "instances": [ + { + "id": "point_1767692843469_1767693115671_r0ke32ohh", + "x": 0.47359725421301, + "y": 0.5949680036961337 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮。", + "time": 1.3920348411318897 + }, + { + "action_description": "爪夹向上抬升，随后向爪夹的右前方移动。", + "annotations": { + "bbox_1767692823253": { + "instances": [ + { + "height": 0.1771748492380191, + "id": "bbox_1767692823253_1767693058416_twov9p43k", + "width": 0.15673004377920252, + "x": 0.6422524100188908, + "y": 0.35192045410038975 + } + ], + "type": "bbox" + }, + "bbox_1767692830542": { + "instances": [ + { + "height": 0.24759049444800094, + "id": "bbox_1767692830542_1767693082503_bwz9cqoi8", + "width": 0.158433631211585, + "x": 0.5093725902930454, + "y": 0.32239131256071984 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹向爪夹的右前方移动，缩短了与香蕉皮的距离。", + "frame": 82, + "progress": 5, + "progress_explanation": "爪夹向爪夹的右前方移动，接近了香蕉皮，因此任务进度提升为5%。", + "state_description": "爪夹当前为张开的状态，接近香蕉皮，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向爪夹的右前方移动，爪夹向下下降，接近香蕉皮。", + "time": 2.740499 + }, + { + "action_description": "爪夹向爪夹的右前方移动，随后下降。", + "annotations": { + "bbox_1767692823253": { + "instances": [ + { + "height": 0.18398926651640432, + "id": "bbox_1767692823253_1767693039304_nn150zzmz", + "width": 0.19080179242685508, + "x": 0.6337344728569777, + "y": 0.3564633989526466 + } + ], + "type": "bbox" + }, + "bbox_1767692830542": { + "instances": [ + { + "height": 0.2521334393002579, + "id": "bbox_1767692830542_1767693033360_quaxx3swt", + "width": 0.16013721864396765, + "x": 0.5161869400225758, + "y": 0.3246627849868483 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹向爪夹的右前方移动，缩短了与香蕉皮的距离。", + "frame": 142, + "progress": 15, + "progress_explanation": "爪夹向爪夹的右前方移动，水平上接近了香蕉皮，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向右前方移动，下降至香蕉皮正上方，接近香蕉皮。", + "time": 4.719340108747101 + }, + { + "action_description": "爪夹轻微下降，随后爪夹合拢，向上抬升。", + "annotations": { + "bbox_1767692823253": { + "instances": [ + { + "height": 0.16354601468124835, + "id": "bbox_1767692823253_1767693015345_tmj21v30z", + "width": 0.1618408060763504, + "x": 0.6405488225865082, + "y": 0.36327781623103195 + } + ], + "type": "bbox" + }, + "bbox_1767692830542": { + "instances": [ + { + "height": 0.2453190220218725, + "id": "bbox_1767692830542_1767693021193_c3lqoni4i", + "width": 0.17035874323826353, + "x": 0.49744747826636687, + "y": 0.317848367708463 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹在错误的地方，抓取失败，需重新抓取。", + "frame": 214, + "progress": 10, + "progress_explanation": "爪夹没有贴近香蕉皮提前抓取，导致爪夹距离香蕉皮更远一点，因此任务进度倒退为10%。", + "state_description": "爪夹当前为张开的状态，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹张开，爪夹向右前方移动，下降至香蕉皮正上方，接近香蕉皮。", + "time": 7.133333333333334 + }, + { + "action_description": "爪夹张开，爪夹向上抬升，随后向爪夹的右后方移动。", + "annotations": { + "bbox_1767692823253": { + "instances": [ + { + "height": 0.18398926651640438, + "id": "bbox_1767692823253_1767693007313_9nd7mgz0w", + "width": 0.1277690574286976, + "x": 0.6661026340722478, + "y": 0.3791781232139311 + } + ], + "type": "bbox" + }, + "bbox_1767692830542": { + "instances": [ + { + "height": 0.2407760771696156, + "id": "bbox_1767692830542_1767692992121_yoclw2tv2", + "width": 0.1754695055354115, + "x": 0.49915106569874945, + "y": 0.32239131256071984 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹在黄色玩偶的正上方，识别错了物品导致没有接近正确物品。", + "frame": 257, + "progress": -10, + "progress_explanation": "爪夹在黄色玩偶的正上方，没有去接近香蕉皮，因此任务进度倒退为-10%。", + "state_description": "爪夹当前为张开的状态，与香蕉皮有一定距离，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向爪夹右前方移动，下降接近香蕉皮。", + "time": 8.561699 + }, + { + "action_description": "爪夹下降，随后调整角度，接近黄色玩偶。", + "annotations": { + "bbox_1767692823253": { + "instances": [ + { + "height": 0.16808895953350522, + "id": "bbox_1767692823253_1767692963410_nenn9om3a", + "width": 0.1533228689144372, + "x": 0.6439559974512734, + "y": 0.3564633989526466 + } + ], + "type": "bbox" + }, + "bbox_1767692830542": { + "instances": [ + { + "height": 0.24986196687412937, + "id": "bbox_1767692830542_1767692969106_w7g2akbct", + "width": 0.16865515580588086, + "x": 0.49744747826636687, + "y": 0.317848367708463 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹的右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹识别错误物品，导致做出错误动作。", + "frame": 294, + "progress": -20, + "progress_explanation": "爪夹下降接近黄色玩偶，因此任务进度倒退为-20%。", + "state_description": "爪夹为张开的状态，接近了黄色玩偶，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向上抬升，随后向爪夹的右前方移动，接近香蕉皮。", + "time": 9.809099 + }, + { + "action_description": "爪夹下降至黄色玩偶的两侧，爪夹合拢抓取黄色玩偶", + "annotations": { + "bbox_1767692823253": { + "instances": [ + { + "height": 0.16808895953350522, + "id": "bbox_1767692823253_1767692955698_8pzdar676", + "width": 0.1584336312115851, + "x": 0.6371416477217429, + "y": 0.3564633989526466 + } + ], + "type": "bbox" + }, + "bbox_1767692830542": { + "instances": [ + { + "height": 0.26349080143090015, + "id": "bbox_1767692830542_1767692928154_q4klt77lo", + "width": 0.1703587432382636, + "x": 0.49915106569874945, + "y": 0.32239131256071984 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，向上抬升，随后向爪夹的右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹识别错误物品，导致做出错误动作。", + "frame": 354, + "progress": -30, + "progress_explanation": "爪夹成功夹住黄色玩偶，因此任务进度倒退为-30%。", + "state_description": "爪夹当前为合拢抓住黄色玩偶的状态，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹松开，向上抬升，随后向爪夹的右前方移动。", + "time": 11.815327873355052 + }, + { + "action_description": "爪夹夹住黄色玩偶向上抬升，随后向爪夹的左前方移动。", + "annotations": { + "bbox_1767692823253": { + "instances": [ + { + "height": 0.23396165989123024, + "id": "bbox_1767692823253_1767692908811_ramgwsrj9", + "width": 0.12947264486108034, + "x": 0.6729169838017783, + "y": 0.32920572983910523 + } + ], + "type": "bbox" + }, + "bbox_1767692830542": { + "instances": [ + { + "height": 0.24304754959574398, + "id": "bbox_1767692830542_1767692916406_rm7zhax8f", + "width": 0.14821210661728923, + "x": 0.5025582405635147, + "y": 0.3246627849868483 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，随后向爪夹的右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹识别错误物品，导致做出错误动作。", + "frame": 408, + "progress": -40, + "progress_explanation": "爪夹夹住玩偶向爪夹的左前方移动，因此任务进度倒退为-40%。", + "state_description": "爪夹当前为合拢抓住黄色玩偶的状态，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹松开，随后向爪夹的右前方移动。", + "time": 13.614788885432667 + }, + { + "action_description": "爪夹夹住黄色玩偶向上抬升，随后向爪夹的左侧轻微移动。", + "annotations": { + "bbox_1767692823253": { + "instances": [ + { + "height": 0.20897546320381732, + "id": "bbox_1767692823253_1767692898363_zdmmtwus4", + "width": 0.1499156940496719, + "x": 0.6473631723160388, + "y": 0.3541919265265181 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，随后向爪夹的右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹识别错误物品，导致做出错误动作。", + "frame": 454, + "progress": -45, + "progress_explanation": "爪夹夹住黄色玩偶在白色垃圾桶的正上方，因此任务进度倒退为-45%。", + "state_description": "爪夹为打开的状态，在白色垃圾桶的正上方，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹松开，随后向爪夹的右前方移动，下降接近香蕉皮。", + "time": 15.142633140970263 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1767692823253": { + "instances": [ + { + "height": 0.2044325183515604, + "id": "bbox_1767692823253_1767692875684_ti4enn1h9", + "width": 0.15502645634681977, + "x": 0.6388452351541256, + "y": 0.3564633989526466 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，随后向爪夹的右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹识别错误物品，导致做出错误动作。", + "frame": 505, + "progress": -50, + "progress_explanation": "爪夹松开，黄色玩偶落进垃圾桶里，因此任务进度倒退为-50%。", + "state_description": "爪夹为张开的状态，黄色玩偶落进垃圾桶里，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹松开，随后向爪夹的右前方移动，下降接近香蕉皮。", + "time": 16.84023786934537 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767692823253", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767692830542", + "name": "垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767692837060", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767692843469", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-140554-put-banana peel-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-140554-put-banana peel-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d97525b9f3080c328a443e7b75831a545dcfb7e5 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-140554-put-banana peel-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,444 @@ +{ + "task_description": "把香蕉皮放进白色垃圾桶里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近白色垃圾桶：60%\n爪夹将香蕉皮放入白色垃圾桶：80%\n爪夹松开香蕉皮落入白色垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767751994050": { + "instances": [ + { + "height": 0.1885322113686612, + "id": "bbox_1767751994050_1767752306908_lrn0vmn8r", + "width": 0.17376591810302874, + "x": 0.4906331285368363, + "y": 0.4768514375374544 + } + ], + "type": "bbox" + }, + "bbox_1767752000754": { + "instances": [ + { + "height": 0.28393405326605614, + "id": "bbox_1767752000754_1767752313001_gmbx3xefb", + "width": 0.1686551558058808, + "x": 0.3321994973252513, + "y": 0.38826401291844487 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，使香蕉皮落入白色垃圾桶。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮。", + "time": 1.3920348411318897 + }, + { + "action_description": "爪夹向上抬升，随后向爪夹的右前方移动。", + "annotations": { + "bbox_1767751994050": { + "instances": [ + { + "height": 0.18398926651640438, + "id": "bbox_1767751994050_1767752296237_dtc530y1y", + "width": 0.16354439350873298, + "x": 0.49574389083398424, + "y": 0.4677655478329406 + } + ], + "type": "bbox" + }, + "bbox_1767752000754": { + "instances": [ + { + "height": 0.2862055256921846, + "id": "bbox_1767752000754_1767752290310_yk32f4e00", + "width": 0.17376591810302874, + "x": 0.328792322460486, + "y": 0.38826401291844487 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，使香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹向爪夹的右前方移动，缩短了与香蕉皮的距离。", + "frame": 81, + "progress": 10, + "progress_explanation": "爪夹向爪夹的右前方移动，接近了香蕉皮，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，接近香蕉皮，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向爪夹的右前方移动，爪夹向下下降，接近香蕉皮。", + "time": 2.7027 + }, + { + "action_description": "爪夹向爪夹的右前方移动，随后下降，方便抓取香蕉皮。", + "annotations": { + "bbox_1767751994050": { + "instances": [ + { + "height": 0.18171779409027586, + "id": "bbox_1767751994050_1767752273172_f55l5csna", + "width": 0.1533228689144371, + "x": 0.49744747826636687, + "y": 0.4768514375374544 + } + ], + "type": "bbox" + }, + "bbox_1767752000754": { + "instances": [ + { + "height": 0.2566763841525147, + "id": "bbox_1767752000754_1767752280725_3ieaoa4js", + "width": 0.15843363121158505, + "x": 0.34412460935192973, + "y": 0.4087072647536009 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向左前方移动，下降至香蕉皮正上方，接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，使香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹向爪夹的右前方移动，缩短了与香蕉皮的距离。", + "frame": 117, + "progress": 15, + "progress_explanation": "爪夹向爪夹的右前方移动，水平上接近了香蕉皮，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向左前方移动，下降至香蕉皮正上方，接近香蕉皮。", + "time": 3.904489839127049 + }, + { + "action_description": "爪夹轻微下降，随后向爪夹左侧轻微移动。", + "annotations": { + "bbox_1767752000754": { + "instances": [ + { + "height": 0.27257669113541383, + "id": "bbox_1767752000754_1767752255708_wkg091vdu", + "width": 0.14821210661728929, + "x": 0.3390138470547818, + "y": 0.3928069577707018 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，使香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹下降接近了香蕉皮，方便抓取香蕉皮。", + "frame": 154, + "progress": 20, + "progress_explanation": "爪夹下降接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 5.126765243557126 + }, + { + "action_description": "爪夹向后方轻微移动，爪夹合拢抓取，爪夹向上抬升。", + "annotations": { + "bbox_1767751994050": { + "instances": [ + { + "height": 0.18853221136866125, + "id": "bbox_1767751994050_1767752226277_ahhz2p4pl", + "width": 0.17376591810302874, + "x": 0.4872259536720711, + "y": 0.470037020259069 + } + ], + "type": "bbox" + }, + "bbox_1767752000754": { + "instances": [ + { + "height": 0.2748481635615423, + "id": "bbox_1767752000754_1767752233117_wz3uqiu9m", + "width": 0.15502645634681977, + "x": 0.33560667219001655, + "y": 0.38826401291844487 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，使香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹抓取没有成功，水平和高度上远离了香蕉皮。需重新抓取香蕉皮。", + "frame": 214, + "progress": 10, + "progress_explanation": "爪夹抓取失败，远离了香蕉皮，需重新抓取，因此任务进度倒退为10%。", + "state_description": "爪夹当前为合拢的状态，爪夹在香蕉皮的右上方，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向爪夹的右前方移动，随后下降接近香蕉皮。", + "time": 7.133333333333334 + }, + { + "action_description": "爪夹张开，向爪夹的后方移动并向上抬升。", + "annotations": { + "bbox_1767751994050": { + "instances": [ + { + "height": 0.18171779409027586, + "id": "bbox_1767751994050_1767752190701_lzbw20xey", + "width": 0.172062330670646, + "x": 0.48552236623968853, + "y": 0.47912290996358287 + } + ], + "type": "bbox" + }, + "bbox_1767752000754": { + "instances": [ + { + "height": 0.27939110841379916, + "id": "bbox_1767752000754_1767752209893_8xf7rc2c2", + "width": 0.1686551558058808, + "x": 0.32538514759572074, + "y": 0.38826401291844487 + } + ], + "type": "bbox" + }, + "point_1767752007153": { + "instances": [ + { + "id": "point_1767752007153_1767752213637_66l29kgl0", + "x": 0.4872259536720711, + "y": 0.43823640629327076 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，使香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹向爪夹的后方移动并向上抬升，更加远离香蕉皮。", + "frame": 252, + "progress": 5, + "progress_explanation": "爪夹向爪夹的后方移动并向上抬升，因此任务进度倒退为5%。", + "state_description": "爪夹当前为张开的状态，远离了香蕉皮，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向爪夹右前方移动，下降接近香蕉皮，方便抓取。", + "time": 8.391599 + }, + { + "action_description": "爪夹向爪夹的后方移动，随后下降。", + "annotations": { + "bbox_1767751994050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767751994050_1767752164298_n2hgcd9sj", + "x": 0.5025582405635147, + "y": 0.45867965812842676, + "width": 0.15502645634681977, + "height": 0.19534662864704663 + } + ] + }, + "bbox_1767752000754": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752000754_1767752154262_slgeqs7c5", + "x": 0.3202743852985729, + "y": 0.383721068066188, + "width": 0.1873946175620898, + "height": 0.2589478565786432 + } + ] + }, + "point_1767752028553": { + "type": "point", + "instances": [ + { + "id": "point_1767752028553_1767752173814_05lvwdzdr", + "x": 0.5332228143464022, + "y": 0.6767410110367579 + } + ] + }, + "point_1767752007153": { + "type": "point", + "instances": [ + { + "id": "point_1767752007153_1767944841515_fig06qwqf", + "x": 0.4480434427272705, + "y": 0.71762751470707 + } + ] + } + }, + "correction_plan": "爪夹向上抬升，向爪夹的右前方移动并下降，接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，使香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹接近错了目标物，做出了错误动作。", + "frame": 308, + "progress": -20, + "progress_explanation": "爪夹下降至黄色玩偶的正上方，接近了黄色玩偶，因此任务进度倒退为-20%。", + "state_description": "爪夹当前为张开的状态，远离了香蕉皮，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向上抬升，向爪夹的右前方移动并下降，接近香蕉皮。", + "time": 10.262699 + }, + { + "action_description": "爪夹合拢抓取黄色玩偶。", + "annotations": { + "bbox_1767751994050": { + "instances": [ + { + "height": 0.20670399077768883, + "id": "bbox_1767751994050_1767752137359_fq3je0idj", + "width": 0.16354439350873298, + "x": 0.49744747826636687, + "y": 0.44732229599778456 + } + ], + "type": "bbox" + }, + "bbox_1767752000754": { + "instances": [ + { + "height": 0.2862055256921846, + "id": "bbox_1767752000754_1767752144758_fmzevo2aj", + "width": 0.18398744269732462, + "x": 0.328792322460486, + "y": 0.38826401291844487 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开黄色玩偶，爪夹向上抬升，向爪夹的右前方移动并下降，接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，使香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹识别错了目标物，因此做出了错误动作。", + "frame": 361, + "progress": -30, + "progress_explanation": "爪夹合拢抓住了黄色玩偶，因此任务进度倒退为-30%。", + "state_description": "爪夹当前为合拢夹住黄色玩偶的状态，与香蕉皮有一定的距离，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹松开黄色玩偶，爪夹向上抬升，向爪夹的右前方移动并下降，接近香蕉皮。", + "time": 12.033333333333333 + }, + { + "action_description": "爪夹夹住黄色玩偶向上抬升，随后向爪夹的左侧轻微移动。", + "annotations": { + "bbox_1767751994050": { + "instances": [ + { + "height": 0.17944632166414737, + "id": "bbox_1767751994050_1767752100543_5giupczdg", + "width": 0.17546950553541146, + "x": 0.4838187788073058, + "y": 0.4813943823897114 + } + ], + "type": "bbox" + }, + "bbox_1767752000754": { + "instances": [ + { + "height": 0.2816625808399277, + "id": "bbox_1767752000754_1767752119015_r1xj7cz5l", + "width": 0.17887668040017662, + "x": 0.32197797273095546, + "y": 0.38144959564005954 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降松开黄色玩偶，将黄色玩偶放在桌子上，随后爪夹向爪夹的右前方移动，接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，使香蕉皮落入白色垃圾桶。", + "error_success_analysis": "爪夹识别错了目标物，因此做出了错误动作。", + "frame": 420, + "progress": -40, + "progress_explanation": "爪夹夹住黄色玩偶向左侧移动，水平上接近了白色垃圾桶，因此任务进度倒退为-40%。", + "state_description": "爪夹当前为合拢抓住黄色玩偶的状态，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹下降松开黄色玩偶，将黄色玩偶放在桌子上，随后爪夹向爪夹的右前方移动，接近香蕉皮。", + "time": 13.988261925675188 + }, + { + "action_description": "爪夹抓住黄色玩偶向爪夹的左侧移动。", + "annotations": { + "bbox_1767751994050": { + "instances": [ + { + "height": 0.17944632166414742, + "id": "bbox_1767751994050_1767752071080_2x9ivxodl", + "width": 0.17206233067064608, + "x": 0.4855223662396885, + "y": 0.47912290996358287 + } + ], + "type": "bbox" + }, + "bbox_1767752000754": { + "instances": [ + { + "height": 0.27711963598767075, + "id": "bbox_1767752000754_1767752079431_079xu3i25", + "width": 0.1737659181030288, + "x": 0.32538514759572074, + "y": 0.38372106806618794 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右侧移动并下降，爪夹松开，然后向爪夹的右前方移动，接近香蕉皮。爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，使香蕉皮落入白色垃圾桶。 ", + "error_success_analysis": "爪夹识别错了目标物，因此做出了错误动作。", + "frame": 465, + "progress": -45, + "progress_explanation": "爪夹抓住黄色玩偶向爪夹的左侧移动，在白色垃圾桶的上方，因此任务进度倒退为-45%。", + "state_description": "爪夹当前为合拢抓住黄色玩偶的状态，黄色玩偶在白色垃圾桶的正上方，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向爪夹的右侧移动并下降，爪夹松开，然后向爪夹的右前方移动，接近香蕉皮。 ", + "time": 15.497999 + }, + { + "action_description": "爪夹轻微向爪夹左侧应为移动，随后爪夹松开。", + "annotations": { + "bbox_1767751994050": { + "instances": [ + { + "height": 0.177174849238019, + "id": "bbox_1767751994050_1767752044513_3jeox8m32", + "width": 0.1754695055354114, + "x": 0.4855223662396885, + "y": 0.4768514375374544 + } + ], + "type": "bbox" + }, + "bbox_1767752000754": { + "instances": [ + { + "height": 0.28393405326605603, + "id": "bbox_1767752000754_1767752051377_32btzhr4s", + "width": 0.1754695055354114, + "x": 0.32027438529857283, + "y": 0.38599254049231646 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，接近香蕉皮。爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近白色垃圾桶，爪夹下降，香蕉皮放入垃圾桶，爪夹松开，使香蕉皮落入白色垃圾桶。 ", + "error_success_analysis": "爪夹识别错了目标物，因此做出了错误动作。", + "frame": 508, + "progress": -50, + "progress_explanation": "爪夹松开，黄色玩偶落进垃圾桶里，因此任务进度倒退为-50%。", + "state_description": "爪夹为张开的状态，黄色玩偶落进垃圾桶里，为完成把香蕉皮放进白色垃圾桶里的任务，应当：爪夹向爪夹的右前方移动，下降接近香蕉皮。", + "time": 16.94209415304788 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767751994050", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767752000754", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767752007153", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767752028553", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-141547-put-banana peel-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-141547-put-banana peel-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..1982f13d4b6bf6c2a481616f72d85ff64a123025 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-141547-put-banana peel-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,362 @@ +{ + "task_description": "把香蕉皮放进木质托盘里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近木质托盘：60%\n爪夹将香蕉皮放入木质托盘：80%\n爪夹松开香蕉皮落入木质托盘：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767755440433": { + "instances": [ + { + "height": 0.14310276284609233, + "id": "bbox_1767755440433_1767755637029_nvgubwnb3", + "width": 0.2504273525602473, + "x": 0.6098842488036208, + "y": 0.5926965312700053 + } + ], + "type": "bbox" + }, + "bbox_1767755446304": { + "instances": [ + { + "height": 0.4497515403734329, + "id": "bbox_1767755446304_1767755627502_yb5if40fm", + "width": 0.2981278006669611, + "x": 0.3747891831348172, + "y": 0.3950784301968302 + } + ], + "type": "bbox" + }, + "point_1767755455792": { + "instances": [ + { + "id": "point_1767755455792_1767755641389_dtzsz60lq", + "x": 0.328792322460486, + "y": 0.667655121332244 + } + ], + "type": "point" + }, + "point_1767755462710": { + "instances": [ + { + "id": "point_1767755462710_1767755644060_7fjsa8f2e", + "x": 0.43782191813297466, + "y": 0.6313115625141889 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹右方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向上抬升，随后调整角度向爪夹右方移动，下降接近香蕉皮。", + "time": 2.002394436266361 + }, + { + "action_description": "爪夹向上抬升。", + "annotations": { + "bbox_1767755440433": { + "instances": [ + { + "height": 0.13855981799383546, + "id": "bbox_1767755440433_1767755613917_hbvf969bg", + "width": 0.24531659026309952, + "x": 0.618402185965534, + "y": 0.5949680036961337 + } + ], + "type": "bbox" + }, + "bbox_1767755446304": { + "instances": [ + { + "height": 0.4542944852256899, + "id": "bbox_1767755446304_1767755620076_9w4tr48d2", + "width": 0.29301703836981324, + "x": 0.36797483340528664, + "y": 0.39734990262295866 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹向上抬升，水平上接近了香蕉皮。", + "frame": 90, + "progress": 10, + "progress_explanation": "爪夹向上抬升，水平上接近了香蕉皮，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，开始接近香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向爪夹的右侧移动，随后下降，接近香蕉皮。", + "time": 3.015466 + }, + { + "action_description": "爪夹向爪夹的右侧移动，调整角度。", + "annotations": { + "bbox_1767755440433": { + "instances": [ + { + "height": 0.09085889704513797, + "id": "bbox_1767755440433_1767755604109_u18bmnav0", + "width": 0.19931972958876826, + "x": 0.6201057733979166, + "y": 0.5722532794348492 + } + ], + "type": "bbox" + }, + "bbox_1767755446304": { + "instances": [ + { + "height": 0.45656595765181834, + "id": "bbox_1767755446304_1767755596614_76213i2ox", + "width": 0.29301703836981324, + "x": 0.3747891831348172, + "y": 0.3950784301968302 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹向爪夹的右侧移动至香蕉皮的上方，准确的接近香蕉皮。", + "frame": 109, + "progress": 15, + "progress_explanation": "爪夹向爪夹的右侧移动至香蕉皮的上方，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的上方，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹下降，接近香蕉皮。", + "time": 3.637333 + }, + { + "action_description": "爪夹垂直下降，方便抓取香蕉皮。", + "annotations": { + "bbox_1767755440433": { + "instances": [ + { + "height": 0.12947392828932155, + "id": "bbox_1767755440433_1767755576959_gbhpnu42u", + "width": 0.21294842904782946, + "x": 0.6218093608302993, + "y": 0.5790676967132347 + } + ], + "type": "bbox" + }, + "bbox_1767755446304": { + "instances": [ + { + "height": 0.4520230127995613, + "id": "bbox_1767755446304_1767755585478_7rjzwsszw", + "width": 0.3049421503964917, + "x": 0.3696784208376692, + "y": 0.39053548534457333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹下降，接近了香蕉皮，确保抓取成功。", + "frame": 132, + "progress": 20, + "progress_explanation": "爪夹下降，接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的上方，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓住香蕉皮。", + "time": 4.388266 + }, + { + "action_description": "爪夹下降到香蕉皮的两侧。", + "annotations": { + "bbox_1767755440433": { + "instances": [ + { + "height": 0.12947392828932155, + "id": "bbox_1767755440433_1767755569342_4ocquuv1p", + "width": 0.24020582796595144, + "x": 0.6218093608302993, + "y": 0.5767962242871062 + } + ], + "type": "bbox" + }, + "bbox_1767755446304": { + "instances": [ + { + "height": 0.45429448522568977, + "id": "bbox_1767755446304_1767755564406_vhygnae9p", + "width": 0.28790627607266533, + "x": 0.37989994543196504, + "y": 0.39053548534457333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹下降到香蕉皮的两侧，方便后续抓取成功。", + "frame": 162, + "progress": 30, + "progress_explanation": "爪夹下降到香蕉皮的两侧，方便后续抓取成功，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开的状态，紧挨着香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹合拢抓住香蕉皮。", + "time": 5.409066 + }, + { + "action_description": "爪夹合拢抓住香蕉皮。", + "annotations": { + "bbox_1767755440433": { + "instances": [ + { + "height": 0.1090306764541656, + "id": "bbox_1767755440433_1767755538551_5cymo44io", + "width": 0.22998430337165568, + "x": 0.6405488225865082, + "y": 0.5949680036961337 + } + ], + "type": "bbox" + }, + "bbox_1767755446304": { + "instances": [ + { + "height": 0.45656595765181823, + "id": "bbox_1767755446304_1767755527103_g1jifsf8n", + "width": 0.2964242132345785, + "x": 0.3713820082700519, + "y": 0.3928069577707018 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后向爪夹的左方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹成功抓住了香蕉皮，方便后续接近木质托盘。", + "frame": 198, + "progress": 40, + "progress_explanation": "爪夹成功抓住了香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动，接近木质托盘。", + "time": 6.6 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动。", + "annotations": { + "bbox_1767755446304": { + "instances": [ + { + "height": 0.46792331978246055, + "id": "bbox_1767755446304_1767755508286_ctro1bfl6", + "width": 0.2913134509374306, + "x": 0.3696784208376692, + "y": 0.38826401291844487 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的左方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹向爪夹的左前方移动，缩短了与木质托盘的距离。", + "frame": 239, + "progress": 50, + "progress_explanation": "爪夹向爪夹的左前方移动，水平上接近了木质托盘，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向爪夹的左前方移动，接近木质托盘。", + "time": 7.966933 + }, + { + "action_description": "爪夹向爪夹的左侧移动，移动过程中碰到了白色垃圾桶里的包装盒，随后下降。", + "annotations": { + "bbox_1767755446304": { + "instances": [ + { + "height": 0.44066565066891905, + "id": "bbox_1767755446304_1767755500086_1p01yl1r9", + "width": 0.2930170383698132, + "x": 0.3713820082700519, + "y": 0.40416431990134405 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹向左侧移动，在木质托盘的正上方，接近了木质托盘。", + "frame": 265, + "progress": 60, + "progress_explanation": "爪夹向左侧移动，在木质托盘的正上方，因此任务进度提升为60%。", + "state_description": "爪夹为合拢状态，爪夹夹住香蕉皮，在木质托盘的正上方，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹下降，香蕉皮放入木质托盘。", + "time": 8.831615549546253 + }, + { + "action_description": "爪夹夹住香蕉皮下降。", + "annotations": { + "bbox_1767755446304": { + "instances": [ + { + "height": 0.47019479220858895, + "id": "bbox_1767755446304_1767755490215_4d3gjijys", + "width": 0.3015349755317264, + "x": 0.36797483340528664, + "y": 0.38599254049231646 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹下降，香蕉皮放入木质托盘，确保香蕉皮落入木质托盘", + "frame": 282, + "progress": 80, + "progress_explanation": "爪夹下降，香蕉皮放入木质托盘，因此任务进度提升为80%", + "state_description": "爪夹为合拢状态，爪夹夹住香蕉皮，香蕉皮放入木质托盘，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹松开，香蕉皮落入木质托盘。", + "time": 9.400717308986247 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1767755446304": { + "instances": [ + { + "height": 0.44748006794730444, + "id": "bbox_1767755446304_1767755481138_w2tj1ghs7", + "width": 0.3049421503964917, + "x": 0.3628640711081387, + "y": 0.3950784301968302 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，使香蕉皮落入木质托盘，完成了目标。", + "frame": 304, + "progress": 100, + "progress_explanation": "爪夹张开，使香蕉皮落入木质托盘。完成了香蕉皮落入木质托盘的目标任务。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把香蕉皮放进木质托盘里的任务。", + "time": 10.11736396902179 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767755440433", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767755446304", + "name": "木质托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767755455792", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767755462710", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-141547-put-banana peel-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-141547-put-banana peel-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e5fd1d539aec64512379eafcc715136984c591 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-141547-put-banana peel-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,410 @@ +{ + "task_description": "把香蕉皮放进木质托盘里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近木质托盘：60%\n爪夹将香蕉皮放在木质托盘的正上方：80%\n爪夹松开香蕉皮落入木质托盘：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767763654758": { + "instances": [ + { + "height": 0.2294187150389733, + "id": "bbox_1767763654758_1767763896208_ya2nf6j7j", + "width": 0.07666143445721856, + "x": 0.47870801651015793, + "y": 0.43142198901488543 + } + ], + "type": "bbox" + }, + "bbox_1767763661629": { + "instances": [ + { + "height": 0.4293082885382769, + "id": "bbox_1767763661629_1767763891655_oiww9l0pw", + "width": 0.3696784728270317, + "x": 0.5570730383997591, + "y": 0.48366585481583974 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近木质托盘，爪夹下降，香蕉皮放在木质托盘的正上方，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "", + "frame": 67, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向上抬升，随后调整角度向爪夹右前方移动，下降接近香蕉皮。", + "time": 2.2243108177293127 + }, + { + "action_description": "爪夹向上抬升，向爪夹的正前方移动。", + "annotations": { + "bbox_1767763654758": { + "instances": [ + { + "height": 0.2180613529083311, + "id": "bbox_1767763654758_1767763875199_5san12is9", + "width": 0.0834757841867491, + "x": 0.48211519137492315, + "y": 0.44050787871939917 + } + ], + "type": "bbox" + }, + "bbox_1767763661629": { + "instances": [ + { + "height": 0.43157976096440526, + "id": "bbox_1767763661629_1767763881680_wtmth1ap8", + "width": 0.37138206025941445, + "x": 0.5570730383997591, + "y": 0.4768514375374544 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近木质托盘，爪夹下降，香蕉皮放在木质托盘的正上方，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹向爪夹的正前方移动，距离接近香蕉皮近了一步。", + "frame": 88, + "progress": 10, + "progress_explanation": "爪夹向爪夹的正前方移动，开始接近香蕉皮，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，开始接近香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向爪夹的右前方移动，随后下降，接近香蕉皮。", + "time": 2.929580276384264 + }, + { + "action_description": "爪夹向爪夹的右侧移动，爪夹轻微下降。", + "annotations": { + "bbox_1767763654758": { + "instances": [ + { + "height": 0.21351840805607422, + "id": "bbox_1767763654758_1767763853296_3mw8aqili", + "width": 0.08177219675436645, + "x": 0.48041160394254057, + "y": 0.43823640629327076 + } + ], + "type": "bbox" + }, + "bbox_1767763661629": { + "instances": [ + { + "height": 0.4474800679473045, + "id": "bbox_1767763661629_1767763860192_z8526j63y", + "width": 0.3696784728270318, + "x": 0.5587766258321418, + "y": 0.4723084926851975 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近木质托盘，爪夹下降，香蕉皮放在木质托盘的正上方，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹下降并向右前方移动，缩短了与香蕉皮的距离。", + "frame": 104, + "progress": 15, + "progress_explanation": "爪夹向爪夹的右侧移动至香蕉皮的斜上方，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的斜上方，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹下降并向右前方移动，接近香蕉皮。", + "time": 3.454011412307176 + }, + { + "action_description": "爪夹下降并向右前方移动。", + "annotations": { + "bbox_1767763654758": { + "instances": [ + { + "height": 0.22487577018671642, + "id": "bbox_1767763654758_1767763828880_obhdvp6qq", + "width": 0.06473632243054013, + "x": 0.4838187788073058, + "y": 0.4336934614410139 + } + ], + "type": "bbox" + }, + "bbox_1767763661629": { + "instances": [ + { + "height": 0.4293082885382768, + "id": "bbox_1767763661629_1767763833872_edla8pr7v", + "width": 0.36286412309750127, + "x": 0.562183800696907, + "y": 0.474579965111326 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近木质托盘，爪夹下降，香蕉皮放在木质托盘的正上方，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹下降并向右前方移动，接近了香蕉皮，方便抓取香蕉皮。", + "frame": 121, + "progress": 20, + "progress_explanation": "爪夹下降并向右前方移动，接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的正上方，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 4.036733 + }, + { + "action_description": "爪夹下降至香蕉皮的两侧。", + "annotations": { + "bbox_1767763654758": { + "instances": [ + { + "height": 0.22714724261284486, + "id": "bbox_1767763654758_1767763822297_lgiv7kvw6", + "width": 0.0834757841867491, + "x": 0.47870801651015793, + "y": 0.4336934614410139 + } + ], + "type": "bbox" + }, + "bbox_1767763661629": { + "instances": [ + { + "height": 0.4474800679473045, + "id": "bbox_1767763661629_1767763816587_zeruksmnv", + "width": 0.3611605356651186, + "x": 0.5638873881292896, + "y": 0.46549407540681215 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近木质托盘，爪夹下降，香蕉皮放在木质托盘的正上方，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹紧挨着香蕉皮，确保成功抓取香蕉皮。", + "frame": 136, + "progress": 30, + "progress_explanation": "爪夹紧挨着香蕉皮，因此任务进度提升为30%。", + "state_description": "爪夹为张开的状态，紧挨着香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹合拢抓住香蕉皮。", + "time": 4.520957516426205 + }, + { + "action_description": "爪夹合拢抓住香蕉皮。", + "annotations": { + "bbox_1767763654758": { + "instances": [ + { + "height": 0.21351840805607422, + "id": "bbox_1767763654758_1767763797897_ffc03rxns", + "width": 0.088586546483897, + "x": 0.48041160394254057, + "y": 0.43823640629327076 + } + ], + "type": "bbox" + }, + "bbox_1767763661629": { + "instances": [ + { + "height": 0.4383941782427907, + "id": "bbox_1767763661629_1767763804074_ka7srwvj6", + "width": 0.3526425985032054, + "x": 0.5689981504264375, + "y": 0.47912290996358287 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近木质托盘，爪夹下降，香蕉皮放在木质托盘的正上方，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹成功抓住了香蕉皮，方便后续接近木质托盘。", + "frame": 161, + "progress": 40, + "progress_explanation": "爪夹成功抓住了香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动，接近木质托盘。", + "time": 5.370897633266788 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升。", + "annotations": { + "bbox_1767763654758": { + "instances": [ + { + "height": 0.2044325183515604, + "id": "bbox_1767763654758_1767763790412_0806h542p", + "width": 0.08006860932198379, + "x": 0.47359725421301, + "y": 0.3587348713787751 + } + ], + "type": "bbox" + }, + "bbox_1767763661629": { + "instances": [ + { + "height": 0.4383941782427907, + "id": "bbox_1767763661629_1767763785778_nfxdzckym", + "width": 0.3611605356651186, + "x": 0.5655909755616723, + "y": 0.4768514375374544 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动接近木质托盘，爪夹下降，香蕉皮放在木质托盘的正上方，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹夹住香蕉皮向上抬升，缩短了与木质托盘的距离。", + "frame": 182, + "progress": 50, + "progress_explanation": "爪夹夹住香蕉皮向上抬升，水平上接近了木质托盘，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向爪夹的右前方移动，接近木质托盘。", + "time": 6.058083259648535 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动。", + "annotations": { + "bbox_1767763654758": { + "instances": [ + { + "height": 0.2498619668741294, + "id": "bbox_1767763654758_1767763770475_2roaa0k0r", + "width": 0.12606546999631493, + "x": 0.5962555493445597, + "y": 0.21563210853268275 + } + ], + "type": "bbox" + }, + "bbox_1767763661629": { + "instances": [ + { + "height": 0.4565659576518183, + "id": "bbox_1767763661629_1767763777018_a0bn8silc", + "width": 0.3730856476917971, + "x": 0.5553694509673764, + "y": 0.470037020259069 + } + ], + "type": "bbox" + }, + "point_1767763698035": { + "instances": [ + { + "id": "point_1767763698035_1767763763706_wyxai9jnk", + "x": 0.6320308854245951, + "y": 0.3201198401345914 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，香蕉皮放在木质托盘的正上方，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹向右前方移动至木质托盘的上方。", + "frame": 204, + "progress": 60, + "progress_explanation": "爪夹向右前方移动，在木质托盘的上方，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢的状态，香蕉皮在木质托盘的上方，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹下降，香蕉皮放入木质托盘。", + "time": 6.7995203828498925 + }, + { + "action_description": "爪夹向爪夹的右前方轻微移动，随后爪夹下降。", + "annotations": { + "bbox_1767763654758": { + "instances": [ + { + "height": 0.24759049444800094, + "id": "bbox_1767763654758_1767763741552_b1j80eypt", + "width": 0.16013721864396774, + "x": 0.6814349209636914, + "y": 0.3087624780039492 + } + ], + "type": "bbox" + }, + "bbox_1767763661629": { + "instances": [ + { + "height": 0.45883743007794675, + "id": "bbox_1767763661629_1767763752474_4a8qai6fk", + "width": 0.37138206025941434, + "x": 0.5587766258321418, + "y": 0.45867965812842676 + } + ], + "type": "bbox" + }, + "point_1767763698035": { + "instances": [ + { + "id": "point_1767763698035_1767763735059_grdbrsp0i", + "x": 0.7410604810970838, + "y": 0.4132502096058578 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹下降，香蕉皮放在木质托盘的正上方盘，确保香蕉皮落入木质托盘。", + "frame": 218, + "progress": 80, + "progress_explanation": "爪夹下降，香蕉皮放在木质托盘的正上方，因此任务进度提升为80%", + "state_description": "爪夹当前为合拢的状态，香蕉皮在木质托盘的上方，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹松开，使香蕉皮落入木质托盘。", + "time": 7.269700021953194 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1767763654758": { + "instances": [ + { + "height": 0.268033746283157, + "id": "bbox_1767763654758_1767763728114_neu0nfn8m", + "width": 0.15673004377920235, + "x": 0.6490667597484214, + "y": 0.5268238309122802 + } + ], + "type": "bbox" + }, + "bbox_1767763661629": { + "instances": [ + { + "height": 0.44520859552117603, + "id": "bbox_1767763661629_1767763722875_unzsndzvs", + "width": 0.36286412309750116, + "x": 0.5638873881292896, + "y": 0.4768514375374544 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，使香蕉皮落入木质托盘，完成了目标。", + "frame": 236, + "progress": 100, + "progress_explanation": "爪夹张开，使香蕉皮落入木质托盘。完成了香蕉皮落入木质托盘的目标任务。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把香蕉皮放进木质托盘里的任务。", + "time": 7.866466486968922 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767763654758", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767763661629", + "name": "木质托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767763679976", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767763698035", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-143241-put-banana peel-yellow-wooden box-mix2/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-143241-put-banana peel-yellow-wooden box-mix2/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..5039afe1987beb7a948a869e779c88f34cf262ff --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-143241-put-banana peel-yellow-wooden box-mix2/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,492 @@ +{ + "task_description": "把香蕉皮放进木质托盘里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近木质托盘：60%\n爪夹将香蕉皮放入木质托盘：80%\n爪夹松开香蕉皮落入木质托盘：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767766433770": { + "instances": [ + { + "height": 0.2952914153966984, + "id": "bbox_1767766433770_1767766796170_7hkdieavd", + "width": 0.1482121066172893, + "x": 0.46678290448347937, + "y": 0.626768617661932 + } + ], + "type": "bbox" + }, + "bbox_1767766439962": { + "instances": [ + { + "height": 0.35434969847603803, + "id": "bbox_1767766439962_1767766790083_1dhjkmcpv", + "width": 0.30153497553172637, + "x": 0.2776846994890069, + "y": 0.3360201471174905 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向上抬升，随后调整角度向爪夹右前方移动，下降接近香蕉皮。", + "time": 1.4787416733565766 + }, + { + "action_description": "爪夹向上抬升，向爪夹的右前方轻微移动。", + "annotations": { + "bbox_1767766433770": { + "instances": [ + { + "height": 0.2998343602489553, + "id": "bbox_1767766433770_1767766731708_hgmsz5cae", + "width": 0.144804931752524, + "x": 0.4718936667806274, + "y": 0.626768617661932 + } + ], + "type": "bbox" + }, + "bbox_1767766439962": { + "instances": [ + { + "height": 0.35889264332829496, + "id": "bbox_1767766439962_1767766738163_ce61p1a1f", + "width": 0.30494215039649175, + "x": 0.27938828692138956, + "y": 0.3314772022652336 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹向爪夹的右前方轻微移动，距离接近香蕉皮近了一步。", + "frame": 81, + "progress": 10, + "progress_explanation": "爪夹向爪夹的右前方移动，开始接近香蕉皮，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，开始接近香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向爪夹的右前方移动，随后下降，接近香蕉皮。", + "time": 2.715508122766018 + }, + { + "action_description": "爪夹向爪夹的右前方移动，移动的过程中下降。", + "annotations": { + "bbox_1767766433770": { + "instances": [ + { + "height": 0.3429923363453958, + "id": "bbox_1767766433770_1767766700173_cucrgpppz", + "width": 0.14310134432014135, + "x": 0.47359725421301, + "y": 0.6131397831051614 + } + ], + "type": "bbox" + }, + "bbox_1767766439962": { + "instances": [ + { + "height": 0.3566211709021665, + "id": "bbox_1767766439962_1767766714539_qhd9fakup", + "width": 0.2862026886402827, + "x": 0.2947205738128333, + "y": 0.3337486746913621 + } + ], + "type": "bbox" + }, + "point_1767766462041": { + "instances": [ + { + "id": "point_1767766462041_1767766705765_oakv8p3g0", + "x": 0.562183800696907, + "y": 0.6767410110367579 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹下降并向右前方移动，接近了香蕉皮，方便抓取香蕉皮。", + "frame": 111, + "progress": 20, + "progress_explanation": "爪夹下降并向右前方移动，接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的正上方，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 3.710298527725785 + }, + { + "action_description": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取住香蕉皮。", + "annotations": { + "bbox_1767766433770": { + "instances": [ + { + "height": 0.26121932900477157, + "id": "bbox_1767766433770_1767766691276_r2d084c1m", + "width": 0.08688295905151433, + "x": 0.4872259536720711, + "y": 0.6699265937583726 + } + ], + "type": "bbox" + }, + "bbox_1767766439962": { + "instances": [ + { + "height": 0.3566211709021665, + "id": "bbox_1767766439962_1767766684932_pxeequrlc", + "width": 0.2674632268840737, + "x": 0.3134600355690423, + "y": 0.33147720226523364 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹成功抓住了香蕉皮，方便后续接近木质托盘。", + "frame": 155, + "progress": 40, + "progress_explanation": "爪夹成功抓住了香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动，接近木质托盘。", + "time": 5.162154794423825 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升。", + "annotations": { + "bbox_1767766433770": { + "instances": [ + { + "height": 0.24077607716961555, + "id": "bbox_1767766433770_1767766664549_sctcbya2j", + "width": 0.1056224208077233, + "x": 0.4821151913749232, + "y": 0.42233609931037164 + } + ], + "type": "bbox" + }, + "bbox_1767766439962": { + "instances": [ + { + "height": 0.38842178486796475, + "id": "bbox_1767766439962_1767766674885_nfs24pd7a", + "width": 0.2981278006669611, + "x": 0.2810918743537722, + "y": 0.30649100557782066 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹夹住香蕉皮向上抬升，缩短了与木质托盘的距离。", + "frame": 184, + "progress": 50, + "progress_explanation": "爪夹夹住香蕉皮向上抬升，水平上接近了木质托盘，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向爪夹的左前方移动，接近木质托盘。", + "time": 6.130058972222518 + }, + { + "action_description": "爪夹夹住香蕉皮向爪夹的左前方轻微移动，爪夹松开。", + "annotations": { + "bbox_1767766433770": { + "instances": [ + { + "height": 0.21124693562994576, + "id": "bbox_1767766433770_1767766645437_bf6ca72yk", + "width": 0.1533228689144371, + "x": 0.5127797651578107, + "y": 0.5313667757645372 + } + ], + "type": "bbox" + }, + "bbox_1767766439962": { + "instances": [ + { + "height": 0.3770644227373225, + "id": "bbox_1767766439962_1767766652390_i2i28kcic", + "width": 0.2964242132345785, + "x": 0.28620263665092016, + "y": 0.317848367708463 + } + ], + "type": "bbox" + }, + "point_1767766448826": { + "instances": [ + { + "id": "point_1767766448826_1767766655293_nzanlmtno", + "x": 0.4701900793482447, + "y": 0.5381811930429224 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，随后下降接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹夹紧的香蕉皮掉落桌面上，水平和高度上远离了香蕉皮。需重新抓取香蕉皮。", + "frame": 227, + "progress": 10, + "progress_explanation": "爪夹夹住香蕉皮移动过程中使香蕉皮落在桌面，远离了香蕉皮，因此任务进度倒退为10%。", + "state_description": "爪夹当前为张开的状态，爪夹松开，香蕉皮落在桌面上，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向爪夹的右前方移动，随后下降接近香蕉皮。", + "time": 7.555029011759482 + }, + { + "action_description": "爪夹向爪夹的右前方移动，随后下降。", + "annotations": { + "bbox_1767766433770": { + "instances": [ + { + "height": 0.22487577018671648, + "id": "bbox_1767766433770_1767766629030_7nxqi2nxn", + "width": 0.14310134432014135, + "x": 0.5144833525901932, + "y": 0.5222808860600233 + } + ], + "type": "bbox" + }, + "bbox_1767766439962": { + "instances": [ + { + "height": 0.3657070606066803, + "id": "bbox_1767766439962_1767766612391_vdxbhkkq8", + "width": 0.2896098635050479, + "x": 0.28960981151568543, + "y": 0.3405630919697475 + } + ], + "type": "bbox" + }, + "point_1767766448826": { + "instances": [ + { + "id": "point_1767766448826_1767766623269_4ooemlxvu", + "x": 0.49744747826636687, + "y": 0.5972394761222621 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，随后下降接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹下降并向右前方移动，接近了香蕉皮，方便抓取香蕉皮。", + "frame": 257, + "progress": 20, + "progress_explanation": "爪夹下降并向右前方移动，接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的正上方，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 8.576705643880324 + }, + { + "action_description": "爪夹轻微下降，爪夹合拢抓住香蕉皮。", + "annotations": { + "bbox_1767766433770": { + "instances": [ + { + "height": 0.19761810107317512, + "id": "bbox_1767766433770_1767766591863_apozz4f9c", + "width": 0.17035874323826353, + "x": 0.5008546531311321, + "y": 0.5404526654690509 + } + ], + "type": "bbox" + }, + "bbox_1767766439962": { + "instances": [ + { + "height": 0.3702500054589372, + "id": "bbox_1767766439962_1767766602246_o2v7z7ych", + "width": 0.26746322688407365, + "x": 0.29812774867759856, + "y": 0.32920572983910523 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹成功抓住了香蕉皮，方便后续接近木质托盘。", + "frame": 285, + "progress": 40, + "progress_explanation": "爪夹成功抓住了香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动，接近木质托盘。", + "time": 9.490837367356868 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升。", + "annotations": { + "bbox_1767766433770": { + "instances": [ + { + "height": 0.2044325183515604, + "id": "bbox_1767766433770_1767766556167_33fxkh0zm", + "width": 0.1056224208077234, + "x": 0.5042618279958975, + "y": 0.5131949963555096 + } + ], + "type": "bbox" + }, + "bbox_1767766439962": { + "instances": [ + { + "height": 0.358892643328295, + "id": "bbox_1767766439962_1767766568210_n1ppupxcs", + "width": 0.2913134509374306, + "x": 0.2896098115156854, + "y": 0.3360201471174905 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的左侧移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹夹住香蕉皮向上抬升，缩短了与木质托盘的距离。", + "frame": 317, + "progress": 50, + "progress_explanation": "爪夹夹住香蕉皮向上抬升，水平上接近了木质托盘，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向爪夹的左前方移动，接近木质托盘。", + "time": 10.56628645379986 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动。", + "annotations": { + "bbox_1767766433770": { + "instances": [ + { + "height": 0.23850460474348711, + "id": "bbox_1767766433770_1767766522952_ttbo6oou0", + "width": 0.08006860932198387, + "x": 0.41737886894438303, + "y": 0.2837762813165362 + } + ], + "type": "bbox" + }, + "bbox_1767766439962": { + "instances": [ + { + "height": 0.36797853303280875, + "id": "bbox_1767766439962_1767766537024_lv8saa37b", + "width": 0.2981278006669611, + "x": 0.27598111205662434, + "y": 0.317848367708463 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹向左侧移动至木质托盘的上方。", + "frame": 332, + "progress": 60, + "progress_explanation": "爪夹向左侧移动，在木质托盘的上方，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢的状态，香蕉皮在木质托盘的上方，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹下降，香蕉皮放入木质托盘。", + "time": 11.07712476986028 + }, + { + "action_description": "爪夹轻微下降。", + "annotations": { + "bbox_1767766433770": { + "instances": [ + { + "height": 0.21806135290833104, + "id": "bbox_1767766433770_1767766503345_a1jk0hekm", + "width": 0.08347578418674906, + "x": 0.35945689624337346, + "y": 0.3564633989526466 + } + ], + "type": "bbox" + }, + "bbox_1767766439962": { + "instances": [ + { + "height": 0.3588926433282949, + "id": "bbox_1767766439962_1767766514832_xzlgp1ol5", + "width": 0.29983138809934373, + "x": 0.2793882869213896, + "y": 0.3337486746913621 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹下降，香蕉皮放入木质托盘，确保香蕉皮落入木质托盘。", + "frame": 353, + "progress": 80, + "progress_explanation": "爪夹下降，香蕉皮放入木质托盘，因此任务进度提升为80%", + "state_description": "爪夹当前为合拢的状态，香蕉皮在木质托盘的上方，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹松开，使香蕉皮落入木质托盘。", + "time": 11.776166676048227 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1767766433770": { + "instances": [ + { + "height": 0.24077607716961555, + "id": "bbox_1767766433770_1767766489401_2a161ndui", + "width": 0.10221524594295817, + "x": 0.3509389590814602, + "y": 0.38826401291844487 + } + ], + "type": "bbox" + }, + "bbox_1767766439962": { + "instances": [ + { + "height": 0.3747929503111941, + "id": "bbox_1767766439962_1767766482833_z5ofu5ac6", + "width": 0.2981278006669611, + "x": 0.2827954617861549, + "y": 0.3201198401345914 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，使香蕉皮落入木质托盘，完成了目标。", + "frame": 382, + "progress": 100, + "progress_explanation": "爪夹张开，使香蕉皮落入木质托盘。完成了香蕉皮落入木质托盘的目标任务。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把香蕉皮放进木质托盘里的任务。", + "time": 12.717184626685844 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767766433770", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767766439962", + "name": "木质托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767766448826", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767766462041", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-143947-put-banana peel-yellow-wooden box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-143947-put-banana peel-yellow-wooden box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..2a4deca58d3b58bbf720d89b93766a5fcfd2d545 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-143947-put-banana peel-yellow-wooden box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,338 @@ +{ + "task_description": "把香蕉皮放进木质托盘里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近木质托盘：60%\n爪夹将香蕉皮放入木质托盘：80%\n爪夹松开香蕉皮落入木质托盘：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767768780074": { + "instances": [ + { + "height": 0.2771196359876707, + "id": "bbox_1767768780074_1767768977270_bpjjqwvz3", + "width": 0.08688295905151433, + "x": 0.6490667597484214, + "y": 0.29513364344717846 + } + ], + "type": "bbox" + }, + "bbox_1767768787497": { + "instances": [ + { + "height": 0.21578988048220266, + "id": "bbox_1767768787497_1767768969094_8qcikdles", + "width": 0.2231699536421253, + "x": 0.6252165356950645, + "y": 0.1202302666352879 + } + ], + "type": "bbox" + }, + "point_1767768794761": { + "instances": [ + { + "id": "point_1767768794761_1767768980884_oiodzj8zn", + "x": 0.3884178825938782, + "y": 0.5131949963555096 + } + ], + "type": "point" + }, + "point_1767768799704": { + "instances": [ + { + "id": "point_1767768799704_1767768983414_gtwrzgftx", + "x": 0.618402185965534, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮。", + "time": 1.440478594158201 + }, + { + "action_description": "爪夹向上抬升，向爪夹的右前方移动。", + "annotations": { + "bbox_1767768780074": { + "instances": [ + { + "height": 0.35434969847603803, + "id": "bbox_1767768780074_1767768947942_wlomjiqpt", + "width": 0.1056224208077234, + "x": 0.5025582405635147, + "y": 0.09751554237400341 + } + ], + "type": "bbox" + }, + "bbox_1767768787497": { + "instances": [ + { + "height": 0.16354601468124833, + "id": "bbox_1767768787497_1767768959765_q5a40e2ln", + "width": 0.24872376512786473, + "x": 0.5468515138054633, + "y": 0.0066566453288654385 + } + ], + "type": "bbox" + }, + "point_1767768794761": { + "instances": [ + { + "id": "point_1767768794761_1767768942413_t8x0xmfst", + "x": 0.3867142951614956, + "y": 0.5109235239293811 + } + ], + "type": "point" + }, + "point_1767768799704": { + "instances": [ + { + "id": "point_1767768799704_1767768939933_indo6e0h2", + "x": 0.6235129482626819, + "y": 0.5063805790771242 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹向爪夹的右前方移动，距离接近香蕉皮近了一步。", + "frame": 70, + "progress": 15, + "progress_explanation": "爪夹向爪夹的右前方移动，开始接近香蕉皮，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，开始移动接近香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向爪夹右前方移动，下降接近香蕉皮。", + "time": 2.3463468610505296 + }, + { + "action_description": "爪夹向爪夹的右前方移动，移动的过程中下降。", + "annotations": { + "bbox_1767768780074": { + "instances": [ + { + "height": 0.6927990899691768, + "id": "bbox_1767768780074_1767768925941_h0zcw8wqo", + "width": 0.2419094153983342, + "x": 0.4224896312415309, + "y": 0.00438517290273699 + } + ], + "type": "bbox" + }, + "point_1767768794761": { + "instances": [ + { + "id": "point_1767768794761_1767768933286_jicfrsgyu", + "x": 0.3833071202967303, + "y": 0.5131949963555096 + } + ], + "type": "point" + }, + "point_1767768799704": { + "instances": [ + { + "id": "point_1767768799704_1767768935566_1w4se2u1z", + "x": 0.6201057733979166, + "y": 0.5041091066509957 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹下降并向右前方移动，接近了香蕉皮，方便抓取香蕉皮。", + "frame": 89, + "progress": 20, + "progress_explanation": "爪夹下降并向右前方移动，接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的上方，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹合拢抓取香蕉皮。", + "time": 2.9552091387978328 + }, + { + "action_description": "爪夹合拢抓取住香蕉皮。", + "annotations": { + "bbox_1767768780074": { + "instances": [ + { + "height": 0.7018849796736909, + "id": "bbox_1767768780074_1767768911790_cgv65opah", + "width": 0.26064887715454316, + "x": 0.4258968061062962, + "y": 0.0066566453288654385 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹成功抓住了香蕉皮，方便后续接近木质托盘。", + "frame": 117, + "progress": 40, + "progress_explanation": "爪夹成功抓住了香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动，接近木质托盘。", + "time": 3.910133 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升。", + "annotations": { + "bbox_1767768780074": { + "instances": [ + { + "height": 0.5201671855834148, + "id": "bbox_1767768780074_1767768893679_a8z4u08ui", + "width": 0.17035874323826353, + "x": 0.4293039809710614, + "y": 0.21108916368042585 + } + ], + "type": "bbox" + }, + "bbox_1767768787497": { + "instances": [ + { + "height": 0.268033746283157, + "id": "bbox_1767768787497_1767768882191_4m5uwu2z5", + "width": 0.3253851995850833, + "x": 0.41567528151200045, + "y": 0.05890051112981977 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹夹住香蕉皮向上抬升，缩短了与木质托盘的距离。", + "frame": 146, + "progress": 50, + "progress_explanation": "爪夹夹住香蕉皮向上抬升，距离上接近了木质托盘，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向爪夹的右前方移动，接近木质托盘。", + "time": 4.869066 + }, + { + "action_description": "爪夹夹住香蕉皮向爪夹的正前方移动并向上抬升，随后爪夹向爪夹的左侧轻微移动。", + "annotations": { + "bbox_1767768780074": { + "instances": [ + { + "height": 0.4361227058166622, + "id": "bbox_1767768780074_1767768838584_49b3qp7rd", + "width": 0.2981278006669611, + "x": 0.3696784208376693, + "y": 0.27469039161202247 + } + ], + "type": "bbox" + }, + "bbox_1767768787497": { + "instances": [ + { + "height": 0.3475352811976527, + "id": "bbox_1767768787497_1767768864615_3zudvv4wp", + "width": 0.3253851995850832, + "x": 0.5826268498854986, + "y": 0.4200646268842432 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，随后下降，接近托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "爪夹向正前方移动，水平上接近了木质托盘，方便香蕉皮落入木质托盘。", + "frame": 163, + "progress": 55, + "progress_explanation": "爪夹向正前方移动，水平上接近了木质托盘，因此任务进度提升为55%。", + "state_description": "爪夹当前为合拢抓住香蕉皮的状态，香蕉皮更加接近了木质托盘，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向爪夹的右前方移动，随后下降，接近托盘。", + "time": 5.447733 + }, + { + "action_description": "爪夹松开，香蕉皮落在台面上，爪夹向爪夹的左后方移动并抬升，随后向右侧轻微移动。", + "annotations": { + "bbox_1767768780074": { + "instances": [ + { + "height": 0.09994478674965177, + "id": "bbox_1767768780074_1767768820735_4250sczht", + "width": 0.12265829513154972, + "x": 0.240205775976589, + "y": 0.10887290450464564 + } + ], + "type": "bbox" + }, + "bbox_1767768787497": { + "instances": [ + { + "height": 0.3043773051012122, + "id": "bbox_1767768787497_1767768815944_84jpr3roa", + "width": 0.34242107390890963, + "x": 0.3696784208376692, + "y": 0.02709989716402148 + } + ], + "type": "bbox" + }, + "point_1767768794761": { + "instances": [ + { + "id": "point_1767768794761_1767768810248_zseo1ecsr", + "x": 0.3833071202967303, + "y": 0.5109235239293811 + } + ], + "type": "point" + }, + "point_1767768799704": { + "instances": [ + { + "id": "point_1767768799704_1767768808015_e3fztcd68", + "x": 0.6235129482626819, + "y": 0.5063805790771242 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的正前方移动，下降接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右方移动接近木质托盘，爪夹下降，香蕉皮放入木质托盘，爪夹松开，使香蕉皮落入木质托盘。", + "error_success_analysis": "夹紧的香蕉皮掉落桌面上，水平和高度上远离了香蕉皮。需重新抓取香蕉皮。", + "frame": 222, + "progress": 0, + "progress_explanation": "爪夹夹紧的香蕉皮掉落桌面，远离了香蕉皮，爪夹回到初始状态。需重新抓取香蕉皮，因此进度降低为 0。", + "state_description": "爪夹当前为张开的状态，香蕉皮落在台面上，远离了香蕉皮，为完成把香蕉皮放进木质托盘里的任务，应当：爪夹向爪夹的正前方移动，下降接近香蕉皮。", + "time": 7.395448676515969 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767768780074", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767768787497", + "name": "木质托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767768794761", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767768799704", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-145941-put-banana peel-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-145941-put-banana peel-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..d1e031f5116ac5743d0247b2141d5416fef9653d --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-145941-put-banana peel-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,352 @@ +{ + "task_description": "把香蕉皮放进黄色纸箱里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近黄色纸箱：60%\n爪夹将香蕉皮放入黄色纸箱：80%\n爪夹松开香蕉皮落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767772626511": { + "instances": [ + { + "height": 0.28393405326605614, + "id": "bbox_1767772626511_1767772852067_wvhk9lkhf", + "width": 0.14991569404967198, + "x": 0.6524739346131867, + "y": 0.47912290996358287 + } + ], + "type": "bbox" + }, + "bbox_1767772636272": { + "instances": [ + { + "height": 0.39296472972022173, + "id": "bbox_1767772636272_1767772847083_dtkr2l5ek", + "width": 0.2248735410745078, + "x": 0.5247048771844891, + "y": 0.029371369590149927 + } + ], + "type": "bbox" + }, + "point_1767772650848": { + "instances": [ + { + "id": "point_1767772650848_1767772856803_me7lh77ww", + "x": 0.5212977023197237, + "y": 0.6426689246448312 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮。", + "time": 1.801436462349844 + }, + { + "action_description": "爪夹向上抬升，轻微向右侧偏移。", + "annotations": { + "bbox_1767772626511": { + "instances": [ + { + "height": 0.2771196359876708, + "id": "bbox_1767772626511_1767772827661_jw51iienn", + "width": 0.1533228689144372, + "x": 0.650770347180804, + "y": 0.48366585481583974 + } + ], + "type": "bbox" + }, + "bbox_1767772636272": { + "instances": [ + { + "height": 0.3861503124418364, + "id": "bbox_1767772636272_1767772834452_6o0fo7r2w", + "width": 0.22998430337165576, + "x": 0.5230012897521064, + "y": 0.029371369590149927 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹向上抬升，略微缩进了与香蕉皮的距离。", + "frame": 75, + "progress": 10, + "progress_explanation": "爪夹向上抬升，略微缩进了与香蕉皮的距离，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，开始接近香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动，接近香蕉皮的正上方。", + "time": 2.506346616227508 + }, + { + "action_description": "爪夹向爪夹的右前方移动，爪夹轻微下降。", + "annotations": { + "bbox_1767772626511": { + "instances": [ + { + "height": 0.2067039907776889, + "id": "bbox_1767772626511_1767772818820_kgif5keif", + "width": 0.12095470769916714, + "x": 0.6865456832608394, + "y": 0.5540815000258217 + } + ], + "type": "bbox" + }, + "bbox_1767772636272": { + "instances": [ + { + "height": 0.38387884001570793, + "id": "bbox_1767772636272_1767772812461_kpjq2fav9", + "width": 0.22146636620974255, + "x": 0.5281120520492543, + "y": 0.03164284201627838 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹向右前方移动，接近香蕉皮的正上方，方便抓取香蕉皮。", + "frame": 95, + "progress": 15, + "progress_explanation": "爪夹向右前方移动，接近香蕉皮的正上方，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，接近香蕉皮的正上方，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动，随后下降，接近香蕉皮。", + "time": 3.161 + }, + { + "action_description": "爪夹向爪夹的右前方移动，随后下降，接近香蕉皮。", + "annotations": { + "bbox_1767772636272": { + "instances": [ + { + "height": 0.3906932572940932, + "id": "bbox_1767772636272_1767772802813_v49yzpxm5", + "width": 0.2282807159392731, + "x": 0.5247048771844891, + "y": 0.03391431444240683 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹向爪夹的右前方移动并下降，接近了香蕉皮，更加方便抓取香蕉皮。", + "frame": 115, + "progress": 20, + "progress_explanation": "爪夹向爪夹的右前方移动并下降，接近了香蕉皮，因此任务进度提升为20%", + "state_description": "爪夹当前为张开的状态，在香蕉皮的正上方，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 3.8378435735519845 + }, + { + "action_description": "爪夹下降至香蕉皮的两侧。", + "annotations": { + "bbox_1767772636272": { + "instances": [ + { + "height": 0.39296472972022173, + "id": "bbox_1767772636272_1767772794372_6157f4bum", + "width": 0.22657712850689044, + "x": 0.5230012897521064, + "y": 0.03164284201627838 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近黄色纸箱，爪夹下降，香将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹紧挨着香蕉皮，确保成功抓取香蕉皮。", + "frame": 141, + "progress": 30, + "progress_explanation": "爪夹紧挨着香蕉皮，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的正上方，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹合拢抓取香蕉皮。", + "time": 4.6994004282913515 + }, + { + "action_description": "爪夹合拢抓取住香蕉皮。", + "annotations": { + "bbox_1767772636272": { + "instances": [ + { + "height": 0.3838788400157079, + "id": "bbox_1767772636272_1767772787076_pn6aw0s86", + "width": 0.22998430337165576, + "x": 0.5230012897521064, + "y": 0.03391431444240683 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹成功抓住了香蕉皮，方便后续接近黄色箱子。", + "frame": 183, + "progress": 40, + "progress_explanation": "爪夹成功抓住了香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动接近黄色纸箱。", + "time": 6.1 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升。", + "annotations": { + "bbox_1767772626511": { + "instances": [ + { + "height": 0.23169018746510178, + "id": "bbox_1767772626511_1767772766206_fwul0x34g", + "width": 0.19080179242685508, + "x": 0.6848420958284567, + "y": 0.3928069577707018 + } + ], + "type": "bbox" + }, + "bbox_1767772636272": { + "instances": [ + { + "height": 0.37706442273732255, + "id": "bbox_1767772636272_1767772772093_jycmqvqiq", + "width": 0.24361300283071685, + "x": 0.5195941148873411, + "y": 0.036185786868535276 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹夹住香蕉皮向上抬升，缩短了与黄色纸箱的距离。", + "frame": 216, + "progress": 50, + "progress_explanation": "爪夹夹住香蕉皮向上抬升，距离上接近了黄色纸箱，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮脱离桌面，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的左前方移动接近黄色纸箱。", + "time": 7.1861668044708855 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升，随后向爪夹的左前方移动。", + "annotations": { + "bbox_1767772626511": { + "instances": [ + { + "height": 0.156731597402863, + "id": "bbox_1767772626511_1767772759111_fa39mi9zp", + "width": 0.14310134432014135, + "x": 0.6269201231274472, + "y": 0.013471062607250785 + } + ], + "type": "bbox" + }, + "bbox_1767772636272": { + "instances": [ + { + "height": 0.39296472972022173, + "id": "bbox_1767772636272_1767772752493_hnvkdwzmx", + "width": 0.2538345274250126, + "x": 0.5195941148873412, + "y": 0.03164284201627838 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹向爪夹的左前方移动，接近了黄色箱子，方便香蕉皮落入黄色箱子。", + "frame": 238, + "progress": 60, + "progress_explanation": "爪夹向爪夹的左前方移动，接近了黄色箱子，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢的状态，香蕉皮接近纸箱子，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹下降，将香蕉皮放在黄色纸箱的正上方。", + "time": 7.9302386335639765 + }, + { + "action_description": "爪夹抓住香蕉皮下降。", + "annotations": { + "bbox_1767772636272": { + "instances": [ + { + "height": 0.313463194805726, + "id": "bbox_1767772636272_1767772742629_n5ajkkkq1", + "width": 0.23168789080403843, + "x": 0.5212977023197237, + "y": 0.029371369590149927 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹下降，香蕉皮在黄色纸箱的正上方，确保香蕉皮落入黄色纸箱。", + "frame": 258, + "progress": 80, + "progress_explanation": "爪夹下降，香蕉皮在黄色纸箱的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢的状态，香蕉皮进入纸箱子，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹松开，使香蕉皮落入黄色纸箱。", + "time": 8.6001 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1767772626511": { + "instances": [ + { + "height": 0.15218865255060607, + "id": "bbox_1767772626511_1767772733979_bax2gq7q6", + "width": 0.07155067216007067, + "x": 0.5928483744797944, + "y": 0.15430235302721462 + } + ], + "type": "bbox" + }, + "bbox_1767772636272": { + "instances": [ + { + "height": 0.3316349742147535, + "id": "bbox_1767772636272_1767772723742_f0t9v11vj", + "width": 0.23679865310118622, + "x": 0.5127797651578107, + "y": 0.024828424737893033 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，使香蕉皮落入黄色箱子，完成了目标。", + "frame": 280, + "progress": 100, + "progress_explanation": "爪夹张开，使香蕉皮落入黄色箱子。完成了香蕉皮落入黄色箱子的目标任务。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把香蕉皮放进黄色箱子里的任务。", + "time": 9.340058941319304 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767772626511", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767772636272", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767772643287", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767772650848", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-145941-put-banana peel-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-145941-put-banana peel-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..be406571dff99f1a1c0b532778651d5b98f5bcff --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-145941-put-banana peel-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,364 @@ +{ + "task_description": "把香蕉皮放进黄色纸箱里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近黄色纸箱：60%\n爪夹将香蕉皮放在黄色纸箱的正上方：80%\n爪夹松开香蕉皮落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767774217510": { + "instances": [ + { + "height": 0.2703052187092855, + "id": "bbox_1767774217510_1767774417083_znanqeedh", + "width": 0.19420896729162038, + "x": 0.5349264017787848, + "y": 0.5813391691393631 + } + ], + "type": "bbox" + }, + "bbox_1767774223263": { + "instances": [ + { + "height": 0.46338037493020356, + "id": "bbox_1767774223263_1767774422683_ofbwjl5rv", + "width": 0.35093901107082287, + "x": 0.12265824314218716, + "y": 0.3769066507878026 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮。", + "time": 1.3279034194341996 + }, + { + "action_description": "爪夹向上抬升，轻微向右前方移动。", + "annotations": { + "bbox_1767774217510": { + "instances": [ + { + "height": 0.2771196359876709, + "id": "bbox_1767774217510_1767774409931_beuov0yx6", + "width": 0.19420896729162038, + "x": 0.5315192269140196, + "y": 0.5745247518609776 + } + ], + "type": "bbox" + }, + "bbox_1767774223263": { + "instances": [ + { + "height": 0.46110890250407516, + "id": "bbox_1767774223263_1767774405475_6opl11qdx", + "width": 0.37989999742132763, + "x": 0.10391878138597818, + "y": 0.3791781232139311 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹向上抬升，轻微向右前方移动，略微缩进了与香蕉皮的距离。", + "frame": 93, + "progress": 10, + "progress_explanation": "爪夹向上抬升，轻微向右前方移动，略微缩进了与香蕉皮的距离，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，开始接近香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动，接近香蕉皮的正上方。", + "time": 3.088799 + }, + { + "action_description": "爪夹向爪夹的右前方移动，爪夹轻微下降。", + "annotations": { + "bbox_1767774217510": { + "instances": [ + { + "height": 0.2816625808399278, + "id": "bbox_1767774217510_1767774381450_fmbd06de0", + "width": 0.19761614215638562, + "x": 0.5315192269140196, + "y": 0.5722532794348492 + } + ], + "type": "bbox" + }, + "bbox_1767774223263": { + "instances": [ + { + "height": 0.4701947922085889, + "id": "bbox_1767774223263_1767774387555_7y892wyky", + "width": 0.391825109448006, + "x": 0.09029008192691709, + "y": 0.3746351783616742 + } + ], + "type": "bbox" + }, + "point_1767774230518": { + "instances": [ + { + "id": "point_1767774230518_1767774392323_ytqrk2pdx", + "x": 0.5962555493445597, + "y": 0.4677655478329406 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹向右前方移动，接近香蕉皮的正上方，方便抓取香蕉皮。", + "frame": 112, + "progress": 15, + "progress_explanation": "爪夹向右前方移动，接近香蕉皮的正上方，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，接近香蕉皮的正上方，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动，随后下降，接近香蕉皮。", + "time": 3.7356 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1767774217510": { + "instances": [ + { + "height": 0.2634908014308999, + "id": "bbox_1767774217510_1767774358870_25mszv5ap", + "width": 0.20272690445353359, + "x": 0.5264084646168716, + "y": 0.5790676967132347 + } + ], + "type": "bbox" + }, + "bbox_1767774223263": { + "instances": [ + { + "height": 0.47246626463471736, + "id": "bbox_1767774223263_1767774368921_4vfpvykqa", + "width": 0.39012152201562345, + "x": 0.08858649449453446, + "y": 0.3769066507878026 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹下降，接近了香蕉皮，更加方便抓取香蕉皮。", + "frame": 137, + "progress": 20, + "progress_explanation": "爪夹下降，接近了香蕉皮，因此任务进度提升为20%", + "state_description": "爪夹当前为张开的状态，在香蕉皮的正上方，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 4.5804 + }, + { + "action_description": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "annotations": { + "bbox_1767774217510": { + "instances": [ + { + "height": 0.1749033768118906, + "id": "bbox_1767774217510_1767774341308_jlq4a9uev", + "width": 0.19420896729162038, + "x": 0.5212977023197237, + "y": 0.6653836489061156 + } + ], + "type": "bbox" + }, + "bbox_1767774223263": { + "instances": [ + { + "height": 0.4588374300779467, + "id": "bbox_1767774223263_1767774346629_2i4auhnuy", + "width": 0.3884179345832408, + "x": 0.09029008192691709, + "y": 0.38144959564005954 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹成功抓住了香蕉皮，方便后续接近黄色箱子。", + "frame": 196, + "progress": 40, + "progress_explanation": "爪夹成功抓住了香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动接近黄色纸箱。", + "time": 6.520957121854053 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升。", + "annotations": { + "bbox_1767774217510": { + "instances": [ + { + "height": 0.1362883455677069, + "id": "bbox_1767774217510_1767774313984_1rzx7pzj2", + "width": 0.2112448416154467, + "x": 0.6388452351541256, + "y": 0.4359649338671423 + } + ], + "type": "bbox" + }, + "bbox_1767774223263": { + "instances": [ + { + "height": 0.44066565066891905, + "id": "bbox_1767774223263_1767774327820_288edkw8j", + "width": 0.38501075971847554, + "x": 0.09369725679168237, + "y": 0.3996213750490872 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的左侧移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹夹住香蕉皮向上抬升，缩短了与黄色纸箱的距离。", + "frame": 243, + "progress": 50, + "progress_explanation": "爪夹夹住香蕉皮向上抬升，距离上接近了黄色纸箱，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮脱离桌面，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的左侧移动接近黄色纸箱。", + "time": 8.109699578758757 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升，随后向爪夹的左侧移动。", + "annotations": { + "bbox_1767774217510": { + "instances": [ + { + "height": 0.23396165989123024, + "id": "bbox_1767774217510_1767774303927_hqolx83lr", + "width": 0.09199372134866231, + "x": 0.13628694260124824, + "y": 0.0066566453288654385 + } + ], + "type": "bbox" + }, + "bbox_1767774223263": { + "instances": [ + { + "height": 0.46338037493020356, + "id": "bbox_1767774223263_1767774297599_5ite6ienh", + "width": 0.37138206025941445, + "x": 0.11414030598027398, + "y": 0.3769066507878026 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，香将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹向爪夹的左侧移动，接近了黄色箱子，方便香蕉皮落入黄色箱子。", + "frame": 281, + "progress": 60, + "progress_explanation": "爪夹向爪夹的左侧移动，接近了黄色箱子，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢的状态，香蕉皮接近纸箱子，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹下降，将香蕉皮放在黄色纸箱的正上方。", + "time": 9.36646599989233 + }, + { + "action_description": "爪夹抓住香蕉皮下降。", + "annotations": { + "bbox_1767774217510": { + "instances": [ + { + "height": 0.30664877752734043, + "id": "bbox_1767774217510_1767774270822_3jqx8e7t3", + "width": 0.1516192814820545, + "x": 0.1584335792222225, + "y": 0.2974051158733069 + } + ], + "type": "bbox" + }, + "bbox_1767774223263": { + "instances": [ + { + "height": 0.4679233197824605, + "id": "bbox_1767774223263_1767774280214_xcbsvoomh", + "width": 0.4037502214746846, + "x": 0.08347573219738655, + "y": 0.3746351783616742 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹下降，香蕉皮在黄色纸箱的正上方，确保香蕉皮落入黄色纸箱。", + "frame": 311, + "progress": 80, + "progress_explanation": "爪夹下降，香蕉皮在黄色纸箱的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢的状态，香蕉皮在黄色纸箱的正上方，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹松开，使香蕉皮落入黄色纸箱。", + "time": 10.362394107205725 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1767774217510": { + "instances": [ + { + "height": 0.17944632166414748, + "id": "bbox_1767774217510_1767774263895_c4qhvlr73", + "width": 0.09540089621342754, + "x": 0.28620263665092016, + "y": 0.5359097206167941 + } + ], + "type": "bbox" + }, + "bbox_1767774223263": { + "instances": [ + { + "height": 0.4588374300779467, + "id": "bbox_1767774223263_1767774254376_t87pej81h", + "width": 0.3986394591775366, + "x": 0.08858649449453446, + "y": 0.38144959564005954 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，使香蕉皮落入黄色箱子，完成了目标。", + "frame": 346, + "progress": 100, + "progress_explanation": "爪夹张开，使香蕉皮落入黄色箱子。完成了香蕉皮落入黄色箱子的目标任务。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把香蕉皮放进黄色箱子里的任务。", + "time": 11.54802280638834 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767774217510", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767774223263", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767774230518", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767774237183", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-145941-put-banana peel-yellow-cardboard box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-145941-put-banana peel-yellow-cardboard box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..91f58e53c0357af7fc4ea378d35aff8f4d21a05c --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-145941-put-banana peel-yellow-cardboard box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,496 @@ +{ + "task_description": "把香蕉皮放进黄色纸箱里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近黄色纸箱：60%\n爪夹将香蕉皮放在黄色纸箱的正上方：80%\n爪夹松开香蕉皮落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767776502860": { + "instances": [ + { + "height": 0.18398926651640438, + "id": "bbox_1767776502860_1767776827785_g1l8abu9t", + "width": 0.15673004377920244, + "x": 0.6405488225865082, + "y": 0.46322260298068374 + } + ], + "type": "bbox" + }, + "bbox_1767776508936": { + "instances": [ + { + "height": 0.29756288782282686, + "id": "bbox_1767776508936_1767776834769_vq9wtf7uo", + "width": 0.1925053798592377, + "x": 0.7103959073141962, + "y": 0.24288977764622413 + } + ], + "type": "bbox" + }, + "point_1767776516711": { + "instances": [ + { + "id": "point_1767776516711_1767776843640_h0irbmynu", + "x": 0.3867142951614956, + "y": 0.5086520515032527 + } + ], + "type": "point" + }, + "point_1767776524280": { + "instances": [ + { + "id": "point_1767776524280_1767776846800_wa03moicn", + "x": 0.6201057733979166, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近黄色纸箱，爪夹下降，香蕉皮在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向上抬升，随后向爪夹右前方移动，下降接近香蕉皮。", + "time": 1.1704184683359122 + }, + { + "action_description": "爪夹轻微向爪夹的右侧偏移。", + "annotations": { + "bbox_1767776502860": { + "instances": [ + { + "height": 0.19307515622091814, + "id": "bbox_1767776502860_1767776802817_g5zuvw2ln", + "width": 0.1805802678325593, + "x": 0.5485551012378459, + "y": 0.40416431990134405 + } + ], + "type": "bbox" + }, + "bbox_1767776508936": { + "instances": [ + { + "height": 0.2998343602489554, + "id": "bbox_1767776508936_1767776811841_1be884pr0", + "width": 0.21294842904782926, + "x": 0.6166985985331513, + "y": 0.17701707728849908 + } + ], + "type": "bbox" + }, + "point_1767776516711": { + "instances": [ + { + "id": "point_1767776516711_1767776795506_doefybcgj", + "x": 0.38501070772911294, + "y": 0.5086520515032527 + } + ], + "type": "point" + }, + "point_1767776524280": { + "instances": [ + { + "id": "point_1767776524280_1767776797666_s2ux7g7ne", + "x": 0.6235129482626819, + "y": 0.5109235239293811 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近黄色纸箱，爪夹下降，香蕉皮在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹轻微向爪夹的右侧偏移，确保爪夹向香蕉皮的方向移动。", + "frame": 64, + "progress": 5, + "progress_explanation": "爪夹轻微向爪夹的右侧偏移，因此任务进度提升为5%。", + "state_description": "爪夹当前为张开的状态，未接近香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动，开始接近香蕉皮。", + "time": 2.1188615193009603 + }, + { + "action_description": "爪夹向爪夹的右前方移动，爪夹轻微下降。", + "annotations": { + "bbox_1767776502860": { + "instances": [ + { + "height": 0.17717484923801904, + "id": "bbox_1767776502860_1767776783545_8dw4mqy57", + "width": 0.2504273525602474, + "x": 0.41908245637676567, + "y": 0.38144959564005954 + } + ], + "type": "bbox" + }, + "bbox_1767776508936": { + "instances": [ + { + "height": 0.3384493914931389, + "id": "bbox_1767776508936_1767776790913_mqtqf886e", + "width": 0.3492354236384402, + "x": 0.3747891831348172, + "y": 0.036185786868535276 + } + ], + "type": "bbox" + }, + "point_1767776516711": { + "instances": [ + { + "id": "point_1767776516711_1767776720824_0uyyj0h76", + "x": 0.38501070772911294, + "y": 0.5131949963555096 + } + ], + "type": "point" + }, + "point_1767776524280": { + "instances": [ + { + "id": "point_1767776524280_1767776718379_i9qj47psn", + "x": 0.6218093608302993, + "y": 0.5131949963555096 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近黄色纸箱，爪夹下降，香蕉皮在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹向右前方移动，接近香蕉皮的正上方，方便抓取香蕉皮。", + "frame": 91, + "progress": 10, + "progress_explanation": "爪夹向右前方移动，接近香蕉皮的正上方，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，接近香蕉皮的正上方，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动，随后下降，接近香蕉皮。", + "time": 3.044233 + }, + { + "action_description": "爪夹向爪夹的右前方移动并下降。", + "annotations": { + "bbox_1767776502860": { + "instances": [ + { + "height": 0.25213343930025783, + "id": "bbox_1767776502860_1767776708628_4o0cx8xxx", + "width": 0.31857084985555273, + "x": 0.2793882869213896, + "y": 0.3428345643958759 + } + ], + "type": "bbox" + }, + "bbox_1767776508936": { + "instances": [ + { + "height": 0.3111917223795976, + "id": "bbox_1767776508936_1767776703107_igkmuirhv", + "width": 0.4582650193109289, + "x": 0.3151636230014249, + "y": 0.002113700476608541 + } + ], + "type": "bbox" + }, + "point_1767776516711": { + "instances": [ + { + "id": "point_1767776516711_1767776711323_59r0vatzp", + "x": 0.38501070772911294, + "y": 0.5086520515032527 + } + ], + "type": "point" + }, + "point_1767776524280": { + "instances": [ + { + "id": "point_1767776524280_1767776713947_t5ifgk8rs", + "x": 0.6269201231274472, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近黄色纸箱，爪夹下降，香蕉皮在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹向右前方移动，在香蕉皮的正上方，方便抓取香蕉皮。", + "frame": 109, + "progress": 15, + "progress_explanation": "爪夹在香蕉皮的正上方，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的正上方，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹下降，接近香蕉皮。", + "time": 3.6323344729685902 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1767776502860": { + "instances": [ + { + "height": 0.3838788400157078, + "id": "bbox_1767776502860_1767776631109_7y9tyl5m1", + "width": 0.3850107597184755, + "x": 0.26746317489471116, + "y": 0.25197566735073795 + } + ], + "type": "bbox" + }, + "bbox_1767776508936": { + "instances": [ + { + "height": 0.3429923363453958, + "id": "bbox_1767776508936_1767776660412_jsvdj4a35", + "width": 0.517890579444321, + "x": 0.4667829044834795, + "y": 0.0066566453288654385 + } + ], + "type": "bbox" + }, + "point_1767776516711": { + "instances": [ + { + "id": "point_1767776516711_1767776638485_4mi6m6ugl", + "x": 0.38501070772911294, + "y": 0.5086520515032527 + } + ], + "type": "point" + }, + "point_1767776524280": { + "instances": [ + { + "id": "point_1767776524280_1767776640620_54pt1wg6f", + "x": 0.6235129482626819, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近黄色纸箱，爪夹下降，香蕉皮在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹下降，接近了香蕉皮，更加方便抓取香蕉皮。", + "frame": 128, + "progress": 20, + "progress_explanation": "爪夹下降，接近了香蕉皮，因此任务进度提升为20%", + "state_description": "爪夹当前为张开的状态，接近香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 4.257903293817878 + }, + { + "action_description": "爪夹下降至香蕉皮的两侧。", + "annotations": { + "bbox_1767776502860": { + "instances": [ + { + "height": 0.5474248546969562, + "id": "bbox_1767776502860_1767776615150_k03287y8k", + "width": 0.5127798171471731, + "x": 0.12606541800695242, + "y": 0.14975940817495773 + } + ], + "type": "bbox" + }, + "bbox_1767776508936": { + "instances": [ + { + "height": 0.36797853303280875, + "id": "bbox_1767776508936_1767776667972_2obfqj22t", + "width": 0.6081807133606008, + "x": 0.37989994543196504, + "y": 0.00438517290273699 + } + ], + "type": "bbox" + }, + "point_1767776524280": { + "instances": [ + { + "id": "point_1767776524280_1767776622829_8xs2viwpp", + "x": 0.6030698990740903, + "y": 0.5041091066509957 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近黄色纸箱，爪夹下降，香蕉皮在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹紧挨着香蕉皮，确保成功抓取香蕉皮。", + "frame": 159, + "progress": 30, + "progress_explanation": "爪夹紧挨着香蕉皮，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开的状态，紧挨着香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹合拢抓取香蕉皮。", + "time": 5.307244541694101 + }, + { + "action_description": "爪夹合拢抓取香蕉皮。", + "annotations": { + "bbox_1767776502860": { + "instances": [ + { + "height": 0.6382837517420941, + "id": "bbox_1767776502860_1767776607246_62y5tim9y", + "width": 0.340717486476527, + "x": 0.22828066394991056, + "y": 0.05890051112981977 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近黄色纸箱，爪夹下降，香蕉皮在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹成功抓住了香蕉皮，方便后续接近黄色箱子。", + "frame": 190, + "progress": 40, + "progress_explanation": "爪夹成功抓住了香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动接近黄色纸箱。", + "time": 6.333333333333333 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动。", + "annotations": { + "bbox_1767776502860": { + "instances": [ + { + "height": 0.43385123339053383, + "id": "bbox_1767776502860_1767776588933_4y3hcrfv6", + "width": 0.28109192634313485, + "x": 0.2776846994890069, + "y": 0.27241891918589395 + } + ], + "type": "bbox" + }, + "bbox_1767776508936": { + "instances": [ + { + "height": 0.3747929503111941, + "id": "bbox_1767776508936_1767776595814_wsx1jowz7", + "width": 0.31857084985555273, + "x": 0.28960981151568543, + "y": 0.1474879357488293 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动并下降，香蕉皮在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱", + "error_success_analysis": "爪夹向爪夹的右前方移动，接近了黄色箱子，方便香蕉皮落入黄色箱子。", + "frame": 227, + "progress": 60, + "progress_explanation": "爪夹向爪夹的右前方移动，接近了黄色箱子，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢的状态，香蕉皮接近纸箱子，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动并下降，香蕉皮在黄色纸箱的正上方。", + "time": 7.567364152504426 + }, + { + "action_description": "爪夹向爪夹的右前方移动，随后下降。", + "annotations": { + "bbox_1767776502860": { + "instances": [ + { + "height": 0.3475352811976527, + "id": "bbox_1767776502860_1767776572414_48s3wxc3h", + "width": 0.5349264537681473, + "x": 0.2504273005708848, + "y": 0.3337486746913621 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，使香蕉皮落入黄色纸箱", + "error_success_analysis": "爪夹下降，香蕉皮在黄色纸箱的正上方，确保香蕉皮落入黄色纸箱。", + "frame": 244, + "progress": 80, + "progress_explanation": "爪夹下降，香蕉皮在黄色纸箱的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢的状态，香蕉皮在黄色纸箱的正上方，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹松开，使香蕉皮落入黄色纸箱。", + "time": 8.13239405520701 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1767776502860": { + "instances": [ + { + "height": 0.22260429776058804, + "id": "bbox_1767776502860_1767776543855_xsdjqf75q", + "width": 0.10051165851057542, + "x": 0.4310075684034442, + "y": 0.4768514375374544 + } + ], + "type": "bbox" + }, + "bbox_1767776508936": { + "instances": [ + { + "height": 0.404322091850864, + "id": "bbox_1767776508936_1767776555375_45ufycxln", + "width": 0.4088609837718325, + "x": 0.23339142624705844, + "y": 0.3337486746913621 + } + ], + "type": "bbox" + }, + "point_1767776516711": { + "instances": [ + { + "id": "point_1767776516711_1767776537518_grpjt72fi", + "x": 0.4054537569177046, + "y": 0.5086520515032527 + } + ], + "type": "point" + }, + "point_1767776524280": { + "instances": [ + { + "id": "point_1767776524280_1767776535087_3u5sm27f1", + "x": 0.6030698990740903, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，使香蕉皮落入黄色箱子，完成了目标。", + "frame": 269, + "progress": 100, + "progress_explanation": "爪夹张开，使香蕉皮落入黄色箱子。完成了香蕉皮落入黄色箱子的目标任务。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把香蕉皮放进黄色箱子里的任务。", + "time": 8.979938909260882 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767776502860", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767776508936", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767776516711", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767776524280", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-150713-put-banana peel-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-150713-put-banana peel-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..a6ba4d5e851f1bc572b8d6cb00bfca1f0eced4a1 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-150713-put-banana peel-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,454 @@ +{ + "task_description": "把香蕉皮放进黄色纸箱里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近黄色纸箱：60%\n爪夹将香蕉皮放在黄色纸箱的正上方：80%\n爪夹松开香蕉皮落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767779108305": { + "instances": [ + { + "height": 0.2544049117263863, + "id": "bbox_1767779108305_1767779398451_zog8ihiir", + "width": 0.1499156940496719, + "x": 0.5502586886702285, + "y": 0.18837443941914137 + } + ], + "type": "bbox" + }, + "bbox_1767779134352": { + "instances": [ + { + "height": 0.42703681611214844, + "id": "bbox_1767779134352_1767779393483_dscor7153", + "width": 0.23850224053356897, + "x": 0.7529855931237621, + "y": 0.37236370593554574 + } + ], + "type": "bbox" + }, + "point_1767779141985": { + "instances": [ + { + "id": "point_1767779141985_1767779402043_452alcd8i", + "x": 0.3969358197557914, + "y": 0.6381259797925743 + } + ], + "type": "point" + }, + "point_1767779148344": { + "instances": [ + { + "id": "point_1767779148344_1767779404299_6gfwbriv6", + "x": 0.5025582405635147, + "y": 0.6426689246448312 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上抬升调整角度，随后向爪夹右前方移动，下降接近香蕉皮；爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向上抬升调整角度，随后向爪夹右前方移动，下降接近香蕉皮。", + "time": 1.5948491830481186 + }, + { + "action_description": "爪夹向上抬升，爪夹向爪夹的右前方轻微移动。", + "annotations": { + "bbox_1767779108305": { + "instances": [ + { + "height": 0.2544049117263863, + "id": "bbox_1767779108305_1767779380532_3jyhj0k0h", + "width": 0.1482121066172893, + "x": 0.5536658635349938, + "y": 0.1861029669930129 + } + ], + "type": "bbox" + }, + "bbox_1767779134352": { + "instances": [ + { + "height": 0.43612270581666224, + "id": "bbox_1767779134352_1767779385988_ed3c7x0t2", + "width": 0.23339147823642098, + "x": 0.7563927679885274, + "y": 0.3587348713787751 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮；爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹向右前方轻微移动，接近香蕉皮的正上方，方便抓取香蕉皮。", + "frame": 79, + "progress": 10, + "progress_explanation": "爪夹向右前方轻微移动，接近香蕉皮的正上方，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，接近香蕉皮的正上方，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动，随后下降，接近香蕉皮。", + "time": 2.6349689055128667 + }, + { + "action_description": "爪夹向爪夹的右前方移动并下降。", + "annotations": { + "bbox_1767779108305": { + "instances": [ + { + "height": 0.20216104592543196, + "id": "bbox_1767779108305_1767779373436_nc060r82n", + "width": 0.14139775688775869, + "x": 0.562183800696907, + "y": 0.24288977764622413 + } + ], + "type": "bbox" + }, + "bbox_1767779134352": { + "instances": [ + { + "height": 0.4406656506689191, + "id": "bbox_1767779134352_1767779366900_swdriropq", + "width": 0.22316995364212522, + "x": 0.7615035302856753, + "y": 0.3564633989526466 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹下降，接近了香蕉皮，更加方便抓取香蕉皮。", + "frame": 103, + "progress": 20, + "progress_explanation": "爪夹下降，接近了香蕉皮，因此任务进度提升为20%", + "state_description": "爪夹当前为张开的状态，接近香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹合拢抓取香蕉皮。", + "time": 3.4354 + }, + { + "action_description": "爪夹合拢抓取香蕉皮。", + "annotations": { + "bbox_1767779108305": { + "instances": [ + { + "height": 0.29301994297056994, + "id": "bbox_1767779108305_1767779354029_q16cp99t0", + "width": 0.14650851918490665, + "x": 0.5417407515083154, + "y": 0.1474879357488293 + } + ], + "type": "bbox" + }, + "bbox_1767779134352": { + "instances": [ + { + "height": 0.4452085955211761, + "id": "bbox_1767779134352_1767779349029_h2qjdrxy3", + "width": 0.24020582796595152, + "x": 0.7529855931237621, + "y": 0.3519204541003897 + } + ], + "type": "bbox" + }, + "point_1767779148344": { + "instances": [ + { + "id": "point_1767779148344_1767779357540_nl8a83f8t", + "x": 0.6388452351541256, + "y": 0.31103395043007764 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后向爪夹的右方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹成功抓住了香蕉皮，方便后续接近黄色箱子。", + "frame": 144, + "progress": 40, + "progress_explanation": "爪夹成功抓住了香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的右方移动接近黄色纸箱。", + "time": 4.784549665273348 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升。", + "annotations": { + "bbox_1767779108305": { + "instances": [ + { + "height": 0.3407208639192673, + "id": "bbox_1767779108305_1767779319458_gkijhzfqs", + "width": 0.12776905742869768, + "x": 0.7172102570437268, + "y": 0.19291738427139826 + } + ], + "type": "bbox" + }, + "bbox_1767779134352": { + "instances": [ + { + "height": 0.4429371230950475, + "id": "bbox_1767779134352_1767779308253_9khlb3a05", + "width": 0.23168789080403834, + "x": 0.7563927679885275, + "y": 0.34964898167426123 + } + ], + "type": "bbox" + }, + "point_1767779148344": { + "instances": [ + { + "id": "point_1767779148344_1767779339220_9o6lfv98s", + "x": 0.7700214674475885, + "y": 0.39053548534457333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹夹住香蕉皮向上抬升，缩短了与黄色纸箱的距离。", + "frame": 188, + "progress": 50, + "progress_explanation": "爪夹夹住香蕉皮向上抬升，距离上接近了黄色纸箱，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮脱离桌面，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的右侧移动接近黄色纸箱。", + "time": 6.275387934139488 + }, + { + "action_description": "爪夹夹住香蕉皮向爪夹的右侧移动，随后爪夹松开。", + "annotations": { + "bbox_1767779108305": { + "instances": [ + { + "height": 0.16127454225511986, + "id": "bbox_1767779108305_1767779300541_z453vtx2h", + "width": 0.2248735410745078, + "x": 0.6269201231274472, + "y": 0.44277935114552763 + } + ], + "type": "bbox" + }, + "bbox_1767779134352": { + "instances": [ + { + "height": 0.43157976096440526, + "id": "bbox_1767779134352_1767779294752_gnqadxqi9", + "width": 0.23339147823642098, + "x": 0.7597999428532927, + "y": 0.3564633989526466 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降，接近香蕉皮；爪夹下降，随后爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹在接近黄色箱子时松开，高度上远离香蕉皮，需重新抓取。", + "frame": 243, + "progress": 15, + "progress_explanation": "爪夹在接近黄色箱子时松开，使香蕉皮落在桌面上，因此任务进度倒退为15%。", + "state_description": "爪夹当前为张开的状态，爪夹松开，香蕉皮落在桌面上，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹垂直下降，接近香蕉皮。", + "time": 8.1 + }, + { + "action_description": "爪夹下降，随后向右调整角度。", + "annotations": { + "bbox_1767779108305": { + "instances": [ + { + "height": 0.16808895953350528, + "id": "bbox_1767779108305_1767779282662_sw1awd9k3", + "width": 0.19931972958876817, + "x": 0.6269201231274472, + "y": 0.4450508235716561 + } + ], + "type": "bbox" + }, + "bbox_1767779134352": { + "instances": [ + { + "height": 0.4383941782427907, + "id": "bbox_1767779134352_1767779269431_0ji7mt6kc", + "width": 0.23168789080403843, + "x": 0.7563927679885274, + "y": 0.3564633989526466 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降，随后爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹下降，接近了香蕉皮，更加方便抓取香蕉皮。", + "frame": 280, + "progress": 20, + "progress_explanation": "爪夹下降，接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，接近香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹下降，随后爪夹合拢抓取香蕉皮。", + "time": 9.326405786702749 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1767779134352": { + "instances": [ + { + "height": 0.4315797609644053, + "id": "bbox_1767779134352_1767779260910_xw1v8bygm", + "width": 0.23168789080403843, + "x": 0.7563927679885274, + "y": 0.3541919265265181 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后向爪夹的右方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹紧挨着香蕉皮，确保成功抓取香蕉皮。", + "frame": 328, + "progress": 30, + "progress_explanation": "爪夹紧挨着香蕉皮，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开的状态，紧挨着香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹合拢抓取香蕉皮。", + "time": 10.9238 + }, + { + "action_description": "爪夹合拢抓取香蕉皮。", + "annotations": { + "bbox_1767779134352": { + "instances": [ + { + "height": 0.44975154037343296, + "id": "bbox_1767779134352_1767779223256_n5swq53a1", + "width": 0.22998430337165576, + "x": 0.7546891805561448, + "y": 0.34737750924813277 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后向爪夹的右方移动接近黄色纸箱，爪夹下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹成功抓住了香蕉皮，方便后续接近黄色箱子。", + "frame": 373, + "progress": 40, + "progress_explanation": "爪夹成功抓住了香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的右方移动接近黄色纸箱。", + "time": 12.446764954096995 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升，随后向爪夹的右方移动。", + "annotations": { + "bbox_1767779134352": { + "instances": [ + { + "height": 0.4361227058166622, + "id": "bbox_1767779134352_1767779214351_02a7upfsa", + "width": 0.23509506566880364, + "x": 0.7529855931237621, + "y": 0.34964898167426123 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右方移动并下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹向爪夹的右方移动，接近了黄色箱子，方便香蕉皮落入黄色箱子。", + "frame": 408, + "progress": 60, + "progress_explanation": "爪夹向爪夹的右方移动，接近了黄色箱子，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢的状态，香蕉皮接近纸箱子，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的右方移动并下降，香蕉皮放入黄色纸箱。", + "time": 13.590896648808219 + }, + { + "action_description": "爪夹向爪夹的右方移动并下降，香蕉皮放入黄色纸箱。", + "annotations": { + "bbox_1767779134352": { + "instances": [ + { + "height": 0.4542944852256898, + "id": "bbox_1767779134352_1767779193464_1w4n15oei", + "width": 0.3049421503964916, + "x": 0.6848420958284568, + "y": 0.34510603682200436 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，使香蕉皮落入黄色纸箱。", + "error_success_analysis": "爪夹下降并向右移动，香蕉皮在黄色纸箱的正上方，确保香蕉皮落入黄色纸箱。", + "frame": 466, + "progress": 80, + "progress_explanation": "爪夹下降并向右移动，香蕉皮在黄色纸箱的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢的状态，香蕉皮进入纸箱子，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹松开，使香蕉皮落入黄色纸箱。", + "time": 15.532453464075749 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1767779108305": { + "instances": [ + { + "height": 0.10221625917578028, + "id": "bbox_1767779108305_1767779180904_mggi41azd", + "width": 0.14821210661728923, + "x": 0.8347577898781287, + "y": 0.5381811930429224 + } + ], + "type": "bbox" + }, + "bbox_1767779134352": { + "instances": [ + { + "height": 0.45202301279956136, + "id": "bbox_1767779134352_1767779173256_nw6hzowdr", + "width": 0.2419094153983342, + "x": 0.7512820056913795, + "y": 0.3428345643958759 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，使香蕉皮落入黄色箱子，完成了目标。", + "frame": 511, + "progress": 100, + "progress_explanation": "爪夹张开，使香蕉皮落入黄色箱子。完成了香蕉皮落入黄色箱子的目标任务。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把香蕉皮放进黄色箱子里的任务。", + "time": 17.023291732941892 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767779108305", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767779134352", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767779141985", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767779148344", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-150713-put-banana peel-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-150713-put-banana peel-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..e962d763723c9a26909dca495e8a60b7e9d91641 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-150713-put-banana peel-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,784 @@ +{ + "task_description": "把香蕉皮放进黄色纸箱里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近黄色纸箱：60%\n爪夹将香蕉皮放在黄色纸箱的正上方：80%\n爪夹松开香蕉皮落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.21124693562994576, + "id": "bbox_1767840634213_1767840673013_hyhuwsz8c", + "width": 0.1005116585105755, + "x": 0.6524739346131867, + "y": 0.25197566735073795 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.3180061396579829, + "id": "bbox_1767840640493_1767840682364_9l82vub12", + "width": 0.14650851918490648, + "x": 0.8075003909600065, + "y": 0.3541919265265181 + } + ], + "type": "bbox" + }, + "point_1767840648814": { + "instances": [ + { + "id": "point_1767840648814_1767840665421_imtin0aeg", + "x": 0.38501070772911294, + "y": 0.5131949963555096 + } + ], + "type": "point" + }, + "point_1767840653954": { + "instances": [ + { + "id": "point_1767840653954_1767840667699_gsow69eo1", + "x": 0.6252165356950645, + "y": 0.5063805790771242 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹右前方移动，下降接近香蕉皮。", + "time": 1.4045494882243452 + }, + { + "action_description": "爪夹向爪夹的右前方移动，随后轻微下降。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.3021058326750837, + "id": "bbox_1767840634213_1767840709252_6rushejdz", + "width": 0.17546950553541132, + "x": 0.42930398097106154, + "y": 0.16793118758398534 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.40205061942473547, + "id": "bbox_1767840640493_1767840701790_l8j82tmws", + "width": 0.22657712850689055, + "x": 0.683138508396074, + "y": 0.21790358095881118 + } + ], + "type": "bbox" + }, + "point_1767840648814": { + "instances": [ + { + "id": "point_1767840648814_1767840692956_pib1trsup", + "x": 0.3833071202967303, + "y": 0.5109235239293811 + } + ], + "type": "point" + }, + "point_1767840653954": { + "instances": [ + { + "id": "point_1767840653954_1767840695028_jx9oclc3j", + "x": 0.6235129482626819, + "y": 0.5109235239293811 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹向爪夹的右前方移动，缩短了与香蕉皮的距离。", + "frame": 81, + "progress": 10, + "progress_explanation": "爪夹向爪夹的右前方移动，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动，随后下降，接近香蕉皮。", + "time": 2.687666 + }, + { + "action_description": "爪夹向右前方移动，移动过程中下降。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.45202301279956125, + "id": "bbox_1767840634213_1767840723259_yxeugwy89", + "width": 0.25213093999263, + "x": 0.07836496990023865, + "y": 0.20654621882816895 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.8290874355368839, + "id": "bbox_1767840640493_1767840736179_n2xg2s7a8", + "width": 0.44974708214901576, + "x": 0.5332228143464022, + "y": 0.011199590181122338 + } + ], + "type": "bbox" + }, + "point_1767840648814": { + "instances": [ + { + "id": "point_1767840648814_1767840738954_r5mmclozm", + "x": 0.3884178825938782, + "y": 0.5063805790771242 + } + ], + "type": "point" + }, + "point_1767840653954": { + "instances": [ + { + "id": "point_1767840653954_1767840740939_0nmotf5vh", + "x": 0.6201057733979166, + "y": 0.5131949963555096 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动，接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹向右前方移动并下降，更加接近了香蕉皮，方便抓取。", + "frame": 116, + "progress": 15, + "progress_explanation": "爪夹向右前方移动并下降，更加接近了香蕉皮，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，爪夹在香蕉皮的右上方，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的左前方移动，完全接近香蕉皮。", + "time": 3.862513436714038 + }, + { + "action_description": "爪夹下降至黄色玩偶的两侧，爪夹合拢抓住黄色玩偶。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.4747377370608458, + "id": "bbox_1767840634213_1767840749099_n259q83z1", + "width": 0.2862026886402827, + "x": 0.09369725679168237, + "y": 0.2247179982371966 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.7859294594404432, + "id": "bbox_1767840640493_1767840757763_km4ctkhex", + "width": 0.4582650193109289, + "x": 0.5349264017787848, + "y": 0.002113700476608541 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开黄色玩偶，随后轻微向上抬升，向爪夹的左前方移动接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹合拢抓住黄色玩偶，抓取错了目标物，需重新抓取。", + "frame": 166, + "progress": -40, + "progress_explanation": "爪夹合拢抓住黄色玩偶，因此任务进度倒退为-40%。", + "state_description": "爪夹当前为合拢的状态，抓住黄色玩偶，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹松开黄色玩偶，随后轻微向上抬升，向爪夹的左前方移动接近香蕉皮。", + "time": 5.521933 + }, + { + "action_description": "爪夹夹住黄色玩偶向上抬升。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.2998343602489553, + "id": "bbox_1767840634213_1767840764922_jlpr3xycg", + "width": 0.09369730878104492, + "x": 0.3492353716490776, + "y": 0.37009223350941733 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.49745246132213033, + "id": "bbox_1767840640493_1767840770370_ngzxpgj8a", + "width": 0.3083493252612569, + "x": 0.5383335766435502, + "y": 0.18837443941914137 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降黄色玩偶放在桌面上，爪夹松开黄色玩偶，随后轻微向上抬升，向爪夹的左前方移动接近香蕉皮；爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹夹住黄色玩偶向上抬升，爪夹需松开黄色玩偶，重新抓取。", + "frame": 201, + "progress": -50, + "progress_explanation": "爪夹夹住黄色玩偶向上抬升，因此任务进度倒退为-50%。", + "state_description": "爪夹当前为合拢抓住黄色玩偶，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹下降黄色玩偶放在桌面上，随后爪夹松开，轻微向上抬升，向爪夹的左前方移动接近香蕉皮。", + "time": 6.7155073054967165 + }, + { + "action_description": "爪夹松开黄色玩偶。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.40205061942473547, + "id": "bbox_1767840634213_1767840782219_vnjfadgga", + "width": 0.17206233067064608, + "x": 0.4344147432682094, + "y": 0.09751554237400341 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.5201671855834148, + "id": "bbox_1767840640493_1767840778218_pa999szpv", + "width": 0.27427757661360425, + "x": 0.664399046639865, + "y": 0.10660143207851719 + } + ], + "type": "bbox" + }, + "point_1767840648814": { + "instances": [ + { + "id": "point_1767840648814_1767840789418_r7vl12fff", + "x": 0.3867142951614956, + "y": 0.5109235239293811 + } + ], + "type": "point" + }, + "point_1767840653954": { + "instances": [ + { + "id": "point_1767840653954_1767840791290_dtoxccyet", + "x": 0.6218093608302993, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的正前方移动，接近香蕉皮的正上方，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹松开黄色玩偶，远离了香蕉皮，需重新抓取。", + "frame": 230, + "progress": 0, + "progress_explanation": "爪夹松开黄色玩偶，远离了香蕉皮，因此任务进度倒退为0.", + "state_description": "爪夹当前为张开的状态，爪夹接近初始状态，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的正前方移动，接近香蕉皮的正上方。", + "time": 7.672066 + }, + { + "action_description": "爪夹向爪夹的右侧轻微移动，随后向爪夹的左侧轻微移动，然后下降。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.4270368161121484, + "id": "bbox_1767840634213_1767840803954_yzdk9lxbd", + "width": 0.18739461756208983, + "x": 0.4207860438091483, + "y": 0.20654621882816895 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.5542392719753415, + "id": "bbox_1767840640493_1767840815777_bzp7019ao", + "width": 0.29301703836981324, + "x": 0.6541775220455693, + "y": 0.18383149456688447 + } + ], + "type": "bbox" + }, + "point_1767840648814": { + "instances": [ + { + "id": "point_1767840648814_1767840797557_fr1qsi2b2", + "x": 0.38501070772911294, + "y": 0.5086520515032527 + } + ], + "type": "point" + }, + "point_1767840653954": { + "instances": [ + { + "id": "point_1767840653954_1767840795714_j9bdo8yx2", + "x": 0.6218093608302993, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹下降，高度上接近了香蕉皮，方便抓取香蕉皮。", + "frame": 265, + "progress": 15, + "progress_explanation": "爪夹下降，高度上接近了香蕉皮，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，在香蕉皮的正上方，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹下降，接近香蕉皮。", + "time": 8.822333547059309 + }, + { + "action_description": "爪夹竖直下降。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.6700843657078923, + "id": "bbox_1767840634213_1767840829858_7hngd68v6", + "width": 0.2759811640459868, + "x": 0.41397169407961776, + "y": 0.06117198355594822 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.774572097309801, + "id": "bbox_1767840640493_1767840824449_f25ftzbh8", + "width": 0.2419094153983341, + "x": 0.7529855931237621, + "y": 0.07480081811271891 + } + ], + "type": "bbox" + }, + "point_1767840648814": { + "instances": [ + { + "id": "point_1767840648814_1767840836416_3zuapizjo", + "x": 0.3884178825938782, + "y": 0.5109235239293811 + } + ], + "type": "point" + }, + "point_1767840653954": { + "instances": [ + { + "id": "point_1767840653954_1767840838176_z8jjmpaff", + "x": 0.6218093608302993, + "y": 0.5109235239293811 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹下降，更加接近了香蕉皮，更加方便抓取。", + "frame": 286, + "progress": 20, + "progress_explanation": "爪夹下降，更加接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，接近了香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 9.524608960913508 + }, + { + "action_description": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.7109708693782045, + "id": "bbox_1767840634213_1767840845776_u0m8t5yvi", + "width": 0.2844991012079, + "x": 0.42760039353867885, + "y": 0.0066566453288654385 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.7314141212133606, + "id": "bbox_1767840640493_1767840851512_f70bmqkd0", + "width": 0.20272690445353359, + "x": 0.7870573417714148, + "y": 0.14975940817495773 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹合拢抓住了香蕉皮，方便后续接近黄色箱子。", + "frame": 364, + "progress": 40, + "progress_explanation": "爪夹合拢抓住了香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢抓住香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动，接近黄色箱子。", + "time": 12.118933 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.4065935642769924, + "id": "bbox_1767840634213_1767840861392_pjtv5fpx1", + "width": 0.21465201648021193, + "x": 0.3935286448910261, + "y": 0.3019480607255638 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.35434969847603803, + "id": "bbox_1767840640493_1767840874008_k1ysdx9me", + "width": 0.32879237444984855, + "x": 0.23850218854420632, + "y": 0.3587348713787751 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹向爪夹的右前方移动，接近了黄色箱子，方便香蕉皮落入箱子。", + "frame": 415, + "progress": 60, + "progress_explanation": "爪夹向爪夹的右前方移动，接近了黄色箱子，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢状态，爪夹在箱子的上方，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹轻微向右前方移动，随后爪夹下降，将香蕉皮放入黄色纸箱。", + "time": 13.82604587077047 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.2453190220218725, + "id": "bbox_1767840634213_1767840887311_yqciuvs1q", + "width": 0.214652016480212, + "x": 0.06473627044117757, + "y": 0.3746351783616742 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.5224386580095433, + "id": "bbox_1767840640493_1767840882209_jdyxzef1p", + "width": 0.3713820602594144, + "x": 0.2930169863804507, + "y": 0.136130573618187 + } + ], + "type": "bbox" + }, + "point_1767840648814": { + "instances": [ + { + "id": "point_1767840648814_1767840889263_at0xagi2s", + "x": 0.4054537569177046, + "y": 0.5063805790771242 + } + ], + "type": "point" + }, + "point_1767840653954": { + "instances": [ + { + "id": "point_1767840653954_1767840891256_64xyh0o7k", + "x": 0.5894411996150292, + "y": 0.5109235239293811 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动，随后下降接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹松开，香蕉皮落在桌面上，爪夹回到了初始状态。", + "frame": 496, + "progress": 0, + "progress_explanation": "爪夹松开，香蕉皮落在桌面上，因此任务进度倒退为0.", + "state_description": "爪夹当前为张开的状态，远离香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的左前方移动，随后下降接近香蕉皮。", + "time": 16.547363099455488 + }, + { + "action_description": "爪夹向爪夹的左前方移动，随后下降接近香蕉皮。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.5406104374185708, + "id": "bbox_1767840634213_1767840905319_d8j0ydku0", + "width": 0.35775336080035336, + "x": 0.2419093634089716, + "y": 0.00438517290273699 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.7245997039349753, + "id": "bbox_1767840640493_1767840911095_mkvlf0ze7", + "width": 0.294720625802196, + "x": 0.6967672078551351, + "y": 0.1770170772884991 + } + ], + "type": "bbox" + }, + "point_1767840648814": { + "instances": [ + { + "id": "point_1767840648814_1767840898270_xtmqydp5d", + "x": 0.4105645192148525, + "y": 0.515466468781638 + } + ], + "type": "point" + }, + "point_1767840653954": { + "instances": [ + { + "id": "point_1767840653954_1767840896184_bf3qd45wf", + "x": 0.5979591367769423, + "y": 0.5131949963555096 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹向左前方移动并下降，接近了香蕉皮，方便抓取。", + "frame": 529, + "progress": 20, + "progress_explanation": "爪夹向左前方移动并下降，接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，接近香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "time": 17.64466843360267 + }, + { + "action_description": "爪夹下降至香蕉皮的两侧，爪夹合拢抓住香蕉皮。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.6814417278385346, + "id": "bbox_1767840634213_1767840925750_hkjtiogh1", + "width": 0.31686726242317004, + "x": 0.23679860111182377, + "y": 0.029371369590149927 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.6087546102024245, + "id": "bbox_1767840640493_1767840936687_jwa8od1c1", + "width": 0.34753183620605765, + "x": 0.6439559974512734, + "y": 0.32693425741297677 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到香蕉皮。", + "frame": 583, + "progress": 40, + "progress_explanation": "爪夹下降成功抓住香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢抓住香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动，接近黄色箱子。", + "time": 19.424499 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右前方移动。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.3225490845102397, + "id": "bbox_1767840634213_1767840949390_3z030l2k8", + "width": 0.27598116404598694, + "x": 0.2810918743537722, + "y": 0.37236370593554574 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向爪夹的右前方移动并下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹向爪夹的右前方移动并向上抬升，接近了黄色箱子，方便香蕉皮落入箱子，", + "frame": 622, + "progress": 60, + "progress_explanation": "爪夹向爪夹的右前方移动并向上抬升，接近了黄色箱子，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢抓住香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹夹住香蕉皮向爪夹的右前方移动并下降，将香蕉皮放在黄色纸箱的正上方。", + "time": 20.717123369214786 + }, + { + "action_description": "爪夹向右前方移动，随后下降。", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.3475352811976527, + "id": "bbox_1767840634213_1767840959438_6i2larv6x", + "width": 0.28449910120790006, + "x": 0.2725739371918591, + "y": 0.3564633989526466 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.4701947922085889, + "id": "bbox_1767840640493_1767840966485_fuzg9ysmm", + "width": 0.36286412309750127, + "x": 0.13628694260124824, + "y": 0.31330542285620605 + } + ], + "type": "bbox" + }, + "point_1767840653954": { + "instances": [ + { + "id": "point_1767840653954_1767840969774_e429p216b", + "x": 0.5212977023197237, + "y": 0.5018376342248673 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹向右前方移动并下降，更加方便香蕉皮落入箱子里。", + "frame": 655, + "progress": 80, + "progress_explanation": "爪夹向右前方移动并下降，香蕉皮在黄色纸箱的正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢抓住香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹松开，香蕉皮落入箱子里。", + "time": 21.843399 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1767840634213": { + "instances": [ + { + "height": 0.2589478565786432, + "id": "bbox_1767840634213_1767840997885_n8bzhu260", + "width": 0.13799058202299347, + "x": 0.23339142624705844, + "y": 0.45640818570229835 + } + ], + "type": "bbox" + }, + "bbox_1767840640493": { + "instances": [ + { + "height": 0.5428819098446992, + "id": "bbox_1767840640493_1767841003197_ma8b8m0uz", + "width": 0.4139717460689803, + "x": 0.11925106827742189, + "y": 0.2133606361065543 + } + ], + "type": "bbox" + }, + "point_1767840648814": { + "instances": [ + { + "id": "point_1767840648814_1767840991301_r5buas1qw", + "x": 0.4258968061062962, + "y": 0.5086520515032527 + } + ], + "type": "point" + }, + "point_1767840653954": { + "instances": [ + { + "id": "point_1767840653954_1767840989245_dmfspf2j1", + "x": 0.580923262453116, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，香蕉皮落入黄色纸箱。", + "frame": 681, + "progress": 100, + "progress_explanation": "爪夹张开，香蕉皮落入黄色纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把香蕉皮放进黄色纸箱里的任务。", + "time": 22.69227297067972 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767840634213", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767840640493", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767840648814", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767840653954", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-150713-put-banana peel-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-150713-put-banana peel-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..3a40e4090eec0b67da2f0cade7e23d5e3489b583 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-150713-put-banana peel-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,610 @@ +{ + "task_description": "把香蕉皮放进黄色纸箱里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近黄色纸箱：60%\n爪夹将香蕉皮放在黄色纸箱的正上方：80%\n爪夹松开香蕉皮落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767843040873": { + "instances": [ + { + "height": 0.1612745422551199, + "id": "bbox_1767843040873_1767843311436_z45jaetap", + "width": 0.17035874323826353, + "x": 0.7035815575846657, + "y": 0.2656045019075086 + } + ], + "type": "bbox" + }, + "bbox_1767843047193": { + "instances": [ + { + "height": 0.3157346672318544, + "id": "bbox_1767843047193_1767843306355_tlkkv75se", + "width": 0.1499156940496718, + "x": 0.8177219155543023, + "y": 0.20654621882816895 + } + ], + "type": "bbox" + }, + "point_1767843054976": { + "instances": [ + { + "id": "point_1767843054976_1767843297573_q0f0hsysf", + "x": 0.3833071202967303, + "y": 0.5109235239293811 + } + ], + "type": "point" + }, + "point_1767843062304": { + "instances": [ + { + "id": "point_1767843062304_1767843299649_3iwkkdep3", + "x": 0.6218093608302993, + "y": 0.5063805790771242 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右侧移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹右前方移动，下降接近香蕉皮。", + "time": 1.9360468673471654 + }, + { + "action_description": "爪夹向上抬升，爪夹向爪夹的右前方轻微移动。", + "annotations": { + "bbox_1767843040873": { + "instances": [ + { + "height": 0.2407760771696156, + "id": "bbox_1767843040873_1767843286701_rjjxftk59", + "width": 0.20272690445353359, + "x": 0.45145061759203575, + "y": 0.20881769125429742 + } + ], + "type": "bbox" + }, + "bbox_1767843047193": { + "instances": [ + { + "height": 0.2703052187092854, + "id": "bbox_1767843047193_1767843293275_y1jte670a", + "width": 0.2998313880993438, + "x": 0.5042618279958975, + "y": 0.0066566453288654385 + } + ], + "type": "bbox" + }, + "point_1767843054976": { + "instances": [ + { + "id": "point_1767843054976_1767843279558_wwzpplzjk", + "x": 0.3833071202967303, + "y": 0.515466468781638 + } + ], + "type": "point" + }, + "point_1767843062304": { + "instances": [ + { + "id": "point_1767843062304_1767843277532_djf79adxj", + "x": 0.6201057733979166, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右侧移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹向右前方轻微移动，接近香蕉皮，方便抓取香蕉皮。", + "frame": 95, + "progress": 10, + "progress_explanation": "爪夹向右前方轻微移动，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，接近香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动，随后下降，接近香蕉皮。", + "time": 3.1784 + }, + { + "action_description": "爪夹向爪夹的右前方移动并下降。", + "annotations": { + "bbox_1767843040873": { + "instances": [ + { + "height": 0.31573466723185445, + "id": "bbox_1767843040873_1767843269508_z9ai8rrf6", + "width": 0.2572417022897779, + "x": 0.32538514759572074, + "y": 0.3928069577707018 + } + ], + "type": "bbox" + }, + "bbox_1767843047193": { + "instances": [ + { + "height": 0.41113650912924926, + "id": "bbox_1767843047193_1767843262389_e495gjk5p", + "width": 0.44974708214901565, + "x": 0.36797483340528664, + "y": 0.0066566453288654385 + } + ], + "type": "bbox" + }, + "point_1767843054976": { + "instances": [ + { + "id": "point_1767843054976_1767843271661_tdng9d9tn", + "x": 0.3867142951614956, + "y": 0.515466468781638 + } + ], + "type": "point" + }, + "point_1767843062304": { + "instances": [ + { + "id": "point_1767843062304_1767843273636_c0vcu8a2n", + "x": 0.6252165356950645, + "y": 0.5131949963555096 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右侧移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹下降，接近了香蕉皮，更加方便抓取香蕉皮。", + "frame": 133, + "progress": 20, + "progress_explanation": "爪夹向爪夹的右前方移动并下降，接近了香蕉皮，因此任务进度提升为20%", + "state_description": "爪夹当前为张开的状态，接近香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹合拢抓取香蕉皮。", + "time": 4.420533 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767843040873": { + "instances": [ + { + "height": 0.3634355881805518, + "id": "bbox_1767843040873_1767843244697_7uoc8oeon", + "width": 0.29131345093743055, + "x": 0.29301698638045065, + "y": 0.3337486746913621 + } + ], + "type": "bbox" + }, + "bbox_1767843047193": { + "instances": [ + { + "height": 0.38842178486796475, + "id": "bbox_1767843047193_1767843255484_ylcdq0ri7", + "width": 0.5059654674176425, + "x": 0.3321994973252513, + "y": 0.0066566453288654385 + } + ], + "type": "bbox" + }, + "point_1767843054976": { + "instances": [ + { + "id": "point_1767843054976_1767843239405_30jfdxq3e", + "x": 0.49744747826636687, + "y": 0.5063805790771242 + } + ], + "type": "point" + }, + "point_1767843062304": { + "instances": [ + { + "id": "point_1767843062304_1767843236469_3gtzd3n2y", + "x": 0.5144833525901932, + "y": 0.5063805790771242 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右侧移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹合拢，没有抓住香蕉皮，需重新抓取。", + "frame": 173, + "progress": 30, + "progress_explanation": "爪夹合拢，紧挨着香蕉皮，因此任务进度提升为30%。", + "state_description": "爪夹当前为合拢的状态，爪夹紧挨着香蕉皮，为完成为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹张开，爪夹合拢抓取香蕉皮。", + "time": 5.772266 + }, + { + "action_description": "爪夹向上抬升。", + "annotations": { + "bbox_1767843040873": { + "instances": [ + { + "height": 0.18626073894253287, + "id": "bbox_1767843040873_1767843219454_mtj4p99g2", + "width": 0.2504273525602473, + "x": 0.3816035328643477, + "y": 0.3769066507878026 + } + ], + "type": "bbox" + }, + "bbox_1767843047193": { + "instances": [ + { + "height": 0.4065935642769924, + "id": "bbox_1767843047193_1767843213013_xmqmbqbjg", + "width": 0.3560497733679708, + "x": 0.45145061759203575, + "y": 0.011199590181122338 + } + ], + "type": "bbox" + }, + "point_1767843054976": { + "instances": [ + { + "id": "point_1767843054976_1767843227197_soke1bn4q", + "x": 0.49574389083398424, + "y": 0.5086520515032527 + } + ], + "type": "point" + }, + "point_1767843062304": { + "instances": [ + { + "id": "point_1767843062304_1767843230829_n92x58d5d", + "x": 0.5161869400225758, + "y": 0.5041091066509957 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，随后下降接近香蕉皮，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右侧移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹向上抬升，远离了香蕉皮，需重新接近香蕉皮", + "frame": 214, + "progress": 15, + "progress_explanation": "爪夹向上抬升，远离了香蕉皮，因此任务进度倒退为15%。", + "state_description": "爪夹当前为合拢的状态，爪夹在香蕉皮的上方，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹张开，随后下降接近香蕉皮，爪夹合拢抓取香蕉皮", + "time": 7.142266 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1767843040873": { + "instances": [ + { + "height": 0.1953466286470467, + "id": "bbox_1767843040873_1767843194702_cz387td3h", + "width": 0.24872376512786473, + "x": 0.39012147002626085, + "y": 0.39734990262295866 + } + ], + "type": "bbox" + }, + "bbox_1767843047193": { + "instances": [ + { + "height": 0.399779146998607, + "id": "bbox_1767843047193_1767843205118_guhyarhjm", + "width": 0.3134600875584049, + "x": 0.5178905274549586, + "y": 0.054357566277562865 + } + ], + "type": "bbox" + }, + "point_1767843054976": { + "instances": [ + { + "id": "point_1767843054976_1767843188998_zdye6nb5c", + "x": 0.38501070772911294, + "y": 0.5109235239293811 + } + ], + "type": "point" + }, + "point_1767843062304": { + "instances": [ + { + "id": "point_1767843062304_1767843187134_xaixccx7r", + "x": 0.6252165356950645, + "y": 0.5131949963555096 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整角度，下降接近香蕉皮，爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右侧移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹张开，回到了初始状态。", + "frame": 261, + "progress": 0, + "progress_explanation": "爪夹张开，因此任务进度倒退为0.", + "state_description": "爪夹当前为张开的状态，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹调整角度，下降接近香蕉皮。", + "time": 8.695807222686668 + }, + { + "action_description": "爪夹调整角度，随后下降。", + "annotations": { + "bbox_1767843040873": { + "instances": [ + { + "height": 0.34299233634539583, + "id": "bbox_1767843040873_1767843177977_93fhsoc54", + "width": 0.2810919263431348, + "x": 0.3594568962433734, + "y": 0.33147720226523364 + } + ], + "type": "bbox" + }, + "bbox_1767843047193": { + "instances": [ + { + "height": 0.3634355881805519, + "id": "bbox_1767843047193_1767843170598_rmcrdcyn7", + "width": 0.4684865439052247, + "x": 0.39523223232340876, + "y": 0.013471062607250785 + } + ], + "type": "bbox" + }, + "point_1767843054976": { + "instances": [ + { + "id": "point_1767843054976_1767843180879_xn8yygcix", + "x": 0.3867142951614956, + "y": 0.5086520515032527 + } + ], + "type": "point" + }, + "point_1767843062304": { + "instances": [ + { + "id": "point_1767843062304_1767843183070_42vz1ta82", + "x": 0.6218093608302993, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取香蕉皮，爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右侧移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹下降，接近香蕉皮，方便抓取香蕉皮。", + "frame": 300, + "progress": 20, + "progress_explanation": "爪夹下降，接近香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，接近香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹合拢抓取香蕉皮。", + "time": 10.008382048966185 + }, + { + "action_description": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮。", + "annotations": { + "bbox_1767843040873": { + "instances": [ + { + "height": 0.2657622738570285, + "id": "bbox_1767843040873_1767843151511_6v3eyax60", + "width": 0.3679748853946492, + "x": 0.3202743852985729, + "y": 0.3587348713787751 + } + ], + "type": "bbox" + }, + "bbox_1767843047193": { + "instances": [ + { + "height": 0.3248205569363682, + "id": "bbox_1767843047193_1767843161824_juu9trllb", + "width": 0.4957439428233467, + "x": 0.37819635799958246, + "y": 0.008928117754993888 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的右侧移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到香蕉皮。", + "frame": 340, + "progress": 40, + "progress_explanation": "爪夹下降成功抓住香蕉皮，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢抓住香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹夹住香蕉皮向上抬升，随后向爪夹的右前方移动，接近黄色箱子。", + "time": 11.320956875245699 + }, + { + "action_description": "爪夹夹住香蕉皮向上抬升。", + "annotations": { + "bbox_1767843040873": { + "instances": [ + { + "height": 0.27257669113541383, + "id": "bbox_1767843040873_1767843143983_516lrqfpn", + "width": 0.3049421503964917, + "x": 0.38160353286434767, + "y": 0.38826401291844487 + } + ], + "type": "bbox" + }, + "bbox_1767843047193": { + "instances": [ + { + "height": 0.3634355881805519, + "id": "bbox_1767843047193_1767843136663_rpuv33lps", + "width": 0.31857084985555284, + "x": 0.4889295411044537, + "y": 0.03164284201627838 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹夹住香蕉皮向上抬升，缩短了与黄色纸箱的距离。", + "frame": 395, + "progress": 50, + "progress_explanation": "爪夹夹住香蕉皮向上抬升，距离上接近了黄色纸箱，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住香蕉皮脱离桌面，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动接近黄色纸箱。", + "time": 13.170266 + }, + { + "action_description": "爪夹夹住香蕉皮轻微向上抬升，随后爪夹向爪夹的右前方移动。", + "annotations": { + "bbox_1767843040873": { + "instances": [ + { + "height": 0.2612193290047717, + "id": "bbox_1767843040873_1767843119952_9gpz0zryr", + "width": 0.3730856476917971, + "x": 0.3151636230014249, + "y": 0.3905354853445733 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住香蕉皮下降，将香蕉皮放在黄色纸箱的正上方，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹向爪夹的右前方移动并向上抬升，接近了黄色箱子，方便香蕉皮落入箱子。", + "frame": 415, + "progress": 60, + "progress_explanation": "爪夹向爪夹的右前方移动并向上抬升，接近了黄色箱子，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢抓住香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹夹住香蕉皮向爪夹的右前方移动并下降，将香蕉皮放在黄色纸箱的正上方。", + "time": 13.847663415833766 + }, + { + "action_description": "爪夹向右前方移动，随后下降。", + "annotations": { + "bbox_1767843040873": { + "instances": [ + { + "height": 0.24986196687412937, + "id": "bbox_1767843040873_1767843098592_cqa1u1bus", + "width": 0.39863945917753657, + "x": 0.3066456858395118, + "y": 0.3859925404923164 + } + ], + "type": "bbox" + }, + "bbox_1767843047193": { + "instances": [ + { + "height": 0.37252147788506557, + "id": "bbox_1767843047193_1767843107479_ydzsqn11e", + "width": 0.3117565001260222, + "x": 0.26746317489471116, + "y": 0.44732229599778456 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹向右前方移动并下降，更加方便香蕉皮落入箱子里。", + "frame": 439, + "progress": 80, + "progress_explanation": "爪夹向右前方移动并下降，香蕉皮在箱子正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢抓住香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹松开，香蕉皮落入箱子里。", + "time": 14.6316 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1767843040873": { + "instances": [ + { + "height": 0.18853221136866125, + "id": "bbox_1767843040873_1767843089051_1gstq6hwj", + "width": 0.13287981972584553, + "x": 0.2776846994890069, + "y": 0.470037020259069 + } + ], + "type": "bbox" + }, + "bbox_1767843047193": { + "instances": [ + { + "height": 0.41340798155537767, + "id": "bbox_1767843047193_1767843079730_kyv51cw4x", + "width": 0.36627129796226654, + "x": 0.17035869124890096, + "y": 0.3769066507878026 + } + ], + "type": "bbox" + }, + "point_1767843054976": { + "instances": [ + { + "id": "point_1767843054976_1767843073737_4z8ifidjp", + "x": 0.4395255055653573, + "y": 0.5131949963555096 + } + ], + "type": "point" + }, + "point_1767843062304": { + "instances": [ + { + "id": "point_1767843062304_1767843071840_kdsxk0bw0", + "x": 0.5655909755616723, + "y": 0.5041091066509957 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，香蕉皮落入黄色纸箱。", + "frame": 468, + "progress": 100, + "progress_explanation": "爪夹张开，香蕉皮落入黄色纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把香蕉皮放进黄色纸箱里的任务。", + "time": 15.586825060654125 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767843040873", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767843047193", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767843054976", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767843062304", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-151934-put-banana peel-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-151934-put-banana peel-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..1ff5f8b72cb3c14fb58f5d1fd5ecb11534460b3f --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-151934-put-banana peel-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,352 @@ +{ + "task_description": "把香蕉皮放进黄色纸箱里\n准备开始移动：0%\n爪夹接近香蕉皮：20%\n爪夹抓取香蕉皮：40%\n爪夹抓紧香蕉皮接近黄色纸箱：60%\n爪夹将香蕉皮放入黄色纸箱：80%\n爪夹松开香蕉皮落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的正前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放入黄色箱子，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触香蕉皮，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹右前方移动，下降接近香蕉皮。", + "time": 1.7139514840481151, + "annotations": { + "bbox_1767849322192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849322192_1767849479115_hmcv2x113", + "x": 0.6712133963693956, + "y": 0.3769066507878026, + "width": 0.12947264486108026, + "height": 0.27484816356154235 + } + ] + }, + "bbox_1767849327709": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849327709_1767849483969_l58h7fv92", + "x": 0.650770347180804, + "y": 0.04072873172079217, + "width": 0.28620268864028275, + "height": 0.39523620214635014 + } + ] + }, + "point_1767849343078": { + "type": "point", + "instances": [ + { + "id": "point_1767849343078_1767849487049_bi8f1k27m", + "x": 0.5485551012378459, + "y": 0.6426689246448312 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升，爪夹向爪夹的右前方轻微移动。", + "correction_plan": "爪夹向爪夹右前方移动，下降接近香蕉皮，爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的正前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放入黄色箱子，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹向右前方轻微移动，接近香蕉皮，方便抓取香蕉皮。", + "frame": 74, + "progress": 10, + "progress_explanation": "爪夹向右前方轻微移动，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动，随后下降，接近香蕉皮。", + "time": 2.4625742339329615, + "annotations": { + "bbox_1767849327709": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849327709_1767849448418_w4z4ukfax", + "x": 0.6609918717750999, + "y": 0.03391431444240683, + "width": 0.28279551377551737, + "height": 0.40205061942473547 + } + ] + }, + "bbox_1767849322192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849322192_1767849469060_inbeh6yuz", + "x": 0.6763241586665435, + "y": 0.4177931544581147, + "width": 0.131176232293463, + "height": 0.23169018746510178 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右前方移动并下降。", + "correction_plan": "爪夹下降至香蕉皮的两侧，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的正前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放入黄色箱子，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹下降，接近了香蕉皮，更加方便抓取香蕉皮。", + "frame": 104, + "progress": 20, + "progress_explanation": "爪夹向爪夹的右前方移动并下降，接近了香蕉皮，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，接近香蕉皮，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹下降至香蕉皮两侧，爪夹合拢抓取香蕉皮。", + "time": 3.465466, + "annotations": { + "bbox_1767849327709": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849327709_1767849439458_lkj2fn1uw", + "x": 0.655881109477952, + "y": 0.03391431444240683, + "width": 0.2862026886402827, + "height": 0.40205061942473547 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的正前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放入黄色箱子，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹紧挨着香蕉皮，更加方便抓取香蕉皮。", + "frame": 120, + "progress": 30, + "progress_explanation": "爪夹紧挨着香蕉皮，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开的状态，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹合拢抓取香蕉皮。", + "time": 4.0138, + "annotations": { + "bbox_1767849322192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849322192_1767849424955_hnice3sk4", + "x": 0.69336003299037, + "y": 0.42233609931037164, + "width": 0.10221524594295808, + "height": 0.23169018746510178 + } + ] + }, + "bbox_1767849327709": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849327709_1767849430387_6o40gfjbi", + "x": 0.650770347180804, + "y": 0.04072873172079217, + "width": 0.28620268864028275, + "height": 0.39069325729409327 + } + ] + } + } + }, + { + "action_description": "爪夹下降，随后合拢抓住黄色玩偶。", + "correction_plan": "爪夹松开黄色玩偶，随后轻微向上抬升，向爪夹的右侧移动接近香蕉皮，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的正前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放入黄色箱子，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹合拢抓住黄色玩偶，抓取错了目标物，需重新抓取。", + "frame": 144, + "progress": -10, + "progress_explanation": "爪夹合拢抓住黄色玩偶，因此任务进度倒退为-10%。", + "state_description": "爪夹当前为合拢的状态，抓住黄色玩偶，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹松开黄色玩偶，随后轻微向上抬升，向爪夹的右侧移动接近香蕉皮。", + "time": 4.787244878312221, + "annotations": { + "bbox_1767849327709": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849327709_1767849411805_geckklrz4", + "x": 0.6592882843427172, + "y": 0.04072873172079217, + "width": 0.2844991012079, + "height": 0.39296472972022173 + } + ] + }, + "bbox_1767849322192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849322192_1767849416900_7n7r7cpcg", + "x": 0.7052851450170483, + "y": 0.4177931544581147, + "width": 0.09540089621342754, + "height": 0.23169018746510178 + } + ] + } + } + }, + { + "action_description": "爪夹夹住黄色玩偶向上抬升。", + "correction_plan": "爪夹下降黄色玩偶放在桌面上，随后爪夹松开，轻微向上抬升，向爪夹的右侧移动接近香蕉皮，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的正前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放入黄色箱子，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹夹住黄色玩偶向上抬升，爪夹需松开黄色玩偶，重新抓取。", + "frame": 186, + "progress": -20, + "progress_explanation": "爪夹夹住黄色玩偶向上抬升，因此任务进度倒退为-20%。", + "state_description": "爪夹当前为合拢抓住黄色玩偶，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹下降黄色玩偶放在桌面上，随后爪夹松开，轻微向上抬升，向爪夹的右侧移动接近香蕉皮。", + "time": 6.205687983357193, + "annotations": { + "bbox_1767849327709": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849327709_1767849396973_kl01v9lvx", + "x": 0.6473631723160388, + "y": 0.036185786868535276, + "width": 0.29642421323457846, + "height": 0.39523620214635014 + } + ] + }, + "bbox_1767849322192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849322192_1767849401534_tp86054v6", + "x": 0.6592882843427172, + "y": 0.42233609931037164, + "width": 0.11584394540201917, + "height": 0.22487577018671648 + } + ] + } + } + }, + { + "action_description": "爪夹夹住黄色玩偶向上抬升，随后向爪夹的右前方移动。", + "correction_plan": "爪夹下降黄色玩偶放在桌面上，随后爪夹松开，轻微向上抬升，向爪夹的右前方移动接近香蕉皮，爪夹下降，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的正前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放入黄色箱子，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹抓取错误的物体，导致爪夹做出错误的动作。", + "frame": 214, + "progress": -30, + "progress_explanation": "爪夹夹住黄色玩偶向右前方移动，水平上接近了黄色纸箱，因此任务进度倒退为-30%。", + "state_description": "爪夹当前为合拢抓住黄色玩偶，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹下降黄色玩偶放在桌面上，随后爪夹松开，轻微向上抬升，向爪夹的右前方移动接近香蕉皮。", + "time": 7.1393, + "annotations": { + "bbox_1767849322192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849322192_1767849381308_4fk0omoqz", + "x": 0.6064770739388555, + "y": 0.3950784301968302, + "width": 0.19591255472400312, + "height": 0.2044325183515604 + } + ] + }, + "bbox_1767849327709": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849327709_1767849387764_6byea79q6", + "x": 0.6524739346131867, + "y": 0.04072873172079217, + "width": 0.29131345093743055, + "height": 0.39523620214635014 + } + ] + } + } + }, + { + "action_description": "爪夹向右前方移动，随后下降。", + "correction_plan": "爪夹松开，轻微向上抬升，向爪夹的左后方移动接近香蕉皮，爪夹下降，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的正前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放入黄色箱子，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹夹住黄色玩偶向右前方移动并下降，黄色玩偶进入箱子里，爪夹需重新抓取。", + "frame": 237, + "progress": -40, + "progress_explanation": "爪夹夹住黄色玩偶向右前方移动并下降，因此任务进度倒退为-40%。", + "state_description": "爪夹当前为合拢抓住黄色玩偶，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹松开，轻微向上抬升，向爪夹的左后方移动接近香蕉皮。", + "time": 7.899939469938688, + "annotations": { + "bbox_1767849327709": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849327709_1767849370572_87tv8kw6o", + "x": 0.6592882843427172, + "y": 0.029371369590149927, + "width": 0.28620268864028275, + "height": 0.40886503670312085 + } + ] + }, + "bbox_1767849322192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849322192_1767849374653_ffk6p5zmd", + "x": 0.6132914236683861, + "y": 0.39734990262295866, + "width": 0.18909820499447258, + "height": 0.20670399077768883 + } + ] + } + } + }, + { + "action_description": "爪夹松开", + "correction_plan": "爪夹向上抬升，向爪夹的左后方移动接近香蕉皮，爪夹下降，爪夹合拢抓取香蕉皮；爪夹夹住香蕉皮向上抬升，随后爪夹向爪夹的正前方移动，接近黄色箱子，爪夹夹住香蕉皮下降，将香蕉皮放入黄色箱子，爪夹松开，香蕉皮落入黄色箱子。", + "error_success_analysis": "爪夹抓取错误的物体，导致爪夹做出错误的动作。", + "frame": 265, + "progress": -50, + "progress_explanation": "爪夹松开，黄色玩偶落入箱子，因此任务进度倒退为-50%。", + "state_description": "爪夹当前为张开的状态，为完成把香蕉皮放进黄色纸箱里的任务，应当：爪夹向上抬升，向爪夹的左后方移动接近香蕉皮。", + "time": 8.828166, + "annotations": { + "bbox_1767849322192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849322192_1767849355352_djhgx1yji", + "x": 0.6081806613712382, + "y": 0.3928069577707018, + "width": 0.19591255472400304, + "height": 0.20670399077768883 + } + ] + }, + "bbox_1767849327709": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767849327709_1767849363356_az0ai0eer", + "x": 0.6541775220455693, + "y": 0.03391431444240683, + "width": 0.2896098635050479, + "height": 0.40432209185086393 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767849322192", + "name": "香蕉皮", + "color": "#4CAF50" + }, + { + "id": "bbox_1767849327709", + "name": "黄色箱子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767849337805", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767849343078", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-153240-put-toilet paper-yellow-cardboard box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-153240-put-toilet paper-yellow-cardboard box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..5afab03d4ce2e5f2654b570ef0bb1fb5610245ab --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-153240-put-toilet paper-yellow-cardboard box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,454 @@ +{ + "task_description": "把卫生纸放进黄色纸箱里\n准备开始移动：0%\n爪夹接近卫生纸：20%\n爪夹抓取卫生纸：40%\n爪夹抓紧卫生纸接近黄色纸箱：60%\n爪夹将卫生纸放在黄色纸箱的正上方：80%\n爪夹松开卫生纸落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767851748627": { + "instances": [ + { + "height": 0.11130214888029405, + "id": "bbox_1767851748627_1767851973869_nwh6rjggl", + "width": 0.07155067216007067, + "x": 0.7120994947465789, + "y": 0.5381811930429224 + } + ], + "type": "bbox" + }, + "bbox_1767851755452": { + "instances": [ + { + "height": 0.30210583267508373, + "id": "bbox_1767851755452_1767851961710_ml0c0p3jw", + "width": 0.21294842904782935, + "x": 0.6814349209636914, + "y": 0.1951888566975267 + } + ], + "type": "bbox" + }, + "point_1767851763923": { + "instances": [ + { + "id": "point_1767851763923_1767851976229_6ryrgfbij", + "x": 0.39863940718817403, + "y": 0.5109235239293811 + } + ], + "type": "point" + }, + "point_1767851770605": { + "instances": [ + { + "id": "point_1767851770605_1767851979037_waw6byet9", + "x": 0.6064770739388555, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹右前方移动，下降接近香卫生纸，爪夹下降至卫生纸的两侧，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "", + "frame": 65, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触卫生纸，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向上抬升，随后向爪夹右前方移动，下降接近卫生纸。", + "time": 2.1801190149458463 + }, + { + "action_description": "爪夹向上抬升，随后向爪夹右前方移动。", + "annotations": { + "bbox_1767851748627": { + "instances": [ + { + "height": 0.16808895953350522, + "id": "bbox_1767851748627_1767851939246_tqki5zbhx", + "width": 0.10221524594295817, + "x": 0.6047734865064729, + "y": 0.42460757173650004 + } + ], + "type": "bbox" + }, + "bbox_1767851755452": { + "instances": [ + { + "height": 0.34526380877152424, + "id": "bbox_1767851755452_1767851952030_xhqynd9i5", + "width": 0.30664573782887433, + "x": 0.44633985529488784, + "y": 0.049814621425305974 + } + ], + "type": "bbox" + }, + "point_1767851763923": { + "instances": [ + { + "id": "point_1767851763923_1767851941945_domrfvqy0", + "x": 0.39863940718817403, + "y": 0.5131949963555096 + } + ], + "type": "point" + }, + "point_1767851770605": { + "instances": [ + { + "id": "point_1767851770605_1767851943918_bxejnhmat", + "x": 0.6132914236683861, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近香卫生纸，爪夹下降至卫生纸的两侧，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向爪夹右前方移动，缩短了与卫生纸的距离。", + "frame": 89, + "progress": 10, + "progress_explanation": "爪夹向爪夹右前方移动，水平上接近了卫生纸，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，开始接近卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向右前方移动，随后下降，接近卫生纸。", + "time": 2.962933 + }, + { + "action_description": "爪夹向爪夹右前方移动，随后下降。", + "annotations": { + "bbox_1767851748627": { + "instances": [ + { + "height": 0.24759049444800094, + "id": "bbox_1767851748627_1767851928151_1czislgi7", + "width": 0.14139775688775869, + "x": 0.4565613798891836, + "y": 0.34964898167426123 + } + ], + "type": "bbox" + }, + "bbox_1767851755452": { + "instances": [ + { + "height": 0.3021058326750837, + "id": "bbox_1767851755452_1767851921550_owfucbg1r", + "width": 0.4429327324194851, + "x": 0.14650846719554406, + "y": 0.00438517290273699 + } + ], + "type": "bbox" + }, + "point_1767851763923": { + "instances": [ + { + "id": "point_1767851763923_1767851914407_aaxtd49d2", + "x": 0.39863940718817403, + "y": 0.5177379412077665 + } + ], + "type": "point" + }, + "point_1767851770605": { + "instances": [ + { + "id": "point_1767851770605_1767851911959_1nunjvpuk", + "x": 0.6132914236683861, + "y": 0.5041091066509957 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降至卫生纸的两侧，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了卫生纸，方便抓取。", + "frame": 108, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了卫生纸，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，爪夹在卫生纸上方，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向右前方移动，随后下降，接近卫生纸。", + "time": 3.5942506566753396 + }, + { + "action_description": "爪夹下降至卫生纸的两侧。", + "annotations": { + "bbox_1767851748627": { + "instances": [ + { + "height": 0.32709202936249665, + "id": "bbox_1767851748627_1767851901983_x8b7lb972", + "width": 0.20783766675068152, + "x": 0.39523223232340876, + "y": 0.3587348713787751 + } + ], + "type": "bbox" + }, + "bbox_1767851755452": { + "instances": [ + { + "height": 0.3089202499534691, + "id": "bbox_1767851755452_1767851894751_ap507rp8f", + "width": 0.49915111768811216, + "x": 0.006814297740167979, + "y": 0.002113700476608541 + } + ], + "type": "bbox" + }, + "point_1767851763923": { + "instances": [ + { + "id": "point_1767851763923_1767851904407_ui022ohid", + "x": 0.39863940718817403, + "y": 0.5245523584861519 + } + ], + "type": "point" + }, + "point_1767851770605": { + "instances": [ + { + "id": "point_1767851770605_1767851906239_i3ytc8ame", + "x": 0.6081806613712382, + "y": 0.5041091066509957 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹下降，更加接近卫生纸，更加容易抓取成功。", + "frame": 132, + "progress": 30, + "progress_explanation": "爪夹下降，更加接近卫生纸，因此任务进度提升为30%。", + "state_description": "爪夹当前为张开的状态，爪夹在卫生纸上方，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹合拢抓取卫生纸。", + "time": 4.384266 + }, + { + "action_description": "爪夹合拢抓住卫生纸。", + "annotations": { + "bbox_1767851748627": { + "instances": [ + { + "height": 0.2521334393002579, + "id": "bbox_1767851748627_1767851878495_cz5lsoxyq", + "width": 0.24702017769548207, + "x": 0.4105645192148525, + "y": 0.3928069577707018 + } + ], + "type": "bbox" + }, + "bbox_1767851755452": { + "instances": [ + { + "height": 0.2975628878228268, + "id": "bbox_1767851755452_1767851885095_66vmspjts", + "width": 0.4735973062023725, + "x": 0.011925060037315884, + "y": 0.008928117754993888 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到卫生纸。", + "frame": 161, + "progress": 40, + "progress_explanation": "爪夹成功抓住卫生纸，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的右前方移动，接近黄色箱子。", + "time": 5.361915208837207 + }, + { + "action_description": "爪夹夹住卫生纸向上抬升。", + "annotations": { + "bbox_1767851748627": { + "instances": [ + { + "height": 0.24077607716961555, + "id": "bbox_1767851748627_1767851868767_heeyjipcf", + "width": 0.2589452897221605, + "x": 0.4054537569177046, + "y": 0.38599254049231646 + } + ], + "type": "bbox" + }, + "bbox_1767851755452": { + "instances": [ + { + "height": 0.3248205569363682, + "id": "bbox_1767851755452_1767851862584_kikb55gkt", + "width": 0.43271120782518935, + "x": 0.20954120219370154, + "y": 0.0066566453288654385 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向上抬升，爪夹向爪夹的右前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向上抬升，水平上接近了黄色箱子，方便后续卫生纸落入黄色箱子。", + "frame": 207, + "progress": 50, + "progress_explanation": "爪夹向上抬升，水平上接近了黄色箱子，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向上抬升，随后爪夹的右前方移动，接近黄色箱子。", + "time": 6.913531871290401 + }, + { + "action_description": "爪夹向上抬升，爪夹向爪夹的右前方移动。", + "annotations": { + "bbox_1767851748627": { + "instances": [ + { + "height": 0.3111917223795976, + "id": "bbox_1767851748627_1767851841110_v7f8r1d87", + "width": 0.26235246458692574, + "x": 0.40204658205293936, + "y": 0.38826401291844487 + } + ], + "type": "bbox" + }, + "bbox_1767851755452": { + "instances": [ + { + "height": 0.4156794539815062, + "id": "bbox_1767851755452_1767851849064_m0lf8m8ww", + "width": 0.3270887870174659, + "x": 0.2776846994890069, + "y": 0.3360201471174905 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向爪夹的右前方移动，方便讲卫生纸放入黄色纸箱。", + "frame": 224, + "progress": 60, + "progress_explanation": "爪夹向爪夹的右前方移动，接近了箱子，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动，爪夹轻微下降，接近黄色箱子。", + "time": 7.4831126714314475 + }, + { + "action_description": "爪夹向爪夹的右前方移动，爪夹夹住卫生纸下降。", + "annotations": { + "bbox_1767851748627": { + "instances": [ + { + "height": 0.29529141539669834, + "id": "bbox_1767851748627_1767851831553_5dzjunza6", + "width": 0.2589452897221605, + "x": 0.4054537569177046, + "y": 0.38599254049231646 + } + ], + "type": "bbox" + }, + "bbox_1767851755452": { + "instances": [ + { + "height": 0.4656518473563321, + "id": "bbox_1767851755452_1767851817257_yla6lxc43", + "width": 0.4156753335013629, + "x": 0.24190936340897165, + "y": 0.3564633989526466 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向右前方移动并下降，确保卫生纸落入黄色箱子里。", + "frame": 235, + "progress": 80, + "progress_explanation": "爪夹向右前方移动并下降，卫生纸在箱子正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹松开，卫生纸落入黄色箱子。", + "time": 7.8170048646175765 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1767851748627": { + "instances": [ + { + "height": 0.2044325183515604, + "id": "bbox_1767851748627_1767851798025_wqyitg9k5", + "width": 0.12606546999631502, + "x": 0.43271115583582676, + "y": 0.49048027209422507 + } + ], + "type": "bbox" + }, + "bbox_1767851755452": { + "instances": [ + { + "height": 0.5292530752879286, + "id": "bbox_1767851755452_1767851806729_o1c59e2u4", + "width": 0.46848654390522465, + "x": 0.24872371313850214, + "y": 0.21108916368042585 + } + ], + "type": "bbox" + }, + "point_1767851763923": { + "instances": [ + { + "id": "point_1767851763923_1767851791810_mcu13dinu", + "x": 0.4224896312415309, + "y": 0.5086520515032527 + } + ], + "type": "point" + }, + "point_1767851770605": { + "instances": [ + { + "id": "point_1767851770605_1767851789828_ynviaklp3", + "x": 0.580923262453116, + "y": 0.5063805790771242 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，卫生纸落入黄色纸箱。", + "frame": 263, + "progress": 100, + "progress_explanation": "爪夹张开，卫生纸落入黄色纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把卫生纸放进黄色纸箱里的任务。", + "time": 8.779400009683483 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767851748627", + "name": "卫生纸" + }, + { + "color": "#FF9800", + "id": "bbox_1767851755452", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767851763923", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767851770605", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-154310-put-toilet paper-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-154310-put-toilet paper-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..e5833d2785b08f0c4fad3a6a17bde1e23084ad3b --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-154310-put-toilet paper-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,412 @@ +{ + "task_description": "把卫生纸放进黄色纸箱里\n准备开始移动：0%\n爪夹接近卫生纸：20%\n爪夹抓取卫生纸：40%\n爪夹抓紧卫生纸接近黄色纸箱：60%\n爪夹将卫生纸放在黄色纸箱的正上方：80%\n爪夹松开卫生纸落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767865747804": { + "instances": [ + { + "height": 0.09767331432352329, + "id": "bbox_1767865747804_1767865980538_mevq7kahd", + "width": 0.11414035796963651, + "x": 0.47359725421301, + "y": 0.5290953033384087 + } + ], + "type": "bbox" + }, + "bbox_1767865754460": { + "instances": [ + { + "height": 0.4156794539815062, + "id": "bbox_1767865754460_1767865970296_cwguy9jpo", + "width": 0.31005291269363955, + "x": 0.1533228169250746, + "y": 0.27241891918589395 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹右前方移动，下降接近卫生纸，爪夹下降至卫生纸的两侧，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触卫生纸，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向上抬升，随后向爪夹右前方移动，下降接近卫生纸。", + "time": 1.3693995835806259 + }, + { + "action_description": "爪夹向上抬升，随后向爪夹右前方移动，下降接近卫生纸。", + "annotations": { + "bbox_1767865747804": { + "instances": [ + { + "height": 0.0931303694712664, + "id": "bbox_1767865747804_1767865955386_eqgbyi8a5", + "width": 0.11414035796963659, + "x": 0.46848649191586206, + "y": 0.5313667757645372 + } + ], + "type": "bbox" + }, + "bbox_1767865754460": { + "instances": [ + { + "height": 0.4179509264076346, + "id": "bbox_1767865754460_1767865961272_2ou4mg8a0", + "width": 0.32879237444984855, + "x": 0.13287976773648297, + "y": 0.2678759743336371 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降至卫生纸的两侧，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了卫生纸，方便抓取。", + "frame": 103, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了卫生纸，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，爪夹在卫生纸上方，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹下降，随后爪夹合拢抓取卫生纸。", + "time": 3.4488605608739045 + }, + { + "action_description": "爪夹轻微下降，随后爪夹合拢抓取卫生纸。", + "annotations": { + "bbox_1767865747804": { + "instances": [ + { + "height": 0.10675920402803704, + "id": "bbox_1767865747804_1767865948724_56eg77knb", + "width": 0.12265829513154972, + "x": 0.4667829044834795, + "y": 0.5290953033384087 + } + ], + "type": "bbox" + }, + "bbox_1767865754460": { + "instances": [ + { + "height": 0.4202223988337631, + "id": "bbox_1767865754460_1767865940929_nuexfg2zf", + "width": 0.2827955137755175, + "x": 0.16524792895175305, + "y": 0.26333302948138015 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到卫生纸。", + "frame": 183, + "progress": 40, + "progress_explanation": "爪夹合拢抓住卫生纸，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹夹住卫生纸向上抬升，随后向左前方移动，接近黄色箱子。", + "time": 6.086225702806841 + }, + { + "action_description": "爪夹夹住卫生纸向上抬升，向爪夹的左前方轻微移动。", + "annotations": { + "bbox_1767865754460": { + "instances": [ + { + "height": 0.38842178486796475, + "id": "bbox_1767865754460_1767865929760_53tyiz7tr", + "width": 0.2402058279659515, + "x": 0.21465196449084947, + "y": 0.29513364344717846 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住卫生纸下降，将卫生纸放入黄色箱子，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向上抬升，爪夹的左前方移动，缩短了与黄色箱子的距离。", + "frame": 230, + "progress": 50, + "progress_explanation": "爪夹向上抬升，爪夹的左前方移动，水平上接近了黄色箱子，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢的状态，爪夹夹住卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向左前方移动，接近箱子的正上方。", + "time": 7.651233 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1767865754460": { + "instances": [ + { + "height": 0.3975076745724786, + "id": "bbox_1767865754460_1767865917089_r7l75s3ww", + "width": 0.26064887715454316, + "x": 0.18909815300510993, + "y": 0.27923333646427934 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降，接近卫生纸，爪夹下降至卫生纸的两侧，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "夹紧的卫生纸掉落桌面上，水平和高度上远离了卫生纸。需重新抓取卫生纸。", + "frame": 293, + "progress": 15, + "progress_explanation": "夹紧的卫生纸掉落桌面，远离了卫生纸。需重新抓取卫生纸，因此进度降低为 15%", + "state_description": "爪夹当前为张开的状态，爪夹在卫生纸的上方，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹垂直下降，接近卫生纸。", + "time": 9.766666666666667 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1767865754460": { + "instances": [ + { + "height": 0.41113650912924926, + "id": "bbox_1767865754460_1767865906465_ys5kz1akr", + "width": 0.3083493252612569, + "x": 0.16013716665460515, + "y": 0.27241891918589395 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向左侧移动，接近卫生纸，爪夹下降至卫生纸的两侧，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹下降，接近了茶杯，需重新接近卫生纸。", + "frame": 338, + "progress": -10, + "progress_explanation": "爪夹下降，接近了茶杯，因此任务进度倒退为-10%。", + "state_description": "爪夹当前为张开的状态，爪夹在卫生纸的右后方，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向左侧移动，接近卫生纸。", + "time": 11.265099 + }, + { + "action_description": "爪夹下降，随后爪夹合拢抓住茶杯向上抬升，向右侧方向移动。", + "annotations": { + "bbox_1767865754460": { + "instances": [ + { + "height": 0.40886503670312085, + "id": "bbox_1767865754460_1767865894617_dl0gzcuct", + "width": 0.3185708498555528, + "x": 0.1482120546279267, + "y": 0.2769618640381509 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开茶杯，随后向爪夹的左前方移动，接近卫生纸，爪夹下降至卫生纸的两侧，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹抓取错误的物品并移动，爪夹需重新抓取。", + "frame": 400, + "progress": -20, + "progress_explanation": "爪夹抓取错误的物品并移动，因此任务进度倒退为-20%。", + "state_description": "爪夹当前为合拢的状态，爪夹远离了卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹松开茶杯，随后向爪夹的左前方移动，接近卫生纸。", + "time": 13.333333333333334 + }, + { + "action_description": "爪夹向上抬升，随后爪夹张开。", + "annotations": { + "bbox_1767865754460": { + "instances": [ + { + "height": 0.4179509264076346, + "id": "bbox_1767865754460_1767865875634_s3ku0u76m", + "width": 0.32879237444984855, + "x": 0.1396941174660135, + "y": 0.2678759743336371 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动，接近卫生纸，爪夹下降至卫生纸的两侧，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹张开，需重新接近卫生纸并抓取。", + "frame": 453, + "progress": 5, + "progress_explanation": "爪夹张开，茶杯掉落，因此任务进度提升为5%。", + "state_description": "爪夹当前为张开状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的左前方移动，接近卫生纸。", + "time": 15.104833 + }, + { + "action_description": "爪夹向上抬升，随后向爪夹的左前方移动，接着下降。", + "annotations": { + "bbox_1767865754460": { + "instances": [ + { + "height": 0.40205061942473547, + "id": "bbox_1767865754460_1767865864394_9okbyjo4r", + "width": 0.30664573782887433, + "x": 0.15672999178983987, + "y": 0.2837762813165362 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的左前方轻微移动，接近卫生纸，爪夹下降至卫生纸的两侧，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向上抬升又向左前方移动，接近了卫生纸，方便抓取卫生纸。", + "frame": 495, + "progress": 10, + "progress_explanation": "爪夹向上抬升又向左前方移动，接近了卫生纸，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，爪夹接近卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向左侧轻微移动，接近卫生纸。", + "time": 16.516499 + }, + { + "action_description": "爪夹下降，接着向左侧轻微移动。", + "annotations": { + "bbox_1767865754460": { + "instances": [ + { + "height": 0.4156794539815062, + "id": "bbox_1767865754460_1767865855083_cqb139lrz", + "width": 0.32538519958508333, + "x": 0.1482120546279267, + "y": 0.2678759743336371 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹下降接近了卫生纸，方便抓取卫生纸。", + "frame": 545, + "progress": 20, + "progress_explanation": "爪夹下降接近了卫生纸，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，爪夹几乎接近了卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹合拢抓取卫生纸。", + "time": 18.15724308319221 + }, + { + "action_description": "爪夹先是轻微下降，随后向上抬升，爪夹合拢抓住卫生纸。", + "annotations": { + "bbox_1767865754460": { + "instances": [ + { + "height": 0.41113650912924926, + "id": "bbox_1767865754460_1767865845594_d34rls1ih", + "width": 0.33560672417937915, + "x": 0.13799053003363088, + "y": 0.2746903916120224 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹合拢爪夹，抓取到了卫生纸。", + "frame": 650, + "progress": 40, + "progress_explanation": "爪夹成功夹住卫生纸，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹夹住卫生纸向上抬升，随后向爪夹的左前方移动，接近箱子。", + "time": 21.65682375229553 + }, + { + "action_description": "爪夹向上抬升，接着爪夹向爪夹的右侧移动，随后向左侧移动。", + "annotations": { + "bbox_1767865754460": { + "instances": [ + { + "height": 0.43839417824279064, + "id": "bbox_1767865754460_1767865831082_v17119k5n", + "width": 0.2657596394516911, + "x": 0.2129483770584668, + "y": 0.2451612500723526 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向左移动至黄色箱子的正上方，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹先向右侧移动，随后向左侧移动，接近了黄色箱子。", + "frame": 700, + "progress": 60, + "progress_explanation": "爪夹先向右侧移动，随后向左侧移动，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，接近黄色箱子，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向左移动至黄色箱子的正上方，随后下降，将将卫生纸放在黄色纸箱的正上方。", + "time": 23.330536246214514 + }, + { + "action_description": "爪夹向左移动至黄色箱子的正上方，随后下降。", + "annotations": { + "bbox_1767865754460": { + "instances": [ + { + "height": 0.42703681611214844, + "id": "bbox_1767865754460_1767865810083_1pwcv04ug", + "width": 0.29301703836981324, + "x": 0.18398739070796202, + "y": 0.2565186122029948 + } + ], + "type": "bbox" + }, + "point_1767865765564": { + "instances": [ + { + "id": "point_1767865765564_1767865820266_6j5skhant", + "x": 0.3492353716490776, + "y": 0.38144959564005954 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹夹紧卫生纸，向下垂直移动。将将卫生纸放在黄色纸箱的正上方。", + "frame": 720, + "progress": 80, + "progress_explanation": "爪夹夹紧卫生纸，向下垂直移动。将卫生纸放在黄色纸箱的正上方。因此进度提升为 80%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹松开，卫生纸落入黄色箱子。", + "time": 23.989877531697747 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1767865754460": { + "instances": [ + { + "height": 0.4156794539815062, + "id": "bbox_1767865754460_1767865800860_073i52bym", + "width": 0.24531659026309946, + "x": 0.2265770765175279, + "y": 0.2678759743336371 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，卫生纸落入黄色纸箱。", + "frame": 762, + "progress": 100, + "progress_explanation": "爪夹张开，卫生纸落入黄色纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把卫生纸放进黄色纸箱里的任务。", + "time": 25.409997223507787 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767865747804", + "name": "卫生纸" + }, + { + "color": "#FF9800", + "id": "bbox_1767865754460", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767865760782", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767865765564", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-154310-put-toilet paper-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-154310-put-toilet paper-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..a011ec5b06fb875d42dde02cdf402d85aa2fd584 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-154310-put-toilet paper-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,534 @@ +{ + "task_description": "把卫生纸放进黄色纸箱里\n准备开始移动：0%\n爪夹接近卫生纸：20%\n爪夹抓取卫生纸：40%\n爪夹抓紧卫生纸接近黄色纸箱：60%\n爪夹将卫生纸放在黄色纸箱的正上方：80%\n爪夹松开卫生纸落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹准备移动。", + "annotations": { + "bbox_1767925551397": { + "instances": [ + { + "height": 0.13174540071545002, + "id": "bbox_1767925551397_1767925835496_axtuy2e1j", + "width": 0.09029013391627964, + "x": 0.6047734865064729, + "y": 0.5518100275996932 + } + ], + "type": "bbox" + }, + "bbox_1767925557652": { + "instances": [ + { + "height": 0.3520782260499095, + "id": "bbox_1767925557652_1767925846934_0hnowobp7", + "width": 0.29983138809934373, + "x": 0.32538514759572074, + "y": 0.1861029669930129 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向上抬升，随后向爪夹右前方移动，下降接近卫生纸，爪夹下降至卫生纸的两侧，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触卫生纸，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向上抬升，随后向爪夹右前方移动，下降接近卫生纸。", + "time": 1.557184235030498 + }, + { + "action_description": "爪夹向上抬升，随后向爪夹的右前方移动。", + "annotations": { + "bbox_1767925551397": { + "instances": [ + { + "height": 0.12720245586319312, + "id": "bbox_1767925551397_1767925827966_7l54remio", + "width": 0.08517937161913176, + "x": 0.6081806613712382, + "y": 0.5495385551735648 + } + ], + "type": "bbox" + }, + "bbox_1767925557652": { + "instances": [ + { + "height": 0.35434969847603803, + "id": "bbox_1767925557652_1767925819480_5l548hht2", + "width": 0.2998313880993438, + "x": 0.32027438529857283, + "y": 0.1770170772884991 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近卫生纸，爪夹下降至卫生纸的两侧，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹水平上接近了卫生纸，方便抓取卫生纸。", + "frame": 87, + "progress": 10, + "progress_explanation": "爪夹向上抬升并向右前方移动，水平上接近了卫生纸，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，水平上接近了卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹右前方移动，下降接近卫生纸。", + "time": 2.8919147431349983 + }, + { + "action_description": "爪夹向爪夹的右前方轻微移动，随后下降。", + "annotations": { + "bbox_1767925557652": { + "instances": [ + { + "height": 0.3293635017886251, + "id": "bbox_1767925557652_1767925810407_kop20u9hv", + "width": 0.3049421503964917, + "x": 0.32538514759572074, + "y": 0.1861029669930129 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动，随后爪夹合拢抓取卫生纸，爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向爪夹的右前方轻微移动，更加方便抓取卫生纸。", + "frame": 127, + "progress": 15, + "progress_explanation": "爪夹向爪夹的右前方轻微移动，更加接近了卫生纸，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，爪夹在卫生纸的右侧，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的左前方移动，随后爪夹合拢抓取卫生纸。", + "time": 4.226645251239498 + }, + { + "action_description": "爪夹合拢抓取棕色物品。", + "annotations": { + "bbox_1767925557652": { + "instances": [ + { + "height": 0.3316349742147536, + "id": "bbox_1767925557652_1767925778143_cv8k1hdg7", + "width": 0.3100529126936396, + "x": 0.3236815601633381, + "y": 0.18383149456688447 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，向爪夹的左前方移动，接近卫生纸，爪夹合拢抓取卫生纸，爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹合拢抓取错了物品，应抓取卫生纸，爪夹需重新抓取。", + "frame": 181, + "progress": -10, + "progress_explanation": "爪夹合拢抓取错了物品，未抓取卫生纸，因此任务进度倒退为-10%。", + "state_description": "爪夹当前为合拢状态，爪夹在卫生纸的右后方，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹松开棕色物品，向爪夹的左前方移动，接近卫生纸。", + "time": 6.033333333333333 + }, + { + "action_description": "爪夹夹住棕色物品向上抬升，随后向爪夹的左侧轻微移动。", + "annotations": { + "bbox_1767925551397": { + "instances": [ + { + "height": 0.13174540071545002, + "id": "bbox_1767925551397_1767925762736_rj86r684j", + "width": 0.0834757841867491, + "x": 0.6098842488036208, + "y": 0.5563529724519501 + } + ], + "type": "bbox" + }, + "bbox_1767925557652": { + "instances": [ + { + "height": 0.3498067536237811, + "id": "bbox_1767925557652_1767925768687_19n81axgy", + "width": 0.2964242132345785, + "x": 0.32538514759572074, + "y": 0.18837443941914137 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降随后松开棕色物品，向爪夹的左前方移动，接近卫生纸，爪夹合拢抓取卫生纸，爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹夹住棕色物品，没有抓取卫生纸，需重新抓取卫生纸。", + "frame": 226, + "progress": -20, + "progress_explanation": "爪夹夹住棕色物品向上抬升并轻微移动，未接近卫生纸，因此任务进度倒退为-20%。", + "state_description": "爪夹当前为合拢状态，爪夹未接近卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹下降随后松开棕色物品，向爪夹的左前方移动，接近卫生纸。", + "time": 7.518980504563932 + }, + { + "action_description": "爪夹抓住棕色物品向爪夹的左侧移动。", + "annotations": { + "bbox_1767925551397": { + "instances": [ + { + "height": 0.12265951101093625, + "id": "bbox_1767925551397_1767925750210_cj3div2vb", + "width": 0.09029013391627974, + "x": 0.6047734865064729, + "y": 0.5586244448780786 + } + ], + "type": "bbox" + }, + "bbox_1767925557652": { + "instances": [ + { + "height": 0.3725214778850656, + "id": "bbox_1767925557652_1767925745065_naxmmga26", + "width": 0.31175650012602224, + "x": 0.3236815601633381, + "y": 0.1724741324362422 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，爪夹向爪夹的右前方移动，随后下降，接近卫生纸，爪夹合拢抓取卫生纸，爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹抓住错误物品向爪夹的左侧移动，更加远离了卫生纸，爪夹应松开，接近卫生纸。", + "frame": 255, + "progress": -30, + "progress_explanation": "爪夹抓住错误物品向爪夹的左侧移动，因此任务进度倒退为-20%。", + "state_description": "爪夹当前为合拢状态，爪夹未接近卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹张开，爪夹向爪夹的右前方移动，随后下降，接近卫生纸。", + "time": 8.494966 + }, + { + "action_description": "爪夹张开，向爪夹的右侧移动。", + "annotations": { + "bbox_1767925551397": { + "instances": [ + { + "height": 0.11811656615867937, + "id": "bbox_1767925551397_1767925729249_9hvhl2q80", + "width": 0.07325425959245332, + "x": 0.6201057733979166, + "y": 0.5631673897303354 + } + ], + "type": "bbox" + }, + "bbox_1767925557652": { + "instances": [ + { + "height": 0.30892024995346906, + "id": "bbox_1767925557652_1767925735840_901k26kee", + "width": 0.30494215039649164, + "x": 0.3270887350281034, + "y": 0.181560022140756 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，随后下降，接近卫生纸，爪夹合拢抓取卫生纸，爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹张开，并向右侧移动，接近了卫生纸。", + "frame": 300, + "progress": 15, + "progress_explanation": "爪夹张开，并向右侧移动，缩短了与卫生纸的距离，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，爪夹接近了卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动并下降，随后爪夹合拢抓取卫生纸。", + "time": 10 + }, + { + "action_description": "爪夹向爪夹的右前方轻微移动，随后下降。", + "annotations": { + "bbox_1767925551397": { + "instances": [ + { + "height": 0.12265951101093625, + "id": "bbox_1767925551397_1767925720329_zvt6waqgl", + "width": 0.088586546483897, + "x": 0.6166985985331513, + "y": 0.560895917304207 + } + ], + "type": "bbox" + }, + "bbox_1767925557652": { + "instances": [ + { + "height": 0.3520782260499096, + "id": "bbox_1767925557652_1767925708592_yhed1x3ci", + "width": 0.30494215039649164, + "x": 0.328792322460486, + "y": 0.17474560486237067 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，接近卫生纸，爪夹合拢抓取卫生纸，爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹接近了错误物品，爪夹需重新向爪夹的右前方移动，接近卫生纸。", + "frame": 364, + "progress": -15, + "progress_explanation": "爪夹向爪夹的右前方轻微移动，随后下降，接近错了物品，因此任务进度倒退为-15%。", + "state_description": "爪夹当前为张开的状态，爪夹未接近卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动，接近卫生纸。", + "time": 12.146046265992865 + }, + { + "action_description": "爪夹轻微下降，随后爪夹合拢抓取白色物体。", + "annotations": { + "bbox_1767925551397": { + "instances": [ + { + "height": 0.11130214888029405, + "id": "bbox_1767925551397_1767925691361_plzagyidq", + "width": 0.07836502188960122, + "x": 0.6149950111007687, + "y": 0.5745247518609776 + } + ], + "type": "bbox" + }, + "bbox_1767925557652": { + "instances": [ + { + "height": 0.36797853303280875, + "id": "bbox_1767925557652_1767925698969_2auhz7g8v", + "width": 0.31686726242317015, + "x": 0.3185707978661902, + "y": 0.16338824273172842 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，爪夹向爪夹的右前方移动，接近卫生纸，爪夹合拢抓取卫生纸，爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹抓取错误物体，没有抓取卫生纸，需重新接近卫生纸并抓取。", + "frame": 419, + "progress": -20, + "progress_explanation": "爪夹抓取错误物体，没有抓取卫生纸，因此任务进度倒退为-20%。", + "state_description": "爪夹当前为合拢状态，爪夹并未抓取卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹松开白色物品，向爪夹的右前方移动，接近卫生纸。", + "time": 13.966666666666667 + }, + { + "action_description": "爪夹夹住白色物品向上抬升，随后向爪夹的左前方移动。", + "annotations": { + "bbox_1767925551397": { + "instances": [ + { + "height": 0.11584509373255093, + "id": "bbox_1767925551397_1767925683259_rtyq34e1h", + "width": 0.09710448364581019, + "x": 0.6030698990740903, + "y": 0.560895917304207 + } + ], + "type": "bbox" + }, + "bbox_1767925557652": { + "instances": [ + { + "height": 0.3498067536237811, + "id": "bbox_1767925557652_1767925677193_m5hxmozqa", + "width": 0.3049421503964917, + "x": 0.32538514759572074, + "y": 0.18837443941914137 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，爪夹向爪夹的右侧移动，接近卫生纸，爪夹合拢抓取卫生纸，爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹抓取错误物体，需松开爪夹，接近卫生纸。", + "frame": 467, + "progress": -30, + "progress_explanation": "爪夹抓取错误物体，向左前方移动接近箱子，因此任务进度倒退为-30%。", + "state_description": "爪夹当前为合拢状态，爪夹远离卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹松开白色物品，向爪夹的右侧移动并下降，接近卫生纸。", + "time": 15.553466 + }, + { + "action_description": "爪夹张开，轻微向右侧移动。", + "annotations": { + "bbox_1767925551397": { + "instances": [ + { + "height": 0.13401687314157845, + "id": "bbox_1767925551397_1767925658357_6ltz4mxlj", + "width": 0.09880807107819285, + "x": 0.599662724209325, + "y": 0.5495385551735648 + } + ], + "type": "bbox" + }, + "bbox_1767925557652": { + "instances": [ + { + "height": 0.3498067536237811, + "id": "bbox_1767925557652_1767925667354_7o114rlc8", + "width": 0.3100529126936396, + "x": 0.3236815601633381, + "y": 0.1861029669930129 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，随后下降，接近卫生纸，爪夹合拢抓取卫生纸，爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹张开，轻微移动，水平上接近了卫生纸。", + "frame": 504, + "progress": 10, + "progress_explanation": "爪夹张开，轻微移动，轻微缩短了与卫生纸的距离，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，爪夹在卫生纸的上方，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动并下降，随后爪夹合拢抓取卫生纸。", + "time": 16.816566 + }, + { + "action_description": "爪夹向爪夹右前方移动，移动过程中下降。", + "annotations": { + "bbox_1767925551397": { + "instances": [ + { + "height": 0.12265951101093625, + "id": "bbox_1767925551397_1767925650562_cxxhpkuyx", + "width": 0.08517937161913176, + "x": 0.6081806613712382, + "y": 0.5631673897303354 + } + ], + "type": "bbox" + }, + "bbox_1767925557652": { + "instances": [ + { + "height": 0.3202776120841114, + "id": "bbox_1767925557652_1767925644123_3xji0aica", + "width": 0.3151636749907875, + "x": 0.32027438529857283, + "y": 0.18837443941914137 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降至卫生纸的两侧，爪夹合拢抓取卫生纸，爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向右前方移动并下降，接近了卫生纸，方便抓取卫生纸。", + "frame": 558, + "progress": 20, + "progress_explanation": "爪夹向右前方移动并下降，接近了卫生纸，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，爪夹在卫生纸的正上方，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹下降至卫生纸的两侧，随后爪夹合拢抓取卫生纸。", + "time": 18.59724372183128 + }, + { + "action_description": "爪夹下降至卫生纸的两侧，爪夹合拢抓取卫生纸。", + "annotations": { + "bbox_1767925557652": { + "instances": [ + { + "height": 0.33390644664088204, + "id": "bbox_1767925557652_1767925631515_hfbfsapab", + "width": 0.30494215039649164, + "x": 0.328792322460486, + "y": 0.1724741324362422 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左前方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹合拢爪夹，抓取到了卫生纸。", + "frame": 601, + "progress": 40, + "progress_explanation": "爪夹成功夹住卫生纸，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹夹住卫生纸向上抬升，随后向爪夹的左前方移动，接近箱子。", + "time": 20.020956263809413 + }, + { + "action_description": "爪夹向上抬升，接着爪夹向爪夹的左前方移动。", + "annotations": { + "bbox_1767925557652": { + "instances": [ + { + "height": 0.36116411575442336, + "id": "bbox_1767925557652_1767925617603_xs2vmkewj", + "width": 0.2947206258021959, + "x": 0.33560667219001655, + "y": 0.1770170772884991 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向上抬升并向左前方移动，接近了箱子，方便将卫生纸放入箱子。", + "frame": 647, + "progress": 60, + "progress_explanation": "爪夹向上抬升并向左前方移动，接近了箱子，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，接近黄色箱子，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向左移动至黄色箱子的正上方，随后下降，将卫生纸放入箱子。", + "time": 21.578141856598 + }, + { + "action_description": "爪夹向左移动至黄色箱子的正上方，随后下降。", + "annotations": { + "bbox_1767925557652": { + "instances": [ + { + "height": 0.3520782260499095, + "id": "bbox_1767925557652_1767925606003_m3xw4lq9a", + "width": 0.2947206258021959, + "x": 0.33560667219001655, + "y": 0.18383149456688447 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹下降，使卫生纸在箱子正上方，确保卫生纸落入黄色纸箱。", + "frame": 669, + "progress": 80, + "progress_explanation": "爪夹下降，使卫生纸在箱子正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，卫生纸在黄色箱子正上方，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹松开，使卫生纸落入黄色纸箱里。", + "time": 22.28999812758706 + }, + { + "action_description": "爪夹松开，随后向后方移动。", + "annotations": { + "bbox_1767925557652": { + "instances": [ + { + "height": 0.36116411575442336, + "id": "bbox_1767925557652_1767925595900_bd0xhdkud", + "width": 0.28960986350504797, + "x": 0.34412460935192973, + "y": 0.1770170772884991 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，卫生纸落入黄色纸箱。", + "frame": 706, + "progress": 100, + "progress_explanation": "爪夹张开，卫生纸落入黄色纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把卫生纸放进黄色纸箱里的任务。", + "time": 23.53574660181793 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767925551397", + "name": "卫生纸" + }, + { + "color": "#FF9800", + "id": "bbox_1767925557652", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767925565628", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767925570948", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-154310-put-toilet paper-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-154310-put-toilet paper-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..305e41484b3cfba6e478d15acad8897a4d173f35 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-154310-put-toilet paper-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,811 @@ +{ + "task_description": "把卫生纸放进黄色纸箱里\n准备开始移动：0%\n爪夹接近卫生纸：20%\n爪夹抓取卫生纸：40%\n爪夹抓紧卫生纸接近黄色纸箱：60%\n爪夹将卫生纸放在黄色纸箱的正上方：80%\n爪夹松开卫生纸落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹准备移动。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.11584509373255086, + "id": "bbox_1767935017416_1767935427798_x1g308s9r", + "width": 0.08177219675436645, + "x": 0.7376533062323184, + "y": 0.44732229599778456 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.49290951646987335, + "id": "bbox_1767935024476_1767935437926_isht037yw", + "width": 0.3202744372879353, + "x": 0.41567528151200045, + "y": 0.052086093851434416 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767935430462_q4g4vbyu3", + "x": 0.38501070772911294, + "y": 0.5109235239293811 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767935432421_zl0h12401", + "x": 0.6235129482626819, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整角度并向上抬升，随后向爪夹右前方移动，下降接近卫生纸，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触卫生纸，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向上抬升，随后调整角度向爪夹右前方移动，下降接近卫生纸。", + "time": 1.4708367044242006 + }, + { + "action_description": "爪夹调整角度并向上抬升，随后向爪夹的右前方移动。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.17263190438576212, + "id": "bbox_1767935017416_1767935408606_i55iciewm", + "width": 0.12265829513154972, + "x": 0.36797483340528664, + "y": 0.47912290996358287 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.5088098234527727, + "id": "bbox_1767935024476_1767935413942_mmqp88oda", + "width": 0.26575963945169107, + "x": 0.08177214476500393, + "y": 0.39053548534457333 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767935404230_d148kg6kx", + "x": 0.38501070772911294, + "y": 0.5109235239293811 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767935402255_t39qu0yl0", + "x": 0.6269201231274472, + "y": 0.5063805790771242 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降接近卫生纸，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹调整角度，向右前方移动，缩短了与卫生纸的距离。", + "frame": 87, + "progress": 15, + "progress_explanation": "爪夹调整角度，向右前方移动，接近了卫生纸，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，爪夹在卫生纸的上方，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹下降，接近卫生纸。", + "time": 2.890956396234244 + }, + { + "action_description": "爪夹下降，轻微向左移动。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.2180613529083311, + "id": "bbox_1767935017416_1767935393543_4rveh3rjr", + "width": 0.16013721864396765, + "x": 0.37989994543196504, + "y": 0.43142198901488543 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.6110260826285528, + "id": "bbox_1767935024476_1767935389399_7jx17h3uc", + "width": 0.3321995493146138, + "x": 0.022146584631611697, + "y": 0.2769618640381509 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767935396182_fepzjq2s7", + "x": 0.3884178825938782, + "y": 0.5131949963555096 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767935398295_np0p26t0x", + "x": 0.6235129482626819, + "y": 0.5041091066509957 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹下降，更加接近卫生纸，方便抓取卫生纸。", + "frame": 111, + "progress": 20, + "progress_explanation": "爪夹下降，更加接近卫生纸，因此任务进度提升为20%。", + "state_description": "爪夹当前为张开的状态，爪夹接近卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹合拢抓取卫生纸。", + "time": 3.70245336298284 + }, + { + "action_description": "爪夹合拢抓住卫生纸。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.2930199429705699, + "id": "bbox_1767935017416_1767935344016_nomvqgn8a", + "width": 0.1890982049944725, + "x": 0.39863940718817403, + "y": 0.34737750924813277 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.6996135072475623, + "id": "bbox_1767935024476_1767935377936_6d5t19p0n", + "width": 0.359456948232736, + "x": 0.005110710307785345, + "y": 0.19291738427139826 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹合拢爪夹，抓取到了卫生纸。", + "frame": 189, + "progress": 40, + "progress_explanation": "爪夹成功夹住卫生纸，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹夹住卫生纸向上抬升，随后向爪夹的左方移动，接近箱子。", + "time": 6.3 + }, + { + "action_description": "爪夹夹住卫生纸向上抬升，随后向爪夹的左侧轻微移动。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.2748481635615423, + "id": "bbox_1767935017416_1767935308289_ltcyjk5ga", + "width": 0.1890982049944725, + "x": 0.4071573443500872, + "y": 0.36327781623103195 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.5701395789582407, + "id": "bbox_1767935024476_1767935318832_fgdkrfqca", + "width": 0.31857084985555273, + "x": 0.11584389341265662, + "y": 0.23607536036783877 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向左侧轻微移动，接近箱子。", + "frame": 216, + "progress": 50, + "progress_explanation": "爪夹向左侧轻微移动，接近箱子，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的左侧移动，接近黄色箱子的正上方。", + "time": 7.202034032086162 + }, + { + "action_description": "爪夹张开，向抓夹的右侧移动。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.14310276284609233, + "id": "bbox_1767935017416_1767935280378_rjca1gxwh", + "width": 0.06473632243054013, + "x": 0.35264254651384286, + "y": 0.3678207610832888 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.5837684135150115, + "id": "bbox_1767935024476_1767935293777_94xnydsdn", + "width": 0.3339031367469964, + "x": 0.0562183332792644, + "y": 0.18837443941914137 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767935284562_kdp3ahwkb", + "x": 0.4446362678625052, + "y": 0.5131949963555096 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767935286889_e6fwdch0n", + "x": 0.5638873881292896, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，向爪夹的左前方移动，接近卫生纸，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹松开，卫生纸落在桌面上，需重新接近卫生纸。", + "frame": 254, + "progress": 5, + "progress_explanation": "爪夹松开，卫生纸落在桌面上，因此任务进度倒退为5%。", + "state_description": "爪夹当前为张开的状态，爪夹远离卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹下降，向爪夹的左前方移动，接近卫生纸。", + "time": 8.469998042630843 + }, + { + "action_description": "爪夹完全张开，随后下降。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.17036043195963366, + "id": "bbox_1767935017416_1767935258681_erwmgsr95", + "width": 0.09029013391627964, + "x": 0.2691667623270938, + "y": 0.3405630919697475 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.7268711763611038, + "id": "bbox_1767935024476_1767935265474_g1rls152o", + "width": 0.31857084985555273, + "x": 0.01022147260493325, + "y": 0.13158762876593014 + } + ], + "type": "bbox" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767935253022_ksf4cewhh", + "x": 0.6201057733979166, + "y": 0.5063805790771242 + }, + { + "id": "point_1767935038271_1767935254634_5r4ybc3mf", + "x": 0.3884178825938782, + "y": 0.5041091066509957 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，向爪夹的左前方移动，接近卫生纸，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹下降接近了错误物品，需重新接近卫生纸。", + "frame": 323, + "progress": -10, + "progress_explanation": "爪夹下降接近了杯子，因此任务进度倒退为-10%。", + "state_description": "爪夹当前为张开的状态，爪夹接近杯子，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的左前方移动，接近卫生纸。", + "time": 10.752333261611268 + }, + { + "action_description": "爪夹下降抓住杯子，随后向上抬升并向右偏移。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.12947392828932155, + "id": "bbox_1767935017416_1767935240578_6vvth11bk", + "width": 0.1022152459429581, + "x": 0.08006855733262128, + "y": 0.46549407540681215 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.5178957131572863, + "id": "bbox_1767935024476_1767935246458_asanx8ils", + "width": 0.21635560391259467, + "x": 0.005110710307785345, + "y": 0.4200646268842432 + } + ], + "type": "bbox" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767935248514_2z8zg9xne", + "x": 0.5195941148873412, + "y": 0.5041091066509957 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，向爪夹的左前方移动，接近卫生纸，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹下降抓住了错误物品，需松开爪夹重新抓取。", + "frame": 383, + "progress": -20, + "progress_explanation": "爪夹下降抓住了错误物品，因此任务进度倒退为-20%。", + "state_description": "爪夹当前为合拢状态，爪夹抓住杯子，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹张开，向爪夹的左前方移动，接近卫生纸。", + "time": 12.781075678482761 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.13401687314157845, + "id": "bbox_1767935017416_1767935234003_t3prpp160", + "width": 0.08688295905151437, + "x": 0.06132909557641231, + "y": 0.5563529724519501 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.40886503670312085, + "id": "bbox_1767935024476_1767935214899_c1zt5mvy6", + "width": 0.18228385526494195, + "x": 0.0017035354430200906, + "y": 0.5063805790771242 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767935211396_o21r6g60c", + "x": 0.42760039353867885, + "y": 0.5041091066509957 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767935208595_4jkr5ty7q", + "x": 0.5860340247502639, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动并下降，接近卫生纸，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹松开杯子，需重新向卫生纸靠近，重新抓取卫生纸。", + "frame": 440, + "progress": 5, + "progress_explanation": "爪夹松开杯子，需重新向卫生纸靠近，因此任务进度提升为5%.", + "state_description": "爪夹当前为张开的状态，爪夹远离卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的左前方移动，接近卫生纸。", + "time": 14.657662414088888 + }, + { + "action_description": "爪夹向上抬升，随后向爪夹的左前方移动并下降。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.17944632166414748, + "id": "bbox_1767935017416_1767935199667_317u1iblg", + "width": 0.0834757841867491, + "x": 0.3151636230014249, + "y": 0.1951888566975267 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.6132975550546812, + "id": "bbox_1767935024476_1767935189410_vsnsjo7vv", + "width": 0.3049421503964917, + "x": 0.02896093436114224, + "y": 0.01119959018112234 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767935201515_n1i7z88sp", + "x": 0.42760039353867885, + "y": 0.5109235239293811 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767935203674_sfsxf4a1o", + "x": 0.5792196750207333, + "y": 0.5131949963555096 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动并下降，接近卫生纸，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向左前方移动，缩短了与卫生纸的距离。", + "frame": 488, + "progress": 10, + "progress_explanation": "爪夹向左前方移动，水平上接近了卫生纸，因此任务进度提升为10%。", + "state_description": "爪夹当前为张开的状态，爪夹开始接近卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的左前方移动并下降，接近卫生纸。", + "time": 16.28065634758608 + }, + { + "action_description": "爪夹向爪夹的左前方移动并下降。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.2589478565786433, + "id": "bbox_1767935017416_1767935173283_8xaw0pi48", + "width": 0.12947264486108026, + "x": 0.35434613394622555, + "y": 0.32239131256071984 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.8972316083207373, + "id": "bbox_1767935024476_1767935181603_1x68cqv65", + "width": 0.40375022147468453, + "x": 0.018739409766846425, + "y": 0.013471062607250785 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767935166596_wplctuvhu", + "x": 0.42760039353867885, + "y": 0.5131949963555096 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767935168404_12vawqdaf", + "x": 0.5826268498854986, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向左前方移动并下降，接近了卫生纸，方便抓取卫生纸。", + "frame": 552, + "progress": 20, + "progress_explanation": "爪夹向爪夹的左前方移动并下降，接近了卫生纸，因此任务进度提为20%。", + "state_description": "爪夹当前为张开的状态，爪夹接近了卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹合拢抓取卫生纸。", + "time": 18.410835885301147 + }, + { + "action_description": "爪夹轻微向左移动，随后爪夹合拢抓住卫生纸。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.22260429776058796, + "id": "bbox_1767935017416_1767935140908_dfznxiay3", + "width": 0.1584336312115851, + "x": 0.43271115583582676, + "y": 0.34737750924813277 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.8904171910423521, + "id": "bbox_1767935024476_1767935152948_3pvxlfu9e", + "width": 0.49063318052619886, + "x": 0.011925060037315884, + "y": 0.00438517290273699 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767935162764_ljxywvhfr", + "x": 0.49404030340160154, + "y": 0.5041091066509957 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767935159548_zfmbcwc29", + "x": 0.5212977023197237, + "y": 0.5041091066509957 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹合拢爪夹，抓取到了卫生纸。", + "frame": 604, + "progress": 40, + "progress_explanation": "爪夹成功夹住卫生纸，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹夹住卫生纸向上抬升，随后向爪夹的左侧移动，接近箱子。", + "time": 20.135266939641912 + }, + { + "action_description": "爪夹夹住卫生纸向上抬升。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.2839340532660561, + "id": "bbox_1767935017416_1767935121540_8t921zmrp", + "width": 0.12947264486108026, + "x": 0.43611833070059197, + "y": 0.34510603682200436 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.6814417278385345, + "id": "bbox_1767935024476_1767935128228_7v4elllsl", + "width": 0.34242107390890963, + "x": 0.07495779503547338, + "y": 0.1929173842713983 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹夹住卫生纸向上抬升，方便接近箱子。", + "frame": 666, + "progress": 50, + "progress_explanation": "爪夹夹住卫生纸向上抬升，开始接近黄色箱子，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的左方移动，接近黄色箱子。", + "time": 22.214727916935196 + }, + { + "action_description": "爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.22033282533445953, + "id": "bbox_1767935017416_1767935105317_f96c1czyq", + "width": 0.14139775688775877, + "x": 0.4293039809710614, + "y": 0.34737750924813277 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.3611641157544234, + "id": "bbox_1767935024476_1767935110357_snqp7fudd", + "width": 0.25383452742501256, + "x": 0.20783761476131893, + "y": 0.3791781232139311 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的左方移动至箱子上方，爪夹夹住卫生纸下降，将卫生纸放在黄色纸箱的正上方，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向上抬升并向左方移动，接近了箱子，方便将卫生纸放入箱子。", + "frame": 697, + "progress": 60, + "progress_explanation": "爪夹向上抬升并向左方移动，接近了箱子，因此任务进度提升为60%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的左方移动至箱子上方。", + "time": 23.229099125370936 + }, + { + "action_description": "爪夹向爪夹的左方移动至箱子正上方，随后下降。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.22260429776058796, + "id": "bbox_1767935017416_1767935080621_ulairxp51", + "width": 0.14310134432014135, + "x": 0.4293039809710614, + "y": 0.3519204541003897 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.44293712309504757, + "id": "bbox_1767935024476_1767935087213_r2z1pfewy", + "width": 0.35945694823273605, + "x": 0.31516362300142486, + "y": 0.2360753603678388 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹下降，使卫生纸在箱子正上方，确保卫生纸落入黄色纸箱。", + "frame": 715, + "progress": 80, + "progress_explanation": "爪夹下降，使卫生纸在箱子正上方，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹松开，卫生纸落入黄色箱子。", + "time": 23.83772185043238 + }, + { + "action_description": "爪夹松开，随后向后方移动。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.14537423527222076, + "id": "bbox_1767935017416_1767935072173_u116q7pba", + "width": 0.09199372134866221, + "x": 0.4088609317824699, + "y": 0.2406183052200957 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.4361227058166622, + "id": "bbox_1767935024476_1767935062093_vrc0yp3ut", + "width": 0.4429327324194851, + "x": 0.21635555192323214, + "y": 0.0066566453288654385 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767935055886_yn1u59drz", + "x": 0.44974703015965306, + "y": 0.5086520515032527 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767935052158_jz6pellji", + "x": 0.5536658635349938, + "y": 0.5063805790771242 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，卫生纸落入黄色纸箱。", + "frame": 755, + "progress": 100, + "progress_explanation": "爪夹张开，卫生纸落入黄色纸箱，任务完成。因此进度提升为 100%。", + "state_description": "爪夹当前为张开的状态，爪夹已完成把卫生纸放进黄色纸箱里的任务。", + "time": 25.156404421398854 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767935017416", + "name": "卫生纸" + }, + { + "color": "#FF9800", + "id": "bbox_1767935024476", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767935031783", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767935038271", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-155601-put-toilet paper-yellow-cardboard box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-155601-put-toilet paper-yellow-cardboard box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..433c1dd33f23ca48149487b2f6c44c2509730a65 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-155601-put-toilet paper-yellow-cardboard box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,596 @@ +{ + "task_description": "把卫生纸放进黄色纸箱里\n准备开始移动：0%\n爪夹接近卫生纸：20%\n爪夹抓取卫生纸：40%\n爪夹抓紧卫生纸接近黄色纸箱：60%\n爪夹将卫生纸放入黄色纸箱：80%\n爪夹松开卫生纸落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹准备移动。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.16127454225511992, + "id": "bbox_1767935017416_1767939322409_gcia518yv", + "width": 0.07836502188960112, + "x": 0.7921681040685628, + "y": 0.4859373272419682 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.43839417824279064, + "id": "bbox_1767935024476_1767939309637_fo88p9tw8", + "width": 0.30664573782887433, + "x": 0.5076690028606626, + "y": 0.24970419492460946 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767939325421_gw4q77r6n", + "x": 0.3867142951614956, + "y": 0.5109235239293811 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767939327693_doyov4480", + "x": 0.6218093608302993, + "y": 0.5063805790771242 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整角度并向上抬升，随后向爪夹右前方移动，下降接近卫生纸，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放入黄色箱子，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "爪夹当前没有移动，没有接触卫生纸，因此任务进度为0.", + "state_description": "爪夹当前为张开的状态，准备移动，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向上抬升，随后调整角度向爪夹右前方移动，下降接近卫生纸。", + "time": 1.6693402634053756 + }, + { + "action_description": "爪夹调整角度并向上抬升，随后向爪夹的右前方移动。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.21351840805607422, + "id": "bbox_1767935017416_1767939288973_7q38rrtbk", + "width": 0.11754753283440182, + "x": 0.37989994543196504, + "y": 0.3541919265265181 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.4838236267653596, + "id": "bbox_1767935024476_1767939298254_lrvren43u", + "width": 0.3168672624231702, + "x": 0.08517931962976918, + "y": 0.4268790441626285 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767939282902_9zfzk4cfg", + "x": 0.3884178825938782, + "y": 0.5109235239293811 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767939281206_2wbl723py", + "x": 0.6218093608302993, + "y": 0.5063805790771242 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动，下降接近卫生纸，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放入黄色箱子，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹调整角度，向右前方移动，缩短了与卫生纸的距离。", + "frame": 93, + "progress": 10, + "progress_explanation": "爪夹调整角度，向右前方移动，因此任务进度提升为10%", + "state_description": "爪夹当前为张开的状态，爪夹开始接近卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的右前方移动并下降，接近卫生纸。", + "time": 3.0867054541184857 + }, + { + "action_description": "爪夹向爪夹的右前方移动并下降。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.4474800679473044, + "id": "bbox_1767935017416_1767939258230_ftkmsb1ym", + "width": 0.31857084985555273, + "x": 0.17887662841081414, + "y": 0.12704468391367324 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.4792806819131028, + "id": "bbox_1767935024476_1767939251982_5izyr7c0g", + "width": 0.2759811640459869, + "x": 0.0034071228754027094, + "y": 0.43823640629327076 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767939272478_hx0va5a1x", + "x": 0.38501070772911294, + "y": 0.5109235239293811 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767939275246_x9lyrazyr", + "x": 0.6269201231274472, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向左侧轻微移动，完全接近了卫生纸，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放入黄色箱子，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向右前方移动，接近了卫生纸，方便抓取卫生纸。", + "frame": 118, + "progress": 15, + "progress_explanation": "爪夹向右前方移动，接近了卫生纸，因此任务进度提升为15%。", + "state_description": "爪夹当前为张开的状态，爪夹接近了卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向左侧轻微移动，完全接近了卫生纸。", + "time": 3.937124568546352 + }, + { + "action_description": "爪夹下降，随后向左侧移动并爪夹合拢。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.5792254686627545, + "id": "bbox_1767935017416_1767939238287_1u3slmqmn", + "width": 0.391825109448006, + "x": 0.23339142624705844, + "y": 0.013471062607250785 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.6428266965943511, + "id": "bbox_1767935024476_1767939242726_gunjbbph0", + "width": 0.29131345093743055, + "x": 0.006814297740167979, + "y": 0.2837762813165362 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767939228167_qbjgnfrh7", + "x": 0.49744747826636687, + "y": 0.5086520515032527 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767939226112_f2y570qqw", + "x": 0.5144833525901932, + "y": 0.5063805790771242 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，随后爪夹下降并合拢，抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放入黄色箱子，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向左侧轻微移动并合拢，完全接近了卫生纸。", + "frame": 171, + "progress": 20, + "progress_explanation": "爪夹向左侧轻微移动并合拢，因此任务进度提升为20%。", + "state_description": "爪夹为合拢的状态，爪夹贴近卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹张开，随后爪夹下降并合拢，抓取卫生纸。", + "time": 5.7009568058782225 + }, + { + "action_description": "爪夹向上抬升。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.4429371230950476, + "id": "bbox_1767935017416_1767939208704_qu80c62nz", + "width": 0.3117565001260222, + "x": 0.2419093634089716, + "y": 0.2292609430894534 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.55651074440147, + "id": "bbox_1767935024476_1767939200976_1qz1wpp8o", + "width": 0.29131345093743055, + "x": 0.0034071228754027094, + "y": 0.3678207610832888 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767939216456_hhfltm0je", + "x": 0.49744747826636687, + "y": 0.49956616179873886 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767939219817_tzesmgyz4", + "x": 0.5127797651578107, + "y": 0.5086520515032527 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，随后爪夹下降接近卫生纸，爪夹合拢抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放入黄色箱子，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向上抬升，远离了卫生纸，需要重新接近并抓取。", + "frame": 225, + "progress": 15, + "progress_explanation": "爪夹向上抬升，远离了卫生纸，因此任务进度倒退为15%。", + "state_description": "爪夹当前为合拢状态，在卫生纸的上方，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹张开，随后爪夹下降接近卫生纸。", + "time": 7.4962860474481605 + }, + { + "action_description": "爪夹张开，随后下降", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.495180988896002, + "id": "bbox_1767935017416_1767939180108_491atz8xn", + "width": 0.3441246613412922, + "x": 0.21465196449084947, + "y": 0.21790358095881115 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.5451533822708278, + "id": "bbox_1767935024476_1767939194313_chobw9ekq", + "width": 0.2776847514783695, + "x": 0.005110710307785345, + "y": 0.3928069577707018 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767939172392_ovl9lbool", + "x": 0.3918250574586435, + "y": 0.5041091066509957 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767939170504_0iyiyiq56", + "x": 0.6235129482626819, + "y": 0.5063805790771242 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降并合拢，抓取卫生纸；爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放入黄色箱子，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹下降，接近卫生纸，方便抓取卫生纸。", + "frame": 282, + "progress": 20, + "progress_explanation": "爪夹下降，接近卫生纸，因此任务进度提升为20%。", + "state_description": "爪夹为合拢的状态，爪夹接近卫生纸，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹下降并合拢，抓取卫生纸。", + "time": 9.386106301732308 + }, + { + "action_description": "爪夹下降并合拢，抓住卫生纸。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.6223834447591952, + "id": "bbox_1767935017416_1767939136953_rkfreihxq", + "width": 0.4173789209337456, + "x": 0.20102326503178838, + "y": 0.05435756627756286 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.5496963271230847, + "id": "bbox_1767935024476_1767939151336_3pqgkwacl", + "width": 0.27427757661360425, + "x": 0.0017035354430200746, + "y": 0.3746351783616742 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767939162000_vvol1qh25", + "x": 0.49574389083398424, + "y": 0.5018376342248673 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767939165665_uw8w8b5qx", + "x": 0.5127797651578107, + "y": 0.49956616179873886 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹住卫生纸向上抬升，随后爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放入黄色箱子，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹合拢爪夹，抓取到了卫生纸。", + "frame": 331, + "progress": 40, + "progress_explanation": "爪夹成功夹住卫生纸，因此任务进度提升为40%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹夹住卫生纸向上抬升，随后向爪夹的左侧移动，接近箱子。", + "time": 11.023950522111903 + }, + { + "action_description": "爪夹夹住卫生纸向上抬升。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.28847699811831296, + "id": "bbox_1767935017416_1767939111353_ru0wjv9bb", + "width": 0.31346008755840493, + "x": 0.23850218854420632, + "y": 0.317848367708463 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.4815521543392311, + "id": "bbox_1767935024476_1767939115882_n8lye98xw", + "width": 0.2964242132345785, + "x": 0.08688290706215182, + "y": 0.3996213750490872 + } + ], + "type": "bbox" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767939103609_4dtvrfwg7", + "x": 0.5127797651578107, + "y": 0.5018376342248673 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左方移动，接近黄色箱子，爪夹夹住卫生纸下降，将卫生纸放入黄色箱子，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹夹住卫生纸向上抬升，方便接近箱子。", + "frame": 364, + "progress": 50, + "progress_explanation": "爪夹夹住卫生纸向上抬升，开始接近黄色箱子，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的左方移动，接近黄色箱子。", + "time": 12.133066 + }, + { + "action_description": "爪夹向爪夹的左方移动。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.5519677995492132, + "id": "bbox_1767935017416_1767939097515_jnv1lqt8u", + "width": 0.26405605201930843, + "x": 0.34412460935192973, + "y": 0.1861029669930129 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.4452085955211759, + "id": "bbox_1767935024476_1767939015779_v4aqxgl3c", + "width": 0.29472062580219577, + "x": 0.39182505745864354, + "y": 0.3269342574129768 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹住卫生纸下降，将卫生纸放入黄色箱子，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向上抬升并向左方移动，接近了箱子，方便将卫生纸放入箱子。", + "frame": 373, + "progress": 60, + "progress_explanation": "爪夹夹住卫生纸向上抬升，开始接近黄色箱子，因此任务进度提升为50%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹向爪夹的左方移动，接近黄色箱子。", + "time": 12.441315712825014 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.5587822168275985, + "id": "bbox_1767935017416_1767938989531_rhehd0zt2", + "width": 0.28109192634313473, + "x": 0.258945237732798, + "y": 0.14294499089657237 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.8359018528152692, + "id": "bbox_1767935024476_1767939006876_uakxiqdqp", + "width": 0.5860340767396265, + "x": 0.07495779503547338, + "y": 0.00438517290273699 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹下降，使卫生纸放入箱子，确保卫生纸落入黄色纸箱。", + "frame": 393, + "progress": 80, + "progress_explanation": "爪夹下降，使卫生纸放入箱子，因此任务进度提升为80%。", + "state_description": "爪夹当前为合拢抓住卫生纸的状态，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹松开，卫生纸落入黄色箱子。", + "time": 13.114933 + }, + { + "action_description": "爪夹向右后方移动时撞倒了箱子，随后爪夹张开。", + "annotations": { + "bbox_1767935017416": { + "instances": [ + { + "height": 0.3725214778850656, + "id": "bbox_1767935017416_1767938970036_nhdv6tucs", + "width": 0.27768475147836946, + "x": 0.33560667219001655, + "y": 0.4723084926851975 + } + ], + "type": "bbox" + }, + "bbox_1767935024476": { + "instances": [ + { + "height": 0.5587822168275984, + "id": "bbox_1767935024476_1767938976963_z9h7rrqup", + "width": 0.517890579444321, + "x": 0.16013716665460515, + "y": 0.013471062607250785 + } + ], + "type": "bbox" + }, + "point_1767935031783": { + "instances": [ + { + "id": "point_1767935031783_1767938961565_xfp467v8b", + "x": 0.41397169407961776, + "y": 0.5086520515032527 + } + ], + "type": "point" + }, + "point_1767935038271": { + "instances": [ + { + "id": "point_1767935038271_1767938959726_4fqa5uoe1", + "x": 0.5962555493445597, + "y": 0.5018376342248673 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向正前方移动，接近箱子；爪夹调整角度合拢抓住箱子，爪夹向右侧移动将箱子扶正；爪夹松开，向住家的左后方移动并下降接近卫生纸，随后爪夹合拢抓取卫生纸向上抬升，然后向爪夹的右前方移动，接近箱子，爪夹夹住卫生纸下降，将卫生纸放入黄色箱子，爪夹松开，卫生纸落入黄色箱子。", + "error_success_analysis": "爪夹向右后方移动撞倒了箱子，使卫生纸落在桌面上，需重新接近并抓取卫生纸。", + "frame": 463, + "progress": 15, + "progress_explanation": "爪夹向右后方移动撞倒了箱子，卫生纸落在桌面上，因此任务进度倒退为15%。", + "state_description": "爪夹当前为张开的状态，爪夹在卫生纸的上方，为完成把卫生纸放进黄色纸箱里的任务，应当：爪夹下降，完全接近卫生纸。", + "time": 15.43353111544158 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767935017416", + "name": "卫生纸" + }, + { + "color": "#FF9800", + "id": "bbox_1767935024476", + "name": "黄色箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767935031783", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767935038271", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-160516-put-toilet paper-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-160516-put-toilet paper-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..b1f243d4f37fe62fafdc37ff628ac4091f1627a2 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-160516-put-toilet paper-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,360 @@ +{ + "task_description": "把白纸放进白色的垃圾桶里\n准备开始移动：0%\n接近白色纸：20%\n触碰到白色纸：50%\n将白色纸夹起：70%\n将白色纸夹至白色垃圾桶上方：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "annotations": { + "bbox_1767942344564": { + "instances": [ + { + "height": 0.12220495673130939, + "id": "bbox_1767942344564_1767942451522_6belzxl2s", + "width": 0.0982013403188307, + "x": 0.5826612359439443, + "y": 0.502246596806582 + } + ], + "type": "bbox" + }, + "bbox_1767942344717": { + "instances": [ + { + "height": 0.2465921448328207, + "id": "bbox_1767942344717_1767942455668_kszotuqsy", + "width": 0.15057538848887386, + "x": 0.8068876296719409, + "y": 0.362583789113657 + } + ], + "type": "bbox" + }, + "point_1767942345732": { + "instances": [ + { + "id": "point_1767942345732_1767942458360_w2gzzus85", + "x": 0.3126075500671598, + "y": 0.6419094044995071 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未移动\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 1.463689643052382 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767942344564": { + "instances": [ + { + "height": 0.13529834495252105, + "id": "bbox_1767942344564_1767942441058_im3051l68", + "width": 0.09492796230820302, + "x": 0.5826612359439443, + "y": 0.49569990269597614 + } + ], + "type": "bbox" + }, + "bbox_1767942344717": { + "instances": [ + { + "height": 0.26404999579443633, + "id": "bbox_1767942344717_1767942437690_j2nat88dc", + "width": 0.13584518744104912, + "x": 0.818344452709138, + "y": 0.3538548636328492 + } + ], + "type": "bbox" + }, + "point_1767942345732": { + "instances": [ + { + "id": "point_1767942345732_1767942443858_fb1xz7mra", + "x": 0.3453413301734367, + "y": 0.5720780006530445 + } + ], + "type": "point" + }, + "point_1767942345915": { + "instances": [ + { + "id": "point_1767942345915_1767942446426_pmp409dkt", + "x": 0.4451793594975813, + "y": 0.5982647770954679 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 72, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹张开，准备接近白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 2.390075850947098 + }, + { + "action_description": "爪夹向右侧移动", + "annotations": { + "bbox_1767942344717": { + "instances": [ + { + "height": 0.23349875661160902, + "id": "bbox_1767942344717_1767942433908_b45jskl13", + "width": 0.15712214451012904, + "x": 0.7807006055869194, + "y": 0.3756771773348687 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向右移动正确，成功接近白纸", + "frame": 91, + "progress": 20, + "progress_explanation": "当前进度为爪夹接近白纸，进度20%", + "state_description": "当前状态为爪夹接近白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白色纸。", + "time": 3.0200184723155052 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1767942344717": { + "instances": [ + { + "height": 0.27714338401564803, + "id": "bbox_1767942344717_1767942430098_bg1ak0r4t", + "width": 0.13748187644636314, + "x": 0.8085243186772548, + "y": 0.36040155774345506 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近白纸", + "frame": 111, + "progress": 30, + "progress_explanation": "爪夹更加接近白纸，进度30%", + "state_description": "当前状态为爪夹更加接近白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白纸。", + "time": 3.7055442661575952 + }, + { + "action_description": "爪夹稍微向下移动，然后稍微合拢", + "annotations": { + "bbox_1767942344717": { + "instances": [ + { + "height": 0.26186776442423443, + "id": "bbox_1767942344717_1767942425819_hked3ecpt", + "width": 0.14893869948355992, + "x": 0.797067495640058, + "y": 0.3473081695222433 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向下移动正确，成功准备夹住白纸", + "frame": 126, + "progress": 40, + "progress_explanation": "爪夹准备夹住白纸，进度40%", + "state_description": "当前状态为爪夹准备夹住白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：合拢爪夹，夹住白纸。", + "time": 4.187265094262847 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767942344717": { + "instances": [ + { + "height": 0.2509566075732247, + "id": "bbox_1767942344717_1767942420738_gli02c0y5", + "width": 0.16203221152607067, + "x": 0.7954308066347442, + "y": 0.3756771773348687 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹合拢正确，成功夹住白纸", + "frame": 153, + "progress": 50, + "progress_explanation": "爪夹夹住白纸，进度50%", + "state_description": "当前状态我爪夹夹住白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 5.113651302157564 + }, + { + "action_description": "爪夹稍微向上移动", + "annotations": { + "bbox_1767942344717": { + "instances": [ + { + "height": 0.23131652524140703, + "id": "bbox_1767942344717_1767942415130_gdbckcv6u", + "width": 0.14730201047824618, + "x": 0.8019775626559994, + "y": 0.362583789113657 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向上移动正确，成功将白纸稍微向上移动", + "frame": 179, + "progress": 60, + "progress_explanation": "爪夹稍微将白纸夹起，进度60%", + "state_description": "当前状态为爪夹稍微向上移动\n为了完成把白纸放进白色的垃圾桶里的任务应当：向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 5.953966 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767942344564": { + "instances": [ + { + "height": 0.16148512139494448, + "id": "bbox_1767942344564_1767942408740_f3su5yx33", + "width": 0.07692438324975068, + "x": 0.7283265574168765, + "y": 0.3778594087050707 + } + ], + "type": "bbox" + }, + "bbox_1767942344717": { + "instances": [ + { + "height": 0.26186776442423443, + "id": "bbox_1767942344717_1767942405111_n5vsnj1qa", + "width": 0.15384876649950147, + "x": 0.7954308066347442, + "y": 0.35603709500305114 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向上移动正确，成功将白纸夹至空中", + "frame": 203, + "progress": 70, + "progress_explanation": "爪夹将白纸夹至空中，进度70%", + "state_description": "当前状态为爪夹将白纸夹至空中\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 6.783 + }, + { + "action_description": "爪夹向右侧移动", + "annotations": { + "bbox_1767942344564": { + "instances": [ + { + "height": 0.14402727043332894, + "id": "bbox_1767942344564_1767942397261_qhsnp15si", + "width": 0.0982013403188308, + "x": 0.8478048548047872, + "y": 0.3276680871904257 + } + ], + "type": "bbox" + }, + "bbox_1767942344717": { + "instances": [ + { + "height": 0.26404999579443633, + "id": "bbox_1767942344717_1767942400919_ohefn9xhk", + "width": 0.15548545550481538, + "x": 0.8052509406666271, + "y": 0.3451259381520414 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向右移动正确，成功将白纸夹至垃圾桶上方", + "frame": 233, + "progress": 90, + "progress_explanation": "爪夹将白纸夹至垃圾桶上方，进度90%", + "state_description": "当前状态为爪夹将白纸夹至垃圾桶上方\n为了完成把白纸放进白色的垃圾桶里的任务应当：松开爪夹。", + "time": 7.762766 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1767942344564": { + "instances": [ + { + "height": 0.10911156851009765, + "id": "bbox_1767942344564_1767942390557_g121zqjkt", + "width": 0.06874093822318147, + "x": 0.8428947877888456, + "y": 0.4105928792581 + } + ], + "type": "bbox" + }, + "bbox_1767942344717": { + "instances": [ + { + "height": 0.24659214483282063, + "id": "bbox_1767942344717_1767942387717_a62nx9fhq", + "width": 0.13584518744104912, + "x": 0.8150710746985104, + "y": 0.34949040089244526 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 273, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为白纸落入垃圾桶", + "time": 9.097833 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767942344564", + "name": "白纸" + }, + { + "color": "#FF9800", + "id": "bbox_1767942344717", + "name": "垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767942345732", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767942345915", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-160516-put-toilet paper-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-160516-put-toilet paper-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..a93f304c0be1a9d1e5c394f5779fe64156c13214 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-160516-put-toilet paper-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,364 @@ +{ + "task_description": "把白纸放进白色的垃圾桶里\n准备开始移动：0%\n接近白色纸：20%\n触碰到白色纸：50%\n将白色纸夹起：70%\n将白色纸夹至白色垃圾桶上方：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "annotations": { + "bbox_1767944382904": { + "instances": [ + { + "height": 0.12438718810151136, + "id": "bbox_1767944382904_1767944482857_ik9zot0f2", + "width": 0.08674451728163382, + "x": 0.43372253646038433, + "y": 0.5742602320232464 + } + ], + "type": "bbox" + }, + "bbox_1767944383051": { + "instances": [ + { + "height": 0.2596855330540324, + "id": "bbox_1767944383051_1767944480093_brg5hk2y9", + "width": 0.17676241257389522, + "x": 0.6317619061033596, + "y": 0.3894979649134117 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹保持张开，暂未移动\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 1.3154678497892276 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767944382904": { + "instances": [ + { + "height": 0.1200227253611074, + "id": "bbox_1767944382904_1767944473155_4mj8nk669", + "width": 0.09983802932414454, + "x": 0.4206290244178736, + "y": 0.5793520941209817 + } + ], + "type": "bbox" + }, + "bbox_1767944383051": { + "instances": [ + { + "height": 0.2618677644242344, + "id": "bbox_1767944383051_1767944475737_wvqqb127t", + "width": 0.14075525445699064, + "x": 0.6497654851618119, + "y": 0.3865883341858785 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 67, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹向下，准备向白纸接近\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 2.223326333526049 + }, + { + "action_description": "爪夹向右前侧移动", + "annotations": { + "bbox_1767944382904": { + "instances": [ + { + "height": 0.16148512139494464, + "id": "bbox_1767944382904_1767944469212_73kwipk59", + "width": 0.07037762722849532, + "x": 0.4615462495507197, + "y": 0.5633490751722366 + } + ], + "type": "bbox" + }, + "bbox_1767944383051": { + "instances": [ + { + "height": 0.25532107031362844, + "id": "bbox_1767944383051_1767944466873_778eth9yt", + "width": 0.15712214451012904, + "x": 0.6464921071511842, + "y": 0.39095279692628243 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向右前侧移动正确，成功接近白纸", + "frame": 91, + "progress": 20, + "progress_explanation": "爪接近娃娃，进度20%", + "state_description": "当前状态为爪夹接近白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 3.0200184723155052 + }, + { + "action_description": "爪夹向右前并向下移动", + "annotations": { + "bbox_1767944383051": { + "instances": [ + { + "height": 0.2662322271646383, + "id": "bbox_1767944383051_1767944463746_nmeagivvk", + "width": 0.1554854555048153, + "x": 0.6432187291405566, + "y": 0.39749949103688825 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近白纸", + "frame": 110, + "progress": 30, + "progress_explanation": "爪夹更加接近白纸，进度30%", + "state_description": "当前状态为爪夹更加接近白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白色纸。", + "time": 3.668488817841806 + }, + { + "action_description": "爪夹向下移动，稍微合拢爪夹", + "annotations": { + "bbox_1767944383051": { + "instances": [ + { + "height": 0.2858723094964558, + "id": "bbox_1767944383051_1767944460522_wcg07lt5a", + "width": 0.16857896754732593, + "x": 0.6350352841139874, + "y": 0.40186395377729217 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向下移动正确，成功准备接近白纸", + "frame": 130, + "progress": 40, + "progress_explanation": "爪夹准备夹住白纸，进度40%", + "state_description": "当前状态为爪夹准备夹住白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：合拢爪夹，夹住白色纸。", + "time": 4.316959163368107 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767944383051": { + "instances": [ + { + "height": 0.2509566075732245, + "id": "bbox_1767944383051_1767944456325_ax91d8oy6", + "width": 0.15712214451012904, + "x": 0.6448554181458703, + "y": 0.4105928792581 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹合拢正确，成功夹住白纸", + "frame": 162, + "progress": 50, + "progress_explanation": "爪夹夹住白纸，进度50%", + "state_description": "当前状态为爪夹夹住白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 5.391567164525978 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767944382904": { + "instances": [ + { + "height": 0.1527561959141367, + "id": "bbox_1767944382904_1767944449857_5kkzlan55", + "width": 0.1063847853454, + "x": 0.4042621343647351, + "y": 0.35603709500305114 + } + ], + "type": "bbox" + }, + "bbox_1767944383051": { + "instances": [ + { + "height": 0.2836900781262539, + "id": "bbox_1767944383051_1767944446753_vd42hmr2p", + "width": 0.14893869948355992, + "x": 0.6464921071511842, + "y": 0.3829512708028059 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向上移动正确，成功将白纸夹至空中", + "frame": 187, + "progress": 70, + "progress_explanation": "爪夹将白纸夹至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 6.225314751631222 + }, + { + "action_description": "爪夹向右侧移动", + "annotations": { + "bbox_1767944382904": { + "instances": [ + { + "height": 0.16584958413534842, + "id": "bbox_1767944382904_1767944437543_z6vb2cenm", + "width": 0.10474809634008606, + "x": 0.5139202977207628, + "y": 0.2971168480075984 + } + ], + "type": "bbox" + }, + "bbox_1767944383051": { + "instances": [ + { + "height": 0.2727789212752442, + "id": "bbox_1767944383051_1767944440874_25dbxv34q", + "width": 0.17185234555795378, + "x": 0.6399453511299289, + "y": 0.3713127145944648 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向右移动正确，准备将白纸移动至垃圾桶上方", + "frame": 215, + "progress": 80, + "progress_explanation": "爪夹准备将白纸移动至垃圾桶上方，进度80%", + "state_description": "当前状态为爪夹准备将白纸移动至垃圾桶上方\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 7.1517009595259395 + }, + { + "action_description": "爪夹向右移动", + "annotations": { + "bbox_1767944382904": { + "instances": [ + { + "height": 0.14839173317373286, + "id": "bbox_1767944382904_1767944430331_23bgjrmo4", + "width": 0.1145682303719691, + "x": 0.6759525092468335, + "y": 0.3189391617096179 + } + ], + "type": "bbox" + }, + "bbox_1767944383051": { + "instances": [ + { + "height": 0.25313883894342654, + "id": "bbox_1767944383051_1767944418235_zeyd956ms", + "width": 0.1440286324676185, + "x": 0.6612223081990087, + "y": 0.43023296158991753 + } + ], + "type": "bbox" + }, + "point_1767944384308": { + "instances": [ + { + "id": "point_1767944384308_1767944432818_t06xrtavy", + "x": 0.733236624432818, + "y": 0.3865883341858785 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向右移动正确，成功将白纸夹至垃圾桶上方\n", + "frame": 244, + "progress": 90, + "progress_explanation": "爪夹将白纸夹至垃圾桶上方，进度90%", + "state_description": "当前状态为爪夹将白纸夹至垃圾桶上方\n为了完成把白纸放进白色的垃圾桶里的任务应当：松开爪夹", + "time": 8.128833 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1767944382904": { + "instances": [ + { + "height": 0.056738015625250784, + "id": "bbox_1767944382904_1767944411187_dahq23h6s", + "width": 0.052374048170042986, + "x": 0.7054129113424826, + "y": 0.470240525610884 + } + ], + "type": "bbox" + }, + "bbox_1767944383051": { + "instances": [ + { + "height": 0.28587230949645587, + "id": "bbox_1767944383051_1767944413946_osyovmzck", + "width": 0.18167247958983693, + "x": 0.6284885280927319, + "y": 0.3800416400752726 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 271, + "progress": 100, + "progress_explanation": "任务完成。进度100%", + "state_description": "当前状态为白纸落入垃圾桶", + "time": 9.023001099473264 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767944382904", + "name": "白纸" + }, + { + "color": "#FF9800", + "id": "bbox_1767944383051", + "name": "垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767944384164", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767944384308", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-161447-put-toilet paper-white-trash can-mix1/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-161447-put-toilet paper-white-trash can-mix1/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..8cc782fd522e71df67b45157d072222c7c83e37d --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-161447-put-toilet paper-white-trash can-mix1/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,478 @@ +{ + "task_description": "把白纸放进白色的垃圾桶里\n准备开始移动：0%\n接近白色纸：20%\n触碰到白色纸：50%\n将白色纸夹起：75%\n将白色纸夹至白色垃圾桶上方：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "annotations": { + "bbox_1767946413115": { + "instances": [ + { + "height": 0.13093388221211721, + "id": "bbox_1767946413115_1767946508877_rwgp5e63q", + "width": 0.11784160838259687, + "x": 0.5793878579333166, + "y": 0.4782420517343605 + } + ], + "type": "bbox" + }, + "bbox_1767946413267": { + "instances": [ + { + "height": 0.25095660757322463, + "id": "bbox_1767946413267_1767946512953_xkqpi5qss", + "width": 0.15384876649950147, + "x": 0.512283608715449, + "y": 0.24910775786315542 + } + ], + "type": "bbox" + }, + "point_1767946414139": { + "instances": [ + { + "id": "point_1767946414139_1767946524264_i4zc0gylx", + "x": 0.37971179928502746, + "y": 0.6615494868313245 + } + ], + "type": "point" + }, + "point_1767946415698": { + "instances": [ + { + "id": "point_1767946415698_1767946526588_9huf4bvso", + "x": 0.47627645059854434, + "y": 0.6550027927207187 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向左侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹保持张开，暂未移动\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 1.0965190829672535 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767946413115": { + "instances": [ + { + "height": 0.13966280769292502, + "id": "bbox_1767946413115_1767946503842_eww0aob37", + "width": 0.0900178952922615, + "x": 0.5990281259970827, + "y": 0.4716953576237547 + } + ], + "type": "bbox" + }, + "bbox_1767946413267": { + "instances": [ + { + "height": 0.2269520625010031, + "id": "bbox_1767946413267_1767946500625_uczyzx6jo", + "width": 0.16530558953669833, + "x": 0.4942800296569966, + "y": 0.25419961996089063 + } + ], + "type": "bbox" + }, + "point_1767946415698": { + "instances": [ + { + "id": "point_1767946415698_1767946530073_y57yfc72w", + "x": 0.4828232066197997, + "y": 0.6419094044995071 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向左侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹准备接近白纸，进度10%", + "state_description": "当前状态为爪夹朝向下，准备接近白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 2.2844157631742714 + }, + { + "action_description": "爪夹向右侧移动", + "annotations": { + "bbox_1767946413267": { + "instances": [ + { + "height": 0.233498756611609, + "id": "bbox_1767946413267_1767946495377_6ttq9tsjv", + "width": 0.13257180943042143, + "x": 0.5155569867260766, + "y": 0.2665656088247711 + } + ], + "type": "bbox" + }, + "point_1767946415698": { + "instances": [ + { + "id": "point_1767946415698_1767946533002_ulifzry6h", + "x": 0.7397833804540734, + "y": 0.6331804790186992 + } + ], + "type": "point" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向上移动，向左侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向右移动正确，成功接近白纸", + "frame": 97, + "progress": 20, + "progress_explanation": "爪夹接近白纸，进度20%", + "state_description": "当前状态为爪夹接近白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白色纸。", + "time": 3.22864132949267 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1767946413115": { + "instances": [ + { + "height": 0.10256487439949176, + "id": "bbox_1767946413115_1767946487761_s25o4qza8", + "width": 0.09492796230820293, + "x": 0.6006648150023965, + "y": 0.4716953576237547 + } + ], + "type": "bbox" + }, + "bbox_1767946413267": { + "instances": [ + { + "height": 0.2509566075732246, + "id": "bbox_1767946413267_1767946485425_2h0kck33y", + "width": 0.14402863246761832, + "x": 0.5155569867260766, + "y": 0.25783668334396326 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向上移动，向左侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近白纸", + "frame": 132, + "progress": 30, + "progress_explanation": "爪夹更加接近白纸，进度30%", + "state_description": "当前状态为爪夹更加接近白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白色纸。", + "time": 4.416538009699687 + }, + { + "action_description": "爪夹向下移动然后稍微合拢爪夹", + "annotations": { + "bbox_1767946413267": { + "instances": [ + { + "height": 0.25313883894342654, + "id": "bbox_1767946413267_1767946482145_2hi61rrif", + "width": 0.1636689005313845, + "x": 0.5073735416995074, + "y": 0.25783668334396326 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹，夹住白色纸，向上移动，向左侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向下移动正确，准备夹住白纸", + "frame": 164, + "progress": 40, + "progress_explanation": "爪夹准备夹住白纸，进度40%", + "state_description": "当前状态为爪夹准备夹住白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：合拢爪夹，夹住白色纸。", + "time": 5.4693 + }, + { + "action_description": "合拢爪夹", + "annotations": { + "bbox_1767946413267": { + "instances": [ + { + "height": 0.26404999579443633, + "id": "bbox_1767946413267_1767946479145_5sr44f4b9", + "width": 0.1505753884888737, + "x": 0.5090102307048212, + "y": 0.25783668334396326 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向左侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹合拢正确，成功夹住白纸", + "frame": 191, + "progress": 50, + "progress_explanation": "爪夹夹住白纸，进度50%", + "state_description": "当前状态为爪夹夹住白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向上移动，向左侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 6.36590692080864 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767946413115": { + "instances": [ + { + "height": 0.10038264302928983, + "id": "bbox_1767946413115_1767946471922_xj1lggpp7", + "width": 0.10311140733477231, + "x": 0.6301252170980457, + "y": 0.43023296158991753 + } + ], + "type": "bbox" + }, + "bbox_1767946413267": { + "instances": [ + { + "height": 0.20294751742878162, + "id": "bbox_1767946413267_1767946474892_6huw57n4n", + "width": 0.13584518744104912, + "x": 0.5286504987685874, + "y": 0.2622011460843672 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向左侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向上移动正确，成功将白纸稍微夹起", + "frame": 228, + "progress": 60, + "progress_explanation": "爪夹将白纸夹住空中，进度60%", + "state_description": "当前状态为爪夹将白纸夹住空中\n为了完成把白纸放进白色的垃圾桶里的任务应当：向左侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 7.614721379487812 + }, + { + "action_description": "爪夹向左侧移动，松开爪夹", + "annotations": { + "bbox_1767946413115": { + "instances": [ + { + "height": 0.08292479206767418, + "id": "bbox_1767946413115_1767946468228_ac4mm1gvg", + "width": 0.0572841151859846, + "x": 0.6104849490342796, + "y": 0.5066110595469859 + } + ], + "type": "bbox" + }, + "bbox_1767946413267": { + "instances": [ + { + "height": 0.233498756611609, + "id": "bbox_1767946413267_1767946465659_sbm39dzh9", + "width": 0.14075525445699064, + "x": 0.5204670537420182, + "y": 0.2651107768119004 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向上移动，向左侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹松开错误，导致白纸落在桌子上", + "frame": 289, + "progress": 5, + "progress_explanation": "爪夹松开，白纸落回桌面，进度5%", + "state_description": "当前状态为爪夹松开，白纸落回桌面\n为了完成把白纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白色纸。", + "time": 9.625008069068919 + }, + { + "action_description": "爪夹向后移动", + "annotations": { + "bbox_1767946413267": { + "instances": [ + { + "height": 0.24222768209241682, + "id": "bbox_1767946413267_1767946462778_t11rn878e", + "width": 0.1391185654516768, + "x": 0.5237404317526458, + "y": 0.25347222060355934 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向上移动，向左侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向后移动错误", + "frame": 318, + "progress": -5, + "progress_explanation": "爪夹远离白纸，进度-5%", + "state_description": "当前状态为爪夹远离白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白色纸。", + "time": 10.6023 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1767946413267": { + "instances": [ + { + "height": 0.2771433840156481, + "id": "bbox_1767946413267_1767946459347_c9aavn03m", + "width": 0.13584518744104912, + "x": 0.5204670537420182, + "y": 0.24692552649295346 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向上移动，向左侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向下移动正确，成功重新接近白纸", + "frame": 368, + "progress": 25, + "progress_explanation": "爪夹重新接近白纸，进度25%", + "state_description": "当前状态为爪夹重新接近白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白色纸。", + "time": 12.274931432607652 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767946413267": { + "instances": [ + { + "height": 0.24877437620302265, + "id": "bbox_1767946413267_1767946456538_t5jcmqvo1", + "width": 0.1423919434623045, + "x": 0.5171936757313904, + "y": 0.23237730625887107 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向左侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹合拢正确，成功重新夹住白纸", + "frame": 402, + "progress": 55, + "progress_explanation": "爪夹重新夹住白纸，进度55%", + "state_description": "当前状态为爪夹重新夹住白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向上移动，向左侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 13.401910334342514 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767946413267": { + "instances": [ + { + "height": 0.25750330168383045, + "id": "bbox_1767946413267_1767946453178_nto3cyp0j", + "width": 0.15384876649950147, + "x": 0.5188303647367043, + "y": 0.2622011460843672 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向上移动正确，成功将白纸夹起", + "frame": 436, + "progress": 70, + "progress_explanation": "爪夹将白纸夹住空中，进度70%", + "state_description": "当前状态为爪夹将白纸夹住空中\n为了完成把白纸放进白色的垃圾桶里的任务应当：向前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 14.528889236077376 + }, + { + "action_description": "爪夹向前移动", + "annotations": { + "bbox_1767946413267": { + "instances": [ + { + "height": 0.28587230949645587, + "id": "bbox_1767946413267_1767946449819_2epfgor50", + "width": 0.16203221152607067, + "x": 0.5139202977207628, + "y": 0.2512899892333574 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向前移动正确，成功将白纸移动至垃圾桶上方", + "frame": 465, + "progress": 90, + "progress_explanation": "爪夹将白纸移动至垃圾桶上方，进度90%", + "state_description": "当前状态为爪夹将白纸移动至垃圾桶上方\n为了完成把白纸放进白色的垃圾桶里的任务应当：松开爪夹", + "time": 15.503573691631852 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1767946413115": { + "instances": [ + { + "height": 0.06764917247626052, + "id": "bbox_1767946413115_1767946444322_vewjvreit", + "width": 0.05401073717535691, + "x": 0.5679310348961196, + "y": 0.3778594087050707 + } + ], + "type": "bbox" + }, + "bbox_1767946413267": { + "instances": [ + { + "height": 0.22695206250100314, + "id": "bbox_1767946413267_1767946441860_bnkgzzfh4", + "width": 0.15712214451012904, + "x": 0.5073735416995074, + "y": 0.282568627773516 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 503, + "progress": 100, + "progress_explanation": "任务完成。进度100%", + "state_description": "当前状态为白纸落入垃圾桶", + "time": 16.752388150311027 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767946413115", + "name": "白纸" + }, + { + "color": "#FF9800", + "id": "bbox_1767946413267", + "name": "垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767946414139", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767946415698", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-161447-put-toilet paper-white-trash can-mix1/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-161447-put-toilet paper-white-trash can-mix1/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..d39171cc04c8fb26ded42dac7ba7c4a4cf57b7c5 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-161447-put-toilet paper-white-trash can-mix1/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,570 @@ +{ + "task_description": "把白纸放进白色的垃圾桶里\n准备开始移动：0%\n接近白色纸：20%\n触碰到白色纸：50%\n将白色纸夹起：70%\n将白色纸夹至白色垃圾桶上方：90%\n松开爪夹：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 0.5552565470188559, + "annotations": { + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948971575_wn3b7ghuz", + "x": 0.5401073218057844, + "y": 0.4695131262535527, + "width": 0.09983802932414454, + "height": 0.13748057632272304 + } + ] + }, + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948974983_p9mlitoo5", + "x": 0.7201431123903073, + "y": 0.4804242831045624, + "width": 0.17021565655263995, + "height": 0.3164235486792833 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 79, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹朝向下，准备接近白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 2.624854873100828, + "annotations": { + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948965064_ht0nsedlf", + "x": 0.7201431123903073, + "y": 0.5240689105086015, + "width": 0.16530558953669844, + "height": 0.27277892127524417 + } + ] + }, + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948967831_4xiooif1j", + "x": 0.5581109008642365, + "y": 0.47605982036415856, + "width": 0.1145682303719692, + "height": 0.11129379988029964 + } + ] + } + } + }, + { + "action_description": "爪夹向右前侧移动并向下移动。", + "correction_plan": "向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向右前侧移动正确，成功接近白纸", + "frame": 108, + "progress": 20, + "progress_explanation": "爪夹接近白纸，进度20%", + "state_description": "当前状态为爪夹接近白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 3.583937024211986, + "annotations": { + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948957188_4jtndqmq4", + "x": 0.553200833848295, + "y": 0.4716953576237547, + "width": 0.0982013403188307, + "height": 0.11129379988029958 + } + ] + }, + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948961081_ng45v0ive", + "x": 0.7250531794062487, + "y": 0.5000643654363801, + "width": 0.16366890053138458, + "height": 0.31642354867928313 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹识别错误，导致向错误物品接近", + "frame": 143, + "progress": -5, + "progress_explanation": "爪夹接近错误物品，进度-5%", + "state_description": "当前状态为爪夹接近错误物品\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 4.781333, + "annotations": { + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948951263_rt9ltbu6w", + "x": 0.6988661553212273, + "y": 0.5153399850277938, + "width": 0.19476599163234756, + "height": 0.281507846756052 + } + ] + }, + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948953890_fwilub8f0", + "x": 0.553200833848295, + "y": 0.46296643214294686, + "width": 0.08838120628694765, + "height": 0.13748057632272304 + } + ] + } + } + }, + { + "action_description": "合拢爪夹，向上移动", + "correction_plan": "松开爪夹，向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹识别错误，将错误物夹至空中", + "frame": 187, + "progress": -20, + "progress_explanation": "爪夹将错误物品夹至空中，进度-20%", + "state_description": "当前状态为爪夹将错误物品夹至空中\n为了完成把白纸放进白色的垃圾桶里的任务应当：松开爪夹，向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 6.218666, + "annotations": { + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948943888_qsnw06t7c", + "x": 0.553200833848295, + "y": 0.4738775889939566, + "width": 0.09329127330288918, + "height": 0.1047471057696938 + } + ] + }, + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948947531_cati1ucwg", + "x": 0.7234164904009349, + "y": 0.5000643654363801, + "width": 0.1522120774941877, + "height": 0.2924190036070617 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "松开爪夹，向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹识别错误，将错误物夹至空中", + "frame": 237, + "progress": -25, + "progress_explanation": "爪夹将错误物品夹至空中，进度-25%", + "state_description": "当前状态为爪夹将错误物品继续夹高\n为了完成把白纸放进白色的垃圾桶里的任务应当：松开爪夹，向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 7.890666, + "annotations": { + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948935920_618dl5ehh", + "x": 0.7201431123903073, + "y": 0.5175222163979957, + "width": 0.1423919434623045, + "height": 0.27496115264544607 + } + ] + }, + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948939289_6ws6rduat", + "x": 0.5581109008642365, + "y": 0.4476908125515332, + "width": 0.10147471832945838, + "height": 0.1505739645439347 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上，松开爪夹", + "correction_plan": "向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹将错误物品松开", + "frame": 299, + "progress": 5, + "progress_explanation": "爪夹将错误物品松开，进度5%", + "state_description": "当前状态为爪夹将错误物品松开\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 9.973333, + "annotations": { + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948927825_z7asx1gue", + "x": 0.5401073218057844, + "y": 0.4804242831045624, + "width": 0.11129485236134143, + "height": 0.14402727043332894 + } + ] + }, + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948931185_kkpzr3o5x", + "x": 0.7299632464221903, + "y": 0.49569990269597614, + "width": 0.14402863246761824, + "height": 0.3055123918282734 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "向左前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向垃圾桶接近错误。", + "frame": 358, + "progress": -2, + "progress_explanation": "爪夹向垃圾桶接近，进度-2%", + "state_description": "当前状态为爪夹向垃圾桶接近\n为了完成把白纸放进白色的垃圾桶里的任务应当：向左前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 11.938666, + "annotations": { + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948922393_v54ts12xf", + "x": 0.7103229783584242, + "y": 0.4913354399555722, + "width": 0.1587588335154429, + "height": 0.3120590859388793 + } + ] + }, + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948924985_hxoyah3ku", + "x": 0.5597475898695504, + "y": 0.454237506662139, + "width": 0.07365100523912309, + "height": 0.12438718810151136 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向前然后向左移动软件稍微向上", + "correction_plan": "向前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向垃圾桶移动朝向错误", + "frame": 426, + "progress": 2, + "progress_explanation": "爪夹触碰到垃圾桶后，回到空中，进度2%", + "state_description": "当前状态为爪夹触碰到垃圾桶后，回到空中\n为了完成把白纸放进白色的垃圾桶里的任务应当：向前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 14.197333, + "annotations": { + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948915912_rj9hztndh", + "x": 0.5466540778270397, + "y": 0.4716953576237547, + "width": 0.10311140733477223, + "height": 0.13093388221211721 + } + ] + }, + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948918589_y2ybwret3", + "x": 0.7250531794062487, + "y": 0.5327978359894093, + "width": 0.15875883351544307, + "height": 0.25968553305403236 + } + ] + } + } + }, + { + "action_description": "爪夹向左下侧移动", + "correction_plan": "向右侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹识别错误，向错误物品接近。", + "frame": 506, + "progress": -10, + "progress_explanation": "爪夹接近错误物品，进度-10%", + "state_description": "当前状态为爪夹接近错误物品\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 16.866666, + "annotations": { + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948910082_yatudj8qt", + "x": 0.7135963563690518, + "y": 0.5218866791383996, + "width": 0.16203221152607075, + "height": 0.30551239182827344 + } + ] + }, + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948913056_4cfcb11ca", + "x": 0.5482907668323536, + "y": 0.4476908125515332, + "width": 0.10311140733477223, + "height": 0.13748057632272304 + } + ] + } + } + }, + { + "action_description": "合拢爪夹稍微向右侧移动然后向后移动", + "correction_plan": "向前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹识别错误，导致触碰到错误物品", + "frame": 568, + "progress": -6, + "progress_explanation": "爪夹触碰到错误物品后，回到空中，进度-6%", + "state_description": "当前状态为爪夹触碰到错误物品后，回到空中\n为了完成把白纸放进白色的垃圾桶里的任务应当：向前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 18.929251441990516, + "annotations": { + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948903883_ol27nargk", + "x": 0.553200833848295, + "y": 0.456419738032341, + "width": 0.10474809634008606, + "height": 0.12438718810151131 + } + ] + }, + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948906849_nvswyp3zf", + "x": 0.7397833804540734, + "y": 0.48697097721516835, + "width": 0.16203221152607067, + "height": 0.33388139964089886 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动", + "correction_plan": "向前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向后移动错误，远离白纸", + "frame": 639, + "progress": -1, + "progress_explanation": "爪夹远离白纸，进度-1%", + "state_description": "当前状态为爪夹远离白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 21.301717815791797, + "annotations": { + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948897058_un6xme5th", + "x": 0.7152330453743657, + "y": 0.5218866791383996, + "width": 0.1767624125738953, + "height": 0.2902367722368598 + } + ] + }, + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948899339_tun7xzir0", + "x": 0.553200833848295, + "y": 0.456419738032341, + "width": 0.09656465131351685, + "height": 0.12875165084191528 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动", + "correction_plan": "向前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向前移动正确，成功重新接近白纸", + "frame": 722, + "progress": 25, + "progress_explanation": "爪夹重新接近白纸，进度25%", + "state_description": "当前状态为爪夹重新接近白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：向前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 24.07800825321883, + "annotations": { + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948891937_3937zm9q5", + "x": 0.5417440108110981, + "y": 0.4324151929601195, + "width": 0.09165458429757534, + "height": 0.14184503906312695 + } + ] + }, + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948894319_joox6ipe9", + "x": 0.7103229783584242, + "y": 0.5131577536575918, + "width": 0.1767624125738953, + "height": 0.29460123497726365 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动，合拢爪夹", + "correction_plan": "向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹合拢正确，成功触碰到白纸", + "frame": 812, + "progress": 50, + "progress_explanation": "爪夹稍微触碰到白纸，进度40%", + "state_description": "当前状态为爪夹稍微触碰到白纸\n为了完成把白纸放进白色的垃圾桶里的任务应当：合拢爪夹，夹住白色纸，向上移动。", + "time": 27.056210722458744, + "annotations": { + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948886593_yomwpbp4h", + "x": 0.7201431123903073, + "y": 0.5218866791383996, + "width": 0.17185234555795378, + "height": 0.3164235486792833 + } + ] + }, + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948889001_t48hht1un", + "x": 0.5515641448429812, + "y": 0.46514866351314876, + "width": 0.10311140733477223, + "height": 0.12002272536110746 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将白纸夹起。", + "frame": 880, + "progress": 60, + "progress_explanation": "爪夹稍微将白纸夹起，进度60%", + "state_description": "当前状态为爪夹稍微将白纸夹起\n为了完成把白纸放进白色的垃圾桶里的任务应当：向上移动，向右侧移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 29.333333, + "annotations": { + "bbox_1767948850162": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850162_1767948880057_hzikk3umr", + "x": 0.5482907668323536, + "y": 0.44187151779825856, + "width": 0.11620491937728294, + "height": 0.15493842728433863 + } + ] + }, + "bbox_1767948850306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948850306_1767948882585_gaw58tgwb", + "x": 0.7070496003477965, + "y": 0.5153399850277938, + "width": 0.16039552252075673, + "height": 0.32951693690049494 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767948850162", + "name": "白纸", + "color": "#4CAF50" + }, + { + "id": "bbox_1767948850306", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767948851178", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767948851354", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-161447-put-toilet paper-white-trash can-mix1/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-161447-put-toilet paper-white-trash can-mix1/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..5501ea7e006d2d774b5e181448e620b4b5132cd9 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-161447-put-toilet paper-white-trash can-mix1/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,822 @@ +{ + "task_description": "把白色纸放进白色的垃圾桶里\n准备开始移动：0%\n接近白色纸：20%\n触碰到白色纸：50%\n将白色纸夹起：75%\n将白色纸夹至白色垃圾桶上方：90%\n松开爪夹白色纸落入白色垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 0, + "annotations": { + "bbox_1767685874393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685874393_1767686022846_bfa7e23ke", + "x": 0.7463301364753288, + "y": 0.31093763558614135, + "width": 0.06546756021255389, + "height": 0.11565826262070354 + } + ] + }, + "bbox_1767685876256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685876256_1767686025870_fxb7q5rpm", + "x": 0.754513581501898, + "y": 0.09198709920861482, + "width": 0.11620491937728294, + "height": 0.18767189783736796 + } + ] + }, + "point_1767685877129": { + "type": "point", + "instances": [ + { + "id": "point_1767685877129_1767686028334_crflgnec7", + "x": 0.3928053113275382, + "y": 0.5218866791383996 + } + ] + }, + "point_1767685877329": { + "type": "point", + "instances": [ + { + "id": "point_1767685877329_1767686030174_ald1bn3l4", + "x": 0.617031705055535, + "y": 0.5109755222873898 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，然后稍微向右转动。", + "correction_plan": "向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向上移动，向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹张开，准备向白色纸接近。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向右前方移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 2.2993866352271444, + "annotations": { + "point_1767685877329": { + "type": "point", + "instances": [ + { + "id": "point_1767685877329_1767686033965_l2pc4ef2g", + "x": 0.6219417720714765, + "y": 0.5109755222873898 + } + ] + }, + "point_1767685877129": { + "type": "point", + "instances": [ + { + "id": "point_1767685877129_1767686036182_v3a2aa0tf", + "x": 0.3928053113275382, + "y": 0.5087932909171878 + } + ] + }, + "bbox_1767685876256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685876256_1767686040710_5aidyks3i", + "x": 0.6890460212893441, + "y": 0.09416933057881677, + "width": 0.14566532147293226, + "height": 0.21604090564999337 + } + ] + }, + "bbox_1767685874393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685874393_1767686043750_g6pb9gmyg", + "x": 0.6874093322840303, + "y": 0.29929907937780037, + "width": 0.06055749319661228, + "height": 0.10256487439949181 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动，向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向上移动，向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向下移动正确，成功接近白色纸。", + "frame": 118, + "progress": 20, + "progress_explanation": "爪夹接近白色纸，进度20%。", + "state_description": "当前状态为爪夹接近白色纸。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白色纸。", + "time": 3.922484054858115, + "annotations": { + "bbox_1767685874393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685874393_1767686048744_qx21a31x5", + "x": 0.37152835425845826, + "y": 0.3189391617096179, + "width": 0.1816724795898368, + "height": 0.2269520625010032 + } + ] + }, + "bbox_1767685876256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685876256_1767686052793_sfj6xkeax", + "x": 0.289693903992766, + "y": 0.009062307140940593, + "width": 0.2946040209564921, + "height": 0.20731198016918553 + } + ] + }, + "point_1767685877129": { + "type": "point", + "instances": [ + { + "id": "point_1767685877129_1767686057205_26owbkx11", + "x": 0.38953193331691055, + "y": 0.5175222163979957 + } + ] + }, + "point_1767685877329": { + "type": "point", + "instances": [ + { + "id": "point_1767685877329_1767686060118_3h3o1ctz2", + "x": 0.6252151500821042, + "y": 0.502246596806582 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，稍微合拢爪夹。", + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向上移动，向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹成功向下移动，准备触碰白色纸。", + "frame": 157, + "progress": 30, + "progress_explanation": "爪夹准备触碰白色纸，进度30%。", + "state_description": "当前状态为爪夹准备触碰到白色纸。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：合拢爪夹，夹住白色纸，向上移动", + "time": 5.229979198449731, + "annotations": { + "point_1767685877329": { + "type": "point", + "instances": [ + { + "id": "point_1767685877329_1767686066013_psb7gpqzb", + "x": 0.5581109008642365, + "y": 0.5066110595469859 + } + ] + }, + "point_1767685877129": { + "type": "point", + "instances": [ + { + "id": "point_1767685877129_1767686068677_9pqalee3w", + "x": 0.45499949352946434, + "y": 0.5109755222873898 + } + ] + }, + "bbox_1767685876256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685876256_1767686072149_q4jagt6gm", + "x": 0.4419059814869536, + "y": 0.0134267698813445, + "width": 0.2536867958236459, + "height": 0.12220495673130936 + } + ] + }, + "bbox_1767685874393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685874393_1767686075262_49m6x7k7w", + "x": 0.4288124694444428, + "y": 0.2752945343055789, + "width": 0.23077314974925214, + "height": 0.18330743509696407 + } + ] + } + } + }, + { + "action_description": "稍微向下移动，合拢爪夹。", + "correction_plan": "向上移动，向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹成功触碰到白色纸。", + "frame": 193, + "progress": 50, + "progress_explanation": "爪夹触碰到白色纸，进度50%。", + "state_description": "当前状态为爪夹合拢，触碰到白色纸。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向上移动，向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 6.447302263172959, + "annotations": { + "bbox_1767685874393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685874393_1767686080477_c1qhzrqy4", + "x": 0.3191543060884152, + "y": 0.17927635401669295, + "width": 0.33879462409996586, + "height": 0.373161564304534 + } + ] + }, + "point_1767685877329": { + "type": "point", + "instances": [ + { + "id": "point_1767685877329_1767686083348_d6avinn4e", + "x": 0.5171936757313904, + "y": 0.5131577536575918 + } + ] + }, + "point_1767685877129": { + "type": "point", + "instances": [ + { + "id": "point_1767685877129_1767686085748_x1m2gv0h4", + "x": 0.48773327363574126, + "y": 0.5197044477681977 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向上移动正确，成功将白色纸夹至上空。", + "frame": 258, + "progress": 75, + "progress_explanation": "爪夹将白色纸夹至空中，进度75%。", + "state_description": "当前状态为爪夹将白色纸夹至空中。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 8.611432156014251, + "annotations": { + "bbox_1767685874393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685874393_1767686091612_ggvlz85q8", + "x": 0.33879457415218134, + "y": 0.21419205593992416, + "width": 0.2585968628395875, + "height": 0.3076946231984754 + } + ] + } + } + }, + { + "action_description": "爪夹松开", + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向上移动，向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹松开错误，白色纸落下。", + "frame": 300, + "progress": 5, + "progress_explanation": "爪夹松开错误，进度下降至5%。", + "state_description": "当前状态为爪夹松开，白色纸落在桌子上。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白色纸，向上移动。", + "time": 10.009099378474255, + "annotations": { + "bbox_1767685874393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685874393_1767686098150_nrwx5o08z", + "x": 0.41080889038599055, + "y": 0.4127751106283019, + "width": 0.08347113927100605, + "height": 0.13093388221211721 + } + ] + }, + "bbox_1767685876256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685876256_1767686101284_bp5w4zwys", + "x": 0.2700536359289999, + "y": 0.1072627188000285, + "width": 0.22586308273331057, + "height": 0.27059668990504215 + } + ] + }, + "point_1767685877129": { + "type": "point", + "instances": [ + { + "id": "point_1767685877129_1767686104284_h2i9y1u7w", + "x": 0.3928053113275382, + "y": 0.5066110595469859 + } + ] + }, + "point_1767685877329": { + "type": "point", + "instances": [ + { + "id": "point_1767685877329_1767686106301_d58gu1fqk", + "x": 0.6235784610767904, + "y": 0.5000643654363801 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向上移动，向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向下移动正确，准备重新接近白色纸。", + "frame": 350, + "progress": 15, + "progress_explanation": "爪夹准备重新接近白色纸，进度15%。", + "state_description": "当前状态为爪夹朝向下，准备重新接近白色纸。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白色纸。", + "time": 11.677282837539419, + "annotations": { + "bbox_1767685874393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685874393_1767686113005_u6mt5i2k6", + "x": 0.4991900966729381, + "y": 0.33203254993082965, + "width": 0.10311140733477231, + "height": 0.11784049399090547 + } + ] + }, + "bbox_1767685876256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685876256_1767686116508_9z5kchej6", + "x": 0.3453413301734367, + "y": 0.022155695362152315, + "width": 0.20131274765360296, + "height": 0.2967834663474656 + } + ] + }, + "point_1767685877129": { + "type": "point", + "instances": [ + { + "id": "point_1767685877129_1767686118972_itfln1yej", + "x": 0.3960786893381659, + "y": 0.5087932909171878 + } + ] + }, + "point_1767685877329": { + "type": "point", + "instances": [ + { + "id": "point_1767685877329_1767686121444_f9un9qm9f", + "x": 0.6186683940608488, + "y": 0.5087932909171878 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，然后向左移动。", + "correction_plan": "向右侧移动，合拢爪夹，夹住白色纸，向上移动，向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "识别错误，爪夹朝向错误物品。", + "frame": 403, + "progress": -10, + "progress_explanation": "爪夹朝向错误物品，进度-10%。", + "state_description": "当前状态为爪夹向错误物品移动。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向右侧移动，合拢爪夹，夹住白色纸。", + "time": 13.43563837547297, + "annotations": { + "point_1767685877329": { + "type": "point", + "instances": [ + { + "id": "point_1767685877329_1767686126163_iyjeknqlp", + "x": 0.6252151500821042, + "y": 0.5153399850277938 + } + ] + }, + "point_1767685877129": { + "type": "point", + "instances": [ + { + "id": "point_1767685877129_1767686128740_d40zpwcsr", + "x": 0.38953193331691055, + "y": 0.5153399850277938 + } + ] + }, + "bbox_1767685876256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685876256_1767686156891_ygoejxg55", + "x": 0.46318293855603354, + "y": 0.009062307140940593, + "width": 0.3878952942593813, + "height": 0.3120590859388793 + } + ] + }, + "bbox_1767685874393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685874393_1767686160084_h6t2s17qm", + "x": 0.7103229783584242, + "y": 0.3647660204838589, + "width": 0.17512572356858147, + "height": 0.20076528605857966 + } + ] + } + } + }, + { + "action_description": "向下移动，合拢爪夹。", + "correction_plan": "松开爪夹，向右移动，合拢爪夹，夹住白色纸，向上移动，向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹识别错误，夹到错误物品。", + "frame": 464, + "progress": -25, + "progress_explanation": "爪夹夹错物品，进度-25%。", + "state_description": "当前状态为爪夹夹到错误物品。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：松开爪夹，向右移动，合拢爪夹，夹住白色纸。", + "time": 15.464510150011684, + "annotations": { + "bbox_1767685874393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685874393_1767686170064_k0a9nulgq", + "x": 0.626851839087418, + "y": 0.39095279692628243, + "width": 0.1751257235685814, + "height": 0.12220495673130932 + } + ] + }, + "bbox_1767685876256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685876256_1767686179245_421buj38p", + "x": 0.4304491584497566, + "y": 0.03524908358336403, + "width": 0.2815105089139814, + "height": 0.24004545072221484 + } + ] + }, + "point_1767685877329": { + "type": "point", + "instances": [ + { + "id": "point_1767685877329_1767686185795_xronh7mjt", + "x": 0.5171936757313904, + "y": 0.4935176713257742 + } + ] + }, + "point_1767685877129": { + "type": "point", + "instances": [ + { + "id": "point_1767685877129_1767686187891_3w2ixrc1n", + "x": 0.4910066516463689, + "y": 0.49569990269597614 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "松开爪夹，向右移动，向下移动，合拢爪夹，夹住白色纸，向上移动，向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹识别错误。", + "frame": 513, + "progress": -35, + "progress_explanation": "爪夹将错误物品价值空中，进度-35%", + "state_description": "当前状态为爪夹将错误物品夹至空中。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：松开爪夹，向右移动，向下移动，合拢爪夹，夹住白色纸。", + "time": 17.087607569642653, + "annotations": { + "point_1767685877129": { + "type": "point", + "instances": [ + { + "id": "point_1767685877129_1767686192923_17dodxo4y", + "x": 0.48773327363574126, + "y": 0.4913354399555722 + } + ] + }, + "point_1767685877329": { + "type": "point", + "instances": [ + { + "id": "point_1767685877329_1767686194955_vso5dwjtf", + "x": 0.5171936757313904, + "y": 0.4978821340661781 + } + ] + }, + "bbox_1767685874393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685874393_1767686197780_de4225gnq", + "x": 0.6579489301883811, + "y": 0.49569990269597614, + "width": 0.10311140733477223, + "height": 0.12656941947171324 + } + ] + }, + "bbox_1767685876256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685876256_1767686201522_j5p4zr10e", + "x": 0.5679310348961196, + "y": 0.14654288346366365, + "width": 0.20294943665891685, + "height": 0.31860578004948514 + } + ] + } + } + }, + { + "action_description": "爪夹松开，向右移动，向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向上移动，向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹移动方向正确，接近白色纸。", + "frame": 565, + "progress": 25, + "progress_explanation": "爪夹重新接近白色纸，进度25%", + "state_description": "当前状态为爪夹重新接近白色纸。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白色纸。", + "time": 18.845963107576207, + "annotations": { + "bbox_1767685874393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685874393_1767686214674_qay4l7c6t", + "x": 0.37152835425845826, + "y": 0.3582193263732531, + "width": 0.12602505340916603, + "height": 0.15493842728433863 + } + ] + }, + "bbox_1767685876256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685876256_1767686218002_pxkuhgm02", + "x": 0.2651435689130583, + "y": 0.03524908358336403, + "width": 0.36661833719030124, + "height": 0.27496115264544607 + } + ] + }, + "point_1767685877129": { + "type": "point", + "instances": [ + { + "id": "point_1767685877129_1767686220363_mebdqjeol", + "x": 0.384621866300969, + "y": 0.5131577536575918 + } + ] + }, + "point_1767685877329": { + "type": "point", + "instances": [ + { + "id": "point_1767685877329_1767686221970_mn98dza7z", + "x": 0.6153950160502212, + "y": 0.5109755222873898 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，合拢爪夹。", + "annotations": { + "bbox_1767685874393": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685874393_1767686227066_iyqqxg0fx", + "x": 0.4042621343647351, + "y": 0.3211213930798199, + "width": 0.1522120774941876, + "height": 0.2247698311308012 + } + ] + }, + "bbox_1767685876256": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767685876256_1767686231442_zqbcm3d8v", + "x": 0.289693903992766, + "y": 0.02652015810255622, + "width": 0.569567773849218, + "height": 0.29023677223685973 + } + ] + } + }, + "correction_plan": "向上移动，向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹合拢正确，成功夹住白色纸。", + "frame": 619, + "progress": 50, + "progress_explanation": "爪夹夹住白色纸，进度50%。", + "state_description": "当前状态为爪夹夹住白色纸。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向上移动，向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 20.649404684943953 + }, + { + "action_description": "爪夹向上移动。", + "annotations": { + "bbox_1767685874393": { + "instances": [ + { + "height": 0.21604090564999331, + "id": "bbox_1767685874393_1767685942768_5p76a6c53", + "width": 0.1473020104782461, + "x": 0.39771537834347975, + "y": 0.3473081695222433 + } + ], + "type": "bbox" + }, + "bbox_1767685876256": { + "instances": [ + { + "height": 0.4037128034873613, + "id": "bbox_1767685876256_1767685939279_li84i94iv", + "width": 0.24714003980239058, + "x": 0.3355211961415537, + "y": 0.017791232621748407 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向上移动正确，成功将白色纸夹至上空。", + "frame": 664, + "progress": 75, + "progress_explanation": "爪夹将白色纸夹至空中，进度75%。", + "state_description": "当前状态为爪夹将白色纸夹至空中。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向左前移动至白色垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 22.137243986272342 + }, + { + "action_description": "爪夹向前移动。", + "annotations": { + "bbox_1767685874393": { + "instances": [ + { + "height": 0.2007652860585796, + "id": "bbox_1767685874393_1767685928646_gzdqp442v", + "width": 0.1489386994835599, + "x": 0.3813484882903413, + "y": 0.362583789113657 + } + ], + "type": "bbox" + }, + "bbox_1767685876256": { + "instances": [ + { + "height": 0.325152474160091, + "id": "bbox_1767685876256_1767685931593_4cyjsog69", + "width": 0.2455033507970767, + "x": 0.32079099509372905, + "y": 0.3647660204838589 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹成功将白色纸夹至垃圾桶上方", + "frame": 702, + "progress": 90, + "progress_explanation": "爪夹将白色纸夹至垃圾桶上方，进度90%。", + "state_description": "当前状态为爪夹成功将白色纸夹至垃圾桶上方。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：松开爪夹。", + "time": 23.399653090429766 + }, + { + "action_description": "松开爪夹。", + "annotations": { + "bbox_1767685874393": { + "instances": [ + { + "height": 0.09601818028888592, + "id": "bbox_1767685874393_1767685924064_pktlf0r7z", + "width": 0.07692438324975068, + "x": 0.3617082202265752, + "y": 0.23601436964194372 + } + ], + "type": "bbox" + }, + "bbox_1767685876256": { + "instances": [ + { + "height": 0.19858305468837772, + "id": "bbox_1767685876256_1767685921152_tooaul84c", + "width": 0.2029494366589168, + "x": 0.30606079404590447, + "y": 0.14654288346366365 + } + ], + "type": "bbox" + }, + "point_1767685877129": { + "instances": [ + { + "id": "point_1767685877129_1767685918263_9we42dv7j", + "x": 0.3928053113275382, + "y": 0.5153399850277938 + } + ], + "type": "point" + }, + "point_1767685877329": { + "instances": [ + { + "id": "point_1767685877329_1767685915808_85wg3i19z", + "x": 0.617031705055535, + "y": 0.5095206902745191 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功将白色纸放入垃圾桶。", + "frame": 750, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹张开，白色纸落入垃圾桶。", + "time": 24.9948 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767685874393", + "name": "白色纸" + }, + { + "color": "#FF9800", + "id": "bbox_1767685876256", + "name": "垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767685877129", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767685877329", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-161447-put-toilet paper-white-trash can-mix1/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-161447-put-toilet paper-white-trash can-mix1/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..3d3d50eb8bd6d6dda2d3314923632f8df9c17c2e --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-161447-put-toilet paper-white-trash can-mix1/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,732 @@ +{ + "task_description": "把白色纸放进白色的垃圾桶里\n准备开始移动：0%\n接近白色纸：20%\n触碰到白色纸：50%\n将白色纸夹起：75%\n将白色纸夹至白色垃圾桶上方：90%\n松开爪夹白色纸落入白色垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向右侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向左侧移动至垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，白色纸在桌子上。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向右侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 0, + "annotations": { + "point_1767689409508": { + "type": "point", + "instances": [ + { + "id": "point_1767689409508_1767689593271_1mnqzex4a", + "x": 0.6284885280927319, + "y": 0.5131577536575918 + } + ] + }, + "point_1767689409332": { + "type": "point", + "instances": [ + { + "id": "point_1767689409332_1767689595135_lygl4lp9t", + "x": 0.39444200033285204, + "y": 0.5131577536575918 + } + ] + }, + "bbox_1767689408195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689408195_1767689597991_wmvzv8yoz", + "x": 0.4811865176144859, + "y": 0.09198709920861482, + "width": 0.22913646074393829, + "height": 0.370979332934332 + } + ] + }, + "bbox_1767689406675": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689406675_1767689601416_5e2sybsoy", + "x": 0.7266898684115626, + "y": 0.2622011460843672, + "width": 0.06710424921786773, + "height": 0.1702140468757523 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动。", + "correction_plan": "向右侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向左侧移动至垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 78, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张开，准备接近白色纸。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向右侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 2.5838417737005073, + "annotations": { + "bbox_1767689406675": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689406675_1767689582977_xu3g25co3", + "x": 0.574477790917375, + "y": 0.16400073442527927, + "width": 0.07037762722849532, + "height": 0.1462095018035309 + } + ] + }, + "bbox_1767689408195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689408195_1767689585631_v1bk9wysv", + "x": 0.34697801917875054, + "y": 0.13126726387224996, + "width": 0.20458612566423065, + "height": 0.23568098798181095 + } + ] + }, + "point_1767689409332": { + "type": "point", + "instances": [ + { + "id": "point_1767689409332_1767689587391_vh6x0cmq9", + "x": 0.38625855530628284, + "y": 0.5109755222873898 + } + ] + }, + "point_1767689409508": { + "type": "point", + "instances": [ + { + "id": "point_1767689409508_1767689589329_webumvhr1", + "x": 0.6252151500821042, + "y": 0.5066110595469859 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动，同时向下移动。", + "correction_plan": "向左移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向左侧移动至垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹识别错误，接近错误物品。", + "frame": 126, + "progress": -10, + "progress_explanation": "爪夹向错误物品移动，进度-10%", + "state_description": "当前状态为爪夹接近错误物品。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向左移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 4.183363646523579, + "annotations": { + "point_1767689409508": { + "type": "point", + "instances": [ + { + "id": "point_1767689409508_1767689570199_33yzxsm59", + "x": 0.5302871877739012, + "y": 0.5066110595469859 + } + ] + }, + "point_1767689409332": { + "type": "point", + "instances": [ + { + "id": "point_1767689409332_1767689572545_h8asuyxq2", + "x": 0.4828232066197997, + "y": 0.502246596806582 + } + ] + }, + "bbox_1767689408195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689408195_1767689575895_7mircgj6z", + "x": 0.001636639057529259, + "y": 0.3582193263732531, + "width": 0.15875883351544295, + "height": 0.44517519952119844 + } + ] + }, + "bbox_1767689406675": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689406675_1767689578464_f156fo5d6", + "x": 0.17512567362079684, + "y": 0.009062307140940593, + "width": 0.19312930262703373, + "height": 0.2662322271646383 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动，然后向后并向上移动。", + "correction_plan": "向左侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向左侧移动至垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹识别错误，触碰错误物品。", + "frame": 186, + "progress": -20, + "progress_explanation": "爪夹触碰错误物品，进度-20%。", + "state_description": "当前状态为爪夹合拢。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向左侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 6.193019332891027, + "annotations": { + "bbox_1767689406675": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689406675_1767689557722_d1cdr0hmb", + "x": 0.15384871655171686, + "y": 0.30220871010533357, + "width": 0.10311140733477224, + "height": 0.2575033016838305 + } + ] + }, + "bbox_1767689408195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689408195_1767689561767_qinn0gr1c", + "x": 0.001636639057529259, + "y": 0.454237506662139, + "width": 0.13257180943042143, + "height": 0.36661487019392813 + } + ] + }, + "point_1767689409332": { + "type": "point", + "instances": [ + { + "id": "point_1767689409332_1767689564603_xlc74wuwn", + "x": 0.49591671866231046, + "y": 0.5000643654363801 + } + ] + }, + "point_1767689409508": { + "type": "point", + "instances": [ + { + "id": "point_1767689409508_1767689566680_oaf6rl78c", + "x": 0.5155569867260766, + "y": 0.4935176713257742 + } + ] + } + } + }, + { + "action_description": "向下移动，张开爪夹。", + "correction_plan": "向左侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向左侧移动至垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹识别错误，向错误物品移动。", + "frame": 258, + "progress": -5, + "progress_explanation": "爪夹向错误物品移动，进度-5%。", + "state_description": "当前状态为爪夹朝向下，接近错误物品。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向左侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 8.612808832802854, + "annotations": { + "point_1767689409508": { + "type": "point", + "instances": [ + { + "id": "point_1767689409508_1767689548138_xgnb8mk6u", + "x": 0.617031705055535, + "y": 0.5218866791383996 + } + ] + }, + "point_1767689409332": { + "type": "point", + "instances": [ + { + "id": "point_1767689409332_1767689549960_2m2zs09pv", + "x": 0.3878952443115967, + "y": 0.5066110595469859 + } + ] + }, + "bbox_1767689406675": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689406675_1767689553180_71cyi532y", + "x": 0.009820084084098485, + "y": 0.12035610702124021, + "width": 0.11456823037196914, + "height": 0.32078801141968705 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，向左侧移动，向后移动。", + "correction_plan": "向左侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向左侧移动至垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹识别错误，将错误物品移动。", + "frame": 310, + "progress": -15, + "progress_explanation": "爪夹移动错误物品，进度-15%。", + "state_description": "当前状态为爪夹将黄色物品挑至左边。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向左侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 10.335370849689237, + "annotations": { + "bbox_1767689406675": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689406675_1767689533424_1cfrx1xz6", + "x": 0.2176795877589568, + "y": 0.02652015810255622, + "width": 0.18167247958983684, + "height": 0.1440272704333289 + } + ] + }, + "bbox_1767689408195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689408195_1767689539344_ht5250lkn", + "x": 0.00491001706815695, + "y": 0.17927635401669295, + "width": 0.11129485236134147, + "height": 0.5630156935121039 + } + ] + }, + "point_1767689409332": { + "type": "point", + "instances": [ + { + "id": "point_1767689409332_1767689541258_jnibzf8j8", + "x": 0.4615462495507197, + "y": 0.5131577536575918 + } + ] + }, + "point_1767689409508": { + "type": "point", + "instances": [ + { + "id": "point_1767689409508_1767689543064_q7v54wgv8", + "x": 0.5368339437951566, + "y": 0.5087932909171878 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，向左前侧移动。", + "correction_plan": "向左侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向左侧移动至垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹重新开始调整，开始移动。", + "frame": 372, + "progress": 5, + "progress_explanation": "爪夹重新调整，进度5%。", + "state_description": "当前状态为爪夹在空中，半张开。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向左侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 12.386039917411123, + "annotations": { + "point_1767689409508": { + "type": "point", + "instances": [ + { + "id": "point_1767689409508_1767689520098_zduaxsmhg", + "x": 0.5630209678801781, + "y": 0.5000643654363801 + } + ] + }, + "point_1767689409332": { + "type": "point", + "instances": [ + { + "id": "point_1767689409332_1767689521649_4fcciiauz", + "x": 0.4517261155188367, + "y": 0.5000643654363801 + } + ] + }, + "bbox_1767689408195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689408195_1767689525272_7zxs254fy", + "x": 0.006546706073470794, + "y": 0.27747676567578083, + "width": 0.1931293026270337, + "height": 0.5521045366610942 + } + ] + }, + "bbox_1767689406675": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689406675_1767689528201_n0rq51myc", + "x": 0.2831471479715106, + "y": 0.1530895775742695, + "width": 0.14730201047824604, + "height": 0.1942185919479738 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，合拢爪夹。", + "correction_plan": "向左侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸，向左侧移动至垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹调整正确，成功准备接近白色纸。", + "frame": 412, + "progress": 15, + "progress_explanation": "爪夹准备接近白色纸，进度15%", + "state_description": "当前状态为爪夹向下，准备接近白色纸。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向左侧移动至白色纸上方，向下移动，合拢爪夹，夹住白色纸。", + "time": 13.73948150210757, + "annotations": { + "bbox_1767689406675": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689406675_1767689508881_3ssia2s41", + "x": 0.31751761708310133, + "y": 0.33930664339876676, + "width": 0.15221207749418758, + "height": 0.22913429387120512 + } + ] + }, + "bbox_1767689408195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689408195_1767689512393_lwn2oa684", + "x": 0.00491001706815695, + "y": 0.5437089928404191, + "width": 0.1964026806376614, + "height": 0.35570371334291834 + } + ] + }, + "point_1767689409332": { + "type": "point", + "instances": [ + { + "id": "point_1767689409332_1767689514352_99uwreyj1", + "x": 0.38625855530628284, + "y": 0.5197044477681977 + } + ] + }, + "point_1767689409508": { + "type": "point", + "instances": [ + { + "id": "point_1767689409508_1767689516273_3l7z1fbka", + "x": 0.6301252170980457, + "y": 0.5240689105086015 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，稍微向左移动。", + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向左侧移动至垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向下移动正确，成功接近白色纸。", + "frame": 455, + "progress": 20, + "progress_explanation": "爪夹接近白色纸，进度20%。", + "state_description": "当前状态为爪夹向下，接近白色纸。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白色纸。", + "time": 15.174949849512888, + "annotations": { + "point_1767689409508": { + "type": "point", + "instances": [ + { + "id": "point_1767689409508_1767689497304_io5rkzvij", + "x": 0.6137583270449073, + "y": 0.5226140784957308 + } + ] + }, + "point_1767689409332": { + "type": "point", + "instances": [ + { + "id": "point_1767689409332_1767689499601_fybe1k6mc", + "x": 0.38625855530628284, + "y": 0.5131577536575918 + } + ] + }, + "bbox_1767689408195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689408195_1767689502073_9diw7j9lw", + "x": 0.001636639057529259, + "y": 0.408410647887898, + "width": 0.18985592461640602, + "height": 0.5237355288484687 + } + ] + }, + "bbox_1767689406675": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689406675_1767689504713_z92xyhay6", + "x": 0.384621866300969, + "y": 0.30148131074800233, + "width": 0.1964026806376614, + "height": 0.1767607409863582 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住白色纸，向上移动，向左侧移动至垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向下移动正确，成功稍微触碰到白色纸", + "frame": 508, + "progress": 30, + "progress_explanation": "爪夹稍微触碰到白色纸，进度30%", + "state_description": "当前状态为爪夹稍微触碰到白色纸。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白色纸。", + "time": 16.938525247753713, + "annotations": { + "bbox_1767689406675": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689406675_1767689487804_8qhpxquck", + "x": 0.34861470818406437, + "y": 0.3342147813010316, + "width": 0.22095301571736914, + "height": 0.2422276820924168 + } + ] + }, + "bbox_1767689408195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689408195_1767689491015_lleihqo4u", + "x": 0.008183395078784638, + "y": 0.454237506662139, + "width": 0.1882192356110922, + "height": 0.4495396622616023 + } + ] + }, + "point_1767689409508": { + "type": "point", + "instances": [ + { + "id": "point_1767689409508_1767689493019_ao06huc8d", + "x": 0.6219417720714765, + "y": 0.5087932909171878 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "向上移动，向左侧移动至垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹合拢正确，成功夹住白色纸。", + "frame": 541, + "progress": 50, + "progress_explanation": "爪夹夹住白色纸，进度50%。", + "state_description": "当前状态为爪夹夹住白色纸。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向上移动，向左侧移动至垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 18.04588654432353, + "annotations": { + "bbox_1767689408195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689408195_1767689480596_0xasxcjfp", + "x": 0.01145677308941233, + "y": 0.470240525610884, + "width": 0.14075525445699066, + "height": 0.4386285054105926 + } + ] + }, + "bbox_1767689406675": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689406675_1767689483098_2vhvmvwkp", + "x": 0.41080889038599055, + "y": 0.36040155774345506, + "width": 0.1800357905845229, + "height": 0.1920363605777719 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向左侧移动至垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向上移动正确，成功将白色纸夹至空中", + "frame": 582, + "progress": 75, + "progress_explanation": "爪夹将白色纸夹至空中，进度75%", + "state_description": "当前状态为爪夹将白色纸夹至空中。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：向左侧移动至垃圾桶上方，松开爪夹，白色纸落入垃圾桶。", + "time": 19.399328129019974, + "annotations": { + "bbox_1767689406675": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689406675_1767689459122_arng43nze", + "x": 0.3829851772956552, + "y": 0.3865883341858785, + "width": 0.12929843141979375, + "height": 0.2029475174287816 + } + ] + }, + "bbox_1767689408195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689408195_1767689472881_tc8gjc3us", + "x": 0.016366840105353865, + "y": 0.5829891575040542, + "width": 0.1603955225207568, + "height": 0.33169916827069684 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "松开爪夹，白色纸落入垃圾桶。", + "error_success_analysis": "爪夹向左移动正确，成功将白色纸夹至白色垃圾桶上方", + "frame": 624, + "progress": 90, + "progress_explanation": "白色纸夹至白色垃圾桶上方，进度90%。", + "state_description": "当前状态为爪夹将白色纸夹至白色垃圾桶上方。\n为了完成把白色纸放进白色的垃圾桶里的任务应当：松开爪夹，白色纸落入垃圾桶。", + "time": 20.793783095070857, + "annotations": { + "bbox_1767689406675": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689406675_1767689451485_iijsvvra7", + "x": 0.41899233541255976, + "y": 0.3778594087050707, + "width": 0.17021565655263987, + "height": 0.22913429387120504 + } + ] + }, + "bbox_1767689408195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689408195_1767689454227_kku19w5e6", + "x": 0.36989166525314443, + "y": 0.3451259381520414, + "width": 0.24714003980239058, + "height": 0.2858723094964558 + } + ] + } + } + }, + { + "action_description": "松开爪夹。", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，白色纸成功落入白色垃圾桶", + "frame": 668, + "progress": 100, + "progress_explanation": "任务完成，进度100%。", + "state_description": "当前状态爪夹张开，白色纸落入垃圾桶中。", + "time": 22.270264823830615, + "annotations": { + "point_1767689409508": { + "type": "point", + "instances": [ + { + "id": "point_1767689409508_1767689438234_588qfl33k", + "x": 0.5908446809705135, + "y": 0.5051562275341152 + } + ] + }, + "point_1767689409332": { + "type": "point", + "instances": [ + { + "id": "point_1767689409332_1767689439974_qz5y23vrr", + "x": 0.42717578043912896, + "y": 0.5197044477681977 + } + ] + }, + "bbox_1767689408195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689408195_1767689442907_nw034obcv", + "x": 0.36007153122126134, + "y": 0.2840234597863867, + "width": 0.27169037488209824, + "height": 0.3469747878621105 + } + ] + }, + "bbox_1767689406675": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689406675_1767689445739_xt0i4ghhj", + "x": 0.4435426704922675, + "y": 0.41495734199850387, + "width": 0.1636689005313845, + "height": 0.14620950180353087 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767689406675", + "name": "白色纸", + "color": "#4CAF50" + }, + { + "id": "bbox_1767689408195", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767689409332", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767689409508", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-162837-put-toilet paper-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-162837-put-toilet paper-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..fcf77b853247eb071e98004a47a58c0024147409 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-162837-put-toilet paper-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,366 @@ +{ + "task_description": "把白纸放进白色的垃圾桶里\n准备开始移动：0%\n接近白纸：20%\n触碰到白纸：50%\n将白色纸夹起：75%\n将白纸夹至白色垃圾桶上方：90%\n松开爪夹白纸落入白色垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向左前方移动至白纸上方，向下移动，合拢爪夹，夹住白纸，向上移动，向右前方移动至垃圾桶上方，松开爪夹，白纸落入垃圾桶中。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹暂未移动。\n为了完成把白纸放进白色的垃圾桶里的任务应当：向左前方移动至白纸上方，向下移动，合拢爪夹，夹住白纸。", + "time": 1.392389204772698, + "annotations": { + "bbox_1767691719205": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719205_1767691747595_68m1p5wov", + "x": 0.31751761708310133, + "y": 0.4527826746492683, + "width": 0.08838120628694761, + "height": 0.1658495841353485 + } + ] + }, + "bbox_1767691719372": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719372_1767691749844_14t5gcvem", + "x": 0.6055748820183381, + "y": 0.34949040089244526, + "width": 0.1636689005313845, + "height": 0.25532107031362844 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，向前移动。", + "correction_plan": "向左前方移动至白纸上方，向下移动，合拢爪夹，夹住白纸，向上移动，向右前方移动至垃圾桶上方，松开爪夹，白纸落入垃圾桶中。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 76, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%。", + "state_description": "当前状态为爪夹张卡。白纸在桌子上。\n为了完成把白纸放进白色的垃圾桶里的任务应当：向左前方移动至白纸上方，向下移动，合拢爪夹，夹住白纸。", + "time": 2.548335625276168, + "annotations": { + "bbox_1767691719205": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719205_1767691756780_xzs3s2qkr", + "x": 0.3273377511149844, + "y": 0.4804242831045624, + "width": 0.07692438324975068, + "height": 0.1593028900247426 + } + ] + }, + "bbox_1767691719372": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719372_1767691759795_j6sjzvl01", + "x": 0.626851839087418, + "y": 0.3778594087050707, + "width": 0.1554854555048153, + "height": 0.2618677644242344 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动。", + "correction_plan": "向左前方移动至白纸上方，向下移动，合拢爪夹，夹住白纸，向上移动，向右前方移动至垃圾桶上方，松开爪夹，白纸落入垃圾桶中。", + "error_success_analysis": "爪夹向前移动正确，成功接近白纸。", + "frame": 103, + "progress": 20, + "progress_explanation": "爪夹接近白纸，进度20%。", + "state_description": "当前状态为爪夹接近白纸。\n为了完成把白纸放进白色的垃圾桶里的任务应当：向左前方移动至白纸上方，向下移动，合拢爪夹，夹住白纸。", + "time": 3.4415669502106674, + "annotations": { + "bbox_1767691719372": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719372_1767691764348_47651qu9j", + "x": 0.6137583270449073, + "y": 0.36694825185406094, + "width": 0.1603955225207568, + "height": 0.25532107031362844 + } + ] + }, + "bbox_1767691719205": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719205_1767691766860_ustp9g7r6", + "x": 0.3453413301734367, + "y": 0.4716953576237547, + "width": 0.0720143162338092, + "height": 0.13748057632272304 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下，合拢爪夹。", + "correction_plan": "向上移动，向右前方移动至垃圾桶上方，松开爪夹，白纸落入垃圾桶中。", + "error_success_analysis": "爪夹合拢正确，成功夹住白纸。", + "frame": 138, + "progress": 50, + "progress_explanation": "爪夹夹住白纸，进度50%。", + "state_description": "当前状态为爪夹夹住白纸。\n为了完成把白纸放进白色的垃圾桶里的任务应当：向上移动，向右前方移动至垃圾桶上方，松开爪夹，白纸落入垃圾桶中。", + "time": 4.597513370714137, + "annotations": { + "bbox_1767691719205": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719205_1767691769628_6bgk9n45w", + "x": 0.35679815321063363, + "y": 0.4804242831045624, + "width": 0.07037762722849532, + "height": 0.18767189783736804 + } + ] + }, + "bbox_1767691719372": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719372_1767691771563_obuh4cjf8", + "x": 0.6186683940608488, + "y": 0.3647660204838589, + "width": 0.13748187644636295, + "height": 0.25532107031362844 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向右前方移动至垃圾桶上方，松开爪夹，白纸落入垃圾桶中。", + "error_success_analysis": "向上移动正确，成功将爪夹将白纸夹至空中", + "frame": 176, + "progress": 75, + "progress_explanation": "爪夹将白纸夹至空中，进度75%", + "state_description": "当前状态为爪夹将白纸夹至空中。\n为了完成把白纸放进白色的垃圾桶里的任务应当：向右前方移动至垃圾桶上方，松开爪夹，白纸落入垃圾桶中。", + "time": 5.8585458294451955, + "annotations": { + "bbox_1767691719372": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719372_1767691774523_3qfzfwv1q", + "x": 0.6104849490342796, + "y": 0.34949040089244526, + "width": 0.1554854555048153, + "height": 0.3164235486792832 + } + ] + }, + "bbox_1767691719205": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719205_1767691776564_96ivq9u9a", + "x": 0.36989166525314443, + "y": 0.46296643214294686, + "width": 0.0720143162338092, + "height": 0.16803181550555035 + } + ] + } + } + }, + { + "action_description": "爪夹向右前侧移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹向右侧移动正确，成功将白纸夹至垃圾桶上方", + "frame": 213, + "progress": 90, + "progress_explanation": "爪夹将白纸夹至垃圾桶上方，进度90%", + "state_description": "当前状态为爪夹将白纸夹至垃圾桶上方。\n为了完成把白纸放进白色的垃圾桶里的任务应当：松开爪夹。", + "time": 7.093306778619357, + "annotations": { + "bbox_1767691719205": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719205_1767691780363_ktc4aehu1", + "x": 0.5826612359439443, + "y": 0.19236974223790465, + "width": 0.10802147435071374, + "height": 0.19858305468837775 + } + ] + }, + "bbox_1767691719372": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719372_1767691782474_10hgp1opo", + "x": 0.6137583270449073, + "y": 0.36694825185406094, + "width": 0.17348903456326753, + "height": 0.2618677644242343 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "向下移动，合拢爪夹，夹住白纸，向上移动，向前方移动至垃圾桶上方，松开爪夹，白纸落入垃圾桶中。", + "error_success_analysis": "爪夹松开错误，导致白纸没有落入垃圾桶。", + "frame": 243, + "progress": 5, + "progress_explanation": "爪夹松开错误，进度5%。", + "state_description": "当前状态为爪夹松开，白纸落在桌子上。\n为了完成把白纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白纸。", + "time": 8.091624141781445, + "annotations": { + "bbox_1767691719372": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719372_1767691786490_g7e8jgulf", + "x": 0.6121216380395935, + "y": 0.35603709500305114, + "width": 0.1423919434623045, + "height": 0.24659214483282074 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动。", + "correction_plan": "向下移动，合拢爪夹，夹住白纸，向上移动，向前方移动至垃圾桶上方，松开爪夹，白纸落入垃圾桶中。", + "error_success_analysis": "爪夹向后移动错误，远离白纸。", + "frame": 324, + "progress": -10, + "progress_explanation": "爪夹远离白纸，进度-15%", + "state_description": "当前状态为爪夹远离白纸。\n为了完成把白纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白纸。", + "time": 10.79758962614184, + "annotations": { + "bbox_1767691719372": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719372_1767691789299_2ucna9clc", + "x": 0.6252151500821042, + "y": 0.3582193263732531, + "width": 0.14075525445699072, + "height": 0.25095660757322463 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动，向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住白纸，向上移动，向前方移动至垃圾桶上方，松开爪夹，白纸落入垃圾桶中。", + "error_success_analysis": "爪夹重新接近白纸。", + "frame": 383, + "progress": 15, + "progress_explanation": "爪夹向白纸接近，进度15%。", + "state_description": "当前状态为接近白纸。\n为了完成把白纸放进白色的垃圾桶里的任务应当：向下移动，合拢爪夹，夹住白纸。", + "time": 12.767952842909118, + "annotations": { + "bbox_1767691719372": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719372_1767691791866_90kqo7tav", + "x": 0.617031705055535, + "y": 0.3756771773348687, + "width": 0.1473020104782461, + "height": 0.2749611526454461 + } + ] + }, + "bbox_1767691719205": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719205_1767691794146_fby6g0gp9", + "x": 0.5073735416995074, + "y": 0.47605982036415856, + "width": 0.09165458429757525, + "height": 0.13966280769292497 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动", + "correction_plan": "向前移动，向下移动，合拢爪夹，夹住白纸，向上移动，向前方移动至垃圾桶上方，松开爪夹，白纸落入垃圾桶中。", + "error_success_analysis": "爪夹远离白纸，进度0%。", + "frame": 458, + "progress": 0, + "progress_explanation": "爪夹远离白纸，进度0%。", + "state_description": "当前状态为爪夹远离白纸。\n为了完成把白纸放进白色的垃圾桶里的任务应当：向前移动，向下移动，合拢爪夹，夹住白纸。", + "time": 15.266667, + "annotations": { + "bbox_1767691719205": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719205_1767691801843_4mbd8x8gm", + "x": 0.5041001636888798, + "y": 0.4367796557005234, + "width": 0.09492796230820293, + "height": 0.141845039063127 + } + ] + }, + "bbox_1767691719372": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691719372_1767691804050_u2c4w307y", + "x": 0.6104849490342796, + "y": 0.3385792440414355, + "width": 0.15384876649950147, + "height": 0.27932561538585 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767691719205", + "name": "白纸", + "color": "#4CAF50" + }, + { + "id": "bbox_1767691719372", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767691720275", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767691720444", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-170805-put-toilet paper-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-170805-put-toilet paper-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b6594ffcf6d59a0fc51cc429ed2f63b7503fc7cb --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-170805-put-toilet paper-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,330 @@ +{ + "task_description": "把白纸放进黄色的木箱里\n准备开始移动：0%\n接近白纸：20%\n触碰到白纸：50%\n将白色纸夹起：75%\n将白纸夹至木箱上方：90%\n松开爪夹白纸落入木箱：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至白纸上方，向下移动，合拢爪夹，夹住白纸，向上移动，向左侧移动至木箱上方，松开爪夹，白纸落入木箱。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹，暂未移动。\n为了完成把白纸放进黄色的木箱里的任务应当：向右侧移动至白纸上方，向下移动，合拢爪夹，夹住白纸。", + "time": 1.4778578289399404, + "annotations": { + "bbox_1767693066337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066337_1767693138776_rqdx072ow", + "x": 0.4222657134231874, + "y": 0.2752945343055789, + "width": 0.27823713090335367, + "height": 0.34479255649190854 + } + ] + }, + "bbox_1767693066097": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066097_1767693141175_2bmek5k3a", + "x": 0.7692437825497226, + "y": 0.4127751106283019, + "width": 0.1227516753985384, + "height": 0.16148512139494453 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "向右侧移动至白纸上方，向下移动，合拢爪夹，夹住白纸，向上移动，向左侧移动至木箱上方，松开爪夹，白纸落入木箱。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 65, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹向前，准备接近白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：向右侧移动至白纸上方，向下移动，合拢爪夹，夹住白纸。", + "time": 2.1778960290097866, + "annotations": { + "bbox_1767693066097": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066097_1767693132240_mhrg92b93", + "x": 0.764333715533781, + "y": 0.4411441184409273, + "width": 0.13748187644636295, + "height": 0.12220495673130932 + } + ] + }, + "bbox_1767693066337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066337_1767693134988_gthpbn586", + "x": 0.4500894265135228, + "y": 0.25347222060355934, + "width": 0.2618702408502152, + "height": 0.4015305721171593 + } + ] + } + } + }, + { + "action_description": "爪夹向右前侧移动，并稍微向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住白纸，向上移动，向左侧移动至木箱上方，松开爪夹，白纸落入木箱。", + "error_success_analysis": "爪夹向右前侧移动，成功接近白纸。", + "frame": 97, + "progress": 20, + "progress_explanation": "爪夹接近白纸，进度20%。", + "state_description": "当前状态为爪夹接近白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住白纸，向上移动，向左侧移动至木箱上方。", + "time": 3.2279533291145555, + "annotations": { + "bbox_1767693066337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066337_1767693120159_ysiwbmzjn", + "x": 0.40262544535942124, + "y": 0.2316499069015398, + "width": 0.27660044189803984, + "height": 0.43644627404039066 + } + ] + }, + "bbox_1767693066097": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066097_1767693122393_mo4gxqwgc", + "x": 0.7266898684115626, + "y": 0.3844061028156765, + "width": 0.10965816335602767, + "height": 0.17894297235656012 + } + ] + } + } + }, + { + "action_description": "爪夹向右，并向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住白纸，向上移动，向左侧移动至木箱上方，松开爪夹，白纸落入木箱。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近白纸。", + "frame": 125, + "progress": 30, + "progress_explanation": "爪夹更加接近白纸，进度30%。", + "state_description": "当前状态为爪夹在白纸上方，更加接近白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住白纸，向上移动，向左侧移动至木箱上方。", + "time": 4.180783101431847, + "annotations": { + "bbox_1767693066337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066337_1767693117247_qbbuu9i92", + "x": 0.44681604850289514, + "y": 0.1814585853868949, + "width": 0.3076975329990028, + "height": 0.4473574308914003 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住白纸，向上移动，向左侧移动至木箱上方，松开爪夹，白纸落入木箱。", + "error_success_analysis": "爪夹向下移动正确，成功准备夹住白纸。", + "frame": 149, + "progress": 40, + "progress_explanation": "准备夹住白纸，进度40%。", + "state_description": "当前状态为爪夹在白纸上方，准备夹住白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住白纸，向上移动，向左侧移动至木箱上方。", + "time": 4.958603323731675, + "annotations": { + "bbox_1767693066337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066337_1767693114760_2b0t1mzw7", + "x": 0.43535922546569816, + "y": 0.22946767553133787, + "width": 0.29296733195117824, + "height": 0.4364462740403906 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "向上移动，向左侧移动至木箱上方，松开爪夹，白纸落入木箱。", + "error_success_analysis": "爪夹合拢正确，成功夹住白纸。", + "frame": 173, + "progress": 50, + "progress_explanation": "爪夹夹住白纸，进度50%.", + "state_description": "当前状态为爪夹夹住白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：向上移动，向左侧移动至木箱上方，松开爪夹，白纸落入木箱。", + "time": 5.775314557146496, + "annotations": { + "bbox_1767693066337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066337_1767693111583_5og8zfkr7", + "x": 0.4500894265135228, + "y": 0.30366354211820423, + "width": 0.22095301571736908, + "height": 0.34261032512170664 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动。", + "correction_plan": "向上移动，向左侧移动至木箱上方，松开爪夹，白纸落入木箱。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将白纸夹起。", + "frame": 205, + "progress": 60, + "progress_explanation": "稍微将白纸夹起，进度60%。", + "state_description": "当前状态为爪夹稍微将白纸夹起。\n为了完成把白纸放进黄色的木箱里的任务应当：向上移动，向左侧移动至木箱上方，松开爪夹，白纸落入木箱。", + "time": 6.825371857251265, + "annotations": { + "bbox_1767693066337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066337_1767693108016_ag46jjuu6", + "x": 0.45499949352946434, + "y": 0.2731123029353769, + "width": 0.25532348482895983, + "height": 0.40371280348736127 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，稍微向左移动。", + "correction_plan": "向左侧移动至木箱上方，松开爪夹，白纸落入木箱。", + "error_success_analysis": "爪夹向上移动正确，成功将爪夹将白纸夹至空中。", + "frame": 229, + "progress": 75, + "progress_explanation": "爪夹将白纸夹至空中，进度75%。", + "state_description": "当前状态为爪夹将白纸夹至空中。\n为了完成把白纸放进黄色的木箱里的任务应当：向左侧移动至木箱上方，松开爪夹，白纸落入木箱。", + "time": 7.642083090666085, + "annotations": { + "bbox_1767693066337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066337_1767693105049_sjcimtybh", + "x": 0.46318293855603354, + "y": 0.2512899892333574, + "width": 0.2340465277598799, + "height": 0.38843718389594767 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功将白纸移至木箱上方", + "frame": 254, + "progress": 90, + "progress_explanation": "白纸在木箱上方，进度90%。", + "state_description": "当前状态为白纸在木箱上方。\n为了完成把白纸放进黄色的木箱里的任务应当：松开爪夹。", + "time": 8.458794324080905, + "annotations": { + "bbox_1767693066337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066337_1767693096936_8kmhloo1y", + "x": 0.4599095605454059, + "y": 0.27093007156517496, + "width": 0.21931632671205525, + "height": 0.34042809375150473 + } + ] + }, + "bbox_1767693066097": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066097_1767693099048_bh0th64o4", + "x": 0.5286504987685874, + "y": 0.27747676567578083, + "width": 0.0982013403188307, + "height": 0.12220495673130932 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功将白纸落入木箱中。", + "frame": 315, + "progress": 100, + "progress_explanation": "任务完成，进度100%。", + "state_description": "当前状态为白纸落入木箱。", + "time": 10.500572407617959, + "annotations": { + "bbox_1767693066097": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066097_1767693088417_jpig7j83b", + "x": 0.5793878579333166, + "y": 0.3043909414755355, + "width": 0.08183445026569221, + "height": 0.12220495673130939 + } + ] + }, + "bbox_1767693066337": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693066337_1767693091524_tmtxq60tg", + "x": 0.47136638358260285, + "y": 0.25783668334396326, + "width": 0.24059328378113518, + "height": 0.3469747878621105 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767693066097", + "name": "白纸", + "color": "#4CAF50" + }, + { + "id": "bbox_1767693066337", + "name": "木箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767693067249", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767693067425", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-170805-put-toilet paper-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-170805-put-toilet paper-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..9e21a1054ce01befd0fb31cdaceca7e72bf109aa --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-170805-put-toilet paper-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,390 @@ +{ + "task_description": "把白纸放进黄色的木箱里\n准备开始移动：0%\n接近白纸：20%\n触碰到白纸：50%\n将白色纸夹起：75%\n将白纸夹至木箱上方：90%\n松开爪夹白纸落入木箱：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向右前侧移动至白纸上方，向下移动，合拢爪夹，夹住白纸，向上移动，向左前移动至木箱上方，向下移动松开爪夹。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，白纸在桌子上。\n为了完成把白纸放进黄色的木箱里的任务应当：向右前侧移动至白纸上方，向下移动，合拢爪夹，夹住白纸。", + "time": 1.3473607550431812, + "annotations": { + "bbox_1767694467499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467499_1767694654040_dhl4fz0vv", + "x": 0.6006648150023965, + "y": 0.5218866791383996, + "width": 0.14402863246761832, + "height": 0.15275619591413675 + } + ] + }, + "bbox_1767694467659": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467659_1767694657464_zuvc6w2xu", + "x": 0.5024634746835658, + "y": 0.31239246759901207, + "width": 0.307697532999003, + "height": 0.28369007812625385 + } + ] + } + } + }, + { + "action_description": "爪夹向上，然后向前移动。", + "correction_plan": "向右前侧移动至白纸上方，向下移动，合拢爪夹，夹住白纸，向上移动，向左前移动至木箱上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 57, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动，准备接近白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：向右前侧移动至白纸上方，向下移动，合拢爪夹，夹住白纸。", + "time": 1.8992918696825674, + "annotations": { + "bbox_1767694467659": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467659_1767694647736_ozl971rd3", + "x": 0.4828232066197997, + "y": 0.29057015389699253, + "width": 0.34697806912653517, + "height": 0.2705966899050422 + } + ] + }, + "bbox_1767694467499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467499_1767694649904_tpgcfjtuh", + "x": 0.5990281259970827, + "y": 0.5240689105086015, + "width": 0.17021565655263995, + "height": 0.14402727043332894 + } + ] + } + } + }, + { + "action_description": "爪夹向左，并向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住白纸，向上移动，向左前移动至木箱上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹向左侧移动正确，成功接近白纸。", + "frame": 78, + "progress": 20, + "progress_explanation": "爪夹接近白纸，进度20%。", + "state_description": "当前状态为爪夹接近白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住白纸。", + "time": 2.613555665098244, + "annotations": { + "bbox_1767694467499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467499_1767694639983_0sivwrji7", + "x": 0.5941180589811411, + "y": 0.4833339138320957, + "width": 0.1358451874410492, + "height": 0.20731198016918556 + } + ] + }, + "bbox_1767694467659": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467659_1767694643752_it72djypm", + "x": 0.49591671866231046, + "y": 0.3189391617096179, + "width": 0.3240644230521414, + "height": 0.31860578004948514 + } + ] + } + } + }, + { + "action_description": "爪夹向左，并向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住白纸，向上移动，向左前移动至木箱上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹向想正确，更加接近白纸", + "frame": 97, + "progress": 30, + "progress_explanation": "爪夹更加接近白纸，进度30%。", + "state_description": "当前状态为爪夹朝向下，更加接近白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住白纸。", + "time": 3.246653120125776, + "annotations": { + "bbox_1767694467659": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467659_1767694634176_wunnye3ls", + "x": 0.531923876779215, + "y": 0.2796589970459828, + "width": 0.2831471979192953, + "height": 0.2924190036070617 + } + ] + }, + "bbox_1767694467499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467499_1767694636224_zvx3g8pz8", + "x": 0.6104849490342796, + "y": 0.47605982036415856, + "width": 0.1391185654516768, + "height": 0.18548966646716594 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下。", + "correction_plan": "合拢爪夹，夹住白纸，向上移动，向左前移动至木箱上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功准备夹住白纸。", + "frame": 116, + "progress": 40, + "progress_explanation": "准备夹住白纸，进度40%。", + "state_description": "当前状态为爪夹准备夹白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：合拢爪夹，夹住白纸。", + "time": 3.879750575153307, + "annotations": { + "bbox_1767694467499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467499_1767694628361_rfdik8pfh", + "x": 0.6219417720714765, + "y": 0.5000643654363801, + "width": 0.11784160838259687, + "height": 0.1593028900247426 + } + ] + }, + "bbox_1767694467659": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467659_1767694630704_0e9q6k38n", + "x": 0.500826785678252, + "y": 0.29493461663739645, + "width": 0.33879462409996597, + "height": 0.27714338401564803 + } + ] + } + } + }, + { + "action_description": "合拢爪夹。", + "correction_plan": "向上移动，向左前移动至木箱上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住白纸。", + "frame": 136, + "progress": 50, + "progress_explanation": "夹住白纸，进度50%", + "state_description": "当前状态为爪夹夹住白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：向上移动，向左前移动至木箱上方，向下移动松开爪夹。", + "time": 4.5453145663360965, + "annotations": { + "bbox_1767694467499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467499_1767694615873_9y9m03knv", + "x": 0.6137583270449073, + "y": 0.5458912242106211, + "width": 0.10147471832945838, + "height": 0.0872892548080781 + } + ] + }, + "bbox_1767694467659": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467659_1767694618576_mjzz2g65y", + "x": 0.5466540778270397, + "y": 0.29057015389699253, + "width": 0.2667803078661568, + "height": 0.28587230949645587 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动。", + "correction_plan": "向上移动，向左前移动至木箱上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹向上移动正确。", + "frame": 162, + "progress": 60, + "progress_explanation": "爪夹将白纸稍微夹起，进度60%", + "state_description": "当前状态为爪夹将白纸稍微夹起。\n为了完成把白纸放进黄色的木箱里的任务应当：向上移动，向左前移动至木箱上方，向下移动松开爪夹。", + "time": 5.405677774450433, + "annotations": { + "bbox_1767694467659": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467659_1767694610857_jmncbv27a", + "x": 0.5728411019120612, + "y": 0.27747676567578083, + "width": 0.2520501068183322, + "height": 0.2553210703136285 + } + ] + }, + "bbox_1767694467499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467499_1767694613113_d1od1fcac", + "x": 0.595754747986455, + "y": 0.46296643214294686, + "width": 0.1145682303719692, + "height": 0.14620950180353087 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，向左移动。", + "correction_plan": "向前移动至木箱上方，向下移动松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将白纸移至空中。", + "frame": 184, + "progress": 75, + "progress_explanation": "爪夹将白纸夹至空中，进度75%", + "state_description": "当前状态为爪夹将白纸夹至空中。\n为了完成把白纸放进黄色的木箱里的任务应当：向前移动至木箱上方，向下移动松开爪夹。", + "time": 6.13617483794374, + "annotations": { + "bbox_1767694467499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467499_1767694605266_4wl265rdx", + "x": 0.5351972547898427, + "y": 0.12690280113184607, + "width": 0.09165458429757534, + "height": 0.08510702343787618 + } + ] + }, + "bbox_1767694467659": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467659_1767694607441_npephsjii", + "x": 0.4811865176144859, + "y": 0.29493461663739645, + "width": 0.33715793509465214, + "height": 0.2858723094964558 + } + ] + } + } + }, + { + "action_description": "向前移动，稍微向下移动。", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向前移动正确，爪夹成功将白纸夹至木箱上方", + "frame": 205, + "progress": 90, + "progress_explanation": "爪夹将白纸夹至木箱上方，进度90%", + "state_description": "当前状态为爪夹将白纸夹至木箱上方。\n为了完成把白纸放进黄色的木箱里的任务应当：松开爪夹。", + "time": 6.817972097204158, + "annotations": { + "bbox_1767694467659": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467659_1767694599217_v03ybzbhz", + "x": 0.5073735416995074, + "y": 0.2956620159947277, + "width": 0.3044241549883752, + "height": 0.29678346634746566 + } + ] + }, + "bbox_1767694467499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467499_1767694601905_qk3vjk6ow", + "x": 0.5581109008642365, + "y": 0.29057015389699253, + "width": 0.06874093822318147, + "height": 0.08947148617828009 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务。", + "frame": 233, + "progress": 100, + "progress_explanation": "任务完成，进度100%。", + "state_description": "当前状态为爪夹张卡，白纸落入木箱。", + "time": 7.773066, + "annotations": { + "bbox_1767694467499": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467499_1767694588153_16bp8og3w", + "x": 0.5924813699758273, + "y": 0.36985788258159413, + "width": 0.09983802932414454, + "height": 0.08074256069747227 + } + ] + }, + "bbox_1767694467659": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767694467659_1767694590778_qsqppy4uv", + "x": 0.5106469197101351, + "y": 0.2600189147141652, + "width": 0.31424428902025825, + "height": 0.2967834663474656 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767694467499", + "name": "白纸", + "color": "#4CAF50" + }, + { + "id": "bbox_1767694467659", + "name": "木箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767694468652", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767694468827", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-172613-put-toilet paper-yellow-wooden box-mix2/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-172613-put-toilet paper-yellow-wooden box-mix2/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..9b2a990740415fbc3b1762dc0d7a66b60da07ec0 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-172613-put-toilet paper-yellow-wooden box-mix2/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,578 @@ +{ + "task_description": "把白纸放进黄色的木箱里\n准备开始移动：0%\n接近白纸：20%\n触碰到白纸：50%\n将白色纸夹起：75%\n将白纸夹至木箱上方：90%\n松开爪夹白纸落入木箱：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向右侧移动至白纸上方，向下移动，合拢爪夹，夹住白纸，向上移动，向右前方移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 12, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，在桌子上方。\n为了完成把白纸放进黄色的木箱里的任务应当：向右侧移动至白纸上方，向下移动，合拢爪夹，夹住白纸。", + "time": 0.40198697080378215, + "annotations": { + "bbox_1767757326276": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326276_1767757360163_xvep3m0dr", + "x": 0.6890460212893441, + "y": 0.561894243159366, + "width": 0.10965816335602767, + "height": 0.17239627824595422 + } + ] + }, + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757363883_p8e2qmrkn", + "x": 0.6677690642202643, + "y": 0.20764536182931834, + "width": 0.3142442890202582, + "height": 0.37316156430453395 + } + ] + }, + "point_1767757327693": { + "type": "point", + "instances": [ + { + "id": "point_1767757327693_1767757367211_sd5eyab7k", + "x": 0.35352477520000597, + "y": 0.5764424633934484 + } + ] + }, + "point_1767757327884": { + "type": "point", + "instances": [ + { + "id": "point_1767757327884_1767757368956_xcvt3181l", + "x": 0.46481962756134737, + "y": 0.5786246947636504 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向右侧移动至白纸上方，向下移动，合拢爪夹，夹住白纸，向上移动，向右前方移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 71, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹稍微向下了一下，准备接近爪夹。\n为了完成把白纸放进黄色的木箱里的任务应当：向右侧移动至白纸上方，向下移动，合拢爪夹，夹住白纸。", + "time": 2.3616809291114045, + "annotations": { + "bbox_1767757326276": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326276_1767757373755_8ai2jw670", + "x": 0.6923193992999719, + "y": 0.5677135379126406, + "width": 0.11293154136665526, + "height": 0.17239627824595433 + } + ] + }, + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757381003_vu772p0w4", + "x": 0.6644956862096365, + "y": 0.20109866771871246, + "width": 0.31751766703088596, + "height": 0.373161564304534 + } + ] + } + } + }, + { + "action_description": "向右并向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住白纸，向上移动，向右前方移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近白纸。", + "frame": 122, + "progress": 20, + "progress_explanation": "爪夹接近白纸，进度20%", + "state_description": "当前状态为爪夹接近白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住白纸。", + "time": 4.070132072251383, + "annotations": { + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757387451_hrhha8ql2", + "x": 0.690682710294658, + "y": 0.20109866771871246, + "width": 0.30115077697774745, + "height": 0.3818904897853418 + } + ] + }, + "bbox_1767757326276": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326276_1767757390355_bibse820n", + "x": 0.7054129113424826, + "y": 0.5633490751722366, + "width": 0.1063847853454, + "height": 0.141845039063127 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下，合拢爪夹。", + "correction_plan": "松开爪夹，向右后侧移动至白纸上方，向下移动，合拢爪夹，夹取白纸，向上移动，向右前方移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹识别错误，导致夹取到错误物品。", + "frame": 163, + "progress": -10, + "progress_explanation": "爪夹夹取错误物品，进度-10%。", + "state_description": "当前状态为爪夹夹取错误物品。\n为了完成把白纸放进黄色的木箱里的任务应当：松开爪夹，向右后侧移动至白纸上方，向下移动，合拢爪夹，夹取白纸。", + "time": 5.42684327415666, + "annotations": { + "bbox_1767757326276": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326276_1767757394108_tzzpun4d6", + "x": 0.6988661553212273, + "y": 0.5655313065424387, + "width": 0.09329127330288908, + "height": 0.13748057632272304 + } + ] + }, + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757397329_0ur1nh0c3", + "x": 0.6792258872574611, + "y": 0.20109866771871246, + "width": 0.30442415498837516, + "height": 0.3186057800494852 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动。", + "correction_plan": "向右后侧移动至白纸上方，向下移动，合拢爪夹，夹取白纸，向上移动，向右前方移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向后移动，远离白纸。", + "frame": 214, + "progress": -5, + "progress_explanation": "爪夹远离白纸，进度-5%", + "state_description": "当前状态为爪夹远离白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：松开爪夹，向右后侧移动至白纸上方，向下移动，合拢爪夹，夹取白纸。", + "time": 7.135294417296639, + "annotations": { + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757401795_nli417w4s", + "x": 0.6874093322840303, + "y": 0.21419205593992416, + "width": 0.28642057592992287, + "height": 0.3666148701939281 + } + ] + }, + "bbox_1767757326276": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326276_1767757404706_d1rann0qh", + "x": 0.6972294663159134, + "y": 0.5873536202444583, + "width": 0.10474809634008597, + "height": 0.13311611358231906 + } + ] + } + } + }, + { + "action_description": "向后移动，然后稍微向左移动。", + "correction_plan": "向下移动，合拢爪夹，夹取白纸，向上移动，向右前方移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向白纸移动正确，准备接近白纸", + "frame": 273, + "progress": 5, + "progress_explanation": "爪夹向白纸移动，进度5%", + "state_description": "当前状态为爪夹重新准备接近白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹取白纸。", + "time": 9.094988375604261, + "annotations": { + "bbox_1767757326276": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326276_1767757411018_119zhiku7", + "x": 0.7086862893531103, + "y": 0.5546201496914289, + "width": 0.0900178952922615, + "height": 0.15930289002474254 + } + ] + }, + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757414777_wdvy5q93g", + "x": 0.6661323752149504, + "y": 0.18582304812729877, + "width": 0.31751766703088585, + "height": 0.3818904897853418 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹取白纸，向上移动，向右前方移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，继续接近白纸。", + "frame": 327, + "progress": 15, + "progress_explanation": "爪夹继续接近白纸，进度15%", + "state_description": "当前状态为爪夹向白纸接近。\n为了完成把白纸放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹取白纸。", + "time": 10.903936644811298, + "annotations": { + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757433338_lff3cqp1o", + "x": 0.6726791312362057, + "y": 0.21419205593992416, + "width": 0.31751766703088585, + "height": 0.34042809375150473 + } + ] + }, + "bbox_1767757326276": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326276_1767757436244_n4b6suhjx", + "x": 0.7463301364753288, + "y": 0.550255686951025, + "width": 0.08510782827631998, + "height": 0.13093388221211721 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动。", + "correction_plan": "向左后侧移动至白纸上方，向下移动，合拢爪夹，夹取白纸，向上移动，向右前方移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹移动幅度过大，导致偏移。", + "frame": 378, + "progress": -15, + "progress_explanation": "爪夹偏离白纸方向，向错误物品，进度-15%", + "state_description": "当前状态为爪夹偏向左前侧。\n为了完成把白纸放进黄色的木箱里的任务应当：松开爪夹，向右后侧移动至白纸上方，向下移动，合拢爪夹，夹取白纸。", + "time": 12.612387787951276, + "annotations": { + "bbox_1767757326276": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326276_1767757441210_h4bi59jp2", + "x": 0.6448554181458703, + "y": 0.5444363921977504, + "width": 0.08347113927100605, + "height": 0.13966280769292502 + } + ] + }, + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757444569_qd8i06wq0", + "x": 0.6955927773105995, + "y": 0.21637428731012612, + "width": 0.29296733195117824, + "height": 0.35788594471312035 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动，稍微向后移动。", + "correction_plan": "向下移动，合拢爪夹，夹取白纸，向上移动，向右前方移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向左后侧移动正确，成功接近白纸。", + "frame": 455, + "progress": 25, + "progress_explanation": "爪夹移动至白纸上方，进度25%", + "state_description": "当前状态为爪夹在白纸上方。\n为了完成把白纸放进黄色的木箱里的任务应当：松开爪夹，向右后侧移动至白纸上方，向下移动，合拢爪夹，夹取白纸。", + "time": 15.175064502661243, + "annotations": { + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757450202_72sxfw4ef", + "x": 0.6743158202415196, + "y": 0.20400829844624566, + "width": 0.30933422200431665, + "height": 0.36661487019392813 + } + ] + }, + "bbox_1767757326276": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326276_1767757452761_s799ojjhb", + "x": 0.659585619193695, + "y": 0.5633490751722366, + "width": 0.07692438324975077, + "height": 0.14620950180353087 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "向左侧移动至白纸上方，向下移动，合拢爪夹，夹取白纸，向上移动，向右前方移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹移动幅度过大，偏离白纸上方。", + "frame": 531, + "progress": 30, + "progress_explanation": "爪夹更加接近白纸，进度30%。", + "state_description": "当前状态为爪夹在白纸的右侧。\n为了完成把白纸放进黄色的木箱里的任务应当：向左侧移动至白纸上方，向下移动，合拢爪夹，夹取白纸。", + "time": 17.68749265433768, + "annotations": { + "bbox_1767757326276": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326276_1767757458577_3qedhi101", + "x": 0.6415820401352427, + "y": 0.5066110595469859, + "width": 0.08347113927100605, + "height": 0.15493842728433863 + } + ] + }, + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757461418_zp3ohgpl1", + "x": 0.6514021741671258, + "y": 0.16836519716568316, + "width": 0.3109709110096306, + "height": 0.39716610937675545 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "向后移动至白纸上方，向下移动，合拢爪夹，夹取白纸，向上移动，向右前方移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹移动幅度过大，导致将桌子上的物品挑起。", + "frame": 576, + "progress": 35, + "progress_explanation": "爪夹稍微移动白纸，进度30%", + "state_description": "当前状态为爪夹将白纸向左挑动一下。\n为了完成把白纸放进黄色的木箱里的任务应当：向后移动至白纸上方，向下移动，合拢爪夹，夹住白纸。", + "time": 19.194949545343547, + "annotations": { + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757465833_vsdrdoq8y", + "x": 0.6563122411830673, + "y": 0.2098275931995203, + "width": 0.31588097802557213, + "height": 0.4015305721171594 + } + ] + }, + "bbox_1767757326276": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326276_1767757468834_f7lij2ed0", + "x": 0.5810245469386304, + "y": 0.4913354399555722, + "width": 0.08183445026569221, + "height": 0.13966280769292497 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动。", + "correction_plan": "向下移动，合拢爪夹，夹取白纸，向上移动，向右前方移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向后移动正确，成功至白纸上方。", + "frame": 659, + "progress": 40, + "progress_explanation": "准备触碰白纸，进度40%", + "state_description": "当前状态为爪夹准备触碰白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住白纸。", + "time": 21.958620512187625, + "annotations": { + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757476489_gbzqvq7ce", + "x": 0.6824992652680888, + "y": 0.18582304812729877, + "width": 0.2946040209564921, + "height": 0.3949838780065535 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向上移动，向右前方移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功将白纸夹住。", + "frame": 716, + "progress": 50, + "progress_explanation": "夹到白纸，进度50%。", + "state_description": "当前状态为爪夹夹到白纸。\n为了完成把白纸放进黄色的木箱里的任务应当：向上移动，向右前方移动至木箱上方，向下移动，松开爪夹。", + "time": 23.868065907461723, + "annotations": { + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757480386_67cdb3mz3", + "x": 0.6514021741671258, + "y": 0.20109866771871246, + "width": 0.3355212460893382, + "height": 0.38625495252574576 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向右前方移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将白纸夹至空中。", + "frame": 761, + "progress": 75, + "progress_explanation": "爪夹将白纸夹至空中，进度75%。", + "state_description": "当前状态为爪夹将白纸夹至空中。\n为了完成把白纸放进黄色的木箱里的任务应当：向右前方移动至木箱上方，向下移动，松开爪夹。", + "time": 25.375522798467586, + "annotations": { + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757483713_8ftqe0hp3", + "x": 0.6775891982521473, + "y": 0.19673420497830857, + "width": 0.2978773989671198, + "height": 0.39716610937675545 + } + ] + } + } + }, + { + "action_description": "爪夹向右前侧移动，稍微向下移动。", + "correction_plan": "松开抓夹", + "error_success_analysis": "爪夹向右前侧移动正确，成功将白纸夹至木箱上方", + "frame": 803, + "progress": 90, + "progress_explanation": "爪夹将白纸夹至木箱上方，进度90%", + "state_description": "当前状态为爪夹将白纸夹至木箱上方。\n为了完成把白纸放进黄色的木箱里的任务应当：松开爪夹。", + "time": 26.78248256340639, + "annotations": { + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757487017_1fzpthe7x", + "x": 0.7037762223371689, + "y": 0.1618185030550773, + "width": 0.2749637528927259, + "height": 0.4255351171893809 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功将白纸夹木箱", + "frame": 859, + "progress": 100, + "progress_explanation": "任务完成，进度100%。", + "state_description": "当前状态为白纸落在木箱。", + "time": 28.64167939564695, + "annotations": { + "bbox_1767757326461": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326461_1767757491425_pepcjug1o", + "x": 0.6808625762627749, + "y": 0.18582304812729877, + "width": 0.27660044189803984, + "height": 0.4386285054105926 + } + ] + }, + "bbox_1767757326276": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757326276_1767757494514_5psgizd2d", + "x": 0.7872473616081749, + "y": 0.3211213930798199, + "width": 0.09329127330288926, + "height": 0.12438718810151131 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767757326276", + "name": "白纸", + "color": "#4CAF50" + }, + { + "id": "bbox_1767757326461", + "name": "木箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767757327693", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767757327884", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-173106-put-toilet paper-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-173106-put-toilet paper-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..7f9b83ac1a53f1f3c076093ace7ce594253e7801 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-173106-put-toilet paper-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,272 @@ +{ + "task_description": "把白纸放入盒子里\n准备开始移动：0%\n接近白纸：20%\n触碰到白纸：50%\n将白色纸夹起：70%\n将白纸夹至盒子上方：90%\n松开爪夹白纸落入盒子：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至白纸上方，向下移动，合拢爪夹，，夹住白纸，向上移动，向右前侧移动至盒子上方，向下移动，松开抓夹。", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未移动。\n为了完成把白纸放入盒子里的任务应当：向右前侧移动至白纸上方，向下移动，合拢爪夹，，夹住白纸。", + "time": 0.8784313438525668, + "annotations": { + "bbox_1767759258224": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767759258224_1767759296990_yve1q24nl", + "x": 0.6497654851618119, + "y": 0.4876983765724996, + "width": 0.06710424921786765, + "height": 0.16584958413534837 + } + ] + }, + "bbox_1767759258401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767759258401_1767759300229_1jue70tte", + "x": 0.7577869595125256, + "y": 0.31239246759901207, + "width": 0.06383087120724004, + "height": 0.11347603125050157 + } + ] + }, + "point_1767759259655": { + "type": "point", + "instances": [ + { + "id": "point_1767759259655_1767759303045_bsgbz0t7u", + "x": 0.42553909143381513, + "y": 0.6157226280570836 + } + ] + }, + "point_1767759259839": { + "type": "point", + "instances": [ + { + "id": "point_1767759259839_1767759305150_51gm563du", + "x": 0.531923876779215, + "y": 0.6331804790186992 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向右前侧移动至白纸上方，向下移动，合拢爪夹，，夹住白纸，向上移动，向右前侧移动至盒子上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹调整好，开始移动。", + "frame": 61, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹朝向下。\n为了完成把白纸放入盒子里的任务应当：向右前侧移动至白纸上方，向下移动，合拢爪夹，，夹住白纸。", + "time": 2.034262987689694, + "annotations": { + "bbox_1767759258224": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767759258224_1767759309541_b9of7syhb", + "x": 0.6481287961564981, + "y": 0.49569990269597614, + "width": 0.08019776126037836, + "height": 0.13529834495252105 + } + ] + }, + "bbox_1767759258401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767759258401_1767759312333_3hb1g4q8e", + "x": 0.7528768924965841, + "y": 0.2971168480075984, + "width": 0.062194182201926206, + "height": 0.11784049399090547 + } + ] + } + } + }, + { + "action_description": "爪夹向右前侧移动，向下移动。", + "correction_plan": "向下移动，合拢爪夹，，夹住白纸，向上移动，向右前侧移动至盒子上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向右前移动正确，成功接近白纸。", + "frame": 92, + "progress": 20, + "progress_explanation": "爪夹接近白纸，进度20%", + "state_description": "当前状态为爪夹接近了白纸。\n为了完成把白纸放入盒子里的任务应当：向下移动，合拢爪夹，，夹住白纸。", + "time": 3.051394834266366, + "annotations": { + "bbox_1767759258401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767759258401_1767759316973_r36wklb7q", + "x": 0.7479668254806426, + "y": 0.2927523852671945, + "width": 0.07201431623380924, + "height": 0.13966280769292497 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，，夹住白纸，向上移动，向右前侧移动至盒子上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向下移动正确，更加接近白纸。", + "frame": 121, + "progress": 30, + "progress_explanation": "爪夹更加接近白纸，进度30%。", + "state_description": "当前状态为爪夹更加接近白纸。\n为了完成把白纸放入盒子里的任务应当：向下移动，合拢爪夹，，夹住白纸。", + "time": 4.045410047966294, + "annotations": { + "bbox_1767759258401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767759258401_1767759321861_q68vzhutg", + "x": 0.7610603375231533, + "y": 0.29929907937780037, + "width": 0.06055749319661237, + "height": 0.13093388221211721 + } + ] + } + } + }, + { + "action_description": "合拢爪夹。", + "correction_plan": "向上移动，向右前侧移动至盒子上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住白纸。", + "frame": 151, + "progress": 50, + "progress_explanation": "爪夹夹住白纸进度，50%。", + "state_description": "当前状态为爪夹夹住白纸\n为了完成把白纸放入盒子里的任务应当：向上移动，向右前侧移动至盒子上方，向下移动，松开抓夹。", + "time": 5.039425261666224, + "annotations": { + "bbox_1767759258401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767759258401_1767759325901_r3fy6evqj", + "x": 0.7594236485178395, + "y": 0.316756930339416, + "width": 0.06710424921786773, + "height": 0.12875165084191523 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向上移动，向右前侧移动至盒子上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向上移动正确，成功将白纸稍微夹起", + "frame": 181, + "progress": 60, + "progress_explanation": "爪夹将白纸稍微夹起，进度60%", + "state_description": "当前状态为爪夹将白纸稍微夹起。\n为了完成把白纸放入盒子里的任务应当：向上移动，向右前侧移动至盒子上方，向下移动，松开抓夹。", + "time": 6.033440475366154, + "annotations": { + "bbox_1767759258401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767759258401_1767759328989_rj4npg4cz", + "x": 0.7594236485178395, + "y": 0.31239246759901207, + "width": 0.06710424921786773, + "height": 0.12729681882904456 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向右前侧移动至盒子上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向上移动正确，成功将白纸夹至空中", + "frame": 212, + "progress": 70, + "progress_explanation": "爪夹将白纸夹至空中，进度70%", + "state_description": "当前状态为爪夹将白纸夹至空中。\n为了完成把白纸放入盒子里的任务应当：向上移动，向右前侧移动至盒子上方，向下移动，松开抓夹。", + "time": 7.050572321942825, + "annotations": { + "bbox_1767759258401": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767759258401_1767759331965_zflzsh25a", + "x": 0.7725171605603502, + "y": 0.31457469896921403, + "width": 0.055647426180670756, + "height": 0.11565826262070354 + } + ] + } + } + }, + { + "action_description": "向右前侧移动", + "correction_plan": "向右前侧移动至盒子上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向右前侧移动正确，成功将白纸夹至盒子旁", + "frame": 232, + "progress": 80, + "progress_explanation": "爪夹将白纸夹至盒子旁，进度80%", + "state_description": "当前状态为爪夹将白纸夹至盒子旁。\n为了完成把白纸放入盒子里的任务应当：向右前侧移动至盒子上方，向下移动，松开抓夹。", + "time": 7.744071308245102 + }, + { + "action_description": "爪夹稍微向前移动。", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向前移动正确，成功将白纸夹至盒子上方", + "frame": 251, + "progress": 90, + "progress_explanation": "爪夹将白纸夹至盒子上方，进度90%", + "state_description": "当前状态为爪夹将白纸夹至盒子上方\n为了完成把白纸放入盒子里的任务应当：松开抓夹。", + "time": 8.36822039591715 + }, + { + "action_description": "松开爪夹，向前移动，然后向后移动。", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功将白纸落入盒子", + "frame": 328, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为白纸落入盒子", + "time": 10.934166645235573 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767759258224", + "name": "白纸", + "color": "#4CAF50" + }, + { + "id": "bbox_1767759258401", + "name": "盒子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767759259655", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767759259839", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-174947-put-yellow doll-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-174947-put-yellow doll-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b4383e2f4241f67163041296b8800986554cde6c --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-174947-put-yellow doll-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,362 @@ +{ + "task_description": "把黄色娃娃放进黄色的木箱里\n准备开始移动：0%\n接近娃娃：20%\n触碰到娃娃：50%\n将娃娃夹至空中：70%\n将娃娃夹至木箱上方：90%\n松开爪夹娃娃落入木箱：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃向上移动，向右前侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，黄色娃娃在桌子上。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 1.679138821281598, + "annotations": { + "bbox_1767765306569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306569_1767765412676_04bcb1diq", + "x": 0.7594236485178395, + "y": 0.2752945343055789, + "width": 0.21931632671205525, + "height": 0.4735442073338239 + } + ] + }, + "bbox_1767765306383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306383_1767765416321_4nxrfqwp0", + "x": 0.6743158202415196, + "y": 0.4716953576237547, + "width": 0.08510782827631988, + "height": 0.16803181550555035 + } + ] + }, + "point_1767765307638": { + "type": "point", + "instances": [ + { + "id": "point_1767765307638_1767765427800_ns4g4kosm", + "x": 0.40262544535942124, + "y": 0.5327978359894093 + } + ] + }, + "point_1767765307828": { + "type": "point", + "instances": [ + { + "id": "point_1767765307828_1767765429827_tfop8r4sh", + "x": 0.5139202977207628, + "y": 0.5175222163979957 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃向上移动，向右前侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向前移动调整正确，成功开始移动。", + "frame": 86, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹朝向下，准备接近黄色娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.8752382077021403, + "annotations": { + "bbox_1767765306383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306383_1767765399302_33b2qvf2y", + "x": 0.6890460212893441, + "y": 0.5066110595469859, + "width": 0.07201431623380916, + "height": 0.1352983449525211 + } + ] + }, + "bbox_1767765306569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306569_1767765402515_x5uij2dha", + "x": 0.7561502705072118, + "y": 0.30148131074800233, + "width": 0.21604294870142757, + "height": 0.42771734855958277 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动，然后向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃向上移动，向右前侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近黄色娃娃", + "frame": 115, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态为爪夹向下，接近黄色娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住娃娃向上移动。", + "time": 3.8183165700721826, + "annotations": { + "bbox_1767765306569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306569_1767765390443_x9v8veall", + "x": 0.7741538495656641, + "y": 0.2752945343055789, + "width": 0.20294943665891677, + "height": 0.4669975132232179 + } + ] + }, + "bbox_1767765306383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306383_1767765395819_r0bjxmrfa", + "x": 0.6775891982521473, + "y": 0.4716953576237547, + "width": 0.08838120628694765, + "height": 0.18767189783736798 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向左移动，向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃向上移动，向右前侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近娃娃。", + "frame": 139, + "progress": 30, + "progress_explanation": "爪夹更加接近娃娃，进度30%", + "state_description": "当前状态为爪夹更加接近黄色娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住娃娃向上移动。", + "time": 4.623383464778318, + "annotations": { + "bbox_1767765306569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306569_1767765376899_xrdz9lzet", + "x": 0.7381466914487596, + "y": 0.21637428731012612, + "width": 0.22749977173862446, + "height": 0.5346466856994785 + } + ] + }, + "bbox_1767765306383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306383_1767765379581_09fccd2um", + "x": 0.6644956862096365, + "y": 0.5000643654363801, + "width": 0.11129485236134151, + "height": 0.20949421153938744 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向右前侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功准备接近娃娃。", + "frame": 172, + "progress": 40, + "progress_explanation": "爪夹准备触碰到娃娃。", + "state_description": "当前状态为爪夹准备触碰娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住娃娃向上移动。", + "time": 5.727475206089586, + "annotations": { + "bbox_1767765306569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306569_1767765373332_4wjxrd2et", + "x": 0.7610603375231533, + "y": 0.25783668334396326, + "width": 0.22258970472268294, + "height": 0.5259177602186706 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "向上移动，向右前侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃", + "frame": 211, + "progress": 50, + "progress_explanation": "爪夹触碰到黄色娃娃，进度50%", + "state_description": "当前状态为爪夹触碰到黄色娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向上移动，向右前侧移动至木箱上方，向下移动，松开爪夹。", + "time": 7.038584148896719, + "annotations": { + "bbox_1767765306569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306569_1767765369324_oggx450wh", + "x": 0.7561502705072118, + "y": 0.2752945343055789, + "width": 0.23077314974925214, + "height": 0.4735442073338239 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动。", + "correction_plan": "向上移动，向右前侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃稍微夹起。", + "frame": 248, + "progress": 60, + "progress_explanation": "爪夹将娃娃稍微夹起，进度60%。", + "state_description": "当前状态为爪夹将娃娃稍微夹起。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向上移动，向右前侧移动至木箱上方，向下移动，松开爪夹。", + "time": 8.280687357871898, + "annotations": { + "bbox_1767765306569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306569_1767765365404_vqp2aa66s", + "x": 0.7283265574168765, + "y": 0.30366354211820423, + "width": 0.2602335518449014, + "height": 0.4233528858191789 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向右前侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃夹起", + "frame": 279, + "progress": 70, + "progress_explanation": "爪夹将娃娃夹起至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右前侧移动至木箱上方，向下移动，松开爪夹。", + "time": 9.315773365351214, + "annotations": { + "bbox_1767765306569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306569_1767765356540_zfo4yhkcu", + "x": 0.7414200694593872, + "y": 0.3189391617096179, + "width": 0.24059328378113518, + "height": 0.421170654448977 + } + ] + }, + "bbox_1767765306383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306383_1767765359236_rnqagph7h", + "x": 0.839621409778218, + "y": 0.03306685221316208, + "width": 0.06710424921786765, + "height": 0.14184503906312695 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动，稍微向下移动。", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将娃娃夹至木箱上方", + "frame": 316, + "progress": 90, + "progress_explanation": "娃娃夹至木箱上方，进度90%", + "state_description": "当前状态为爪夹将娃娃移至木箱上方。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：松开爪夹。", + "time": 10.534874663049074, + "annotations": { + "bbox_1767765306569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306569_1767765350957_v31pjmhl9", + "x": 0.7414200694593872, + "y": 0.2927523852671945, + "width": 0.2373199057705075, + "height": 0.4669975132232179 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功将娃娃放进木箱", + "frame": 360, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹张卡，娃娃在木箱里。", + "time": 11.983995073520115, + "annotations": { + "bbox_1767765306383": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306383_1767765341406_ni0j61xxx", + "x": 0.8707185008791809, + "y": 0.33275994928816094, + "width": 0.06383087120723996, + "height": 0.15057396454393476 + } + ] + }, + "bbox_1767765306569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765306569_1767765345117_gvsr9k98c", + "x": 0.7725171605603502, + "y": 0.29929907937780037, + "width": 0.22586308273331052, + "height": 0.4539041250020063 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767765306383", + "name": "娃娃", + "color": "#4CAF50" + }, + { + "id": "bbox_1767765306569", + "name": "木箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767765307638", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767765307828", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-180000-put-yellow doll-yellow-wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-180000-put-yellow doll-yellow-wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..1d48283ec7fd17c2dd3f797f7b28db238e8dc6b7 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-180000-put-yellow doll-yellow-wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,504 @@ +{ + "task_description": "把黄色的娃娃放进黄色的木箱里\n准备开始移动：0%\n接近娃娃：20%\n触碰到娃娃：50%\n将娃娃夹至空中：70%\n将娃娃夹至木箱上方：90%\n松开爪夹娃娃落入木箱：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "annotations": { + "bbox_1767769596191": { + "instances": [ + { + "height": 0.141845039063127, + "id": "bbox_1767769596191_1767769719244_60k6zz9te", + "width": 0.0982013403188307, + "x": 0.6890460212893441, + "y": 0.502246596806582 + } + ], + "type": "bbox" + }, + "bbox_1767769596359": { + "instances": [ + { + "height": 0.4277173485595828, + "id": "bbox_1767769596359_1767769716772_xoy1jo3cu", + "width": 0.1587588335154429, + "x": 0.828164586741021, + "y": 0.30366354211820423 + } + ], + "type": "bbox" + }, + "point_1767769724156": { + "instances": [ + { + "id": "point_1767769724156_1767769746468_9h7d94fi7", + "x": 0.2880572149874522, + "y": 0.692100726014152 + } + ], + "type": "point" + }, + "point_1767769724324": { + "instances": [ + { + "id": "point_1767769724324_1767769748964_7wwo4daiz", + "x": 0.3878952443115967, + "y": 0.6157226280570836 + } + ], + "type": "point" + } + }, + "correction_plan": "向右侧移动至黄色娃娃上方，向下移动，合拢爪夹，夹住黄色娃娃，向上移动，向右移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹张开，娃娃在桌子上。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右侧移动至黄色娃娃上方，向下移动，合拢爪夹，夹住黄色娃娃。", + "time": 1.4962701890835186 + }, + { + "action_description": "爪夹向右侧移动。", + "annotations": { + "bbox_1767769596191": { + "instances": [ + { + "height": 0.1483917331737328, + "id": "bbox_1767769596191_1767769705256_ol9ygb4l6", + "width": 0.08838120628694765, + "x": 0.6923193992999719, + "y": 0.48915320858537026 + } + ], + "type": "bbox" + }, + "bbox_1767769596359": { + "instances": [ + { + "height": 0.44953966226160236, + "id": "bbox_1767769596359_1767769708196_zrgie3bq6", + "width": 0.13257180943042143, + "x": 0.8510782328154148, + "y": 0.30366354211820423 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右侧移动至黄色娃娃上方，向下移动，合拢爪夹，夹住黄色娃娃，向上移动，向右移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 75, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹开始移动，准备接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右侧移动至黄色娃娃上方，向下移动，合拢爪夹，夹住黄色娃娃。", + "time": 2.5072643939533186 + }, + { + "action_description": "爪夹向右并向下移动。", + "annotations": { + "bbox_1767769596191": { + "instances": [ + { + "height": 0.1418450390631269, + "id": "bbox_1767769596191_1767769700694_73ommbwea", + "width": 0.0900178952922615, + "x": 0.6743158202415196, + "y": 0.49569990269597614 + } + ], + "type": "bbox" + }, + "bbox_1767769596359": { + "instances": [ + { + "height": 0.4429929681509966, + "id": "bbox_1767769596359_1767769697301_il350u6j5", + "width": 0.1833091685951505, + "x": 0.8150710746985104, + "y": 0.31457469896921403 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住黄色娃娃，向上移动，向右移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近娃娃", + "frame": 110, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态为爪夹接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住黄色娃娃。", + "time": 3.6800176716022865 + }, + { + "action_description": "爪夹合拢，向左侧移动。", + "annotations": { + "bbox_1767769596191": { + "instances": [ + { + "height": 0.12220495673130945, + "id": "bbox_1767769596191_1767769690028_nnjcyyopg", + "width": 0.1309351204251076, + "x": 0.626851839087418, + "y": 0.4324151929601195 + } + ], + "type": "bbox" + }, + "bbox_1767769596359": { + "instances": [ + { + "height": 0.41244172896816905, + "id": "bbox_1767769596359_1767769693277_tqpamu3o9", + "width": 0.1849458576004645, + "x": 0.8068876296719409, + "y": 0.3385792440414355 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右侧移动至黄色娃娃上方，向下移动，合拢爪夹，夹住黄色娃娃，向上移动，向右移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹移动幅度过大，导致向左侧移动过多", + "frame": 149, + "progress": 5, + "progress_explanation": "爪夹远离娃娃，进度5%", + "state_description": "当前状态为爪夹合拢，在娃娃左侧。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右侧移动至黄色娃娃上方，向下移动，合拢爪夹，夹住黄色娃娃。", + "time": 4.97409025383563 + }, + { + "action_description": "爪夹合拢，稍微向上移动。", + "annotations": { + "bbox_1767769596191": { + "instances": [ + { + "height": 0.12438718810151136, + "id": "bbox_1767769596191_1767769686134_oxt12jghi", + "width": 0.09492796230820302, + "x": 0.6514021741671258, + "y": 0.454237506662139 + } + ], + "type": "bbox" + }, + "bbox_1767769596359": { + "instances": [ + { + "height": 0.4058950348575633, + "id": "bbox_1767769596359_1767769682812_cxtmee4a0", + "width": 0.15712214451012904, + "x": 0.8347113427622764, + "y": 0.32621325517755506 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右侧移动至黄色娃娃上方，向下移动，合拢爪夹，夹住黄色娃娃，向上移动，向右移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹移动错误，远离娃娃。", + "frame": 193, + "progress": -5, + "progress_explanation": "爪夹远离娃娃，进度-5%", + "state_description": "当前状态为爪夹合拢，娃娃在右边。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右侧移动至黄色娃娃上方，向下移动，合拢爪夹，夹住黄色娃娃。", + "time": 6.429921908848142 + }, + { + "action_description": "爪夹向右移动，张开爪夹。", + "annotations": { + "bbox_1767769596359": { + "instances": [ + { + "height": 0.47136197596362184, + "id": "bbox_1767769596359_1767769679797_gpp60g8q2", + "width": 0.15384876649950135, + "x": 0.828164586741021, + "y": 0.2971168480075984 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住黄色娃娃，向上移动，向右移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向右移动正确，重新接近爪夹。", + "frame": 245, + "progress": 15, + "progress_explanation": "爪夹准备重新接近娃娃，进度15%", + "state_description": "当前状态为爪夹准备重新接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住黄色娃娃。", + "time": 8.1688319412242 + }, + { + "action_description": "爪夹向下移动。", + "annotations": { + "bbox_1767769596191": { + "instances": [ + { + "height": 0.15712065865454056, + "id": "bbox_1767769596191_1767769671774_dc20lzkxr", + "width": 0.07856107225506452, + "x": 0.6497654851618119, + "y": 0.4476908125515332 + } + ], + "type": "bbox" + }, + "bbox_1767769596359": { + "instances": [ + { + "height": 0.44517519952119844, + "id": "bbox_1767769596359_1767769669506_w6av1kem6", + "width": 0.15384876649950135, + "x": 0.828164586741021, + "y": 0.31021023622881017 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住黄色娃娃，向上移动，向右移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，准备触碰娃娃。", + "frame": 289, + "progress": 30, + "progress_explanation": "爪夹准备触碰娃娃，进度30%", + "state_description": "当前状态为爪夹向下，准备触碰娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住黄色娃娃。", + "time": 9.62466359623671 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1767769596359": { + "instances": [ + { + "height": 0.4124417289681691, + "id": "bbox_1767769596359_1767769665166_rpnvyuhp1", + "width": 0.16366890053138441, + "x": 0.828164586741021, + "y": 0.3233036244500218 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向右移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹后拉正确，成功夹住娃娃。", + "frame": 338, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%。", + "state_description": "当前状态为爪夹合拢，夹住娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向上移动，向右移动至木箱上方，向下移动，松开爪夹。", + "time": 11.282694092223183 + }, + { + "action_description": "爪夹向上移动。", + "annotations": { + "bbox_1767769596191": { + "instances": [ + { + "height": 0.15275619591413672, + "id": "bbox_1767769596191_1767769657117_7wqosrujq", + "width": 0.06710424921786765, + "x": 0.7708804715550365, + "y": 0.21637428731012612 + } + ], + "type": "bbox" + }, + "bbox_1767769596359": { + "instances": [ + { + "height": 0.4495396622616024, + "id": "bbox_1767769596359_1767769660766_qarkuvk57", + "width": 0.13748187644636295, + "x": 0.8412580987835317, + "y": 0.29929907937780037 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃夹至空中。", + "frame": 385, + "progress": 70, + "progress_explanation": "爪夹将娃娃移至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右移动至木箱上方，向下移动，松开爪夹。", + "time": 12.819405283625278 + }, + { + "action_description": "松开爪夹", + "annotations": { + "bbox_1767769596191": { + "instances": [ + { + "height": 0.17894297235656012, + "id": "bbox_1767769596191_1767769650950_7l59alcby", + "width": 0.08019776126037836, + "x": 0.7054129113424826, + "y": 0.3844061028156765 + } + ], + "type": "bbox" + }, + "bbox_1767769596359": { + "instances": [ + { + "height": 0.41025949759796715, + "id": "bbox_1767769596359_1767769648230_vqtebek2o", + "width": 0.1587588335154429, + "x": 0.828164586741021, + "y": 0.33275994928816094 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住黄色娃娃，向上移动，向右移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹松开错误，导致娃娃落在桌子上。", + "frame": 440, + "progress": -10, + "progress_explanation": "爪夹将娃娃落下，进度-10%", + "state_description": "当前状态为爪夹松开，娃娃落在桌子上。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住黄色娃娃。", + "time": 14.67963462058571 + }, + { + "action_description": "爪夹向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住黄色娃娃，向上移动，向右移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，接近娃娃", + "frame": 485, + "progress": 25, + "progress_explanation": "爪夹接近娃娃，进度25%", + "state_description": "当前状态为爪夹接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住黄色娃娃。", + "time": 16.175906043793013 + }, + { + "action_description": "稍微向下移动，合拢爪夹。", + "annotations": { + "bbox_1767769596359": { + "instances": [ + { + "height": 0.4124417289681691, + "id": "bbox_1767769596359_1767769634783_xuj1wix0e", + "width": 0.15384876649950135, + "x": 0.8412580987835317, + "y": 0.3233036244500218 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向右移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃", + "frame": 536, + "progress": 55, + "progress_explanation": "爪夹夹到娃娃，进度55%。", + "state_description": "当前状态为爪夹夹住娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向上移动，向右移动至木箱上方，向下移动，松开爪夹。", + "time": 17.874376307974277 + }, + { + "action_description": "爪夹向上移动。", + "annotations": { + "bbox_1767769596359": { + "instances": [ + { + "height": 0.416806191708573, + "id": "bbox_1767769596359_1767769629631_7e0da48hr", + "width": 0.1309351204251076, + "x": 0.8478048548047872, + "y": 0.3189391617096179 + } + ], + "type": "bbox" + } + }, + "correction_plan": "右移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃夹至空中", + "frame": 568, + "progress": 75, + "progress_explanation": "爪夹将娃娃夹至空中，进度75%", + "state_description": "当前状态为爪夹将娃娃夹至空中。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：右移动至木箱上方，向下移动，松开爪夹。", + "time": 18.92581028103887 + }, + { + "action_description": "爪夹向右侧移动。", + "annotations": { + "bbox_1767769596359": { + "instances": [ + { + "height": 0.44517519952119844, + "id": "bbox_1767769596359_1767769625278_hl1aqgse8", + "width": 0.1669422785420121, + "x": 0.828164586741021, + "y": 0.31457469896921403 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向右移动正确，成功将娃娃移动至木箱上方", + "frame": 604, + "progress": 90, + "progress_explanation": "爪夹将娃娃移动至木箱上方，进度90%", + "state_description": "当前状态为爪夹将娃娃移动至木箱上方\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：松开爪夹。", + "time": 20.13900332688263 + }, + { + "action_description": "松开爪夹。", + "annotations": { + "bbox_1767769596191": { + "instances": [ + { + "height": 0.1374805763227231, + "id": "bbox_1767769596191_1767769612966_rguo6g927", + "width": 0.073651005239123, + "x": 0.9181824820332825, + "y": 0.4724227569810859 + } + ], + "type": "bbox" + }, + "bbox_1767769596359": { + "instances": [ + { + "height": 0.4429929681509965, + "id": "bbox_1767769596359_1767769617758_g53fhbgxg", + "width": 0.1342084984357353, + "x": 0.8576249888366702, + "y": 0.29493461663739645 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功将娃娃落入木箱", + "frame": 654, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为娃娃落入木箱。", + "time": 21.797033822869103 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767769596191", + "name": "娃娃" + }, + { + "color": "#FF9800", + "id": "bbox_1767769596359", + "name": "木箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767769724156", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767769724324", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-180000-put-yellow doll-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-180000-put-yellow doll-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..0effb305aec708a2e30794177a9c127838c15a9d --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-180000-put-yellow doll-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,426 @@ +{ + "task_description": "把黄色的娃娃放进黄色的木箱里\n准备开始移动：0%\n接近娃娃：20%\n触碰到娃娃：50%\n将娃娃夹至空中：70%\n将娃娃夹至木箱上方：90%\n松开爪夹娃娃落入木箱：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹在娃娃左后上侧。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 1.1483739902034205, + "annotations": { + "bbox_1767772330855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330855_1767772441453_8sga25xeb", + "x": 0.4451793594975813, + "y": 0.6091759339464777, + "width": 0.39935211729657816, + "height": 0.3011479290878695 + } + ] + }, + "bbox_1767772330672": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330672_1767772444382_rvzjkwmdd", + "x": 0.5155569867260766, + "y": 0.5131577536575918, + "width": 0.07856107225506452, + "height": 0.1352983449525211 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 65, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹朝向下，准备接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.164243885419694, + "annotations": { + "bbox_1767772330672": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330672_1767772432102_oh1k4hfh3", + "x": 0.5270138097632735, + "y": 0.5371622987298132, + "width": 0.06710424921786765, + "height": 0.1091115685100976 + } + ] + }, + "bbox_1767772330855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330855_1767772436414_welc1sb5y", + "x": 0.4517261155188367, + "y": 0.637544941759103, + "width": 0.3862586052540674, + "height": 0.27496115264544607 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动，同时向右侧移动，然后向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向后移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向右下移动正确，成功接近娃娃。", + "frame": 98, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%。", + "state_description": "当前状态为爪夹接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 3.2684502932634696, + "annotations": { + "bbox_1767772330855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330855_1767772419199_65sha637s", + "x": 0.458272871540092, + "y": 0.6317256470058285, + "width": 0.3878952942593813, + "height": 0.2596855330540324 + } + ] + }, + "bbox_1767772330672": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330672_1767772423070_j83g8lkh2", + "x": 0.5270138097632735, + "y": 0.5175222163979957, + "width": 0.062194182201926115, + "height": 0.12438718810151136 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动，合拢爪夹。", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹移动幅度过大，导致向左侧偏移。", + "frame": 134, + "progress": -10, + "progress_explanation": "爪夹夹错方向，进度-10%", + "state_description": "当前状态为爪夹合拢，在娃娃左侧。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 4.460993213734747, + "annotations": { + "bbox_1767772330672": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330672_1767772411894_1imxwgmy3", + "x": 0.5253771207579596, + "y": 0.5240689105086015, + "width": 0.07692438324975077, + "height": 0.11565826262070349 + } + ] + }, + "bbox_1767772330855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330855_1767772414614_ai2d2n0wo", + "x": 0.4533628045241505, + "y": 0.6179048594272856, + "width": 0.400988806301892, + "height": 0.2662322271646383 + } + ] + } + } + }, + { + "time": 5.479833, + "frame": 164, + "progress": 5, + "action_description": "爪夹向后移动。", + "state_description": "当前状态为爪夹重新调整姿态。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "progress_explanation": "爪夹重新调整，进度5%", + "error_success_analysis": "爪夹重新调整，准备重新接近爪夹。", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后移动至木箱上方，向下移动，松开抓夹。", + "annotations": { + "bbox_1767772330855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330855_1767772404455_d6otzsw3a", + "x": 0.43372253646038433, + "y": 0.639727173129305, + "width": 0.4239024523762859, + "height": 0.26186776442423443 + } + ] + }, + "bbox_1767772330672": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330672_1767772407918_gwnz7o89s", + "x": 0.5368339437951566, + "y": 0.5175222163979957, + "width": 0.06874093822318147, + "height": 0.12438718810151136 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向后移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近娃娃", + "frame": 201, + "progress": 30, + "progress_explanation": "爪夹接近娃娃，进度30%", + "state_description": "当前状态为爪夹接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住娃娃，向上移动。", + "time": 6.6914901575791745, + "annotations": { + "bbox_1767772330672": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330672_1767772397527_bfuws0vbm", + "x": 0.48773327363574126, + "y": 0.5218866791383996, + "width": 0.11129485236134143, + "height": 0.11129379988029964 + } + ] + }, + "bbox_1767772330855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330855_1767772400375_olejy9b0o", + "x": 0.4500894265135228, + "y": 0.6222693221676894, + "width": 0.3960787392859505, + "height": 0.2727789212752442 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，合拢爪夹。", + "correction_plan": "向上移动，向后移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃。", + "frame": 246, + "progress": 50, + "progress_explanation": "爪夹触碰到娃娃，进度50%。", + "state_description": "当前状态为爪夹夹住娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向上移动，向后移动至木箱上方，向下移动，松开抓夹。", + "time": 8.215295000403584, + "annotations": { + "bbox_1767772330855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330855_1767772390774_shg7m4ttw", + "x": 0.42717578043912896, + "y": 0.6200870907974874, + "width": 0.4255391413815997, + "height": 0.26186776442423443 + } + ] + }, + "bbox_1767772330672": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330672_1767772393742_cdkr2sscn", + "x": 0.4746397615932305, + "y": 0.5742602320232464, + "width": 0.1145682303719691, + "height": 0.0872892548080781 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动。", + "correction_plan": "向上移动，向后移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向上正确，成功稍微将娃娃夹起。", + "frame": 273, + "progress": 60, + "progress_explanation": "爪夹稍微将娃娃夹起，进度60%", + "state_description": "当前状态为爪夹稍微将娃娃夹起。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向上移动，向后移动至木箱上方，向下移动，松开抓夹。", + "time": 9.098660126678604, + "annotations": { + "bbox_1767772330672": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330672_1767772384063_vjgs1fdq7", + "x": 0.4811865176144859, + "y": 0.5284333732490054, + "width": 0.09656465131351685, + "height": 0.11347603125050157 + } + ] + }, + "bbox_1767772330855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330855_1767772387223_9umo126y0", + "x": 0.4451793594975813, + "y": 0.6004470084656699, + "width": 0.39771542829126433, + "height": 0.2836900781262539 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向后移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向上移动正确，成功将爪夹夹至空中。", + "frame": 293, + "progress": 70, + "progress_explanation": "爪夹将娃娃夹至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向后移动至木箱上方，向下移动，松开抓夹。", + "time": 9.76118397138487, + "annotations": { + "bbox_1767772330855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330855_1767772376135_ggab0tfmh", + "x": 0.43372253646038433, + "y": 0.6222693221676894, + "width": 0.41244562933908896, + "height": 0.26186776442423443 + } + ] + }, + "bbox_1767772330672": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330672_1767772379519_xm1tryh1e", + "x": 0.5499274558376673, + "y": 0.25347222060355934, + "width": 0.13257180943042143, + "height": 0.18767189783736796 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动，向下移动。", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向后移动正确，成功将娃娃夹至木箱上方。", + "frame": 319, + "progress": 90, + "progress_explanation": "将娃娃夹至木箱上方，进度90%", + "state_description": "当前状态为爪夹将娃娃夹至木箱上方\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：松开抓夹。", + "time": 10.64454909765989, + "annotations": { + "bbox_1767772330672": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330672_1767772369607_on4o0etvi", + "x": 0.553200833848295, + "y": 0.6004470084656699, + "width": 0.11129485236134143, + "height": 0.1745785096161562 + } + ] + }, + "bbox_1767772330855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330855_1767772372527_l2ox4h9t7", + "x": 0.43372253646038433, + "y": 0.6222693221676894, + "width": 0.4140823183444028, + "height": 0.2727789212752442 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，完成任务。", + "frame": 351, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为娃娃落在木箱里。", + "time": 11.704587249189915, + "annotations": { + "bbox_1767772330855": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330855_1767772361465_bf8vd31xj", + "x": 0.4320858474550705, + "y": 0.605538870563405, + "width": 0.41899238536034433, + "height": 0.2705966899050422 + } + ] + }, + "bbox_1767772330672": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772330672_1767772364618_nd33lnhtl", + "x": 0.6808625762627749, + "y": 0.6833718005333441, + "width": 0.12929843141979386, + "height": 0.13093388221211708 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767772330672", + "name": "娃娃", + "color": "#4CAF50" + }, + { + "id": "bbox_1767772330855", + "name": "木箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767772331913", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767772332079", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-180000-put-yellow doll-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-180000-put-yellow doll-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..efb2143bf9f1444ca7b5c184f9f9a3a8b4093d16 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-180000-put-yellow doll-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,390 @@ +{ + "task_description": "把黄色的娃娃放进黄色的木箱里\n准备开始移动：0%\n接近娃娃：20%\n触碰到娃娃：50%\n将娃娃夹至空中：70%\n将娃娃夹至木箱上方：90%\n松开爪夹娃娃落入木箱：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动。", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%。", + "state_description": "当前状态为爪夹暂未移动。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 1.264243726506248, + "annotations": { + "bbox_1767774579157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579157_1767774680161_11l3xxe4a", + "x": 0.6333985951086735, + "y": 0.5458912242106211, + "width": 0.0654675602125538, + "height": 0.13529834495252105 + } + ] + }, + "bbox_1767774579307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579307_1767774684017_ts2wvcrjx", + "x": 0.33879457415218134, + "y": 0.362583789113657, + "width": 0.3175176670308859, + "height": 0.24004545072221486 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动，并向左下侧移动。", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 87, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向左前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.9077618248691697, + "annotations": { + "bbox_1767774579307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579307_1767774673258_7corw2m6p", + "x": 0.32406437310435676, + "y": 0.3043909414755355, + "width": 0.34043131310527974, + "height": 0.25968553305403236 + } + ] + }, + "bbox_1767774579157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579157_1767774676116_745vdsk69", + "x": 0.6317619061033596, + "y": 0.5284333732490054, + "width": 0.07528769424443693, + "height": 0.13093388221211721 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动，并且向下移动。", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近娃娃。", + "frame": 140, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态为爪夹接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向左前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 4.677704392336931, + "annotations": { + "bbox_1767774579157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579157_1767774666314_glc91hfwa", + "x": 0.6252151500821042, + "y": 0.5327978359894093, + "width": 0.06383087120723996, + "height": 0.12875165084191517 + } + ] + }, + "bbox_1767774579307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579307_1767774669525_ouyi3u9sp", + "x": 0.34861470818406437, + "y": 0.29493461663739645, + "width": 0.31424428902025825, + "height": 0.30551239182827344 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹合拢，没有夹住娃娃。", + "frame": 199, + "progress": 30, + "progress_explanation": "爪夹更加接近娃娃，进度30%", + "state_description": "当前状态为爪夹更加接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向左前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 6.637283663461954, + "annotations": { + "bbox_1767774579307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579307_1767774659705_e16m56x31", + "x": 0.38953193331691055, + "y": 0.3480355688795746, + "width": 0.30115077697774745, + "height": 0.3404280937515047 + } + ] + }, + "bbox_1767774579157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579157_1767774661889_uvmgoyww5", + "x": 0.6677690642202643, + "y": 0.5633490751722366, + "width": 0.1145682303719691, + "height": 0.141845039063127 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向后，张开爪夹，合拢爪夹。", + "correction_plan": "向上移动，向前移动到娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹合拢，无法夹取娃娃。", + "frame": 252, + "progress": 40, + "progress_explanation": "爪夹非常接近娃娃，进度40%", + "state_description": "当前状态为爪夹合拢，顶着娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向上移动，向前移动到娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 8.407226230929714, + "annotations": { + "bbox_1767774579157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579157_1767774652546_clnmxsy0c", + "x": 0.659585619193695, + "y": 0.5458912242106211, + "width": 0.09329127330288918, + "height": 0.10692933713989561 + } + ] + }, + "bbox_1767774579307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579307_1767774654547_q4g2p1juu", + "x": 0.39935206734879364, + "y": 0.30366354211820423, + "width": 0.27496375289272595, + "height": 0.3142413173090813 + } + ] + } + } + }, + { + "action_description": "爪夹向后并向上移动，张开爪夹。", + "correction_plan": "向前移动到娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹重新调整角度。", + "frame": 333, + "progress": 35, + "progress_explanation": "爪夹重新准备调整，进度35%", + "state_description": "当前状态为爪夹张开，准备重新夹取。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向前移动到娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 11.093746199407567, + "annotations": { + "bbox_1767774579307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579307_1767774643541_w64mrugss", + "x": 0.34697801917875054, + "y": 0.35603709500305114, + "width": 0.32406442305214134, + "height": 0.2705966899050422 + } + ] + }, + "bbox_1767774579157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579157_1767774645843_q76ijrnax", + "x": 0.6448554181458703, + "y": 0.48915320858537026, + "width": 0.08510782827631998, + "height": 0.15275619591413675 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动，合拢爪夹。", + "correction_plan": "向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃", + "frame": 412, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%", + "state_description": "当前状态为爪夹夹住娃娃\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "time": 13.748660050609208, + "annotations": { + "bbox_1767774579157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579157_1767774636805_dm618e8yr", + "x": 0.6546755521777534, + "y": 0.550255686951025, + "width": 0.08674451728163382, + "height": 0.09820041165908791 + } + ] + }, + "bbox_1767774579307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579307_1767774639314_05dp5gac2", + "x": 0.4042621343647351, + "y": 0.3429437067818394, + "width": 0.2504134178130183, + "height": 0.24440991346261884 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向上移动正确，成功夹起娃娃", + "frame": 448, + "progress": 70, + "progress_explanation": "爪夹将娃娃夹至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向左侧移动至木箱上方，向下移动，松开抓夹。", + "time": 14.918086389828982, + "annotations": { + "bbox_1767774579307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579307_1767774626554_ni7hlypwk", + "x": 0.33879457415218134, + "y": 0.362583789113657, + "width": 0.3371579350946521, + "height": 0.2575033016838304 + } + ] + }, + "bbox_1767774579157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579157_1767774629364_ut2k82bb2", + "x": 0.5826612359439443, + "y": 0.31021023622881017, + "width": 0.07856107225506452, + "height": 0.1483917331737328 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动。", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向左移动正确，成功将娃娃夹至木箱上方", + "frame": 477, + "progress": 90, + "progress_explanation": "爪夹将娃娃夹至木箱上方，进度90%", + "state_description": "当前状态为爪夹将娃娃夹至木箱上方。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：松开爪夹。", + "time": 15.897876025391493, + "annotations": { + "bbox_1767774579157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579157_1767774619019_vlrcags54", + "x": 0.4304491584497566, + "y": 0.39095279692628243, + "width": 0.0654675602125538, + "height": 0.08947148617828002 + } + ] + }, + "bbox_1767774579307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579307_1767774622500_6avjrtgq4", + "x": 0.34861470818406437, + "y": 0.3778594087050707, + "width": 0.317517667030886, + "height": 0.18767189783736793 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务。", + "frame": 520, + "progress": 100, + "progress_explanation": "任务完成，进度100%。", + "state_description": "当前状态为爪夹张开，娃娃落入木箱。", + "time": 17.320151302820943, + "annotations": { + "bbox_1767774579307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579307_1767774610994_dtwwjac86", + "x": 0.3224276840990429, + "y": 0.3545822629901805, + "width": 0.3518881361424767, + "height": 0.22913429387120504 + } + ] + }, + "bbox_1767774579157": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774579157_1767774613938_h0ba0at30", + "x": 0.3829851772956552, + "y": 0.42368626747931165, + "width": 0.09165458429757534, + "height": 0.14184503906312695 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767774579157", + "name": "娃娃", + "color": "#4CAF50" + }, + { + "id": "bbox_1767774579307", + "name": "木箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767774580347", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767774580515", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-180000-put-yellow doll-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-180000-put-yellow doll-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..08a11008357c0a126faac40caf826e2ba00f9dcd --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-180000-put-yellow doll-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,750 @@ +{ + "task_description": "把黄色的娃娃放进黄色的木箱里\n准备开始移动：0%\n接近娃娃：20%\n触碰到娃娃：50%\n将娃娃夹至空中：70%\n将娃娃夹至木箱上方：90%\n松开爪夹娃娃落入木箱：100%", + "progress_points": [ + { + "time": 0.8896736661616388, + "frame": 27, + "progress": 0, + "action_description": "爪夹暂未移动", + "state_description": "当前状态为爪夹张开爪夹暂未移动。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "progress_explanation": "爪夹暂未移动，进度0%", + "error_success_analysis": "", + "correction_plan": "向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向右侧移动至木箱上方，向下移动，松开爪夹。", + "annotations": { + "point_1767779665013": { + "type": "point", + "instances": [ + { + "id": "point_1767779665013_1767779844339_9o03qie69", + "x": 0.626851839087418, + "y": 0.5087932909171878 + } + ] + }, + "point_1767779664846": { + "type": "point", + "instances": [ + { + "id": "point_1767779664846_1767779846162_0ygq6ny9m", + "x": 0.3928053113275382, + "y": 0.5131577536575918 + } + ] + }, + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779850162_k908rvi9n", + "x": 0.923092549049224, + "y": 0.5197044477681977, + "width": 0.052374048170043076, + "height": 0.3055123918282734 + } + ] + }, + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779852763_g85r9gb5t", + "x": 0.8674451228685532, + "y": 0.5808069261338523, + "width": 0.03273378010627699, + "height": 0.11565826262070354 + } + ] + } + } + }, + { + "time": 2.0219871756158145, + "frame": 61, + "progress": 10, + "action_description": "爪夹向上移动。", + "state_description": "当前状态为爪夹张开，准备接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "progress_explanation": "爪夹开始移动，进度10%", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "correction_plan": "向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向右侧移动至木箱上方，向下移动，松开爪夹。", + "annotations": { + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779834015_v0v4268js", + "x": 0.8036142516613133, + "y": 0.4527826746492683, + "width": 0.055647426180670756, + "height": 0.11565826262070354 + } + ] + }, + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779836954_wc2qrtala", + "x": 0.8527149218207286, + "y": 0.3385792440414355, + "width": 0.11293154136665536, + "height": 0.3316991682706968 + } + ] + }, + "point_1767779664846": { + "type": "point", + "instances": [ + { + "id": "point_1767779664846_1767779838833_b4aeltxte", + "x": 0.3928053113275382, + "y": 0.5109755222873898 + } + ] + }, + "point_1767779665013": { + "type": "point", + "instances": [ + { + "id": "point_1767779665013_1767779840514_al3rnbjwb", + "x": 0.617031705055535, + "y": 0.5197044477681977 + } + ] + } + } + }, + { + "time": 3.882216512576246, + "frame": 116, + "progress": 20, + "action_description": "爪夹向左并向下移动。", + "state_description": "当前状态为爪夹接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "progress_explanation": "爪夹接近娃娃，进度20%", + "error_success_analysis": "爪夹向下移动正确，成功接近娃娃。", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向右侧移动至木箱上方，向下移动，松开爪夹。", + "annotations": { + "point_1767779665013": { + "type": "point", + "instances": [ + { + "id": "point_1767779665013_1767779810698_zx5gdb5yl", + "x": 0.6186683940608488, + "y": 0.5087932909171878 + } + ] + }, + "point_1767779664846": { + "type": "point", + "instances": [ + { + "id": "point_1767779664846_1767779812453_m0q3xv5i3", + "x": 0.3829851772956552, + "y": 0.502246596806582 + } + ] + }, + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779816314_p7vdtp6h8", + "x": 0.5892079919651996, + "y": 0.015609001251546453, + "width": 0.3682550261956152, + "height": 0.606660320916143 + } + ] + }, + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779829465_746m90tvk", + "x": 0.40262544535942124, + "y": 0.27747676567578083, + "width": 0.18330916859515067, + "height": 0.418988423078775 + } + ] + } + } + }, + { + "time": 5.3380481675887586, + "frame": 160, + "progress": 15, + "action_description": "爪夹向前移动，然后向后移动。", + "state_description": "当前状态为爪夹远离娃娃\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "progress_explanation": "爪夹没有夹住娃娃，进度15%", + "error_success_analysis": "爪夹移动幅度过大，没有及时合拢。", + "correction_plan": "向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向右侧移动至木箱上方，向下移动，松开爪夹。", + "annotations": { + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779798610_0ixn34vr7", + "x": 0.7283265574168765, + "y": 0.2622011460843672, + "width": 0.1685789675473261, + "height": 0.1658495841353484 + } + ] + }, + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779802379_w7rvok6t3", + "x": 0.8805386349110641, + "y": 0.11817387565103825, + "width": 0.09492796230820293, + "height": 0.5019132151464492 + } + ] + }, + "point_1767779664846": { + "type": "point", + "instances": [ + { + "id": "point_1767779664846_1767779804090_rfay77658", + "x": 0.4942800296569966, + "y": 0.4978821340661781 + } + ] + }, + "point_1767779665013": { + "type": "point", + "instances": [ + { + "id": "point_1767779665013_1767779805930_l6jvdqzxt", + "x": 0.5139202977207628, + "y": 0.4913354399555722 + } + ] + } + } + }, + { + "time": 7.643114954691901, + "frame": 229, + "progress": 5, + "action_description": "爪夹向上移动，张开爪夹。", + "state_description": "当前状态为爪夹准备重新夹取娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "progress_explanation": "爪夹远离娃娃，进度5%", + "error_success_analysis": "爪夹准备调整，重新夹取爪夹。", + "correction_plan": "向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向右侧移动至木箱上方，向下移动，松开爪夹。", + "annotations": { + "point_1767779665013": { + "type": "point", + "instances": [ + { + "id": "point_1767779665013_1767779786731_diw9r5we7", + "x": 0.6121216380395935, + "y": 0.5153399850277938 + } + ] + }, + "point_1767779664846": { + "type": "point", + "instances": [ + { + "id": "point_1767779664846_1767779788418_wa7kb63sp", + "x": 0.39771537834347975, + "y": 0.5153399850277938 + } + ] + }, + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779792115_vo5j2n6k0", + "x": 0.7266898684115626, + "y": 0.24692552649295346, + "width": 0.1522120774941877, + "height": 0.39061941526614957 + } + ] + }, + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779794322_xipqh0yke", + "x": 0.5630209678801781, + "y": 0.4105928792581, + "width": 0.11784160838259687, + "height": 0.13093388221211716 + } + ] + } + } + }, + { + "time": 9.42246475526275, + "frame": 283, + "progress": 30, + "action_description": "爪夹向下并向下移动。", + "state_description": "当前状态为爪夹更加接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "progress_explanation": "爪夹更加接近娃娃，进度30%", + "error_success_analysis": "爪夹向下移动正确，成功接近娃娃。", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向右侧移动至木箱上方，向下移动，松开爪夹。", + "annotations": { + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779775731_3314q27bc", + "x": 0.5564742118589228, + "y": 0.015609001251546453, + "width": 0.4058988733178336, + "height": 0.5521045366610942 + } + ] + }, + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779778059_hu5plrlzf", + "x": 0.384621866300969, + "y": 0.35603709500305114, + "width": 0.2373199057705075, + "height": 0.32733470553029304 + } + ] + }, + "point_1767779664846": { + "type": "point", + "instances": [ + { + "id": "point_1767779664846_1767779779763_idfz17fk2", + "x": 0.3878952443115967, + "y": 0.5197044477681977 + } + ] + }, + "point_1767779665013": { + "type": "point", + "instances": [ + { + "id": "point_1767779665013_1767779782842_uo249idhp", + "x": 0.6219417720714765, + "y": 0.5218866791383996 + } + ] + } + } + }, + { + "time": 10.635657801106511, + "frame": 319, + "progress": 50, + "action_description": "爪夹合拢", + "state_description": "当前状态为爪夹夹住娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向上移动，向右侧移动至木箱上方，向下移动，松开爪夹。", + "progress_explanation": "爪夹夹住娃娃，进度50%", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃。", + "correction_plan": "向上移动，向右侧移动至木箱上方，向下移动，松开爪夹。", + "annotations": { + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779767499_wp39pli11", + "x": 0.3551614642053198, + "y": 0.23383213827174176, + "width": 0.2602335518449014, + "height": 0.4495396622616024 + } + ] + }, + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779770763_uy8hlpwqq", + "x": 0.6563122411830673, + "y": 0.011244538511142547, + "width": 0.31751766703088596, + "height": 0.556468999401498 + } + ] + } + } + }, + { + "time": 11.84885084695027, + "frame": 355, + "progress": 60, + "action_description": "爪夹向上移动。", + "state_description": "当前状态为爪夹将娃娃稍微夹至空中。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向上移动，向右侧移动至木箱上方，向下移动，松开爪夹。", + "progress_explanation": "稍微将娃娃夹起，进度60%", + "error_success_analysis": "爪夹向上移动正确，成功稍微将娃娃夹起。", + "correction_plan": "向上移动，向右侧移动至木箱上方，向下移动，松开爪夹。", + "annotations": { + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779761547_0rt3x1283", + "x": 0.6088482600289657, + "y": 0.0134267698813445, + "width": 0.35352482514779054, + "height": 0.5739268503631137 + } + ] + }, + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779764123_9jebd1bz6", + "x": 0.38625855530628284, + "y": 0.24037883238234764, + "width": 0.2602335518449014, + "height": 0.4211706544489769 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向右侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动，成功将爪夹将娃娃夹至空中", + "frame": 389, + "progress": 70, + "progress_explanation": "爪夹将娃娃夹至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右侧移动至木箱上方，向下移动，松开爪夹。", + "time": 12.981164356404447, + "annotations": { + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779754003_aczustngj", + "x": 0.4140822683966182, + "y": 0.3254858558202238, + "width": 0.20785950367485828, + "height": 0.32297024278988906 + } + ] + }, + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779756368_2xr5nyyva", + "x": 0.5482907668323536, + "y": 0.3582193263732531, + "width": 0.2373199057705075, + "height": 0.4058950348575633 + } + ] + } + } + }, + { + "action_description": "爪夹松开", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向右侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹松开错误，将娃娃落在桌面上", + "frame": 437, + "progress": 8, + "progress_explanation": "爪夹松开错误，进度8%", + "state_description": "当前状态爪夹将娃娃落在桌面上\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 14.558315316001334, + "annotations": { + "point_1767779665013": { + "type": "point", + "instances": [ + { + "id": "point_1767779665013_1767779743181_upldl8ose", + "x": 0.6186683940608488, + "y": 0.5109755222873898 + } + ] + }, + "point_1767779664846": { + "type": "point", + "instances": [ + { + "id": "point_1767779664846_1767779744804_v9d9xpqe4", + "x": 0.3960786893381659, + "y": 0.5087932909171878 + } + ] + }, + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779747555_kx8s5g0r3", + "x": 0.47627645059854434, + "y": 0.2600189147141652, + "width": 0.28151050891398127, + "height": 0.4495396622616023 + } + ] + }, + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779749948_7kmllv0d1", + "x": 0.3960786893381659, + "y": 0.5175222163979957, + "width": 0.07856107225506462, + "height": 0.19421859194797383 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向右侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近娃娃", + "frame": 488, + "progress": 25, + "progress_explanation": "爪夹重新接近娃娃，进度25%", + "state_description": "当前状态为爪夹重新接近娃娃\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 16.256785580182598, + "annotations": { + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779733412_gl4ognh1d", + "x": 0.6006648150023965, + "y": 0.02070086334928162, + "width": 0.36989171520092895, + "height": 0.6132070150267488 + } + ] + }, + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779735460_1hi66ta5s", + "x": 0.4288124694444428, + "y": 0.22510321279093395, + "width": 0.180035790584523, + "height": 0.3906194152661496 + } + ] + }, + "point_1767779664846": { + "type": "point", + "instances": [ + { + "id": "point_1767779664846_1767779737012_kjnwkn618", + "x": 0.4009887563541074, + "y": 0.5131577536575918 + } + ] + }, + "point_1767779665013": { + "type": "point", + "instances": [ + { + "id": "point_1767779665013_1767779738900_s4bntf552", + "x": 0.6186683940608488, + "y": 0.5131577536575918 + } + ] + } + } + }, + { + "action_description": "向下移动合拢爪夹。", + "correction_plan": "向上移动，向右侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃。", + "frame": 528, + "progress": 55, + "progress_explanation": "爪夹夹住娃娃，进度55%", + "state_description": "当前状态为爪夹夹住娃娃\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向上移动，向右侧移动至木箱上方，向下移动，松开爪夹。", + "time": 17.59129793061073, + "annotations": { + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779716836_ypbj8q0x1", + "x": 0.3453413301734367, + "y": 0.26874784019497305, + "width": 0.2995140879724337, + "height": 0.4779086700742277 + } + ] + }, + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779727075_lk1m9mpnl", + "x": 0.7250531794062487, + "y": 0.01997346399195036, + "width": 0.24059328378113526, + "height": 0.7092251953156347 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向右侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动，成功将爪夹将娃娃夹至空中", + "frame": 573, + "progress": 75, + "progress_explanation": "爪夹将娃娃夹至空中，进度75%", + "state_description": "当前状态为爪夹将娃娃夹至空中。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右侧移动至木箱上方，向下移动，松开爪夹。", + "time": 19.08756935381804, + "annotations": { + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779710247_h42y5bhl2", + "x": 0.6628589972043226, + "y": 0.07671147961720114, + "width": 0.26514361886084287, + "height": 0.512824371997459 + } + ] + }, + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779712660_xn082xp20", + "x": 0.3960786893381659, + "y": 0.2556544519737613, + "width": 0.22258970472268294, + "height": 0.5040954465166512 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动。", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向右移动正确，成功将娃娃夹至木箱上方", + "frame": 615, + "progress": 90, + "progress_explanation": "将娃娃夹至木箱上方,进度90%", + "state_description": "当前状态为爪夹将娃娃夹至木箱上方\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：松开爪夹。", + "time": 20.502961240635756, + "annotations": { + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779703356_g9rvzxrwf", + "x": 0.40589882337004896, + "y": 0.2556544519737613, + "width": 0.2340465277598799, + "height": 0.462633050482814 + } + ] + }, + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779705708_206nmr0yf", + "x": 0.18985587466862144, + "y": 0.33639701267123356, + "width": 0.3027874659830613, + "height": 0.33169916827069695 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务。", + "frame": 667, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为娃娃落入木箱", + "time": 22.241871273011814, + "annotations": { + "bbox_1767779663909": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663909_1767779690998_kfds37l4v", + "x": 0.6841359542734027, + "y": 0.07962111034473436, + "width": 0.21276957069079988, + "height": 0.5040954465166512 + } + ] + }, + "bbox_1767779663757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767779663757_1767779693292_sai0ezuya", + "x": 0.8052509406666271, + "y": 0.24692552649295346, + "width": 0.09656465131351695, + "height": 0.17894297235656018 + } + ] + }, + "point_1767779664846": { + "type": "point", + "instances": [ + { + "id": "point_1767779664846_1767779695421_da3v9nd2v", + "x": 0.4140822683966182, + "y": 0.5131577536575918 + } + ] + }, + "point_1767779665013": { + "type": "point", + "instances": [ + { + "id": "point_1767779665013_1767779697277_x68g56v1y", + "x": 0.5941180589811411, + "y": 0.5131577536575918 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767779663757", + "name": "娃娃", + "color": "#4CAF50" + }, + { + "id": "bbox_1767779663909", + "name": "木箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767779664846", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767779665013", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-181039-put-yellow doll-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-181039-put-yellow doll-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..6e325cc627e20d0d590a1d16023aeaff6b344a86 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-181039-put-yellow doll-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,352 @@ +{ + "task_description": "把黄色物品放进黄色的木箱里\n准备开始移动：0%\n接近黄色物品：20%\n触碰到黄色物品：50%\n将黄色物品夹至空中：70%\n将黄色物品夹至木箱上方：90%\n松开爪夹黄色物品落入木箱：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向左前侧移动至黄色物品上方，向下移动，合拢爪夹，夹住黄色物品，向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未移动。\n为了完成把黄色物品放进黄色的木箱里的任务应当：向左前侧移动至黄色物品上方，向下移动，合拢爪夹，夹住黄色物品。", + "time": 1.7091387661755029, + "annotations": { + "bbox_1767776065189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065189_1767776097501_7x066najj", + "x": 0.754513581501898, + "y": 0.37640457669219995, + "width": 0.08838120628694765, + "height": 0.15057396454393476 + } + ] + }, + "bbox_1767776065333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065333_1767776100185_kihurxwim", + "x": 0.5515641448429812, + "y": 0.21419205593992416, + "width": 0.1931293026270337, + "height": 0.38407272115554375 + } + ] + }, + "point_1767776066213": { + "type": "point", + "instances": [ + { + "id": "point_1767776066213_1767776102149_1t3zwjgh4", + "x": 0.4288124694444428, + "y": 0.5568023810616308 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向左前侧移动至黄色物品上方，向下移动，合拢爪夹，夹住黄色物品，向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 76, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹张开，准备向黄色物品接近。\n为了完成把黄色物品放进黄色的木箱里的任务应当：向左前侧移动至黄色物品上方，向下移动，合拢爪夹，夹住黄色物品。", + "time": 2.519884395540717, + "annotations": { + "bbox_1767776065333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065333_1767776108644_s4i3vcrey", + "x": 0.5204670537420182, + "y": 0.25347222060355934, + "width": 0.22586308273331063, + "height": 0.42117065444897694 + } + ] + }, + "bbox_1767776065189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065189_1767776111028_dp5wefuur", + "x": 0.7463301364753288, + "y": 0.3582193263732531, + "width": 0.08183445026569229, + "height": 0.17021404687575234 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动，并稍微向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住黄色物品，向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向左移动正确，成功接近黄色物品。", + "frame": 104, + "progress": 20, + "progress_explanation": "爪夹接近黄色物品，进度20%", + "state_description": "当前状态为爪夹接近黄色物品。\n为了完成把黄色物品放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住黄色物品。", + "time": 3.462102289127317, + "annotations": { + "bbox_1767776065189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065189_1767776114445_211lp9gm3", + "x": 0.754513581501898, + "y": 0.3713127145944648, + "width": 0.08674451728163382, + "height": 0.16803181550555035 + } + ] + }, + "bbox_1767776065333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065333_1767776116636_4lo40ycxl", + "x": 0.5302871877739012, + "y": 0.2731123029353769, + "width": 0.1849458576004645, + "height": 0.3513392506025144 + } + ] + } + } + }, + { + "action_description": "爪夹向左向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住黄色物品，向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向下移动正确，更加接近黄色物品。", + "frame": 132, + "progress": 30, + "progress_explanation": "爪夹更加接近黄色物品，进度30%", + "state_description": "当前状态为爪夹更加接近黄色物品。\n为了完成把黄色物品放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住黄色物品。", + "time": 4.404320182713917, + "annotations": { + "bbox_1767776065333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065333_1767776121508_q6ip0um22", + "x": 0.512283608715449, + "y": 0.2272854441611359, + "width": 0.25696017383427366, + "height": 0.3818904897853418 + } + ] + }, + "bbox_1767776065189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065189_1767776123677_fop7120lq", + "x": 0.7528768924965841, + "y": 0.3713127145944648, + "width": 0.10802147435071374, + "height": 0.18985412920756997 + } + ] + } + } + }, + { + "action_description": "爪夹向下，稍微合拢", + "correction_plan": "向下移动，合拢爪夹，夹住黄色物品，向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向下移动正确，准备夹黄色物品", + "frame": 164, + "progress": 40, + "progress_explanation": "准备夹住黄色物品，进度40%", + "state_description": "当前状态为爪夹准备夹住黄色物品。\n为了完成把黄色物品放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住黄色物品。", + "time": 5.456098296485005, + "annotations": { + "bbox_1767776065189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065189_1767776127988_32q1ebi4a", + "x": 0.7528768924965841, + "y": 0.36040155774345506, + "width": 0.10965816335602759, + "height": 0.19858305468837772 + } + ] + }, + "bbox_1767776065333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065333_1767776130285_j2f4yib8w", + "x": 0.5466540778270397, + "y": 0.24037883238234764, + "width": 0.2094961926801721, + "height": 0.30551239182827344 + } + ] + } + } + }, + { + "action_description": "合拢爪夹", + "correction_plan": "向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住黄色物品", + "frame": 206, + "progress": 50, + "progress_explanation": "爪夹夹住黄色物品，进度50%", + "state_description": "当前状态为爪夹夹住黄色物品。\n为了完成把黄色物品放进黄色的木箱里的任务应当：向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "time": 6.858469114846456, + "annotations": { + "bbox_1767776065333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065333_1767776136013_0gcc02ojf", + "x": 0.5515641448429812, + "y": 0.21491945529725545, + "width": 0.1931293026270337, + "height": 0.41462396033837107 + } + ] + }, + "bbox_1767776065189": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065189_1767776138852_uq1z84xno", + "x": 0.7446934474700149, + "y": 0.3756771773348687, + "width": 0.08510782827631998, + "height": 0.15275619591413675 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向上移动正确，成功将黄色物品稍微夹起。", + "frame": 224, + "progress": 60, + "progress_explanation": "稍微将黄色物品夹起，进度60%", + "state_description": "当前状态为爪夹稍微将黄色物品夹起。\n为了完成把黄色物品放进黄色的木箱里的任务应当：向上移动，向左侧移动至木箱上方，向下移动，松开抓夹。", + "time": 7.472006347879591, + "annotations": { + "bbox_1767776065333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065333_1767776144755_c2jupf1vt", + "x": 0.5499274558376673, + "y": 0.23383213827174176, + "width": 0.1882192356110922, + "height": 0.41025949759796726 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "向左侧移动至木箱上方，向下移动，松开抓夹。", + "error_success_analysis": "爪夹向上移动正确，成功夹黄色物品到空中", + "frame": 257, + "progress": 70, + "progress_explanation": "爪夹将黄色物品夹至空中，进度70%", + "state_description": "当前状态为爪夹将黄色物品夹至空中。\n为了完成把黄色物品放进黄色的木箱里的任务应当：向左侧移动至木箱上方，向下移动，松开抓夹。", + "time": 8.567608549724474, + "annotations": { + "bbox_1767776065333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065333_1767776148667_xg75hkumf", + "x": 0.543380699816412, + "y": 0.2098275931995203, + "width": 0.18658254660577836, + "height": 0.4386285054105926 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向左移动正确，成功将黄色物品夹至木箱上方", + "frame": 282, + "progress": 90, + "progress_explanation": "夹将黄色物品夹至木箱上方，进度90%", + "state_description": "当前状态为爪夹将黄色物品夹至木箱上方\n为了完成把黄色物品放进黄色的木箱里的任务应当：松开抓夹。", + "time": 9.400266223126588, + "annotations": { + "bbox_1767776065333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065333_1767776152028_ptslx3ovm", + "x": 0.5417440108110981, + "y": 0.23383213827174176, + "width": 0.21604294870142748, + "height": 0.4473574308914004 + } + ] + } + } + }, + { + "action_description": "稍微向下移动，松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功将黄色物落入木箱。", + "frame": 350, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹张卡，黄色物品落入木箱", + "time": 11.657206758927046, + "annotations": { + "bbox_1767776065333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776065333_1767776154388_umkgk3n1h", + "x": 0.5302871877739012, + "y": 0.18582304812729877, + "width": 0.21767963770674142, + "height": 0.43208181129998674 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767776065189", + "name": "黄色物品", + "color": "#4CAF50" + }, + { + "id": "bbox_1767776065333", + "name": "木箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767776066213", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767776066381", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-181039-put-yellow doll-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-181039-put-yellow doll-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a42fcbdc5001feccd5990cb461323f96637a484d --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20251231songjiaqi/20251231-181039-put-yellow doll-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,362 @@ +{ + "task_description": "把黄色的娃娃放进黄色的木箱里\n准备开始移动：0%\n接近娃娃：20%\n触碰到娃娃：50%\n将娃娃夹至空中：70%\n将娃娃夹至木箱上方：90%\n松开爪夹娃娃落入木箱：100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未移动。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 1.4578960878152594, + "annotations": { + "bbox_1767777642246": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642246_1767777668445_2z8x9hn02", + "x": 0.7299632464221903, + "y": 0.3916801962836136, + "width": 0.04746398115410146, + "height": 0.1352983449525211 + } + ] + }, + "bbox_1767777642397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642397_1767777672596_4hpsjtelh", + "x": 0.5368339437951566, + "y": 0.21200982456972225, + "width": 0.2176796377067413, + "height": 0.4058950348575633 + } + ] + }, + "point_1767777643093": { + "type": "point", + "instances": [ + { + "id": "point_1767777643093_1767777674901_xpq0ifkoh", + "x": 0.2373198558227229, + "y": 0.6528205613505167 + } + ] + }, + "point_1767777643253": { + "type": "point", + "instances": [ + { + "id": "point_1767777643253_1767777676767_c5e62w8ga", + "x": 0.35188808619469214, + "y": 0.5808069261338523 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动。", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹向下，准备接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.2880872674798405, + "annotations": { + "bbox_1767777642397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642397_1767777683677_5e1wdkp4e", + "x": 0.5204670537420182, + "y": 0.2098275931995203, + "width": 0.24877672880770446, + "height": 0.4298995799297848 + } + ] + }, + "bbox_1767777642246": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642246_1767777686616_gxez7glkm", + "x": 0.733236624432818, + "y": 0.39749949103688825, + "width": 0.0654675602125538, + "height": 0.11129379988029958 + } + ] + } + } + }, + { + "action_description": "爪夹向左并且向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向左下移动正确，成功接近娃娃", + "frame": 96, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态为爪夹接近娃娃。\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 3.199272708575112, + "annotations": { + "bbox_1767777642246": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642246_1767777692212_nqgvn6u61", + "x": 0.7168697343796795, + "y": 0.4105928792581, + "width": 0.08183445026569229, + "height": 0.10256487439949176 + } + ] + }, + "bbox_1767777642397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642397_1767777696036_w5wio8j95", + "x": 0.5613842788748642, + "y": 0.20109866771871246, + "width": 0.19149261362171988, + "height": 0.4255351171893809 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功更加接近娃娃。", + "frame": 121, + "progress": 30, + "progress_explanation": "爪夹更加接近娃娃，进度30%", + "state_description": "当前状态为爪夹更加接近娃娃\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 4.049712453597366, + "annotations": { + "bbox_1767777642397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642397_1767777700612_l26m115nv", + "x": 0.5090102307048212, + "y": 0.22510321279093395, + "width": 0.24386666179176286, + "height": 0.4168061917085731 + } + ] + }, + "bbox_1767777642246": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642246_1767777702917_h2mommo12", + "x": 0.7201431123903073, + "y": 0.39968172240709016, + "width": 0.07365100523912309, + "height": 0.12220495673130939 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，准备夹娃娃", + "frame": 152, + "progress": 40, + "progress_explanation": "爪夹准备夹娃娃，进度40%", + "state_description": "当前状态为爪夹准备夹娃娃\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 5.0621407214810015, + "annotations": { + "bbox_1767777642246": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642246_1767777705696_lumaptud4", + "x": 0.7299632464221903, + "y": 0.40186395377729217, + "width": 0.0769243832497506, + "height": 0.15493842728433863 + } + ] + }, + "bbox_1767777642397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642397_1767777708468_26snribv4", + "x": 0.5335605657845288, + "y": 0.2272854441611359, + "width": 0.22749977173862446, + "height": 0.37970825841513983 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向左侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹到娃娃。", + "frame": 179, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%", + "state_description": "当前状态为爪夹夹住娃娃\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向上移动，向左侧移动至木箱上方，向下移动，松开爪夹。", + "time": 5.953933, + "annotations": { + "bbox_1767777642397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642397_1767777711988_kg5vvikx0", + "x": 0.512283608715449, + "y": 0.26874784019497305, + "width": 0.253686795823646, + "height": 0.39716610937675545 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动", + "correction_plan": "向上移动，向左侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃稍微夹起。", + "frame": 222, + "progress": 60, + "progress_explanation": "稍微将娃娃夹起，进度60%", + "state_description": "当前状态为爪夹稍微将娃娃夹起\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向上移动，向左侧移动至木箱上方，向下移动，松开爪夹。", + "time": 7.410974302971035, + "annotations": { + "bbox_1767777642397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642397_1767777715548_qzvygm9zt", + "x": 0.531923876779215, + "y": 0.21200982456972225, + "width": 0.2700536858767844, + "height": 0.46481528185301596 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向左侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃夹至空中", + "frame": 241, + "progress": 70, + "progress_explanation": "将娃娃夹至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向左侧移动至木箱上方，向下移动，松开爪夹。", + "time": 8.038679829058887, + "annotations": { + "bbox_1767777642397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642397_1767777718332_inhu2ro9w", + "x": 0.5450173888217258, + "y": 0.18582304812729877, + "width": 0.19149261362171988, + "height": 0.45608635637220823 + } + ] + }, + "bbox_1767777642246": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642246_1767777720340_yuf0rz7uu", + "x": 0.7987041846453719, + "y": 0.1247205697616441, + "width": 0.10311140733477223, + "height": 0.2182231370201953 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动", + "correction_plan": "向左侧移动至木箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向右移动错误，没有向木箱移动", + "frame": 261, + "progress": -20, + "progress_explanation": "爪夹远离木箱，进度-20%", + "state_description": "当前状态为爪夹将娃娃拿到屏幕外\n为了完成把黄色的娃娃放进黄色的木箱里的任务应当：向左侧移动至木箱上方，向下移动，松开爪夹。", + "time": 8.706882485862089, + "annotations": { + "bbox_1767777642397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642397_1767777727028_7x2t11jv0", + "x": 0.5253771207579596, + "y": 0.17054742853588511, + "width": 0.26350692985552904, + "height": 0.4495396622616023 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动", + "correction_plan": "", + "error_success_analysis": "爪夹向左移动错误，远离木箱。", + "frame": 353, + "progress": -50, + "progress_explanation": "娃娃掉出屏幕外，进度-50%", + "state_description": "当前状态为爪夹将娃娃掉出屏幕外。", + "time": 11.766667, + "annotations": { + "bbox_1767777642397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777642397_1767777730267_dwqi5bm5s", + "x": 0.5630209678801781, + "y": 0.26874784019497305, + "width": 0.21113288168548605, + "height": 0.3818904897853418 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767777642246", + "name": "娃娃", + "color": "#4CAF50" + }, + { + "id": "bbox_1767777642397", + "name": "木箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767777643093", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767777643253", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-094455-put-yellow doll-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-094455-put-yellow doll-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..724ca5ea19348e5fbf7fe180e4a317fcdb7b3603 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-094455-put-yellow doll-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,408 @@ +{ + "task_description": "把黄色的娃娃放进白色的塑料桶里\n准备开始移动：0%\n接近娃娃：20%\n夹住娃娃：50%\n将娃娃夹起：70%\n将娃娃移至塑料桶上方：90%\n松开爪夹;100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未开始移动。\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 1.1219879259994696, + "annotations": { + "point_1767839257797": { + "type": "point", + "instances": [ + { + "id": "point_1767839257797_1767839368427_kwftxhbvy", + "x": 0.40589882337004896, + "y": 0.5306156046192074 + } + ] + }, + "point_1767839257970": { + "type": "point", + "instances": [ + { + "id": "point_1767839257970_1767839370524_3kxagq9l0", + "x": 0.5351972547898427, + "y": 0.5327978359894093 + } + ] + }, + "bbox_1767839256586": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256586_1767839373818_653iij35y", + "x": 0.6824992652680888, + "y": 0.40186395377729217, + "width": 0.10311140733477223, + "height": 0.09383594891868399 + } + ] + }, + "bbox_1767839256759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256759_1767839377574_xmx6t8s63", + "x": 0.39935206734879364, + "y": 0.38440610281567655, + "width": 0.15221207749418758, + "height": 0.25532107031362844 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹角度调整成功，准备接近娃娃", + "frame": 65, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹向上，准备接近娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.1691771895603105, + "annotations": { + "bbox_1767839256759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256759_1767839359029_zjjbwyl9q", + "x": 0.39444200033285204, + "y": 0.39095279692628243, + "width": 0.1391185654516768, + "height": 0.2727789212752441 + } + ] + }, + "bbox_1767839256586": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256586_1767839362141_90qmpbqnj", + "x": 0.6874093322840303, + "y": 0.408410647887898, + "width": 0.09983802932414454, + "height": 0.08510702343787617 + } + ] + }, + "point_1767839257797": { + "type": "point", + "instances": [ + { + "id": "point_1767839257797_1767839364561_iefz5tcwz", + "x": 0.4664563165666612, + "y": 0.4105928792581 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向右移动", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向右侧移动正确，成功接近娃娃", + "frame": 90, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态为爪夹接近娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 3.010668562064558, + "annotations": { + "bbox_1767839256586": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256586_1767839349292_q6pkl1mrf", + "x": 0.6563122411830673, + "y": 0.42150403610910975, + "width": 0.09329127330288918, + "height": 0.09820041165908791 + } + ] + }, + "bbox_1767839256759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256759_1767839354404_mmsa6f0ea", + "x": 0.40589882337004896, + "y": 0.3865883341858785, + "width": 0.13748187644636306, + "height": 0.2575033016838305 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，更加接近娃娃", + "frame": 105, + "progress": 30, + "progress_explanation": "爪夹更加接近娃娃，进度30%", + "state_description": "当前状态为爪夹在娃娃上方，更加接近娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 3.4968635772892345, + "annotations": { + "bbox_1767839256759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256759_1767839339747_dcuxugxpl", + "x": 0.40262544535942124, + "y": 0.3647660204838589, + "width": 0.15057538848887378, + "height": 0.28150784675605195 + } + ] + }, + "bbox_1767839256586": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256586_1767839342340_prpzl5wjh", + "x": 0.6612223081990087, + "y": 0.39749949103688825, + "width": 0.09983802932414454, + "height": 0.10256487439949181 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向下，爪夹稍微合拢。", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，准备夹住爪夹", + "frame": 125, + "progress": 40, + "progress_explanation": "爪夹准备夹住娃娃，进度40%", + "state_description": "当前状态为爪夹准备夹住娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 4.170056675292631, + "annotations": { + "bbox_1767839256759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256759_1767839333897_e6os09lev", + "x": 0.39935206734879364, + "y": 0.3647660204838589, + "width": 0.1538487664995014, + "height": 0.30333016045807154 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向左侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃", + "frame": 153, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%", + "state_description": "当前状态为爪夹夹住娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向上移动，向左侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 5.10504708918624, + "annotations": { + "bbox_1767839256586": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256586_1767839323381_1ji8ppcbq", + "x": 0.7283265574168765, + "y": 0.39749949103688825, + "width": 0.073651005239123, + "height": 0.11784049399090547 + } + ] + }, + "bbox_1767839256759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256759_1767839327189_ysof6i4dr", + "x": 0.4091722013806767, + "y": 0.3865883341858785, + "width": 0.12602505340916598, + "height": 0.2618677644242344 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动", + "correction_plan": "向上移动，向左侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将娃娃夹起。", + "frame": 187, + "progress": 60, + "progress_explanation": "爪夹稍微将娃娃夹起，进度60%", + "state_description": "当前状态为爪夹稍微将娃娃夹起\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向上移动，向左侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 6.2270355858585695, + "annotations": { + "bbox_1767839256759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256759_1767839313365_l2h0tqw4g", + "x": 0.4091722013806767, + "y": 0.3887705655560804, + "width": 0.14075525445699064, + "height": 0.25750330168383045 + } + ] + }, + "bbox_1767839256586": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256586_1767839316326_hariu101r", + "x": 0.7037762223371689, + "y": 0.3429437067818394, + "width": 0.06874093822318147, + "height": 0.11565826262070354 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，稍微向左移动", + "correction_plan": "向左侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃夹至空中", + "frame": 212, + "progress": 70, + "progress_explanation": "爪夹将娃娃夹至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹纸空中。\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向左侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 7.068526958362816, + "annotations": { + "bbox_1767839256586": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256586_1767839303253_ciy14ouc1", + "x": 0.4991900966729381, + "y": 0.21855651868032808, + "width": 0.07692438324975077, + "height": 0.13748057632272304 + } + ] + }, + "bbox_1767839256759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256759_1767839308005_gi18gns2s", + "x": 0.39935206734879364, + "y": 0.3800416400752726, + "width": 0.14402863246761838, + "height": 0.2596855330540324 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动，向下移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向左移动正确，成功将娃娃移至塑料桶上方", + "frame": 241, + "progress": 80, + "progress_explanation": "将娃娃移至塑料桶上方，进度90%", + "state_description": "当前状态为爪夹将娃娃夹至塑料桶上方\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：松开爪夹。", + "time": 8.04091698881217, + "annotations": { + "bbox_1767839256759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256759_1767839294390_2yl3pju22", + "x": 0.38953193331691055, + "y": 0.3822238714454746, + "width": 0.1636689005313845, + "height": 0.2640499957944363 + } + ] + }, + "bbox_1767839256586": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256586_1767839297893_l6i2qunb8", + "x": 0.4419059814869536, + "y": 0.34949040089244526, + "width": 0.07692438324975068, + "height": 0.13529834495252105 + } + ] + } + } + }, + { + "action_description": "松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务。", + "frame": 272, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹张开，娃娃落入塑料桶。", + "time": 9.069406444095138, + "annotations": { + "bbox_1767839256586": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256586_1767839285166_rq97jr6zt", + "x": 0.41735564640724593, + "y": 0.4724227569810859, + "width": 0.07856107225506452, + "height": 0.10038264302928983 + } + ] + }, + "bbox_1767839256759": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839256759_1767839289150_cz4ysu12l", + "x": 0.3878952443115967, + "y": 0.3582193263732531, + "width": 0.1554854555048153, + "height": 0.2967834663474656 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767839256586", + "name": "娃娃", + "color": "#4CAF50" + }, + { + "id": "bbox_1767839256759", + "name": "塑料桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767839257797", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767839257970", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-094455-put-yellow doll-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-094455-put-yellow doll-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..efb8b189cd5c25df9a89c178434b633975b50ecc --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-094455-put-yellow doll-white-trash can-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,342 @@ +{ + "task_description": "把黄色的娃娃放进白色的塑料桶里\n准备开始移动：0%\n接近娃娃：20%\n夹住娃娃：50%\n将娃娃夹起：70%\n将娃娃移至塑料桶上方：90%\n松开爪夹;100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，继续向右前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开暂未移动\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 1.0963474039026144, + "annotations": { + "bbox_1767841694798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694798_1767841800723_2ib0fuja7", + "x": 0.659585619193695, + "y": 0.42586849884951367, + "width": 0.13420849843573537, + "height": 0.10474710576969375 + } + ] + }, + "bbox_1767841694998": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694998_1767841804604_183ahbxya", + "x": 0.775790538570978, + "y": 0.17054742853588511, + "width": 0.1423919434623045, + "height": 0.27059668990504215 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，继续向右前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整完成，成功开始移动。", + "frame": 61, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹向，准备接近娃娃。\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.0338042943253414, + "annotations": { + "bbox_1767841694998": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694998_1767841793559_29k2zrig9", + "x": 0.7725171605603502, + "y": 0.16400073442527927, + "width": 0.14402863246761832, + "height": 0.3164235486792832 + } + ] + }, + "bbox_1767841694798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694798_1767841796556_6zznny4g7", + "x": 0.6743158202415196, + "y": 0.42150403610910975, + "width": 0.11293154136665526, + "height": 0.11784049399090542 + } + ] + } + } + }, + { + "action_description": "爪夹向右前侧移动，然后向下移动。", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，继续向右前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近娃娃", + "frame": 79, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态为爪夹接近娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 2.637590088156928, + "annotations": { + "bbox_1767841694798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694798_1767841785227_aprpa5o31", + "x": 0.7135963563690518, + "y": 0.3756771773348687, + "width": 0.09329127330288908, + "height": 0.1593028900247426 + } + ] + }, + "bbox_1767841694998": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694998_1767841788741_qzu928o4h", + "x": 0.7725171605603502, + "y": 0.12690280113184607, + "width": 0.1391185654516768, + "height": 0.3164235486792832 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "继续向下移动，合拢爪夹，夹住娃娃，向上移动，继续向右前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动，更加接近娃娃。", + "frame": 99, + "progress": 30, + "progress_explanation": "爪夹更加接近娃娃，进度30%", + "state_description": "当前状态为爪夹向下，更加接近娃娃。", + "time": 3.3049322813392084, + "annotations": { + "bbox_1767841694998": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694998_1767841778067_6s8gvxoil", + "x": 0.7937941176294303, + "y": 0.17782152200382223, + "width": 0.13911856545167672, + "height": 0.26186776442423443 + } + ] + }, + "bbox_1767841694798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694798_1767841781492_jcwptaccd", + "x": 0.6710424422308919, + "y": 0.42150403610910975, + "width": 0.10802147435071374, + "height": 0.1200227253611074 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，稍微合拢爪夹。", + "correction_plan": "合拢爪夹，夹住娃娃，向上移动，继续向右前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功准备夹住娃娃", + "frame": 128, + "progress": 40, + "progress_explanation": "爪夹准备夹住娃娃，进度40%", + "state_description": "当前状态为爪夹稍微合拢，准备夹住娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：合拢爪夹，夹住娃娃，向上移动。", + "time": 4.258278271599608, + "annotations": { + "bbox_1767841694998": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694998_1767841774217_5bep6480g", + "x": 0.7774272275762918, + "y": 0.17272965990608707, + "width": 0.14566532147293215, + "height": 0.31205908593887927 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，继续向右前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃", + "frame": 153, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%", + "state_description": "当前状态为爪夹合拢，夹住娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向上移动，继续向右前侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 5.116289662833968, + "annotations": { + "bbox_1767841694998": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694998_1767841768012_ho0ifiu76", + "x": 0.785610672602861, + "y": 0.15745404031467342, + "width": 0.14075525445699064, + "height": 0.35133925060251436 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动", + "correction_plan": "向上移动，继续向右前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃稍微夹起。", + "frame": 168, + "progress": 60, + "progress_explanation": "爪夹将娃娃稍微夹起，进度60%", + "state_description": "当前状态为爪夹将娃娃稍微夹起\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向上移动，继续向右前侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 5.592962657964168, + "annotations": { + "bbox_1767841694998": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694998_1767841762796_p30qgzfws", + "x": 0.785610672602861, + "y": 0.1443606520934617, + "width": 0.13257180943042143, + "height": 0.3404280937515047 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向右前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃夹至空中", + "frame": 189, + "progress": 70, + "progress_explanation": "爪夹将娃娃夹至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 6.2920830508217955, + "annotations": { + "bbox_1767841694998": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694998_1767841750972_8mmqv1094", + "x": 0.7807006055869194, + "y": 0.20546313045911638, + "width": 0.13584518744104912, + "height": 0.22913429387120507 + } + ] + }, + "bbox_1767841694798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694798_1767841755334_21i6dkwb1", + "x": 0.8625350558526117, + "y": 0.015609001251546453, + "width": 0.1260250534091661, + "height": 0.16584958413534842 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向前移动正确，成功将娃娃移至塑料桶上方", + "frame": 207, + "progress": 90, + "progress_explanation": "爪夹将娃娃夹至塑料桶上方，进度90%", + "state_description": "当前状态为爪夹将娃娃夹至塑料桶上方\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：松开爪夹。", + "time": 6.911757944491054, + "annotations": { + "bbox_1767841694998": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694998_1767841744072_ln5dgrfa6", + "x": 0.7594236485178395, + "y": 0.1800037533740242, + "width": 0.16530558953669833, + "height": 0.24877437620302265 + } + ] + } + } + }, + { + "action_description": "爪夹松开", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功将娃娃落入塑料桶", + "frame": 225, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹张开，娃娃落入塑料桶", + "time": 7.483765538647295, + "annotations": { + "bbox_1767841694798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694798_1767841733636_xt1kmmtei", + "x": 0.7921574286241164, + "y": 0.2127372239270535, + "width": 0.06383087120723996, + "height": 0.1134760312505016 + } + ] + }, + "bbox_1767841694998": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841694998_1767841736916_nk8h8fqmh", + "x": 0.7446934474700149, + "y": 0.222920981420732, + "width": 0.10147471832945838, + "height": 0.22913429387120504 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767841694798", + "name": "娃娃", + "color": "#4CAF50" + }, + { + "id": "bbox_1767841694998", + "name": "塑料桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767841696199", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767841696373", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-095300-put-yellow doll-white-trash can-mix1/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-095300-put-yellow doll-white-trash can-mix1/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..0050cc71719fc36655fc1545f544a7a8867d3368 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-095300-put-yellow doll-white-trash can-mix1/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,518 @@ +{ + "task_description": "把黄色的娃娃放进白色的塑料桶里.\n准备开始移动：0%\n接近娃娃：20%\n夹住娃娃：50%\n将娃娃夹起：70%\n将娃娃移至塑料桶上方：90%\n松开爪夹;100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "爪夹暂未移动", + "state_description": "当前状态为爪夹张开，暂未移动\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 1.4404578093168996, + "annotations": { + "bbox_1767844001890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001890_1767844108510_jximsq6x1", + "x": 0.764333715533781, + "y": 0.6004470084656699, + "width": 0.1554854555048152, + "height": 0.2400454507222148 + } + ] + }, + "bbox_1767844001664": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001664_1767844110997_h6dgiix7k", + "x": 0.7070496003477965, + "y": 0.502246596806582, + "width": 0.10802147435071383, + "height": 0.08292479206767425 + } + ] + }, + "point_1767844002632": { + "type": "point", + "instances": [ + { + "id": "point_1767844002632_1767844113390_ud8e8h0ji", + "x": 0.3306111291256121, + "y": 0.6069937025762757 + } + ] + }, + "point_1767844002807": { + "type": "point", + "instances": [ + { + "id": "point_1767844002807_1767844116045_h9hb7cq9m", + "x": 0.4435426704922675, + "y": 0.5786246947636504 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，然后向前移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整角度正确，成功开始移动。", + "frame": 89, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹准备接近娃娃.\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.9814137687313473, + "annotations": { + "bbox_1767844001664": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001664_1767844100031_u9ufpgebh", + "x": 0.6939560883052857, + "y": 0.4935176713257742, + "width": 0.12766174241448, + "height": 0.08510702343787623 + } + ] + }, + "bbox_1767844001890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001890_1767844103270_6ihwtlmlq", + "x": 0.764333715533781, + "y": 0.6157226280570836, + "width": 0.15384876649950135, + "height": 0.23568098798181095 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，合拢爪夹", + "correction_plan": "向上移动，然后向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹夹取角度错误，导致朝向错误物品。", + "frame": 130, + "progress": -5, + "progress_explanation": "爪夹向错的物品移动，进度-5%", + "state_description": "当前状态为爪夹夹错物品\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向上移动，然后向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 4.321375472569997, + "annotations": { + "bbox_1767844001890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001890_1767844094510_b9ywbi60j", + "x": 0.7430567584647011, + "y": 0.6069937025762757, + "width": 0.1914926136217198, + "height": 0.2640499957944363 + } + ] + }, + "bbox_1767844001664": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001664_1767844096637_q4ccij6el", + "x": 0.7103229783584242, + "y": 0.5000643654363801, + "width": 0.09820134031883061, + "height": 0.07856032932727033 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹移动错误，远离娃娃", + "frame": 174, + "progress": -10, + "progress_explanation": "爪夹远离娃娃，进度-10%", + "state_description": "当前状态为爪夹远离娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 5.795333346792513, + "annotations": { + "bbox_1767844001664": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001664_1767844087262_sm0ifyasv", + "x": 0.6972294663159134, + "y": 0.5109755222873898, + "width": 0.11784160838259687, + "height": 0.08947148617828009 + } + ] + }, + "bbox_1767844001890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001890_1767844090141_3dyfee3rq", + "x": 0.7561502705072118, + "y": 0.6288160162782952, + "width": 0.16203221152607067, + "height": 0.21604090564999343 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向后移动错误，远离了娃娃", + "frame": 231, + "progress": -15, + "progress_explanation": "爪夹更加远离娃娃，进度-15%", + "state_description": "当前状态为爪夹更加远离娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 7.704778774762588, + "annotations": { + "bbox_1767844001890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001890_1767844081190_iky0if9sm", + "x": 0.7496035144859564, + "y": 0.6069937025762757, + "width": 0.18985592461640613, + "height": 0.2422276820924168 + } + ] + }, + "bbox_1767844001664": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001664_1767844083615_h8bxcnyzn", + "x": 0.7103229783584242, + "y": 0.5000643654363801, + "width": 0.11293154136665536, + "height": 0.07637809795706835 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动然后稍微向右移动", + "correction_plan": "向上移动，然后向右侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动角度错误。", + "frame": 284, + "progress": -20, + "progress_explanation": "爪夹向错误物品移动，进度-20%", + "state_description": "当前状态为爪夹向下，触碰到错误物品。", + "time": 9.4802280323488, + "annotations": { + "bbox_1767844001664": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001664_1767844074782_zcfeo5za7", + "x": 0.7070496003477965, + "y": 0.4978821340661781, + "width": 0.09492796230820293, + "height": 0.1047471057696938 + } + ] + }, + "bbox_1767844001890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001890_1767844078007_0mpo2jji1", + "x": 0.7496035144859564, + "y": 0.6091759339464777, + "width": 0.16694227854201218, + "height": 0.23786321935201282 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向右侧移动", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向右移动正确，成功向娃娃靠近", + "frame": 310, + "progress": 15, + "progress_explanation": "爪夹向娃娃靠近，进度15%", + "state_description": "当前状态为爪夹向娃娃靠近\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 10.317333, + "annotations": { + "bbox_1767844001890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001890_1767844068527_zj55g8zkp", + "x": 0.7315999354275042, + "y": 0.6048114712060737, + "width": 0.19312930262703362, + "height": 0.25750330168383057 + } + ] + }, + "bbox_1767844001664": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001664_1767844071206_n8f2w3ify", + "x": 0.7266898684115626, + "y": 0.4913354399555722, + "width": 0.08510782827632006, + "height": 0.07419586658686636 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近娃娃", + "frame": 346, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态为爪夹接近娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 11.543733, + "annotations": { + "bbox_1767844001664": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001664_1767844062071_k4kr5kyzv", + "x": 0.7005028443265411, + "y": 0.4716953576237547, + "width": 0.10474809634008597, + "height": 0.10038264302928977 + } + ] + }, + "bbox_1767844001890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001890_1767844064631_0xyvnkrqn", + "x": 0.7561502705072118, + "y": 0.6004470084656699, + "width": 0.16857896754732601, + "height": 0.25750330168383045 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，稍微合拢爪夹。", + "correction_plan": "合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，准备夹住娃娃", + "frame": 377, + "progress": 40, + "progress_explanation": "爪夹准备夹住娃娃，进度40%", + "state_description": "当前状态为爪夹向下移动，准备夹住娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：合拢爪夹，夹住娃娃，向上移动。", + "time": 12.562139951177699, + "annotations": { + "bbox_1767844001890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001890_1767844056287_49f17eeyt", + "x": 0.7561502705072118, + "y": 0.6026292398358719, + "width": 0.1636689005313845, + "height": 0.2618677644242343 + } + ] + }, + "bbox_1767844001664": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001664_1767844058983_jmgdgudac", + "x": 0.7414200694593872, + "y": 0.4695131262535527, + "width": 0.08838120628694765, + "height": 0.10692933713989573 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向右后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃", + "frame": 420, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%", + "state_description": "当前状态为爪夹夹住娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 14.002598782804245, + "annotations": { + "bbox_1767844001664": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001664_1767844049534_c4usxrb44", + "x": 0.7283265574168765, + "y": 0.456419738032341, + "width": 0.08183445026569239, + "height": 0.10692933713989566 + } + ] + }, + "bbox_1767844001890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001890_1767844052487_j96373879", + "x": 0.7561502705072118, + "y": 0.6200870907974874, + "width": 0.15712214451012912, + "height": 0.24877437620302273 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向右后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃夹起", + "frame": 459, + "progress": 70, + "progress_explanation": "爪夹将娃娃夹至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右后侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 15.309061444046929, + "annotations": { + "bbox_1767844001890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001890_1767844043271_j9r0l5w8c", + "x": 0.7446934474700149, + "y": 0.6069937025762757, + "width": 0.1800357905845229, + "height": 0.27496115264544607 + } + ] + }, + "bbox_1767844001664": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001664_1767844045523_0dpcndfns", + "x": 0.8347113427622764, + "y": 0.3385792440414355, + "width": 0.08347113927100605, + "height": 0.10474710576969375 + } + ] + } + } + }, + { + "action_description": "爪夹向右后侧移动。", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向右后侧移动正确，成功将娃娃移至塑料桶上方", + "frame": 498, + "progress": 90, + "progress_explanation": "将娃娃移至塑料桶上方，进度90%", + "state_description": "当前状态为爪夹将娃娃移至塑料桶上方\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：松开爪夹。", + "time": 16.615524105289612, + "annotations": { + "bbox_1767844001664": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001664_1767844036671_il1mn9ifo", + "x": 0.891995457948261, + "y": 0.4935176713257742, + "width": 0.09329127330288908, + "height": 0.10038264302928988 + } + ] + }, + "bbox_1767844001890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001890_1767844039943_m7m645oha", + "x": 0.7496035144859564, + "y": 0.637544941759103, + "width": 0.1554854555048153, + "height": 0.22476983113080126 + } + ] + } + } + }, + { + "action_description": "稍微向后移动，松开爪夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 534, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹张开，娃娃落入塑料桶", + "time": 17.787990596148433, + "annotations": { + "bbox_1767844001890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001890_1767844026480_hwjetk60q", + "x": 0.7577869595125256, + "y": 0.6666413489290598, + "width": 0.1718523455579537, + "height": 0.16366735276514652 + } + ] + }, + "bbox_1767844001664": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844001664_1767844029647_k15z56e0w", + "x": 0.8036142516613133, + "y": 0.7270164279373831, + "width": 0.08347113927100622, + "height": 0.0872892548080781 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767844001664", + "name": "娃娃", + "color": "#4CAF50" + }, + { + "id": "bbox_1767844001890", + "name": "塑料桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767844002632", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767844002807", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-100220-put-yellow doll-white-trash can-mix2/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-100220-put-yellow doll-white-trash can-mix2/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..f15e922e0582221a273df96fb145be380c131fa0 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-100220-put-yellow doll-white-trash can-mix2/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,558 @@ +{ + "task_description": "把黄色的娃娃放进白色的塑料桶里\n准备开始移动：0%\n接近娃娃：20%\n夹住娃娃：50%\n将娃娃夹起：70%\n将娃娃移至塑料桶上方：90%\n松开爪夹;100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "爪夹暂未移动，几点呢0%", + "state_description": "当前状态为爪夹在屏幕外，娃娃在桌子上\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 1.3230963527671418, + "annotations": { + "bbox_1767853355708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355708_1767853385876_2bu9p85zu", + "x": 0.48445989562511355, + "y": 0.48551614520229763, + "width": 0.08183445026569221, + "height": 0.11565826262070354 + } + ] + }, + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853388540_l4439yu9r", + "x": 0.5041001636888798, + "y": 0.5764424633934484, + "width": 0.19476599163234756, + "height": 0.28150784675605195 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动然后稍微向下移动。", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向右移动正确，准备接近娃娃", + "frame": 74, + "progress": 10, + "progress_explanation": "爪机开始移动，进度10%", + "state_description": "当前状态为爪夹朝向娃娃，准备接近娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.472102002929915, + "annotations": { + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853393389_i85jbo9gi", + "x": 0.5139202977207628, + "y": 0.5808069261338523, + "width": 0.16530558953669833, + "height": 0.2880545408666579 + } + ] + }, + "bbox_1767853355708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355708_1767853396324_i0poymcnm", + "x": 0.4910066516463689, + "y": 0.5000643654363801, + "width": 0.06874093822318147, + "height": 0.10038264302928983 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪机向下移动正确，成功接近娃娃", + "frame": 100, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态为爪夹接近娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动，合拢爪夹，夹住娃娃。", + "time": 3.342560828810803, + "annotations": { + "bbox_1767853355708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355708_1767853399652_d9dt2vqye", + "x": 0.4828232066197997, + "y": 0.4935176713257742, + "width": 0.07037762722849532, + "height": 0.10692933713989573 + } + ] + }, + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853402555_9ozjn8k0m", + "x": 0.5253771207579596, + "y": 0.596082545725266, + "width": 0.1554854555048153, + "height": 0.2946012349772637 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，向前移动", + "correction_plan": "向右前侧移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，更加接近娃娃", + "frame": 169, + "progress": 30, + "progress_explanation": "爪夹更加接近娃娃，进度30%", + "state_description": "当前状态为爪夹闭合，更加接近娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：张开爪夹，向右前侧移动，合拢爪夹，夹住娃娃。", + "time": 5.640572129136349, + "annotations": { + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853406739_q43hoz8iu", + "x": 0.5270138097632735, + "y": 0.5728054000103757, + "width": 0.15384876649950147, + "height": 0.3120590859388794 + } + ] + }, + "bbox_1767853355708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355708_1767853409835_abii6yp2r", + "x": 0.5106469197101351, + "y": 0.4978821340661781, + "width": 0.05728411518598451, + "height": 0.10692933713989566 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向后移动", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向后，稍微远离娃娃", + "frame": 196, + "progress": 25, + "progress_explanation": "爪夹稍微远离娃娃，进度25%", + "state_description": "当前状态为爪夹稍微远离娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 6.545849308052475, + "annotations": { + "bbox_1767853355708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355708_1767853415099_ms13iwrbs", + "x": 0.4910066516463689, + "y": 0.48915320858537026, + "width": 0.058920804191298436, + "height": 0.11784049399090547 + } + ] + }, + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853418387_ucuy42zws", + "x": 0.531923876779215, + "y": 0.5873536202444583, + "width": 0.14893869948355992, + "height": 0.2946012349772636 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动，合拢爪夹。", + "correction_plan": "向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃", + "frame": 249, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%", + "state_description": "当前状态为爪夹夹住娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 8.28676695981425, + "annotations": { + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853422427_kp77uy77n", + "x": 0.5139202977207628, + "y": 0.5939003143550641, + "width": 0.17839910157920907, + "height": 0.2836900781262539 + } + ] + }, + "bbox_1767853355708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355708_1767853426059_49nkvf2gi", + "x": 0.5171936757313904, + "y": 0.5153399850277938, + "width": 0.052374048170043076, + "height": 0.07856032932727033 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将娃娃夹起", + "frame": 281, + "progress": 55, + "progress_explanation": "爪夹将娃娃夹起，进度55%", + "state_description": "当前状态为爪夹将娃娃稍微夹起\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 9.366135903906553, + "annotations": { + "bbox_1767853355708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355708_1767853430195_hh6x3h21f", + "x": 0.5941180589811411, + "y": 0.4411441184409273, + "width": 0.08183445026569229, + "height": 0.09601818028888598 + } + ] + }, + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853433291_160twqmg5", + "x": 0.5351972547898427, + "y": 0.5611668438020347, + "width": 0.1440286324676184, + "height": 0.30987685456867725 + } + ] + } + } + }, + { + "action_description": "爪夹松开，稍微向后移动。", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹松开错误，将娃娃落在桌子上。", + "frame": 325, + "progress": -10, + "progress_explanation": "爪夹将娃娃掉在地上，进度-10%", + "state_description": "当前状态为爪夹张开，将娃娃掉在桌子上。\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 10.845066, + "annotations": { + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853437019_8wyievlpz", + "x": 0.5204670537420182, + "y": 0.550255686951025, + "width": 0.15712214451012912, + "height": 0.3775260270449378 + } + ] + }, + "bbox_1767853355708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355708_1767853439948_20b7y0kav", + "x": 0.6088482600289657, + "y": 0.5066110595469859, + "width": 0.06874093822318147, + "height": 0.07637809795706835 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。\n", + "error_success_analysis": "爪夹向前移动正确，准备重新接近娃娃", + "frame": 376, + "progress": 5, + "progress_explanation": "爪夹重新准备接近爪夹，进度5%", + "state_description": "当前状态为爪夹重新准备向娃娃接近\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 12.534606030112988, + "annotations": { + "bbox_1767853355708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355708_1767853443357_fyrpt36kc", + "x": 0.6006648150023965, + "y": 0.5109755222873898, + "width": 0.08183445026569221, + "height": 0.09165371754848207 + } + ] + }, + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853446781_5koom7m2e", + "x": 0.512283608715449, + "y": 0.5764424633934484, + "width": 0.1751257235685814, + "height": 0.3011479290878695 + } + ] + } + } + }, + { + "action_description": "爪夹向前，并向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。\n", + "error_success_analysis": "爪夹向下移动正确，成功非常接近娃娃", + "frame": 419, + "progress": 35, + "progress_explanation": "爪夹非常接近娃娃，进度35%", + "state_description": "当前状态为爪夹非常接近娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 13.962158504557646, + "annotations": { + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853451969_nrb1tpyzy", + "x": 0.5171936757313904, + "y": 0.5873536202444583, + "width": 0.17839910157920907, + "height": 0.29896569771766757 + } + ] + }, + "bbox_1767853355708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355708_1767853454200_yyg6ekkmq", + "x": 0.6284885280927319, + "y": 0.5349800673596113, + "width": 0.03928053612753235, + "height": 0.07637809795706842 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，稍微合拢爪夹", + "correction_plan": "合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。\n", + "error_success_analysis": "爪夹向下移动正确，准备夹住娃娃", + "frame": 447, + "progress": 40, + "progress_explanation": "爪夹准备夹住娃娃，进度40%", + "state_description": "当前状态为爪夹准备夹住娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。\n", + "time": 14.902254036509003, + "annotations": { + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853459744_1l7nat4dv", + "x": 0.500826785678252, + "y": 0.5728054000103757, + "width": 0.1931293026270337, + "height": 0.2967834663474657 + } + ] + } + } + }, + { + "action_description": "合拢爪夹", + "correction_plan": "向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃", + "frame": 469, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%", + "state_description": "当前状态为爪夹夹住娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 15.633439450248952, + "annotations": { + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853463468_raijt4z3x", + "x": 0.5155569867260766, + "y": 0.5720780006530445, + "width": 0.1882192356110922, + "height": 0.329516936900495 + } + ] + }, + "bbox_1767853355708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355708_1767853466418_bb3jscb85", + "x": 0.5892079919651996, + "y": 0.5327978359894093, + "width": 0.08838120628694765, + "height": 0.06546694110605854 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃夹至空中", + "frame": 501, + "progress": 70, + "progress_explanation": "爪夹将娃娃夹至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 16.712808394341252, + "annotations": { + "bbox_1767853355708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355708_1767853471132_5uidgeqrm", + "x": 0.5826612359439443, + "y": 0.16400073442527927, + "width": 0.08838120628694765, + "height": 0.09601818028888595 + } + ] + }, + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853474271_0me58apa4", + "x": 0.5204670537420182, + "y": 0.5633490751722366, + "width": 0.1718523455579537, + "height": 0.3011479290878695 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向后移动正确，成功将娃娃移至塑料桶上方", + "frame": 531, + "progress": 90, + "progress_explanation": "将娃娃移至塑料桶上方，进度90%", + "state_description": "当前状态为爪夹将娃娃移至塑料桶上方\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：松开爪夹。", + "time": 17.68772227932785, + "annotations": { + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853481746_3uf4w6vgv", + "x": 0.4991900966729381, + "y": 0.6048114712060737, + "width": 0.19476599163234756, + "height": 0.2836900781262539 + } + ] + }, + "bbox_1767853355708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355708_1767853484170_sfms2n5ce", + "x": 0.5777511689280027, + "y": 0.5087932909171878, + "width": 0.08510782827631988, + "height": 0.20294751742878164 + } + ] + } + } + }, + { + "action_description": "松开抓夹", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确没吃过完成任务", + "frame": 565, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹张开，娃娃落入塑料桶", + "time": 18.836727929490618, + "annotations": { + "bbox_1767853355708": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355708_1767853488754_03scasofx", + "x": 0.5630209678801781, + "y": 0.6906458940012813, + "width": 0.08674451728163382, + "height": 0.09165371754848195 + } + ] + }, + "bbox_1767853355900": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853355900_1767853492674_rf2p1if5t", + "x": 0.5270138097632735, + "y": 0.5764424633934484, + "width": 0.1554854555048153, + "height": 0.2967834663474656 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767853355708", + "name": "娃娃", + "color": "#4CAF50" + }, + { + "id": "bbox_1767853355900", + "name": "塑料桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767853357101", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767853357288", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-100853-put-yellow doll-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-100853-put-yellow doll-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..0636d34b89fb1feab05b895705a7b323e273e567 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-100853-put-yellow doll-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,354 @@ +{ + "task_description": "把黄色的娃娃放进白色的塑料桶里\n准备开始移动：0%\n接近娃娃：20%\n夹住娃娃：50%\n将娃娃夹起：70%\n将娃娃移至塑料桶上方：90%\n松开爪夹;100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 69, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未移动。\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.285964803839963, + "annotations": { + "bbox_1767855719757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719757_1767855814915_w3kaga5gt", + "x": 0.3551614642053198, + "y": 0.2752945343055789, + "width": 0.1423919434623045, + "height": 0.2553210703136285 + } + ] + }, + "bbox_1767855719454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719454_1767855817995_sdbhc743s", + "x": 0.4975534076676243, + "y": 0.45860196940254294, + "width": 0.09492796230820302, + "height": 0.12438718810151131 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动，然后向右前侧移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 88, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹张开，准备接近娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.9209552065581867, + "annotations": { + "bbox_1767855719454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719454_1767855806891_d7sa32v7m", + "x": 0.500826785678252, + "y": 0.4549649060194703, + "width": 0.0900178952922615, + "height": 0.1200227253611074 + } + ] + }, + "bbox_1767855719757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719757_1767855810161_2c8yaewd2", + "x": 0.34043126315749517, + "y": 0.30584577348840625, + "width": 0.1620322115260706, + "height": 0.23131652524140703 + } + ] + } + } + }, + { + "action_description": "爪夹向右前侧移动，然后向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向右前侧移动正确，成功接近娃娃", + "frame": 108, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态为爪夹接近娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 3.6039, + "annotations": { + "bbox_1767855719757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719757_1767855799820_pszk25sen", + "x": 0.3551614642053198, + "y": 0.27747676567578083, + "width": 0.12766174241447992, + "height": 0.22913429387120504 + } + ] + }, + "bbox_1767855719454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719454_1767855802244_zta2l1cto", + "x": 0.5155569867260766, + "y": 0.4913354399555722, + "width": 0.0900178952922615, + "height": 0.10474710576969368 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "合拢爪夹，夹住娃娃，向上移动，向左前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，更加接近娃娃", + "frame": 128, + "progress": 30, + "progress_explanation": "爪夹更加接近娃娃，进度30%", + "state_description": "当前状态为爪夹更加接近娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：合拢爪夹，夹住娃娃，向上移动。", + "time": 4.2558, + "annotations": { + "bbox_1767855719454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719454_1767855786211_d9hm0jowy", + "x": 0.5024634746835658, + "y": 0.4716953576237547, + "width": 0.08674451728163382, + "height": 0.12438718810151125 + } + ] + }, + "bbox_1767855719757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719757_1767855790357_92te0rpon", + "x": 0.3437046411681229, + "y": 0.2752945343055789, + "width": 0.15875883351544293, + "height": 0.2247698311308012 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向左前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功将娃娃夹住", + "frame": 147, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%", + "state_description": "当前状态为爪夹夹住娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向上移动，向左前侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 4.8894254549846785, + "annotations": { + "bbox_1767855719757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719757_1767855778901_ibtqtupjy", + "x": 0.36498159823720283, + "y": 0.28184122841618475, + "width": 0.1309351204251076, + "height": 0.22695206250100305 + } + ] + }, + "bbox_1767855719454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719454_1767855781556_ltu075cd9", + "x": 0.4828232066197997, + "y": 0.46514866351314876, + "width": 0.09329127330288918, + "height": 0.12002272536110746 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动", + "correction_plan": "向上移动，向左前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功稍微夹起娃娃", + "frame": 178, + "progress": 60, + "progress_explanation": "爪夹将娃娃稍微夹起，进度60%", + "state_description": "当前状态为爪夹稍微将娃娃夹起\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向上移动，向左前侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 5.947742792848384, + "annotations": { + "bbox_1767855719454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719454_1767855771934_p8704kcv1", + "x": 0.5204670537420182, + "y": 0.41495734199850387, + "width": 0.07692438324975068, + "height": 0.1200227253611074 + } + ] + }, + "bbox_1767855719757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719757_1767855774372_j1ld18mhd", + "x": 0.36498159823720283, + "y": 0.2927523852671945, + "width": 0.1554854555048153, + "height": 0.19640082331817574 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向左前侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功夹将娃娃夹至空中。", + "frame": 204, + "progress": 70, + "progress_explanation": "爪夹将娃娃夹至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向左前侧移动至塑料桶上方，向下移动，松开爪夹。", + "time": 6.815563009896623, + "annotations": { + "bbox_1767855719757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719757_1767855765525_3oj4gz8pi", + "x": 0.3551614642053198, + "y": 0.2883879225267906, + "width": 0.13584518744104912, + "height": 0.22695206250100314 + } + ] + }, + "bbox_1767855719454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719454_1767855767957_d9xlunx17", + "x": 0.48773327363574126, + "y": 0.022155695362152315, + "width": 0.09656465131351685, + "height": 0.11784049399090546 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动，松开抓夹", + "correction_plan": "向塑料桶后移动，移动至塑料桶后侧，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹松开错误，导致娃娃落在桌子上", + "frame": 243, + "progress": 5, + "progress_explanation": "爪夹松开，娃娃掉落在桌子上，进度5%", + "state_description": "当前状态为爪夹张开，娃娃掉落在桌子上\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向塑料桶后移动，移动至塑料桶后侧，向下移动，合拢爪夹，夹住娃娃。", + "time": 8.106710162090343, + "annotations": { + "bbox_1767855719757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719757_1767855762508_g3t7p085h", + "x": 0.35025139718937826, + "y": 0.2731123029353769, + "width": 0.14239194346230452, + "height": 0.2662322271646382 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动", + "correction_plan": "向塑料桶后移动，移动至塑料桶后侧，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向前移动正确，准备找娃娃", + "frame": 297, + "progress": 15, + "progress_explanation": "爪夹向前准备找娃娃，进度15%", + "state_description": "当前状态为爪夹张开，准备找娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向塑料桶后移动，移动至塑料桶后侧，向下移动，合拢爪夹，夹住娃娃。", + "time": 9.88468328970137, + "annotations": { + "bbox_1767855719757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719757_1767855760029_tw0kx94kz", + "x": 0.35352477520000597, + "y": 0.2927523852671945, + "width": 0.147302010478246, + "height": 0.28805454086665777 + } + ] + } + } + }, + { + "action_description": "爪夹向前移动，合拢爪夹，然后向后移动", + "correction_plan": "向塑料桶后移动，移动至塑料桶后侧，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至塑料桶上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹没有找到娃娃。", + "frame": 369, + "progress": 0, + "progress_explanation": "爪夹原理娃娃，进度0%", + "state_description": "当前状态为爪夹远离娃娃\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向塑料桶后移动，移动至塑料桶后侧，向下移动，合拢爪夹，夹住娃娃。", + "time": 12.3, + "annotations": { + "bbox_1767855719757": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855719757_1767855756892_fudih1v21", + "x": 0.3617082202265752, + "y": 0.3218487924371512, + "width": 0.1309351204251076, + "height": 0.23131652524140703 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767855719454", + "name": "娃娃", + "color": "#4CAF50" + }, + { + "id": "bbox_1767855719757", + "name": "塑料桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767855723613", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767855723773", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-102113-put-yellow doll-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-102113-put-yellow doll-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..87227fa1030b05f44692984916af907c7650db1a --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-102113-put-yellow doll-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,390 @@ +{ + "task_description": "把黄色的娃娃放进黄色的纸板箱里\n准备开始移动：0%\n接近娃娃：20%\n夹住娃娃：50%\n将娃娃夹起：70%\n将娃娃移至纸箱上方：90%\n松开爪夹;100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "annotations": { + "bbox_1767858687003": { + "instances": [ + { + "height": 0.09820041165908791, + "id": "bbox_1767858687003_1767858784592_t0y03yrnn", + "width": 0.12438836440385223, + "x": 0.48445989562511355, + "y": 0.5175222163979957 + } + ], + "type": "bbox" + }, + "bbox_1767858687177": { + "instances": [ + { + "height": 0.2662322271646384, + "id": "bbox_1767858687177_1767858787912_5p88e7gjp", + "width": 0.39444205028063656, + "x": 0.4091722013806767, + "y": 0.6288160162782952 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未移动。\n为了完成把黄色的娃娃放进纸箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 1.2617202740279962 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767858687003": { + "instances": [ + { + "height": 0.1047471057696938, + "id": "bbox_1767858687003_1767858796712_5gynnm5sw", + "width": 0.10965816335602767, + "x": 0.4910066516463689, + "y": 0.5131577536575918 + } + ], + "type": "bbox" + }, + "bbox_1767858687177": { + "instances": [ + { + "height": 0.32078801141968705, + "id": "bbox_1767858687177_1767858775932_9jjw0xjcj", + "width": 0.39771542829126433, + "x": 0.39444200033285204, + "y": 0.6004470084656699 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 62, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹朝向下，准备接近娃娃\n为了完成把黄色的娃娃放进纸箱的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.0543397306459195 + }, + { + "action_description": "爪夹向右前侧移动，并向下移动。", + "annotations": { + "bbox_1767858687003": { + "instances": [ + { + "height": 0.10911156851009765, + "id": "bbox_1767858687003_1767858768568_e8bizaqnj", + "width": 0.13748187644636295, + "x": 0.4746397615932305, + "y": 0.5066110595469859 + } + ], + "type": "bbox" + }, + "bbox_1767858687177": { + "instances": [ + { + "height": 0.31424131730908134, + "id": "bbox_1767858687177_1767858771327_41lm3kkrq", + "width": 0.4189923853603442, + "x": 0.3878952443115967, + "y": 0.596082545725266 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近娃娃", + "frame": 83, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态爪夹接近娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 2.766079650874259 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1767858687003": { + "instances": [ + { + "height": 0.10038264302928977, + "id": "bbox_1767858687003_1767858764840_4y4j45yo3", + "width": 0.1260250534091661, + "x": 0.4910066516463689, + "y": 0.5284333732490054 + } + ], + "type": "bbox" + }, + "bbox_1767858687177": { + "instances": [ + { + "height": 0.3382458623813027, + "id": "bbox_1767858687177_1767858762520_t7nvgkdva", + "width": 0.40917225132846136, + "x": 0.40262544535942124, + "y": 0.5851713888742562 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向后侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，更加接近娃娃", + "frame": 99, + "progress": 30, + "progress_explanation": "爪夹更夹接近娃娃，进度0%", + "state_description": "当前状态为爪夹更加接近娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 3.2837086837675957 + }, + { + "action_description": "爪夹向下移动，稍微合拢爪夹。", + "annotations": { + "bbox_1767858687003": { + "instances": [ + { + "height": 0.07856032932727033, + "id": "bbox_1767858687003_1767858754256_ckkw3vchi", + "width": 0.09329127330288918, + "x": 0.4975534076676243, + "y": 0.5218866791383996 + } + ], + "type": "bbox" + }, + "bbox_1767858687177": { + "instances": [ + { + "height": 0.28150784675605206, + "id": "bbox_1767858687177_1767858758184_9qfjxfods", + "width": 0.3960787392859505, + "x": 0.3960786893381659, + "y": 0.6200870907974874 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹，夹住娃娃，向上移动，向后侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，准备夹住娃娃。", + "frame": 120, + "progress": 40, + "progress_explanation": "爪夹夹住娃娃，进度40%", + "state_description": "当前状态为爪夹准备夹住娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：合拢爪夹，夹住娃娃。", + "time": 3.995448603995935 + }, + { + "action_description": "合拢爪夹", + "annotations": { + "bbox_1767858687003": { + "instances": [ + { + "height": 0.11565826262070349, + "id": "bbox_1767858687003_1767858750536_ez3vlgmyi", + "width": 0.13584518744104912, + "x": 0.4860965846304274, + "y": 0.5218866791383996 + } + ], + "type": "bbox" + }, + "bbox_1767858687177": { + "instances": [ + { + "height": 0.3142413173090812, + "id": "bbox_1767858687177_1767858748312_z1bepu8x2", + "width": 0.35843489216373203, + "x": 0.4157189574019321, + "y": 0.6004470084656699 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向后侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃。", + "frame": 139, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%", + "state_description": "当前状态为爪夹闭合，夹住娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向上移动，向后侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 4.642484895112608 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767858687003": { + "instances": [ + { + "height": 0.09820041165908791, + "id": "bbox_1767858687003_1767858741294_oa5evx2v0", + "width": 0.1145682303719692, + "x": 0.48773327363574126, + "y": 0.42368626747931165 + } + ], + "type": "bbox" + }, + "bbox_1767858687177": { + "instances": [ + { + "height": 0.30333016045807143, + "id": "bbox_1767858687177_1767858743857_9xwj7z3lx", + "width": 0.4091722513284612, + "x": 0.39771537834347975, + "y": 0.6026292398358719 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向后侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃稍微夹起", + "frame": 165, + "progress": 60, + "progress_explanation": "爪夹稍微将娃娃夹起，进度60%", + "state_description": "当前状态为爪夹将娃娃稍微夹起\n为了完成把黄色的娃娃放进纸箱里的任务应当：向上移动，向后侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 5.483632073564282 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767858687003": { + "instances": [ + { + "height": 0.231316525241407, + "id": "bbox_1767858687003_1767858737261_qckkfssxu", + "width": 0.13584518744104912, + "x": 0.5728411019120612, + "y": 0.0134267698813445 + } + ], + "type": "bbox" + }, + "bbox_1767858687177": { + "instances": [ + { + "height": 0.3076946231984754, + "id": "bbox_1767858687177_1767858733559_igo808lze", + "width": 0.42553914138159976, + "x": 0.384621866300969, + "y": 0.6091759339464777 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向后侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确成功将娃娃夹至空中。", + "frame": 190, + "progress": 70, + "progress_explanation": "爪夹将娃娃夹至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中\n为了完成把黄色的娃娃放进纸箱里的任务应当：向后侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 6.3168 + }, + { + "action_description": "爪夹向后移动，向下移动。", + "annotations": { + "bbox_1767858687003": { + "instances": [ + { + "height": 0.13966280769292502, + "id": "bbox_1767858687003_1767858725744_zbfuazz96", + "width": 0.12602505340916598, + "x": 0.5368339437951566, + "y": 0.5720780006530445 + } + ], + "type": "bbox" + }, + "bbox_1767858687177": { + "instances": [ + { + "height": 0.2596855330540324, + "id": "bbox_1767858687177_1767858729283_byivqzamc", + "width": 0.3895319832646951, + "x": 0.4009887563541074, + "y": 0.6179048594272856 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向下移动正确，成功将娃娃移至纸箱上方", + "frame": 221, + "progress": 90, + "progress_explanation": "将娃娃移至纸箱上方，进度90%", + "state_description": "当前状态为爪夹将娃娃移至纸箱上方\n为了完成把黄色的娃娃放进纸箱里的任务应当：松开爪夹", + "time": 7.3696 + }, + { + "action_description": "松开抓夹", + "annotations": { + "bbox_1767858687003": { + "instances": [ + { + "height": 0.10474710576969375, + "id": "bbox_1767858687003_1767858716473_dl7vnxfrh", + "width": 0.1440286324676184, + "x": 0.4942800296569966, + "y": 0.7728432867116243 + } + ], + "type": "bbox" + }, + "bbox_1767858687177": { + "instances": [ + { + "height": 0.2596855330540324, + "id": "bbox_1767858687177_1767858714092_e7ytewbwv", + "width": 0.4058988733178336, + "x": 0.3878952443115967, + "y": 0.6317256470058285 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 252, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为爪夹张开，娃娃落入箱子", + "time": 8.395295383589305 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767858687003", + "name": "娃娃" + }, + { + "color": "#FF9800", + "id": "bbox_1767858687177", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767858688133", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767858688336", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-102747-put-yellow doll-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-102747-put-yellow doll-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..c7e9f2c13f59ba44dddaa3acc52c70fbc970a5b7 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-102747-put-yellow doll-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,598 @@ +{ + "task_description": "把黄色的娃娃放进黄色的纸板箱里\n准备开始移动：0%\n接近娃娃：20%\n夹住娃娃：50%\n将娃娃夹起：70%\n将娃娃移至纸箱上方：90%\n松开爪夹;100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "annotations": { + "bbox_1767862084832": { + "instances": [ + { + "height": 0.14402727043332894, + "id": "bbox_1767862084832_1767862245050_ycwcqvr8o", + "width": 0.0982013403188307, + "x": 0.6743158202415196, + "y": 0.39313502829648433 + } + ], + "type": "bbox" + }, + "bbox_1767862085025": { + "instances": [ + { + "height": 0.3491570192323125, + "id": "bbox_1767862085025_1767862249698_2imiwufsn", + "width": 0.3027874659830614, + "x": 0.29951403802464904, + "y": 0.23383213827174176 + } + ], + "type": "bbox" + }, + "point_1767862085838": { + "instances": [ + { + "id": "point_1767862085838_1767862236636_j933idcpl", + "x": 0.34861470818406437, + "y": 0.5764424633934484 + } + ], + "type": "point" + }, + "point_1767862086022": { + "instances": [ + { + "id": "point_1767862086022_1767862234179_5jptr761n", + "x": 0.4615462495507197, + "y": 0.5742602320232464 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未移动。\n为了完成把黄色的娃娃放进白色的塑料桶里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 1.407130770346211 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767862084832": { + "instances": [ + { + "height": 0.13748057632272304, + "id": "bbox_1767862084832_1767862220004_1bx3p624l", + "width": 0.10311140733477223, + "x": 0.6726791312362057, + "y": 0.39095279692628243 + } + ], + "type": "bbox" + }, + "bbox_1767862085025": { + "instances": [ + { + "height": 0.32078801141968705, + "id": "bbox_1767862085025_1767862224011_hmteio7bc", + "width": 0.28642057592992287, + "x": 0.31097086106184596, + "y": 0.2512899892333574 + } + ], + "type": "bbox" + }, + "point_1767862085838": { + "instances": [ + { + "id": "point_1767862085838_1767862227007_m3d3dyla7", + "x": 0.36498159823720283, + "y": 0.5720780006530445 + } + ], + "type": "point" + }, + "point_1767862086022": { + "instances": [ + { + "id": "point_1767862086022_1767862228932_niev2xjnw", + "x": 0.4910066516463689, + "y": 0.5786246947636504 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 88, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹张开，准备接近娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.922503554962832 + }, + { + "action_description": "爪夹向右前侧移动，然后向下移动", + "annotations": { + "bbox_1767862084832": { + "instances": [ + { + "height": 0.14402727043332894, + "id": "bbox_1767862084832_1767862215268_iuag50nfl", + "width": 0.09983802932414454, + "x": 0.6824992652680888, + "y": 0.3887705655560804 + } + ], + "type": "bbox" + }, + "bbox_1767862085025": { + "instances": [ + { + "height": 0.3338813996408988, + "id": "bbox_1767862085025_1767862212109_s67xw5aus", + "width": 0.27823713090335367, + "x": 0.32406437310435676, + "y": 0.27093007156517496 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近娃娃", + "frame": 122, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态为爪夹接近娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 4.077073295623114 + }, + { + "action_description": "爪夹合拢，先向下移动，然后向右移动。", + "annotations": { + "bbox_1767862084832": { + "instances": [ + { + "height": 0.08947148617828009, + "id": "bbox_1767862084832_1767862204604_7rmmkfc8m", + "width": 0.12111498639322456, + "x": 0.6743158202415196, + "y": 0.42150403610910975 + } + ], + "type": "bbox" + }, + "bbox_1767862085025": { + "instances": [ + { + "height": 0.36225040745352416, + "id": "bbox_1767862085025_1767862208732_414g5tuwe", + "width": 0.3027874659830613, + "x": 0.2962406600140214, + "y": 0.24474329512275153 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向左移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹移动幅度过大，没有夹住娃娃", + "frame": 159, + "progress": 25, + "progress_explanation": "爪夹没有夹住娃娃，进度25%", + "state_description": "当前状态为爪夹闭合，划过桌面。\n为了完成把黄色的娃娃放进纸箱里的任务应当：向左移动至娃娃上方。", + "time": 5.303803645074664 + }, + { + "action_description": "爪夹向后移动", + "annotations": { + "bbox_1767862084832": { + "instances": [ + { + "height": 0.10256487439949181, + "id": "bbox_1767862084832_1767862200476_1t0i0lxm3", + "width": 0.1145682303719691, + "x": 0.6743158202415196, + "y": 0.4324151929601195 + } + ], + "type": "bbox" + }, + "bbox_1767862085025": { + "instances": [ + { + "height": 0.3404280937515047, + "id": "bbox_1767862085025_1767862196684_3otnb7paz", + "width": 0.2798738199086675, + "x": 0.30278741603527676, + "y": 0.23819660101214568 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向左移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向后移动错误，远离娃娃", + "frame": 195, + "progress": 15, + "progress_explanation": "爪夹远离娃娃，进度15%", + "state_description": "当前状态为爪夹张开稍微远离娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向左移动至娃娃上方。", + "time": 6.494453690130581 + }, + { + "action_description": "爪夹向前移动", + "annotations": { + "bbox_1767862084832": { + "instances": [ + { + "height": 0.12220495673130939, + "id": "bbox_1767862084832_1767862185973_62qixhp66", + "width": 0.11620491937728294, + "x": 0.6743158202415196, + "y": 0.39749949103688825 + } + ], + "type": "bbox" + }, + "bbox_1767862085025": { + "instances": [ + { + "height": 0.33169916827069684, + "id": "bbox_1767862085025_1767862190284_zltjrdk82", + "width": 0.2831471979192952, + "x": 0.3224276840990429, + "y": 0.26874784019497305 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向左移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹识别错误，接近错误物品", + "frame": 257, + "progress": -5, + "progress_explanation": "爪夹向错误物品接近，进度-5%", + "state_description": "当前状态为爪夹张开，接近错误物品\n为了完成把黄色的娃娃放进纸箱里的任务应当：向左移动至娃娃上方。", + "time": 8.551031040681709 + }, + { + "action_description": "爪夹向下移动，合拢爪夹", + "annotations": { + "bbox_1767862084832": { + "instances": [ + { + "height": 0.10256487439949176, + "id": "bbox_1767862084832_1767862182508_pzwzh052x", + "width": 0.15875883351544307, + "x": 0.6628589972043226, + "y": 0.4193218047389078 + } + ], + "type": "bbox" + }, + "bbox_1767862085025": { + "instances": [ + { + "height": 0.3295169369004949, + "id": "bbox_1767862085025_1767862179791_eomjl7bzu", + "width": 0.26514361886084287, + "x": 0.32406437310435676, + "y": 0.2600189147141652 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，向左移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹识别错误夹住错误物品", + "frame": 294, + "progress": -10, + "progress_explanation": "爪夹夹住错误物品，进度-10%", + "state_description": "当前状态为爪夹夹住错误物品\n为了完成把黄色的娃娃放进纸箱里的任务应当：松开爪夹，向左移动至娃娃上方。", + "time": 9.813841694528893 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767862084832": { + "instances": [ + { + "height": 0.18985412920756992, + "id": "bbox_1767862084832_1767862170677_siztmjqsf", + "width": 0.09001789529226141, + "x": 0.6988661553212273, + "y": 0.2840234597863867 + } + ], + "type": "bbox" + }, + "bbox_1767862085025": { + "instances": [ + { + "height": 0.3469747878621106, + "id": "bbox_1767862085025_1767862175621_rpcgbrd1e", + "width": 0.2766004418980398, + "x": 0.3224276840990429, + "y": 0.24692552649295346 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，等娃娃落在桌面后，移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹识别错误将娃娃和错误物品都夹起。", + "frame": 347, + "progress": -15, + "progress_explanation": "爪夹将娃娃和错误物品夹起，进度-15%", + "state_description": "当前状态为爪夹将错误物品和娃娃都夹起\n为了完成把黄色的娃娃放进纸箱里的任务应当：松开爪夹，等娃娃落在桌面后，移动至娃娃上方。", + "time": 11.581776609914952 + }, + { + "action_description": "向左侧移动", + "annotations": { + "bbox_1767862084832": { + "instances": [ + { + "height": 0.08947148617828009, + "id": "bbox_1767862084832_1767862166389_f86y9vqi3", + "width": 0.0654675602125538, + "x": 0.5810245469386304, + "y": 0.3756771773348687 + } + ], + "type": "bbox" + }, + "bbox_1767862085025": { + "instances": [ + { + "height": 0.36225040745352416, + "id": "bbox_1767862085025_1767862163829_lbtaguh4h", + "width": 0.27169037488209824, + "x": 0.3224276840990429, + "y": 0.23383213827174176 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向左移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹松开错误，导致娃娃和错误落在桌子上", + "frame": 388, + "progress": 0, + "progress_explanation": "爪夹将娃娃落在桌子上，进度0%", + "state_description": "当前状态为爪夹张开，娃娃落在地上。\n为了完成把黄色的娃娃放进纸箱里的任务应当：向左移动至娃娃上方。", + "time": 12.916747872553403 + }, + { + "action_description": "爪夹向左移动", + "annotations": { + "bbox_1767862084832": { + "instances": [ + { + "height": 0.14402727043332894, + "id": "bbox_1767862084832_1767862155365_2zfdwewd3", + "width": 0.062194182201926115, + "x": 0.5728411019120612, + "y": 0.3887705655560804 + } + ], + "type": "bbox" + }, + "bbox_1767862085025": { + "instances": [ + { + "height": 0.32297024278988906, + "id": "bbox_1767862085025_1767862158861_5pon4roxu", + "width": 0.2684169968714706, + "x": 0.32406437310435676, + "y": 0.25347222060355934 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向左移动正确，重新准备接近娃娃", + "frame": 417, + "progress": 5, + "progress_explanation": "爪夹重新接近娃娃，进度5%", + "state_description": "当前状态为爪夹子在娃娃上方\n为了完成把黄色的娃娃放进纸箱里的任务应当：向下移动，合拢爪夹，夹住娃娃", + "time": 13.890916091235518 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1767862084832": { + "instances": [ + { + "height": 0.12656941947171324, + "id": "bbox_1767862084832_1767862151038_dc4s2b11c", + "width": 0.058920804191298436, + "x": 0.5859346139545719, + "y": 0.3865883341858785 + } + ], + "type": "bbox" + }, + "bbox_1767862085025": { + "instances": [ + { + "height": 0.370979332934332, + "id": "bbox_1767862085025_1767862148135_2g6g7ypdx", + "width": 0.24714003980239063, + "x": 0.33224781813092596, + "y": 0.23819660101214568 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，准备夹住娃娃", + "frame": 455, + "progress": 35, + "progress_explanation": "爪夹准备夹住娃娃，进度35%", + "state_description": "当前状态为爪夹准备夹住娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：合拢爪夹，夹住娃娃", + "time": 15.1537267450827 + }, + { + "action_description": "合拢爪夹", + "annotations": { + "bbox_1767862084832": { + "instances": [ + { + "height": 0.12875165084191528, + "id": "bbox_1767862084832_1767862138605_t79o3n21b", + "width": 0.058920804191298436, + "x": 0.5826612359439443, + "y": 0.4040461851474941 + } + ], + "type": "bbox" + }, + "bbox_1767862085025": { + "instances": [ + { + "height": 0.30114792908786947, + "id": "bbox_1767862085025_1767862142644_hg2pvssuu", + "width": 0.2896939539405506, + "x": 0.2962406600140214, + "y": 0.2796589970459828 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确成功夹住娃娃", + "frame": 492, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%", + "state_description": "当前状态为爪夹夹住娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 16.416537398929883 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767862084832": { + "instances": [ + { + "height": 0.12438718810151131, + "id": "bbox_1767862084832_1767862135150_q6b1au0dt", + "width": 0.07365100523912309, + "x": 0.6301252170980457, + "y": 0.3211213930798199 + } + ], + "type": "bbox" + }, + "bbox_1767862085025": { + "instances": [ + { + "height": 0.3426103251217067, + "id": "bbox_1767862085025_1767862132462_d4plvyecp", + "width": 0.2847838869246091, + "x": 0.3158809280777875, + "y": 0.23601436964194372 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃夹至空中", + "frame": 537, + "progress": 70, + "progress_explanation": "夹将娃娃夹至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中\n为了完成把黄色的娃娃放进纸箱里的任务应当：向左侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 17.89582987915087 + }, + { + "action_description": "爪夹向左移动", + "annotations": { + "bbox_1767862085025": { + "instances": [ + { + "height": 0.28369007812625385, + "id": "bbox_1767862085025_1767862127885_dvwm7smx6", + "width": 0.27660044189803984, + "x": 0.33224781813092596, + "y": 0.2556544519737613 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向左移动幅度正确，成功将娃娃移至纸箱上方", + "frame": 560, + "progress": 90, + "progress_explanation": "娃娃移至纸箱上方，进度90%", + "state_description": "当前状态为爪夹将娃娃移至纸箱上方\n为了完成把黄色的娃娃放进纸箱里的任务应当：松开爪夹。", + "time": 18.653516271459182 + }, + { + "action_description": "松开爪夹", + "annotations": { + "bbox_1767862084832": { + "instances": [ + { + "height": 0.10911156851009765, + "id": "bbox_1767862084832_1767862118534_mlvvm6coh", + "width": 0.07528769424443685, + "x": 0.4157189574019321, + "y": 0.3916801962836136 + } + ], + "type": "bbox" + }, + "bbox_1767862085025": { + "instances": [ + { + "height": 0.24440991346261873, + "id": "bbox_1767862085025_1767862121646_oue603wep", + "width": 0.26350692985552904, + "x": 0.3224276840990429, + "y": 0.25347222060355934 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 599, + "progress": 100, + "progress_explanation": "完成任务，进度100%", + "state_description": "当前状态为爪夹张开，娃娃落入纸箱。", + "time": 19.952407229702 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767862084832", + "name": "娃娃" + }, + { + "color": "#FF9800", + "id": "bbox_1767862085025", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767862085838", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767862086022", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-103935-put-yellow doll-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-103935-put-yellow doll-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b9a53809b96f7b1d2b227b943c5ef2aa3eba4c12 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-103935-put-yellow doll-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,374 @@ +{ + "task_description": "把黄色的娃娃放进黄色的纸板箱里\n准备开始移动：0%\n接近娃娃：20%\n夹住娃娃：50%\n将娃娃夹起：70%\n将娃娃移至纸箱上方：90%\n松开爪夹;100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "annotations": { + "bbox_1767864485608": { + "instances": [ + { + "height": 0.08292479206767418, + "id": "bbox_1767864485608_1767864595708_o1cdyo7xo", + "width": 0.1227516753985384, + "x": 0.7070496003477965, + "y": 0.4913354399555722 + } + ], + "type": "bbox" + }, + "bbox_1767864485774": { + "instances": [ + { + "height": 0.3775260270449378, + "id": "bbox_1767864485774_1767864592781_4oxnvtgoj", + "width": 0.27332706388741207, + "x": 0.35352477520000597, + "y": 0.2272854441611359 + } + ], + "type": "bbox" + }, + "point_1767864486816": { + "instances": [ + { + "id": "point_1767864486816_1767864597940_3pnsoub57", + "x": 0.44845273750820897, + "y": 0.5764424633934484 + } + ], + "type": "point" + }, + "point_1767864486998": { + "instances": [ + { + "id": "point_1767864486998_1767864600116_uem43zam5", + "x": 0.5564742118589228, + "y": 0.6026292398358719 + } + ], + "type": "point" + } + }, + "correction_plan": "右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未移动\n为了完成把黄色的娃娃放进纸箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 1.0383548495595227 + }, + { + "action_description": "爪夹向右前侧移动", + "annotations": { + "bbox_1767864485608": { + "instances": [ + { + "height": 0.1331161135823192, + "id": "bbox_1767864485608_1767864582533_9afu4nroc", + "width": 0.10474809634008615, + "x": 0.7168697343796795, + "y": 0.4695131262535527 + } + ], + "type": "bbox" + }, + "bbox_1767864485774": { + "instances": [ + { + "height": 0.36225040745352416, + "id": "bbox_1767864485774_1767864587461_uii9cmapy", + "width": 0.27987381990866755, + "x": 0.36498159823720283, + "y": 0.2272854441611359 + } + ], + "type": "bbox" + } + }, + "correction_plan": "右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 73, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪机开始移动，准备接近娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.447551740754023 + }, + { + "action_description": "爪夹向右前侧移动，然后稍微向下移动", + "annotations": { + "bbox_1767864485608": { + "instances": [ + { + "height": 0.12875165084191528, + "id": "bbox_1767864485608_1767864577389_p5aby0cs5", + "width": 0.10802147435071366, + "x": 0.6988661553212273, + "y": 0.4978821340661781 + } + ], + "type": "bbox" + }, + "bbox_1767864485774": { + "instances": [ + { + "height": 0.39934834074695746, + "id": "bbox_1767864485774_1767864573947_npowq56gj", + "width": 0.24222997278644906, + "x": 0.37971179928502746, + "y": 0.21200982456972225 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近娃娃", + "frame": 97, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态为爪夹接近娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 3.2386798200211113 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1767864485774": { + "instances": [ + { + "height": 0.33388139964089875, + "id": "bbox_1767864485774_1767864569733_bvdme50gm", + "width": 0.31097091100963054, + "x": 0.34861470818406437, + "y": 0.23819660101214568 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，更加接近娃娃", + "frame": 124, + "progress": 30, + "progress_explanation": "爪夹更加接近娃娃，进度30%", + "state_description": "当前状态为爪夹更加接近娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 4.1286989091965856 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767864485774": { + "instances": [ + { + "height": 0.36879710156413015, + "id": "bbox_1767864485774_1767864565981_ozqvy7e5q", + "width": 0.2815105089139814, + "x": 0.363344909231889, + "y": 0.22510321279093395 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功将娃娃夹住", + "frame": 149, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%", + "state_description": "当前状态为爪夹将娃娃夹住\n为了完成把黄色的娃娃放进纸箱里的任务应当：向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 4.969272493417867 + }, + { + "action_description": "爪夹稍微向上移动", + "annotations": { + "bbox_1767864485774": { + "instances": [ + { + "height": 0.3469747878621105, + "id": "bbox_1767864485774_1767864559005_jx8voc8rr", + "width": 0.2700536858767844, + "x": 0.36007153122126134, + "y": 0.2098275931995203 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功稍微夹起娃娃", + "frame": 170, + "progress": 60, + "progress_explanation": "爪夹将娃娃稍微夹起，进度60%", + "state_description": "当前状态为爪夹将娃娃稍微夹起\n为了完成把黄色的娃娃放进纸箱里的任务应当：向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 5.661509562776568 + }, + { + "action_description": "爪夹向上移动，然后稍微向左移动", + "annotations": { + "bbox_1767864485608": { + "instances": [ + { + "height": 0.09601818028888595, + "id": "bbox_1767864485608_1767864552654_61uagpjqf", + "width": 0.11947829738791071, + "x": 0.564657656885492, + "y": 0.19236974223790465 + } + ], + "type": "bbox" + }, + "bbox_1767864485774": { + "instances": [ + { + "height": 0.3033301604580715, + "id": "bbox_1767864485774_1767864554982_xkk1es8lk", + "width": 0.26678030786615675, + "x": 0.37152835425845826, + "y": 0.20764536182931834 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃夹至空中", + "frame": 191, + "progress": 70, + "progress_explanation": "爪夹将娃娃夹至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中\n为了完成把黄色的娃娃放进纸箱里的任务应当：向左侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 6.364433 + }, + { + "action_description": "爪夹向左侧移动", + "annotations": { + "bbox_1767864485608": { + "instances": [ + { + "height": 0.1069293371398957, + "id": "bbox_1767864485608_1767864548589_vmxshu313", + "width": 0.12275167539853835, + "x": 0.3453413301734367, + "y": 0.09635156194901871 + } + ], + "type": "bbox" + }, + "bbox_1767864485774": { + "instances": [ + { + "height": 0.3404280937515047, + "id": "bbox_1767864485774_1767864545829_z4t7mnib5", + "width": 0.30606084399368905, + "x": 0.32897444012029825, + "y": 0.23819660101214568 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向左移动正确，成功将娃娃移至纸箱上方", + "frame": 220, + "progress": 90, + "progress_explanation": "爪夹夹娃娃移至纸箱上方，进度90%", + "state_description": "当前状态为爪夹夹娃娃移至纸箱上方\n为了完成把黄色的娃娃放进纸箱里的任务应当：松开爪夹", + "time": 7.327 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1767864485774": { + "instances": [ + { + "height": 0.3447925564919086, + "id": "bbox_1767864485774_1767864541181_h09g9cln9", + "width": 0.32242773404682745, + "x": 0.32406437310435676, + "y": 0.24037883238234764 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向左侧移动至箱子左边，向下移动，向右移动，拿开箱子，向左移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向右侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹松开角度错误，导致娃娃落在桌子上", + "frame": 257, + "progress": 5, + "progress_explanation": "爪夹松开，将娃娃掉落，进度5%", + "state_description": "当前状态为爪夹张开，娃娃落在箱子旁\n为了完成把黄色的娃娃放进纸箱里的任务应当：向左侧移动至箱子左边，向下移动，向右移动，拿开箱子，向左移动至娃娃上方。", + "time": 8.578794355073954 + }, + { + "action_description": "爪夹向左向侧移动", + "annotations": { + "bbox_1767864485774": { + "instances": [ + { + "height": 0.3557037133429184, + "id": "bbox_1767864485774_1767864537466_l7308j7y7", + "width": 0.3093342220043167, + "x": 0.34697801917875054, + "y": 0.222920981420732 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向左侧移动至箱子左边，向下移动，向右移动，拿开箱子，向左移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向右侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向左侧移动正确，接近箱子。", + "frame": 319, + "progress": 15, + "progress_explanation": "爪夹向箱子左侧移动，进度15%", + "state_description": "当前状态为爪夹张开，娃娃在箱子下\n为了完成把黄色的娃娃放进纸箱里的任务应当：向左侧移动至箱子左边，向下移动，向右移动，拿开箱子，向左移动至娃娃上方。", + "time": 10.630782810672965 + }, + { + "action_description": "爪夹向后移动", + "annotations": { + "bbox_1767864485774": { + "instances": [ + { + "height": 0.3360636310111008, + "id": "bbox_1767864485774_1767864534557_kso2fxivt", + "width": 0.2766004418980398, + "x": 0.34861470818406437, + "y": 0.23455953762907303 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向左侧移动至箱子左边，向下移动，向右移动，拿开箱子，向左移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向右侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向后移动，远离娃娃", + "frame": 431, + "progress": 0, + "progress_explanation": "爪夹没有移动，进度0%", + "state_description": "当前状态为爪夹在空中，看不见娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向左侧移动至箱子左边，向下移动，向右移动，拿开箱子，向左移动至娃娃上方。", + "time": 14.366667 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767864485608", + "name": "娃娃" + }, + { + "color": "#FF9800", + "id": "bbox_1767864485774", + "name": "箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767864486816", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767864486998", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-103935-put-yellow doll-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-103935-put-yellow doll-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..0a3c0e8e3e91b15d105d32f7f818f93796091720 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-103935-put-yellow doll-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,600 @@ +{ + "task_description": "把黄色的娃娃放进黄色的纸板箱里\n准备开始移动：0%\n接近娃娃：20%\n夹住娃娃：50%\n将娃娃夹起：70%\n将娃娃移至纸箱上方：90%\n松开爪夹;100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.11784049399090547, + "id": "bbox_1767866389289_1767866542493_sbywv31d4", + "width": 0.11129485236134143, + "x": 0.6743158202415196, + "y": 0.3407614754116375 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.39716610937675545, + "id": "bbox_1767866389456_1767866539828_vlba5od26", + "width": 0.2929673319511782, + "x": 0.36825497624783055, + "y": 0.13126726387224996 + } + ], + "type": "bbox" + }, + "point_1767866390528": { + "instances": [ + { + "id": "point_1767866390528_1767866536709_ke1vdebtz", + "x": 0.3011507270299629, + "y": 0.5764424633934484 + } + ], + "type": "point" + }, + "point_1767866390689": { + "instances": [ + { + "id": "point_1767866390689_1767866534941_vsx96vn7s", + "x": 0.42717578043912896, + "y": 0.5546201496914289 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态我爪夹暂未移动\n为了完成把黄色的娃娃放进纸箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 1.3086987083712978 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.09820041165908791, + "id": "bbox_1767866389289_1767866525032_zftjm9vro", + "width": 0.12929843141979375, + "x": 0.6628589972043226, + "y": 0.3473081695222433 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.36225040745352416, + "id": "bbox_1767866389456_1767866527990_huioeoeig", + "width": 0.27823713090335367, + "x": 0.3878952443115967, + "y": 0.16836519716568316 + } + ], + "type": "bbox" + }, + "point_1767866390528": { + "instances": [ + { + "id": "point_1767866390528_1767866529949_iegqqsg4k", + "x": 0.30278741603527676, + "y": 0.5851713888742562 + } + ], + "type": "point" + } + }, + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 76, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态为爪夹张开，准备接近娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.5167292306157227 + }, + { + "action_description": "爪夹向右前侧移动", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.12438718810151131, + "id": "bbox_1767866389289_1767866521334_lx1rvvxdw", + "width": 0.1227516753985384, + "x": 0.6726791312362057, + "y": 0.3451259381520414 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.37534379567473597, + "id": "bbox_1767866389456_1767866518806_ydcelpbez", + "width": 0.2995140879724336, + "x": 0.363344909231889, + "y": 0.17054742853588511 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向右前侧移动正确。", + "frame": 103, + "progress": 15, + "progress_explanation": "爪夹向娃娃上方移动，进度15%", + "state_description": "当前状态为爪夹向娃娃上方移动\n为了完成把黄色的娃娃放进纸箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 3.432 + }, + { + "action_description": "爪夹向前并向下移动。", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.11565826262070354, + "id": "bbox_1767866389289_1767866510398_n0p69o0nu", + "width": 0.09983802932414454, + "x": 0.6792258872574611, + "y": 0.3276680871904257 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.3426103251217067, + "id": "bbox_1767866389456_1767866513597_vzoa5ytzb", + "width": 0.29296733195117824, + "x": 0.3829851772956552, + "y": 0.1814585853868949 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功接近娃娃", + "frame": 134, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态为爪夹接近娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 4.463000627565074 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.11129379988029964, + "id": "bbox_1767866389289_1767866504221_wpx16a4wj", + "width": 0.0982013403188307, + "x": 0.6841359542734027, + "y": 0.3429437067818394 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.3491570192323125, + "id": "bbox_1767866389456_1767866501710_ebofh00t7", + "width": 0.3191543560361998, + "x": 0.35679815321063363, + "y": 0.1945519736081066 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪机向下移动正确，成功更加接近娃娃", + "frame": 180, + "progress": 30, + "progress_explanation": "爪夹更加接近娃娃，进度30%", + "state_description": "当前状态为爪夹更加接近娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 6.006595183766283 + }, + { + "action_description": "合拢爪夹", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.15493842728433868, + "id": "bbox_1767866389289_1767866494693_httb0z56k", + "width": 0.11784160838259687, + "x": 0.7086862893531103, + "y": 0.31457469896921403 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.36661487019392813, + "id": "bbox_1767866389456_1767866497177_eotxw5jy8", + "width": 0.2635069298555291, + "x": 0.3813484882903413, + "y": 0.16400073442527927 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃", + "frame": 212, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%", + "state_description": "当前状态为爪夹夹住娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 7.080400092427992 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.11784049399090547, + "id": "bbox_1767866389289_1767866486822_cz4prtlc8", + "width": 0.12766174241447983, + "x": 0.7463301364753288, + "y": 0.30366354211820423 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.373161564304534, + "id": "bbox_1767866389456_1767866484212_kqlsvfz6e", + "width": 0.2733270638874122, + "x": 0.39444200033285204, + "y": 0.16836519716568316 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功稍微夹起娃娃。", + "frame": 244, + "progress": 60, + "progress_explanation": "爪夹稍微将娃娃夹起，进度60%", + "state_description": "当前状态为爪夹稍微将娃娃夹起\n为了完成把黄色的娃娃放进纸箱里的任务应当：向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 8.120648597694027 + }, + { + "action_description": "向上移动然后向左移动，松开抓夹", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.11347603125050157, + "id": "bbox_1767866389289_1767866474856_5q4o6c0uz", + "width": 0.08019776126037845, + "x": 0.7414200694593872, + "y": 0.3211213930798199 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.37097933293433205, + "id": "bbox_1767866389456_1767866478189_1gky8f4s4", + "width": 0.2831471979192952, + "x": 0.384621866300969, + "y": 0.16618296579548122 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹松开错误，导致娃娃落在桌子上", + "frame": 279, + "progress": 5, + "progress_explanation": "爪夹将娃娃落在桌子上，进度5%", + "state_description": "当前状态为爪夹松开，娃娃落在桌子上。\n为了完成把黄色的娃娃放进纸箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 9.295122716542773 + }, + { + "action_description": "爪夹向后移动", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.14620950180353087, + "id": "bbox_1767866389289_1767866471584_zv5esnjhf", + "width": 0.06055749319661219, + "x": 0.7299632464221903, + "y": 0.2971168480075984 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.3338813996408988, + "id": "bbox_1767866389456_1767866468079_k0tb64uck", + "width": 0.26678030786615675, + "x": 0.37643842127439975, + "y": 0.17491189127628903 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向后移动，远离爪夹", + "frame": 318, + "progress": 2, + "progress_explanation": "爪夹远离娃娃，进度2%", + "state_description": "当前状态为爪夹在桌子上方爪夹张开\n为了完成把黄色的娃娃放进纸箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 10.603822448974233 + }, + { + "action_description": "爪夹向右前侧移动，并向下移动。", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.19640082331817582, + "id": "bbox_1767866389289_1767866462319_8rdl4g7ay", + "width": 0.10802147435071383, + "x": 0.690682710294658, + "y": 0.29929907937780037 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.4058950348575633, + "id": "bbox_1767866389456_1767866464767_46usw1i3t", + "width": 0.26514361886084287, + "x": 0.38625855530628284, + "y": 0.17054742853588511 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向右前移动正确，成功接近娃娃", + "frame": 358, + "progress": 35, + "progress_explanation": "爪夹接近娃娃，进度35%", + "state_description": "当前状态为爪夹接近娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 11.946078584801372 + }, + { + "action_description": "向前移动。", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.18112520372676216, + "id": "bbox_1767866389289_1767866459191_rpccu9fi1", + "width": 0.1194782973879108, + "x": 0.6955927773105995, + "y": 0.29493461663739645 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.37970825841513983, + "id": "bbox_1767866389456_1767866455247_cfvmtks2q", + "width": 0.27169037488209824, + "x": 0.384621866300969, + "y": 0.15963627168487535 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向前移动正确，准备夹住娃娃", + "frame": 395, + "progress": 40, + "progress_explanation": "爪夹准备夹住娃娃，进度40%", + "state_description": "当前状态为爪夹准备夹住娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：合拢爪夹，夹住娃娃。", + "time": 13.154109107045796 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.13966280769292502, + "id": "bbox_1767866389289_1767866447801_iwntmj34j", + "width": 0.1227516753985383, + "x": 0.6841359542734027, + "y": 0.29493461663739645 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.36225040745352416, + "id": "bbox_1767866389456_1767866451072_ehqq7fzs1", + "width": 0.29460402095649213, + "x": 0.37807511027971363, + "y": 0.18800527949750073 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃", + "frame": 432, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%", + "state_description": "当前状态为爪夹夹住娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 14.395696032685901 + }, + { + "action_description": "爪夹向上移动", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.13748057632272304, + "id": "bbox_1767866389289_1767866444319_6ns5arwc8", + "width": 0.09329127330288918, + "x": 0.733236624432818, + "y": 0.3189391617096179 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.36879710156413004, + "id": "bbox_1767866389456_1767866441687_rihy51qq0", + "width": 0.2667803078661567, + "x": 0.38953193331691055, + "y": 0.1530895775742695 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功夹起娃娃。", + "frame": 459, + "progress": 70, + "progress_explanation": "爪夹稍微将娃娃夹起，进度70%", + "state_description": "当前状态为爪夹将娃娃夹起\n为了完成把黄色的娃娃放进纸箱里的任务应当：向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 15.301718924369219 + }, + { + "action_description": "爪夹向上移动然后向左移动", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.11784049399090547, + "id": "bbox_1767866389289_1767866430994_xh486i53c", + "width": 0.06874093822318157, + "x": 0.500826785678252, + "y": 0.316756930339416 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.3600681760833223, + "id": "bbox_1767866389456_1767866433199_wq8iwgtuy", + "width": 0.24714003980239055, + "x": 0.3829851772956552, + "y": 0.17272965990608707 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向左移动正确，成功将娃娃移至纸箱上方", + "frame": 480, + "progress": 90, + "progress_explanation": "爪夹夹娃娃移至纸箱上方，进度90%", + "state_description": "当前状态为爪夹夹娃娃移至纸箱上方\n为了完成把黄色的娃娃放进纸箱里的任务应当：松开爪夹", + "time": 16.006403395678465 + }, + { + "action_description": "爪夹向下移动，向右移动", + "annotations": { + "bbox_1767866389289": { + "instances": [ + { + "height": 0.16366735276514652, + "id": "bbox_1767866389289_1767866427079_jhh2s7c3q", + "width": 0.052374048170042986, + "x": 0.754513581501898, + "y": 0.4040461851474941 + } + ], + "type": "bbox" + }, + "bbox_1767866389456": { + "instances": [ + { + "height": 0.21822313702019533, + "id": "bbox_1767866389456_1767866424927_9q9mi20kg", + "width": 0.37480178221687044, + "x": 0.5450173888217258, + "y": 0.23237730625887107 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹移动幅度过大，导致打翻箱子", + "frame": 585, + "progress": -50, + "progress_explanation": "爪夹将箱子打翻，进度-50%", + "state_description": "当前状态为爪夹将箱子打翻", + "time": 19.5 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767866389289", + "name": "娃娃" + }, + { + "color": "#FF9800", + "id": "bbox_1767866389456", + "name": "箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767866390528", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767866390689", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-103935-put-yellow doll-yellow-cardboard box-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-103935-put-yellow doll-yellow-cardboard box-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..1116d61642ff780522b1b7c43d926d5e2fb48753 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-103935-put-yellow doll-yellow-cardboard box-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,354 @@ +{ + "task_description": "把黄色的娃娃放进黄色的纸箱里\n准备开始移动：0%\n接近娃娃：20%\n夹住娃娃：50%\n将娃娃夹起：70%\n将娃娃移至纸箱上方：90%\n松开爪夹;100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前进度为爪夹保持张开，暂未移动\n为了完成把黄色的娃娃放进纸箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 1.285582374330488, + "annotations": { + "bbox_1767927653226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653226_1767927694896_udt99qxsa", + "x": 0.15384871655171686, + "y": 0.30875540421593944, + "width": 0.3207910450415136, + "height": 0.3928016466363515 + } + ] + }, + "bbox_1767927653466": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653466_1767927708384_1o0fhvjk8", + "x": 0.564657656885492, + "y": 0.5611668438020347, + "width": 0.12929843141979375, + "height": 0.09383594891868394 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动", + "frame": 63, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10% ", + "state_description": "当前状态为爪夹在娃娃左后上侧，娃娃在桌子上\n为了完成把黄色的娃娃放进纸箱里的任务应当：向右前侧移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃。", + "time": 2.1014332060746725, + "annotations": { + "bbox_1767927653226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653226_1767927700962_ebailp45n", + "x": 0.1603954725729722, + "y": 0.25347222060355934, + "width": 0.306060843993689, + "height": 0.4713619759636219 + } + ] + }, + "bbox_1767927653466": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653466_1767927703761_k12zo1or7", + "x": 0.5679310348961196, + "y": 0.550255686951025, + "width": 0.11620491937728303, + "height": 0.11784049399090553 + } + ] + } + } + }, + { + "action_description": "爪夹向右前侧移动，然后向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向右下侧移动正确，成功接近娃娃", + "frame": 86, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态为爪夹接近娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向下移动，合拢爪夹，夹住娃娃。", + "time": 2.867838532864664, + "annotations": { + "bbox_1767927653466": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653466_1767927714264_fclzcjgh8", + "x": 0.574477790917375, + "y": 0.5306156046192074, + "width": 0.11947829738791063, + "height": 0.12220495673130932 + } + ] + }, + "bbox_1767927653226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653226_1767927717129_jzhxoy2dr", + "x": 0.1702156066048553, + "y": 0.2971168480075984, + "width": 0.31424428902025825, + "height": 0.4342640426701887 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "合拢爪夹，夹住娃娃，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向下移动正确，成功准备夹住娃娃", + "frame": 108, + "progress": 30, + "progress_explanation": "爪夹准备夹住娃娃，进度30%", + "state_description": "当前状态为爪夹准备夹住娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：合拢爪夹，夹住娃娃。", + "time": 3.584798354700462, + "annotations": { + "bbox_1767927653226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653226_1767927721924_2li8gwpi1", + "x": 0.14402858251983378, + "y": 0.316756930339416, + "width": 0.3355212460893383, + "height": 0.37970825841513983 + } + ] + }, + "bbox_1767927653466": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653466_1767927724944_qlkfj2ezk", + "x": 0.5630209678801781, + "y": 0.5873536202444583, + "width": 0.12438836440385223, + "height": 0.09601818028888592 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住娃娃", + "frame": 146, + "progress": 50, + "progress_explanation": "爪夹夹住娃娃，进度50%", + "state_description": "当前状态为爪夹夹住娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 4.87038148350948, + "annotations": { + "bbox_1767927653466": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653466_1767927729337_dcibk8tr8", + "x": 0.5482907668323536, + "y": 0.5175222163979957, + "width": 0.14566532147293215, + "height": 0.1091115685100977 + } + ] + }, + "bbox_1767927653226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653226_1767927732793_8pgmki9xj", + "x": 0.16857891759954144, + "y": 0.2731123029353769, + "width": 0.30115077697774745, + "height": 0.40153057211715937 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将娃娃夹至空中", + "frame": 179, + "progress": 70, + "progress_explanation": "爪夹将娃娃夹至空中，进度70%", + "state_description": "当前状态为爪夹将娃娃夹至空中\n为了完成把黄色的娃娃放进纸箱里的任务应当：向左侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 5.982905344978823, + "annotations": { + "bbox_1767927653226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653226_1767927736992_8bper9mhp", + "x": 0.18003574063673838, + "y": 0.33203254993082965, + "width": 0.30278746598306133, + "height": 0.3426103251217067 + } + ] + }, + "bbox_1767927653466": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653466_1767927739370_9vp7dy62j", + "x": 0.5581109008642365, + "y": 0.39095279692628243, + "width": 0.14239194346230458, + "height": 0.10692933713989566 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动", + "correction_plan": "向下移动，松开爪夹。", + "error_success_analysis": "爪夹向左侧移动正确，成功将娃娃移动至娃娃上方", + "frame": 220, + "progress": 90, + "progress_explanation": "爪夹将娃娃夹至纸箱上方，进度90%", + "state_description": "当前状态为爪夹将娃娃夹至纸箱上方\n为了完成把黄色的娃娃放进纸箱里的任务应当：向下移动，松开爪夹。", + "time": 7.34265673121913, + "annotations": { + "bbox_1767927653466": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653466_1767927743785_re2zqh733", + "x": 0.12766169246669531, + "y": 0.04397800906417184, + "width": 0.1342084984357353, + "height": 0.14184503906312695 + } + ] + }, + "bbox_1767927653226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653226_1767927746616_uo7uxvqyq", + "x": 0.15384871655171686, + "y": 0.3342147813010316, + "width": 0.33715793509465203, + "height": 0.3491570192323125 + } + ] + } + } + }, + { + "action_description": "爪夹松开", + "correction_plan": "向纸箱左侧移动，移动至纸箱左侧，向下移动，将纸箱稍微向右移动，然后向上移动，向左移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向右侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹松开角度错误，导致娃娃落在桌子上", + "frame": 259, + "progress": 5, + "progress_explanation": "爪夹将娃娃落至桌子上，进度5%", + "state_description": "当前状态为爪夹张开，娃娃落在纸箱左侧\n为了完成把黄色的娃娃放进纸箱里的任务应当：向纸箱左侧移动，移动至纸箱左侧，向下移动，将纸箱稍微向右移动，然后向上移动，向左移动至娃娃上方。", + "time": 8.628239860028149, + "annotations": { + "bbox_1767927653226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653226_1767927750432_au9b4a9zk", + "x": 0.17676236262611067, + "y": 0.2927523852671945, + "width": 0.30115077697774756, + "height": 0.3818904897853418 + } + ] + } + } + }, + { + "action_description": "爪夹向左前侧移动", + "correction_plan": "向纸箱左侧移动，移动至纸箱左侧，向下移动，将纸箱稍微向右移动，然后向上移动，向左移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向右侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向左前侧移动正确，重新寻找娃娃", + "frame": 324, + "progress": 8, + "progress_explanation": "爪夹准备重新寻找娃娃，进度8%", + "state_description": "当前状态为爪夹准备寻找娃娃\n为了完成把黄色的娃娃放进纸箱里的任务应当：向纸箱左侧移动，移动至纸箱左侧，向下移动，将纸箱稍微向右移动，然后向上移动，向左移动至娃娃上方。", + "time": 10.803842078012638, + "annotations": { + "bbox_1767927653226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653226_1767927753375_jyq4swviv", + "x": 0.18003574063673838, + "y": 0.26874784019497305, + "width": 0.30606084399368905, + "height": 0.4495396622616023 + } + ] + } + } + }, + { + "action_description": "爪夹先稍微上下移动然后轻微左右移动", + "correction_plan": "向纸箱左侧移动，移动至纸箱左侧，向下移动，将纸箱稍微向右移动，然后向上移动，向左移动至娃娃上方，向下移动，合拢爪夹，夹住娃娃，向上移动，向右侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹没有继续移动。", + "frame": 387, + "progress": 0, + "progress_explanation": "爪夹没有向纸箱左侧移动，进度0%", + "state_description": "当前状态为爪夹在纸箱上方，娃娃看不到\n为了完成把黄色的娃娃放进纸箱里的任务应当：向纸箱左侧移动，移动至纸箱左侧，向下移动，将纸箱稍微向右移动，然后向上移动，向左移动至娃娃上方。", + "time": 12.905276038565844, + "annotations": { + "bbox_1767927653226": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767927653226_1767927756704_sskpsuhy0", + "x": 0.15057533854108915, + "y": 0.30148131074800233, + "width": 0.3420680021105936, + "height": 0.3818904897853418 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767927653226", + "name": "纸箱", + "color": "#4CAF50" + }, + { + "id": "bbox_1767927653466", + "name": "娃娃", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767927654434", + "name": "爪机左", + "color": "#2196F3" + }, + { + "id": "point_1767927654617", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-111247-put-flashlight-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-111247-put-flashlight-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..6ef6a8b80981e30bac9673ce9ebd681111fa6056 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-111247-put-flashlight-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,422 @@ +{ + "task_description": "把手电筒放进黄色的纸板箱里\n准备开始移动：0%\n接近手电筒：20%\n夹住手电筒：50%\n将手电筒夹起：70%\n将手电筒移至纸箱上方：90%\n松开爪夹;100%", + "progress_points": [ + { + "action_description": "爪夹暂未移动", + "correction_plan": "向右前侧移动至手电筒上方，向下移动，合拢爪夹，夹住手电筒，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "爪夹暂未移动，进度0%", + "state_description": "当前状态为爪夹张开，暂未移动\n为了完成把手电筒放进黄色的纸板箱里的任务应当：向右前侧移动至手电筒上方，向下移动，合拢爪夹，夹住手电筒。", + "time": 1.3608979804994263, + "annotations": { + "point_1767930824028": { + "type": "point", + "instances": [ + { + "id": "point_1767930824028_1767930930817_vmdmr0kfd", + "x": 0.4533628045241505, + "y": 0.6091759339464777 + } + ] + }, + "point_1767930823848": { + "type": "point", + "instances": [ + { + "id": "point_1767930823848_1767930932400_9u0v2dpi4", + "x": 0.34697801917875054, + "y": 0.6200870907974874 + } + ] + }, + "bbox_1767930822907": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822907_1767930935391_zudl1wmih", + "x": 0.6808625762627749, + "y": 0.42368626747931165, + "width": 0.04746398115410146, + "height": 0.08292479206767425 + } + ] + }, + "bbox_1767930822738": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822738_1767930938145_l9aqoxxvx", + "x": 0.25532343488117526, + "y": 0.23383213827174176, + "width": 0.21440625969611365, + "height": 0.3600681760833223 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向右前侧移动至手电筒上方，向下移动，合拢爪夹，夹住手电筒，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹调整正确，成功开始移动。", + "frame": 70, + "progress": 10, + "progress_explanation": "爪夹开始移动，进度10%", + "state_description": "当前状态我爪夹张开，准备接近手电筒\n为了完成把手电筒放进黄色的纸板箱里的任务应当：向右前侧移动至手电筒上方，向下移动，合拢爪夹，夹住手电筒。", + "time": 2.3239954650282932, + "annotations": { + "bbox_1767930822738": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822738_1767930919121_0vb3r2dut", + "x": 0.2585968128918029, + "y": 0.21855651868032808, + "width": 0.22586308273331063, + "height": 0.39280164663635164 + } + ] + }, + "bbox_1767930822907": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822907_1767930922416_0cgyaydbm", + "x": 0.6808625762627749, + "y": 0.42368626747931165, + "width": 0.040917225132846104, + "height": 0.09383594891868399 + } + ] + }, + "point_1767930823848": { + "type": "point", + "instances": [ + { + "id": "point_1767930823848_1767930924386_dkn4xwgea", + "x": 0.4091722013806767, + "y": 0.5808069261338523 + } + ] + }, + "point_1767930824028": { + "type": "point", + "instances": [ + { + "id": "point_1767930824028_1767930926240_91ubx4syv", + "x": 0.5286504987685874, + "y": 0.58953585161466 + } + ] + } + } + }, + { + "action_description": "爪夹向右侧移动", + "correction_plan": "向前侧移动至手电筒上方，向下移动，合拢爪夹，夹住手电筒，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向右移动正确，成功接近娃娃", + "frame": 99, + "progress": 20, + "progress_explanation": "爪夹接近娃娃，进度20%", + "state_description": "当前状态为爪夹接近手电筒\n为了完成把手电筒放进黄色的纸板箱里的任务应当：向前侧移动至手电筒上方，向下移动，合拢爪夹，夹住手电筒。", + "time": 3.2870929495571595, + "annotations": { + "bbox_1767930822907": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822907_1767930903593_qfxuolzkp", + "x": 0.6759525092468335, + "y": 0.4193218047389078, + "width": 0.05401073717535691, + "height": 0.091653717548482 + } + ] + }, + "point_1767930823848": { + "type": "point", + "instances": [ + { + "id": "point_1767930823848_1767930907234_jyfp5qyjc", + "x": 0.6988661553212273, + "y": 0.5851713888742562 + } + ] + }, + "bbox_1767930822738": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822738_1767930912577_e2tqibuw3", + "x": 0.2569601238864891, + "y": 0.19236974223790465, + "width": 0.20785950367485828, + "height": 0.44517519952119844 + } + ] + } + } + }, + { + "action_description": "爪夹向前并向下移动", + "correction_plan": "向下移动，合拢爪夹，夹住手电筒，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向前移动正确，成功更加接近手电筒。", + "frame": 125, + "progress": 30, + "progress_explanation": "爪夹更加接近娃娃，进度30%", + "state_description": "当前状态为爪夹更加手电筒\n为了完成把手电筒放进黄色的纸板箱里的任务应当：向下移动，合拢爪夹，夹住手电筒，向上移动。", + "time": 4.16644282673569, + "annotations": { + "bbox_1767930822738": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822738_1767930893129_8oslej3ey", + "x": 0.2651435689130583, + "y": 0.20328089908891442, + "width": 0.2045861256642306, + "height": 0.4495396622616023 + } + ] + }, + "point_1767930823848": { + "type": "point", + "instances": [ + { + "id": "point_1767930823848_1767930895304_jhtv979mr", + "x": 0.6579489301883811, + "y": 0.48697097721516835 + } + ] + }, + "bbox_1767930822907": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822907_1767930899272_6sad6rycm", + "x": 0.6808625762627749, + "y": 0.39313502829648433, + "width": 0.04746398115410146, + "height": 0.11784049399090547 + } + ] + } + } + }, + { + "action_description": "爪夹向下移动，稍微合拢爪夹", + "correction_plan": "合拢爪夹，夹住手电筒，向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向向移动正确，准备夹住手电筒", + "frame": 154, + "progress": 40, + "progress_explanation": "爪夹准备夹住手电筒，进度40%", + "state_description": "当前状态为爪夹准备夹住手电筒\n为了完成把手电筒放进黄色的纸板箱里的任务应当：合拢爪夹，夹住手电筒，向上移动。", + "time": 5.129540311264557, + "annotations": { + "bbox_1767930822738": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822738_1767930888736_f8ilnx16g", + "x": 0.24877667885991986, + "y": 0.2272854441611359, + "width": 0.22258970472268297, + "height": 0.38843718389594767 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹合拢正确，成功夹住手电筒", + "frame": 183, + "progress": 50, + "progress_explanation": "爪夹夹住手电筒，进度50%", + "state_description": "当前状态为爪夹夹住手电筒\n为了完成把手电筒放进黄色的纸板箱里的任务应当：向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 6.107666, + "annotations": { + "bbox_1767930822738": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822738_1767930885161_qbs5uujn7", + "x": 0.24550330084929217, + "y": 0.222920981420732, + "width": 0.23404652775987986, + "height": 0.4277173485595828 + } + ] + } + } + }, + { + "action_description": "爪夹稍微向上移动", + "correction_plan": "向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功稍微将手电筒夹起", + "frame": 223, + "progress": 60, + "progress_explanation": "爪夹将娃娃稍微夹起，进度60%", + "state_description": "当前状态为爪夹将手电筒稍微夹起\n为了完成把手电筒放进黄色的纸板箱里的任务应当：向上移动，向左侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 7.432599513398804, + "annotations": { + "bbox_1767930822738": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822738_1767930882044_qyifllfg0", + "x": 0.2536867458758614, + "y": 0.21419205593992416, + "width": 0.22258970472268297, + "height": 0.39498387800655355 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动", + "correction_plan": "向左侧移动至纸箱上方，向下移动，松开爪夹。", + "error_success_analysis": "爪夹向上移动正确，成功将手电筒夹至空中", + "frame": 240, + "progress": 70, + "progress_explanation": "爪夹将手电筒夹至空中，进度70%", + "state_description": "当前状态为爪夹将手电筒夹至空中\n为了完成把手电筒放进黄色的纸板箱里的任务应当：向左侧移动至纸箱上方，向下移动，松开爪夹。", + "time": 7.997895863013573, + "annotations": { + "bbox_1767930822738": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822738_1767930873084_69r53xess", + "x": 0.25532343488117526, + "y": 0.23019507488866914, + "width": 0.22258970472268294, + "height": 0.37534379567473586 + } + ] + }, + "bbox_1767930822907": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822907_1767930876378_atmusmhrx", + "x": 0.6415820401352427, + "y": 0.4782420517343605, + "width": 0.06874093822318147, + "height": 0.07856032932727028 + } + ] + } + } + }, + { + "action_description": "爪夹向左移动", + "correction_plan": "松开爪夹", + "error_success_analysis": "爪夹向左侧移动正确，成功将手电筒夹至纸箱上方", + "frame": 268, + "progress": 90, + "progress_explanation": "爪夹将手电筒夹至纸箱上方，进度90%", + "state_description": "当前状态为爪夹将手电筒夹至纸箱上方\n为了完成把手电筒放进黄色的纸板箱里的任务应当：松开爪夹。", + "time": 8.919119543867271, + "annotations": { + "bbox_1767930822738": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822738_1767930870202_5euxzkjuh", + "x": 0.268416946923686, + "y": 0.22510321279093395, + "width": 0.19476599163234756, + "height": 0.35788594471312035 + } + ] + } + } + }, + { + "action_description": "爪夹松开", + "correction_plan": "", + "error_success_analysis": "爪夹松开正确，成功完成任务", + "frame": 305, + "progress": 100, + "progress_explanation": "任务完成，进度100%", + "state_description": "当前状态为手电筒落入纸箱", + "time": 10.175333654122316, + "annotations": { + "bbox_1767930822738": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822738_1767930856297_teixzno1w", + "x": 0.23404647781209525, + "y": 0.22364838077806326, + "width": 0.22749977173862446, + "height": 0.3447925564919086 + } + ] + }, + "bbox_1767930822907": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767930822907_1767930859362_jr9il7gc2", + "x": 0.384621866300969, + "y": 0.3451259381520414, + "width": 0.062194182201926115, + "height": 0.12438718810151131 + } + ] + }, + "point_1767930824028": { + "type": "point", + "instances": [ + { + "id": "point_1767930824028_1767930861497_ga8vrpufj", + "x": 0.45499949352946434, + "y": 0.5611668438020347 + } + ] + }, + "point_1767930823848": { + "type": "point", + "instances": [ + { + "id": "point_1767930823848_1767930863602_m66o7g1ew", + "x": 0.3273377511149844, + "y": 0.5786246947636504 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767930822738", + "name": "纸箱", + "color": "#4CAF50" + }, + { + "id": "bbox_1767930822907", + "name": "手电筒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767930823848", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767930824028", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-111934-put-flashlight-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-111934-put-flashlight-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..30dacb11ebb1a2f6388af94ede7cfce581a3359b --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-111934-put-flashlight-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,508 @@ +{ + "task_description": "把手电筒放进那个黄色的纸板盒里。\n爪夹开始移动:0%\n爪夹靠近手电筒:20%\n爪夹夹起手电筒:40%\n爪夹移动手电筒:60%\n爪夹将手电筒放入纸板盒内:80%\n爪夹松开，手电筒落入纸板盒内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度向爪夹方向右侧移动，使其垂直于桌面靠近手电筒，爪夹合拢抓取手电筒后微微抬升空中，向爪夹方向前方移动，直至到达纸板盒的上方，下降将手电筒放入纸板盒中，然后松开爪夹。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:调整爪夹角度向爪夹方向右侧移动，使其垂直于桌面靠近手电筒。", + "time": 1.6156846418657977, + "annotations": { + "bbox_1767681094897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681094897_1767681122072_t7kuqzjcd", + "x": 0.5781110486992768, + "y": 0.6135369780650246, + "width": 0.0749999954223635, + "height": 0.14533332150607733 + } + ] + }, + "bbox_1767681100088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681100088_1767681127087_g6wgv752v", + "x": 0.498111053582089, + "y": 0.11620368520477821, + "width": 0.34099997918701286, + "height": 0.43866663096788483 + } + ] + }, + "point_1767681104432": { + "type": "point", + "instances": [ + { + "id": "point_1767681104432_1767681137815_4wb81khqt", + "x": 0.36011106200494003, + "y": 0.5855369803436703 + } + ] + }, + "point_1767681109616": { + "type": "point", + "instances": [ + { + "id": "point_1767681109616_1767681140567_6eqsdrlwv", + "x": 0.4711110552300381, + "y": 0.5895369800181494 + } + ] + } + } + }, + { + "time": 3.2288803919053293, + "frame": 97, + "progress": 10, + "action_description": "爪夹向爪夹方向右侧移动靠近手电筒。", + "state_description": "当前状态为爪夹打开，靠近手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹持续移动靠近手电筒。", + "progress_explanation": "目前爪夹向爪夹方向右侧移动，方便爪夹靠近手电筒。所以进度提升为10%。", + "error_success_analysis": "爪夹向爪夹方向右侧移动，方便爪夹靠近手电筒。", + "correction_plan": "爪夹再次向爪夹方向前方微微移动至手电筒正上方，爪夹合拢抓取手电筒后微微抬升空中，向爪夹方向前方移动，直至到达纸板盒的上方，下降将手电筒放入纸板盒中，然后松开爪夹。", + "annotations": { + "bbox_1767681100088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681100088_1767681151431_9p5imjru8", + "x": 0.4891110541314053, + "y": 0.138870350026827, + "width": 0.3499999786376965, + "height": 0.41466663292100975 + } + ] + } + } + }, + { + "time": 4.595615680133264, + "frame": 138, + "progress": 20, + "action_description": "爪夹向爪夹方向前方微微移动至手电筒正上方。", + "state_description": "当前状态为爪夹打开，靠近手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹合拢抓取手电筒抬升至空中。", + "progress_explanation": "目前爪夹向爪夹方向右侧移动靠近手电筒，方便抓取。所以进度提升为20%。", + "error_success_analysis": "前爪夹向爪夹方向右侧移动靠近手电筒，方便抓取。", + "correction_plan": "爪夹合拢抓取手电筒后微微抬升空中，向爪夹方向前方移动，直至到达纸板盒的上方，下降将手电筒放入纸板盒中，然后松开爪夹。", + "annotations": { + "bbox_1767681100088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681100088_1767681166487_6z86hty3h", + "x": 0.48811105419244055, + "y": 0.11753701842960461, + "width": 0.3489999786987317, + "height": 0.4386666309678849 + } + ] + }, + "bbox_1767681094897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681094897_1767681174830_thils0gxf", + "x": 0.550111050408261, + "y": 0.6753147643786813, + "width": 0.14199999133300834, + "height": 0.10133332508680618 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取手电筒微微向爪夹方向后方移动。", + "correction_plan": "爪夹重新调整角度，下降靠近手电筒，爪夹合拢抓取手电筒后微微抬升空中，向爪夹方向前方移动，直至到达纸板盒的上方，下降将手电筒放入纸板盒中，然后松开爪夹。", + "error_success_analysis": "爪夹合拢抓取手电筒，但没成功抓取，爪夹进行了一次空抓。", + "frame": 190, + "progress": 15, + "progress_explanation": "目前爪夹合拢抓取手电筒，但没成功抓取，爪夹进行了一次空抓。所以进度倒退为15%。", + "state_description": "当前状态为爪夹合拢，远离手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹重新调整角度，下降靠近手电筒。", + "time": 6.343244409342758, + "annotations": { + "bbox_1767681094897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681094897_1767681181847_e5bnlh6f9", + "x": 0.5531110502251556, + "y": 0.5815369806691911, + "width": 0.1269999922485356, + "height": 0.12266665668402853 + } + ] + }, + "bbox_1767681100088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681100088_1767681187350_s0nentlom", + "x": 0.5021110533379483, + "y": 0.11753701842960464, + "width": 0.3339999796142591, + "height": 0.43733329774305846 + } + ] + } + } + }, + { + "time": 7.997866, + "frame": 240, + "progress": 10, + "action_description": "爪夹张开，向上抬起移动。", + "state_description": "当前状态为爪夹张开，远离手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹重新调整角度，下降靠近手电筒。", + "progress_explanation": "目前爪夹张开，向上抬起移动远离手电筒，与上一阶段相比，爪夹多了一次重新靠近手电筒的动作。所以进度倒退为10%。", + "error_success_analysis": "爪夹张开，向上抬起移动远离手电筒，与上一阶段相比，爪夹多了一次重新靠近手电筒的动作。", + "correction_plan": "爪夹重新下降靠近手电筒，爪夹合拢抓取手电筒后微微抬升空中，向爪夹方向前方移动，直至到达纸板盒的上方，下降将手电筒放入纸板盒中，然后松开爪夹。", + "annotations": { + "bbox_1767681100088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681100088_1767681203653_042svzbks", + "x": 0.4841110544365811, + "y": 0.12020368487925741, + "width": 0.3529999784545912, + "height": 0.4359999645182321 + } + ] + }, + "bbox_1767681094897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681094897_1767681208478_eicp2a6e9", + "x": 0.5641110495537689, + "y": 0.5683518061644038, + "width": 0.1289999921264653, + "height": 0.13066665603298694 + } + ] + } + } + }, + { + "time": 8.780266, + "frame": 263, + "progress": 20, + "action_description": "爪夹向爪夹方向前方下降靠近手电筒。", + "state_description": "当前状态为爪夹张开，靠近手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹合拢抓取手电筒。", + "progress_explanation": "目前爪夹张开，向爪夹方向前方下降靠近手电筒，方便抓取手电筒。所以进度抬升为20%。", + "error_success_analysis": "爪夹张开，向爪夹方向前方下降靠近手电筒，方便抓取手电筒。", + "correction_plan": "爪夹合拢抓取手电筒后微微抬升空中，向爪夹方向前方移动，直至到达纸板盒的上方，下降将手电筒放入纸板盒中，然后松开爪夹。", + "annotations": { + "bbox_1767681100088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681100088_1767681219510_45apj0hj5", + "x": 0.5011110533989835, + "y": 0.10953701908064623, + "width": 0.33999997924804815, + "height": 0.4466666303168433 + } + ] + } + } + }, + { + "time": 10.219395308743298, + "frame": 307, + "progress": 10, + "action_description": "爪夹合拢抓取手电筒微微向上抬起。", + "state_description": "当前状态为爪夹合拢，远离手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹重新调整角度，下降靠近手电筒。", + "progress_explanation": "目前爪夹合拢，向上抬起移动远离手电筒，与上一阶段相比，爪夹多了一次重新靠近手电筒的动作。所以进度倒退为10%。", + "error_success_analysis": "爪夹合拢，向上抬起移动远离手电筒，与上一阶段相比，爪夹多了一次重新靠近手电筒的动作。", + "correction_plan": "爪夹张开，重新下降靠近手电筒，爪夹合拢抓取手电筒后微微抬升空中，向爪夹方向前方移动，直至到达纸板盒的上方，下降将手电筒放入纸板盒中，然后松开爪夹。", + "annotations": { + "bbox_1767681100088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681100088_1767681228798_zreyyedjh", + "x": 0.48811105419244055, + "y": 0.10287035295651424, + "width": 0.3489999786987317, + "height": 0.4426666306423641 + } + ] + }, + "bbox_1767681094897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681094897_1767681232829_f4lfcunrd", + "x": 0.5461110506524016, + "y": 0.5442036503740518, + "width": 0.10799999340820357, + "height": 0.16799998632812616 + } + ] + } + } + }, + { + "time": 11.975066, + "frame": 359, + "progress": 15, + "action_description": "爪夹张开。", + "state_description": "当前状态为爪夹张开，靠近手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹下降靠近至手电筒正上方。", + "progress_explanation": "目前爪夹张开，开始向下降移动靠近手电筒。所以进度提升为15%。", + "error_success_analysis": "爪夹张开，开始向下降移动靠近手电筒。", + "correction_plan": "爪夹重新下降靠近手电筒，爪夹合拢抓取手电筒后微微抬升空中，向爪夹方向前方移动，直至到达纸板盒的上方，下降将手电筒放入纸板盒中，然后松开爪夹。", + "annotations": { + "bbox_1767681094897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681094897_1767681239453_izy7ripv6", + "x": 0.5481110505303313, + "y": 0.5388703174747463, + "width": 0.08999999450683634, + "height": 0.15866665375434127 + } + ] + }, + "bbox_1767681100088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681100088_1767681248429_k1scj7vbw", + "x": 0.5021110533379484, + "y": 0.09753702005720864, + "width": 0.33699997943115345, + "height": 0.4519999632161488 + } + ] + } + } + }, + { + "action_description": "爪夹下降靠近至手电筒正上方", + "correction_plan": "爪夹合拢抓取手电筒后微微抬升空中，向爪夹方向前方移动，直至到达纸板盒的上方，下降将手电筒放入纸板盒中，然后松开爪夹。", + "error_success_analysis": "爪夹张开，下降移动靠近手电筒，方便爪夹合拢抓取手电筒。", + "frame": 423, + "progress": 20, + "progress_explanation": "目前爪夹张开，下降移动靠近手电筒，方便爪夹合拢抓取手电筒。所以进度提升为20%。", + "state_description": "当前状态为爪夹张开，靠近手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹合拢夹取手电筒抬升至空中。", + "time": 14.095546208143837, + "annotations": { + "bbox_1767681100088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681100088_1767681257629_4mljr5fy0", + "x": 0.4921110539482999, + "y": 0.09087035393307666, + "width": 0.3449999789428723, + "height": 0.4679999619140656 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取手电筒。", + "correction_plan": "向爪夹方向前方移动，直至到达纸板盒的上方，下降将手电筒放入纸板盒中，然后松开爪夹。", + "error_success_analysis": "爪夹合拢抓取手电筒抬升至空中。", + "frame": 499, + "progress": 40, + "progress_explanation": "目前爪夹合拢抓取手电筒抬升至空中。所以进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹合拢夹取手电筒抬升至空中。", + "time": 16.633333333333333, + "annotations": { + "bbox_1767681100088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681100088_1767681264717_cogzmn08r", + "x": 0.4961110537041593, + "y": 0.09620368683238226, + "width": 0.3449999789428723, + "height": 0.4719999615885448 + } + ] + } + } + }, + { + "time": 18.128535583242662, + "frame": 544, + "progress": 60, + "action_description": "爪夹夹取手电筒向上抬起后微微向爪夹方向前方移动。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹合拢夹取移动放在纸板盒里。", + "progress_explanation": "目前爪夹合拢抓取手电筒抬升至空中向爪夹方向前方移动。所以进度提升为60%。", + "error_success_analysis": "爪夹合拢抓取手电筒抬升至空中向爪夹方向前方移动。", + "correction_plan": "爪夹移动直至到达纸板盒的上方，下降将手电筒放入纸板盒中，然后松开爪夹。", + "annotations": { + "bbox_1767681100088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681100088_1767681271557_l5mtvxtn1", + "x": 0.49711105364312413, + "y": 0.10020368650686144, + "width": 0.34199997912597774, + "height": 0.45866662934028085 + } + ] + }, + "point_1767681109616": { + "type": "point", + "instances": [ + { + "id": "point_1767681109616_1767681293924_ojdzjno1r", + "x": 0.7431110386284766, + "y": 0.3855369966197106 + } + ] + }, + "point_1767681104432": { + "type": "point", + "instances": [ + { + "id": "point_1767681104432_1767681296413_b9wigy9go", + "x": 0.7041110410088475, + "y": 0.36820366469696736 + } + ] + }, + "bbox_1767681094897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681094897_1767681302028_nhox8q0cb", + "x": 0.7111110405816015, + "y": 0.35887033212318264, + "width": 0.05899999639892597, + "height": 0.17999998535156372 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动放入纸板盒里。", + "correction_plan": "下降将手电筒放入纸板盒中，然后松开爪夹。", + "error_success_analysis": "爪夹合拢抓取手电筒向爪夹方向前方移动至纸板盒里。", + "frame": 573, + "progress": 80, + "progress_explanation": "目前爪夹合拢抓取手电筒向爪夹方向前方移动至纸板盒里，所以任务进度提升为80%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹张开，手电筒放入纸板盒里。", + "time": 19.091971933960718, + "annotations": { + "bbox_1767681100088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681100088_1767681277893_mnm1w0ogp", + "x": 0.5001110534600187, + "y": 0.09887035328203504, + "width": 0.33899997930908315, + "height": 0.4546666296658017 + } + ] + }, + "bbox_1767681094897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681094897_1767681282493_e7ihk3hh0", + "x": 0.6321110454033786, + "y": 0.24701849898124195, + "width": 0.05799999645996108, + "height": 0.19866665049913326 + } + ] + }, + "point_1767681104432": { + "type": "point", + "instances": [ + { + "id": "point_1767681104432_1767681285540_ssslbgrb2", + "x": 0.6331110453423434, + "y": 0.26835183057846435 + } + ] + }, + "point_1767681109616": { + "type": "point", + "instances": [ + { + "id": "point_1767681109616_1767681288332_8t2z08wfx", + "x": 0.6721110429619724, + "y": 0.2923518286253394 + } + ] + } + } + }, + { + "action_description": "爪夹松开，手电筒落入纸板盒里，爪夹向后移动远离纸板盒。", + "correction_plan": "至此整个任务成完成。", + "error_success_analysis": "爪夹张开，手电筒成功落入纸板盒里。", + "frame": 617, + "progress": 100, + "progress_explanation": "目前爪夹张开，手电筒成功落入纸板盒里，所以任务进度提升为100%。", + "state_description": "当前状态为爪夹张开，远离手电筒。\n已完成把手电筒放进那个黄色的纸板盒里的任务。", + "time": 20.57073470483029, + "annotations": { + "point_1767681104432": { + "type": "point", + "instances": [ + { + "id": "point_1767681104432_1767681311827_o67d2pecb", + "x": 0.5221110521172453, + "y": 0.5775369809947118 + } + ] + }, + "bbox_1767681100088": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767681100088_1767681319307_hrsh38rn5", + "x": 0.5021110533379484, + "y": 0.11220368553029902, + "width": 0.3309999797973645, + "height": 0.4253332987196209 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767681094897", + "name": "手电筒", + "color": "#4CAF50" + }, + { + "id": "bbox_1767681100088", + "name": "纸板盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767681104432", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767681109616", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-111934-put-flashlight-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-111934-put-flashlight-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..cad8c043c2d4d625c25771ecef654b89577deb68 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-111934-put-flashlight-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,534 @@ +{ + "task_description": "把手电筒放进那个黄色的纸板盒里。\n爪夹开始移动:0%\n爪夹靠近手电筒:20%\n爪夹夹起手电筒:40%\n爪夹移动手电筒:60%\n爪夹将手电筒放入纸板盒内:80%\n爪夹松开，手电筒落入纸板盒内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹调整角度向爪夹方向前方移动靠近手电筒，爪夹再次微微调整角度，爪夹合拢夹取手电筒后，向爪夹方向后方移动靠近纸盒，爪夹松开，手电筒落在桌子上，爪夹重新调整角度，下降靠近手电筒，爪夹合拢抓取手电筒后抬升至空中，然后向爪夹方向右侧移动至纸箱正上方，爪夹松开，手电筒落入纸箱里。", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:调整爪夹角度向爪夹方向前方移动靠近手电筒。", + "time": 0.8557075395407426, + "annotations": { + "bbox_1767684001772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684001772_1767684029283_tvvmfxwn9", + "x": 0.41150000000000003, + "y": 0.3333333333333333, + "width": 0.04399999999999995, + "height": 0.13200000000000003 + } + ] + }, + "bbox_1767684006716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684006716_1767684034195_r4b8dw9v3", + "x": 0.3765, + "y": 0.5559999999999999, + "width": 0.43599999999999994, + "height": 0.4080000000000001 + } + ] + }, + "point_1767684015891": { + "type": "point", + "instances": [ + { + "id": "point_1767684015891_1767684054970_dpphk4juo", + "x": 0.22949999999999998, + "y": 0.5373333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度向爪夹方向右前方移动。", + "correction_plan": "继续向爪夹方向前方移动靠近手电筒，爪夹再次微微调整角度，爪夹合拢夹取手电筒后，向爪夹方向后方移动靠近纸盒，爪夹松开，手电筒落在桌子上，爪夹重新调整角度，下降靠近手电筒，爪夹合拢抓取手电筒后抬升至空中，然后向爪夹方向右侧移动至纸箱正上方，爪夹松开，手电筒落入纸箱里。", + "error_success_analysis": "爪夹张开，向爪夹方向右前方移动靠近手电筒，方便爪夹抓取手电筒。", + "frame": 93, + "progress": 5, + "progress_explanation": "目前爪夹张开，向爪夹方向右前方移动靠近手电筒，所以进度提升为5%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹持续向前方移动靠近手电筒。", + "time": 3.114666, + "annotations": { + "bbox_1767684001772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684001772_1767684073890_696q9t1kt", + "x": 0.41050000000000003, + "y": 0.324, + "width": 0.04399999999999995, + "height": 0.15333333333333332 + } + ] + }, + "bbox_1767684006716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684006716_1767684081329_39tk3cvpb", + "x": 0.3785, + "y": 0.5559999999999999, + "width": 0.433, + "height": 0.3960000000000001 + } + ] + } + } + }, + { + "time": 4.890999, + "frame": 147, + "progress": 10, + "action_description": "爪夹持续向爪夹方向右前方移动。", + "state_description": "当前状态为爪夹打开，靠近手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:调整爪夹角度靠近手电筒。", + "progress_explanation": "目前爪夹向爪夹方向右前方移动，与上一阶段相比，更靠近手电筒，所以进度提升为10%。", + "error_success_analysis": "爪夹向爪夹方向右前方移动，与上一阶段相比，更靠近手电筒，方便爪夹抓取手电筒。", + "correction_plan": "爪夹再次微微调整角度，爪夹合拢夹取手电筒后，向爪夹方向后方移动靠近纸盒，爪夹松开，手电筒落在桌子上，爪夹重新调整角度，下降靠近手电筒，爪夹合拢抓取手电筒后抬升至空中，然后向爪夹方向右侧移动至纸箱正上方，爪夹松开，手电筒落入纸箱里。", + "annotations": { + "bbox_1767684006716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684006716_1767684095977_x1zx0ku0y", + "x": 0.3815, + "y": 0.5586666666666668, + "width": 0.434, + "height": 0.3853333333333333 + } + ] + }, + "bbox_1767684001772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684001772_1767684100049_saoav8xmx", + "x": 0.41150000000000003, + "y": 0.32133333333333336, + "width": 0.04399999999999995, + "height": 0.15466666666666667 + } + ] + }, + "point_1767684015891": { + "type": "point", + "instances": [ + { + "id": "point_1767684015891_1767684102353_esee2yy86", + "x": 0.47450000000000003, + "y": 0.388 + } + ] + } + } + }, + { + "time": 7.932666, + "frame": 238, + "progress": 20, + "action_description": "爪夹微微调整角度靠近手电筒。", + "state_description": "当前状态为爪夹打开，靠近手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹合拢抓取手电筒。", + "progress_explanation": "目前爪夹微微调整角度贴近手电筒，与上一阶段相比，更容易抓取手电筒，所以进度提升为20%。", + "error_success_analysis": "爪夹微微调整角度贴近手电筒，与上一阶段相比，更容易抓取手电筒。", + "correction_plan": "爪夹合拢夹取手电筒后，向爪夹方向后方移动靠近纸盒，爪夹松开，手电筒落在桌子上，爪夹重新调整角度，下降靠近手电筒，爪夹合拢抓取手电筒后抬升至空中，然后向爪夹方向右侧移动至纸箱正上方，爪夹松开，手电筒落入纸箱里。", + "annotations": { + "bbox_1767684006716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684006716_1767684115801_reb1znccf", + "x": 0.3765, + "y": 0.5560000000000002, + "width": 0.43699999999999994, + "height": 0.3879999999999999 + } + ] + }, + "bbox_1767684001772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684001772_1767684120129_2hwzz92al", + "x": 0.4095, + "y": 0.3253333333333333, + "width": 0.04900000000000002, + "height": 0.16133333333333333 + } + ] + }, + "point_1767684015891": { + "type": "point", + "instances": [ + { + "id": "point_1767684015891_1767684122384_c2ci03xns", + "x": 0.4625, + "y": 0.37866666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取手电筒。", + "correction_plan": "向爪夹方向后方移动靠近纸盒，爪夹松开，手电筒落在桌子上，爪夹重新调整角度，下降靠近手电筒，爪夹合拢抓取手电筒后抬升至空中，然后向爪夹方向右侧移动至纸箱正上方，爪夹松开，手电筒落入纸箱里。", + "error_success_analysis": "爪夹夹取手电筒，开始向爪夹方向后方移动。", + "frame": 291, + "progress": 40, + "progress_explanation": "目前爪夹夹取手电筒，开始向爪夹方向后方移动，所以进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹夹取手电筒向爪夹方向后方移动。", + "time": 9.685947412782937, + "annotations": { + "bbox_1767684006716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684006716_1767684136113_l9u9te4zv", + "x": 0.3765, + "y": 0.568, + "width": 0.43599999999999994, + "height": 0.38133333333333336 + } + ] + }, + "bbox_1767684001772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684001772_1767684140672_c1kvozuk9", + "x": 0.41850000000000004, + "y": 0.31333333333333335, + "width": 0.050999999999999976, + "height": 0.156 + } + ] + }, + "point_1767684010468": { + "type": "point", + "instances": [ + { + "id": "point_1767684010468_1767684142928_m09pr9g0w", + "x": 0.4205, + "y": 0.35333333333333333 + } + ] + }, + "point_1767684015891": { + "type": "point", + "instances": [ + { + "id": "point_1767684015891_1767684145512_cijzpayyq", + "x": 0.4545, + "y": 0.35333333333333333 + } + ] + } + } + }, + { + "time": 12.103951724226803, + "frame": 363, + "progress": 60, + "action_description": "爪夹夹取手电筒向爪夹方向后方移动。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹夹取手电筒向爪夹方向右侧移动靠近纸盒。", + "progress_explanation": "目前爪夹夹取手电筒，向爪夹方向后方移动，方便靠近纸盒，所以进度提升为60%。", + "error_success_analysis": "爪夹夹取手电筒，向爪夹方向后方移动，方便靠近纸盒。", + "correction_plan": "爪夹松开，手电筒落在桌子上，爪夹重新调整角度，下降靠近手电筒，爪夹合拢抓取手电筒后抬升至空中，然后向爪夹方向右侧移动至纸箱正上方，爪夹松开，手电筒落入纸箱里。", + "annotations": { + "bbox_1767684001772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684001772_1767684157576_n4exu947w", + "x": 0.3755, + "y": 0.4, + "width": 0.041999999999999996, + "height": 0.19333333333333336 + } + ] + }, + "bbox_1767684006716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684006716_1767684164152_br4s1iagy", + "x": 0.3765, + "y": 0.5573333333333333, + "width": 0.4379999999999999, + "height": 0.3946666666666668 + } + ] + } + } + }, + { + "time": 12.945333, + "frame": 388, + "progress": 10, + "action_description": "爪夹松开，手电筒落到桌面上。", + "state_description": "当前状态为爪夹张开，远离手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹重新调整角度，下降靠近手电筒。", + "progress_explanation": "目前爪夹夹取手电筒，但没成功抓取，遇上一阶段相比，多了一次重新抓取手电筒的动作，所以进度倒退为10%。", + "error_success_analysis": "爪夹重新调整角度，下降靠近手电筒，爪夹合拢抓取手电筒后抬升至空中，然后向爪夹方向右侧移动至纸箱正上方，爪夹松开，手电筒落入纸箱里。", + "correction_plan": "", + "annotations": { + "bbox_1767684006716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684006716_1767684174207_65x8kae1t", + "x": 0.3775, + "y": 0.5559999999999999, + "width": 0.437, + "height": 0.3920000000000002 + } + ] + }, + "bbox_1767684001772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684001772_1767684178576_7q6oajpxy", + "x": 0.2545, + "y": 0.7826666666666667, + "width": 0.09000000000000004, + "height": 0.17600000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左侧微微移动。", + "correction_plan": "下降靠近手电筒，爪夹合拢抓取手电筒后抬升至空中，然后向爪夹方向右侧移动至纸箱正上方，爪夹松开，手电筒落入纸箱里。", + "error_success_analysis": "爪夹向爪夹方向左侧移动，方便爪夹下降靠近手电筒。", + "frame": 420, + "progress": 15, + "progress_explanation": "目前爪夹向爪夹方向左侧移动，方便爪夹下降靠近手电筒，所以进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹移动。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹下降靠近手电筒。", + "time": 14.010480907731957, + "annotations": { + "bbox_1767684006716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684006716_1767684202247_97p4ivyb7", + "x": 0.3815, + "y": 0.5559999999999999, + "width": 0.43200000000000005, + "height": 0.3933333333333335 + } + ] + }, + "bbox_1767684001772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684001772_1767684206831_q15k0y6om", + "x": 0.2675, + "y": 0.7866666666666667, + "width": 0.08399999999999999, + "height": 0.17733333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹下降靠近手电筒。", + "correction_plan": "爪夹合拢抓取手电筒后抬升至空中，然后向爪夹方向右侧移动至纸箱正上方，爪夹松开，手电筒落入纸箱里。", + "error_success_analysis": "爪夹下降靠近手电筒，方便爪夹抓取手电筒。", + "frame": 503, + "progress": 20, + "progress_explanation": "目前爪夹下降靠近手电筒，方便爪夹抓取手电筒，所以进度提升为20%。", + "state_description": "当前状态为爪夹张开，靠近手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹合拢抓取手电筒抬升至空中。", + "time": 16.769931041752578, + "annotations": { + "bbox_1767684006716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684006716_1767684226199_zocq6hdc3", + "x": 0.37750000000000006, + "y": 0.5519999999999999, + "width": 0.43900000000000006, + "height": 0.39733333333333337 + } + ] + }, + "bbox_1767684001772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684001772_1767684238214_rksghnuf6", + "x": 0.2955, + "y": 0.7866666666666667, + "width": 0.05699999999999998, + "height": 0.17866666666666664 + } + ] + } + } + }, + { + "time": 18.882666, + "frame": 566, + "progress": 40, + "action_description": "爪夹合拢抓取手电筒微微抬升至空中。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹合拢抓取手电筒向爪夹方向右侧移动。", + "progress_explanation": "目前爪夹抓取手电筒，抬升至空中，方便向爪夹方向右侧移动靠近纸盒，所以进度提升为40%。", + "error_success_analysis": "爪夹抓取手电筒，抬升至空中，方便向爪夹方向右侧移动靠近纸盒。", + "correction_plan": "向爪夹方向右侧移动至纸箱正上方，爪夹松开，手电筒落入纸箱里。", + "annotations": { + "bbox_1767684006716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684006716_1767684246358_ir85cf4tx", + "x": 0.3785, + "y": 0.5533333333333332, + "width": 0.43599999999999994, + "height": 0.404 + } + ] + } + } + }, + { + "time": 20.512999, + "frame": 615, + "progress": 60, + "action_description": "爪夹向爪夹方向右侧移动。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹合拢抓取手电筒向爪夹方向右侧移动靠近纸盒。", + "progress_explanation": "目前爪夹抓取手电筒向爪夹方向右侧移动靠近纸盒，所以进度提升为60%。", + "error_success_analysis": "爪夹抓取手电筒向爪夹方向右侧移动靠近纸盒。", + "correction_plan": "向爪夹方向右侧移动至纸箱正上方，爪夹松开，手电筒落入纸箱里。", + "annotations": { + "bbox_1767684006716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684006716_1767684258605_zxkt7ix51", + "x": 0.3745, + "y": 0.5573333333333333, + "width": 0.4390000000000002, + "height": 0.3893333333333334 + } + ] + }, + "bbox_1767684001772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684001772_1767684276078_19a92zt01", + "x": 0.4265, + "y": 0.3453333333333333, + "width": 0.06100000000000003, + "height": 0.24933333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右侧移动至纸盒的上方。", + "correction_plan": "爪夹松开，手电筒落入纸箱里。", + "error_success_analysis": "前爪夹抓取手电筒向爪夹方向右侧移动至纸盒里，方便爪夹松开，手电筒落入纸盒里。", + "frame": 648, + "progress": 80, + "progress_explanation": "目前爪夹抓取手电筒向爪夹方向右侧移动至纸盒里，所以进度提升为80%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹松开，手电筒落入纸盒里。", + "time": 21.586425821134018, + "annotations": { + "point_1767684015891": { + "type": "point", + "instances": [ + { + "id": "point_1767684015891_1767684287557_jzrd6sjid", + "x": 0.5435000000000001, + "y": 0.5906666666666667 + } + ] + }, + "bbox_1767684006716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684006716_1767684291637_szjv1nwve", + "x": 0.3755, + "y": 0.5573333333333335, + "width": 0.4389999999999999, + "height": 0.39466666666666667 + } + ] + }, + "bbox_1767684001772": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684001772_1767684295420_lt3dyrblh", + "x": 0.5105000000000001, + "y": 0.38666666666666666, + "width": 0.050999999999999976, + "height": 0.23199999999999996 + } + ] + } + } + }, + { + "action_description": "爪夹松开，手电筒落入纸箱里。", + "correction_plan": "至此整个任务成功完成", + "error_success_analysis": "爪夹张开，手电筒成功落入纸盒里。", + "frame": 682, + "progress": 100, + "progress_explanation": "目前爪夹张开，手电筒成功落入纸盒里，所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，手电筒落入纸盒里。\n已完成把手电筒放进那个黄色的纸板盒里的任务。", + "time": 22.740377695360824, + "annotations": { + "bbox_1767684006716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684006716_1767684310021_8t8o050so", + "x": 0.3875, + "y": 0.568, + "width": 0.42699999999999994, + "height": 0.38266666666666665 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767684001772", + "name": "手电筒", + "color": "#4CAF50" + }, + { + "id": "bbox_1767684006716", + "name": "纸盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767684010468", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767684015891", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-113330-put-flashlight-yellow-cardboard box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-113330-put-flashlight-yellow-cardboard box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..be3f2906a2514afbb844f02c4debbf28aeb4e536 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-113330-put-flashlight-yellow-cardboard box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,590 @@ +{ + "task_description": "把手电筒放进那个黄色的纸板盒里。\n爪夹开始移动:0%\n爪夹靠近手电筒:20%\n爪夹夹起手电筒:40%\n爪夹移动手电筒:60%\n爪夹将手电筒放入纸板盒内:80%\n爪夹松开，手电筒落入纸板盒内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹调整角度向爪夹方向右侧移动，然后下降靠近手电筒，爪夹合拢夹取手电筒，接着爪夹张开再次下降靠近手电筒，爪夹合拢夹取手电筒，首先抬升至空中，然后向爪夹方向左侧移动放进纸盒里，爪夹松开，手电筒落入纸箱里。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:调整爪夹角度向爪夹方向右侧移动靠近手电筒。", + "time": 1.3287113402061856, + "annotations": { + "bbox_1767686881351": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686881351_1767687131585_rzhxsdp67", + "x": 0.40449999999999997, + "y": 0.30266666666666675, + "width": 0.30600000000000005, + "height": 0.368 + } + ] + }, + "bbox_1767686871655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686871655_1767687144345_otr66vpr8", + "x": 0.7915, + "y": 0.544, + "width": 0.03400000000000007, + "height": 0.11333333333333329 + } + ] + }, + "point_1767686886846": { + "type": "point", + "instances": [ + { + "id": "point_1767686886846_1767687146649_qldldu276", + "x": 0.3935, + "y": 0.5146666666666666 + } + ] + }, + "point_1767686893408": { + "type": "point", + "instances": [ + { + "id": "point_1767686893408_1767687156600_d6s9o44t4", + "x": 0.6165, + "y": 0.5253333333333333 + } + ] + } + } + }, + { + "time": 2.6958247422680413, + "frame": 81, + "progress": 10, + "action_description": "爪夹向爪夹方向右侧移动。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹下降靠近手电筒，方便抓取手电筒。", + "progress_explanation": "目前爪夹向爪夹方向右侧移动，方便爪夹靠近手电筒，所以进度提升为10%。", + "error_success_analysis": "爪夹向爪夹方向右侧移动，方便爪夹靠近手电筒。", + "correction_plan": "爪夹下降靠近手电筒，爪夹合拢夹取手电筒，接着爪夹张开再次下降靠近手电筒，爪夹合拢夹取手电筒，首先抬升至空中，然后向爪夹方向左侧移动放进纸盒里，爪夹松开，手电筒落入纸箱里。", + "annotations": { + "bbox_1767686871655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686871655_1767687097162_w99tirgu2", + "x": 0.5285, + "y": 0.2613333333333333, + "width": 0.06299999999999999, + "height": 0.1866666666666667 + } + ] + }, + "bbox_1767686881351": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686881351_1767687111937_k46gpbdta", + "x": 0.0175, + "y": 0.02666666666666667, + "width": 0.334, + "height": 0.5706666666666668 + } + ] + }, + "point_1767686886846": { + "type": "point", + "instances": [ + { + "id": "point_1767686886846_1767687115049_46cwvkvtb", + "x": 0.3975, + "y": 0.5146666666666666 + } + ] + }, + "point_1767686893408": { + "type": "point", + "instances": [ + { + "id": "point_1767686893408_1767687117913_nbvpir12b", + "x": 0.6185, + "y": 0.512 + } + ] + } + } + }, + { + "time": 4.738814432989691, + "frame": 142, + "progress": 20, + "action_description": "爪夹下降靠近手电筒。", + "state_description": "当前状态为爪夹打开，爪夹靠近手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹合拢抓取手电筒。", + "progress_explanation": "目前爪夹下降靠近手电筒，方便爪夹抓取手电筒，所以进度提升为20%。", + "error_success_analysis": "爪夹下降靠近手电筒，方便爪夹抓取手电筒。", + "correction_plan": "爪夹合拢夹取手电筒，接着爪夹张开再次下降靠近手电筒，爪夹合拢夹取手电筒，首先抬升至空中，然后向爪夹方向左侧移动放进纸盒里，爪夹松开，手电筒落入纸箱里。", + "annotations": { + "point_1767686893408": { + "type": "point", + "instances": [ + { + "id": "point_1767686893408_1767687073698_3g2bedvi9", + "x": 0.6195, + "y": 0.5226666666666666 + } + ] + }, + "point_1767686886846": { + "type": "point", + "instances": [ + { + "id": "point_1767686886846_1767687076387_3147peryz", + "x": 0.3935, + "y": 0.5253333333333333 + } + ] + }, + "bbox_1767686881351": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686881351_1767687083386_gsb5tz80o", + "x": 0.013500000000000002, + "y": 0.164, + "width": 0.142, + "height": 0.7626666666666667 + } + ] + }, + "bbox_1767686871655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686871655_1767687091298_tzxa3l3n1", + "x": 0.47250000000000003, + "y": 0.25333333333333335, + "width": 0.088, + "height": 0.352 + } + ] + } + } + }, + { + "time": 5.9451, + "frame": 178, + "progress": 40, + "action_description": "爪夹合拢抓取手电筒。", + "state_description": "当前状态为爪夹合拢，抓取手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹合拢抓取手电筒抬升空中。", + "progress_explanation": "目前爪夹合拢抓取手电筒，微微抬升，所以进度提升为40%。", + "error_success_analysis": "爪夹合拢抓取手电筒，微微抬升。", + "correction_plan": "爪夹张开再次下降靠近手电筒，爪夹合拢夹取手电筒，首先抬升至空中，然后向爪夹方向左侧移动放进纸盒里，爪夹松开，手电筒落入纸箱里。", + "annotations": { + "bbox_1767686871655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686871655_1767687058891_9rtljqlrn", + "x": 0.4645, + "y": 0.24266666666666667, + "width": 0.08599999999999994, + "height": 0.356 + } + ] + }, + "bbox_1767686881351": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686881351_1767687064491_et5ljp3yz", + "x": 0.0045, + "y": 0.1, + "width": 0.156, + "height": 0.8093333333333333 + } + ] + }, + "point_1767686886846": { + "type": "point", + "instances": [ + { + "id": "point_1767686886846_1767687067115_cycwrzdcl", + "x": 0.47350000000000003, + "y": 0.5386666666666666 + } + ] + }, + "point_1767686893408": { + "type": "point", + "instances": [ + { + "id": "point_1767686893408_1767687069218_0poul8m70", + "x": 0.5445, + "y": 0.536 + } + ] + } + } + }, + { + "time": 6.9881, + "frame": 210, + "progress": 10, + "action_description": "爪夹合拢抬升空中。", + "state_description": "当前状态为爪夹合拢，远离手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹张开，重新下降靠近手电筒。", + "progress_explanation": "目前爪夹合拢抬升至空中，但没有成功抓取手电筒，与上一阶段相比，爪夹多了一次张开重新下降靠近手电筒的动作，所以进度倒退为10%。", + "error_success_analysis": "爪夹合拢抬升至空中，但没有成功抓取手电筒，与上一阶段相比，爪夹多了一次张开重新下降靠近手电筒的动作。", + "correction_plan": "爪夹张开再次下降靠近手电筒，爪夹合拢夹取手电筒，首先抬升至空中，然后向爪夹方向左侧移动放进纸盒里，爪夹松开，手电筒落入纸箱里。", + "annotations": { + "point_1767686893408": { + "type": "point", + "instances": [ + { + "id": "point_1767686893408_1767687040635_4t60ioehl", + "x": 0.5085, + "y": 0.5253333333333333 + } + ] + }, + "point_1767686886846": { + "type": "point", + "instances": [ + { + "id": "point_1767686886846_1767687043516_dnhnn40hv", + "x": 0.5015, + "y": 0.536 + } + ] + }, + "bbox_1767686881351": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686881351_1767687050083_3h0pm6ycz", + "x": 0.0085, + "y": 0.17466666666666666, + "width": 0.20600000000000002, + "height": 0.6933333333333332 + } + ] + }, + "bbox_1767686871655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686871655_1767687053923_8f4hjctge", + "x": 0.43950000000000006, + "y": 0.3466666666666667, + "width": 0.05800000000000001, + "height": 0.24399999999999994 + } + ] + } + } + }, + { + "time": 7.8821, + "frame": 236, + "progress": 15, + "action_description": "爪夹张开。", + "state_description": "当前状态为爪夹张开，爪夹移动。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹重新下降靠近手电筒。", + "progress_explanation": "目前爪夹张开，开始下降靠近手电筒，方便抓取。所以进度再次提升为15%。", + "error_success_analysis": "爪夹张开，开始下降靠近手电筒，方便抓取手电筒。", + "correction_plan": "爪夹下降靠近手电筒，爪夹合拢夹取手电筒，首先抬升至空中，然后向爪夹方向左侧移动放进纸盒里，爪夹松开，手电筒落入纸箱里。", + "annotations": { + "bbox_1767686881351": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686881351_1767687024667_pyzgp2pi3", + "x": 0.0085, + "y": 0.16933333333333334, + "width": 0.197, + "height": 0.6359999999999999 + } + ] + }, + "bbox_1767686871655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686871655_1767687029579_st01wli56", + "x": 0.3965, + "y": 0.3106666666666667, + "width": 0.06000000000000001, + "height": 0.2293333333333333 + } + ] + }, + "point_1767686886846": { + "type": "point", + "instances": [ + { + "id": "point_1767686886846_1767687032515_k18ngaupp", + "x": 0.3935, + "y": 0.5213333333333333 + } + ] + }, + "point_1767686893408": { + "type": "point", + "instances": [ + { + "id": "point_1767686893408_1767687035195_c42a0snww", + "x": 0.6195, + "y": 0.52 + } + ] + } + } + }, + { + "action_description": "爪夹下降靠近手电筒。", + "correction_plan": "爪夹合拢夹取手电筒，首先抬升至空中，然后向爪夹方向左侧移动放进纸盒里，爪夹松开，手电筒落入纸箱里。", + "error_success_analysis": "爪夹张开，下降靠近手电筒，方便爪夹合拢抓取手电筒。", + "frame": 285, + "progress": 20, + "progress_explanation": "目前爪夹张开，下降靠近手电筒，方便抓取。所以进度提升为20%。", + "state_description": "当前状态为爪夹张开，靠近手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹合拢抓取手电筒抬升至空中。", + "time": 9.51603092783505, + "annotations": { + "point_1767686893408": { + "type": "point", + "instances": [ + { + "id": "point_1767686893408_1767686988604_l7j1fevku", + "x": 0.5975, + "y": 0.524 + } + ] + }, + "point_1767686886846": { + "type": "point", + "instances": [ + { + "id": "point_1767686886846_1767686991684_454iy09v3", + "x": 0.4175, + "y": 0.5226666666666666 + } + ] + }, + "bbox_1767686871655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686871655_1767686999708_q6yw04usz", + "x": 0.44650000000000006, + "y": 0.2, + "width": 0.09699999999999998, + "height": 0.3706666666666667 + } + ] + }, + "bbox_1767686881351": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686881351_1767687014803_00bgzvbxo", + "x": 0.006500000000000001, + "y": 0.06666666666666667, + "width": 0.12100000000000002, + "height": 0.8013333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取手电筒抬升至空中。", + "correction_plan": "向爪夹方向左侧移动放进纸盒里，爪夹松开，手电筒落入纸箱里。", + "error_success_analysis": "爪夹合拢抓取手电筒抬升至空中，方便向爪夹方向左侧移动。", + "frame": 334, + "progress": 40, + "progress_explanation": "目前爪夹合拢抓取手电筒抬升至空中。所以进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹抓取手电筒向爪夹方向右侧移动。", + "time": 11.133333333333333, + "annotations": { + "bbox_1767686881351": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686881351_1767686972357_y5wapsxpu", + "x": 0.006500000000000001, + "y": 0.13466666666666666, + "width": 0.179, + "height": 0.7133333333333334 + } + ] + }, + "bbox_1767686871655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686871655_1767686977204_28akytrz2", + "x": 0.4615, + "y": 0.20400000000000001, + "width": 0.09500000000000001, + "height": 0.38266666666666665 + } + ] + }, + "point_1767686886846": { + "type": "point", + "instances": [ + { + "id": "point_1767686886846_1767686979669_0mi2hiihz", + "x": 0.4715, + "y": 0.5333333333333333 + } + ] + }, + "point_1767686893408": { + "type": "point", + "instances": [ + { + "id": "point_1767686893408_1767686983125_cr5wmwybt", + "x": 0.5455, + "y": 0.5453333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹抓取手电筒向爪夹方向右侧移动。", + "correction_plan": "继续向爪夹方向左侧移动放进纸盒里，爪夹松开，手电筒落入纸箱里。", + "error_success_analysis": "爪夹抓取手电筒向爪夹方向右侧移动，方便爪夹靠近纸盒。", + "frame": 370, + "progress": 60, + "progress_explanation": "目前爪夹抓取手电筒向爪夹方向右侧移动。所以进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹持续向爪夹方向右侧移动靠近纸盒。", + "time": 12.342422680412373, + "annotations": { + "bbox_1767686881351": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686881351_1767686935870_9gow4swel", + "x": 0.0315, + "y": 0.36400000000000005, + "width": 0.36100000000000004, + "height": 0.544 + } + ] + }, + "bbox_1767686871655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686871655_1767686941469_u1gwf24za", + "x": 0.4535, + "y": 0.20533333333333334, + "width": 0.10199999999999995, + "height": 0.384 + } + ] + }, + "point_1767686886846": { + "type": "point", + "instances": [ + { + "id": "point_1767686886846_1767686943933_9lhy2ukz6", + "x": 0.4615, + "y": 0.5146666666666666 + } + ] + }, + "point_1767686893408": { + "type": "point", + "instances": [ + { + "id": "point_1767686893408_1767686946813_0cm5zcrd7", + "x": 0.5485, + "y": 0.5293333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹松开，手电筒落入木盒里。", + "correction_plan": "爪夹向爪夹方向前方下降靠近手电筒，爪夹合拢抓取手电筒后，抬升至空中，然后向爪夹方向左侧移动放进纸盒里，爪夹松开，手电筒落入纸箱里。", + "error_success_analysis": "爪夹松开，手电筒落入木盒里，与上一阶段相比，爪夹多了一次重新靠近手电筒，抓取手电筒的动作。", + "frame": 406, + "progress": 15, + "progress_explanation": "目前爪夹松开，手电筒落入木盒里，与上一阶段相比，爪夹多了一次重新靠近手电筒，抓取手电筒的动作。所以进度倒退为15%。", + "state_description": "当前状态为爪夹张开，远离手电筒。\n为完成把手电筒放进那个黄色的纸板盒里的任务应当:爪夹重新向爪夹方向前方移动靠近手电筒。", + "time": 13.52520618556701, + "annotations": { + "point_1767686893408": { + "type": "point", + "instances": [ + { + "id": "point_1767686893408_1767686905054_8h2c8q91c", + "x": 0.6025, + "y": 0.5173333333333333 + } + ] + }, + "point_1767686886846": { + "type": "point", + "instances": [ + { + "id": "point_1767686886846_1767686907734_nj20w8r07", + "x": 0.41050000000000003, + "y": 0.5253333333333333 + } + ] + }, + "bbox_1767686881351": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686881351_1767686914646_hpnrnzqmq", + "x": 0.0245, + "y": 0.116, + "width": 0.375, + "height": 0.5026666666666666 + } + ] + }, + "bbox_1767686871655": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686871655_1767686919677_klbs9xvrq", + "x": 0.4715, + "y": 0.18400000000000002, + "width": 0.07000000000000002, + "height": 0.196 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767686871655", + "name": "手电筒", + "color": "#4CAF50" + }, + { + "id": "bbox_1767686881351", + "name": "纸板盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767686886846", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767686893408", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-114459-put-flashlight-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-114459-put-flashlight-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..7dfc98c1ceac1dde41e6ae1b01e0960fa46486be --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-114459-put-flashlight-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,394 @@ +{ + "task_description": "把手电筒放进那个白色的垃圾桶里。\n爪夹开始移动:0%\n爪夹靠近手电筒:20%\n爪夹夹起手电筒:40%\n爪夹移动手电筒:60%\n爪夹将手电筒放入垃圾桶内:80%\n爪夹松开，手电筒落入垃圾桶内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度微微抬升，然后向爪夹方向右前方移动，调整爪夹角度靠近手电筒，爪夹微微向爪夹方向前方移动，爪夹合拢抓取手电筒后，抬升至空中，紧接着向爪夹方向前方移动至垃圾桶附近，爪夹将手电筒放入垃圾桶内，爪夹松开，手电筒落入垃圾桶内。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:调整爪夹角度微微抬升。", + "time": 1.60000005, + "annotations": { + "bbox_1767690271400": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690271400_1767690449964_1u7surtrj", + "x": 0.3755, + "y": 0.5626666666666666, + "width": 0.07000000000000002, + "height": 0.14533333333333343 + } + ] + }, + "bbox_1767690276415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690276415_1767690455227_s1lf0a3v1", + "x": 0.36750000000000005, + "y": 0.3733333333333333, + "width": 0.15500000000000003, + "height": 0.276 + } + ] + }, + "point_1767690292359": { + "type": "point", + "instances": [ + { + "id": "point_1767690292359_1767690463819_iuuok2ap5", + "x": 0.2185, + "y": 0.5386666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹微微抬升。", + "correction_plan": "向爪夹方向右前方移动，调整爪夹角度靠近手电筒，爪夹微微向爪夹方向前方移动，爪夹合拢抓取手电筒后，抬升至空中，紧接着向爪夹方向前方移动至垃圾桶附近，爪夹将手电筒放入垃圾桶内，爪夹松开，手电筒落入垃圾桶内。", + "error_success_analysis": "爪夹调整角度微微抬升，方便爪夹向爪夹方向右侧移动。", + "frame": 69, + "progress": 5, + "progress_explanation": "目前爪夹调整角度微微抬升，所以进度提升为5%。", + "state_description": "当前状态为爪夹打开，爪夹抬升。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹向爪夹方向右前方移动。", + "time": 2.293333, + "annotations": { + "bbox_1767690276415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690276415_1767690434092_tsjv7zg3e", + "x": 0.3715, + "y": 0.38266666666666665, + "width": 0.15499999999999997, + "height": 0.26533333333333337 + } + ] + }, + "bbox_1767690271400": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690271400_1767690438676_k4do1nqin", + "x": 0.3765, + "y": 0.5586666666666668, + "width": 0.062000000000000055, + "height": 0.1466666666666666 + } + ] + } + } + }, + { + "time": 3.264, + "frame": 98, + "progress": 10, + "action_description": "爪夹向爪夹方向右侧移动。", + "state_description": "当前状态为爪夹打开，爪夹抬升。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹调整角度靠近手电筒。", + "progress_explanation": "目前爪夹向爪夹方向右侧移动，距离手电筒更近，所以进度提升为10%。", + "error_success_analysis": "爪夹向爪夹方向右侧移动，距离手电筒更近，方便爪夹抓取手电筒。", + "correction_plan": "调整爪夹角度靠近手电筒，爪夹再次微微向爪夹方向前方移动爪夹合拢抓取手电筒后，抬升至空中，紧接着向爪夹方向前方移动至垃圾桶附近，爪夹将手电筒放入垃圾桶内，爪夹松开，手电筒落入垃圾桶内。", + "annotations": { + "bbox_1767690276415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690276415_1767690426716_mzkxhnneb", + "x": 0.35750000000000004, + "y": 0.36933333333333335, + "width": 0.16799999999999998, + "height": 0.2853333333333333 + } + ] + } + } + }, + { + "time": 4.736, + "frame": 142, + "progress": 15, + "action_description": "爪夹调整角度下降靠近手电筒。", + "state_description": "当前状态为爪夹打开，靠近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹微微向爪夹方向前方移动。", + "progress_explanation": "目前爪夹再次调整角度，处在手电筒的两侧，方便爪夹合拢抓取。所以进度提升为15%。", + "error_success_analysis": "爪夹再次调整角度，处在手电筒的两侧，方便爪夹合拢抓取。", + "correction_plan": "爪夹微微向爪夹方向前方移动，爪夹合拢抓取手电筒后，抬升至空中，紧接着向爪夹方向前方移动至垃圾桶附近，爪夹将手电筒放入垃圾桶内，爪夹松开，手电筒落入垃圾桶内。", + "annotations": { + "bbox_1767690271400": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690271400_1767690404124_2e9fvlphs", + "x": 0.3835, + "y": 0.5626666666666666, + "width": 0.05499999999999998, + "height": 0.14666666666666675 + } + ] + }, + "bbox_1767690276415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690276415_1767690410116_9y1mkvaik", + "x": 0.36350000000000005, + "y": 0.37733333333333335, + "width": 0.16499999999999998, + "height": 0.2813333333333334 + } + ] + } + } + }, + { + "time": 5.376, + "frame": 161, + "progress": 20, + "action_description": "爪夹微微向爪夹方向前方移动。", + "state_description": "当前状态为爪夹打开，靠近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹合拢抓取手电筒微微抬升至空中。", + "progress_explanation": "目前爪夹再次调整角度，微微向爪夹方向前方移动靠近手电筒，方便爪夹合拢抓取。所以进度提升为20%。", + "error_success_analysis": "爪夹再次调整角度，微微向爪夹方向前方移动靠近手电筒，方便爪夹合拢抓取手电筒。", + "correction_plan": "爪夹合拢抓取手电筒后，抬升至空中，紧接着向爪夹方向前方移动至垃圾桶附近，爪夹将手电筒放入垃圾桶内，爪夹松开，手电筒落入垃圾桶内。", + "annotations": { + "bbox_1767690276415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690276415_1767690389037_px5ojgq1t", + "x": 0.36350000000000005, + "y": 0.388, + "width": 0.15900000000000003, + "height": 0.25199999999999995 + } + ] + }, + "bbox_1767690271400": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690271400_1767690394069_9nu717wer", + "x": 0.3815, + "y": 0.5653333333333334, + "width": 0.051000000000000024, + "height": 0.15466666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取手电筒微微抬升至空中。", + "correction_plan": "向爪夹方向前方移动至垃圾桶附近，爪夹将手电筒放入垃圾桶内，爪夹松开，手电筒落入垃圾桶内。", + "error_success_analysis": "爪夹抓取手电筒，微微抬升至空中，方便爪夹向爪夹方向前方移动。", + "frame": 185, + "progress": 40, + "progress_explanation": "目前爪夹抓取手电筒，微微抬升至空中。所以进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹抓取手电筒向爪夹方向前方移动。", + "time": 6.174570639690723, + "annotations": { + "bbox_1767690276415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690276415_1767690381637_1qi8lbg7p", + "x": 0.3805, + "y": 0.37466666666666665, + "width": 0.14200000000000004, + "height": 0.27733333333333327 + } + ] + } + } + }, + { + "time": 7.032302625257732, + "frame": 211, + "progress": 50, + "action_description": "爪夹持续抓取手电筒抬升至空中。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹抓取手电筒向爪夹方向前方移动。", + "progress_explanation": "目前爪夹抓取手电筒，抬升至空中。所以进度提升为50%。", + "error_success_analysis": "爪夹抓取手电筒，微微抬升至空中，方便爪夹向爪夹方向前方移动。", + "correction_plan": "向爪夹方向前方移动至垃圾桶附近，爪夹将手电筒放入垃圾桶内，爪夹松开，手电筒落入垃圾桶内。", + "annotations": { + "bbox_1767690271400": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690271400_1767690364133_miqo37p21", + "x": 0.35950000000000004, + "y": 0.46266666666666667, + "width": 0.06999999999999998, + "height": 0.09733333333333333 + } + ] + }, + "bbox_1767690276415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690276415_1767690369517_6xw08m5n1", + "x": 0.36150000000000004, + "y": 0.37466666666666665, + "width": 0.162, + "height": 0.27866666666666673 + } + ] + }, + "point_1767690292359": { + "type": "point", + "instances": [ + { + "id": "point_1767690292359_1767690372949_4tjx87fay", + "x": 0.41950000000000004, + "y": 0.5106666666666667 + } + ] + } + } + }, + { + "time": 7.6810998963917525, + "frame": 230, + "progress": 60, + "action_description": "爪夹抓取手电筒向爪夹方向前方移动。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹抓取手电筒向爪夹方向前方移动。", + "progress_explanation": "目前爪夹抓取手电筒向爪夹方向前方移动，靠近垃圾箱。所以进度提升为60%。", + "error_success_analysis": "爪夹抓取手电筒向爪夹方向前方移动，靠近垃圾箱。", + "correction_plan": "爪夹将手电筒放入垃圾桶内，爪夹松开，手电筒落入垃圾桶内。", + "annotations": { + "point_1767690292359": { + "type": "point", + "instances": [ + { + "id": "point_1767690292359_1767690337565_ltd8kds6e", + "x": 0.4135, + "y": 0.384 + } + ] + }, + "bbox_1767690276415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690276415_1767690342838_vq95y3cw1", + "x": 0.3755, + "y": 0.36533333333333334, + "width": 0.14800000000000005, + "height": 0.28533333333333327 + } + ] + }, + "bbox_1767690271400": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690271400_1767690347461_ad1uqmzv9", + "x": 0.34950000000000003, + "y": 0.328, + "width": 0.09100000000000001, + "height": 0.09333333333333335 + } + ] + } + } + }, + { + "time": 8.277333, + "frame": 248, + "progress": 80, + "action_description": "爪夹持续抓取手电筒向爪夹方向前方移动。", + "state_description": "当前状态为爪夹合拢，靠近垃圾箱。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹松开，手电筒落入垃圾箱里。", + "progress_explanation": "目前爪夹抓取手电筒向爪夹方向前方移动至垃圾箱里。所以进度提升为80%。", + "error_success_analysis": "爪夹抓取手电筒向爪夹方向前方移动至垃圾箱里。", + "correction_plan": "爪夹松开，手电筒落入垃圾桶内。", + "annotations": { + "bbox_1767690276415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690276415_1767690320134_kah08tjrl", + "x": 0.36750000000000005, + "y": 0.37733333333333335, + "width": 0.156, + "height": 0.276 + } + ] + }, + "bbox_1767690271400": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690271400_1767690326406_cpj02iep5", + "x": 0.3425, + "y": 0.31333333333333335, + "width": 0.09599999999999995, + "height": 0.07466666666666667 + } + ] + }, + "point_1767690292359": { + "type": "point", + "instances": [ + { + "id": "point_1767690292359_1767690331030_448e8titc", + "x": 0.40049999999999997, + "y": 0.3426666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹松开，手电筒落入垃圾桶内。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹松开，手电筒成功落入垃圾桶内。", + "frame": 283, + "progress": 100, + "progress_explanation": "目前爪夹松开，手电筒成功落入垃圾桶内。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，远离垃圾箱。\n已完成把手电筒放进那个白色的垃圾桶里的任务。", + "time": 9.440550123195877, + "annotations": { + "bbox_1767690276415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690276415_1767690310487_qbsswbxo8", + "x": 0.3705, + "y": 0.364, + "width": 0.166, + "height": 0.27866666666666673 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767690271400", + "name": "手电筒", + "color": "#4CAF50" + }, + { + "id": "bbox_1767690276415", + "name": "垃圾箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767690284991", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767690292359", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-131344-put-flashlight-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-131344-put-flashlight-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..a422b5a5315093f7291448655fd71db940080290 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-131344-put-flashlight-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,634 @@ +{ + "task_description": "把手电筒放进那个白色的垃圾桶里。\n爪夹开始移动:0%\n爪夹靠近手电筒:20%\n爪夹夹起手电筒:40%\n爪夹移动手电筒:60%\n爪夹将手电筒放入垃圾桶内:80%\n爪夹松开，手电筒落入垃圾桶内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度微微抬升，然后向爪夹方向右侧移动，然后下降爪夹合拢抓取手电筒，爪夹重新张开向爪夹方向左侧移动，然后向爪夹方向右侧移动，下降靠近手电筒，爪夹合拢抓取手电筒，抬升至空中，后向爪夹方向右侧移动靠近垃圾桶，爪夹夹取手电筒放置垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:调整爪夹角度微微抬升。", + "time": 1.7250000355670103, + "annotations": { + "bbox_1767693156282": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693156282_1767693603353_vg87f5mrz", + "x": 0.8245000000000001, + "y": 0.4666666666666667, + "width": 0.125, + "height": 0.2133333333333334 + } + ] + }, + "point_1767693162179": { + "type": "point", + "instances": [ + { + "id": "point_1767693162179_1767693606570_3gk4m9xvc", + "x": 0.3965, + "y": 0.5106666666666667 + } + ] + }, + "point_1767693171843": { + "type": "point", + "instances": [ + { + "id": "point_1767693171843_1767693609169_echnhsyk2", + "x": 0.6195, + "y": 0.512 + } + ] + } + } + }, + { + "action_description": "爪夹微微抬升。", + "correction_plan": "向爪夹方向右侧移动，然后下降爪夹合拢抓取手电筒，爪夹重新张开向爪夹方向左侧移动，然后向爪夹方向右侧移动，下降靠近手电筒，爪夹合拢抓取手电筒，抬升至空中，后向爪夹方向右侧移动靠近垃圾桶，爪夹夹取手电筒放置垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹调整角度，微微抬升，方便向爪夹方向右侧移动。", + "frame": 80, + "progress": 5, + "progress_explanation": "目前爪夹调整角度，微微抬升。所以进度提升为5%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹向抓夹方向右侧移动。", + "time": 2.6675, + "annotations": { + "point_1767693171843": { + "type": "point", + "instances": [ + { + "id": "point_1767693171843_1767693586809_vnzbvghek", + "x": 0.6195, + "y": 0.512 + } + ] + }, + "point_1767693162179": { + "type": "point", + "instances": [ + { + "id": "point_1767693162179_1767693589433_nzjv7ceq2", + "x": 0.3925, + "y": 0.5106666666666667 + } + ] + }, + "bbox_1767693156282": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693156282_1767693595969_hckmle6df", + "x": 0.7635, + "y": 0.41600000000000004, + "width": 0.12699999999999995, + "height": 0.16400000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "correction_plan": "下降爪夹合拢抓取手电筒，爪夹重新张开向爪夹方向左侧移动，然后向爪夹方向右侧移动，下降靠近手电筒，爪夹合拢抓取手电筒，抬升至空中，后向爪夹方向右侧移动靠近垃圾桶，爪夹夹取手电筒放置垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹向爪夹方向右侧移动，方便爪夹下降靠近手电筒。", + "frame": 108, + "progress": 10, + "progress_explanation": "目前爪夹向爪夹方向右侧移动。所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹下降合拢抓取手电筒。", + "time": 3.589, + "annotations": { + "bbox_1767693140539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693140539_1767693568489_sf68h4cd2", + "x": 0.36550000000000005, + "y": 0.30533333333333335, + "width": 0.17099999999999999, + "height": 0.092 + } + ] + }, + "bbox_1767693156282": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693156282_1767693575017_059w8o0ne", + "x": 0.5455, + "y": 0.010666666666666666, + "width": 0.259, + "height": 0.216 + } + ] + }, + "point_1767693162179": { + "type": "point", + "instances": [ + { + "id": "point_1767693162179_1767693579681_ocgftkjyw", + "x": 0.3955, + "y": 0.5133333333333333 + } + ] + }, + "point_1767693171843": { + "type": "point", + "instances": [ + { + "id": "point_1767693171843_1767693581857_x37ivo8ui", + "x": 0.6185, + "y": 0.5093333333333334 + } + ] + } + } + }, + { + "time": 5.1895, + "frame": 156, + "progress": 15, + "action_description": "爪夹下降合拢。", + "state_description": "当前状态为爪夹合拢，靠近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹张开，重新调整靠近手电筒。", + "progress_explanation": "目前爪夹下降合拢，靠近手电筒。所以进度提升为15%。", + "error_success_analysis": "爪夹下降合拢，靠近手电筒。", + "correction_plan": "爪夹重新张开向爪夹方向左侧移动，然后向爪夹方向右侧移动，下降靠近手电筒，爪夹合拢抓取手电筒，抬升至空中，后向爪夹方向右侧移动靠近垃圾桶，爪夹夹取手电筒放置垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767693156282": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693156282_1767693557554_yzjoan9ys", + "x": 0.7255, + "y": 0.164, + "width": 0.21399999999999997, + "height": 0.30133333333333334 + } + ] + }, + "bbox_1767693140539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693140539_1767693561961_fg81uy7v3", + "x": 0.5405, + "y": 0.4426666666666667, + "width": 0.14900000000000002, + "height": 0.07199999999999994 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹重新张开向爪夹方向左侧移动，然后向爪夹方向右侧移动，下降靠近手电筒，爪夹合拢抓取手电筒，抬升至空中，后向爪夹方向右侧移动靠近垃圾桶，爪夹夹取手电筒放置垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹张开，退回原位，与上一阶段相比，爪夹多了一次重新靠近手电筒的动作。", + "frame": 185, + "progress": 0, + "progress_explanation": "目前爪夹张开，退回原位，与上一阶段相比，爪夹多了一次重新靠近手电筒的动作。所以进度倒退为0%。", + "state_description": "当前状态为爪夹张开，靠近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹首先向爪夹方向左侧移动。", + "time": 6.166666666666667, + "annotations": { + "bbox_1767693140539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693140539_1767693536010_9wf5k997c", + "x": 0.5105000000000001, + "y": 0.4346666666666667, + "width": 0.137, + "height": 0.07200000000000001 + } + ] + }, + "bbox_1767693156282": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693156282_1767693541498_5sfqua7dc", + "x": 0.6945, + "y": 0.15866666666666665, + "width": 0.2, + "height": 0.2693333333333333 + } + ] + }, + "point_1767693162179": { + "type": "point", + "instances": [ + { + "id": "point_1767693162179_1767693545001_is5i4vbnd", + "x": 0.3945, + "y": 0.5093333333333334 + } + ] + }, + "point_1767693171843": { + "type": "point", + "instances": [ + { + "id": "point_1767693171843_1767693547090_lolva18p7", + "x": 0.6185, + "y": 0.52 + } + ] + } + } + }, + { + "time": 8.73, + "frame": 262, + "progress": 10, + "action_description": "爪夹微微抬升向爪夹方向左侧移动。", + "state_description": "当前状态为爪夹张开，爪夹移动。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹向爪夹方向右侧移动。", + "progress_explanation": "目前爪夹微微抬升向爪夹方向左侧移动。所以进度提升为10%。", + "error_success_analysis": "爪夹爪夹微微抬升向爪夹方向左侧移动，方便爪夹移动靠近手电筒。", + "correction_plan": "爪夹向爪夹方向右侧移动，下降靠近手电筒，爪夹合拢抓取手电筒，抬升至空中，后向爪夹方向右侧移动靠近垃圾桶，爪夹夹取手电筒放置垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767693156282": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693156282_1767693511315_97kmmjh11", + "x": 0.6975, + "y": 0.376, + "width": 0.12999999999999998, + "height": 0.20000000000000007 + } + ] + }, + "point_1767693162179": { + "type": "point", + "instances": [ + { + "id": "point_1767693162179_1767693518514_gadzxqfmd", + "x": 0.3945, + "y": 0.5133333333333333 + } + ] + }, + "point_1767693171843": { + "type": "point", + "instances": [ + { + "id": "point_1767693171843_1767693521074_89jm4wpj4", + "x": 0.6205, + "y": 0.5173333333333333 + } + ] + }, + "bbox_1767693140539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693140539_1767693530771_ml4gy6573", + "x": 0.5825, + "y": 0.49466666666666664, + "width": 0.08700000000000001, + "height": 0.06133333333333333 + } + ] + } + } + }, + { + "time": 9.603, + "frame": 288, + "progress": 15, + "action_description": "爪夹向爪夹方向右侧旋转。", + "state_description": "当前状态为爪夹张开，靠近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹下降靠近手电筒。", + "progress_explanation": "目前爪夹向爪夹方向右侧旋转，方便爪夹下降靠近手电筒。所以进度提升为15%。", + "error_success_analysis": "爪夹向爪夹方向右侧旋转，方便爪夹下降靠近手电筒。", + "correction_plan": "爪夹下降靠近手电筒，爪夹合拢抓取手电筒，抬升至空中，后向爪夹方向右侧移动靠近垃圾桶，爪夹夹取手电筒放置垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "point_1767693171843": { + "type": "point", + "instances": [ + { + "id": "point_1767693171843_1767693477563_iptph6mcl", + "x": 0.6165, + "y": 0.5213333333333333 + } + ] + }, + "point_1767693162179": { + "type": "point", + "instances": [ + { + "id": "point_1767693162179_1767693484547_x0rkv95wp", + "x": 0.3955, + "y": 0.5146666666666666 + } + ] + }, + "bbox_1767693156282": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693156282_1767693490915_967yntm74", + "x": 0.5835, + "y": 0.058666666666666666, + "width": 0.184, + "height": 0.25733333333333336 + } + ] + }, + "bbox_1767693140539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693140539_1767693498643_s4lc0her7", + "x": 0.4915, + "y": 0.3626666666666667, + "width": 0.10400000000000001, + "height": 0.10266666666666667 + } + ] + } + } + }, + { + "time": 10.6215, + "frame": 319, + "progress": 20, + "action_description": "爪夹下降靠近手电筒。", + "state_description": "当前状态为爪夹张开，贴着手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹合拢抓取手电筒微微抬升至空中。", + "progress_explanation": "目前爪夹下降靠近手电筒，方便爪夹合拢抓取手电筒。所以进度提升为20%。", + "error_success_analysis": "爪夹下降靠近手电筒，方便爪夹合拢抓取手电筒。", + "correction_plan": "爪夹合拢抓取手电筒，抬升至空中，后向爪夹方向右侧移动靠近垃圾桶，爪夹夹取手电筒放置垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767693140539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693140539_1767693459036_e2b68od9w", + "x": 0.3945, + "y": 0.3786666666666667, + "width": 0.23499999999999996, + "height": 0.29866666666666664 + } + ] + }, + "point_1767693162179": { + "type": "point", + "instances": [ + { + "id": "point_1767693162179_1767693469827_j491ptu7b", + "x": 0.3935, + "y": 0.5253333333333333 + } + ] + }, + "point_1767693171843": { + "type": "point", + "instances": [ + { + "id": "point_1767693171843_1767693472460_mouz2vufs", + "x": 0.6185, + "y": 0.524 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取手电筒。", + "correction_plan": "向爪夹方向右侧移动靠近垃圾桶，爪夹夹取手电筒放置垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹合拢抓取手电筒微微抬升至空中，方便爪夹向爪夹方向右侧移动靠近垃圾箱。", + "frame": 356, + "progress": 40, + "progress_explanation": "目前爪夹合拢抓取手电筒微微抬升至空中。所以进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹合拢抓取手电筒抬升至空中。", + "time": 11.875000244845364, + "annotations": { + "point_1767693171843": { + "type": "point", + "instances": [ + { + "id": "point_1767693171843_1767693278177_b9m96nfh6", + "x": 0.5455, + "y": 0.5426666666666667 + } + ] + }, + "point_1767693162179": { + "type": "point", + "instances": [ + { + "id": "point_1767693162179_1767693280328_51m7kof6p", + "x": 0.4625, + "y": 0.5426666666666667 + } + ] + }, + "bbox_1767693140539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693140539_1767693289247_ilvdypkfq", + "x": 0.4575, + "y": 0.328, + "width": 0.09799999999999995, + "height": 0.3573333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取手电筒向上移动。", + "correction_plan": "爪夹夹取手电筒放置垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹合拢抓取手电筒向上移动，与上一阶段相比，距离垃圾桶更近。", + "frame": 381, + "progress": 60, + "progress_explanation": "目前爪夹合拢抓取手电筒向上移动。所以进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹合拢抓取手电筒向上移动。", + "time": 12.691666928350516, + "annotations": { + "bbox_1767693140539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693140539_1767693251033_mi1hcg4pd", + "x": 0.44750000000000006, + "y": 0.3026666666666667, + "width": 0.10899999999999999, + "height": 0.3826666666666666 + } + ] + }, + "bbox_1767693156282": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693156282_1767693258073_brdm1fs9m", + "x": 0.5445, + "y": 0.2866666666666667, + "width": 0.1630000000000001, + "height": 0.25866666666666666 + } + ] + }, + "point_1767693162179": { + "type": "point", + "instances": [ + { + "id": "point_1767693162179_1767693264313_8dy1tgb5s", + "x": 0.46749999999999997, + "y": 0.532 + } + ] + }, + "point_1767693171843": { + "type": "point", + "instances": [ + { + "id": "point_1767693171843_1767693271447_1qv0rjp4s", + "x": 0.5505, + "y": 0.5559999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹夹取手电筒向爪夹方向右侧移动放在垃圾箱里。", + "correction_plan": "爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹夹取手电筒向爪夹方向右侧移动放在垃圾箱里，与上一阶段相比，手电筒更容易落入垃圾桶里。", + "frame": 402, + "progress": 80, + "progress_explanation": "目前爪夹夹取手电筒向爪夹方向右侧移动放在垃圾箱里。所以进度提升为80%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹松开，手电筒落入垃圾桶里。", + "time": 13.408333609793816, + "annotations": { + "point_1767693171843": { + "type": "point", + "instances": [ + { + "id": "point_1767693171843_1767693227097_i972dg4wn", + "x": 0.5455, + "y": 0.5306666666666666 + } + ] + }, + "point_1767693162179": { + "type": "point", + "instances": [ + { + "id": "point_1767693162179_1767693229801_6hxw9wt1y", + "x": 0.46749999999999997, + "y": 0.5399999999999999 + } + ] + }, + "bbox_1767693156282": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693156282_1767693237041_ii4543rd1", + "x": 0.3145, + "y": 0.32, + "width": 0.25400000000000006, + "height": 0.34 + } + ] + }, + "bbox_1767693140539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693140539_1767693242681_ayxogsdld", + "x": 0.4545, + "y": 0.30133333333333334, + "width": 0.10800000000000001, + "height": 0.38799999999999996 + } + ] + } + } + }, + { + "time": 14.291333, + "frame": 429, + "progress": 100, + "action_description": "爪夹松开，手电筒落入垃圾箱里。", + "state_description": "当前状态为爪夹张开，手电筒在垃圾桶里。\n已完成把手电筒放进那个白色的垃圾桶里的任务。", + "progress_explanation": "目前爪夹张开，手电筒在垃圾箱里。所以进度提升为100%。", + "error_success_analysis": "爪夹张开，手电筒成功放在垃圾箱里。", + "correction_plan": "至此整个任务成功完成。", + "annotations": { + "bbox_1767693140539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693140539_1767693197946_q9kz6jk1a", + "x": 0.5225000000000001, + "y": 0.308, + "width": 0.075, + "height": 0.13199999999999998 + } + ] + }, + "bbox_1767693156282": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767693156282_1767693208609_yqckffmih", + "x": 0.4665, + "y": 0.20533333333333334, + "width": 0.20999999999999996, + "height": 0.27466666666666667 + } + ] + }, + "point_1767693162179": { + "type": "point", + "instances": [ + { + "id": "point_1767693162179_1767693216146_43rf914a6", + "x": 0.3935, + "y": 0.5186666666666667 + } + ] + }, + "point_1767693171843": { + "type": "point", + "instances": [ + { + "id": "point_1767693171843_1767693219209_8bnw6uk0k", + "x": 0.6165, + "y": 0.52 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767693140539", + "name": "手电筒", + "color": "#4CAF50" + }, + { + "id": "bbox_1767693156282", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767693162179", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767693171843", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-131344-put-flashlight-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-131344-put-flashlight-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..1b6ce87ac034d5fbc598fd362a9681e8298916dc --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-131344-put-flashlight-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,1002 @@ +{ + "task_description": "把手电筒放进那个白色的垃圾桶里。\n爪夹开始移动:0%\n爪夹靠近手电筒:30%\n爪夹夹起手电筒:50%\n爪夹移动手电筒:70%\n爪夹将手电筒放入垃圾桶内:90%\n爪夹松开，手电筒落入垃圾桶内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度，向爪夹方向右侧移动，然后下降爪夹合拢抓取手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近垃圾桶，爪夹持续向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:调整爪夹角度微微抬升。", + "time": 1.4016495015463917, + "annotations": { + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752437530_z8bz5vzr2", + "x": 0.6181110462578706, + "y": 0.5145740242859681 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752440634_2slydnobo", + "x": 0.3961110598076746, + "y": 0.5132406910611417 + } + ] + }, + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752445922_ze24ccf3f", + "x": 0.6791110425347264, + "y": 0.6025740171245103, + "width": 0.1989999878540046, + "height": 0.27999997721354364 + } + ] + }, + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752450194_5eygc3dxm", + "x": 0.5031110532769132, + "y": 0.48124069366530814, + "width": 0.0479999970703127, + "height": 0.12133332345920216 + } + ] + } + } + }, + { + "time": 2.911466, + "frame": 87, + "progress": 5, + "action_description": "爪夹向上抬升。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹下降靠近手电筒，方便爪夹合拢抓取手电筒。", + "progress_explanation": "目前爪夹调整角度向上移动，与上一阶段相比，距离手电筒更近些，所以进度提升为5%。", + "error_success_analysis": "爪夹调整角度向上移动，与上一阶段相比，距离手电筒更近些，方便爪夹下降抓取手电筒。", + "correction_plan": "下降爪夹合拢抓取手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近垃圾桶，爪夹持续向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752423844_lh678u36v", + "x": 0.3911110601128503, + "y": 0.46257402851773854, + "width": 0.060999996276855706, + "height": 0.08666665961371584 + } + ] + }, + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752428315_wkzfuyiqh", + "x": 0.583111048394101, + "y": 0.647907346768608, + "width": 0.1489999909057623, + "height": 0.19199998437500126 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752430582_j3i9qrqa5", + "x": 0.3941110599297449, + "y": 0.5199073571852737 + } + ] + }, + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752432802_h5ru1cba2", + "x": 0.623111045952695, + "y": 0.5239073568597529 + } + ] + } + } + }, + { + "time": 4.257333, + "frame": 128, + "progress": 10, + "action_description": "爪夹下降合拢。", + "state_description": "当前状态为爪夹合拢，靠近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹张开向上抬升远离手电筒，然后重新下降靠近手电筒。", + "progress_explanation": "目前爪夹下降合拢，与上一阶段相比，距离手电筒更近些，所以进度提升为10%。", + "error_success_analysis": "爪夹下降合拢，与上一阶段相比，距离手电筒更近些，更容易爪夹夹取手电筒。", + "correction_plan": "爪夹张开向上抬升，重新下降靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近垃圾桶，爪夹持续向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752408299_mf341nror", + "x": 0.5171110524224211, + "y": 0.517240690735621 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752410475_ncw1kp347", + "x": 0.5031110532769132, + "y": 0.5119073578363154 + } + ] + }, + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752415539_shk2h677i", + "x": 0.669111043145078, + "y": 0.7012406757616638, + "width": 0.149999990844727, + "height": 0.2559999791666684 + } + ] + }, + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752419003_t98yb6squ", + "x": 0.3921110600518151, + "y": 0.3919073676019395, + "width": 0.18699998858642647, + "height": 0.12933332280816057 + } + ] + } + } + }, + { + "action_description": "爪夹张开向上抬升。", + "correction_plan": "爪夹重新下降靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近垃圾桶，爪夹持续向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹张开向上抬升，与上一阶段相比，爪夹多了一步重新下降靠近手电筒的动作。", + "frame": 170, + "progress": 5, + "progress_explanation": "目前爪夹张开向上抬升，与上一阶段相比，爪夹多了一步重新下降靠近手电筒的动作，所以进度倒退为5%。", + "state_description": "当前状态为爪夹张开，远离手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹重新下降靠近手电筒，方便爪夹合拢抓取。", + "time": 5.666666666666667, + "annotations": { + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752391108_cgp48uodj", + "x": 0.4431110569390223, + "y": 0.33457403893440435, + "width": 0.11299999310302775, + "height": 0.11866665700954944 + } + ] + }, + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752396636_jfhd5qf24", + "x": 0.6021110472344331, + "y": 0.6105740164734688, + "width": 0.1809999889526374, + "height": 0.1959999840494805 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752398627_8h7vqevn8", + "x": 0.3971110597466394, + "y": 0.5119073578363154 + } + ] + }, + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752400699_59ekdfd1d", + "x": 0.6211110460747652, + "y": 0.5132406910611417 + } + ] + } + } + }, + { + "time": 6.976533, + "frame": 209, + "progress": 10, + "action_description": "爪夹下降靠近手电筒。", + "state_description": "当前状态为爪夹张开，靠近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹合拢抓取手电筒抬升至空中。", + "progress_explanation": "目前爪夹重新下降靠近手电筒，与上一阶段相比，爪夹可以合拢抓取手电筒，所以进度再次提升为10%。", + "error_success_analysis": "爪夹重新下降靠近手电筒，与上一阶段相比，爪夹可以合拢抓取手电筒。", + "correction_plan": "爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近垃圾桶，爪夹持续向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752323269_qf58jx9s8", + "x": 0.661111043633359, + "y": 0.7825740024760741, + "width": 0.1999999877929695, + "height": 0.1773333189019109 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752325925_09jpk2i0u", + "x": 0.42111105828179574, + "y": 0.5132406910611417 + } + ] + }, + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752328109_u564ib85r", + "x": 0.5871110481499604, + "y": 0.517240690735621 + } + ] + }, + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752341285_bzkiqn77e", + "x": 0.5381110511406828, + "y": 0.4985740255880513, + "width": 0.18799998852539135, + "height": 0.13333332248263977 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取玩偶微微抬升。", + "correction_plan": "爪夹张开，重新调整爪夹下降靠近手电筒，爪夹合拢夹取手电筒抬升至空中，向爪夹方向右侧移动靠近垃圾桶，爪夹持续向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹识别错目标物体，夹取玩偶微微抬升，与上一阶段相比，爪夹多了一步重新下降靠近手电筒的动作。", + "frame": 281, + "progress": 5, + "progress_explanation": "目前爪夹夹取玩偶微微抬升，与上一阶段相比，爪夹多了一步重新下降靠近手电筒的动作，所以进度倒退为5%。", + "state_description": "当前状态为爪夹合拢，抓紧玩偶。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹张开，重新调整爪夹角度靠近手电筒。", + "time": 9.366666666666667, + "annotations": { + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752297326_uuplez8ei", + "x": 0.5131110526665617, + "y": 0.5359073558831905 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752299933_vfhjnln7l", + "x": 0.4991110535210538, + "y": 0.5265740233094056 + } + ] + }, + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752304822_949jhjxgq", + "x": 0.48311105449761627, + "y": 0.36124070343093234, + "width": 0.13399999182128958, + "height": 0.06666666124131991 + } + ] + }, + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752309733_69izeenf9", + "x": 0.6591110437554294, + "y": 0.5932406845507255, + "width": 0.17999998901367248, + "height": 0.2653333117404531 + } + ] + } + } + }, + { + "time": 10.712, + "frame": 321, + "progress": 10, + "action_description": "爪夹张开向爪夹方向右侧移动。", + "state_description": "当前状态为爪夹张开，远离手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹下降靠近手电筒，合拢抓取。", + "progress_explanation": "目前爪夹张开，向爪夹方向右侧移动，与上一阶段相比，爪夹可以直接下降靠近手电筒，更容易抓取手电筒。所以进度提升为10%。", + "error_success_analysis": "爪夹张开，向爪夹方向右侧移动，与上一阶段相比，爪夹可以直接下降靠近手电筒，更容易抓取手电筒。", + "correction_plan": "爪夹下降靠近手电筒，爪夹合拢夹取手电筒抬升至空中，向爪夹方向右侧移动靠近垃圾桶，爪夹持续向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752272958_lemfh699t", + "x": 0.3181110645684164, + "y": 0.31190737411235564, + "width": 0.13799999157714896, + "height": 0.07199999414062551 + } + ] + }, + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752277031_70hlk6xkx", + "x": 0.5071110530327726, + "y": 0.5812406855272879, + "width": 0.1729999894409186, + "height": 0.24266664691840442 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752279182_6y6k7u53p", + "x": 0.3941110599297449, + "y": 0.5252406900845793 + } + ] + }, + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752281534_mlghdnv33", + "x": 0.616111046379941, + "y": 0.5145740242859681 + } + ] + } + } + }, + { + "time": 11.810666, + "frame": 354, + "progress": 20, + "action_description": "爪夹下降靠近手电筒。", + "state_description": "当前状态为爪夹张开，下降靠近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹持续下降贴近手电筒，方便爪夹合拢抓取。", + "progress_explanation": "目前爪夹下降靠近手电筒，更容易抓取手电筒。所以进度提升为20%。", + "error_success_analysis": "爪夹下降靠近手电筒，更容易抓取手电筒。", + "correction_plan": "爪夹持续下降贴近手电筒，爪夹合拢夹取手电筒抬升至空中，向爪夹方向右侧移动靠近垃圾桶，爪夹持续向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752247478_rh2ya27je", + "x": 0.6181110462578706, + "y": 0.5105740246114888 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752249382_n4e9cagl5", + "x": 0.3941110599297449, + "y": 0.5119073578363154 + } + ] + }, + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752259919_epd1lgnnw", + "x": 0.8411110326470317, + "y": 0.5039073584873569, + "width": 0.15799999035644596, + "height": 0.3893333016493082 + } + ] + }, + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752267478_v6sc0u0mo", + "x": 0.42111105828179574, + "y": 0.3079073744378764, + "width": 0.20599998742675857, + "height": 0.2493333130425364 + } + ] + } + } + }, + { + "time": 13.184, + "frame": 396, + "progress": 30, + "action_description": "爪夹持续下降贴近手电筒。", + "state_description": "当前状态为爪夹张开，贴近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹合拢抓取手电筒抬升至空中。", + "progress_explanation": "目前爪夹持续下降贴近手电筒，与上一阶段相比，爪夹可以直接合拢抓取手电筒。所以进度提升为30%。", + "error_success_analysis": "爪夹持续下降贴近手电筒，与上一阶段相比，爪夹可以直接合拢抓取手电筒。", + "correction_plan": "爪夹合拢夹取手电筒抬升至空中，向爪夹方向右侧移动靠近垃圾桶，爪夹持续向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752233815_vnszy9cih", + "x": 0.46211105577935446, + "y": 0.3425740382833628, + "width": 0.2479999848632822, + "height": 0.27199997786458513 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752237510_8doxwxvek", + "x": 0.39311105999078, + "y": 0.5159073575107944 + } + ] + }, + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752239998_6becdxuf4", + "x": 0.6201110461358004, + "y": 0.5145740242859681 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取手电筒微微抬升。", + "correction_plan": "向爪夹方向右侧移动靠近垃圾桶，爪夹持续向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹夹取手电筒微微抬升，方便爪夹下一步向爪夹方向右侧移动。", + "frame": 436, + "progress": 50, + "progress_explanation": "目前爪夹夹取手电筒微微抬升。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹夹取手电筒向爪夹方向右侧移动。", + "time": 14.533333333333333, + "annotations": { + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752213360_8sshhwq30", + "x": 0.5491110504692962, + "y": 0.5252406900845793 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752215583_2rfa4z1r4", + "x": 0.4701110552910732, + "y": 0.527907356534232 + } + ] + }, + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752221184_ycs5eqc6q", + "x": 0.7871110359429299, + "y": 0.45324069594395383, + "width": 0.2009999877319343, + "height": 0.3999999674479193 + } + ] + }, + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752226640_9wzh53vab", + "x": 0.46011105590142476, + "y": 0.24390737964620934, + "width": 0.10299999371337928, + "height": 0.40933330002170415 + } + ] + } + } + }, + { + "time": 15.656, + "frame": 470, + "progress": 60, + "action_description": "爪夹夹取手电筒向爪夹方向右侧移动。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒靠近垃圾桶。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹夹取手电筒放在垃圾桶里。", + "progress_explanation": "目前爪夹夹取手电筒向爪夹方向右侧移动靠近垃圾桶。所以进度提升为60%。", + "error_success_analysis": "爪夹夹取手电筒向爪夹方向右侧移动靠近垃圾桶。", + "correction_plan": "爪夹持续向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752194024_u8lc7bo0z", + "x": 0.46011105590142476, + "y": 0.24390737964620934, + "width": 0.0989999939575199, + "height": 0.42933329839410006 + } + ] + }, + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752199320_r3pxilj8u", + "x": 0.5371110512017181, + "y": 0.5065740249370098, + "width": 0.17399998937988342, + "height": 0.27199997786458513 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752201929_knxp4x0y6", + "x": 0.46711105547417875, + "y": 0.5252406900845793 + } + ] + }, + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752204367_7tgehonjp", + "x": 0.5491110504692962, + "y": 0.534574022658364 + } + ] + } + } + }, + { + "action_description": "爪夹张开，手电筒掉在桌面上。", + "correction_plan": "爪夹下降靠近手电筒，然后向爪夹方向右前方移动贴近手电筒，合拢抓取手电筒微微抬升，然后爪夹向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹张开，手电筒落在桌面上，与上一阶段相比，爪夹多了移动重新下降抓取手电筒的动作。", + "frame": 520, + "progress": 20, + "progress_explanation": "目前爪夹张开，手电筒落在桌面上，与上一阶段相比，爪夹多了移动重新下降抓取手电筒的动作。所以进度倒退为20%。", + "state_description": "当前状态为爪夹张开，手电筒在桌子上。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹重新下降靠近手电筒。", + "time": 17.333333333333332, + "annotations": { + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752176972_b6kqlmr57", + "x": 0.616111046379941, + "y": 0.5092406913866625 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752179368_tufjxm7d6", + "x": 0.3941110599297449, + "y": 0.5119073578363154 + } + ] + }, + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752184992_9tcfo2t3c", + "x": 0.6001110473565034, + "y": 0.5053888481840944, + "width": 0.19099998834228585, + "height": 0.22933331467014034 + } + ] + }, + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752189272_g7dj4428v", + "x": 0.498111053582089, + "y": 0.48538884981169844, + "width": 0.08999999450683624, + "height": 0.13066665603298702 + } + ] + } + } + }, + { + "time": 19.254133, + "frame": 578, + "progress": 25, + "action_description": "爪夹下降。", + "state_description": "当前状态为爪夹张开，下降靠近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹向爪夹方向右前方移动靠近手电筒。", + "progress_explanation": "目前爪夹重新下降靠近手电筒。所以进度提升为25%。", + "error_success_analysis": "爪夹重新下降靠近手电筒。", + "correction_plan": "向爪夹方向右前方移动贴近手电筒，合拢抓取手电筒微微抬升，然后爪夹向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752159879_yyusim3kw", + "x": 0.5091110529107022, + "y": 0.027907397224332907, + "width": 0.14199999133300834, + "height": 0.32133330718316183 + } + ] + }, + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752165928_us1zwffpv", + "x": 0.766111037224668, + "y": 0.061240727844992855, + "width": 0.2299999859619149, + "height": 0.6586666130642403 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752168807_f5ok3h54o", + "x": 0.39311105999078, + "y": 0.5119073578363154 + } + ] + }, + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752171120_lyc2aglix", + "x": 0.6201110461358004, + "y": 0.5145740242859681 + } + ] + } + } + }, + { + "time": 22.110666, + "frame": 663, + "progress": 30, + "action_description": "爪夹向爪夹方向右前方移动靠近手电筒。", + "state_description": "当前状态为爪夹张开，靠近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹合拢夹取手电筒抬升至空中。", + "progress_explanation": "目前爪夹向爪夹方向右前方移动贴近手电筒,与上一阶段相比，爪夹可直接合拢抓取手电筒，所以进度提升为30%。", + "error_success_analysis": "爪夹向爪夹方向右前方移动贴近手电筒,与上一阶段相比，爪夹可直接合拢抓取手电筒。", + "correction_plan": "爪夹合拢抓取手电筒微微抬升，然后爪夹向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752143969_8sh7p9vhl", + "x": 0.6181110462578706, + "y": 0.5239073568597529 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752146017_sho2ky29a", + "x": 0.3921110600518151, + "y": 0.5105740246114888 + } + ] + }, + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752151120_8oo90228l", + "x": 0.46411105565728417, + "y": 0.2012407164517646, + "width": 0.1239999924316411, + "height": 0.40666663357205135 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取手电筒微微抬升。", + "correction_plan": "爪夹向爪夹方向右侧移动放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹夹取手电筒微微抬升，方便爪夹向爪夹方向右侧移动靠近垃圾桶。", + "frame": 732, + "progress": 50, + "progress_explanation": "目前爪夹夹取手电筒微微抬升，所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹取手电筒向爪夹方向右侧移动。", + "time": 24.411666567874203, + "annotations": { + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752133937_9io2eqb7c", + "x": 0.4531110563286709, + "y": 0.18790738420350064, + "width": 0.10599999353027378, + "height": 0.4213332990451416 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752136857_40fyadib5", + "x": 0.46411105565728417, + "y": 0.5292406897590585 + } + ] + }, + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752139081_d8gpgmqhy", + "x": 0.5491110504692962, + "y": 0.5292406897590585 + } + ] + } + } + }, + { + "time": 25.346099510107955, + "frame": 760, + "progress": 70, + "action_description": "爪夹取手电筒向爪夹方向右侧移动。", + "state_description": "当前状态为爪夹合拢，靠近垃圾箱。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹取手电筒放在垃圾箱里。", + "progress_explanation": "目前爪夹取手电筒向爪夹方向右侧移动。所以进度提升为70%。", + "error_success_analysis": "爪夹取手电筒向爪夹方向右侧移动。，方便爪夹将手电筒放在垃圾桶里。", + "correction_plan": "爪夹夹取手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752115137_6rnb3jvc2", + "x": 0.5471110505913666, + "y": 0.5292406897590585 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752118033_f582rf9s1", + "x": 0.4681110554131435, + "y": 0.5252406900845793 + } + ] + }, + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752123265_9lcgmkm0k", + "x": 0.5581110499199798, + "y": 0.3919073676019395, + "width": 0.17199998950195372, + "height": 0.27599997753906436 + } + ] + }, + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752128481_m42qdwrxj", + "x": 0.4501110565117763, + "y": 0.1945740503276326, + "width": 0.1239999924316411, + "height": 0.4133332996961833 + } + ] + } + } + }, + { + "action_description": "爪夹将手电筒放入垃圾桶内。", + "correction_plan": "爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹将手电筒放入垃圾桶内，方便爪夹松开，手电筒落入垃圾箱里。", + "frame": 775, + "progress": 90, + "progress_explanation": "目前爪夹将手电筒放入垃圾桶内。所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，靠近垃圾箱。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹松开，手电筒落入垃圾箱里。", + "time": 25.82747405610716, + "annotations": { + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752098113_c7k5oq10w", + "x": 0.3891110602349206, + "y": 0.42924069789707864, + "width": 0.23499998565673913, + "height": 0.28133331043836995 + } + ] + }, + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752103641_6ijlgrtc0", + "x": 0.4471110566948817, + "y": 0.17724071840488947, + "width": 0.1239999924316411, + "height": 0.42666663194444726 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752105722_d1lt9iyto", + "x": 0.46411105565728417, + "y": 0.5252406900845793 + } + ] + }, + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752108636_ogymhyz26", + "x": 0.5461110506524016, + "y": 0.527907356534232 + } + ] + } + } + }, + { + "action_description": "爪夹松开，手电筒落入垃圾箱里。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹松开，手电筒成功落入垃圾箱里。", + "frame": 817, + "progress": 100, + "progress_explanation": "目前爪夹松开，手电筒成功落入垃圾箱里。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，手电筒在垃圾箱里。\n已完成把手电筒放进那个白色的垃圾桶里的任务。", + "time": 27.243281544340118, + "annotations": { + "bbox_1767752029411": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752029411_1767752064219_q84l35cei", + "x": 0.5801110485772065, + "y": 0.3880555243993714, + "width": 0.04799999707031262, + "height": 0.16133332020399418 + } + ] + }, + "bbox_1767752034780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767752034780_1767752072035_8wowo8p2x", + "x": 0.5371110512017181, + "y": 0.3160555302587459, + "width": 0.22099998651123123, + "height": 0.3253333068576411 + } + ] + }, + "point_1767752039859": { + "type": "point", + "instances": [ + { + "id": "point_1767752039859_1767752074378_ubmjbphw8", + "x": 0.3901110601738854, + "y": 0.5080555146337472 + } + ] + }, + "point_1767752044339": { + "type": "point", + "instances": [ + { + "id": "point_1767752044339_1767752076954_cl8jg54ba", + "x": 0.6191110461968355, + "y": 0.5213888468820111 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767752029411", + "name": "手电筒", + "color": "#4CAF50" + }, + { + "id": "bbox_1767752034780", + "name": "垃圾箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767752039859", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767752044339", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-140603-put-flashlight-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-140603-put-flashlight-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b96ba7b451c51099a53a5df7de804fb3eb97dc2e --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-140603-put-flashlight-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,194 @@ +{ + "task_description": "把手电筒放进那个白色的垃圾桶里。\n爪夹开始移动:0%\n爪夹靠近手电筒:30%\n爪夹夹起手电筒:50%\n爪夹移动手电筒:70%\n爪夹将手电筒放入垃圾桶内:90%\n爪夹松开，手电筒落入垃圾桶内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度微微抬升，然后向爪夹方向右侧移动靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向左前方侧移动靠近垃圾桶，爪夹将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:调整爪夹角度微微抬升。", + "time": 1.473264319145639, + "annotations": { + "bbox_1767753957290": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767753957290_1767753998273_gemhgqufp", + "x": 0.6211110460747652, + "y": 0.49620365428030155, + "width": 0.0479999970703127, + "height": 0.11599999055989661 + } + ] + }, + "bbox_1767753963954": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767753963954_1767754003034_f1xkswsqy", + "x": 0.452111056389706, + "y": 0.2508703409122444, + "width": 0.15799999035644588, + "height": 0.2466666465928836 + } + ] + }, + "point_1767753974602": { + "type": "point", + "instances": [ + { + "id": "point_1767753974602_1767754005753_xtdd1x6mo", + "x": 0.44211105700005754, + "y": 0.5579814405939583 + } + ] + }, + "point_1767753982739": { + "type": "point", + "instances": [ + { + "id": "point_1767753982739_1767754008321_7a3tuyrjo", + "x": 0.5581110499199798, + "y": 0.5726481060670487 + } + ] + } + } + }, + { + "action_description": "爪夹微微抬升。", + "correction_plan": "向爪夹方向右侧移动靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向左前方侧移动靠近垃圾桶，爪夹将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹微微提升，方便向爪夹方向右前方移动。", + "frame": 65, + "progress": 15, + "progress_explanation": "目前爪夹微微提升，开始向爪夹方向右前方移动，所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹向爪夹方向右前方移动。", + "time": 2.1735, + "annotations": { + "bbox_1767753957290": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767753957290_1767754016586_mnnqy782q", + "x": 0.6201110461358004, + "y": 0.49220365460582244, + "width": 0.046999997131347816, + "height": 0.13733332215711894 + } + ] + }, + "bbox_1767753963954": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767753963954_1767754021665_okc5pimsn", + "x": 0.4611110558403896, + "y": 0.2402036751136332, + "width": 0.15199999072265688, + "height": 0.23066664789496685 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "correction_plan": "爪夹夹取手电筒抬升至空中，向爪夹方向左前方侧移动靠近垃圾桶，爪夹将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹向爪夹方向右前方移动靠近手电筒，方便爪夹合拢夹取手电筒。", + "frame": 89, + "progress": 30, + "progress_explanation": "目前爪夹向爪夹方向右前方移动靠近手电筒，方便爪夹合拢夹取手电筒。所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，爪夹靠近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹合拢夹取手电筒微微抬升。", + "time": 2.9532, + "annotations": { + "bbox_1767753963954": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767753963954_1767754034952_9qmfz3bs8", + "x": 0.452111056389706, + "y": 0.249537007687418, + "width": 0.16199999011230526, + "height": 0.2493333130425364 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取手电筒。", + "correction_plan": "向爪夹方向左前方侧移动靠近垃圾桶，爪夹将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹合拢夹取手电筒，方便爪夹抬升至空中。", + "frame": 106, + "progress": 35, + "progress_explanation": "目前爪夹合拢夹取手电筒，方便爪夹抬升至空中。所以进度提升为35%。", + "state_description": "当前状态为爪夹合拢，爪夹靠近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹合拢夹取手电筒微微抬升。", + "time": 3.5219239840525844, + "annotations": { + "bbox_1767753963954": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767753963954_1767754041497_5jt6mmvge", + "x": 0.4541110562676357, + "y": 0.2535370073618972, + "width": 0.16299999005127014, + "height": 0.24799997981770996 + } + ] + } + } + }, + { + "time": 4.4436, + "frame": 133, + "progress": -50, + "action_description": "爪夹张开，向爪夹方向后侧移动将手电筒撞到地面上。", + "state_description": "当前状态为爪夹张开，手电筒在地面上。\n", + "progress_explanation": "目前爪夹张开，爪夹进行了空抓的动作，所以进度倒退为50%。", + "error_success_analysis": "爪夹夹取手电筒时，将手电筒撞到地面上了。", + "correction_plan": "", + "annotations": { + "bbox_1767753963954": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767753963954_1767754047985_u3loh0vss", + "x": 0.45611105614556535, + "y": 0.2602036734860292, + "width": 0.16299999005127014, + "height": 0.2359999807942724 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767753957290", + "name": "手电筒", + "color": "#4CAF50" + }, + { + "id": "bbox_1767753963954", + "name": "垃圾箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767753974602", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767753982739", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-140603-put-flashlight-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-140603-put-flashlight-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a1e2fd5f6d0bd85102e82119c977de3fe4eec834 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-140603-put-flashlight-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,304 @@ +{ + "task_description": "把手电筒放进那个白色的垃圾桶里。\n爪夹开始移动:0%\n爪夹靠近手电筒:30%\n爪夹夹起手电筒:50%\n爪夹移动手电筒:70%\n爪夹将手电筒放入垃圾桶内:90%\n爪夹松开，手电筒落入垃圾桶内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度微微抬升，然后向爪夹方向右前方移动靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向左侧移动靠近垃圾桶，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:调整爪夹角度微微抬升。", + "time": 1.3881095594828774, + "annotations": { + "point_1767755624328": { + "type": "point", + "instances": [ + { + "id": "point_1767755624328_1767755634856_97z573nty", + "x": 0.3161110646904867, + "y": 0.4935369878306488 + } + ] + }, + "bbox_1767755612995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767755612995_1767755639352_ija8ejwh9", + "x": 0.30611106530083826, + "y": 0.34420366665009217, + "width": 0.16399998999023496, + "height": 0.2759999775390644 + } + ] + }, + "bbox_1767755604585": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767755604585_1767755644745_r7u1usfth", + "x": 0.5641110495537689, + "y": 0.360203665348009, + "width": 0.11299999310302775, + "height": 0.0586666618923615 + } + ] + } + } + }, + { + "time": 2.2116, + "frame": 66, + "progress": 10, + "action_description": "爪夹微微抬升。", + "state_description": "当前状态为爪夹打开，爪夹抬升。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹向爪夹方向右前方移动靠近手电筒。", + "progress_explanation": "目前爪夹微微抬升，方便爪夹向爪夹方向右前方移动靠近手电筒。所以进度提升为10%。", + "error_success_analysis": "爪夹微微抬升，方便爪夹向爪夹方向右前方移动靠近手电筒。", + "correction_plan": "爪夹向爪夹方向右前方移动靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向左侧移动靠近垃圾桶，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767755612995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767755612995_1767755658538_v7v0wljmn", + "x": 0.31011106505669767, + "y": 0.34020366697561305, + "width": 0.16099999017334046, + "height": 0.2773333107638908 + } + ] + }, + "bbox_1767755604585": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767755604585_1767755662839_7lk4i2u08", + "x": 0.5661110494316987, + "y": 0.3522036659990506, + "width": 0.10799999340820347, + "height": 0.0639999947916671 + } + ] + } + } + }, + { + "time": 4.1496, + "frame": 124, + "progress": 30, + "action_description": "爪夹向爪夹方向右前方移动。", + "state_description": "当前状态为爪夹打开，爪夹靠近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹合拢抓取手电筒微微抬升空中。", + "progress_explanation": "目前爪夹向爪夹方向右前方移动靠近手电筒，方便爪夹抓取手电筒。所以进度提升为30%。", + "error_success_analysis": "爪夹向爪夹方向右前方移动靠近手电筒，方便爪夹抓取手电筒。", + "correction_plan": "爪夹夹取手电筒抬升至空中，向爪夹方向左侧移动靠近垃圾桶，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767755612995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767755612995_1767755677071_c6m0ofze5", + "x": 0.3111110649956625, + "y": 0.35353699922387705, + "width": 0.15699999041748103, + "height": 0.2559999791666684 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取手电筒微微抬升空中。", + "correction_plan": "向爪夹方向左侧移动靠近垃圾桶，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹合拢抓取手电筒微微抬升空中，方便爪夹向抓夹方向左侧移动。", + "frame": 167, + "progress": 50, + "progress_explanation": "目前爪夹合拢抓取手电筒微微抬升空中，方便爪夹向抓夹方向左侧移动。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹夹取手电筒向爪夹方向左侧移动。", + "time": 5.566666666666666, + "annotations": { + "bbox_1767755612995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767755612995_1767755682720_xxh1ryiyq", + "x": 0.3021110655449789, + "y": 0.3442036666500922, + "width": 0.16399998999023496, + "height": 0.26799997819010596 + } + ] + } + } + }, + { + "time": 6.5094, + "frame": 195, + "progress": 70, + "action_description": "爪夹夹取手电筒向爪夹方向左侧移动。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹下降将手电筒放在垃圾桶里。", + "progress_explanation": "目前爪夹夹取手电筒向爪夹方向左侧移动靠近垃圾桶。所以进度提升为70%。", + "error_success_analysis": "爪夹夹取手电筒向爪夹方向左侧移动靠近垃圾桶。", + "correction_plan": "爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767755612995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767755612995_1767755692751_w7u1m5ns9", + "x": 0.3131110648735922, + "y": 0.35087033277422425, + "width": 0.15599999047851623, + "height": 0.26533331174045316 + } + ] + } + } + }, + { + "time": 7.0452, + "frame": 211, + "progress": 90, + "action_description": "爪夹下降将手电筒放在垃圾箱里。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹松开，手电筒放在垃圾桶里。", + "progress_explanation": "目前爪夹下降将手电筒放进垃圾桶里。所以进度提升为90%。", + "error_success_analysis": "爪夹下降将手电筒放进垃圾桶里，方便爪夹张开，手电筒落入垃圾箱里。", + "correction_plan": "爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767755612995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767755612995_1767755708743_7d5f7bkqt", + "x": 0.38611106041802606, + "y": 0.3442036666500922, + "width": 0.15799999035644588, + "height": 0.24533331336805714 + } + ] + } + } + }, + { + "time": 7.8774, + "frame": 236, + "progress": 20, + "action_description": "爪夹下降松开将垃圾桶撞倒，手电筒掉在桌子上。", + "state_description": "当前状态为爪夹张开，手电筒在桌子上，垃圾桶被撞倒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:调整爪夹将垃圾桶扶正，重新向爪夹方向右侧移动靠近手电筒。", + "progress_explanation": "目前爪夹下降松开将垃圾桶撞倒，手电筒掉在桌子上。与上一阶段相比爪夹需要将垃圾箱扶正的动作。所以进度倒退为20%。", + "error_success_analysis": "爪夹下降松开将垃圾桶撞倒，手电筒掉在桌子上。与上一阶段相比爪夹需要将垃圾箱扶正的动作。", + "correction_plan": "调整爪夹将垃圾桶扶正，重新向爪夹方向右侧移动靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向左侧移动靠近垃圾桶，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767755612995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767755612995_1767755723622_xbfgos32z", + "x": 0.41411105870904186, + "y": 0.4122036611162386, + "width": 0.13799999157714887, + "height": 0.18266665180121647 + } + ] + }, + "bbox_1767755604585": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767755604585_1767755727878_vxb20roov", + "x": 0.6281110456475191, + "y": 0.46553699010929445, + "width": 0.0479999970703127, + "height": 0.1426666550564245 + } + ] + } + } + }, + { + "time": 9.074399, + "frame": 272, + "progress": 10, + "action_description": "爪夹向爪夹方向左侧移动靠近垃圾箱。", + "state_description": "当前状态为爪夹张开，靠近垃圾桶。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:重新调整爪夹将垃圾桶扶正。", + "progress_explanation": "目前爪夹重新调整爪夹将垃圾桶扶正。与上一阶段相比爪夹需要将垃圾箱扶正的动作，爪夹更远离手电筒。所以进度倒退为10%。", + "error_success_analysis": "爪夹重新调整爪夹将垃圾桶扶正。与上一阶段相比爪夹需要将垃圾箱扶正的动作，爪夹更远离手电筒。", + "correction_plan": "重新调整爪夹将垃圾桶扶正，重新向爪夹方向右侧移动靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向左侧移动靠近垃圾桶，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "annotations": { + "bbox_1767755604585": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767755604585_1767755733214_0b2adrys8", + "x": 0.6191110461968355, + "y": 0.4668703233341208, + "width": 0.06899999578857444, + "height": 0.13999998860677182 + } + ] + }, + "bbox_1767755612995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767755612995_1767755739373_3uel3tzro", + "x": 0.3131110648735922, + "y": 0.33753700052596025, + "width": 0.15299999066162165, + "height": 0.26533331174045316 + } + ] + } + } + }, + { + "action_description": "爪夹夹取垃圾桶将其移动。", + "correction_plan": "再次调整爪夹将垃圾桶扶正，重新向爪夹方向右侧移动靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向左侧移动靠近垃圾桶，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹重新调整爪夹将垃圾桶扶正。与上一阶段相比爪夹需要将垃圾箱扶正的动作，爪夹靠近手电筒更近。", + "frame": 296, + "progress": 15, + "progress_explanation": "目前爪夹重新调整爪夹将垃圾桶扶正。与上一阶段相比爪夹需要将垃圾箱扶正的动作，爪夹靠近手电筒更近。所以进度提升为10%。", + "state_description": "当前状态为爪夹张开，靠近垃圾桶。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:再次调整爪夹将垃圾桶扶正。", + "time": 9.861717273722086, + "annotations": { + "bbox_1767755604585": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767755604585_1767755752173_scarka2r0", + "x": 0.623111045952695, + "y": 0.464203656884468, + "width": 0.06399999609375025, + "height": 0.13866665538194542 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767755604585", + "name": "手电筒", + "color": "#4CAF50" + }, + { + "id": "bbox_1767755612995", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767755617704", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767755624328", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-140603-put-flashlight-white-trash can-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-140603-put-flashlight-white-trash can-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a86ad33fd92dd798f36cadc6f8923c51fb2ee32c --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-140603-put-flashlight-white-trash can-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,488 @@ +{ + "task_description": "把手电筒放进那个白色的垃圾桶里。\n爪夹开始移动:0%\n爪夹靠近手电筒:30%\n爪夹夹起手电筒:50%\n爪夹移动手电筒:70%\n爪夹将手电筒放入垃圾桶内:90%\n爪夹松开，手电筒落入垃圾桶内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1767757761675": { + "instances": [ + { + "height": 0.04666666286892394, + "id": "bbox_1767757761675_1767758159586_pw58163xz", + "width": 0.08199999499511748, + "x": 0.6761110427178318, + "y": 0.38687032984453695 + } + ], + "type": "bbox" + }, + "bbox_1767757891489": { + "instances": [ + { + "height": 0.26533331174045316, + "id": "bbox_1767757891489_1767758155482_ztzupo4km", + "width": 0.16299999005127014, + "x": 0.4701110552910732, + "y": 0.3548703324487034 + } + ], + "type": "bbox" + }, + "point_1767757897353": { + "instances": [ + { + "id": "point_1767757897353_1767758151562_7dg88y1g3", + "x": 0.39311105999078, + "y": 0.5148703194278712 + } + ], + "type": "point" + }, + "point_1767757906279": { + "instances": [ + { + "id": "point_1767757906279_1767758148554_20iydt1ms", + "x": 0.6201110461358004, + "y": 0.5135369862030448 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度微微抬升，然后向爪夹方向右前方移动靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向左侧移动靠近垃圾桶，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:调整爪夹角度微微抬升。", + "time": 1.4351198658032058 + }, + { + "action_description": "爪夹微微抬升。", + "annotations": { + "bbox_1767757761675": { + "instances": [ + { + "height": 0.04666666286892391, + "id": "bbox_1767757761675_1767758133595_xku8lb0dk", + "width": 0.09299999432373082, + "x": 0.6891110419243749, + "y": 0.2468703412377652 + } + ], + "type": "bbox" + }, + "bbox_1767757891489": { + "instances": [ + { + "height": 0.2586666456163212, + "id": "bbox_1767757891489_1767758139114_d2cjz5j22", + "width": 0.176999989196778, + "x": 0.4701110552910732, + "y": 0.22553700964054282 + } + ], + "type": "bbox" + }, + "point_1767757897353": { + "instances": [ + { + "id": "point_1767757897353_1767758141130_a1kei57d2", + "x": 0.3941110599297449, + "y": 0.5095369865285656 + } + ], + "type": "point" + }, + "point_1767757906279": { + "instances": [ + { + "id": "point_1767757906279_1767758144042_kic7yjzl0", + "x": 0.6171110463189058, + "y": 0.5122036529782183 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方移动靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向左侧移动靠近垃圾桶，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹微微抬升，方便爪夹向爪夹方向右前方移动。", + "frame": 67, + "progress": 10, + "progress_explanation": "目前爪夹微微抬升，方便爪夹向爪夹方向右前方移动，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹抬升。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹向爪夹方向右前方移动。", + "time": 2.223 + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "annotations": { + "bbox_1767757761675": { + "instances": [ + { + "height": 0.14799998795573016, + "id": "bbox_1767757761675_1767758113703_p2b54nkiq", + "width": 0.15299999066162168, + "x": 0.4891110541314053, + "y": 0.18953701257023012 + } + ], + "type": "bbox" + }, + "bbox_1767757891489": { + "instances": [ + { + "height": 0.25999997884114756, + "id": "bbox_1767757891489_1767758118419_gb4uaawbx", + "width": 0.22999998596191493, + "x": 0.2971110658501547, + "y": 0.5095369865285656 + } + ], + "type": "bbox" + }, + "point_1767757897353": { + "instances": [ + { + "id": "point_1767757897353_1767758120291_vufmlpq7k", + "x": 0.3911110601128503, + "y": 0.5162036526526975 + } + ], + "type": "point" + }, + "point_1767757906279": { + "instances": [ + { + "id": "point_1767757906279_1767758123634_yu28ktacl", + "x": 0.6181110462578706, + "y": 0.517536985877524 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹持续向爪夹方向右前方移动靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向左侧移动靠近垃圾桶，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹向爪夹方向右前方移动，方便爪夹靠近手电筒。", + "frame": 83, + "progress": 15, + "progress_explanation": "目前爪夹向爪夹方向右前方移动，方便爪夹靠近手电筒，所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹持续向爪夹方向右前方移动靠近手电筒。", + "time": 2.7816 + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "annotations": { + "bbox_1767757761675": { + "instances": [ + { + "height": 0.271999977864585, + "id": "bbox_1767757761675_1767758096155_j309jdljf", + "width": 0.20699998736572342, + "x": 0.3561110622490806, + "y": 0.40553699499210655 + } + ], + "type": "bbox" + }, + "bbox_1767757891489": { + "instances": [ + { + "height": 0.1613333202039941, + "id": "bbox_1767757891489_1767758075772_s8jhh8tq2", + "width": 0.18199998889160213, + "x": 0.19411107213677542, + "y": 0.813536961788984 + } + ], + "type": "bbox" + }, + "point_1767757897353": { + "instances": [ + { + "id": "point_1767757897353_1767758068396_u78g1bnbs", + "x": 0.3941110599297449, + "y": 0.5122036529782183 + } + ], + "type": "point" + }, + "point_1767757906279": { + "instances": [ + { + "id": "point_1767757906279_1767758066252_rtwz3f9k8", + "x": 0.6171110463189058, + "y": 0.5188703191023504 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹取手电筒抬升至空中，向爪夹方向左侧移动靠近垃圾桶，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹向爪夹方向右前方移动靠近手电筒，方便爪夹合拢抓取近手电筒。", + "frame": 119, + "progress": 30, + "progress_explanation": "目前爪夹向爪夹方向右前方移动靠近手电筒，方便爪夹合拢抓取近手电筒，所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹合拢抓取手电筒微微抬升。", + "time": 3.9558 + }, + { + "action_description": "爪夹合拢抓取手电筒微微抬升。", + "annotations": { + "bbox_1767757761675": { + "instances": [ + { + "height": 0.4079999667968777, + "id": "bbox_1767757761675_1767758053612_8k4t4w764", + "width": 0.12899999212646537, + "x": 0.4311110576714442, + "y": 0.2588703402612028 + } + ], + "type": "bbox" + }, + "bbox_1767757891489": { + "instances": [ + { + "height": 0.150666654405383, + "id": "bbox_1767757891489_1767758057613_dmlodorhd", + "width": 0.19099998834228585, + "x": 0.19011107238091599, + "y": 0.8188702946882899 + } + ], + "type": "bbox" + }, + "point_1767757897353": { + "instances": [ + { + "id": "point_1767757897353_1767758059596_zfet1aplk", + "x": 0.46211105577935446, + "y": 0.5322036513506143 + } + ], + "type": "point" + }, + "point_1767757906279": { + "instances": [ + { + "id": "point_1767757906279_1767758061932_wzrmok66u", + "x": 0.5461110506524016, + "y": 0.5228703187768295 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向左侧移动靠近垃圾桶，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹夹取手电筒微微抬升至空中，方便爪夹向爪夹方向左侧移动靠近垃圾桶。", + "frame": 167, + "progress": 50, + "progress_explanation": "目前爪夹夹取手电筒微微抬升至空中，所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹夹取手电筒向爪夹方向左侧移动。", + "time": 5.566666666666666 + }, + { + "action_description": "爪夹向爪夹方向左侧移动。", + "annotations": { + "bbox_1767757761675": { + "instances": [ + { + "height": 0.4026666338975721, + "id": "bbox_1767757761675_1767758046972_3elfoku9l", + "width": 0.1469999910278325, + "x": 0.4241110580986903, + "y": 0.2590184980046795 + } + ], + "type": "bbox" + }, + "bbox_1767757891489": { + "instances": [ + { + "height": 0.3346666394314258, + "id": "bbox_1767757891489_1767758041869_i3fz028h3", + "width": 0.23099998590087978, + "x": 0.4761110549248623, + "y": 0.3656851559907913 + } + ], + "type": "bbox" + }, + "point_1767757897353": { + "instances": [ + { + "id": "point_1767757897353_1767758036453_xuu35ut3m", + "x": 0.46311105571831934, + "y": 0.5296851426444383 + } + ], + "type": "point" + }, + "point_1767757906279": { + "instances": [ + { + "id": "point_1767757906279_1767758034156_nje7c5e0c", + "x": 0.5491110504692962, + "y": 0.5110184774968687 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹向爪夹方向左侧移动靠近垃圾箱，方便爪夹下降将手电筒放进垃圾箱里。", + "frame": 198, + "progress": 70, + "progress_explanation": "目前爪夹向爪夹方向左侧移动靠近垃圾箱。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹下降将手电筒放在垃圾箱里。", + "time": 6.612 + }, + { + "action_description": "爪夹下降将手电筒放在垃圾箱里。", + "annotations": { + "bbox_1767757761675": { + "instances": [ + { + "height": 0.4026666338975721, + "id": "bbox_1767757761675_1767757966702_isxqmnpv9", + "width": 0.13699999163818416, + "x": 0.4271110579155848, + "y": 0.2535370073618972 + } + ], + "type": "bbox" + }, + "bbox_1767757891489": { + "instances": [ + { + "height": 0.6213332827691013, + "id": "bbox_1767757891489_1767757973342_ozqi00ese", + "width": 0.46599997155761896, + "x": 0.03611108178032948, + "y": 0.08553702103377107 + } + ], + "type": "bbox" + }, + "point_1767757897353": { + "instances": [ + { + "id": "point_1767757897353_1767757975814_c3catsuwz", + "x": 0.4661110555352138, + "y": 0.5295369849009616 + } + ], + "type": "point" + }, + "point_1767757906279": { + "instances": [ + { + "id": "point_1767757906279_1767757978126_kd2pg4frk", + "x": 0.5481110505303313, + "y": 0.5202036523271768 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，将手电筒放在桌子上，爪夹向爪夹方向左侧移动靠近垃圾箱，爪夹将垃圾箱扶正，爪夹重新向爪夹方向右侧移动靠近手电筒，爪夹合拢抓取手电筒微微抬升空中，然后向爪夹方向左侧移动将其放进垃圾箱里，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹下降将手电筒放在垃圾箱里，但爪夹将垃圾桶撞倒。", + "frame": 217, + "progress": 60, + "progress_explanation": "目前爪夹下降将手电筒放在垃圾箱里，但爪夹将垃圾桶撞倒。所以进度倒退为60%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹松开，将手电筒放在桌子上。", + "time": 7.217387543203607 + }, + { + "action_description": "爪夹松开，向爪夹方向左侧移动。", + "annotations": { + "bbox_1767757761675": { + "instances": [ + { + "height": 0.19333331759982772, + "id": "bbox_1767757761675_1767757955598_2ob8vtvho", + "width": 0.06999999572753932, + "x": 0.891111029595274, + "y": 0.4802036555823848 + } + ], + "type": "bbox" + }, + "bbox_1767757891489": { + "instances": [ + { + "height": 0.5426666225043438, + "id": "bbox_1767757891489_1767757945159_6ybpa8hyd", + "width": 0.39399997595214986, + "x": 0.28411106664361163, + "y": 0.033537025265541566 + } + ], + "type": "bbox" + }, + "point_1767757897353": { + "instances": [ + { + "id": "point_1767757897353_1767757937719_mk86pcgt3", + "x": 0.4431110569390223, + "y": 0.517536985877524 + } + ], + "type": "point" + }, + "point_1767757906279": { + "instances": [ + { + "id": "point_1767757906279_1767757935479_g9klgzzrc", + "x": 0.5661110494316987, + "y": 0.5148703194278712 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹将垃圾箱扶正，爪夹重新向爪夹方向右侧移动靠近手电筒，爪夹合拢抓取手电筒微微抬升空中，然后向爪夹方向左侧移动将其放进垃圾箱里，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹松开，向爪夹方向左侧移动。与上一阶段相比，爪夹需要将垃圾箱扶正，重新抓取手电筒。", + "frame": 254, + "progress": 10, + "progress_explanation": "目前爪夹松开，向爪夹方向左侧移动。与上一阶段相比，爪夹需要将垃圾箱扶正，重新抓取手电筒。所以进度倒退为10%。", + "state_description": "当前状态为爪夹张开，手电筒在桌子上。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:调整爪夹角度，将垃圾箱扶正。", + "time": 8.4702 + }, + { + "action_description": "爪夹合拢向爪夹方向右侧调整垃圾箱。", + "correction_plan": "爪夹重新调整角度将垃圾箱扶正，爪夹重新向爪夹方向右侧移动靠近手电筒，爪夹合拢抓取手电筒微微抬升空中，然后向爪夹方向左侧移动将其放进垃圾箱里，爪夹下降将手电筒放在垃圾箱里，爪夹松开，手电筒落入垃圾箱里。", + "error_success_analysis": "爪夹合拢向爪夹方向右侧调整垃圾箱。距离垃圾箱更近，方便爪夹将其扶正。", + "frame": 304, + "progress": 15, + "progress_explanation": "目前爪夹合拢向爪夹方向右侧调整垃圾箱。距离垃圾箱更近，方便爪夹将其扶正。所以进度提升为15%。", + "state_description": "当前状态为爪夹张开，手电筒在桌子上。\n为完成把手电筒放进那个白色的垃圾桶里的任务应当:爪夹张开重新靠近将垃圾箱将其扶正。", + "time": 10.143779111644054 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767757761675", + "name": "手电筒" + }, + { + "color": "#FF9800", + "id": "bbox_1767757891489", + "name": "垃圾箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767757897353", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767757906279", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-141115-put-flashlight-brown- wooden box-good/annotations/chunk-000/observation.images.head/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-141115-put-flashlight-brown- wooden box-good/annotations/chunk-000/observation.images.head/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..7c8274a54e7c527cd935348c38be56d678145d21 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-141115-put-flashlight-brown- wooden box-good/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,270 @@ +{ + "task_description": "把手电筒放进那个木盒里。\n爪夹开始移动:0%\n爪夹靠近手电筒:30%\n爪夹夹起手电筒:50%\n爪夹移动手电筒:70%\n爪夹将手电筒放入木盒内:90%\n爪夹松开，手电筒落入木盒内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "调整爪夹角度微微抬升，然后向爪夹方向右前方移动靠近手电筒，爪夹夹取手电筒抬升至空中，后向爪夹方向左后侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把手电筒放进那个木盒里的任务应当:调整爪夹微微抬升。", + "time": 1.3783807752239565, + "annotations": { + "bbox_1767764139403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764139403_1767764170074_1ygq6g6af", + "x": 0.5031110532769132, + "y": 0.5255369852264823, + "width": 0.0479999970703127, + "height": 0.1266666563585078 + } + ] + }, + "bbox_1767764146642": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764146642_1767764176281_3ulshxei9", + "x": 0.2871110664605062, + "y": 0.6002036458167607, + "width": 0.14699999102783257, + "height": 0.24533331336805705 + } + ] + } + } + }, + { + "action_description": "爪夹微微抬升。", + "correction_plan": "爪夹向爪夹方向右前方移动靠近手电筒，爪夹夹取手电筒抬升至空中，后向爪夹方向左后侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹微微抬升，方便爪夹向爪夹方向右前方移动靠近手电筒。", + "frame": 57, + "progress": 10, + "progress_explanation": "目前爪夹微微抬升，方便爪夹向爪夹方向右前方移动靠近手电筒，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹抬升。\n为完成把手电筒放进那个木盒里的任务应当:向爪夹方向右前方移动靠近手电筒，方便爪夹合拢夹取手电筒。", + "time": 1.9099, + "annotations": { + "bbox_1767764146642": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764146642_1767764189289_zmd8999yz", + "x": 0.2961110659111898, + "y": 0.6108703116153718, + "width": 0.14099999139404346, + "height": 0.22933331467014048 + } + ] + }, + "bbox_1767764139403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764139403_1767764193273_7ccjdawm7", + "x": 0.5091110529107022, + "y": 0.5108703197533919, + "width": 0.04199999743652363, + "height": 0.14666665473090373 + } + ] + } + } + }, + { + "time": 3.319617838642815, + "frame": 100, + "progress": 30, + "action_description": "爪夹向爪夹方向右前方移动。", + "state_description": "当前状态为爪夹打开，靠近手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹合拢夹取手电筒抬升至空中。", + "progress_explanation": "目前爪夹向爪夹方向右前方移动靠近手电筒，方便爪夹合拢夹取手电筒。所以进度提升为30%。", + "error_success_analysis": "爪夹向爪夹方向右前方移动靠近手电筒，方便爪夹合拢夹取手电筒。", + "correction_plan": "爪夹夹取手电筒抬升至空中，后向爪夹方向左后侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "annotations": { + "bbox_1767764139403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764139403_1767764203041_g4zv7e9m2", + "x": 0.5071110530327726, + "y": 0.5122036529782183, + "width": 0.046999997131347816, + "height": 0.13866665538194536 + } + ] + }, + "bbox_1767764146642": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764146642_1767764210625_449zev1z2", + "x": 0.2911110662163656, + "y": 0.5975369793671078, + "width": 0.14399999121093804, + "height": 0.2453333133680572 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取手电筒抬升至空中。", + "correction_plan": "爪夹向爪夹方向左后侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹夹取手电筒抬升至空中，方便爪夹向爪夹方向左后方移动靠近木盒。", + "frame": 146, + "progress": 50, + "progress_explanation": "目前爪夹夹取手电筒抬升至空中。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹夹取手电筒持续抬升。", + "time": 4.866666666666666, + "annotations": { + "bbox_1767764146642": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764146642_1767764227121_f5phohpod", + "x": 0.2781110670098225, + "y": 0.5962036461422815, + "width": 0.1579999903564459, + "height": 0.24933331304253628 + } + ] + }, + "bbox_1767764139403": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764139403_1767764231649_pq1z6vp2t", + "x": 0.5191110523003507, + "y": 0.46553699010929445, + "width": 0.05899999639892606, + "height": 0.1613333202039941 + } + ] + } + } + }, + { + "time": 5.3531, + "frame": 161, + "progress": 60, + "action_description": "爪夹夹取手电筒抬升。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹夹取手电筒向爪夹方向左后侧移动靠近木盒。", + "progress_explanation": "目前爪夹夹取手电筒持续抬升至空中。所以进度提升为60%。", + "error_success_analysis": "爪夹夹取手电筒持续抬升至空中，更方便爪夹向爪夹方向左后方移动靠近木盒。", + "correction_plan": "爪夹向爪夹方向左后侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "annotations": { + "bbox_1767764146642": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764146642_1767764244792_spqvvc29l", + "x": 0.28111106682671705, + "y": 0.5935369796926285, + "width": 0.1519999907226568, + "height": 0.25066664626736285 + } + ] + } + } + }, + { + "time": 5.846266, + "frame": 175, + "progress": 70, + "action_description": "爪夹夹取手电筒向爪夹方向左后侧移动。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹夹取手电筒下降放进木盒里。", + "progress_explanation": "目前爪夹夹取手电筒向爪夹方向左后侧移动。所以进度提升为70%。", + "error_success_analysis": "爪夹夹取手电筒向爪夹方向左后侧移动，方便爪夹下降放进木盒里的动作。", + "correction_plan": "爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "annotations": { + "bbox_1767764146642": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764146642_1767764256265_xppi115h9", + "x": 0.28411106664361163, + "y": 0.5935369796926285, + "width": 0.1529999906616216, + "height": 0.2559999791666684 + } + ] + } + } + }, + { + "time": 6.453329098161827, + "frame": 194, + "progress": 90, + "action_description": "爪夹夹取手电筒下降放进木盒里。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹松开，手电筒落入木盒里。", + "progress_explanation": "目前爪夹夹取手电筒下降放进木盒里。所以进度提升为90%。", + "error_success_analysis": "爪夹夹取手电筒下降放进木盒里，方便爪夹松开，手电筒能成落入木盒里。", + "correction_plan": "爪夹松开，手电筒落入木盒里。", + "annotations": { + "bbox_1767764146642": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764146642_1767764262224_edr7h0s3w", + "x": 0.28211106676568193, + "y": 0.6002036458167606, + "width": 0.15399999060058653, + "height": 0.24399998014323085 + } + ] + } + } + }, + { + "action_description": "爪夹松开，手电筒落入木盒里。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹松开，手电筒成功落入木盒里。", + "frame": 217, + "progress": 100, + "progress_explanation": "目前爪夹松开，手电筒成功落入木盒里。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，手电筒在木盒。\n已完成把手电筒放进那个木盒里的任务应。", + "time": 7.220579937513092, + "annotations": { + "bbox_1767764146642": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764146642_1767764268687_hmno36129", + "x": 0.2871110664605062, + "y": 0.6122036448401982, + "width": 0.14699999102783257, + "height": 0.23733331401909877 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767764139403", + "name": "手电筒", + "color": "#4CAF50" + }, + { + "id": "bbox_1767764146642", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767764151281", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767764156585", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-141115-put-flashlight-brown- wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-141115-put-flashlight-brown- wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..096d98d7b204ec45b30847b258afdb099376b618 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-141115-put-flashlight-brown- wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,534 @@ +{ + "task_description": "把手电筒放进那个木盒里。\n爪夹开始移动:0%\n爪夹靠近手电筒:30%\n爪夹夹起手电筒:50%\n爪夹移动手电筒:70%\n爪夹将手电筒放入木盒内:90%\n爪夹松开，手电筒落入木盒内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1767765932516": { + "instances": [ + { + "height": 0.10133332508680623, + "id": "bbox_1767765932516_1767765965579_jqp3kbqmi", + "width": 0.0509999968872072, + "x": 0.5981110474785737, + "y": 0.3655369982473146 + } + ], + "type": "bbox" + }, + "bbox_1767765938252": { + "instances": [ + { + "height": 0.15866665375434136, + "id": "bbox_1767765938252_1767765972915_ekzdhzjey", + "width": 0.11499999298095745, + "x": 0.6711110430230076, + "y": 0.3615369985728354 + } + ], + "type": "bbox" + }, + "point_1767765944668": { + "instances": [ + { + "id": "point_1767765944668_1767765984011_bc2b0wlhx", + "x": 0.39311105999078, + "y": 0.5095369865285656 + } + ], + "type": "point" + }, + "point_1767765950035": { + "instances": [ + { + "id": "point_1767765950035_1767765987139_akmcglh9o", + "x": 0.6181110462578706, + "y": 0.5135369862030448 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度微微抬升，然后向爪夹方向右前方移动，下降靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把手电筒放进那个木盒里的任务应当:调整爪夹微微抬升。", + "time": 1.64497871701039 + }, + { + "action_description": "爪夹微微抬升。", + "annotations": { + "bbox_1767765932516": { + "instances": [ + { + "height": 0.07999999348958386, + "id": "bbox_1767765932516_1767766014443_z81hkbuhs", + "width": 0.05899999639892606, + "x": 0.6141110465020112, + "y": 0.4388703256127665 + } + ], + "type": "bbox" + }, + "bbox_1767765938252": { + "instances": [ + { + "height": 0.15466665407986213, + "id": "bbox_1767765938252_1767766003290_mi81pb2ae", + "width": 0.12299999249267621, + "x": 0.68811104198541, + "y": 0.4255369933645025 + } + ], + "type": "bbox" + }, + "point_1767765944668": { + "instances": [ + { + "id": "point_1767765944668_1767765994899_g9eobcpe8", + "x": 0.3921110600518151, + "y": 0.5122036529782183 + } + ], + "type": "point" + }, + "point_1767765950035": { + "instances": [ + { + "id": "point_1767765950035_1767765991667_729ub76rs", + "x": 0.6171110463189058, + "y": 0.5055369868540863 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向右前方移动，下降靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹微微抬升，方便爪夹向爪夹方向右前方移动靠近手电筒。", + "frame": 67, + "progress": 10, + "progress_explanation": "目前爪夹微微抬升，方便爪夹向爪夹方向右前方移动靠近手电筒，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹抬升。\n为完成把手电筒放进那个木盒里的任务应当:向爪夹方向右前方移动。", + "time": 2.244666 + }, + { + "action_description": "爪夹下降靠近手电筒。", + "annotations": { + "bbox_1767765932516": { + "instances": [ + { + "height": 0.10666665798611182, + "id": "bbox_1767765932516_1767766024306_bx0opybye", + "width": 0.06999999572753932, + "x": 0.4761110549248623, + "y": 0.3908703295190162 + } + ], + "type": "bbox" + }, + "bbox_1767765938252": { + "instances": [ + { + "height": 0.2853333101128491, + "id": "bbox_1767765938252_1767766032506_wkyrex7jq", + "width": 0.2069999873657234, + "x": 0.6341110452813082, + "y": 0.1988703451440149 + } + ], + "type": "bbox" + }, + "point_1767765944668": { + "instances": [ + { + "id": "point_1767765944668_1767766035986_6339rqcbp", + "x": 0.3921110600518151, + "y": 0.5095369865285656 + } + ], + "type": "point" + }, + "point_1767765950035": { + "instances": [ + { + "id": "point_1767765950035_1767766039058_un1kkefpb", + "x": 0.6171110463189058, + "y": 0.5108703197533919 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹向爪夹方向右前方移动至手电筒上方，与上一阶段相比，爪夹更靠近手电筒，方便爪夹下降合拢夹取手电筒。", + "frame": 84, + "progress": 20, + "progress_explanation": "目前爪夹向爪夹方向右前方移动至手电筒上方，与上一阶段相比，爪夹更靠近手电筒，所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，爪夹靠近手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹下降靠近手电筒，方便爪夹合拢夹取手电筒。", + "time": 2.790666 + }, + { + "action_description": "爪夹下降靠近手电筒。", + "annotations": { + "bbox_1767765932516": { + "instances": [ + { + "height": 0.1773333189019108, + "id": "bbox_1767765932516_1767766079049_6cwgd7g7q", + "width": 0.09099999444580105, + "x": 0.45911105596245994, + "y": 0.4615369904348153 + } + ], + "type": "bbox" + }, + "bbox_1767765938252": { + "instances": [ + { + "height": 0.378666635850697, + "id": "bbox_1767765938252_1767766051705_y52qa3w9y", + "width": 0.26599998376464945, + "x": 0.6641110434502535, + "y": 0.229537009315022 + } + ], + "type": "bbox" + }, + "point_1767765944668": { + "instances": [ + { + "id": "point_1767765944668_1767766045553_8zqzyw78q", + "x": 0.3911110601128503, + "y": 0.5135369862030448 + } + ], + "type": "point" + }, + "point_1767765950035": { + "instances": [ + { + "id": "point_1767765950035_1767766043441_ags0w47yg", + "x": 0.616111046379941, + "y": 0.5148703194278712 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹下降靠近手电筒，方便爪夹合拢夹取手电筒。", + "frame": 102, + "progress": 30, + "progress_explanation": "目前爪夹下降靠近手电筒，方便爪夹合拢夹取手电筒。所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹合拢夹取手电筒抬升至空中。", + "time": 3.397333 + }, + { + "action_description": "爪夹合拢夹取手电筒。", + "annotations": { + "bbox_1767765932516": { + "instances": [ + { + "height": 0.21333331597222363, + "id": "bbox_1767765932516_1767766090769_idmakwdc4", + "width": 0.09399999426269554, + "x": 0.45811105602349517, + "y": 0.4588703239851624 + } + ], + "type": "bbox" + }, + "bbox_1767765938252": { + "instances": [ + { + "height": 0.38799996842448176, + "id": "bbox_1767765938252_1767766095857_ns7hjr56b", + "width": 0.27299998333740333, + "x": 0.6681110432061131, + "y": 0.2615370067108556 + } + ], + "type": "bbox" + }, + "point_1767765944668": { + "instances": [ + { + "id": "point_1767765944668_1767766098185_yz8smz20a", + "x": 0.4731110551079678, + "y": 0.5095369865285656 + } + ], + "type": "point" + }, + "point_1767765950035": { + "instances": [ + { + "id": "point_1767765950035_1767766100985_t62wuv04z", + "x": 0.5431110508355071, + "y": 0.5148703194278712 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹合拢夹取手电筒，开始抬升并移动。", + "frame": 147, + "progress": 50, + "progress_explanation": "目前爪夹合拢夹取手电筒，开始抬升并移动。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹合拢夹取手电筒抬升至空中。", + "time": 4.9 + }, + { + "action_description": "爪夹合拢夹取手电筒抬升至空中。", + "annotations": { + "bbox_1767765932516": { + "instances": [ + { + "height": 0.21199998274739737, + "id": "bbox_1767765932516_1767766130136_uf249btfq", + "width": 0.09999999389648462, + "x": 0.45211105638970606, + "y": 0.4535369910858568 + } + ], + "type": "bbox" + }, + "bbox_1767765938252": { + "instances": [ + { + "height": 0.21466664919705003, + "id": "bbox_1767765938252_1767766123409_xrwh9wg6g", + "width": 0.16899998968505914, + "x": 0.6011110472954683, + "y": 0.3828703301700578 + } + ], + "type": "bbox" + }, + "point_1767765944668": { + "instances": [ + { + "id": "point_1767765944668_1767766144711_x323r8bmz", + "x": 0.46711105547417875, + "y": 0.5122036529782183 + } + ], + "type": "point" + }, + "point_1767765950035": { + "instances": [ + { + "id": "point_1767765950035_1767766147559_jayl6tk4i", + "x": 0.544111050774472, + "y": 0.5095369865285656 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹合拢夹取手电筒抬升至空中，方便爪夹向爪夹方向右侧移动靠近木盒。", + "frame": 167, + "progress": 60, + "progress_explanation": "目前爪夹合拢夹取手电筒抬升至空中。所以进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹夹取手电筒向爪夹方向右侧移动。", + "time": 5.576250098509604 + }, + { + "action_description": "爪夹夹取手电筒向爪夹方向右侧移动。", + "annotations": { + "bbox_1767765932516": { + "instances": [ + { + "height": 0.19866665049913326, + "id": "bbox_1767765932516_1767766167135_jrrinewiy", + "width": 0.10699999346923868, + "x": 0.4511110564507412, + "y": 0.46287032365964165 + } + ], + "type": "bbox" + }, + "bbox_1767765938252": { + "instances": [ + { + "height": 0.20666664984809177, + "id": "bbox_1767765938252_1767766160439_5vj0kqooa", + "width": 0.13999999145507863, + "x": 0.4241110580986903, + "y": 0.39487032919349535 + } + ], + "type": "bbox" + }, + "point_1767765944668": { + "instances": [ + { + "id": "point_1767765944668_1767766154551_m738b0ok9", + "x": 0.4681110554131435, + "y": 0.5108703197533919 + } + ], + "type": "point" + }, + "point_1767765950035": { + "instances": [ + { + "id": "point_1767765950035_1767766152503_bh6fe83m0", + "x": 0.544111050774472, + "y": 0.5148703194278712 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹夹取手电筒向爪夹方向右侧移动至木盒的上方，方便爪夹下降将手电筒放进木盒里。", + "frame": 179, + "progress": 70, + "progress_explanation": "目前爪夹夹取手电筒向爪夹方向右侧移动至木盒的上方。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹下降将手电筒放进木盒里。", + "time": 5.962666 + }, + { + "action_description": "爪夹下降将手电筒放在木盒里。", + "annotations": { + "bbox_1767765932516": { + "instances": [ + { + "height": 0.2106666495225709, + "id": "bbox_1767765932516_1767766191767_d6vx6vjja", + "width": 0.10599999353027387, + "x": 0.45311105632867077, + "y": 0.45220365786103045 + } + ], + "type": "bbox" + }, + "bbox_1767765938252": { + "instances": [ + { + "height": 0.24799997981770996, + "id": "bbox_1767765938252_1767766186094_zjotff27c", + "width": 0.17899998907470768, + "x": 0.4081110590752527, + "y": 0.3962036624183218 + } + ], + "type": "bbox" + }, + "point_1767765944668": { + "instances": [ + { + "id": "point_1767765944668_1767766201863_0qwg919o1", + "x": 0.46411105565728417, + "y": 0.50420365362926 + } + ], + "type": "point" + }, + "point_1767765950035": { + "instances": [ + { + "id": "point_1767765950035_1767766204311_016o79nxa", + "x": 0.5561110500420501, + "y": 0.5095369865285656 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹下降将手电筒放在木盒里，爪夹张开，手电筒更容易落入木盒里。", + "frame": 201, + "progress": 90, + "progress_explanation": "目前爪夹下降将手电筒放在木盒里，与上一阶段相比，爪夹张开，手电筒更容易落入木盒里。所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹松开，手电筒放进木盒里。", + "time": 6.693088559162789 + }, + { + "action_description": "爪夹松开，手电筒落入木盒里。", + "annotations": { + "bbox_1767765932516": { + "instances": [ + { + "height": 0.08266665993923669, + "id": "bbox_1767765932516_1767766225269_k8jkxqga0", + "width": 0.06899999578857452, + "x": 0.6101110467461519, + "y": 0.38420366339488415 + } + ], + "type": "bbox" + }, + "bbox_1767765938252": { + "instances": [ + { + "height": 0.2719999778645852, + "id": "bbox_1767765938252_1767766221070_2g9ssbvg0", + "width": 0.2019999876708992, + "x": 0.5521110502861907, + "y": 0.2588703402612028 + } + ], + "type": "bbox" + }, + "point_1767765944668": { + "instances": [ + { + "id": "point_1767765944668_1767766214814_loy93xaxn", + "x": 0.39311105999078, + "y": 0.5108703197533919 + } + ], + "type": "point" + }, + "point_1767765950035": { + "instances": [ + { + "id": "point_1767765950035_1767766211638_9ja41e1ym", + "x": 0.6191110461968355, + "y": 0.5148703194278712 + } + ], + "type": "point" + } + }, + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹张开，手电筒成功落入木盒里。", + "frame": 234, + "progress": 100, + "progress_explanation": "目前爪夹张开，手电筒成功落入木盒里。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，手电筒在木盒里。\n已完成把手电筒放进那个木盒里的任务应。", + "time": 7.809927019815976 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767765932516", + "name": "手电筒" + }, + { + "color": "#FF9800", + "id": "bbox_1767765938252", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767765944668", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767765950035", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-141115-put-flashlight-brown- wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-141115-put-flashlight-brown- wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e49360e4e764d5ebd6bc11720cb8fe9959d7a906 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-141115-put-flashlight-brown- wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,534 @@ +{ + "task_description": "把手电筒放进那个木盒里。\n爪夹开始移动:0%\n爪夹靠近手电筒:30%\n爪夹夹起手电筒:50%\n爪夹移动手电筒:70%\n爪夹将手电筒放入木盒内:90%\n爪夹松开，手电筒落入木盒内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1767768035369": { + "instances": [ + { + "height": 0.09333332573784782, + "id": "bbox_1767768035369_1767768117079_qzniwxkva", + "width": 0.04099999749755874, + "x": 0.6921110417412694, + "y": 0.5295369849009616 + } + ], + "type": "bbox" + }, + "bbox_1767768055752": { + "instances": [ + { + "height": 0.16533331987847327, + "id": "bbox_1767768055752_1767768104894_ekd5mjbo6", + "width": 0.09499999420166043, + "x": 0.7571110377739845, + "y": 0.6082036451657191 + } + ], + "type": "bbox" + }, + "point_1767768060962": { + "instances": [ + { + "id": "point_1767768060962_1767768120566_413unsdeg", + "x": 0.4011110595024988, + "y": 0.5122036529782183 + } + ], + "type": "point" + }, + "point_1767768066463": { + "instances": [ + { + "id": "point_1767768066463_1767768122478_fty7vmcci", + "x": 0.6081110468682221, + "y": 0.5068703200789128 + } + ], + "type": "point" + } + }, + "correction_plan": "向下调整爪夹角度微微移动，向爪夹方向右前方移动，下降靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把手电筒放进那个木盒里的任务应当:向下调整爪夹角度微微移动。", + "time": 1.4845205035888354 + }, + { + "action_description": "爪夹向下微微移动。", + "annotations": { + "bbox_1767768035369": { + "instances": [ + { + "height": 0.09999999186197985, + "id": "bbox_1767768035369_1767768147357_7siwzrmuo", + "width": 0.08399999487304725, + "x": 0.6841110422295505, + "y": 0.2988703370059947 + } + ], + "type": "bbox" + }, + "bbox_1767768055752": { + "instances": [ + { + "height": 0.17866665212673727, + "id": "bbox_1767768055752_1767768134270_zhu5uh9kz", + "width": 0.13599999169921934, + "x": 0.7261110396660742, + "y": 0.44687032496172485 + } + ], + "type": "bbox" + }, + "point_1767768060962": { + "instances": [ + { + "id": "point_1767768060962_1767768129141_hqlpr8939", + "x": 0.4011110595024988, + "y": 0.5108703197533919 + } + ], + "type": "point" + }, + "point_1767768066463": { + "instances": [ + { + "id": "point_1767768066463_1767768126742_hb89errzn", + "x": 0.6091110468071871, + "y": 0.5148703194278712 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向右前方移动，下降靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹向下微微移动，方便爪夹向爪夹方向右前方移动靠近手电筒。", + "frame": 68, + "progress": 10, + "progress_explanation": "目前爪夹向下微微移动，方便爪夹向爪夹方向右前方移动靠近手电筒。所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把手电筒放进那个木盒里的任务应当:向爪夹方向右前方移动，然后下降靠近手电筒方便抓取。", + "time": 2.262533 + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "annotations": { + "bbox_1767768035369": { + "instances": [ + { + "height": 0.1226666566840286, + "id": "bbox_1767768035369_1767768159077_udx8u0rlt", + "width": 0.08899999456787144, + "x": 0.4991110535210538, + "y": 0.4335369927134609 + } + ], + "type": "bbox" + }, + "bbox_1767768055752": { + "instances": [ + { + "height": 0.20799998307291812, + "id": "bbox_1767768055752_1767768164989_j3ec2kdcp", + "width": 0.15899999029541068, + "x": 0.6591110437554294, + "y": 0.5335369845754407 + } + ], + "type": "bbox" + }, + "point_1767768060962": { + "instances": [ + { + "id": "point_1767768060962_1767768170949_usrltieib", + "x": 0.4011110595024988, + "y": 0.5068703200789128 + } + ], + "type": "point" + }, + "point_1767768066463": { + "instances": [ + { + "id": "point_1767768066463_1767768173093_qvv8jcwlt", + "x": 0.6091110468071871, + "y": 0.5095369865285656 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹向爪夹方向右前方移动至手电筒上方，与上一阶段相比，爪夹更靠近手电筒。", + "frame": 92, + "progress": 20, + "progress_explanation": "目前爪夹向爪夹方向右前方移动至手电筒上方，与上一阶段相比，爪夹更靠近手电筒，所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，靠近手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹下降靠近手电筒，方便爪夹合拢夹取手电筒。", + "time": 3.0672 + }, + { + "action_description": "爪夹下降靠近手电筒。", + "annotations": { + "bbox_1767768035369": { + "instances": [ + { + "height": 0.16799998632812616, + "id": "bbox_1767768035369_1767768185844_ds6st7pn3", + "width": 0.11799999279785203, + "x": 0.4821110545586514, + "y": 0.49220365460582244 + } + ], + "type": "bbox" + }, + "bbox_1767768055752": { + "instances": [ + { + "height": 0.23599998079427234, + "id": "bbox_1767768055752_1767768191741_6gwh8g7t2", + "width": 0.21399998693847735, + "x": 0.6151110464409761, + "y": 0.5722036480954064 + } + ], + "type": "bbox" + }, + "point_1767768060962": { + "instances": [ + { + "id": "point_1767768060962_1767768179661_lk9j424lu", + "x": 0.4021110594414636, + "y": 0.5122036529782183 + } + ], + "type": "point" + }, + "point_1767768066463": { + "instances": [ + { + "id": "point_1767768066463_1767768177237_814k3i8yg", + "x": 0.6071110469292573, + "y": 0.5068703200789128 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹下降靠近手电筒，方便爪夹合拢夹取手电筒。", + "frame": 109, + "progress": 30, + "progress_explanation": "目前爪夹下降靠近手电筒，方便爪夹合拢夹取手电筒。所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，贴近手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹爪夹合拢夹取手电筒抬升至空中。", + "time": 3.644666 + }, + { + "action_description": "爪夹爪夹合拢夹取手电筒。", + "annotations": { + "bbox_1767768035369": { + "instances": [ + { + "height": 0.2053333166232653, + "id": "bbox_1767768035369_1767768210357_752uv0mzu", + "width": 0.1019999937744144, + "x": 0.4551110562066006, + "y": 0.48553698848169036 + } + ], + "type": "bbox" + }, + "bbox_1767768055752": { + "instances": [ + { + "height": 0.25199997949218916, + "id": "bbox_1767768055752_1767768205684_gfuqdgg1m", + "width": 0.19499998809814514, + "x": 0.636111045159238, + "y": 0.5842036471188439 + } + ], + "type": "bbox" + }, + "point_1767768060962": { + "instances": [ + { + "id": "point_1767768060962_1767768213196_xi975dru2", + "x": 0.4681110554131435, + "y": 0.5068703200789128 + } + ], + "type": "point" + }, + "point_1767768066463": { + "instances": [ + { + "id": "point_1767768066463_1767768215636_z7vcb9iya", + "x": 0.5421110508965422, + "y": 0.5122036529782183 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹合拢夹取手电筒，开始抬升并移动。", + "frame": 149, + "progress": 50, + "progress_explanation": "目前爪夹合拢夹取手电筒，开始抬升并移动。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹合拢夹取手电筒抬升至空中。", + "time": 4.968644118378496 + }, + { + "action_description": "爪夹合拢夹取手电筒抬升至空中。", + "annotations": { + "bbox_1767768035369": { + "instances": [ + { + "height": 0.19599998404948044, + "id": "bbox_1767768035369_1767768236323_ydp167jul", + "width": 0.0999999938964847, + "x": 0.452111056389706, + "y": 0.4895369881561696 + } + ], + "type": "bbox" + }, + "bbox_1767768055752": { + "instances": [ + { + "height": 0.20666664984809166, + "id": "bbox_1767768055752_1767768231772_y8wmjzila", + "width": 0.15999999023437556, + "x": 0.557111049981015, + "y": 0.49220365460582244 + } + ], + "type": "bbox" + }, + "point_1767768060962": { + "instances": [ + { + "id": "point_1767768060962_1767768239428_ncj5k0q4u", + "x": 0.4701110552910732, + "y": 0.50420365362926 + } + ], + "type": "point" + }, + "point_1767768066463": { + "instances": [ + { + "id": "point_1767768066463_1767768241876_htqwp19zx", + "x": 0.5461110506524016, + "y": 0.5068703200789128 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹合拢夹取手电筒抬升至空中，方便爪夹向爪夹方向右侧移动靠近木盒。", + "frame": 170, + "progress": 60, + "progress_explanation": "目前爪夹合拢夹取手电筒抬升至空中。所以进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹夹取手电筒向爪夹方向右侧移动。", + "time": 5.6516 + }, + { + "action_description": "爪夹夹取手电筒向爪夹方向右侧移动。", + "annotations": { + "bbox_1767768035369": { + "instances": [ + { + "height": 0.19866665049913326, + "id": "bbox_1767768035369_1767768266163_w3dtkpbjz", + "width": 0.10499999359130899, + "x": 0.4531110563286709, + "y": 0.49220365460582244 + } + ], + "type": "bbox" + }, + "bbox_1767768055752": { + "instances": [ + { + "height": 0.14799998795573022, + "id": "bbox_1767768055752_1767768260939_1r9wggfps", + "width": 0.14399999121093804, + "x": 0.4341110574883388, + "y": 0.4482036581865512 + } + ], + "type": "bbox" + }, + "point_1767768060962": { + "instances": [ + { + "id": "point_1767768060962_1767768277050_pbosww9lq", + "x": 0.4701110552910732, + "y": 0.5095369865285656 + } + ], + "type": "point" + }, + "point_1767768066463": { + "instances": [ + { + "id": "point_1767768066463_1767768279755_ma6h4owss", + "x": 0.5481110505303313, + "y": 0.5108703197533919 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹夹取手电筒向爪夹方向右侧移动至木盒的上方，方便爪夹下降将手电筒放进木盒里。", + "frame": 185, + "progress": 70, + "progress_explanation": "目前爪夹夹取手电筒向爪夹方向右侧移动至木盒的上方。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，靠近木盒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹下降将手电筒放进木盒里。", + "time": 6.172266 + }, + { + "action_description": "爪夹下降将手电筒放在木盒里。", + "annotations": { + "bbox_1767768035369": { + "instances": [ + { + "height": 0.19733331727430692, + "id": "bbox_1767768035369_1767768298707_mq4qrwwr4", + "width": 0.11199999316406295, + "x": 0.4471110566948817, + "y": 0.49220365460582244 + } + ], + "type": "bbox" + }, + "bbox_1767768055752": { + "instances": [ + { + "height": 0.20133331694878615, + "id": "bbox_1767768055752_1767768293970_0m3cz8doa", + "width": 0.1539999906005865, + "x": 0.3991110596245691, + "y": 0.39487032919349535 + } + ], + "type": "bbox" + }, + "point_1767768060962": { + "instances": [ + { + "id": "point_1767768060962_1767768287626_ttu2fzy5z", + "x": 0.4681110554131435, + "y": 0.5095369865285656 + } + ], + "type": "point" + }, + "point_1767768066463": { + "instances": [ + { + "id": "point_1767768066463_1767768285139_qdg9jyuv9", + "x": 0.5421110508965422, + "y": 0.5122036529782183 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹下降将手电筒放在木盒里，爪夹张开，手电筒更容易落入木盒里。", + "frame": 210, + "progress": 90, + "progress_explanation": "目前爪夹下降将手电筒放在木盒里，与上一阶段相比，爪夹张开，手电筒更容易落入木盒里。所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹松开，手电筒放进木盒里。", + "time": 6.9864 + }, + { + "action_description": "爪夹松开，手电筒落入木盒里。", + "annotations": { + "bbox_1767768035369": { + "instances": [ + { + "height": 0.14933332118055656, + "id": "bbox_1767768035369_1767768311322_gm51300si", + "width": 0.06399999609375025, + "x": 0.5071110530327726, + "y": 0.15753701517439656 + } + ], + "type": "bbox" + }, + "bbox_1767768055752": { + "instances": [ + { + "height": 0.25466664594184196, + "id": "bbox_1767768055752_1767768316522_ln1vf93sw", + "width": 0.18199998889160227, + "x": 0.4681110554131435, + "y": 0.11087035230547262 + } + ], + "type": "bbox" + }, + "point_1767768060962": { + "instances": [ + { + "id": "point_1767768060962_1767768319737_n8nvfkhsq", + "x": 0.4491110565728115, + "y": 0.5110184774968687 + } + ], + "type": "point" + }, + "point_1767768066463": { + "instances": [ + { + "id": "point_1767768066463_1767768322817_lz10sli0x", + "x": 0.5591110498589447, + "y": 0.5110184774968687 + } + ], + "type": "point" + } + }, + "correction_plan": "至此整个任务成完成。", + "error_success_analysis": "爪夹张开，手电筒成功落入木盒里。", + "frame": 240, + "progress": 100, + "progress_explanation": "目前爪夹张开，手电筒成功落入木盒里。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，手电筒在木盒里。\n已完成把手电筒放进那个木盒里的任务应。", + "time": 8.0088 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767768035369", + "name": "手电筒" + }, + { + "color": "#FF9800", + "id": "bbox_1767768055752", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767768060962", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767768066463", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-141115-put-flashlight-brown- wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-141115-put-flashlight-brown- wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..22329beb896581dd40086d945d6db3bf5c93d760 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-141115-put-flashlight-brown- wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,566 @@ +{ + "task_description": "把手电筒放进那个木盒里。\n爪夹开始移动:0%\n爪夹靠近手电筒:30%\n爪夹夹起手电筒:50%\n爪夹移动手电筒:70%\n爪夹将手电筒放入木盒内:90%\n爪夹松开，手电筒落入木盒内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹微微抬升，向爪夹方向右前方移动，下降靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把手电筒放进那个木盒里的任务应当:爪夹微微抬升。", + "time": 1.5420194306102362, + "annotations": { + "bbox_1767771151982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771151982_1767771187534_aurup1q59", + "x": 0.7291110394829687, + "y": 0.17487034709713975, + "width": 0.05999999633789086, + "height": 0.13333332248263974 + } + ] + }, + "bbox_1767771158118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771158118_1767771201373_y6yxyz6nu", + "x": 0.7831110361870706, + "y": 0.2828703383080779, + "width": 0.09499999420166043, + "height": 0.150666654405383 + } + ] + }, + "point_1767771163661": { + "type": "point", + "instances": [ + { + "id": "point_1767771163661_1767771203774_sqyuj4tgt", + "x": 0.39811105968560423, + "y": 0.5108703197533919 + } + ] + }, + "point_1767771168813": { + "type": "point", + "instances": [ + { + "id": "point_1767771168813_1767771206021_55s5l1tv4", + "x": 0.6131110465630465, + "y": 0.5122036529782183 + } + ] + } + } + }, + { + "action_description": "爪夹微微抬升。", + "correction_plan": "爪夹向爪夹方向右前方移动，下降靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹微微抬升，方便爪夹向爪夹方向右前方移动靠近手电筒。", + "frame": 60, + "progress": 10, + "progress_explanation": "目前爪夹微微抬升，方便爪夹向爪夹方向右前方移动靠近手电筒。所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹抬升。\n为完成把手电筒放进那个木盒里的任务应当:爪夹向爪夹方向右前方移动。", + "time": 2.015833, + "annotations": { + "bbox_1767771158118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771158118_1767771223277_5htsqdnra", + "x": 0.6851110421685155, + "y": 0.3708703311466202, + "width": 0.09599999414062532, + "height": 0.1279999895833342 + } + ] + }, + "bbox_1767771151982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771151982_1767771228148_ovm2olj97", + "x": 0.6221110460137299, + "y": 0.27753700540877235, + "width": 0.0699999957275395, + "height": 0.13066665603298702 + } + ] + }, + "point_1767771163661": { + "type": "point", + "instances": [ + { + "id": "point_1767771163661_1767771231164_eeeoyl10j", + "x": 0.3991110596245691, + "y": 0.5122036529782183 + } + ] + }, + "point_1767771168813": { + "type": "point", + "instances": [ + { + "id": "point_1767771168813_1767771233372_bp7gzu7fc", + "x": 0.6121110466240816, + "y": 0.5108703197533919 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "correction_plan": "爪夹下降靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪向爪夹方向右前方移动靠近手电筒，与上一阶段相比距离手电筒更近，方便爪夹下降夹取手电筒。", + "frame": 81, + "progress": 20, + "progress_explanation": "目前爪向爪夹方向右前方移动靠近手电筒，与上一阶段相比距离手电筒更近。所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，靠近手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹下降靠近手电筒，方便爪夹合拢夹取手电筒。", + "time": 2.704166, + "annotations": { + "point_1767771163661": { + "type": "point", + "instances": [ + { + "id": "point_1767771163661_1767771250900_ix1q1pkdw", + "x": 0.3971110597466394, + "y": 0.5068703200789128 + } + ] + }, + "point_1767771168813": { + "type": "point", + "instances": [ + { + "id": "point_1767771168813_1767771252931_3nttnqxuk", + "x": 0.6171110463189058, + "y": 0.5095369865285656 + } + ] + }, + "bbox_1767771151982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771151982_1767771257803_czu3st4hh", + "x": 0.4761110549248623, + "y": 0.5428703171492255, + "width": 0.08299999493408236, + "height": 0.09733332541232696 + } + ] + }, + "bbox_1767771158118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771158118_1767771262796_8s4adgtqd", + "x": 0.5691110492485931, + "y": 0.5122036529782183, + "width": 0.13299999188232467, + "height": 0.15733332052951496 + } + ] + } + } + }, + { + "action_description": "爪夹下降靠近手电筒。", + "correction_plan": "爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹下降靠近手电筒，方便爪夹合拢夹取手电筒。", + "frame": 106, + "progress": 30, + "progress_explanation": "目前爪夹下降靠近手电筒，方便爪夹合拢夹取手电筒。所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹合拢夹取手电筒抬升空中。", + "time": 3.549833, + "annotations": { + "bbox_1767771158118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771158118_1767771269123_r9s788eg1", + "x": 0.616111046379941, + "y": 0.4108703278914121, + "width": 0.1719999895019538, + "height": 0.21199998274739726 + } + ] + }, + "bbox_1767771151982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771151982_1767771273147_8ivdpr6mm", + "x": 0.4681110554131435, + "y": 0.5068703200789128, + "width": 0.13399999182128958, + "height": 0.14933332118055662 + } + ] + }, + "point_1767771163661": { + "type": "point", + "instances": [ + { + "id": "point_1767771163661_1767771275595_x3f9k04dn", + "x": 0.3971110597466394, + "y": 0.5068703200789128 + } + ] + }, + "point_1767771168813": { + "type": "point", + "instances": [ + { + "id": "point_1767771168813_1767771277707_kbefyruem", + "x": 0.6171110463189058, + "y": 0.5228703187768295 + } + ] + } + } + }, + { + "action_description": "爪夹夹取手电筒微微抬升。", + "correction_plan": "爪夹夹取手电筒持续抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹合拢夹取手电筒，开始抬升并移动。", + "frame": 157, + "progress": 50, + "progress_explanation": "目前爪夹合拢夹取手电筒，开始抬升并移动。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹夹取手电筒持续抬升空中。", + "time": 5.221915981534916, + "annotations": { + "point_1767771168813": { + "type": "point", + "instances": [ + { + "id": "point_1767771168813_1767771282667_e853195gd", + "x": 0.5581110499199798, + "y": 0.5428703171492255 + } + ] + }, + "point_1767771163661": { + "type": "point", + "instances": [ + { + "id": "point_1767771163661_1767771284859_ua0zjtlc4", + "x": 0.4471110566948817, + "y": 0.5428703171492255 + } + ] + }, + "bbox_1767771158118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771158118_1767771289363_zoge6qnbh", + "x": 0.6241110458916597, + "y": 0.3855369966197106, + "width": 0.1719999895019538, + "height": 0.22266664854600837 + } + ] + }, + "bbox_1767771151982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771151982_1767771293467_9yajm0f74", + "x": 0.4501110565117763, + "y": 0.4508703246362041, + "width": 0.11899999273681683, + "height": 0.15866665375434136 + } + ] + } + } + }, + { + "action_description": "爪夹夹取手电筒持续抬升空中。", + "correction_plan": "爪夹向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹合拢夹取手电筒抬升至空中，方便爪夹向爪夹方向右侧移动靠近木盒。", + "frame": 168, + "progress": 60, + "progress_explanation": "目前爪夹合拢夹取手电筒抬升至空中。所以进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹夹取手电筒向爪夹方向右侧移动。", + "time": 5.614833, + "annotations": { + "bbox_1767771151982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771151982_1767771299307_uwiu2yq9n", + "x": 0.4471110566948817, + "y": 0.4495369914113777, + "width": 0.11899999273681691, + "height": 0.15066665440538288 + } + ] + }, + "point_1767771163661": { + "type": "point", + "instances": [ + { + "id": "point_1767771163661_1767771305002_3abuvg1o3", + "x": 0.45611105614556535, + "y": 0.5495369832733575 + } + ] + }, + "point_1767771168813": { + "type": "point", + "instances": [ + { + "id": "point_1767771168813_1767771307386_3rdc8pzy8", + "x": 0.5601110497979096, + "y": 0.5415369839243991 + } + ] + } + } + }, + { + "action_description": "爪夹夹取手电筒向爪夹方向右侧移动。", + "correction_plan": "爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹夹取手电筒向爪夹方向右侧移动至木盒的上方，方便爪夹下降将手电筒放进木盒里。", + "frame": 184, + "progress": 70, + "progress_explanation": "目前爪夹夹取手电筒向爪夹方向右侧移动至木盒的上方。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，靠近木盒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹下降将手电筒放进木盒里。", + "time": 6.126166, + "annotations": { + "point_1767771168813": { + "type": "point", + "instances": [ + { + "id": "point_1767771168813_1767771312123_g5gc0yqtr", + "x": 0.5561110500420501, + "y": 0.5535369829478367 + } + ] + }, + "point_1767771163661": { + "type": "point", + "instances": [ + { + "id": "point_1767771163661_1767771314346_g7wcisy3v", + "x": 0.4571110560845303, + "y": 0.5468703168237047 + } + ] + }, + "bbox_1767771151982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771151982_1767771321754_s6wfo0w6v", + "x": 0.4531110563286709, + "y": 0.4482036581865512, + "width": 0.11799999279785194, + "height": 0.16133332020399418 + } + ] + } + } + }, + { + "action_description": "爪夹夹取手电筒下降靠近木盒。", + "correction_plan": "爪夹持续下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹下降将手电筒靠近木盒，与上一阶段相比，爪夹距离木盒更近。", + "frame": 201, + "progress": 80, + "progress_explanation": "目前爪夹下降将手电筒靠近木盒，与上一阶段相比，爪夹距离木盒更近。所以进度提升为80%。", + "state_description": "当前状态为爪夹合拢，靠近木盒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹持续下降将手电筒放进木盒里。", + "time": 6.696499, + "annotations": { + "bbox_1767771151982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771151982_1767771326682_b2pjeaihz", + "x": 0.4571110560845303, + "y": 0.45220365786103045, + "width": 0.10899999334716837, + "height": 0.150666654405383 + } + ] + }, + "bbox_1767771158118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771158118_1767771332474_jhnp1k00v", + "x": 0.34411106298150246, + "y": 0.4455369917368985, + "width": 0.20499998748779374, + "height": 0.2546666459418419 + } + ] + }, + "point_1767771163661": { + "type": "point", + "instances": [ + { + "id": "point_1767771163661_1767771335699_t98ecujj6", + "x": 0.4571110560845303, + "y": 0.5535369829478367 + } + ] + }, + "point_1767771168813": { + "type": "point", + "instances": [ + { + "id": "point_1767771168813_1767771338266_yr86afngv", + "x": 0.5631110496148041, + "y": 0.5522036497230103 + } + ] + } + } + }, + { + "action_description": "爪夹夹取手电筒放进木盒里。", + "correction_plan": "爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹下降将手电筒放在木盒里，与上一阶段相比，爪夹张开，手电筒更容易落入木盒里。", + "frame": 214, + "progress": 90, + "progress_explanation": "目前爪夹下降将手电筒放在木盒里，与上一阶段相比，爪夹张开，手电筒更容易落入木盒里。所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹松开，手电筒放进木盒里。", + "time": 7.14803263353406, + "annotations": { + "point_1767771168813": { + "type": "point", + "instances": [ + { + "id": "point_1767771168813_1767771343058_hifgl6e91", + "x": 0.5581110499199798, + "y": 0.5468703168237047 + } + ] + }, + "point_1767771163661": { + "type": "point", + "instances": [ + { + "id": "point_1767771163661_1767771345337_4znfqdvnx", + "x": 0.46011105590142476, + "y": 0.5628703155216215 + } + ] + }, + "bbox_1767771158118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771158118_1767771352290_lcib3uy6x", + "x": 0.3961110598076746, + "y": 0.4175369940155441, + "width": 0.21699998675537188, + "height": 0.3213333071831618 + } + ] + }, + "bbox_1767771151982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771151982_1767771356145_vcj8akff1", + "x": 0.4511110564507412, + "y": 0.4508703246362041, + "width": 0.11899999273681683, + "height": 0.15199998763020936 + } + ] + } + } + }, + { + "action_description": "爪夹松开，手电筒落入木盒里。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹张开，手电筒成功落入木盒里。", + "frame": 232, + "progress": 100, + "progress_explanation": "目前爪夹张开，手电筒成功落入木盒里。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，手电筒在木盒里。\n已完成把手电筒放进那个木盒里的任务应。", + "time": 7.736005085196956, + "annotations": { + "bbox_1767771151982": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771151982_1767771361282_x5tirna0v", + "x": 0.4701110552910732, + "y": 0.568203648420927, + "width": 0.08199999499511748, + "height": 0.07866666026475748 + } + ] + }, + "bbox_1767771158118": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771158118_1767771366490_mbcm7pnw9", + "x": 0.40311105938042846, + "y": 0.4482036581865512, + "width": 0.1959999880371101, + "height": 0.2639999785156268 + } + ] + }, + "point_1767771163661": { + "type": "point", + "instances": [ + { + "id": "point_1767771163661_1767771368713_zkw8tteik", + "x": 0.3941110599297449, + "y": 0.5122036529782183 + } + ] + }, + "point_1767771168813": { + "type": "point", + "instances": [ + { + "id": "point_1767771168813_1767771371022_p0v4zfjwo", + "x": 0.6191110461968355, + "y": 0.5068703200789128 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767771151982", + "name": "手电筒", + "color": "#4CAF50" + }, + { + "id": "bbox_1767771158118", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767771163661", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767771168813", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-142009-put-flashlight-brown- wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-142009-put-flashlight-brown- wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..cbe78e55eb5c9fe65bd41eacd16d2f50a1adda5d --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-142009-put-flashlight-brown- wooden box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,402 @@ +{ + "task_description": "把手电筒放进那个木盒里。\n爪夹开始移动:0%\n爪夹靠近手电筒:30%\n爪夹夹起手电筒:50%\n爪夹移动手电筒:70%\n爪夹将手电筒放入木盒内:90%\n爪夹松开，手电筒落入木盒内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹向爪夹方向右前方移动，然后下降靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把手电筒放进那个木盒里的任务应当:爪夹向爪夹方向右前方移动，然后下降靠近手电筒。", + "time": 1.6137947426854247, + "annotations": { + "bbox_1767775793404": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775793404_1767775840452_0qs47cmiz", + "x": 0.5541110501641204, + "y": 0.464203656884468, + "width": 0.08999999450683634, + "height": 0.061333328342014326 + } + ] + }, + "bbox_1767775800429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775800429_1767775846468_akguqo3xw", + "x": 0.7281110395440039, + "y": 0.5455369835988784, + "width": 0.13399999182128958, + "height": 0.15866665375434136 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "correction_plan": "爪夹下降靠近手电筒，爪夹夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹向爪夹方向右前方移动至手电筒上方，方便爪夹下降靠近手电筒，合拢抓取。", + "frame": 68, + "progress": 15, + "progress_explanation": "目前爪夹向爪夹方向右前方移动至手电筒上方。与上一阶段相比，爪夹距离手电筒更近，所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把手电筒放进那个木盒里的任务应当:爪夹下降靠近手电筒，合拢抓取抬升空中。", + "time": 2.262133, + "annotations": { + "bbox_1767775800429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775800429_1767775863163_j19h0xe7c", + "x": 0.7281110395440039, + "y": 0.5403518084430494, + "width": 0.13899999151611384, + "height": 0.15999998697916773 + } + ] + } + } + }, + { + "action_description": "爪夹下降靠近手电筒。", + "correction_plan": "爪夹合拢夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹下降靠近手电筒。与上一阶段相比，爪夹可直接合拢抓取手电筒。", + "frame": 92, + "progress": 30, + "progress_explanation": "目前爪夹下降靠近手电筒。与上一阶段相比，爪夹可直接合拢抓取手电筒，所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，爪夹靠近手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹合拢抓取手电筒抬升空中。", + "time": 3.077166, + "annotations": { + "bbox_1767775800429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775800429_1767775868436_fp4ulniu0", + "x": 0.7291110394829687, + "y": 0.5495369832733575, + "width": 0.13799999157714904, + "height": 0.15733332052951485 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取手电筒。", + "correction_plan": "爪夹抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹合拢成功夹取手电筒 。", + "frame": 128, + "progress": 40, + "progress_explanation": "目前爪夹合拢夹取手电筒。所以进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹合拢抓取手电筒抬升空中。", + "time": 4.254550537346309, + "annotations": { + "bbox_1767775800429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775800429_1767775874291_lc3bg1zct", + "x": 0.7301110394219336, + "y": 0.5415369839243991, + "width": 0.1299999920654301, + "height": 0.1626666534288205 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取手电筒抬升空中。", + "correction_plan": "向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹合拢夹取手电筒抬升至空中，方便爪夹向爪夹方向右侧移动靠近木盒。", + "frame": 151, + "progress": 50, + "progress_explanation": "目前爪夹合拢夹取手电筒抬升至空中。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹抓取手电筒向爪夹方向移动。", + "time": 5.023266, + "annotations": { + "bbox_1767775800429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775800429_1767775880139_j78kqhtpt", + "x": 0.7381110389336524, + "y": 0.5455369835988784, + "width": 0.1239999924316411, + "height": 0.15866665375434127 + } + ] + } + } + }, + { + "action_description": "爪夹抓取手电筒向爪夹方向移动。", + "correction_plan": "爪夹持续向爪夹方向右侧移动至木盒上方，然后爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹抓取手电筒向爪夹方向移动。与上一阶段相比更靠近木盒。", + "frame": 164, + "progress": 60, + "progress_explanation": "目前爪夹抓取手电筒向爪夹方向移动。，与上一阶段相比更靠近木盒。所以进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹抓取手电筒持续向爪夹方向移动至木盒上方。", + "time": 5.455733, + "annotations": { + "bbox_1767775800429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775800429_1767775886578_s7ao984hj", + "x": 0.7361110390557226, + "y": 0.5415369839243991, + "width": 0.12499999237060591, + "height": 0.1626666534288205 + } + ] + } + } + }, + { + "time": 6.470366, + "frame": 194, + "progress": 20, + "action_description": "爪夹张开，手电筒落在桌子上。", + "state_description": "当前状态为爪夹张开，手电筒在桌子。\n为完成把手电筒放进那个木盒里的任务应当:爪夹向爪夹方向左后方微微移动。", + "progress_explanation": "目前爪夹张开，手电筒落在桌子上。与上一阶段相比，爪夹需要重新靠近手电筒抓取。所以进度倒退为20%。", + "error_success_analysis": "爪夹向爪夹方向右侧移动时，只是到达木盒附近爪夹就张开，所以手电筒落在桌子上。", + "correction_plan": "爪夹向爪夹方向左后方微微移动，下降靠近手电筒，爪夹合拢夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "annotations": { + "bbox_1767775800429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775800429_1767775898219_aup6pgamx", + "x": 0.7421110386895118, + "y": 0.5402036506995727, + "width": 0.11999999267578172, + "height": 0.1626666534288206 + } + ] + }, + "bbox_1767775793404": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775793404_1767775908075_dmt7m1czx", + "x": 0.5421110508965422, + "y": 0.5255369852264823, + "width": 0.10499999359130899, + "height": 0.06399999479166703 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左后方微微移动。", + "correction_plan": "爪夹逆时针微微旋转，下降靠近手电筒，爪夹合拢夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹向爪夹方向左后方微微移动。与上一阶段相比，爪夹需要重新下降靠近手电筒抓取的动作。", + "frame": 225, + "progress": 15, + "progress_explanation": "目前爪夹向爪夹方向左后方微微移动。与上一阶段相比，爪夹需要重新下降靠近手电筒抓取的动作。所以进度倒退为15%。", + "state_description": "当前状态为爪夹张开，手电筒在桌子。\n为完成把手电筒放进那个木盒里的任务应当:爪夹逆时针微微旋转。", + "time": 7.5, + "annotations": { + "bbox_1767775800429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775800429_1767775916027_pkipgv67f", + "x": 0.741111038750547, + "y": 0.5428703171492255, + "width": 0.11999999267578162, + "height": 0.16133332020399405 + } + ] + } + } + }, + { + "time": 8.516266, + "frame": 255, + "progress": 20, + "action_description": "爪夹逆时针微微旋转。", + "state_description": "当前状态为爪夹张开，手电筒在桌子。\n为完成把手电筒放进那个木盒里的任务应当:爪夹重新下降靠近手电筒。", + "progress_explanation": "目前爪夹逆时针微微旋转，处在手电筒上方，方便爪夹下降靠近手电筒。所以进度提升为20%。", + "error_success_analysis": "爪夹逆时针微微旋转，处在手电筒上方，方便爪夹下降靠近手电筒。", + "correction_plan": "爪夹下降靠近手电筒，爪夹合拢夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "annotations": { + "bbox_1767775800429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775800429_1767775922386_tds6lg68s", + "x": 0.7291110394829687, + "y": 0.5375369842499199, + "width": 0.13399999182128966, + "height": 0.16399998665364693 + } + ] + } + } + }, + { + "action_description": "爪夹下降靠近手电筒。", + "correction_plan": "爪夹合拢夹取手电筒抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹下降至手电筒正上方位置，与上一阶段相比，爪夹更容易成功抓取手电筒。", + "frame": 316, + "progress": 30, + "progress_explanation": "目前爪夹下降至手电筒正上方位置，与上一阶段相比，爪夹更容易成功抓取手电筒。所以进度提升为30%。", + "state_description": "当前状态为爪夹张开，靠近手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹合拢抓取手电筒抬升至空中。", + "time": 10.530632490891007, + "annotations": { + "bbox_1767775800429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775800429_1767775927786_vv94a1a6r", + "x": 0.7311110393608984, + "y": 0.5375369842499199, + "width": 0.13499999176025446, + "height": 0.16399998665364693 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取手电筒。", + "correction_plan": "爪夹抬升至空中，向爪夹方向右侧移动靠近木盒，爪夹下降将手电筒放在木盒里，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹抓取手电筒，抬升并开始向爪夹方向右侧移动。", + "frame": 365, + "progress": 50, + "progress_explanation": "目前爪夹合拢抓取手电筒。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹合拢抓取手电筒抬升至空中。", + "time": 12.159670156428566, + "annotations": { + "bbox_1767775800429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775800429_1767775935082_82dz9zsoq", + "x": 0.7311110393608984, + "y": 0.5375369842499199, + "width": 0.13299999188232467, + "height": 0.16533331987847338 + } + ] + } + } + }, + { + "action_description": "爪夹抓取手电筒抬升至空中。", + "correction_plan": "爪夹持续爪夹方向右侧移动至木盒上方，爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹爪夹抓取手电筒抬升至空中，与上一阶段相比距离木盒更近。", + "frame": 380, + "progress": 70, + "progress_explanation": "目前爪夹爪夹抓取手电筒抬升至空中，与上一阶段相比距离木盒更近。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹向爪夹方向右侧移动靠近木盒。", + "time": 12.674599, + "annotations": { + "bbox_1767775800429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775800429_1767775940627_fgz2342rv", + "x": 0.733111039238828, + "y": 0.5428703171492255, + "width": 0.12899999212646537, + "height": 0.16133332020399405 + } + ] + }, + "bbox_1767775793404": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775793404_1767775948585_98605leuq", + "x": 0.6141110465020112, + "y": 0.35635182341700655, + "width": 0.08799999462890655, + "height": 0.19866665049913332 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右侧移动至木盒上方。", + "correction_plan": "爪夹松开，手电筒落入木盒里。", + "error_success_analysis": "爪夹向爪夹方向右侧移动至木盒上方，方便爪夹松开，手电筒落入木盒里。", + "frame": 406, + "progress": 90, + "progress_explanation": "目前爪夹向爪夹方向右侧移动至木盒上方。所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，抓紧手电筒。\n为完成把手电筒放进那个木盒里的任务应当:爪夹松开，手电筒落入木盒里。", + "time": 13.522899, + "annotations": { + "bbox_1767775800429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775800429_1767775956617_6rwurbdos", + "x": 0.7311110393608984, + "y": 0.5335369845754407, + "width": 0.13599999169921934, + "height": 0.17199998600260535 + } + ] + } + } + }, + { + "action_description": "爪夹松开，手电筒落入木盒里。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹松开，手电筒成功落入木盒里。", + "frame": 440, + "progress": 100, + "progress_explanation": "目前爪夹松开，手电筒落入木盒里。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，手电筒在木盒里。\n已完成把手电筒放进那个木盒里的任务应当。", + "time": 14.653966, + "annotations": { + "bbox_1767775800429": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775800429_1767775964273_mzj0sb6ak", + "x": 0.733111039238828, + "y": 0.5415369839243991, + "width": 0.130999992004395, + "height": 0.1519999876302093 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767775793404", + "name": "手电筒", + "color": "#4CAF50" + }, + { + "id": "bbox_1767775800429", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767775810372", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767775815276", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-144225-put-tea bag-white-ceramic mug-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-144225-put-tea bag-white-ceramic mug-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..9d3e167c09fce9181d063482a0c07db86c704b25 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-144225-put-tea bag-white-ceramic mug-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,622 @@ +{ + "task_description": "把茶包放进那个白色的陶瓷杯里。\n爪夹开始移动:0%\n爪夹靠近茶包:30%\n爪夹夹起茶包:50%\n爪夹移动茶包:70%\n爪夹将茶包放入陶瓷杯里:90%\n爪夹松开，茶包落入陶瓷杯里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹微微抬升，然后向爪夹方向右侧移动，下降靠近茶包，爪夹合拢夹取手电筒抬升至空中，然后向爪夹方向左前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹微微抬升调整爪夹角度。", + "time": 1.6770061168073127, + "annotations": { + "bbox_1767778388912": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778388912_1767778604034_0n2vn4tey", + "x": 0.7231110398491796, + "y": 0.40820366144175935, + "width": 0.08999999450683634, + "height": 0.15466665407986213 + } + ] + }, + "bbox_1767778383799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778383799_1767778608362_xtl1hfsmr", + "x": 0.8681110309990825, + "y": 0.6388703093367262, + "width": 0.05199999682617218, + "height": 0.10799999121093815 + } + ] + }, + "point_1767778393863": { + "type": "point", + "instances": [ + { + "id": "point_1767778393863_1767778611434_tncwth6la", + "x": 0.3971110597466394, + "y": 0.5108703197533919 + } + ] + }, + "point_1767778398751": { + "type": "point", + "instances": [ + { + "id": "point_1767778398751_1767778613649_zsazxagu2", + "x": 0.6181110462578706, + "y": 0.5135369862030448 + } + ] + } + } + }, + { + "time": 2.364266, + "frame": 71, + "progress": 10, + "action_description": "爪夹微微抬升。", + "state_description": "当前状态为爪夹打开，爪夹抬升。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹向爪夹方向右侧移动。", + "progress_explanation": "目前爪夹抬升移动，所以进度提升为10%。", + "error_success_analysis": "爪夹抬升，方便爪夹向爪夹方向右侧移动。", + "correction_plan": "爪夹向爪夹方向右侧移动，下降靠近茶包，爪夹合拢夹取手电筒抬升至空中，然后向爪夹方向左前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "annotations": { + "bbox_1767778383799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778383799_1767778583506_ffkl16ngq", + "x": 0.8011110350884378, + "y": 0.5922036464678022, + "width": 0.04299999737548834, + "height": 0.08133332671441025 + } + ] + }, + "bbox_1767778388912": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778388912_1767778587635_ezoedgho6", + "x": 0.6931110416802343, + "y": 0.3255370015025226, + "width": 0.10999999328613308, + "height": 0.1426666550564245 + } + ] + }, + "point_1767778393863": { + "type": "point", + "instances": [ + { + "id": "point_1767778393863_1767778590410_zx0k8c6fv", + "x": 0.39311105999078, + "y": 0.5122036529782183 + } + ] + }, + "point_1767778398751": { + "type": "point", + "instances": [ + { + "id": "point_1767778398751_1767778592442_hi5jwa970", + "x": 0.6171110463189058, + "y": 0.5122036529782183 + } + ] + } + } + }, + { + "time": 3.057633, + "frame": 92, + "progress": 15, + "action_description": "爪夹向爪夹方向右侧移动。", + "state_description": "当前状态为爪夹打开，靠近茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降靠近茶包，方便爪夹合拢抓取茶包。", + "progress_explanation": "目前爪夹向爪夹方向右侧移动，与上一阶段相比，距离茶包近些。所以进度提升为15%。", + "error_success_analysis": "爪夹向爪夹方向右侧移动，与上一阶段相比，距离茶包近些。", + "correction_plan": "爪夹下降靠近茶包，爪夹合拢夹取手电筒抬升至空中，然后向爪夹方向左前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "annotations": { + "point_1767778398751": { + "type": "point", + "instances": [ + { + "id": "point_1767778398751_1767778565763_v459608oh", + "x": 0.6181110462578706, + "y": 0.5122036529782183 + } + ] + }, + "point_1767778393863": { + "type": "point", + "instances": [ + { + "id": "point_1767778393863_1767778568147_70dnxgmwm", + "x": 0.39311105999078, + "y": 0.5095369865285656 + } + ] + }, + "bbox_1767778388912": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778388912_1767778572915_bu4ltsm0n", + "x": 0.24111106926812317, + "y": 0.1268703510033894, + "width": 0.18499998870849682, + "height": 0.20133331694878606 + } + ] + }, + "bbox_1767778383799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778383799_1767778576955_je4sgr44u", + "x": 0.5521110502861907, + "y": 0.3522036659990506, + "width": 0.11199999316406295, + "height": 0.15466665407986213 + } + ] + } + } + }, + { + "time": 4.137466, + "frame": 124, + "progress": 20, + "action_description": "爪夹下降靠近茶包。", + "state_description": "当前状态为爪夹打开，靠近茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹合拢抓取茶包抬升至空中。", + "progress_explanation": "目前爪夹下降靠近茶包，与上一阶段相比，爪夹距离茶包更近。所以进度提升为20%。", + "error_success_analysis": "爪夹下降靠近茶包，与上一阶段相比，爪夹距离茶包更近，方便爪夹合拢夹取茶包。", + "correction_plan": "爪夹合拢夹取手电筒抬升至空中，然后向爪夹方向左前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "annotations": { + "bbox_1767778388912": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778388912_1767778549467_u29fyetvc", + "x": 0.14311107524956815, + "y": 0.032203692040715166, + "width": 0.2859999825439464, + "height": 0.3319999729817731 + } + ] + }, + "bbox_1767778383799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778383799_1767778554139_qx8i3dl4l", + "x": 0.6021110472344331, + "y": 0.4202036604651969, + "width": 0.11499999298095745, + "height": 0.1999999837239597 + } + ] + }, + "point_1767778393863": { + "type": "point", + "instances": [ + { + "id": "point_1767778393863_1767778556347_8v47j1w87", + "x": 0.3961110598076746, + "y": 0.5055369868540863 + } + ] + }, + "point_1767778398751": { + "type": "point", + "instances": [ + { + "id": "point_1767778398751_1767778559099_yfzm0nzrg", + "x": 0.6201110461358004, + "y": 0.5135369862030448 + } + ] + } + } + }, + { + "time": 4.8763, + "frame": 146, + "progress": 25, + "action_description": "爪夹向爪夹方向右侧移动。", + "state_description": "当前状态为爪夹打开，靠近茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降合拢抓取茶包抬升至空中。", + "progress_explanation": "目前爪夹向爪夹方向右侧移动。与上一阶段相比，爪夹处在茶包正上方位置。所以进度提升为25%。", + "error_success_analysis": "爪夹向爪夹方向右侧移动。与上一阶段相比，爪夹处在茶包正上方位置，方便爪夹下降合拢成功夹取茶包。", + "correction_plan": "爪夹下降合拢夹取手电筒抬升至空中，然后向爪夹方向左前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "annotations": { + "bbox_1767778388912": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778388912_1767778525076_oauuo7zr6", + "x": 0.018111082878962226, + "y": 0.04153702461449995, + "width": 0.2699999835205088, + "height": 0.2959999759114603 + } + ] + }, + "bbox_1767778383799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778383799_1767778531516_xf6z2vxd4", + "x": 0.4241110580986903, + "y": 0.3575369988983562, + "width": 0.15899999029541068, + "height": 0.23333331434461962 + } + ] + }, + "point_1767778393863": { + "type": "point", + "instances": [ + { + "id": "point_1767778393863_1767778533979_zlrdxlet0", + "x": 0.3961110598076746, + "y": 0.5122036529782183 + } + ] + }, + "point_1767778398751": { + "type": "point", + "instances": [ + { + "id": "point_1767778398751_1767778536444_r7tw0bpd6", + "x": 0.6201110461358004, + "y": 0.5228703187768295 + } + ] + } + } + }, + { + "time": 5.774266, + "frame": 173, + "progress": 20, + "action_description": "爪夹向上移动。", + "state_description": "当前状态为爪夹打开，远离茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹重新下降靠近茶包。", + "progress_explanation": "目前爪夹向上移动。与上一阶段相比，爪夹远离茶包。爪夹多了一次重新下降靠近茶包的动作。所以进度倒退为20%。", + "error_success_analysis": "爪夹向上移动。与上一阶段相比，爪夹远离茶包。爪夹多了一次重新下降靠近茶包的动作。", + "correction_plan": "爪夹下降合拢夹取手电筒抬升至空中，然后向爪夹方向左前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "annotations": { + "bbox_1767778388912": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778388912_1767778495948_gtstqksnz", + "x": 0.11911107671441182, + "y": 0.11620368520477824, + "width": 0.2109999871215828, + "height": 0.27066664463975876 + } + ] + }, + "bbox_1767778383799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778383799_1767778499405_1p23kn0ah", + "x": 0.44011105712212784, + "y": 0.3988703288679745, + "width": 0.13599999169921925, + "height": 0.18399998502604287 + } + ] + }, + "point_1767778393863": { + "type": "point", + "instances": [ + { + "id": "point_1767778393863_1767778501845_0pxy0qko0", + "x": 0.3921110600518151, + "y": 0.5055369868540863 + } + ] + }, + "point_1767778398751": { + "type": "point", + "instances": [ + { + "id": "point_1767778398751_1767778503980_xwwn103ra", + "x": 0.6171110463189058, + "y": 0.5122036529782183 + } + ] + } + } + }, + { + "time": 6.672233, + "frame": 200, + "progress": 30, + "action_description": "爪夹下降靠近茶包。", + "state_description": "当前状态为爪夹打开，靠近茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹合拢抓取茶包抬升至空中。", + "progress_explanation": "目前爪夹再次下降靠近茶包，方便爪夹合拢夹取茶宝。所以进度提升为30%。", + "error_success_analysis": "爪夹再次下降靠近茶包，方便爪夹合拢夹取茶宝。", + "correction_plan": "爪夹合拢夹取手电筒抬升至空中，然后向爪夹方向左前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "annotations": { + "point_1767778398751": { + "type": "point", + "instances": [ + { + "id": "point_1767778398751_1767778473317_kzr4ylweg", + "x": 0.6211110460747652, + "y": 0.524203652001656 + } + ] + }, + "point_1767778393863": { + "type": "point", + "instances": [ + { + "id": "point_1767778393863_1767778475460_4mxqmt84k", + "x": 0.39311105999078, + "y": 0.50420365362926 + } + ] + }, + "bbox_1767778388912": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778388912_1767778481301_js5lf7gam", + "x": 0.017111082939997378, + "y": 0.05487035686276393, + "width": 0.235999985595704, + "height": 0.3279999733072938 + } + ] + }, + "bbox_1767778383799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778383799_1767778485957_wjbuf8w6t", + "x": 0.4041110593193933, + "y": 0.380203663720405, + "width": 0.1989999878540047, + "height": 0.27333331108941145 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取茶包抬升至空中。", + "correction_plan": "向爪夹方向左前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹合拢夹取茶包抬升至空中，方便爪夹向爪夹方向左前方移动靠近陶瓷杯。", + "frame": 238, + "progress": 50, + "progress_explanation": "目前爪夹合拢夹取茶包抬升至空中。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹抓取茶包向爪夹方向左前方移动。", + "time": 7.933333333333334, + "annotations": { + "bbox_1767778383799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778383799_1767778452973_avz1quaoo", + "x": 0.4201110583428309, + "y": 0.35887033212318264, + "width": 0.19199998828125064, + "height": 0.2906666430121547 + } + ] + }, + "bbox_1767778388912": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778388912_1767778458717_yqnlo6k2u", + "x": 0.07211107958306398, + "y": 0.10287035295651424, + "width": 0.23499998565673913, + "height": 0.29066664301215467 + } + ] + }, + "point_1767778393863": { + "type": "point", + "instances": [ + { + "id": "point_1767778393863_1767778466637_fsaina5q5", + "x": 0.498111053582089, + "y": 0.5268703184513087 + } + ] + }, + "point_1767778398751": { + "type": "point", + "instances": [ + { + "id": "point_1767778398751_1767778468957_mm3kf7qf7", + "x": 0.5181110523613859, + "y": 0.5255369852264823 + } + ] + } + } + }, + { + "time": 8.820533, + "frame": 265, + "progress": 70, + "action_description": "爪夹抓取茶包向爪夹方向左前方移动。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹抓取茶包下降放进陶瓷杯里。", + "progress_explanation": "目前爪夹抓取茶包向爪夹方向左前方移动至陶瓷杯上方。所以进度提升为70%。", + "error_success_analysis": "爪夹抓取茶包向爪夹方向左前方移动至陶瓷杯上方。", + "correction_plan": "爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "annotations": { + "point_1767778398751": { + "type": "point", + "instances": [ + { + "id": "point_1767778398751_1767778439094_0mzxhbzsq", + "x": 0.5181110523613859, + "y": 0.5188703191023504 + } + ] + }, + "point_1767778393863": { + "type": "point", + "instances": [ + { + "id": "point_1767778393863_1767778441453_up2sg22jz", + "x": 0.49711105364312413, + "y": 0.5202036523271768 + } + ] + }, + "bbox_1767778383799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778383799_1767778446445_h4yoka9in", + "x": 0.4231110581597254, + "y": 0.3495369995493978, + "width": 0.19099998834228585, + "height": 0.2759999775390643 + } + ] + } + } + }, + { + "time": 9.2411, + "frame": 277, + "progress": 90, + "action_description": "爪夹抓取茶包下降放进陶瓷杯里。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹松开，茶包落入陶瓷杯里。", + "progress_explanation": "目前爪夹抓取茶包下降放进陶瓷杯里。所以进度提升为90%。", + "error_success_analysis": "爪夹抓取茶包下降放进陶瓷杯里，方便爪夹松开，茶包落入陶瓷杯里。", + "correction_plan": "爪夹松开，茶包落入陶瓷杯里。", + "annotations": { + "bbox_1767778383799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778383799_1767778428477_70o7ei39n", + "x": 0.4161110585869715, + "y": 0.3522036659990506, + "width": 0.19099998834228585, + "height": 0.24266664691840442 + } + ] + }, + "point_1767778393863": { + "type": "point", + "instances": [ + { + "id": "point_1767778393863_1767778431149_31ogysx4z", + "x": 0.4961110537041593, + "y": 0.5268703184513087 + } + ] + }, + "point_1767778398751": { + "type": "point", + "instances": [ + { + "id": "point_1767778398751_1767778433573_9hsrp5dw8", + "x": 0.5201110522393156, + "y": 0.5148703194278712 + } + ] + } + } + }, + { + "time": 10.389133, + "frame": 312, + "progress": 100, + "action_description": "爪夹松开，茶包落入陶瓷杯里。", + "state_description": "当前状态为爪夹张开，茶包在陶瓷杯里。\n已完成把茶包放进那个白色的陶瓷杯里的任务。", + "progress_explanation": "目前爪夹松开，茶包成功落入陶瓷杯里。所以进度提升为100%。", + "error_success_analysis": "爪夹松开，茶包成功落入陶瓷杯里。", + "correction_plan": "至此整个任务成完成。", + "annotations": { + "point_1767778398751": { + "type": "point", + "instances": [ + { + "id": "point_1767778398751_1767778408646_97sa583sh", + "x": 0.590111047966855, + "y": 0.5184258916482836 + } + ] + }, + "point_1767778393863": { + "type": "point", + "instances": [ + { + "id": "point_1767778393863_1767778411679_y8kdov07w", + "x": 0.42611105797661997, + "y": 0.509981444500208 + } + ] + }, + "bbox_1767778388912": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778388912_1767778418335_hs1ujh8vj", + "x": 0.4511110564507412, + "y": 0.12731480897503183, + "width": 0.1779999891357428, + "height": 0.21466664919705003 + } + ] + }, + "bbox_1767778383799": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778383799_1767778423022_42xuarhjg", + "x": 0.4821110545586514, + "y": 0.21531480181357407, + "width": 0.09199999438476603, + "height": 0.10399999153645903 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767778383799", + "name": "茶包", + "color": "#4CAF50" + }, + { + "id": "bbox_1767778388912", + "name": "陶瓷杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767778393863", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767778398751", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-144225-put-tea bag-white-ceramic mug-good/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-144225-put-tea bag-white-ceramic mug-good/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..7fcf1af7b7789947f2c26fc8170df44c3924f56e --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-144225-put-tea bag-white-ceramic mug-good/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,444 @@ +{ + "task_description": "把茶包放进那个白色的陶瓷杯里。\n爪夹开始移动:0%\n爪夹靠近茶包:30%\n爪夹夹起茶包:50%\n爪夹移动茶包:70%\n爪夹将茶包放入陶瓷杯里:90%\n爪夹松开，茶包落入陶瓷杯里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1767837707485": { + "instances": [ + { + "height": 0.13466665570746622, + "id": "bbox_1767837707485_1767837740517_b6n3biaef", + "width": 0.08499999481201197, + "x": 0.7211110399712499, + "y": 0.49442589360140843 + } + ], + "type": "bbox" + }, + "point_1767837715814": { + "instances": [ + { + "id": "point_1767837715814_1767837756451_2tjs0nqn9", + "x": 0.4201110583428309, + "y": 0.5139814441746872 + } + ], + "type": "point" + }, + "point_1767837721292": { + "instances": [ + { + "id": "point_1767837721292_1767837759332_mzdnzye3q", + "x": 0.5921110478447846, + "y": 0.5086481112753816 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹微微抬升，然后向爪夹方向右侧移动，下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向前方移动靠近陶瓷杯，爪夹将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹微微抬升调整爪夹角度。", + "time": 1.5874146593340586 + }, + { + "action_description": "爪夹抬升。", + "annotations": { + "bbox_1767837698733": { + "instances": [ + { + "height": 0.10133332508680629, + "id": "bbox_1767837698733_1767837776020_ktyy7zeox", + "width": 0.05699999652099628, + "x": 0.6801110424736911, + "y": 0.46287032365964165 + } + ], + "type": "bbox" + }, + "bbox_1767837707485": { + "instances": [ + { + "height": 0.1279999895833342, + "id": "bbox_1767837707485_1767837771624_wiyl310u3", + "width": 0.09199999438476603, + "x": 0.6921110417412694, + "y": 0.3335370008514811 + } + ], + "type": "bbox" + }, + "point_1767837715814": { + "instances": [ + { + "id": "point_1767837715814_1767837766482_n3q4yut6q", + "x": 0.4201110583428309, + "y": 0.5108703197533919 + } + ], + "type": "point" + }, + "point_1767837721292": { + "instances": [ + { + "id": "point_1767837721292_1767837763963_1idou5ff1", + "x": 0.590111047966855, + "y": 0.5148703194278712 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向右侧移动，下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向前方移动靠近陶瓷杯，爪夹将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹抬升，使爪夹方便向爪夹方向右侧移动。", + "frame": 65, + "progress": 10, + "progress_explanation": "目前爪夹抬升，方便爪夹向爪夹方向右侧移动，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹向爪夹方向右侧移动。", + "time": 2.157599 + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "annotations": { + "bbox_1767837698733": { + "instances": [ + { + "height": 0.1533333208550357, + "id": "bbox_1767837698733_1767837783836_knpovt1vr", + "width": 0.1319999919433598, + "x": 0.4161110585869715, + "y": 0.39753699564314815 + } + ], + "type": "bbox" + }, + "bbox_1767837707485": { + "instances": [ + { + "height": 0.2466666465928836, + "id": "bbox_1767837707485_1767837789604_1rzrqza0k", + "width": 0.2389999854125985, + "x": 0.3381110633477134, + "y": 0.08687035425859747 + } + ], + "type": "bbox" + }, + "point_1767837715814": { + "instances": [ + { + "id": "point_1767837715814_1767837792996_yrxp2lxag", + "x": 0.41911105840386603, + "y": 0.5162036526526975 + } + ], + "type": "point" + }, + "point_1767837721292": { + "instances": [ + { + "id": "point_1767837721292_1767837794883_10i0juf1r", + "x": 0.58911104802789, + "y": 0.5135369862030448 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向前方移动靠近陶瓷杯，爪夹将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹向爪夹方向右侧移动至茶包上方，成功靠近茶包。", + "frame": 85, + "progress": 20, + "progress_explanation": "目前爪夹在茶包上方，方便爪夹下降靠近茶包，所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，并接近茶包\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降靠近茶包，然后合拢夹取茶包抬升至空中。", + "time": 2.845866 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1767837698733": { + "instances": [ + { + "height": 0.2533333127170156, + "id": "bbox_1767837698733_1767837814547_umb92k47b", + "width": 0.22099998651123132, + "x": 0.38811106029595577, + "y": 0.3976851533866249 + } + ], + "type": "bbox" + }, + "bbox_1767837707485": { + "instances": [ + { + "height": 0.3373333058810787, + "id": "bbox_1767837707485_1767837809059_26v85z087", + "width": 0.4759999709472674, + "x": 0.20711107134331835, + "y": 0.005537027544187212 + } + ], + "type": "bbox" + }, + "point_1767837715814": { + "instances": [ + { + "id": "point_1767837715814_1767837801907_55zq5b99g", + "x": 0.41711105852593633, + "y": 0.5095369865285656 + } + ], + "type": "point" + }, + "point_1767837721292": { + "instances": [ + { + "id": "point_1767837721292_1767837799379_96unjx92q", + "x": 0.58911104802789, + "y": 0.5148703194278712 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向爪夹方向前方移动靠近陶瓷杯，爪夹将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹向爪夹方向右侧移动并下降，成功靠近茶包。", + "frame": 102, + "progress": 30, + "progress_explanation": "目前爪夹靠近茶包，方便夹取茶包，所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，并靠近茶包\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹合拢夹取茶包抬升至空中。", + "time": 3.402666 + }, + { + "action_description": "爪夹合拢夹取茶包抬升空中。", + "annotations": { + "bbox_1767837698733": { + "instances": [ + { + "height": 0.28133331043836995, + "id": "bbox_1767837698733_1767837820754_db77608t6", + "width": 0.2009999877319344, + "x": 0.406111059197323, + "y": 0.4308703262638081 + } + ], + "type": "bbox" + }, + "bbox_1767837707485": { + "instances": [ + { + "height": 0.2826666436631963, + "id": "bbox_1767837707485_1767837826876_m8aftqo8d", + "width": 0.2809999828491222, + "x": 0.3181110645684164, + "y": 0.034870358490367966 + } + ], + "type": "bbox" + }, + "point_1767837715814": { + "instances": [ + { + "id": "point_1767837715814_1767837831051_uinaxzjvy", + "x": 0.4681110554131435, + "y": 0.5566481073691318 + } + ], + "type": "point" + }, + "point_1767837721292": { + "instances": [ + { + "id": "point_1767837721292_1767837833283_synarx3bt", + "x": 0.5601110497979096, + "y": 0.5993147705635766 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹取茶包持续抬升，向爪夹方向前方移动靠近陶瓷杯，爪夹将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹抓紧茶包，抬升并成功移动。", + "frame": 140, + "progress": 50, + "progress_explanation": "目前爪夹抓紧茶包，抬升并开始移动，所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹夹取茶包持续抬升至空中。", + "time": 4.666666666666667 + }, + { + "action_description": "爪夹夹取茶包持续抬升。", + "annotations": { + "bbox_1767837698733": { + "instances": [ + { + "height": 0.274666644314238, + "id": "bbox_1767837698733_1767837848058_p0toswtqi", + "width": 0.1959999880371101, + "x": 0.4131110587700769, + "y": 0.4375369923879401 + } + ], + "type": "bbox" + }, + "bbox_1767837707485": { + "instances": [ + { + "height": 0.1866666514756957, + "id": "bbox_1767837707485_1767837843226_adyspko31", + "width": 0.1539999906005865, + "x": 0.3721110612725182, + "y": 0.39753699564314815 + } + ], + "type": "bbox" + }, + "point_1767837715814": { + "instances": [ + { + "id": "point_1767837715814_1767837853402_tmldpc4ut", + "x": 0.4681110554131435, + "y": 0.554870316172663 + } + ], + "type": "point" + }, + "point_1767837721292": { + "instances": [ + { + "id": "point_1767837721292_1767837859161_2hgyvex3r", + "x": 0.544111050774472, + "y": 0.621536977413983 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹抓紧茶包抬升，成功靠近陶瓷杯。", + "frame": 158, + "progress": 70, + "progress_explanation": "目前爪夹抓紧茶包，靠近陶瓷杯，所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹向爪夹方向前方移动靠近陶瓷杯。", + "time": 5.258666 + }, + { + "action_description": "爪夹向爪夹方向前方移动。", + "annotations": { + "bbox_1767837698733": { + "instances": [ + { + "height": 0.27066664463975876, + "id": "bbox_1767837698733_1767837892674_k42jwpz36", + "width": 0.2009999877319343, + "x": 0.41711105852593633, + "y": 0.4348703259382873 + } + ], + "type": "bbox" + }, + "point_1767837715814": { + "instances": [ + { + "id": "point_1767837715814_1767837886306_25xfvcaj5", + "x": 0.4701110552910732, + "y": 0.5708703148705799 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹抓紧茶包成功放在陶瓷杯里。", + "frame": 171, + "progress": 90, + "progress_explanation": "目前爪夹抓紧茶包放在陶瓷杯里，所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹松开，茶包落入陶瓷杯里。", + "time": 5.707199 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1767837698733": { + "instances": [ + { + "height": 0.10266665831163262, + "id": "bbox_1767837698733_1767837898362_upr26fy5j", + "width": 0.0769999953002932, + "x": 0.4531110563286709, + "y": 0.5028703204044336 + } + ], + "type": "bbox" + }, + "bbox_1767837707485": { + "instances": [ + { + "height": 0.18933331792534852, + "id": "bbox_1767837707485_1767837904353_2y4vsjdsh", + "width": 0.16899998968505922, + "x": 0.4081110590752527, + "y": 0.47087032300860004 + } + ], + "type": "bbox" + }, + "point_1767837715814": { + "instances": [ + { + "id": "point_1767837715814_1767837907337_tg1tqbnfw", + "x": 0.4321110576104091, + "y": 0.5135369862030448 + } + ], + "type": "point" + }, + "point_1767837721292": { + "instances": [ + { + "id": "point_1767837721292_1767837909881_035gk6txg", + "x": 0.5781110486992768, + "y": 0.5135369862030448 + } + ], + "type": "point" + } + }, + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，茶包成功落入陶瓷杯里。", + "frame": 190, + "progress": 100, + "progress_explanation": "目前爪夹张开，茶包落入陶瓷杯里，所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，茶包在陶瓷杯\n已完成把茶包放进那个白色的陶瓷杯里的任务。", + "time": 6.333599 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767837698733", + "name": "茶包" + }, + { + "color": "#FF9800", + "id": "bbox_1767837707485", + "name": "陶瓷杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767837715814", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767837721292", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-144225-put-tea bag-white-ceramic mug-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-144225-put-tea bag-white-ceramic mug-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..f5d16c80d503f6e3ef7b02bc314619201a163f65 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-144225-put-tea bag-white-ceramic mug-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,486 @@ +{ + "task_description": "把茶包放进那个白色的陶瓷杯里。\n爪夹开始移动:0%\n爪夹靠近茶包:30%\n爪夹夹起茶包:50%\n爪夹移动茶包:70%\n爪夹将茶包放入陶瓷杯里:90%\n爪夹松开，茶包落入陶瓷杯里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹抬升，然后向爪夹方向右侧移动，下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向后移动靠近陶瓷杯，爪夹将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹微微抬升调整爪夹角度。", + "time": 1.4119087922669846, + "annotations": { + "point_1767839660892": { + "type": "point", + "instances": [ + { + "id": "point_1767839660892_1767839898006_ttl6fedou", + "x": 0.6171110463189058, + "y": 0.5055369868540863 + } + ] + }, + "point_1767839655774": { + "type": "point", + "instances": [ + { + "id": "point_1767839655774_1767839900886_v4dw04whs", + "x": 0.3901110601738854, + "y": 0.5095369865285656 + } + ] + }, + "bbox_1767839645828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839645828_1767839905582_cugxo4m69", + "x": 0.786111036003965, + "y": 0.634870309662247, + "width": 0.13599999169921917, + "height": 0.1973333172743068 + } + ] + }, + "bbox_1767839640069": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839640069_1767839909998_kd092p81c", + "x": 0.8231110337456643, + "y": 0.49620365428030155, + "width": 0.09099999444580113, + "height": 0.09333332573784782 + } + ] + } + } + }, + { + "action_description": "爪夹微微抬升。", + "correction_plan": "爪夹向爪夹方向右侧移动，下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向后移动靠近陶瓷杯，爪夹将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹抬升，使爪夹方便向爪夹方向右侧移动。", + "frame": 66, + "progress": 10, + "progress_explanation": "目前爪夹抬升，方便爪夹向爪夹方向右侧移动，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹向爪夹方向右侧移动。", + "time": 2.197733, + "annotations": { + "point_1767839660892": { + "type": "point", + "instances": [ + { + "id": "point_1767839660892_1767839874846_04nj2pus4", + "x": 0.616111046379941, + "y": 0.5135369862030448 + } + ] + }, + "point_1767839655774": { + "type": "point", + "instances": [ + { + "id": "point_1767839655774_1767839878390_wwi8aqbfg", + "x": 0.3921110600518151, + "y": 0.5055369868540863 + } + ] + }, + "bbox_1767839645828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839645828_1767839883694_y5wclkyal", + "x": 0.7091110407036718, + "y": 0.48553698848169036, + "width": 0.11099999322509806, + "height": 0.16399998665364698 + } + ] + }, + "bbox_1767839640069": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839640069_1767839888294_jr2rx48t4", + "x": 0.727111039605039, + "y": 0.3415370002004394, + "width": 0.08399999487304717, + "height": 0.09199999251302149 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "correction_plan": "爪夹下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向后移动靠近陶瓷杯，爪夹将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹向爪夹方向右侧移动至茶包上方，成功靠近茶包。", + "frame": 77, + "progress": 20, + "progress_explanation": "目前爪夹在茶包上方，方便爪夹下降靠近茶包，所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降靠近茶包。", + "time": 2.5502, + "annotations": { + "bbox_1767839640069": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839640069_1767839860446_0mtvh7iv5", + "x": 0.5721110490654877, + "y": 0.3162036689287379, + "width": 0.10699999346923868, + "height": 0.10533332476128537 + } + ] + }, + "bbox_1767839645828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839645828_1767839865263_xskartrts", + "x": 0.5541110501641204, + "y": 0.5468703168237047, + "width": 0.17899998907470768, + "height": 0.21199998274739731 + } + ] + }, + "point_1767839655774": { + "type": "point", + "instances": [ + { + "id": "point_1767839655774_1767839867255_xn3tqafne", + "x": 0.3921110600518151, + "y": 0.4988703207299544 + } + ] + }, + "point_1767839660892": { + "type": "point", + "instances": [ + { + "id": "point_1767839660892_1767839869847_p31ic52kr", + "x": 0.62211104601373, + "y": 0.5095369865285656 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向后移动靠近陶瓷杯，爪夹将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹向爪夹方向右侧移动并下降，成功靠近茶包。", + "frame": 109, + "progress": 30, + "progress_explanation": "目前爪夹靠近茶包，方便夹取茶包，所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，并靠近茶包\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹合拢夹取茶包抬升至空中。", + "time": 3.649066, + "annotations": { + "point_1767839660892": { + "type": "point", + "instances": [ + { + "id": "point_1767839660892_1767839835095_28ztih7fd", + "x": 0.6171110463189058, + "y": 0.5095369865285656 + } + ] + }, + "point_1767839655774": { + "type": "point", + "instances": [ + { + "id": "point_1767839655774_1767839847430_3cpljpj2m", + "x": 0.39811105968560423, + "y": 0.5068703200789128 + } + ] + }, + "bbox_1767839640069": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839640069_1767839854023_lw54x76k5", + "x": 0.3991110596245691, + "y": 0.3708703311466202, + "width": 0.21699998675537185, + "height": 0.21466664919705009 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取茶包。", + "correction_plan": "爪夹抓紧茶包持续抬升，向后移动靠近陶瓷杯，爪夹将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹抓紧茶包，抬升并成功移动。", + "frame": 151, + "progress": 50, + "progress_explanation": "目前爪夹抓紧茶包，抬升并开始移动，所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹夹取茶包持续抬升至空中。", + "time": 5.033333333333333, + "annotations": { + "bbox_1767839640069": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839640069_1767839823240_omykslkye", + "x": 0.4181110584649012, + "y": 0.35901848986665935, + "width": 0.1989999878540046, + "height": 0.234666647569446 + } + ] + }, + "point_1767839655774": { + "type": "point", + "instances": [ + { + "id": "point_1767839655774_1767839825584_vppeyw1zd", + "x": 0.4991110535210538, + "y": 0.5083518110472159 + } + ] + }, + "point_1767839660892": { + "type": "point", + "instances": [ + { + "id": "point_1767839660892_1767839828319_gbwvexyfn", + "x": 0.5191110523003507, + "y": 0.5083518110472159 + } + ] + } + } + }, + { + "action_description": "爪夹夹取茶包抬升至空中。", + "correction_plan": "向后移动靠近陶瓷杯，爪夹将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹抓紧茶包持续抬升，方便爪夹向后移动靠近陶瓷杯。", + "frame": 168, + "progress": 60, + "progress_explanation": "目前爪夹抓紧茶包持续抬升，所以进度提升为60%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹夹取茶包向后移动靠近陶瓷杯。", + "time": 5.590637186030551, + "annotations": { + "point_1767839660892": { + "type": "point", + "instances": [ + { + "id": "point_1767839660892_1767839788129_o0zqyttqk", + "x": 0.5171110524224211, + "y": 0.5095369865285656 + } + ] + }, + "point_1767839655774": { + "type": "point", + "instances": [ + { + "id": "point_1767839655774_1767839790385_3mrsqjj6w", + "x": 0.49711105364312413, + "y": 0.5135369862030448 + } + ] + }, + "bbox_1767839640069": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839640069_1767839797104_s5r2q5jhi", + "x": 0.40311105938042846, + "y": 0.35887033212318264, + "width": 0.20299998760986399, + "height": 0.23466664756944594 + } + ] + } + } + }, + { + "time": 6.116333, + "frame": 183, + "progress": 70, + "action_description": "爪夹夹取茶包向后移动。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹夹取茶包持续向后移动放进陶瓷杯里。", + "progress_explanation": "目前爪夹夹取茶包向后移动。所以进度提升为70%。", + "error_success_analysis": "爪夹夹取茶包向后移动，方便爪夹将茶包放进陶瓷杯里。", + "correction_plan": "爪夹将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "annotations": { + "bbox_1767839640069": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839640069_1767839775432_5t35s04pz", + "x": 0.3901110601738854, + "y": 0.35887033212318264, + "width": 0.22099998651123132, + "height": 0.23199998111979317 + } + ] + }, + "point_1767839655774": { + "type": "point", + "instances": [ + { + "id": "point_1767839655774_1767839778944_3srg5l1ao", + "x": 0.4991110535210538, + "y": 0.5122036529782183 + } + ] + }, + "point_1767839660892": { + "type": "point", + "instances": [ + { + "id": "point_1767839660892_1767839781976_cflmychmu", + "x": 0.5131110526665617, + "y": 0.5108703197533919 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹夹取茶包向后移动成功放进陶瓷杯里。", + "frame": 201, + "progress": 90, + "progress_explanation": "目前爪夹夹取茶包向后移动放进陶瓷杯里。所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹松开，茶包落入陶瓷杯里。", + "time": 6.712802099956828, + "annotations": { + "point_1767839660892": { + "type": "point", + "instances": [ + { + "id": "point_1767839660892_1767839741634_58cpg94yd", + "x": 0.5181110523613859, + "y": 0.5122036529782183 + } + ] + }, + "point_1767839655774": { + "type": "point", + "instances": [ + { + "id": "point_1767839655774_1767839744257_z2j36r62c", + "x": 0.4991110535210538, + "y": 0.5028703204044336 + } + ] + }, + "bbox_1767839645828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839645828_1767839751993_m0mw2hcm8", + "x": 0.37111106133355337, + "y": 0.2762036721839459, + "width": 0.19899998785400466, + "height": 0.2693333114149324 + } + ] + }, + "bbox_1767839640069": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839640069_1767839758040_14kv02p4h", + "x": 0.40511105925835816, + "y": 0.360203665348009, + "width": 0.20299998760986399, + "height": 0.23333331434461957 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹松开，茶包成功落入陶瓷杯里。", + "frame": 241, + "progress": 100, + "progress_explanation": "目前爪夹松开，茶包落入陶瓷杯里。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，茶包在陶瓷杯里\n已完成把茶包放进那个白色的陶瓷杯里的任务。", + "time": 8.048712711773826, + "annotations": { + "bbox_1767839640069": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839640069_1767839718794_skx4f7pen", + "x": 0.4201110583428309, + "y": 0.35635182341700655, + "width": 0.14399999121093804, + "height": 0.1226666566840286 + } + ] + }, + "bbox_1767839645828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767839645828_1767839724330_9157kyqgy", + "x": 0.38411106054009636, + "y": 0.2790184963770755, + "width": 0.18699998858642647, + "height": 0.23733331401909877 + } + ] + }, + "point_1767839655774": { + "type": "point", + "instances": [ + { + "id": "point_1767839655774_1767839727069_td3dutgar", + "x": 0.3961110598076746, + "y": 0.5083518110472159 + } + ] + }, + "point_1767839660892": { + "type": "point", + "instances": [ + { + "id": "point_1767839660892_1767839729219_bnd2jod6s", + "x": 0.6111110466851167, + "y": 0.5083518110472159 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767839640069", + "name": "茶包", + "color": "#4CAF50" + }, + { + "id": "bbox_1767839645828", + "name": "陶瓷杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767839655774", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767839660892", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-145001-put-tea bag-white-ceramic mug-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-145001-put-tea bag-white-ceramic mug-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..9248c7c2cba42d9212a2b7118406959c6337b19a --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-145001-put-tea bag-white-ceramic mug-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,564 @@ +{ + "task_description": "把茶包放进那个白色的陶瓷杯里。\n爪夹开始移动:0%\n爪夹靠近茶包:30%\n爪夹夹起茶包:50%\n爪夹移动茶包:70%\n爪夹将茶包放入陶瓷杯里:90%\n爪夹松开，茶包落入陶瓷杯里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1767941712180": { + "instances": [ + { + "height": 0.09733332541232707, + "id": "bbox_1767941712180_1767941928752_ux8mnb9i8", + "width": 0.0989999939575199, + "x": 0.544111050774472, + "y": 0.4802036555823848 + } + ], + "type": "bbox" + }, + "bbox_1767941719453": { + "instances": [ + { + "height": 0.19599998404948055, + "id": "bbox_1767941719453_1767941933127_3f3pi48ic", + "width": 0.13599999169921925, + "x": 0.662111043572324, + "y": 0.464203656884468 + } + ], + "type": "bbox" + }, + "point_1767941731443": { + "instances": [ + { + "id": "point_1767941731443_1767941937519_z9mzb7ii8", + "x": 0.1741110733574784, + "y": 0.4215369936900233 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抬升，然后向爪夹方向右侧移动靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "", + "frame": 59, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹微微抬升调整爪夹角度。", + "time": 1.951950307063321 + }, + { + "action_description": "爪夹抬升。", + "annotations": { + "bbox_1767941712180": { + "instances": [ + { + "height": 0.11066665766059097, + "id": "bbox_1767941712180_1767941919471_25qbwbiay", + "width": 0.09499999420166053, + "x": 0.5471110505913666, + "y": 0.47620365590790564 + } + ], + "type": "bbox" + }, + "bbox_1767941719453": { + "instances": [ + { + "height": 0.18799998470052212, + "id": "bbox_1767941719453_1767941915567_4xkc2kxkl", + "width": 0.13799999157714887, + "x": 0.6641110434502536, + "y": 0.464203656884468 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹方向右侧移动靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹向上抬升，方便爪夹向爪夹方向右侧移动靠近茶包。", + "frame": 85, + "progress": 10, + "progress_explanation": "目前爪夹向上抬升，并开始向爪夹方向右侧移动，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，向上抬升。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹向爪夹方向右侧移动靠近茶包。", + "time": 2.824133 + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "annotations": { + "bbox_1767941719453": { + "instances": [ + { + "height": 0.19733331727430692, + "id": "bbox_1767941719453_1767941907135_atk9zf2ef", + "width": 0.13499999176025437, + "x": 0.6671110432671481, + "y": 0.4588703239851624 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹向爪夹方向右侧移动，成功靠近茶包。", + "frame": 131, + "progress": 30, + "progress_explanation": "目前爪夹靠近茶包，方便爪夹合拢夹取，所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹合拢抓取茶包向上抬升。", + "time": 4.379799 + }, + { + "action_description": "爪夹夹取茶包向上抬升。", + "annotations": { + "bbox_1767941712180": { + "instances": [ + { + "height": 0.08533332638888945, + "id": "bbox_1767941712180_1767941894344_0zigm0ozd", + "width": 0.0749999954223636, + "x": 0.583111048394101, + "y": 0.38420366339488415 + } + ], + "type": "bbox" + }, + "bbox_1767941719453": { + "instances": [ + { + "height": 0.18799998470052207, + "id": "bbox_1767941719453_1767941889176_4boyd38xe", + "width": 0.13499999176025437, + "x": 0.6641110434502536, + "y": 0.4562036575355097 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹夹取茶包，成功向上抬升，方便爪夹向爪夹方向右侧移动靠近陶瓷杯。", + "frame": 193, + "progress": 50, + "progress_explanation": "目前爪夹夹取茶包向上抬升，所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹抓取茶包向爪夹方向右侧移动。", + "time": 6.433333333333334 + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "annotations": { + "bbox_1767941712180": { + "instances": [ + { + "height": 0.09466665896267426, + "id": "bbox_1767941712180_1767941878120_fo58tfpw4", + "width": 0.11599999291992225, + "x": 0.6771110426567967, + "y": 0.3522036659990506 + } + ], + "type": "bbox" + }, + "bbox_1767941719453": { + "instances": [ + { + "height": 0.1866666514756957, + "id": "bbox_1767941719453_1767941882416_leqdxc09z", + "width": 0.130999992004395, + "x": 0.6721110429619724, + "y": 0.46553699010929445 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹向爪夹方向右侧移动，成功靠近陶瓷杯，方便爪夹下降将其放在陶瓷杯里。", + "frame": 241, + "progress": 70, + "progress_explanation": "目前爪夹夹取茶包向爪夹方向右侧移动，靠近陶瓷杯，所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹抓取茶包下降将其放在陶瓷杯里。", + "time": 8.046314099877295 + }, + { + "action_description": "爪夹松开，微微向下移动。", + "annotations": { + "bbox_1767941712180": { + "instances": [ + { + "height": 0.1253333231336813, + "id": "bbox_1767941712180_1767941859233_2syhygxrp", + "width": 0.10399999365234418, + "x": 0.583111048394101, + "y": 0.7668702989200604 + } + ], + "type": "bbox" + }, + "bbox_1767941719453": { + "instances": [ + { + "height": 0.1826666518012164, + "id": "bbox_1767941719453_1767941864504_n8u3tsazy", + "width": 0.14799999096679742, + "x": 0.6561110439385349, + "y": 0.46020365720998885 + } + ], + "type": "bbox" + }, + "point_1767941726107": { + "instances": [ + { + "id": "point_1767941726107_1767941867016_yi8cuxacq", + "x": 0.550111050408261, + "y": 0.7442036340980116 + } + ], + "type": "point" + }, + "point_1767941731443": { + "instances": [ + { + "id": "point_1767941731443_1767941870008_es320aq9r", + "x": 0.5811110485161712, + "y": 0.7522036334469699 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹重新下降靠近茶包，合拢夹取向上抬升，然后爪夹向爪夹方向前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹张开，茶包落在桌面上，与上一阶段相比，爪夹需要重新下降靠近茶包抓取的动作。", + "frame": 297, + "progress": 20, + "progress_explanation": "目前爪夹张开，茶包落在桌面上，与上一阶段相比，爪夹需要重新下降靠近茶包抓取的动作，所以进度倒退为20%。", + "state_description": "当前状态为爪夹张开，茶包在桌子上。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹重新下降靠近茶包，合拢夹取向上抬升。", + "time": 9.9 + }, + { + "action_description": "爪夹向上抬升。", + "annotations": { + "bbox_1767941712180": { + "instances": [ + { + "height": 0.11599999055989656, + "id": "bbox_1767941712180_1767941852217_pozzsc5xq", + "width": 0.1039999936523441, + "x": 0.5881110480889252, + "y": 0.7775369647186715 + } + ], + "type": "bbox" + }, + "bbox_1767941719453": { + "instances": [ + { + "height": 0.20133331694878606, + "id": "bbox_1767941719453_1767941847448_azjr42qm4", + "width": 0.13899999151611384, + "x": 0.6571110438774996, + "y": 0.4508703246362041 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降靠近茶包，合拢夹取向上抬升，然后爪夹向爪夹方向前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹向上抬升，远离茶包，与上一阶段相比，爪夹需要重新下降靠近茶包抓取的动作。", + "frame": 330, + "progress": 15, + "progress_explanation": "目前爪夹向上抬升，远离茶包，与上一阶段相比，爪夹需要重新下降靠近茶包抓取的动作，所以进度倒退为15%。", + "state_description": "当前状态为爪夹张开，远离茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹重新下降靠近茶包，合拢夹取向上抬升。", + "time": 11.009333 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1767941719453": { + "instances": [ + { + "height": 0.18933331792534844, + "id": "bbox_1767941719453_1767941842385_jdzr5tf5g", + "width": 0.14299999127197313, + "x": 0.6561110439385349, + "y": 0.4535369910858568 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢夹取向上抬升，然后爪夹向爪夹方向前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹下降，成功靠近茶包，方便爪夹合拢抓取茶包。", + "frame": 377, + "progress": 30, + "progress_explanation": "目前爪夹下降靠近茶包，方便爪夹合拢抓取茶包，向上抬升，所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹合拢抓取茶包向上抬升。", + "time": 12.564999 + }, + { + "action_description": "爪夹合拢向上抬升。", + "annotations": { + "bbox_1767941719453": { + "instances": [ + { + "height": 0.21199998274739726, + "id": "bbox_1767941719453_1767941836072_e0nryhz5a", + "width": 0.13499999176025446, + "x": 0.6631110435112888, + "y": 0.4402036588375929 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹成功夹取茶包向上抬升，并开始移动。", + "frame": 423, + "progress": 50, + "progress_explanation": "目前爪夹夹取茶包向上抬升，所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹抓取茶包向爪夹方向前方移动。", + "time": 14.1 + }, + { + "action_description": "爪夹向爪夹方向前方移动。", + "annotations": { + "bbox_1767941719453": { + "instances": [ + { + "height": 0.19866665049913326, + "id": "bbox_1767941719453_1767941828665_ixyvwuiw6", + "width": 0.1329999918823246, + "x": 0.669111043145078, + "y": 0.4495369914113777 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹夹取茶包向爪夹方向前方移动，成功靠近陶瓷杯。", + "frame": 465, + "progress": 70, + "progress_explanation": "目前爪夹夹取茶包向爪夹方向前方移动靠近陶瓷杯。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降将茶包放在陶瓷杯里。", + "time": 15.508799 + }, + { + "action_description": "爪夹松开。", + "annotations": { + "bbox_1767941712180": { + "instances": [ + { + "height": 0.1279999895833342, + "id": "bbox_1767941712180_1767941820249_jx6hvd47b", + "width": 0.1009999938354496, + "x": 0.5781110486992768, + "y": 0.665536973833254 + } + ], + "type": "bbox" + }, + "bbox_1767941719453": { + "instances": [ + { + "height": 0.201333316948786, + "id": "bbox_1767941719453_1767941815570_92i5rdurt", + "width": 0.1289999921264653, + "x": 0.6741110428399021, + "y": 0.45220365786103045 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹重新下降靠近茶包，合拢夹取向上抬升，然后向爪夹方向前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹张开，茶包落在桌面上，与上一阶段相比，爪夹需要重新下降靠近茶包抓取的动作。", + "frame": 511, + "progress": 20, + "progress_explanation": "目前爪夹张开，茶包落在桌面上，与上一阶段相比，爪夹需要重新下降靠近茶包抓取的动作，所以进度倒退为20%。", + "state_description": "当前状态为爪夹张开，茶包在桌子上。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹重新下降靠近茶包，合拢夹取向上抬升。", + "time": 17.033333333333335 + }, + { + "action_description": "爪夹向下移动。", + "annotations": { + "bbox_1767941719453": { + "instances": [ + { + "height": 0.19466665082465404, + "id": "bbox_1767941719453_1767941807801_fszl3u4ym", + "width": 0.1259999923095707, + "x": 0.6711110430230076, + "y": 0.46287032365964165 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢夹取向上抬升，然后向爪夹方向前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹下降成功靠近茶包，方便爪夹合拢抓取茶包。", + "frame": 563, + "progress": 30, + "progress_explanation": "目前爪夹下降靠近茶包，方便爪夹合拢抓取茶包，向上抬升，所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹合拢抓取茶包向上抬升。", + "time": 18.763733 + }, + { + "action_description": "爪夹合拢抓取茶包，向上抬升移动。", + "annotations": { + "bbox_1767941719453": { + "instances": [ + { + "height": 0.2106666495225709, + "id": "bbox_1767941719453_1767941802938_b7z2ot2uu", + "width": 0.13799999157714896, + "x": 0.662111043572324, + "y": 0.45220365786103045 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹方向前方移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹成功夹取茶包向上抬升，并开始移动。", + "frame": 601, + "progress": 50, + "progress_explanation": "目前爪夹夹取茶包向上抬升，所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹抓取茶包向爪夹方向前方移动。", + "time": 20.033333333333335 + }, + { + "action_description": "爪夹向爪夹方向前方移动。", + "annotations": { + "bbox_1767941712180": { + "instances": [ + { + "height": 0.1719999860026053, + "id": "bbox_1767941712180_1767941794658_r19sdwnk3", + "width": 0.09299999432373092, + "x": 0.7291110394829687, + "y": 0.23887034188880682 + } + ], + "type": "bbox" + }, + "bbox_1767941719453": { + "instances": [ + { + "height": 0.20666664984809172, + "id": "bbox_1767941719453_1767941789114_ht4d00gew", + "width": 0.13599999169921917, + "x": 0.6661110433281834, + "y": 0.4535369910858568 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹向爪夹方向前方移动，成功靠近陶瓷杯。", + "frame": 626, + "progress": 70, + "progress_explanation": "目前爪夹向爪夹方向前方移动靠近陶瓷杯。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降，将茶包放在陶瓷杯里。", + "time": 20.876553663696185 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1767941712180": { + "instances": [ + { + "height": 0.137333322157119, + "id": "bbox_1767941712180_1767941775601_52ry5ure1", + "width": 0.07199999560546902, + "x": 0.714111040398496, + "y": 0.37353699759627296 + } + ], + "type": "bbox" + }, + "bbox_1767941719453": { + "instances": [ + { + "height": 0.17333331922743173, + "id": "bbox_1767941719453_1767941781098_3zm83rvgi", + "width": 0.1299999920654301, + "x": 0.669111043145078, + "y": 0.4748703226830792 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹下降，成功将茶包放进陶瓷杯里，方便爪夹张开，茶包能落入陶瓷杯里。", + "frame": 649, + "progress": 90, + "progress_explanation": "目前爪夹下降将茶包放进陶瓷杯里，方便爪夹张开，茶包能落入陶瓷杯里。所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹张开，茶包落入陶瓷杯里。", + "time": 21.616759792378044 + }, + { + "action_description": "爪夹张开，向后移动。", + "annotations": { + "bbox_1767941712180": { + "instances": [ + { + "height": 0.04666666286892394, + "id": "bbox_1767941712180_1767941746019_1ljuhwoae", + "width": 0.055999996582031475, + "x": 0.7041110410088475, + "y": 0.5210925580979364 + } + ], + "type": "bbox" + }, + "bbox_1767941719453": { + "instances": [ + { + "height": 0.17466665245225813, + "id": "bbox_1767941719453_1767941754994_uduq7d5j5", + "width": 0.14199999133300834, + "x": 0.6571110438774996, + "y": 0.46198144840645766 + } + ], + "type": "bbox" + } + }, + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，茶包成功落入陶瓷杯里。", + "frame": 700, + "progress": 100, + "progress_explanation": "目前爪夹张开，茶包成功落入陶瓷杯里。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，茶包在陶瓷杯里。\n已完成把茶包放进那个白色的陶瓷杯里的任务。", + "time": 23.34390742596905 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767941712180", + "name": "茶包" + }, + { + "color": "#FF9800", + "id": "bbox_1767941719453", + "name": "陶瓷杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767941726107", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767941731443", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-145001-put-tea bag-white-ceramic mug-mix/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-145001-put-tea bag-white-ceramic mug-mix/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..739ea437e8e586fea42b4416449ca680e00b9494 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-145001-put-tea bag-white-ceramic mug-mix/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,484 @@ +{ + "task_description": "把茶包放进那个白色的陶瓷杯里。\n爪夹开始移动:0%\n爪夹靠近茶包:30%\n爪夹夹起茶包:50%\n爪夹移动茶包:70%\n爪夹将茶包放入陶瓷杯里:90%\n爪夹松开，茶包落入陶瓷杯里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹抬升，然后向爪夹方向右侧移动，下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹微微抬升调整爪夹角度。", + "time": 1.5742491559373266, + "annotations": { + "bbox_1767842125976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842125976_1767842889432_yqzm5ratu", + "x": 0.46211105577935446, + "y": 0.6335369764374206, + "width": 0.12499999237060591, + "height": 0.22933331467014048 + } + ] + }, + "bbox_1767842121328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842121328_1767842895047_ladkz2vmf", + "x": 0.44111105706109266, + "y": 0.5362036510250935, + "width": 0.08599999475097694, + "height": 0.1279999895833342 + } + ] + }, + "point_1767842138447": { + "type": "point", + "instances": [ + { + "id": "point_1767842138447_1767842903471_zy47klsxd", + "x": 0.20611107140435353, + "y": 0.49220365460582244 + } + ] + } + } + }, + { + "action_description": "爪夹抬升。", + "correction_plan": "爪夹向爪夹方向右侧移动，下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹抬升，使爪夹方便向爪夹方向右侧移动。", + "frame": 70, + "progress": 10, + "progress_explanation": "目前爪夹抬升，方便爪夹向爪夹方向右侧移动，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹向爪夹方向右侧移动。", + "time": 2.328799, + "annotations": { + "bbox_1767842121328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842121328_1767842875431_vw6jjvmgb", + "x": 0.4481110566338466, + "y": 0.5535369829478367, + "width": 0.08199999499511748, + "height": 0.1133333241102438 + } + ] + }, + "bbox_1767842125976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842125976_1767842880328_tgy0r81ba", + "x": 0.46011105590142476, + "y": 0.6388703093367262, + "width": 0.1239999924316411, + "height": 0.22533331499566114 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "correction_plan": "下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹向爪夹方向右侧移动至茶包上方，成功靠近茶包。", + "frame": 89, + "progress": 20, + "progress_explanation": "目前爪夹在茶包上方，方便爪夹下降靠近茶包，所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降靠近茶包，方便爪夹夹取茶包。", + "time": 2.9684, + "annotations": { + "bbox_1767842125976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842125976_1767842865472_he3zr0y7i", + "x": 0.4681110554131435, + "y": 0.6402036425615525, + "width": 0.11499999298095745, + "height": 0.22399998177083483 + } + ] + }, + "bbox_1767842121328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842121328_1767842869320_iu0nry3iw", + "x": 0.4501110565117763, + "y": 0.5668703151961006, + "width": 0.07699999530029329, + "height": 0.09599999218750063 + } + ] + } + } + }, + { + "action_description": "爪夹微微向下移动。", + "correction_plan": "下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹微微下降，与上一阶段相比更靠近茶包，方便爪夹夹取茶包。", + "frame": 113, + "progress": 25, + "progress_explanation": "目前爪夹微微下降，与上一阶段相比更靠近茶包，所以进度提升为25%。", + "state_description": "当前状态为爪夹打开，\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降靠近茶包，方便爪夹夹取茶包。", + "time": 3.755599, + "annotations": { + "bbox_1767842125976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842125976_1767842860177_idu5c9q4t", + "x": 0.45911105596245994, + "y": 0.6295369767629413, + "width": 0.1299999920654301, + "height": 0.23733331401909877 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左侧移动。", + "correction_plan": "爪夹重新向爪夹方向右侧移动靠近茶包，然后下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹向爪夹方向左侧移动，与上一阶段相比，爪夹远离茶包。", + "frame": 145, + "progress": 15, + "progress_explanation": "目前爪夹向爪夹方向左侧移动，与上一阶段相比，爪夹需要多了一次重新靠近茶包的动作，所以进度倒退为15%。", + "state_description": "当前状态为爪夹打开，\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹重新向爪夹方向右侧移动靠近茶包，方便爪夹下降夹取茶包。", + "time": 4.821599, + "annotations": { + "bbox_1767842121328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842121328_1767842844656_bk9tlnchf", + "x": 0.42611105797661997, + "y": 0.5468703168237047, + "width": 0.08499999481201197, + "height": 0.11599999055989668 + } + ] + }, + "bbox_1767842125976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842125976_1767842848553_9ds1ptgac", + "x": 0.45811105602349506, + "y": 0.6308703099877678, + "width": 0.130999992004395, + "height": 0.22933331467014034 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动。", + "correction_plan": "爪夹下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹向爪夹方向左侧移动，与上一阶段相比，爪夹距离茶包更远。", + "frame": 192, + "progress": 10, + "progress_explanation": "目前爪夹向爪夹方向左侧移动，与上一阶段相比，爪夹距离茶包更远，所以进度倒退为10%。", + "state_description": "当前状态为爪夹打开，\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降靠近茶包。", + "time": 6.4, + "annotations": { + "bbox_1767842125976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842125976_1767842834948_8ohu1t96q", + "x": 0.4531110563286709, + "y": 0.6442036422360318, + "width": 0.130999992004395, + "height": 0.2159999824218764 + } + ] + }, + "bbox_1767842121328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842121328_1767842839329_xz3mtcqju", + "x": 0.4311110576714442, + "y": 0.5522036497230103, + "width": 0.07999999511718778, + "height": 0.117333323784723 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹持续下降，合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹下降，成功靠近茶包。", + "frame": 227, + "progress": 20, + "progress_explanation": "目前爪夹靠近茶包，方便抓取茶包，所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹合拢夹取茶包抬升至空中。", + "time": 7.5604, + "annotations": { + "bbox_1767842121328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842121328_1767842821498_h8dno4rdu", + "x": 0.4341110574883388, + "y": 0.5668703151961006, + "width": 0.08199999499511748, + "height": 0.10266665831163262 + } + ] + }, + "bbox_1767842125976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842125976_1767842827115_2m9qu4n39", + "x": 0.452111056389706, + "y": 0.6322036432125941, + "width": 0.130999992004395, + "height": 0.2266666482204877 + } + ] + } + } + }, + { + "action_description": "爪夹持下降靠近茶包。", + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹持续下降，成功靠近茶包。", + "frame": 275, + "progress": 30, + "progress_explanation": "目前爪夹持续下降靠近茶包，方便抓取茶包，所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹合拢夹取茶包。", + "time": 9.167599, + "annotations": { + "bbox_1767842125976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842125976_1767842811537_3vp74lj3v", + "x": 0.4531110563286709, + "y": 0.6455369754608582, + "width": 0.13799999157714887, + "height": 0.22533331499566114 + } + ] + }, + "bbox_1767842121328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842121328_1767842815650_cl5ximjbr", + "x": 0.41711105852593633, + "y": 0.5402036506995727, + "width": 0.11299999310302775, + "height": 0.12666665635850785 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取茶包。", + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹合拢，成功抓取茶包。", + "frame": 318, + "progress": 40, + "progress_explanation": "目前爪夹成功抓取茶包，所以进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹合拢夹取茶包抬升至空中。", + "time": 10.594399, + "annotations": { + "bbox_1767842121328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842121328_1767842798186_ccaos74z0", + "x": 0.42111105828179574, + "y": 0.5842036471188439, + "width": 0.08599999475097686, + "height": 0.10666665798611182 + } + ] + }, + "bbox_1767842125976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842125976_1767842804058_tqfkz50br", + "x": 0.4531110563286709, + "y": 0.6428703090112052, + "width": 0.130999992004395, + "height": 0.22133331532118206 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取茶包抬升至空中。", + "correction_plan": "向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹抓取茶包，抬升并成功移动。", + "frame": 347, + "progress": 50, + "progress_explanation": "目前爪夹抓取茶包，抬升并开始移动，所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹向爪夹方向右侧移动。", + "time": 11.566666666666666, + "annotations": { + "bbox_1767842125976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842125976_1767842788202_4b1na89is", + "x": 0.46311105571831934, + "y": 0.634870309662247, + "width": 0.12499999237060591, + "height": 0.234666647569446 + } + ] + }, + "bbox_1767842121328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842121328_1767842792019_zkri45bsq", + "x": 0.42111105828179574, + "y": 0.5255369852264823, + "width": 0.08699999468994175, + "height": 0.08399999316406308 + } + ] + } + } + }, + { + "action_description": "爪夹抬升向爪夹方向右侧移动。", + "correction_plan": "爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹向爪夹方向右侧移动，成功靠近陶瓷杯。", + "frame": 382, + "progress": 70, + "progress_explanation": "目前爪夹向爪夹方向右侧移动靠近陶瓷杯。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降将茶包放进陶瓷杯里。", + "time": 12.742799, + "annotations": { + "bbox_1767842121328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842121328_1767842776762_6en2ybake", + "x": 0.5421110508965422, + "y": 0.4695369897837736, + "width": 0.08799999462890655, + "height": 0.07199999414062551 + } + ] + }, + "bbox_1767842125976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842125976_1767842781962_1p8myzpjr", + "x": 0.45911105596245994, + "y": 0.6442036422360318, + "width": 0.1269999922485356, + "height": 0.2266666482204876 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹下降，成功将茶包放进陶瓷杯。", + "frame": 413, + "progress": 90, + "progress_explanation": "目前爪夹下降将茶包放进陶瓷杯。所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹张开，茶包落入陶瓷杯里。", + "time": 13.775999, + "annotations": { + "bbox_1767842125976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842125976_1767842765442_eguma7z7d", + "x": 0.46111105584038964, + "y": 0.6442036422360318, + "width": 0.12299999249267621, + "height": 0.21866664887152928 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹松开，茶包成功落入陶瓷杯里。", + "frame": 452, + "progress": 100, + "progress_explanation": "目前爪夹松开，茶包落入陶瓷杯里。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，茶包在陶瓷杯里\n已完成把茶包放进那个白色的陶瓷杯里的任务。", + "time": 15.055199, + "annotations": { + "bbox_1767842121328": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842121328_1767842753570_qdrj6ooto", + "x": 0.4891110541314053, + "y": 0.6896851296236061, + "width": 0.07399999548339871, + "height": 0.07199999414062551 + } + ] + }, + "bbox_1767842125976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842125976_1767842758531_d2sv91swk", + "x": 0.4571110560845303, + "y": 0.6363518006305501, + "width": 0.1269999922485356, + "height": 0.23599998079427245 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767842121328", + "name": "茶包", + "color": "#4CAF50" + }, + { + "id": "bbox_1767842125976", + "name": "陶瓷杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767842131264", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767842138447", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-150133-put-tea bag-white-ceramic mug-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-150133-put-tea bag-white-ceramic mug-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..a628b6fc442bc39a5f44690a719a14306821dec0 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-150133-put-tea bag-white-ceramic mug-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,818 @@ +{ + "task_description": "把茶包放进那个白色的陶瓷杯里。\n爪夹开始移动:0%\n爪夹靠近茶包:30%\n爪夹夹起茶包:50%\n爪夹移动茶包:70%\n爪夹将茶包放入陶瓷杯里:90%\n爪夹松开，茶包落入陶瓷杯里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.09733332541232702, + "id": "bbox_1767935298201_1767935365871_3ob4ufgvu", + "width": 0.0749999954223636, + "x": 0.7711110369194923, + "y": 0.48375922780279723 + } + ], + "type": "bbox" + }, + "bbox_1767935303025": { + "instances": [ + { + "height": 0.18133331857639015, + "id": "bbox_1767935303025_1767935371479_x72ue20zq", + "width": 0.10699999346923868, + "x": 0.8201110339287698, + "y": 0.4806481135540272 + } + ], + "type": "bbox" + }, + "point_1767935313464": { + "instances": [ + { + "id": "point_1767935313464_1767935380943_ldt2xp5ls", + "x": 0.3921110600518151, + "y": 0.5086481112753816 + } + ], + "type": "point" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935383615_unn5d1nf3", + "x": 0.6191110461968355, + "y": 0.5113147777250344 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抬升，然后向爪夹方向右侧移动，下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹微微抬升调整爪夹角度。", + "time": 1.667849790049269 + }, + { + "action_description": "爪夹抬升。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.11733332378472307, + "id": "bbox_1767935298201_1767935420278_gnp8dt65t", + "width": 0.07099999566650421, + "x": 0.7621110374688087, + "y": 0.43798145035958247 + } + ], + "type": "bbox" + }, + "bbox_1767935303025": { + "instances": [ + { + "height": 0.1679999863281261, + "id": "bbox_1767935303025_1767935414982_dkczhi3kw", + "width": 0.09099999444580113, + "x": 0.813111034356016, + "y": 0.46331478163128403 + } + ], + "type": "bbox" + }, + "point_1767935313464": { + "instances": [ + { + "id": "point_1767935313464_1767935392038_zlyp012be", + "x": 0.3971110597466394, + "y": 0.5107221670961778 + } + ], + "type": "point" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935388335_ortme3ybz", + "x": 0.6211110460747652, + "y": 0.5133888335458306 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右侧移动，下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹抬升，使爪夹方便向爪夹方向右侧移动。", + "frame": 63, + "progress": 10, + "progress_explanation": "目前爪夹抬升，方便爪夹向爪夹方向右侧移动，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹向爪夹方向右侧移动。", + "time": 2.113141847597238 + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.11999999023437577, + "id": "bbox_1767935298201_1767935425895_l0zxmmhx9", + "width": 0.09099999444580113, + "x": 0.5811110485161712, + "y": 0.2280555234329815 + } + ], + "type": "bbox" + }, + "bbox_1767935303025": { + "instances": [ + { + "height": 0.22533331499566123, + "id": "bbox_1767935303025_1767935430582_y02vab0z1", + "width": 0.1299999920654301, + "x": 0.6931110416802342, + "y": 0.1773888608895784 + } + ], + "type": "bbox" + }, + "point_1767935313464": { + "instances": [ + { + "id": "point_1767935313464_1767935433630_sbogmo5td", + "x": 0.3941110599297449, + "y": 0.508055500646525 + } + ], + "type": "point" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935436262_ad0u5ajf3", + "x": 0.6181110462578706, + "y": 0.5093888338713515 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹向爪夹方向右侧移动至茶包附近，方便爪夹下降靠近茶包。", + "frame": 77, + "progress": 20, + "progress_explanation": "目前爪夹向爪夹方向右侧移动至茶包附近，方便爪夹下降靠近茶包，所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降靠近茶包，方便爪夹夹取茶包。", + "time": 2.572798165066109 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.24399998014323074, + "id": "bbox_1767935298201_1767935469958_xvz5razts", + "width": 0.20799998730468827, + "x": 0.38411106054009636, + "y": 0.3707221784894061 + } + ], + "type": "bbox" + }, + "bbox_1767935303025": { + "instances": [ + { + "height": 0.5386666228298647, + "id": "bbox_1767935303025_1767935451509_41xwdgz2u", + "width": 0.3199999804687511, + "x": 0.6141110465020112, + "y": 0.12272219867169606 + } + ], + "type": "bbox" + }, + "point_1767935313464": { + "instances": [ + { + "id": "point_1767935313464_1767935443630_j19vytz1t", + "x": 0.39311105999078, + "y": 0.5093888338713515 + } + ], + "type": "point" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935440997_nllfb30oj", + "x": 0.6181110462578706, + "y": 0.5160554999954834 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹下降，成功靠近茶包。", + "frame": 104, + "progress": 30, + "progress_explanation": "目前爪夹持续下降靠近茶包，方便抓取茶包，所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹合拢夹取茶包。", + "time": 3.455466 + }, + { + "action_description": "爪夹合拢夹取茶包。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.2266666482204876, + "id": "bbox_1767935298201_1767935493045_g1zsslgh1", + "width": 0.14299999127197313, + "x": 0.41411105870904186, + "y": 0.4440555058548579 + } + ], + "type": "bbox" + }, + "bbox_1767935303025": { + "instances": [ + { + "height": 0.442666630642364, + "id": "bbox_1767935303025_1767935498908_frp80i22o", + "width": 0.26599998376464934, + "x": 0.623111045952695, + "y": 0.2360555227819399 + } + ], + "type": "bbox" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935504573_er9v9flyr", + "x": 0.524111051995175, + "y": 0.5027221677472195 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹合拢，成功夹取茶包并开始抬升移动。", + "frame": 126, + "progress": 40, + "progress_explanation": "目前爪夹合拢夹取茶包，所以进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹合拢夹取茶包抬升至空中。", + "time": 4.207866 + }, + { + "action_description": "爪夹抬升。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.23866664724392522, + "id": "bbox_1767935298201_1767935541347_mpl31ka0e", + "width": 0.12499999237060591, + "x": 0.41911105840386603, + "y": 0.4348703335676812 + } + ], + "type": "bbox" + }, + "bbox_1767935303025": { + "instances": [ + { + "height": 0.33066663975694666, + "id": "bbox_1767935303025_1767935536611_4qrvmyder", + "width": 0.20899998724365315, + "x": 0.5731110490044525, + "y": 0.3282036755815694 + } + ], + "type": "bbox" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935525956_9wgxjbp1r", + "x": 0.5221110521172453, + "y": 0.49887032835934825 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹夹取茶包，成功抬升并向爪夹方向右侧移动靠近陶瓷杯。", + "frame": 151, + "progress": 50, + "progress_explanation": "目前爪夹夹取茶包，抬升并开始移动。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹持续抬升靠近陶瓷杯。", + "time": 5.033333333333333 + }, + { + "action_description": "爪夹持续抬升。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.2306666478949668, + "id": "bbox_1767935298201_1767935547939_s8lw9err7", + "width": 0.1269999922485356, + "x": 0.4241110580986903, + "y": 0.4440555058548579 + } + ], + "type": "bbox" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935553355_c3ke4o0q2", + "x": 0.5201110522393156, + "y": 0.5000555012975666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹夹取茶包，抬升靠近陶瓷杯，方便爪夹下降将茶包放进陶瓷杯里。", + "frame": 171, + "progress": 70, + "progress_explanation": "目前爪夹夹取茶包，抬升靠近陶瓷杯。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，靠近陶瓷杯。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降将茶包放进陶瓷杯里。", + "time": 5.684799 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.21866664887152923, + "id": "bbox_1767935298201_1767935577362_o55rxgq1f", + "width": 0.12299999249267617, + "x": 0.4231110581597255, + "y": 0.45072217197898995 + } + ], + "type": "bbox" + }, + "bbox_1767935303025": { + "instances": [ + { + "height": 0.28399997688802264, + "id": "bbox_1767935303025_1767935565555_0kove5jc5", + "width": 0.28499998260498155, + "x": 0.4721110551690029, + "y": 0.3547221797914893 + } + ], + "type": "bbox" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935559948_x87f7uleq", + "x": 0.5231110520562102, + "y": 0.5053888341968722 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，调整角度将陶瓷杯扶正，然后向爪夹方向左侧移动靠近茶包，合拢抓取，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹夹取茶包，下降靠近陶瓷杯时将陶瓷杯撞倒了，与上一阶段相比，爪夹需要重新将陶瓷杯扶正，抓取茶包的动作。", + "frame": 194, + "progress": -10, + "progress_explanation": "目前爪夹夹取茶包，下降靠近陶瓷杯时将陶瓷杯撞倒了，与上一阶段相比，爪夹需要重新将陶瓷杯扶正，抓取茶包的动作。所以进度倒退为10%。", + "state_description": "当前状态为爪夹合拢，陶瓷杯撞倒。\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹张开，调整角度将陶瓷杯扶正。", + "time": 6.479876863551512 + }, + { + "action_description": "爪夹张开，向爪夹方向右侧微微移动。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.1759999856770845, + "id": "bbox_1767935298201_1767935592498_1kbh1uh65", + "width": 0.11399999304199264, + "x": 0.31011106505669767, + "y": 0.1653888618661408 + } + ], + "type": "bbox" + }, + "bbox_1767935303025": { + "instances": [ + { + "height": 0.35866663747830096, + "id": "bbox_1767935303025_1767935598506_f46c7343j", + "width": 0.2809999828491222, + "x": 0.5031110532769132, + "y": 0.1653888618661408 + } + ], + "type": "bbox" + }, + "point_1767935313464": { + "instances": [ + { + "id": "point_1767935313464_1767935601370_dqumjeaug", + "x": 0.3941110599297449, + "y": 0.5107221670961778 + } + ], + "type": "point" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935603442_o2kj7taic", + "x": 0.6211110460747652, + "y": 0.5093888338713515 + } + ], + "type": "point" + } + }, + "correction_plan": "将陶瓷杯扶正，然后向爪夹方向左侧移动靠近茶包，合拢抓取，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹张开，茶包落在桌子上，与上一阶段相比，爪夹靠近陶瓷杯夹取将其扶正。", + "frame": 231, + "progress": -15, + "progress_explanation": "目前爪夹张开，茶包落在桌子上，与上一阶段相比，爪夹靠近陶瓷杯夹取将其扶正。所以进度倒退为-15%。", + "state_description": "当前状态为爪夹张开，\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹夹取陶瓷杯将其扶正。", + "time": 7.691199 + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.1693333195529525, + "id": "bbox_1767935298201_1767935621698_d6cmcdcw5", + "width": 0.10299999371337928, + "x": 0.08811107860650155, + "y": 0.15605552929235603 + } + ], + "type": "bbox" + }, + "bbox_1767935303025": { + "instances": [ + { + "height": 0.3333333062065994, + "id": "bbox_1767935303025_1767935616762_v7n70is63", + "width": 0.2699999835205088, + "x": 0.2561110683525959, + "y": 0.052055537755897 + } + ], + "type": "bbox" + }, + "point_1767935313464": { + "instances": [ + { + "id": "point_1767935313464_1767935611082_czdqbqjf0", + "x": 0.4321110576104091, + "y": 0.5093888338713515 + } + ], + "type": "point" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935608810_9i682jv5u", + "x": 0.5801110485772065, + "y": 0.5107221670961778 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢将陶瓷杯扶正，然后向爪夹方向左侧移动靠近茶包，合拢抓取，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹张开，向爪夹方向右侧移动，成功靠近陶瓷杯，方便夹取将其扶正。", + "frame": 263, + "progress": -20, + "progress_explanation": "目前爪夹张开，靠近陶瓷杯夹取将其扶正。所以进度倒退为-20%。", + "state_description": "当前状态为爪夹张开，靠近陶瓷杯\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹夹取陶瓷杯将其扶正。", + "time": 8.764066 + }, + { + "action_description": "爪夹合拢向爪夹方向左侧移动。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.12666665635850777, + "id": "bbox_1767935298201_1767935628554_sall68s5k", + "width": 0.10399999365234418, + "x": 0.41011105895318234, + "y": 0.18405552701371036 + } + ], + "type": "bbox" + }, + "bbox_1767935303025": { + "instances": [ + { + "height": 0.28133331043836995, + "id": "bbox_1767935303025_1767935633897_yzwex07qf", + "width": 0.16899998968505914, + "x": 0.6381110450371676, + "y": 0.2440555221308983 + } + ], + "type": "bbox" + }, + "point_1767935313464": { + "instances": [ + { + "id": "point_1767935313464_1767935636202_kmnlad7rd", + "x": 0.5031110532769132, + "y": 0.5027221677472195 + } + ], + "type": "point" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935638673_stiwpkidu", + "x": 0.5121110527275968, + "y": 0.5027221677472195 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹重新向爪夹方向右侧移动，靠近陶瓷杯将其扶正，然后向爪夹方向左侧移动靠近茶包，合拢抓取，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹合拢，没有夹取陶瓷杯，与上一阶段相比，爪夹需要重新靠近陶瓷杯夹取将其扶正。", + "frame": 287, + "progress": -25, + "progress_explanation": "目前爪夹合拢，没有夹取陶瓷杯，与上一阶段相比，爪夹需要重新靠近陶瓷杯夹取将其扶正。所以进度倒退为-25%。", + "state_description": "当前状态为爪夹合拢，远离陶瓷杯\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹重新调整移动靠近夹陶瓷杯将其扶正。", + "time": 9.553828486624585 + }, + { + "action_description": "爪夹张开抬升。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.1413333218315982, + "id": "bbox_1767935298201_1767935657386_n34muqbjz", + "width": 0.07599999536132844, + "x": 0.3401110632256431, + "y": 0.30538885047291253 + } + ], + "type": "bbox" + }, + "bbox_1767935303025": { + "instances": [ + { + "height": 0.24533331336805714, + "id": "bbox_1767935303025_1767935652137_84tm1hqkk", + "width": 0.16999998962402402, + "x": 0.5201110522393156, + "y": 0.32272218239565575 + } + ], + "type": "bbox" + }, + "point_1767935313464": { + "instances": [ + { + "id": "point_1767935313464_1767935645073_9rt2tt7n6", + "x": 0.4131110587700769, + "y": 0.508055500646525 + } + ], + "type": "point" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935642617_fl5phz75b", + "x": 0.5991110474175386, + "y": 0.5107221670961778 + } + ], + "type": "point" + } + }, + "correction_plan": "下降靠近陶瓷杯将其扶正，然后向爪夹方向左侧移动靠近茶包，合拢抓取，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹张开，向上移动远离陶瓷杯，与上一阶段相比，爪夹需要下降靠近陶瓷杯夹取将其扶正。", + "frame": 306, + "progress": -30, + "progress_explanation": "目前爪夹张开，向上移动远离陶瓷杯，与上一阶段相比，爪夹需要下降靠近陶瓷杯夹取将其扶正。所以进度倒退为-30%。", + "state_description": "当前状态为爪夹张开，远离陶瓷杯\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降靠近夹陶瓷杯将其扶正。", + "time": 10.2 + }, + { + "action_description": "爪夹向爪夹方向左侧移动。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.15866665375434136, + "id": "bbox_1767935298201_1767935662809_si7dp8s30", + "width": 0.10799999340820347, + "x": 0.6441110446709567, + "y": 0.4573888381031219 + } + ], + "type": "bbox" + }, + "bbox_1767935303025": { + "instances": [ + { + "height": 0.18533331825086943, + "id": "bbox_1767935303025_1767935667473_2inrf485t", + "width": 0.11099999322509788, + "x": 0.734111039177793, + "y": 0.6693888208505191 + } + ], + "type": "bbox" + }, + "point_1767935313464": { + "instances": [ + { + "id": "point_1767935313464_1767935670361_039tr7tdg", + "x": 0.4081110590752527, + "y": 0.5053888341968722 + } + ], + "type": "point" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935672793_faq4ic9a8", + "x": 0.6021110472344331, + "y": 0.508055500646525 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右侧移动靠近陶瓷杯将其扶正，然后向爪夹方向左侧移动靠近茶包，合拢抓取，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹张开，爪夹向爪夹方向左侧移动远离陶瓷杯，与上一阶段相比，爪夹需要向爪夹方向右侧移动靠近陶瓷杯夹取将其扶正。", + "frame": 335, + "progress": -35, + "progress_explanation": "目前爪夹张开，爪夹向爪夹方向左侧移动远离陶瓷杯，与上一阶段相比，爪夹需要向爪夹方向右侧移动靠近陶瓷杯夹取将其扶正。所以进度倒退为-35%。", + "state_description": "当前状态为爪夹张开，远离陶瓷杯\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹重新向爪夹方向右侧移动靠近夹陶瓷杯将其扶正。", + "time": 11.176989857686538 + }, + { + "action_description": "爪夹合拢向爪夹方向右侧移动。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.19199998437500126, + "id": "bbox_1767935298201_1767935690024_s32ws3gkl", + "width": 0.10699999346923868, + "x": 0.1631110740288651, + "y": 0.3800555110631908 + } + ], + "type": "bbox" + }, + "bbox_1767935303025": { + "instances": [ + { + "height": 0.22533331499566125, + "id": "bbox_1767935303025_1767935686401_xd9o89djj", + "width": 0.19799998791503975, + "x": 0.27411106725396317, + "y": 0.4693888371265595 + } + ], + "type": "bbox" + }, + "point_1767935313464": { + "instances": [ + { + "id": "point_1767935313464_1767935692753_kzocjk68z", + "x": 0.5011110533989835, + "y": 0.4987221680727403 + } + ], + "type": "point" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935695560_fd8bq1ucn", + "x": 0.5121110527275968, + "y": 0.501388834522393 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降靠近陶瓷杯将其扶正，然后向爪夹方向左侧移动靠近茶包，合拢抓取，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹合拢，爪夹向爪夹方向右侧移动靠近陶瓷杯，爪夹下降合拢夹取将其扶正。", + "frame": 369, + "progress": -40, + "progress_explanation": "目前爪夹合拢，爪夹向爪夹方向右侧移动靠近陶瓷杯，爪夹下降合拢夹取将其扶正。所以进度倒退为--40%。", + "state_description": "当前状态为爪夹合拢，靠近陶瓷杯\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降靠近夹陶瓷杯将其扶正。", + "time": 12.29740213151691 + }, + { + "action_description": "爪夹张开，向爪夹方向左侧移动。", + "annotations": { + "bbox_1767935298201": { + "instances": [ + { + "height": 0.15466665407986213, + "id": "bbox_1767935298201_1767935710913_4hc4vnjc5", + "width": 0.09699999407959022, + "x": 0.4771110548638272, + "y": 0.404055509110066 + } + ], + "type": "bbox" + }, + "bbox_1767935303025": { + "instances": [ + { + "height": 0.19599998404948055, + "id": "bbox_1767935303025_1767935706712_k4jpd4ulx", + "width": 0.1539999906005864, + "x": 0.5841110483330658, + "y": 0.5227221661196153 + } + ], + "type": "bbox" + }, + "point_1767935313464": { + "instances": [ + { + "id": "point_1767935313464_1767935702784_obwihcyjd", + "x": 0.3941110599297449, + "y": 0.5093888338713515 + } + ], + "type": "point" + }, + "point_1767935347456": { + "instances": [ + { + "id": "point_1767935347456_1767935699608_hzdbl2lxc", + "x": 0.6201110461358004, + "y": 0.508055500646525 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹重新下降靠近陶瓷杯将其扶正，然后向爪夹方向左侧移动靠近茶包，合拢抓取，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右侧移动靠近陶瓷杯，爪夹下降将茶包放在陶瓷杯里，爪夹松开，茶包落入陶瓷杯里。", + "error_success_analysis": "爪夹张开，爪夹向爪夹方向左侧移动远离陶瓷杯。", + "frame": 406, + "progress": -50, + "progress_explanation": "目前爪夹张开，爪夹向爪夹方向左侧移动远离陶瓷杯。所以进度倒退为--50%。", + "state_description": "当前状态为爪夹张开，远离陶瓷杯\n为完成把茶包放进那个白色的陶瓷杯里的任务应当:爪夹下降靠近夹陶瓷杯将其扶正。", + "time": 13.533333333333333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767935298201", + "name": "茶包" + }, + { + "color": "#FF9800", + "id": "bbox_1767935303025", + "name": "陶瓷杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767935313464", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767935347456", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-152542-put-tea bag-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-152542-put-tea bag-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..9daead7a6916d5e620fd1dbbc794a9422fba82ed --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-152542-put-tea bag-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,466 @@ +{ + "task_description": "把茶包放进白色的垃圾桶里。\n爪夹开始移动:0%\n爪夹靠近茶包:30%\n爪夹夹起茶包:50%\n爪夹移动茶包:70%\n爪夹将茶包放入垃圾桶里:90%\n爪夹松开，茶包落入垃圾桶里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹首先抬升调整角度，然后下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向前方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹微微抬升调整爪夹角度。", + "time": 1.365711814576214, + "annotations": { + "point_1767844053362": { + "type": "point", + "instances": [ + { + "id": "point_1767844053362_1767844205388_btnezhxvx", + "x": 0.616111046379941, + "y": 0.5095369865285656 + } + ] + }, + "point_1767844046511": { + "type": "point", + "instances": [ + { + "id": "point_1767844046511_1767844207979_e1ni7ecm0", + "x": 0.3991110596245691, + "y": 0.5122036529782183 + } + ] + }, + "bbox_1767844042303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844042303_1767844212892_nu5viwu1o", + "x": 0.5231110520562102, + "y": 0.3322036676266547, + "width": 0.14099999139404346, + "height": 0.23199998111979322 + } + ] + }, + "bbox_1767844037007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844037007_1767844216995_s79qg9mrr", + "x": 0.5871110481499604, + "y": 0.6042036454912397, + "width": 0.07699999530029329, + "height": 0.07999999348958392 + } + ] + } + } + }, + { + "time": 2.2848, + "frame": 69, + "progress": 15, + "action_description": "爪夹微微抬升。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹下降靠近茶包，方便爪夹合拢夹取。", + "progress_explanation": "目前爪夹抬升调整角度，开始下降靠近茶包，所以进度提升为15%。", + "error_success_analysis": "爪夹抬升调整角度，开始下降靠近茶包。", + "correction_plan": "爪夹下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向前方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "annotations": { + "bbox_1767844037007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844037007_1767844190596_9gvxzejyj", + "x": 0.5601110497979096, + "y": 0.5775369809947118, + "width": 0.07299999554443382, + "height": 0.08399999316406301 + } + ] + }, + "bbox_1767844042303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844042303_1767844195868_hjbr2rstt", + "x": 0.5171110524224211, + "y": 0.3162036689287379, + "width": 0.13399999182128958, + "height": 0.2253333149956612 + } + ] + }, + "point_1767844046511": { + "type": "point", + "instances": [ + { + "id": "point_1767844046511_1767844198708_105x3ul58", + "x": 0.3971110597466394, + "y": 0.5068703200789128 + } + ] + }, + "point_1767844053362": { + "type": "point", + "instances": [ + { + "id": "point_1767844053362_1767844201340_bshi451on", + "x": 0.6181110462578706, + "y": 0.5122036529782183 + } + ] + } + } + }, + { + "time": 3.463466, + "frame": 104, + "progress": 30, + "action_description": "爪夹下降。", + "state_description": "当前状态为爪夹打开，靠近茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹合拢夹取茶包。", + "progress_explanation": "目前爪夹靠近茶包，方便夹取茶包，所以进度提升为30%。", + "error_success_analysis": "爪夹下降，成功靠近茶包。", + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向爪夹方向前方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "annotations": { + "point_1767844053362": { + "type": "point", + "instances": [ + { + "id": "point_1767844053362_1767844173660_41o6gs1dw", + "x": 0.6131110465630465, + "y": 0.5122036529782183 + } + ] + }, + "point_1767844046511": { + "type": "point", + "instances": [ + { + "id": "point_1767844046511_1767844175859_6w0t4oz8x", + "x": 0.3971110597466394, + "y": 0.5068703200789128 + } + ] + }, + "bbox_1767844042303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844042303_1767844180789_8ge75k9ym", + "x": 0.00811108348931375, + "y": 0.010870360443492802, + "width": 0.4329999735717789, + "height": 0.3173333075086827 + } + ] + }, + "bbox_1767844037007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844037007_1767844185228_05memnedq", + "x": 0.3391110632866782, + "y": 0.34553699987491865, + "width": 0.19199998828125073, + "height": 0.2106666495225709 + } + ] + } + } + }, + { + "time": 4.614933, + "frame": 138, + "progress": 40, + "action_description": "爪夹合拢夹取茶包。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹夹取茶包抬升空中。", + "progress_explanation": "目前爪夹合拢夹取茶包，所以进度提升为40%。", + "error_success_analysis": "爪夹合拢夹取茶包，开始抬升并移动。", + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向爪夹方向前方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "annotations": { + "bbox_1767844037007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844037007_1767844164789_3z3dqv7lh", + "x": 0.31911106450738125, + "y": 0.27487033895911955, + "width": 0.2369999855346688, + "height": 0.25333331271701554 + } + ] + }, + "point_1767844046511": { + "type": "point", + "instances": [ + { + "id": "point_1767844046511_1767844167564_exdnb2qsp", + "x": 0.5041110532158781, + "y": 0.50420365362926 + } + ] + }, + "point_1767844053362": { + "type": "point", + "instances": [ + { + "id": "point_1767844053362_1767844169940_v7tn23w2b", + "x": 0.5141110526055266, + "y": 0.5028703204044336 + } + ] + } + } + }, + { + "action_description": "爪夹夹取茶包抬升空中。", + "correction_plan": "向爪夹方向前方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹合拢夹取茶包抬升空中，方便爪夹向前方移动靠近垃圾桶。", + "frame": 180, + "progress": 50, + "progress_explanation": "目前爪夹合拢夹取茶包抬升空中，所以进度提升为50%", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹夹取茶向爪夹方向前方移动靠近垃圾桶。", + "time": 6, + "annotations": { + "bbox_1767844037007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844037007_1767844142310_t8uo31im5", + "x": 0.3741110611504479, + "y": 0.262870339935682, + "width": 0.1779999891357428, + "height": 0.24399998014323077 + } + ] + }, + "bbox_1767844042303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844042303_1767844146893_5j1dml913", + "x": 0.08311107891167731, + "y": 0.008203693993840007, + "width": 0.39799997570800927, + "height": 0.2559999791666684 + } + ] + }, + "point_1767844046511": { + "type": "point", + "instances": [ + { + "id": "point_1767844046511_1767844149493_imqlbmcax", + "x": 0.5031110532769132, + "y": 0.5002036539547807 + } + ] + }, + "point_1767844053362": { + "type": "point", + "instances": [ + { + "id": "point_1767844053362_1767844151557_ftlrrtlb1", + "x": 0.5131110526665617, + "y": 0.5002036539547807 + } + ] + } + } + }, + { + "time": 6.972266, + "frame": 209, + "progress": 70, + "action_description": "爪夹夹取茶向爪夹方向前方移动。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹下降，将茶包放进垃圾桶里。", + "progress_explanation": "目前爪夹靠近垃圾桶，方便爪夹将茶包放进垃圾桶里，所以进度提升为70%", + "error_success_analysis": "爪夹夹取茶向爪夹方向前方移动，成功靠近垃圾桶。", + "correction_plan": "爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "annotations": { + "point_1767844053362": { + "type": "point", + "instances": [ + { + "id": "point_1767844053362_1767844121550_7xm5qfu0a", + "x": 0.5121110527275968, + "y": 0.50420365362926 + } + ] + }, + "point_1767844046511": { + "type": "point", + "instances": [ + { + "id": "point_1767844046511_1767844123983_ljm7sxnrj", + "x": 0.5001110534600187, + "y": 0.5015369871796072 + } + ] + }, + "bbox_1767844042303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844042303_1767844129029_u5mcrxu2f", + "x": 0.37111106133355337, + "y": 0.3268703347273491, + "width": 0.22099998651123126, + "height": 0.2973333091362867 + } + ] + }, + "bbox_1767844037007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844037007_1767844136518_lh20rltwd", + "x": 0.34811106273736186, + "y": 0.3095370028046059, + "width": 0.1629999900512701, + "height": 0.23199998111979322 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹下降，成功将茶包放进垃圾桶里。", + "frame": 223, + "progress": 90, + "progress_explanation": "目前爪夹下降，将茶包放进垃圾桶里，所以进度提升为90%", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹张开，茶包落入垃圾桶里。", + "time": 7.422618872633669, + "annotations": { + "bbox_1767844037007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844037007_1767844100119_mg8xex14n", + "x": 0.4001110595635339, + "y": 0.3308703344018282, + "width": 0.13999999145507863, + "height": 0.2533333127170156 + } + ] + }, + "bbox_1767844042303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844042303_1767844108126_a6t5eh6ox", + "x": 0.35011106261529157, + "y": 0.2655370063853348, + "width": 0.27199998339843845, + "height": 0.3466666384548634 + } + ] + }, + "point_1767844046511": { + "type": "point", + "instances": [ + { + "id": "point_1767844046511_1767844113974_vylkaydti", + "x": 0.5031110532769132, + "y": 0.50420365362926 + } + ] + }, + "point_1767844053362": { + "type": "point", + "instances": [ + { + "id": "point_1767844053362_1767844117246_xky77lrh1", + "x": 0.5131110526665617, + "y": 0.5015369871796072 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，茶包成功落入垃圾桶里。", + "frame": 246, + "progress": 100, + "progress_explanation": "目前爪夹张开，茶包落入垃圾桶里，所以进度提升为100%", + "state_description": "当前状态为爪夹张开，茶包在垃圾桶里。\n已完成把茶包放进白色的垃圾桶里的任务。", + "time": 8.198426412477447, + "annotations": { + "point_1767844053362": { + "type": "point", + "instances": [ + { + "id": "point_1767844053362_1767844081535_v1vos089o", + "x": 0.6211110460747652, + "y": 0.5129444010055012 + } + ] + }, + "point_1767844046511": { + "type": "point", + "instances": [ + { + "id": "point_1767844046511_1767844083894_8tdkqq4uo", + "x": 0.39311105999078, + "y": 0.5142777342303276 + } + ] + }, + "bbox_1767844042303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844042303_1767844090494_jae2alhky", + "x": 0.41011105895318234, + "y": 0.07027777036313718, + "width": 0.24399998510742282, + "height": 0.2999999755859395 + } + ] + }, + "bbox_1767844037007": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767844037007_1767844094454_ypzme9ktk", + "x": 0.49011105407037026, + "y": 0.19294442704716577, + "width": 0.10699999346923868, + "height": 0.14533332150607733 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767844037007", + "name": "茶包", + "color": "#4CAF50" + }, + { + "id": "bbox_1767844042303", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767844046511", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767844053362", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-152542-put-tea bag-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-152542-put-tea bag-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..5507f8716b6b409528eb9c4f7973c68d4d568427 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-152542-put-tea bag-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,522 @@ +{ + "task_description": "把茶包放进白色的垃圾桶里。\n爪夹开始移动:0%\n爪夹靠近茶包:30%\n爪夹夹起茶包:50%\n爪夹移动茶包:70%\n爪夹将茶包放入垃圾桶里:90%\n爪夹松开，茶包落入垃圾桶里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹首先抬升调整角度，然后向爪夹方向右侧移动，下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向前方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹微微抬升调整爪夹角度。", + "time": 1.6066853989704941, + "annotations": { + "bbox_1767850339784": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850339784_1767850555147_jexjt3z7b", + "x": 0.6971110414360936, + "y": 0.3108703360294323, + "width": 0.060999996276855664, + "height": 0.1079999912109382 + } + ] + }, + "bbox_1767850344487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850344487_1767850560163_fweyd7ul9", + "x": 0.5671110493706635, + "y": 0.016203693342798395, + "width": 0.1499999908447271, + "height": 0.22133331532118203 + } + ] + }, + "point_1767850349938": { + "type": "point", + "instances": [ + { + "id": "point_1767850349938_1767850562787_c9u0z4zss", + "x": 0.3941110599297449, + "y": 0.5095369865285656 + } + ] + }, + "point_1767850355663": { + "type": "point", + "instances": [ + { + "id": "point_1767850355663_1767850565427_wenthqd85", + "x": 0.616111046379941, + "y": 0.5028703204044336 + } + ] + } + } + }, + { + "action_description": "爪夹向上移动。", + "correction_plan": "爪夹向爪夹方向右侧移动，下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向前方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹抬升调整角度，方便爪夹向爪夹方向右侧移动靠近茶包。", + "frame": 65, + "progress": 10, + "progress_explanation": "目前爪夹抬升调整角度，方便爪夹向爪夹方向右侧移动靠近茶包，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹抬升。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹向爪夹方向右侧移动，然后下降靠近茶包，方便爪夹合拢夹取。", + "time": 2.1719774768027724, + "annotations": { + "point_1767850355663": { + "type": "point", + "instances": [ + { + "id": "point_1767850355663_1767850527075_m93tir93t", + "x": 0.6181110462578706, + "y": 0.5135369862030448 + } + ] + }, + "point_1767850349938": { + "type": "point", + "instances": [ + { + "id": "point_1767850349938_1767850529268_wnryvfr2k", + "x": 0.3941110599297449, + "y": 0.5148703194278712 + } + ] + }, + "bbox_1767850344487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850344487_1767850534492_zfu1fjdau", + "x": 0.5701110491875581, + "y": 0.03887035816484716, + "width": 0.1579999903564458, + "height": 0.2266666482204876 + } + ] + }, + "bbox_1767850339784": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850339784_1767850549755_q94fnei7q", + "x": 0.68811104198541, + "y": 0.34553699987491865, + "width": 0.055999996582031475, + "height": 0.08799999283854228 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "correction_plan": "下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向前方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹向爪夹方向右侧移动，方便下降靠近茶包。", + "frame": 89, + "progress": 20, + "progress_explanation": "目前爪夹向爪夹方向右侧移动，方便下降靠近茶包，所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹下降靠近茶包，方便爪夹合拢夹取。", + "time": 2.982933, + "annotations": { + "bbox_1767850339784": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850339784_1767850512372_nrc3qauxg", + "x": 0.452111056389706, + "y": 0.2975370037811683, + "width": 0.09399999426269563, + "height": 0.15199998763020936 + } + ] + }, + "bbox_1767850344487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850344487_1767850517940_b3kwoq0am", + "x": 0.11411107701958759, + "y": 0.1335370171275214, + "width": 0.2529999845581064, + "height": 0.27999997721354347 + } + ] + }, + "point_1767850349938": { + "type": "point", + "instances": [ + { + "id": "point_1767850349938_1767850520060_hdns2h9pj", + "x": 0.3971110597466394, + "y": 0.5135369862030448 + } + ] + }, + "point_1767850355663": { + "type": "point", + "instances": [ + { + "id": "point_1767850355663_1767850522516_hu3nfqcms", + "x": 0.6181110462578706, + "y": 0.5068703200789128 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向爪夹方向前方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹靠近茶包，方便夹取茶包。", + "frame": 140, + "progress": 30, + "progress_explanation": "目前爪夹下降，成功靠近茶包，所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹合拢夹取茶包抬升至空中。", + "time": 4.682766, + "annotations": { + "point_1767850355663": { + "type": "point", + "instances": [ + { + "id": "point_1767850355663_1767850488389_zs38nplzr", + "x": 0.6181110462578706, + "y": 0.5122036529782183 + } + ] + }, + "point_1767850349938": { + "type": "point", + "instances": [ + { + "id": "point_1767850349938_1767850491588_mlf1ae53z", + "x": 0.3971110597466394, + "y": 0.5108703197533919 + } + ] + }, + "bbox_1767850344487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850344487_1767850497253_1f2yqg9uk", + "x": 0.00811108348931375, + "y": 0.3162036689287379, + "width": 0.23799998547363366, + "height": 0.45199996321614877 + } + ] + }, + "bbox_1767850339784": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850339784_1767850506933_x8wwf280d", + "x": 0.4081110590752527, + "y": 0.46020365720998885, + "width": 0.13099999200439508, + "height": 0.23599998079427234 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取茶包。", + "correction_plan": "爪夹夹取茶包持续抬升至空中，然后向爪夹方向前方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹成功抓紧茶包，方便爪夹抬升向上移动。", + "frame": 171, + "progress": 40, + "progress_explanation": "目前爪夹合拢，成功抓紧茶包，所以进度提升为40%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹合拢夹取茶包抬升至空中。", + "time": 5.6917, + "annotations": { + "bbox_1767850339784": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850339784_1767850473605_c4syc5416", + "x": 0.38611106041802606, + "y": 0.3562036656735298, + "width": 0.19099998834228585, + "height": 0.3173333075086827 + } + ] + }, + "bbox_1767850344487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850344487_1767850479132_8ygxe5vqd", + "x": 0.006111083611384056, + "y": 0.1948703454695357, + "width": 0.23999998535156336, + "height": 0.5119999583333367 + } + ] + }, + "point_1767850349938": { + "type": "point", + "instances": [ + { + "id": "point_1767850349938_1767850481829_svtg25suy", + "x": 0.478111054802792, + "y": 0.5628703155216215 + } + ] + }, + "point_1767850355663": { + "type": "point", + "instances": [ + { + "id": "point_1767850355663_1767850484573_5vsgjuk9s", + "x": 0.5281110517510343, + "y": 0.5282036516761351 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取茶包。", + "correction_plan": "向爪夹方向前方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹抓取茶包，成功抬升并开始移动。", + "frame": 210, + "progress": 50, + "progress_explanation": "目前爪夹抓取茶包微微抬升，所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹合拢夹取茶包抬升至空中。", + "time": 6.9995718214904254, + "annotations": { + "point_1767850349938": { + "type": "point", + "instances": [ + { + "id": "point_1767850349938_1767850443877_o3obb7egq", + "x": 0.4731110551079678, + "y": 0.5442036503740518 + } + ] + }, + "point_1767850355663": { + "type": "point", + "instances": [ + { + "id": "point_1767850355663_1767850446366_0rfefxiun", + "x": 0.5291110516899993, + "y": 0.5295369849009616 + } + ] + }, + "bbox_1767850344487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850344487_1767850453485_5lx729pg8", + "x": 0.004111083733454362, + "y": 0.18953701257023012, + "width": 0.19399998815918038, + "height": 0.47466662803819754 + } + ] + }, + "bbox_1767850339784": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850339784_1767850458006_apnmesp8v", + "x": 0.38311106060113154, + "y": 0.3522036659990506, + "width": 0.20099998773193434, + "height": 0.3226666404079882 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "correction_plan": "爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹靠近垃圾桶，方便爪夹将茶包放进垃圾桶里。", + "frame": 227, + "progress": 70, + "progress_explanation": "目前爪夹向爪夹方向右侧移动，靠近垃圾桶。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹夹取茶包移动将茶包放入垃圾桶里。", + "time": 7.577966, + "annotations": { + "bbox_1767850339784": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850339784_1767850410262_vf4rbvsok", + "x": 0.38111106072320183, + "y": 0.34553699987491865, + "width": 0.21799998669433668, + "height": 0.2933333094618076 + } + ] + }, + "point_1767850349938": { + "type": "point", + "instances": [ + { + "id": "point_1767850349938_1767850421933_re4qvyw6i", + "x": 0.4761110549248623, + "y": 0.5468703168237047 + } + ] + }, + "point_1767850355663": { + "type": "point", + "instances": [ + { + "id": "point_1767850355663_1767850424982_fk5ga1r1n", + "x": 0.5401110510186127, + "y": 0.5362036510250935 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹下降，成功将茶包放进垃圾桶里。", + "frame": 250, + "progress": 90, + "progress_explanation": "目前爪夹下降将茶包放进垃圾桶里。所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹张开，茶包落入垃圾桶里。", + "time": 8.333661125174602, + "annotations": { + "point_1767850355663": { + "type": "point", + "instances": [ + { + "id": "point_1767850355663_1767850384607_5d3ctc13b", + "x": 0.5291110516899993, + "y": 0.5190184768458271 + } + ] + }, + "point_1767850349938": { + "type": "point", + "instances": [ + { + "id": "point_1767850349938_1767850387399_041m64i41", + "x": 0.47911105474175686, + "y": 0.525685142969959 + } + ] + }, + "bbox_1767850344487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850344487_1767850392983_h1l9ksx66", + "x": 0.4001110595635339, + "y": 0.4656851478527712, + "width": 0.21599998681640703, + "height": 0.2879999765625019 + } + ] + }, + "bbox_1767850339784": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850339784_1767850399414_87pw43qba", + "x": 0.3871110603569909, + "y": 0.351018490517701, + "width": 0.20199998767089916, + "height": 0.28666664333767555 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，茶包成功落入垃圾桶里。", + "frame": 268, + "progress": 100, + "progress_explanation": "目前爪夹张开，茶包成功落入垃圾桶里。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，茶包在垃圾桶里。\n已完成把茶包放进白色的垃圾桶里的任务。", + "time": 8.921564886120173, + "annotations": { + "bbox_1767850339784": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850339784_1767850364894_4a0tjadvn", + "x": 0.4471110566948817, + "y": 0.5410925564703323, + "width": 0.10399999365234418, + "height": 0.12666665635850785 + } + ] + }, + "bbox_1767850344487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850344487_1767850371967_4u0c1ggrf", + "x": 0.39811105968560423, + "y": 0.42464811811131853, + "width": 0.22499998626709067, + "height": 0.31066664138455063 + } + ] + }, + "point_1767850349938": { + "type": "point", + "instances": [ + { + "id": "point_1767850349938_1767850374135_lou7ay9yd", + "x": 0.4081110590752527, + "y": 0.5059814448257288 + } + ] + }, + "point_1767850355663": { + "type": "point", + "instances": [ + { + "id": "point_1767850355663_1767850377159_fmqixpu6r", + "x": 0.5991110474175386, + "y": 0.5059814448257288 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767850339784", + "name": "茶包", + "color": "#4CAF50" + }, + { + "id": "bbox_1767850344487", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767850349938", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767850355663", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-153338-put-tea bag-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-153338-put-tea bag-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..dabde8cd04c67f24136746b8f5ce704a5446a758 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-153338-put-tea bag-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,492 @@ +{ + "task_description": "把茶包放进白色的垃圾桶里。\n爪夹开始移动:0%\n爪夹靠近茶包:30%\n爪夹夹起茶包:50%\n爪夹移动茶包:70%\n爪夹将茶包放入垃圾桶里:90%\n爪夹松开，茶包落入垃圾桶里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹向爪夹方向前方移动，然后下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右后方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹向爪夹方向前方移动。", + "time": 1.563672630454364, + "annotations": { + "bbox_1767938227428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938227428_1767938488358_3pvxtccjh", + "x": 0.5341110513848235, + "y": 0.37412960313886695, + "width": 0.08999999450683624, + "height": 0.11466665733507017 + } + ] + }, + "bbox_1767938233587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938233587_1767938493702_u0wr5qeba", + "x": 0.6391110449761325, + "y": 0.6114629171579657, + "width": 0.18299998883056717, + "height": 0.22799998144531392 + } + ] + }, + "point_1767938238683": { + "type": "point", + "instances": [ + { + "id": "point_1767938238683_1767938496069_r9r39lgng", + "x": 0.3921110600518151, + "y": 0.5327962568932082 + } + ] + }, + "point_1767938248307": { + "type": "point", + "instances": [ + { + "id": "point_1767938248307_1767938498214_oz0j1mam1", + "x": 0.5161110524834562, + "y": 0.5287962572187291 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动。", + "correction_plan": "爪夹下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右后方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹向爪夹方向前方移动至茶包上方，方便爪夹下降靠近茶包。", + "frame": 69, + "progress": 15, + "progress_explanation": "目前爪夹向爪夹方向前方移动至茶包上方，方便爪夹下降靠近茶包。所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹下降靠近茶包，然后合拢夹取茶包抬升空中。", + "time": 2.288866, + "annotations": { + "point_1767938248307": { + "type": "point", + "instances": [ + { + "id": "point_1767938248307_1767938503749_hoqnr37qz", + "x": 0.5471110505913666, + "y": 0.3686481124960846 + } + ] + }, + "bbox_1767938233587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938233587_1767938562165_b6erbe9fn", + "x": 0.6461110445488865, + "y": 0.6086480929648362, + "width": 0.17599998925781318, + "height": 0.23333331434461957 + } + ] + }, + "bbox_1767938227428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938227428_1767938568036_kf26sby43", + "x": 0.5361110512627532, + "y": 0.40198144311674455, + "width": 0.08699999468994175, + "height": 0.06533332801649347 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右后方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹下降。成功靠近茶包。", + "frame": 105, + "progress": 30, + "progress_explanation": "目前爪夹靠近茶包，方便爪夹夹取。所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹合拢夹取茶包抬升空中。", + "time": 3.498930279816475, + "annotations": { + "bbox_1767938227428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938227428_1767938574068_4irewtsfe", + "x": 0.5541110501641204, + "y": 0.38331477796917496, + "width": 0.06799999584960963, + "height": 0.10133332508680623 + } + ] + }, + "bbox_1767938233587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938233587_1767938580020_btxbkebh6", + "x": 0.636111045159238, + "y": 0.6233147584379266, + "width": 0.18799998852539127, + "height": 0.2119999827473972 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹张开，重新调整爪夹角度靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右后方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹合拢夹取陶瓷杯，与上一阶段相比，爪夹需要张开重新移动靠近爪夹的动作。", + "frame": 132, + "progress": -15, + "progress_explanation": "目前爪夹合拢夹取陶瓷杯，与上一阶段相比，爪夹需要张开重新移动靠近茶包的动作。所以进度倒退为15%。", + "state_description": "当前状态为爪夹合拢，夹取陶瓷杯。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹张开，重新调整爪夹角度靠近茶包。", + "time": 4.3966, + "annotations": { + "bbox_1767938233587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938233587_1767938588052_bp5o7lluh", + "x": 0.6411110448540621, + "y": 0.6153147590889682, + "width": 0.18599998864746156, + "height": 0.2199999820963556 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "爪夹张开，重新调整爪夹角度靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右后方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹抓紧陶瓷杯向上抬升，与上一阶段相比，爪夹需要张开重新移动靠近爪夹的动作。", + "frame": 167, + "progress": -20, + "progress_explanation": "目前爪夹抓紧陶瓷杯向上抬升，与上一阶段相比，爪夹需要张开重新移动靠近茶包的动作。所以进度倒退为20%。", + "state_description": "当前状态为爪夹合拢，抓紧陶瓷杯。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹张开，重新调整爪夹下降靠近茶包。", + "time": 5.566666666666666, + "annotations": { + "bbox_1767938233587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938233587_1767938593156_yo5jarjt9", + "x": 0.642111044793027, + "y": 0.6073147597400098, + "width": 0.18199998889160218, + "height": 0.2306666478949668 + } + ] + } + } + }, + { + "action_description": "爪夹微微向后移动。", + "correction_plan": "爪夹张开，下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右后方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹抓紧陶瓷杯向上抬升，将茶包撞到桌子上，与上一阶段相比，爪夹需要张开重新下降靠近茶包的动作。", + "frame": 195, + "progress": -30, + "progress_explanation": "目前爪夹抓紧陶瓷杯向上抬升，将茶包撞到桌子上，与上一阶段相比，爪夹需要张开重新下降靠近茶包的动作。所以进度倒退为30%。", + "state_description": "当前状态为爪夹合拢，抓紧陶瓷杯。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹张开，爪夹下降靠近茶包。", + "time": 6.487866, + "annotations": { + "bbox_1767938233587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938233587_1767938598084_x886f0g5k", + "x": 0.6431110447319919, + "y": 0.6206480919882738, + "width": 0.17999998901367248, + "height": 0.21866664887152928 + } + ] + }, + "bbox_1767938227428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938227428_1767938601364_1m48kdrpp", + "x": 0.5131110526665617, + "y": 0.32864811575129266, + "width": 0.06799999584960963, + "height": 0.09999999186197985 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右后方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹张开，陶瓷杯掉在桌子上，方便爪夹下降靠近茶包。", + "frame": 272, + "progress": -40, + "progress_explanation": "目前爪夹张开，陶瓷杯掉在桌子上，与上一阶段相比，爪夹下降靠近茶包的动作。所以进度倒退为40%。", + "state_description": "当前状态为爪夹张开，陶瓷杯在桌子上。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹下降靠近茶包。", + "time": 9.066666666666666, + "annotations": { + "bbox_1767938227428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938227428_1767938605275_922rke6g7", + "x": 0.5221110521172453, + "y": 0.33531478187542463, + "width": 0.06999999572753932, + "height": 0.09066665928819505 + } + ] + }, + "bbox_1767938233587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938233587_1767938611575_1eox5d9lk", + "x": 0.6411110448540621, + "y": 0.6167962500572713, + "width": 0.17899998907470768, + "height": 0.2199999820963556 + } + ] + } + } + }, + { + "time": 10.011733, + "frame": 300, + "progress": 15, + "action_description": "爪夹向右前方移动。", + "state_description": "当前状态为爪夹张开，靠近茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹下降靠近茶包。", + "progress_explanation": "目前爪夹张开，爪夹向右前方移动靠近茶包。所以进度提升为15%。", + "error_success_analysis": "爪夹张开，爪夹向右前方移动靠近茶包，方便爪夹下降抓取。", + "correction_plan": "爪夹下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右后方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "annotations": { + "bbox_1767938233587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938233587_1767938618411_6uoav8s45", + "x": 0.6471110444878512, + "y": 0.6153147590889682, + "width": 0.18199998889160227, + "height": 0.22533331499566114 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向爪夹方向右后方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹下降，成功靠近茶包，方便爪夹合拢夹取。", + "frame": 332, + "progress": 30, + "progress_explanation": "目前爪夹下降靠近茶包。所以进度提升为30%。", + "state_description": "当前状态为爪夹张开，靠近茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹合拢夹取茶包。", + "time": 11.0656, + "annotations": { + "bbox_1767938233587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938233587_1767938643602_57kt0gkfi", + "x": 0.6521110441826755, + "y": 0.6073147597400098, + "width": 0.17199998950195372, + "height": 0.23599998079427245 + } + ] + } + } + }, + { + "time": 12.070066, + "frame": 362, + "progress": 40, + "action_description": "爪夹合拢夹取茶包。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹合拢夹取茶包抬升至空中。", + "progress_explanation": "目前爪夹抓紧茶包。所以进度提升为40%。", + "error_success_analysis": "爪夹合拢成功抓紧茶包。", + "correction_plan": "爪夹抬升，然后向爪夹方向右后方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "annotations": { + "bbox_1767938233587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938233587_1767938648131_f3e6ld7zf", + "x": 0.6481110444268161, + "y": 0.6233147584379266, + "width": 0.17499998931884822, + "height": 0.21866664887152917 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升。", + "correction_plan": "爪夹向爪夹方向右后方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹抓紧茶包箱上抬升，方便爪夹向左后方移动靠近垃圾桶。", + "frame": 381, + "progress": 50, + "progress_explanation": "目前爪夹抓紧茶包箱上抬升，方便爪夹向左后方移动靠近垃圾桶。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹向爪夹方向左后方移动靠近垃圾桶。", + "time": 12.7, + "annotations": { + "bbox_1767938233587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938233587_1767938653212_cpdjkprly", + "x": 0.6531110441216403, + "y": 0.611314759414489, + "width": 0.1729999894409187, + "height": 0.2266666482204876 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左后方移动。", + "correction_plan": "爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹向左后方移动，成功靠近垃圾桶。", + "frame": 413, + "progress": 70, + "progress_explanation": "目前爪夹向左后方移动靠近垃圾桶。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，靠近垃圾桶。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹下降将茶包放进垃圾桶里。", + "time": 13.766133, + "annotations": { + "bbox_1767938233587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938233587_1767938660451_wxrju65kj", + "x": 0.6711110430230076, + "y": 0.6046480932903571, + "width": 0.16199999011230526, + "height": 0.23866664724392522 + } + ] + }, + "bbox_1767938227428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938227428_1767938664386_hpp5i3r8o", + "x": 0.6991110413140234, + "y": 0.5353147655993843, + "width": 0.07199999560546902, + "height": 0.14266665505642456 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹下降，成功将茶包放进垃圾桶里。", + "frame": 430, + "progress": 90, + "progress_explanation": "目前爪夹下降将茶包放进垃圾桶里。所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹松开，茶包落入垃圾桶里。", + "time": 14.329582738527233, + "annotations": { + "bbox_1767938227428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938227428_1767938670050_g56338x83", + "x": 0.7641110373467384, + "y": 0.644648090035149, + "width": 0.0759999953613284, + "height": 0.1439999882812509 + } + ] + }, + "bbox_1767938233587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938233587_1767938675250_33q3qbwwm", + "x": 0.7041110410088475, + "y": 0.6246480916627529, + "width": 0.13499999176025437, + "height": 0.21466664919705009 + } + ] + } + } + }, + { + "action_description": "爪夹张开微微向爪夹方向左后方移动。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹松开，茶包成功落入垃圾桶里。", + "frame": 459, + "progress": 100, + "progress_explanation": "目前爪夹松开，茶包落入垃圾桶里。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，茶包在垃圾桶里\n已完成把茶包放进白色的垃圾桶里的任务。", + "time": 15.314187507500938, + "annotations": { + "bbox_1767938233587": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938233587_1767938680930_gl29r9p85", + "x": 0.6721110429619724, + "y": 0.6099814261896626, + "width": 0.16399998999023496, + "height": 0.23866664724392522 + } + ] + }, + "bbox_1767938227428": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767938227428_1767938685394_my4gx41ev", + "x": 0.694111041619199, + "y": 0.6979814190282049, + "width": 0.05999999633789086, + "height": 0.09599999218750063 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767938227428", + "name": "茶包", + "color": "#4CAF50" + }, + { + "id": "bbox_1767938233587", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767938238683", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767938248307", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-153338-put-tea bag-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-153338-put-tea bag-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..f1ca4049240129e0abc77d066e93995dcc9407f4 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-153338-put-tea bag-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,386 @@ +{ + "task_description": "把茶包放进白色的垃圾桶里。\n爪夹开始移动:0%\n爪夹靠近茶包:30%\n爪夹夹起茶包:50%\n爪夹移动茶包:70%\n爪夹将茶包放入垃圾桶里:90%\n爪夹松开，茶包落入垃圾桶里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹首先抬升调整角度，然后向爪夹方向右侧移动，下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹微微抬升调整爪夹角度。", + "time": 1.4934932311701365, + "annotations": { + "bbox_1767852640136": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852640136_1767852746317_jcrp16dak", + "x": 0.5781110486992768, + "y": 0.5486480978476483, + "width": 0.07299999554443382, + "height": 0.13999998860677168 + } + ] + }, + "bbox_1767852645368": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852645368_1767852750286_2zq7daxx1", + "x": 0.4151110586480066, + "y": 0.36064811314712625, + "width": 0.15799999035644588, + "height": 0.2399999804687516 + } + ] + }, + "point_1767852650800": { + "type": "point", + "instances": [ + { + "id": "point_1767852650800_1767852752629_lmgli3dmx", + "x": 0.4161110585869715, + "y": 0.5419814317235162 + } + ] + }, + "point_1767852655895": { + "type": "point", + "instances": [ + { + "id": "point_1767852655895_1767852755517_34iv77v2h", + "x": 0.5381110511406828, + "y": 0.5513147642973011 + } + ] + } + } + }, + { + "action_description": "爪夹微微抬升。", + "correction_plan": "爪夹向爪夹方向右侧移动，下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹抬升调整角度，方便爪夹向爪夹方向右侧移动靠近茶包。", + "frame": 68, + "progress": 10, + "progress_explanation": "目前爪夹抬升调整角度，方便爪夹向爪夹方向右侧移动靠近茶包，所以进度提升为10%。", + "state_description": "当前状态为爪夹打开，爪夹抬升。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹向爪夹方向右侧移动，然后下降靠近茶包，方便爪夹合拢夹取。", + "time": 2.264599, + "annotations": { + "bbox_1767852645368": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852645368_1767852739542_68fscmh76", + "x": 0.4161110585869715, + "y": 0.3619814463719526, + "width": 0.16299999005127006, + "height": 0.21866664887152928 + } + ] + }, + "bbox_1767852640136": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852640136_1767852742598_3ynjgu2vz", + "x": 0.5811110485161712, + "y": 0.5553147639717804, + "width": 0.06599999597167994, + "height": 0.1319999892578134 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右侧移动。", + "correction_plan": "爪夹下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹向爪夹方向右侧移动，方便下降靠近茶包。", + "frame": 84, + "progress": 20, + "progress_explanation": "目前爪夹向爪夹方向右侧移动，方便下降靠近茶包，所以进度提升为20%。", + "state_description": "当前状态为爪夹打开，爪夹移动。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹下降靠近茶包，方便爪夹合拢夹取。", + "time": 2.814, + "annotations": { + "bbox_1767852645368": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852645368_1767852734670_jkg1x1ous", + "x": 0.41211105883111215, + "y": 0.356648113472647, + "width": 0.16199999011230526, + "height": 0.24266664691840437 + } + ] + } + } + }, + { + "action_description": "爪夹持续下降。", + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹靠近茶包，方便夹取茶包。", + "frame": 101, + "progress": 30, + "progress_explanation": "目前爪夹下降，成功靠近茶包，所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹合拢夹取茶包抬升至空中。", + "time": 3.3634, + "annotations": { + "bbox_1767852645368": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852645368_1767852729743_t3fk9csda", + "x": 0.4131110587700769, + "y": 0.3646481128216054, + "width": 0.17099998956298892, + "height": 0.23466664756944594 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹抬升至空中，然后向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹合拢，方便抓取茶包。", + "frame": 119, + "progress": 40, + "progress_explanation": "目前爪夹合拢，抓取茶包，所以进度提升为40%。", + "state_description": "当前状态为爪夹合拢，靠近茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹合拢夹取茶包抬升至空中。", + "time": 3.953, + "annotations": { + "bbox_1767852645368": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852645368_1767852723982_b01mv4dmx", + "x": 0.4271110579155848, + "y": 0.3593147799222998, + "width": 0.1519999907226568, + "height": 0.2639999785156268 + } + ] + } + } + }, + { + "time": 4.9982, + "frame": 150, + "progress": 20, + "action_description": "爪夹向上移动。", + "state_description": "当前状态为爪夹合拢，远离茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹张开，重新下降靠近茶包。", + "progress_explanation": "目前爪夹合拢，没有抓取茶包，与上一阶段相比，爪夹需要重新张开下降靠近茶包的动作。所以进度倒退为20%。", + "error_success_analysis": "爪夹合拢，没有抓取茶包，与上一阶段相比，爪夹需要重新张开下降靠近茶包的动作。", + "correction_plan": "爪夹张开，下降靠近茶包，爪夹夹取茶包抬升至空中，然后向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "annotations": { + "bbox_1767852645368": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852645368_1767852713039_ytf70q8cp", + "x": 0.41211105883111215, + "y": 0.3579814466974734, + "width": 0.15599999047851618, + "height": 0.23999998046875165 + } + ] + }, + "bbox_1767852640136": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852640136_1767852717575_hktq3s4i2", + "x": 0.6061110469902925, + "y": 0.5874629191110905, + "width": 0.11799999279785203, + "height": 0.11199999088541747 + } + ] + } + } + }, + { + "action_description": "爪夹张开，向后移动。", + "correction_plan": "下降靠近茶包，爪夹夹取茶包抬升至空中，然后向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹张开，与上一阶段相比，爪夹可以直接下降靠近茶包。", + "frame": 195, + "progress": 25, + "progress_explanation": "目前爪夹张开，与上一阶段相比，爪夹可以直接下降靠近茶包。所以进度提升为25%。", + "state_description": "当前状态为爪夹张开，\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹下降靠近茶包。", + "time": 6.4856, + "annotations": { + "bbox_1767852645368": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852645368_1767852707744_wj58n23mi", + "x": 0.41911105840386603, + "y": 0.3579814466974734, + "width": 0.15999999023437556, + "height": 0.2559999791666684 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹夹取茶包抬升至空中，然后向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹靠近茶包，方便爪夹抓取茶包。", + "frame": 245, + "progress": 30, + "progress_explanation": "目前爪夹下降靠近茶包，方便爪夹抓取。所以进度提升为30%。", + "state_description": "当前状态为爪夹张开，靠近茶包\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹合拢夹取茶包抬升空中。", + "time": 8.173999, + "annotations": { + "bbox_1767852645368": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852645368_1767852701879_ckxie2qbr", + "x": 0.41211105883111215, + "y": 0.356648113472647, + "width": 0.17099998956298884, + "height": 0.2586666456163212 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取茶包抬升空中。", + "correction_plan": "向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹夹取茶包，成功抬升并开始向爪夹方向左侧移动。", + "frame": 290, + "progress": 50, + "progress_explanation": "目前爪夹合拢夹取茶包抬升空中。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹向爪夹方向左侧移动。", + "time": 9.666666666666666, + "annotations": { + "bbox_1767852645368": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852645368_1767852696942_0vas2tnmp", + "x": 0.41011105895318234, + "y": 0.356648113472647, + "width": 0.16399998999023505, + "height": 0.24799997981771002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左侧移动。", + "correction_plan": "爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹向爪夹方向左侧移动靠近垃圾桶。", + "frame": 314, + "progress": 70, + "progress_explanation": "目前爪夹向爪夹方向左侧移动靠近垃圾桶。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，靠近垃圾桶\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹下降将茶包放进垃圾桶里。", + "time": 10.4590596773405, + "annotations": { + "bbox_1767852645368": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852645368_1767852685607_daljgj0ie", + "x": 0.4161110585869715, + "y": 0.356648113472647, + "width": 0.16499998992919976, + "height": 0.2519999794921892 + } + ] + }, + "bbox_1767852640136": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852640136_1767852689223_z7ns0aoun", + "x": 0.5021110533379484, + "y": 0.2979814515802855, + "width": 0.08999999450683624, + "height": 0.13066665603298702 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹下降，成功将茶包放进垃圾桶里，方便爪夹张开，茶包落入垃圾桶里。", + "frame": 329, + "progress": 90, + "progress_explanation": "目前爪夹下降，将茶包放进垃圾桶里，方便爪夹张开，茶包落入垃圾桶里。所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，靠近垃圾桶\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹张开，茶包落入垃圾桶里。", + "time": 10.970193665797053, + "annotations": { + "bbox_1767852645368": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852645368_1767852678542_k3p682jg4", + "x": 0.41711105852593633, + "y": 0.356648113472647, + "width": 0.18899998846435614, + "height": 0.221333315321182 + } + ] + } + } + }, + { + "action_description": "爪夹张开向后移动。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，茶包成功落入垃圾桶里。", + "frame": 366, + "progress": 100, + "progress_explanation": "目前爪夹张开，茶包成功落入垃圾桶里。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，茶包在垃圾桶里\n已完成把茶包放进白色的垃圾桶里的任务应。", + "time": 12.2074, + "annotations": { + "bbox_1767852645368": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852645368_1767852672495_pcehhkzvt", + "x": 0.4181110584649012, + "y": 0.3622777466001183, + "width": 0.16599998986816464, + "height": 0.22133331532118206 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767852640136", + "name": "茶包", + "color": "#4CAF50" + }, + { + "id": "bbox_1767852645368", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767852650800", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767852655895", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-153338-put-tea bag-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-153338-put-tea bag-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..a937f0e3c2773a0f194444dd455007a0daf2c5dc --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-153338-put-tea bag-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,504 @@ +{ + "task_description": "把茶包放进白色的垃圾桶里。\n爪夹开始移动:0%\n爪夹靠近茶包:30%\n爪夹夹起茶包:50%\n爪夹移动茶包:70%\n爪夹将茶包放入垃圾桶里:90%\n爪夹松开，茶包落入垃圾桶里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "correction_plan": "爪夹首先抬升调整角度，然后向爪夹方向右前方移动靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，进度为0。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹微微抬升调整爪夹角度。", + "time": 0.9411676377023827, + "annotations": { + "bbox_1767947660151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947660151_1767947704302_01k89ddyy", + "x": 0.478111054802792, + "y": 0.5144258919738044, + "width": 0.06499999603271514, + "height": 0.0986666586371534 + } + ] + }, + "bbox_1767947664535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947664535_1767947710774_tgb3473z2", + "x": 0.14711107500542756, + "y": 0.32064812657485947, + "width": 0.18299998883056706, + "height": 0.27333331108941156 + } + ] + }, + "point_1767947683278": { + "type": "point", + "instances": [ + { + "id": "point_1767947683278_1767947719902_9r9brem0a", + "x": 0.2711110674370686, + "y": 0.5003518116982575 + } + ] + } + } + }, + { + "action_description": "爪夹向上抬升移动。", + "correction_plan": "爪夹向爪夹方向右前方移动靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹抬升调整角度，方便爪夹向爪夹方向右前方移动靠近茶包。", + "frame": 78, + "progress": 15, + "progress_explanation": "目前爪夹抬升调整角度，方便爪夹向爪夹方向右前方移动靠近茶包，所以进度提升为15%。", + "state_description": "当前状态为爪夹打开，爪夹抬升。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹向爪夹方向右方移动靠近茶包，方便爪夹合拢夹取。", + "time": 2.6076, + "annotations": { + "bbox_1767947660151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947660151_1767947727918_gqomc5jqo", + "x": 0.4821110545586514, + "y": 0.5136851439465215, + "width": 0.06499999603271514, + "height": 0.09333332573784782 + } + ] + }, + "bbox_1767947664535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947664535_1767947732197_d1jdmgqnz", + "x": 0.16411107396782992, + "y": 0.3283518256956522, + "width": 0.16699998980712955, + "height": 0.27199997786458513 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹向爪夹方向右前方移动，成功靠近茶包。", + "frame": 118, + "progress": 30, + "progress_explanation": "目前爪夹靠近茶包，方便爪夹合拢夹取，所以进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹合拢夹取茶包向上抬升。", + "time": 3.9337447689885554, + "annotations": { + "bbox_1767947664535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947664535_1767947751957_83zqttqmf", + "x": 0.1591110742730057, + "y": 0.34020366697561305, + "width": 0.17399998937988345, + "height": 0.26799997819010596 + } + ] + }, + "bbox_1767947660151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947660151_1767947756005_zwt5uvmtt", + "x": 0.48611105431451085, + "y": 0.5122036529782183, + "width": 0.053999996704101695, + "height": 0.09733332541232707 + } + ] + }, + "point_1767947678175": { + "type": "point", + "instances": [ + { + "id": "point_1767947678175_1767947758621_yu4q8kce8", + "x": 0.46011105590142476, + "y": 0.5228703187768295 + } + ] + } + } + }, + { + "action_description": "爪夹合拢向上微微抬升。", + "correction_plan": "爪夹张开，然后重新下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹合拢抓取茶包但没成功，与上一阶段相比，爪夹需要重新下降靠近茶包。", + "frame": 183, + "progress": 25, + "progress_explanation": "目前爪夹合拢抓取茶包但没成功，与上一阶段相比，爪夹需要重新下降靠近茶包。所以进度倒退为25%。", + "state_description": "当前状态为爪夹合拢，远离茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹重新下降靠近茶包，然后合拢抓取茶包向上抬升。", + "time": 6.1, + "annotations": { + "bbox_1767947664535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947664535_1767947775269_ne9fht5wj", + "x": 0.16211107408990025, + "y": 0.33709257307189344, + "width": 0.16499998992919984, + "height": 0.2799999772135436 + } + ] + }, + "bbox_1767947660151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947660151_1767947779908_pzvmkyu33", + "x": 0.4771110548638272, + "y": 0.5139814441746872, + "width": 0.06599999597167994, + "height": 0.10133332508680623 + } + ] + } + } + }, + { + "action_description": "爪夹向后移动微微抬升，然后张开爪夹。", + "correction_plan": "爪夹下降靠近茶包，爪夹合拢夹取茶包抬升至空中，然后向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹向上抬升张开，与上一阶段相比，爪夹距离茶包更远些。", + "frame": 241, + "progress": 20, + "progress_explanation": "目前爪夹向上抬升张开，与上一阶段相比，爪夹距离茶包更远些。所以进度再次倒退为20%。", + "state_description": "当前状态为爪夹张开，远离茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹重新下降靠近茶包，然后合拢抓取茶包向上抬升。", + "time": 8.0442, + "annotations": { + "bbox_1767947660151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947660151_1767947789757_aq3ctt7jq", + "x": 0.4821110545586514, + "y": 0.5108703197533919, + "width": 0.057999996459961164, + "height": 0.10666665798611188 + } + ] + }, + "bbox_1767947664535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947664535_1767947794045_dnm7iz9sm", + "x": 0.16611107384575965, + "y": 0.3322036676266547, + "width": 0.16399998999023496, + "height": 0.26266664529080036 + } + ] + }, + "point_1767947678175": { + "type": "point", + "instances": [ + { + "id": "point_1767947678175_1767947798636_nh6sjmvnc", + "x": 0.4321110576104091, + "y": 0.4108703278914121 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢夹取茶包抬升至空中，然后向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹下降，成功靠近茶包，方便爪夹合拢抓取茶包。", + "frame": 324, + "progress": 30, + "progress_explanation": "目前爪夹下降靠近茶包，方便爪夹合拢抓取茶包。所以进度提升为30%。", + "state_description": "当前状态为爪夹张开，靠近茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹合拢抓取茶包向上抬升。", + "time": 10.7994, + "annotations": { + "bbox_1767947664535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947664535_1767947819822_v1pwf8uej", + "x": 0.15811107433404087, + "y": 0.3250925740484559, + "width": 0.17099998956298892, + "height": 0.28933330978732835 + } + ] + }, + "bbox_1767947660151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947660151_1767947823428_cx1ssx1wc", + "x": 0.4921110539482999, + "y": 0.5193147770739928, + "width": 0.046999997131347816, + "height": 0.09733332541232696 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取。", + "correction_plan": "向爪夹方向左侧移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹放着茶包的耳机盒，方便爪夹向爪夹方向左侧移动靠近垃圾桶。", + "frame": 430, + "progress": 50, + "progress_explanation": "目前爪夹放着茶包的耳机盒，方便爪夹向爪夹方向左侧移动靠近垃圾桶。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧放着茶包的耳机盒。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹抓取放着茶包的耳机盒向上抬升。", + "time": 14.333333333333334, + "annotations": { + "bbox_1767947660151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947660151_1767947855523_6yi6wvmf9", + "x": 0.5091110529107022, + "y": 0.4990184784734311, + "width": 0.03799999768066424, + "height": 0.10133332508680623 + } + ] + }, + "bbox_1767947664535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947664535_1767947860475_cm9317e0h", + "x": 0.1591110742730057, + "y": 0.3283518256956522, + "width": 0.17099998956298892, + "height": 0.2893333097873283 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左侧移动。", + "correction_plan": "爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹向爪夹方向左侧移动，成功靠近垃圾桶。", + "frame": 491, + "progress": 70, + "progress_explanation": "目前爪夹向爪夹方向左侧移动靠近垃圾桶。所以进度提升为70%。", + "state_description": "当前状态为爪夹合拢，靠近垃圾桶。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹下降，将放着茶包的耳机盒放进垃圾桶里。", + "time": 16.360548110770118, + "annotations": { + "bbox_1767947664535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947664535_1767947894050_h5rmf7s8h", + "x": 0.16611107384575965, + "y": 0.3216851595715202, + "width": 0.1619999901123053, + "height": 0.2799999772135436 + } + ] + } + } + }, + { + "action_description": "爪夹张开微微向后移动。", + "correction_plan": "爪夹重新下降靠近茶包，合拢抓取抬升空中，向爪夹方向前方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹张开，茶包和耳机盒掉在桌面上，与上一阶段相比，爪夹需要重新下降靠近茶包，合拢抓取。", + "frame": 547, + "progress": 20, + "progress_explanation": "目前爪夹张开，茶包和耳机盒掉在桌面上，与上一阶段相比，爪夹需要重新下降靠近茶包，合拢抓取。所以进度倒退为20%。", + "state_description": "当前状态为爪夹张开，茶包在桌面上。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹重新下降靠近茶包，合拢抓取抬升空中。", + "time": 18.2372490236106, + "annotations": { + "bbox_1767947660151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947660151_1767947910834_kphlffwfg", + "x": 0.14611107506646268, + "y": 0.6723517977008628, + "width": 0.10799999340820354, + "height": 0.08666665961371578 + } + ] + }, + "bbox_1767947664535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947664535_1767947914473_b2gq53gtl", + "x": 0.16611107384575965, + "y": 0.337685158269437, + "width": 0.16399998999023496, + "height": 0.24799997981770996 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢抓取茶包抬升空中，向爪夹方向前方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹重新下降，成功靠近茶包，方便爪夹合拢抓取。", + "frame": 616, + "progress": 30, + "progress_explanation": "目前爪夹重新下降靠近茶包，方便爪夹合拢抓取。所以进度提升为30%。", + "state_description": "当前状态为爪夹张开，靠近茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹合拢抓取茶包抬升空中。", + "time": 20.519723106794967, + "annotations": { + "bbox_1767947664535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947664535_1767947927689_gh2vgbr6m", + "x": 0.15211107470025179, + "y": 0.3270184924708258, + "width": 0.17599998925781316, + "height": 0.25199997949218916 + } + ] + }, + "bbox_1767947660151": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947660151_1767947931521_osbhu5op0", + "x": 0.1671110737847245, + "y": 0.6656851315767309, + "width": 0.08099999505615266, + "height": 0.08533332638888945 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹取茶包向上抬升。", + "correction_plan": "向爪夹方向前方移动靠近垃圾桶，爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹合拢成功夹取茶包，并向上抬升。", + "frame": 657, + "progress": 50, + "progress_explanation": "目前爪夹合拢夹取茶包向上抬升。所以进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹向爪夹方向前方移动靠近垃圾桶。", + "time": 21.9, + "annotations": { + "bbox_1767947664535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947664535_1767947949449_f8tj5p7lv", + "x": 0.16611107384575965, + "y": 0.3237592408236295, + "width": 0.16699998980712952, + "height": 0.3013333088107659 + } + ] + } + } + }, + { + "time": 22.650032251100377, + "frame": 680, + "progress": 70, + "action_description": "爪夹持续抬升，然后向爪夹前方移动。", + "state_description": "当前状态为爪夹合拢，抓紧茶包。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹下降将茶包放进垃圾桶里。", + "progress_explanation": "目前爪夹持续抬升，然后向爪夹前方移动靠近垃圾桶。所以进度提升为70%。", + "error_success_analysis": "爪夹持续抬升，然后向爪夹前方移动靠近垃圾桶，方便爪夹下降将茶包放进垃圾桶里。", + "correction_plan": "爪夹下降将茶包放在垃圾桶里，爪夹松开，茶包落入垃圾桶里。", + "annotations": { + "bbox_1767947664535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947664535_1767947982832_x10h226qk", + "x": 0.14911107488335723, + "y": 0.3282036679521755, + "width": 0.17399998937988345, + "height": 0.2613333120659739 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹松开，茶包落入垃圾桶里。", + "error_success_analysis": "爪夹下降成功将茶包放进垃圾桶里。", + "frame": 689, + "progress": 90, + "progress_explanation": "目前爪夹下降将茶包放进垃圾桶里。所以进度提升为90%。", + "state_description": "当前状态为爪夹合拢，抓紧茶包放进垃圾桶里。\n为完成把茶包放进白色的垃圾桶里的任务应当:爪夹松开，茶包落入垃圾桶里。", + "time": 22.954362128858296, + "annotations": { + "bbox_1767947664535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947664535_1767947988552_vm51bxj1k", + "x": 0.16211107408990025, + "y": 0.3255370015025226, + "width": 0.16099999017334046, + "height": 0.2826666436631963 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "任务完成。", + "error_success_analysis": "爪夹张开，茶包成功在垃圾桶里。", + "frame": 726, + "progress": 100, + "progress_explanation": "目前爪夹张开，茶包成功落入垃圾桶里。所以进度提升为100%。", + "state_description": "当前状态为爪夹张开，茶包在垃圾桶里。\n已完成把茶包放进白色的垃圾桶里的任务。", + "time": 24.2, + "annotations": { + "bbox_1767947664535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947664535_1767947995024_z643av708", + "x": 0.15611107445611117, + "y": 0.31353700247908506, + "width": 0.1729999894409186, + "height": 0.2866666433376755 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767947660151", + "name": "茶包", + "color": "#4CAF50" + }, + { + "id": "bbox_1767947664535", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767947678175", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767947683278", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-154411-put-tea bag-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-154411-put-tea bag-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c3ca2f6794f3809cb0cbc357feb1e1195e2ad9db --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-154411-put-tea bag-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,110 @@ +{ + "task_description": "抓取茶包放入白色垃圾桶：\n准备开始移动：0%\n爪夹靠近茶包：20%\n爪夹抓取茶包：40%%\n爪夹抓紧茶包靠近白色垃圾桶：60%\n爪夹将茶包放入白色垃圾桶：80%\n爪夹松开茶包落入白色垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后合拢爪夹抓取茶包。抓紧茶包垂直升高爪夹并向爪夹前方的白色垃圾桶接近，水平到达白色垃圾桶正上方后，垂直下降至合适位置，松开爪夹，使茶包落入白色垃圾桶。", + "error_success_analysis": "", + "frame": 66, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离茶包，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离茶包，未开始移动。\n为完成抓取茶包放入白色垃圾桶的任务应当：爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 2.203999 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度接近垂直于桌面。", + "correction_plan": "爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后合拢爪夹抓取茶包。抓紧茶包垂直升高爪夹并向爪夹前方的白色垃圾桶接近，水平到达白色垃圾桶正上方后，垂直下降至合适位置，松开爪夹，使茶包落入白色垃圾桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面。水平上接近了茶包。", + "frame": 99, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近垂直于桌面，水平上接近了茶包，因此进度提升为10%", + "state_description": "爪夹张开，角度接近垂直于桌面，水平上接近了茶包。\n为完成抓取茶包放入白色垃圾桶的任务应当：爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 3.3066180114394648 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "correction_plan": "合拢爪夹抓取茶包。抓紧茶包垂直升高爪夹并向爪夹前方的白色垃圾桶接近，水平到达白色垃圾桶正上方后，垂直下降至合适位置，松开爪夹，使茶包落入白色垃圾桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了茶包，方便抓取茶包。", + "frame": 143, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了茶包。方便抓取。因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹右前方移动并垂直向下移动，靠近了茶包。\n为完成抓取茶包放入白色垃圾桶的任务应当：合拢爪夹抓取茶包。抓紧茶包垂直升高爪夹并向爪夹前方的白色垃圾桶接近。", + "time": 4.755585951497121 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧茶包垂直升高爪夹并向爪夹前方的白色垃圾桶接近，水平到达白色垃圾桶正上方后，垂直下降至合适位置，松开爪夹，使茶包落入白色垃圾桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹靠近了茶包，爪夹合拢抓取到了茶包。", + "frame": 183, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到茶包。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取茶包。\n为完成抓取茶包放入白色垃圾桶的任务应当：抓紧茶包垂直升高爪夹并向爪夹前方的白色垃圾桶接近。", + "time": 6.1016 + }, + { + "action_description": "爪夹夹紧茶包，向爪夹左前方移动", + "correction_plan": "爪夹垂直下降至合适位置，松开爪夹，使茶包落入白色垃圾桶。", + "error_success_analysis": "爪夹移动到了白色垃圾桶正上方，方便茶包放入白色垃圾桶。", + "frame": 214, + "progress": 60, + "progress_explanation": "爪夹夹紧茶包，到了白色垃圾桶的正上方，方便茶包放入白色垃圾桶。因此进度提升为60%", + "state_description": "爪夹夹紧茶包，爪夹角度接近垂直于桌面，位于白色垃圾桶正上方。\n为完成抓取茶包放入白色垃圾桶的任务应当：爪夹水平到达白色垃圾桶正上方后，垂直下降至合适位置，松开爪夹，使茶包落入白色垃圾桶。", + "time": 7.13337949415584 + }, + { + "action_description": "爪夹夹紧茶包，向爪夹右方移动，爪夹张开", + "correction_plan": "爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后合拢爪夹抓取茶包。抓紧茶包垂直升高爪夹并向爪夹前方的白色垃圾桶接近，水平到达白色垃圾桶正上方后，垂直下降至合适位置，松开爪夹，使茶包落入白色垃圾桶。", + "error_success_analysis": "爪夹张开，茶包掉落在桌面上，需要重新抓取茶包。", + "frame": 264, + "progress": 20, + "progress_explanation": "爪夹张开，水平上远离了茶包，茶包掉落在桌面上，需要重新抓取茶包，因此进度降低为20%", + "state_description": "爪夹张开，水平上远离了茶包，茶包掉落在桌面上。\n为完成抓取茶包放入白色垃圾桶的任务应当：重新调整爪夹角度接近垂直于桌面，并移动到茶包的正上方。", + "time": 8.805265578837751 + }, + { + "action_description": "爪夹合拢向爪夹左前方移动，调整爪夹垂直于桌面。", + "correction_plan": "爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后合拢爪夹抓取茶包。抓紧茶包垂直升高爪夹并向爪夹前方的白色垃圾桶接近，水平到达白色垃圾桶正上方后，垂直下降至合适位置，松开爪夹，使茶包落入白色垃圾桶。", + "error_success_analysis": "爪夹合拢，水平上远离了茶包。需要重新抓取茶包。", + "frame": 313, + "progress": 10, + "progress_explanation": "爪夹合拢，角度接近垂直于桌面，水平上远离了茶包。因此进度降低为10%", + "state_description": "爪夹合拢，角度接近垂直于桌面，水平上远离了茶包。\n为完成抓取茶包放入白色垃圾桶的任务应当：爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 10.43999863941562 + }, + { + "action_description": "爪夹重新张开", + "correction_plan": "爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后合拢爪夹抓取茶包。抓紧茶包垂直升高爪夹并向爪夹前方的白色垃圾桶接近，水平到达白色垃圾桶正上方后，垂直下降至合适位置，松开爪夹，使茶包落入白色垃圾桶。", + "error_success_analysis": "爪夹重新张开，远离茶包，未开始移动。需要重新抓取茶包。", + "frame": 348, + "progress": 0, + "progress_explanation": "爪夹重新张开，远离茶包，未开始移动。因此进度降低为0%", + "state_description": "爪夹重新张开，远离茶包，未开始移动。\n为完成抓取茶包放入白色垃圾桶的任务应当：爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 11.6 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767679102854", + "name": "茶包" + }, + { + "color": "#FF9800", + "id": "bbox_1767679103057", + "name": "白色垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767679104396", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767679104590", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-154411-put-tea bag-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-154411-put-tea bag-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..ffea2f083655f200da84f92a99a1a6448630a019 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-154411-put-tea bag-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取茶包放入白色垃圾桶：\n准备开始移动：0%\n爪夹靠近茶包：20%\n爪夹抓取茶包：40%\n爪夹抓紧茶包接近白色垃圾桶：60%\n爪夹将茶包放入白色垃圾桶：80%\n爪夹松开茶包落入白色垃圾桶：100%", + "progress_points": [ + { + "time": 1.6644, + "frame": 50, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离茶包，未开始移动。\n为完成抓取茶包放入白色垃圾桶的任务应当：爪夹向爪夹前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "progress_explanation": "当前为初始状态远离茶包，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶正上方后，垂直下降至合适位置，松开爪夹，使茶包落入白色垃圾桶。" + }, + { + "time": 2.467399, + "frame": 74, + "progress": 20, + "action_description": "爪夹向爪夹前方移动并垂直向下移动，调整爪夹角度。", + "state_description": "爪夹角度接近垂直于桌面，靠近了茶包。准备抓取茶包。\n为完成抓取茶包放入白色垃圾桶的任务应当：爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的白色垃圾桶接近。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了茶包，方便抓取，因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了茶包，方便抓取。", + "correction_plan": "爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶正上方后，垂直下降至合适位置，松开爪夹，使茶包落入白色垃圾桶。" + }, + { + "time": 3.540499, + "frame": 106, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到茶包，爪夹角度与桌面接近垂直。\n为完成抓取茶包放入白色垃圾桶的任务应当：抓紧茶包垂直升高爪夹并向爪夹右前方的白色垃圾桶接近。", + "progress_explanation": "爪夹合拢抓取到茶包，因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到茶包。", + "correction_plan": "抓紧茶包垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶正上方后，垂直下降至合适位置，松开爪夹，使茶包落入白色垃圾桶。" + }, + { + "time": 4.452999, + "frame": 134, + "progress": 60, + "action_description": "爪夹夹紧茶包，垂直升高，向爪夹右前方移动。", + "state_description": "爪夹夹紧茶包，爪夹角度接近垂直于桌面，位于白色垃圾桶正上方。\n为完成抓取茶包放入白色垃圾桶的任务应当：爪夹垂直下降至合适位置，松开爪夹，使茶包落入白色垃圾桶。", + "progress_explanation": "爪夹夹紧茶包，到了爪夹右前方的白色垃圾桶正上方，方便茶包落入白色垃圾桶。因此进度提升为60%", + "error_success_analysis": "爪夹移动到了白色垃圾桶正上方，方便茶包落入白色垃圾桶。", + "correction_plan": "爪夹垂直下降至合适位置，松开爪夹，使茶包落入白色垃圾桶。" + }, + { + "time": 5.2487, + "frame": 157, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧茶包，爪夹角度接近垂直于桌面，垂直向下移动。\n为完成抓取茶包放入白色垃圾桶的任务应当：松开爪夹，使茶包落入白色垃圾桶。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直向下移动至合适位置。因此进度提升为80%", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹垂直向下移动至合适位置。", + "correction_plan": "松开爪夹，使茶包落入白色垃圾桶。" + }, + { + "time": 6.241499, + "frame": 187, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取茶包放入白色垃圾桶的任务完成。", + "progress_explanation": "爪夹张开，茶包落入白色垃圾桶，任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，茶包落入白色垃圾桶。", + "correction_plan": "爪夹抓取茶包放入白色垃圾桶的任务完成。" + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-154956-put-tea bag-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-154956-put-tea bag-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..6efff3da7b60b2604749792707949357d9f60377 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-154956-put-tea bag-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,90 @@ +{ + "task_description": "抓取茶包放入纸箱里：\n准备开始移动：0%\n爪夹靠近茶包：20%\n爪夹抓取茶包：40%\n爪夹抓紧茶包接近纸箱：60%\n爪夹将茶包放入纸箱：80%\n爪夹松开茶包落入纸箱：100%", + "progress_points": [ + { + "time": 1.653099, + "frame": 50, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离茶包，未开始移动。\n为完成抓取茶包放入纸箱的任务应当：爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "progress_explanation": "当前为初始状态，远离茶包，未开始移动，因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直向下移动到合适的位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 3.251999, + "frame": 98, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "state_description": "爪夹角度接近垂直于桌面，靠近了茶包，准备抓取茶包。\n为完成抓取茶包放入纸箱的任务应当：爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右方的纸箱接近", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了茶包，方便抓取，因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了茶包，方便抓取。", + "correction_plan": "爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直向下移动到合适的位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 5.203199, + "frame": 156, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取茶包，爪夹角度与桌面接近垂直。\n为完成抓取茶包放入纸箱的任务应当：抓紧茶包垂直升高爪夹并向爪夹右方的纸箱接近", + "progress_explanation": "爪夹合拢抓取到茶包，因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到茶包。", + "correction_plan": "抓紧茶包垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直向下移动到合适的位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 6.1625966205643925, + "frame": 185, + "progress": 60, + "action_description": "爪夹夹紧茶包，向爪夹右方移动。", + "state_description": "爪夹夹紧茶包，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取茶包放入纸箱的任务应当：爪夹垂直向下移动到合适的位置，松开爪夹，使茶包落入纸箱。", + "progress_explanation": "爪夹夹紧茶包，到了爪夹右方的纸箱的正上方，方便抓取茶包放入纸箱里，因此进度提升为60%", + "error_success_analysis": "爪夹移动到了纸箱的正上方，方便将茶包放入纸箱里。", + "correction_plan": "爪夹垂直向下移动到合适的位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 7.181499, + "frame": 215, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧茶包，爪夹角度接近垂直于桌面，爪夹下降至合适的位置。\n为完成抓取茶包放入纸箱的任务应当：松开爪夹，使茶包落入纸箱。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹下降至合适的位置，因此进度提升为80%", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹下降至合适的位置，方便将茶包放入纸箱里。", + "correction_plan": "松开爪夹，使茶包落入纸箱。" + }, + { + "time": 8.852666, + "frame": 266, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开茶包落入纸箱的任务完成。", + "progress_explanation": "爪夹张开，茶包落入纸箱，任务完成，因此进度提升为100%", + "error_success_analysis": "爪夹张开，茶包落入纸箱。", + "correction_plan": "抓取 茶包放入纸箱的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767748555686", + "name": "茶包" + }, + { + "color": "#FF9800", + "id": "bbox_1767748555851", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767748556849", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767748557051", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-154956-put-tea bag-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-154956-put-tea bag-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..f116a834c7428f0311f204162247e381f0449dca --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-154956-put-tea bag-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,90 @@ +{ + "task_description": "抓取茶包放入纸箱里：\n准备开始移动：0%\n爪夹靠近茶包：20%\n爪夹抓取茶包：40%\n爪夹抓紧茶包接近纸箱：60%\n爪夹将茶包放入纸箱：80%\n爪夹松开茶包落入纸箱：100%", + "progress_points": [ + { + "time": 1.929766, + "frame": 58, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，远离茶包，未开始移动。\n为完成抓取茶包放入纸箱的任务应当：爪夹向抓夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，比你高移动到茶包的正上方。", + "progress_explanation": "当前为初始状态，远离茶包，未开始移动。因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向抓夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后边爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 3.046999, + "frame": 91, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度。", + "state_description": "爪夹角度接近垂直于桌面，靠近了茶包，准备抓取茶包。\n为完成抓取茶包放入纸箱的任务应当：爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右方的纸箱接近", + "progress_explanation": "爪夹角度接近垂直于桌面靠近了茶包，方便抓取，因此进度提升为20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了茶包，方便抓取。", + "correction_plan": "爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 4.478166, + "frame": 134, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到茶包，爪夹角度与桌面接近垂直。\n为完成抓取茶包放入纸箱的任务应当：抓紧茶包垂直升高爪夹并向爪夹右方的纸箱接近", + "progress_explanation": "爪夹合拢抓取到茶包，因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到茶包。", + "correction_plan": "抓紧茶包垂直升高爪夹并向爪夹右方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 6.537199, + "frame": 196, + "progress": 60, + "action_description": "爪夹夹紧茶包，垂直升高，向爪夹右方移动。\n", + "state_description": "爪夹夹紧茶包，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取茶包放入纸箱的任务应当：水平到达纸箱的正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "progress_explanation": "爪夹夹紧茶包，到了爪夹茶包的正上方，方便茶包落入纸箱。", + "error_success_analysis": " 爪夹移动到了纸箱正上方，方便茶包落入纸箱，", + "correction_plan": "水平到达纸箱的正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 7.340499, + "frame": 220, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动。", + "state_description": "爪夹夹紧茶包，爪夹角度接近垂直于桌面，垂直向下移动到合适位置。\n为完成抓取茶包放入纸箱的任务应当：松开爪夹，使茶包落入纸箱。", + "progress_explanation": "爪夹角度接近垂直于桌面，垂直向下移动至合适位置，因此进度提升为80%", + "error_success_analysis": "爪夹角度接近垂直于桌面，垂直向下移动至合适位置", + "correction_plan": "松开爪夹，使茶包落入纸箱。" + }, + { + "time": 8.559299, + "frame": 257, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取茶包放入纸箱的任务完成。", + "progress_explanation": "爪夹张开，茶包落入纸箱，任务完成，因此进度提升为100%。", + "error_success_analysis": "爪夹张开，茶包落入纸箱。", + "correction_plan": "爪夹抓取茶包放入纸箱的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767764240943", + "name": "茶包", + "color": "#4CAF50" + }, + { + "id": "bbox_1767764241129", + "name": "纸箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767764242233", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767764242400", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-155608-put-tea bag-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-155608-put-tea bag-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..8f6ffbebb48c4b00c5e89b283083bd8be19abb74 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-155608-put-tea bag-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,135 @@ +{ + "task_description": "抓取茶包放入纸箱里：\n准备开始移动：0%\n爪夹靠近茶包：20%\n爪夹抓取茶包：40%\n爪夹抓紧茶包接近纸箱：60%\n爪夹将茶包放入纸箱：80%\n爪夹松开茶包落入纸箱：100%", + "progress_points": [ + { + "time": 1.6968, + "frame": 51, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离茶包，未开始移动。\n为完成抓取茶包放入纸箱的任务应当：爪夹向爪夹右方的茶包接近，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "progress_explanation": "当前为初始状态，远离茶包，未开始移动，因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右方的茶包接近，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高抓夹并向抓爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 3.234874138373093, + "frame": 97, + "progress": -20, + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度。", + "state_description": "爪夹角度接近垂直于桌面，靠近了玩具，准备抓取玩具。\n为完成抓取茶包放入纸箱的任务应当：爪夹向爪夹右方的茶包接近，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了玩具，远离了茶包，因此进度降低为-20%", + "error_success_analysis": "爪夹垂直向下移动，靠近了玩具，未靠近茶包。", + "correction_plan": "爪夹向爪夹右方的茶包接近，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高抓夹并向抓爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 4.349733, + "frame": 130, + "progress": -30, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到玩具，爪夹角度与桌面接近垂直。\n为完成抓取茶包放入纸箱的任务应当：爪夹张开，爪夹向爪夹右方的茶包接近，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "progress_explanation": "爪夹合拢抓取到玩具，需要重新抓取茶包，因此进度降低为-30%", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢抓取玩具，需要重新抓取茶包。", + "correction_plan": "爪夹向爪夹右方的茶包接近，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高抓夹并向抓爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 5.607116138447768, + "frame": 168, + "progress": -40, + "action_description": "爪夹夹紧玩具并垂直升高。", + "state_description": "爪夹夹紧玩具，爪夹角度接近垂直于桌面。\n为完成抓取茶包放入纸箱的任务应当：爪夹张开，爪夹向爪夹右方的茶包接近，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "progress_explanation": "爪夹夹紧玩具，爪夹角度接近垂直于桌面。远离了茶包，需要重新抓取。因此进度降低为-40%", + "error_success_analysis": "爪夹夹紧玩具，爪夹角度接近垂直于桌面。远离了茶包，需要重新抓取。", + "correction_plan": "爪夹向爪夹右方的茶包接近，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高抓夹并向抓爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 6.679466, + "frame": 200, + "progress": 0, + "action_description": "爪夹张开，玩具掉在桌面上", + "state_description": "爪夹张开，玩具落在桌面，爪夹远离茶包，未开始移动。\n为完成抓取茶包放入纸箱的任务应当：爪夹向爪夹右方的茶包接近，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "progress_explanation": "爪夹张开，远离茶包，未开始移动。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右方的茶包接近，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高抓夹并向抓爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 7.5952, + "frame": 228, + "progress": 20, + "action_description": "爪夹向爪夹右后方移动并垂直向下移动，调整爪夹角度。", + "state_description": "爪夹角度接近垂直于桌面，靠近了茶包 ，准备抓取茶包。\n为完成抓取茶包放入纸箱的任务应当：爪夹合拢抓取茶包。抓紧茶包垂直升高抓夹并向抓爪夹右前方的纸箱接近", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了茶包，方便抓取。因此进度提升为20%", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了茶包，方便抓取。", + "correction_plan": "爪夹合拢抓取茶包。抓紧茶包垂直升高抓夹并向抓爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 9.278533, + "frame": 278, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到茶包，爪夹角度与桌面接近垂直。\n为完成抓取茶包放入纸箱的任务应当：抓紧茶包垂直升高抓夹并向抓爪夹右前方的纸箱接近", + "progress_explanation": "爪夹合拢抓取到茶包。因此进度提升为40%", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到茶包。", + "correction_plan": "抓紧茶包垂直升高抓夹并向抓爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 10.782916865883424, + "frame": 323, + "progress": 60, + "action_description": "爪夹夹紧茶包，垂直升高，向爪夹左前方移动。", + "state_description": "爪夹夹紧茶包，爪夹角度接近垂直于桌面，位于纸箱正上方。 \n为完成抓取茶包放入纸箱的任务应当：水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "progress_explanation": "爪夹夹紧茶包，到了爪夹右后方的纸箱正上方，方便茶包落入纸箱，因此进度提升为60%", + "error_success_analysis": "爪夹移动到了纸箱正上方，方便茶包落入纸箱", + "correction_plan": "水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。" + }, + { + "time": 11.662133, + "frame": 350, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧茶包，爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。\n为完成抓取茶包放入纸箱的任务应当：松开爪夹，使茶包落入纸箱。", + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。方便茶包落入纸箱", + "correction_plan": "松开爪夹，使茶包落入纸箱。" + }, + { + "time": 13.237733, + "frame": 397, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取茶包放入纸箱的任务完成。", + "progress_explanation": "爪夹张开，茶包落入纸箱。任务完成。因此进度提升为100%", + "error_success_analysis": "爪夹张开，茶包落入纸箱。", + "correction_plan": "爪夹抓取茶包放入纸箱的任务完成。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767772498370", + "name": "茶包", + "color": "#4CAF50" + }, + { + "id": "bbox_1767772498559", + "name": "玩具", + "color": "#FF9800" + }, + { + "id": "bbox_1767772499138", + "name": "纸箱", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1767772514098", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767772514281", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-155608-put-tea bag-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-155608-put-tea bag-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..af4dae356ad0f1d9c18ddd0a26f260bb48137183 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-155608-put-tea bag-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取茶包放入纸箱里：\n准备开始移动：0%\n爪夹靠近茶包：20%\n爪夹抓取茶包：40%\n爪夹抓紧茶包接近纸箱：60%\n爪夹将茶包放入纸箱：80%\n爪夹松开茶包落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767775454691": { + "instances": [ + { + "height": 0.17544333482256794, + "id": "bbox_1767775454691_1767775597083_b7gbxpxts", + "width": 0.19006039596689184, + "x": 0.3128685625888376, + "y": 0.5533503911174197 + } + ], + "type": "bbox" + }, + "bbox_1767775454863": { + "instances": [ + { + "height": 0.1286584455365497, + "id": "bbox_1767775454863_1767775601898_vr8yju56u", + "width": 0.09941620712114344, + "x": 0.5029289585557295, + "y": 0.5494516503435849 + } + ], + "type": "bbox" + }, + "bbox_1767775455767": { + "instances": [ + { + "height": 0.3703803735143101, + "id": "bbox_1767775455767_1767775605004_8pnwlulyx", + "width": 0.3801207919337837, + "x": 0.40351275143458604, + "y": 0.14788135063859606 + } + ], + "type": "bbox" + }, + "point_1767775495221": { + "instances": [ + { + "id": "point_1767775495221_1767775592894_iz1o68ese", + "x": 0.2222243737430892, + "y": 0.5572491318912545 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "当前为初始状态，远离茶包，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离茶包，未开始移动。\n为完成抓取茶包放入纸箱的任务应当：爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 1.9931303879678988 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹垂直向下移动，靠近了香蕉皮。远离了茶包。", + "frame": 93, + "progress": -20, + "progress_explanation": "爪夹角度于桌面接近垂直，靠近了香蕉皮，远离茶包，因此进度降低为-20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了香蕉皮。准备抓取香蕉皮。\n为完成抓取茶包放入纸箱的任务应当：爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 3.0913865918710166 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢抓取到了香蕉皮，需要重新抓取茶包。", + "frame": 104, + "progress": -30, + "progress_explanation": "爪夹合拢抓取到香蕉皮，因此进度降低为-30%", + "state_description": "爪夹合拢抓取香蕉皮，爪夹角度与桌面接近垂直。\n为完成抓取茶包放入纸箱的任务应当：爪夹张开，爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 3.4574719931720557 + }, + { + "action_description": "爪夹垂直升高并向爪夹左方移动。", + "correction_plan": "爪夹张开，爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹夹紧香蕉皮垂直升高并向爪夹左方移动，远离了茶包，需要重新抓取。", + "frame": 142, + "progress": -40, + "progress_explanation": "爪夹夹紧香蕉皮垂直升高并向爪夹左方移动，远离了茶包，需要重新抓取。因此进度降低为-40%", + "state_description": "爪夹夹紧香蕉皮，向爪夹左方移动。\n为完成抓取茶包放入纸箱的任务应当：爪夹张开，爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 4.718432819875635 + }, + { + "action_description": "爪夹张开，香蕉皮落在桌面上，远离茶包，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "", + "frame": 177, + "progress": 0, + "progress_explanation": "爪夹张开，香蕉皮落在桌面上，远离茶包，未开始移动。因此进度为0%", + "state_description": "当前爪夹张开，香蕉皮落在桌面上，远离茶包，未开始移动。\n为完成抓取茶包放入纸箱的任务应当：爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 5.898041335178984 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹垂直向下移动，靠近了茶包，方便抓取。\n", + "frame": 216, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了茶包。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了茶包。准备抓取茶包。\n为完成抓取茶包放入纸箱的任务应当：爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸箱接近", + "time": 7.213599 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧茶包垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到茶包。", + "frame": 255, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到茶包。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到茶包，爪夹角度与桌面接近垂直。\n为完成抓取茶包放入纸箱的任务应当：抓紧茶包垂直升高爪夹并向爪夹右前方的纸箱接近", + "time": 8.509 + }, + { + "action_description": "爪夹夹紧茶包，向爪夹右前方移动", + "correction_plan": "水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹夹紧茶包，到了爪夹右前方的纸箱的正上方。方便抓取。", + "frame": 300, + "progress": 60, + "progress_explanation": "爪夹夹紧茶包，到了爪夹右前方的纸箱的正上方。因此进度提升为60%", + "state_description": "爪夹夹紧茶包，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取茶包放入纸箱的任务应当：水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "time": 10.006333060890647 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹垂直下降至合适位置。方便茶包放入纸箱", + "frame": 317, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。方便茶包放入纸箱，因此进度提升为80%", + "state_description": "爪夹夹紧蓝色方块，爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。\n为完成抓取茶包放入纸箱的任务应当：松开爪夹，使茶包落入纸箱。", + "time": 10.5664 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取茶包放入纸箱的任务完成。", + "error_success_analysis": "爪夹张开，茶包落入纸箱。", + "frame": 376, + "progress": 100, + "progress_explanation": "爪夹张开，茶包落入纸箱。任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面\n爪夹抓取茶包放入纸箱的任务完成。", + "time": 12.534899 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767775454691", + "name": "香蕉皮" + }, + { + "color": "#FF9800", + "id": "bbox_1767775454863", + "name": "茶包" + }, + { + "color": "#2196F3", + "id": "bbox_1767775455767", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#F44336", + "id": "point_1767775495221", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-155608-put-tea bag-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-155608-put-tea bag-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..1bd403433b48ee6f54ad2c9d64f34ddd6e1f37f2 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-155608-put-tea bag-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,140 @@ +{ + "task_description": "抓取茶包放入纸箱里：\n开始准备移动：0%\n爪夹靠近茶包：20%\n爪夹抓取茶包：40%\n爪夹抓紧茶包接近纸箱：60%\n爪夹将茶包放入纸箱：80%\n爪夹松开茶包落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前为初始状态，远离茶包，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离茶包，未开始移动。\n为完成抓取茶包放入纸箱的任务应当：爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 1.4997849798204421 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹垂直向下移动，靠近了芒果。远离了茶包。", + "frame": 97, + "progress": -10, + "progress_explanation": "爪夹角度于桌面接近垂直，靠近了芒果，远离茶包，因此进度降低为-10%", + "state_description": "爪夹角度接近垂直于桌面，靠近了芒果。准备抓取芒果。\n为完成抓取茶包放入纸箱的任务应当：爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 3.233966 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢抓取到了芒果，需要重新抓取茶包。", + "frame": 138, + "progress": -20, + "progress_explanation": "爪夹合拢抓取到芒果，因此进度降低为-20%", + "state_description": "爪夹合拢抓取芒果，爪夹角度与桌面接近垂直。\n为完成抓取茶包放入纸箱的任务应当：爪夹张开，爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 4.609499 + }, + { + "action_description": "爪夹垂直升高并向爪夹右前方移动。", + "correction_plan": "爪夹张开，爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹夹紧芒果垂直升高并向爪夹右前方移动，远离了茶包，需要重新抓取。", + "frame": 181, + "progress": -30, + "progress_explanation": "爪夹夹紧芒果垂直升高并向爪夹右前方移动，远离了茶包，需要重新抓取。因此进度降低为-30%", + "state_description": "爪夹夹紧芒果，向爪夹右前方移动。\n为完成抓取茶包放入纸箱的任务应当：爪夹张开，爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 6.043566 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "爪夹张开，爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹夹紧芒果，爪夹角度接近垂直于桌面，远离了茶包。", + "frame": 198, + "progress": -40, + "progress_explanation": "爪夹夹紧芒果，爪夹角度接近垂直于桌面，远离了茶包，因此进度降低未-40%", + "state_description": "爪夹夹紧芒果，爪夹角度接近垂直于桌面\n为完成抓取茶包放入纸箱的任务应当：爪夹张开，爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 6.599633 + }, + { + "action_description": "爪夹张开，芒果落入纸箱。", + "correction_plan": "爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹未移动，远离茶包。", + "frame": 243, + "progress": -50, + "progress_explanation": "爪夹张开，芒果落入纸箱，爪夹未移动，远离茶包。因此进度为-50%", + "state_description": "爪夹张开，芒果落入纸箱，爪夹未移动，远离茶包。\n为完成抓取茶包放入纸箱的任务应当：爪夹向爪夹右前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 8.108218849447917 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "抓紧茶包垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹垂直向下移动，靠近了茶包，方便抓取。", + "frame": 290, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了茶包。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了茶包。准备抓取茶包。\n为完成抓取茶包放入纸箱的任务应当：爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸箱接近", + "time": 9.654873584892645 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧茶包垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到茶包。", + "frame": 319, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到茶包。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到茶包，爪夹角度与桌面接近垂直。\n为完成抓取茶包放入纸箱的任务应当：抓紧茶包垂直升高爪夹并向爪夹右前方的纸箱接近", + "time": 10.639108416539292 + }, + { + "action_description": "爪夹夹紧茶包，向爪夹右前方移动", + "correction_plan": "爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹夹紧茶包，到了爪夹右前方的纸箱的正上方。方便抓取。", + "frame": 356, + "progress": 60, + "progress_explanation": "爪夹夹紧茶包，到了爪夹右前方的纸箱的正上方。因此进度提升为60%", + "state_description": "爪夹夹紧茶包，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取茶包放入纸箱的任务应当：水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "time": 11.852999 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹垂直下降至合适位置。方便茶包放入纸箱", + "frame": 382, + "progress": 80, + "progress_explanation": "爪夹夹紧蓝色方块，爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。\n为完成抓取茶包放入纸箱的任务应当：松开爪夹，使茶包落入纸箱。", + "state_description": "爪夹夹紧蓝色方块，爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。\n为完成抓取茶包放入纸箱的任务应当：松开爪夹，使茶包落入纸箱。", + "time": 12.748183055782103 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取茶包放入纸箱的任务完成。", + "error_success_analysis": "爪夹张开，茶包落入纸箱。任务完成", + "frame": 422, + "progress": 100, + "progress_explanation": "爪夹张开，茶包落入纸箱。任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面\n爪夹抓取茶包放入纸箱的任务完成。", + "time": 14.060496164644297 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767836109220", + "name": "芒果" + }, + { + "color": "#FF9800", + "id": "bbox_1767836110022", + "name": "茶包" + }, + { + "color": "#2196F3", + "id": "bbox_1767836110425", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767836125539", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-160605-put-tea bag-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-160605-put-tea bag-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..7c9b3c9dd4dbc483cff2164c4ae951fae3a16e7f --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-160605-put-tea bag-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,110 @@ +{ + "task_description": "抓取茶包放入纸盒里：\n准备开始移动：0%\n爪夹靠近茶包：20%\n爪夹抓取茶包：40%\n爪夹抓紧茶包靠近纸盒：60%\n爪夹将茶包放入纸盒：80%\n爪夹松开茶包落入纸盒：100%\n", + "progress_points": [ + { + "action_description": "抓夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸盒接近，水平到达纸盒正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "", + "frame": 115, + "progress": 0, + "progress_explanation": "当前为初始状态，远离茶包，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离茶包，未开始移动。\n为完成抓取茶包放入纸盒的任务应当：爪夹向爪夹右方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 3.8434150648359506 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸盒接近，水平到达纸盒正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "爪夹向爪夹正前方移动，方便抓取。", + "frame": 138, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，方便抓取。因此进度提升为10%", + "state_description": "爪夹张开，还未接近茶包。\n为完成抓取茶包放入纸盒的任务应当：爪夹向爪夹右方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 4.6 + }, + { + "action_description": "爪夹向爪夹右方的茶包移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸盒接近，水平到达纸盒正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了茶包，方便抓取。", + "frame": 165, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，。靠近了茶包，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了茶包，准备抓取茶包。\n为完成抓取茶包放入纸盒的任务应当：爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸盒接近。", + "time": 5.484874103915414 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧茶包垂直升高爪夹并向爪夹右前方的纸盒接近，水平到达纸盒正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到茶包。", + "frame": 211, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到茶包。因此进度提升为40%", + "state_description": "爪夹合拢抓取到茶包，爪夹角度与桌面接近垂直。\n为完成抓取茶包放入纸盒的任务应当：抓紧茶包垂直升高爪夹并向爪夹右前方的纸盒接近。", + "time": 7.049999 + }, + { + "action_description": "爪夹夹紧茶包，垂直升高，向爪夹右前方移动。", + "correction_plan": "继续向爪夹右前方的纸盒接近，水平到达纸盒的正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "爪夹合拢继续夹紧茶包，水平上接近了纸盒，更加方便接近纸盒。", + "frame": 239, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧茶包，垂直升高并向爪夹右前方的纸盒接近，缩短了与纸盒的距离，因此进度提升为50%", + "state_description": "爪夹合拢夹紧茶包，水平上接近了纸盒\n为完成抓取茶包放入纸盒的任务应当：继续向爪夹右前方的纸盒接近，水平到达纸盒的正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "time": 7.952461922087559 + }, + { + "action_description": "爪夹夹紧茶包，向爪夹右前方移动。", + "correction_plan": "爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "爪夹移动到了纸盒的正上方，方便茶包落入纸盒。", + "frame": 261, + "progress": 60, + "progress_explanation": "爪夹夹紧茶包，到了爪夹右前方的纸盒正上方，方便茶包落入纸盒。因此进度提升为60%", + "state_description": "爪夹夹紧茶包，爪夹i骄傲都接近垂直于桌面，位于纸盒正上方。\n为完成抓取茶包放入纸盒的任务应当：爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "time": 8.687721009436316 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。方便茶包落入纸盒。", + "frame": 285, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。方便茶包落入纸盒。因此进度提升为80%", + "state_description": "爪夹夹紧茶包，爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。\n为完成抓取茶包放入纸盒的任务应当：松开爪夹，使茶包落入纸盒。", + "time": 9.5125 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取茶包放入纸盒的任务目标完成。", + "error_success_analysis": "爪夹张开，茶包落入纸盒，任务完成。", + "frame": 355, + "progress": 100, + "progress_explanation": "爪夹张开，茶包落入纸盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取茶包放入纸盒的任务目标完成。", + "time": 11.825 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767839297982", + "name": "茶包" + }, + { + "color": "#FF9800", + "id": "bbox_1767839298155", + "name": "纸盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767839307770", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767839307951", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-160605-put-tea bag-yellow-cardboard box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-160605-put-tea bag-yellow-cardboard box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c7a10ccc37676e3b05b347d111abae16c56da691 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-160605-put-tea bag-yellow-cardboard box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,110 @@ +{ + "task_description": "抓取茶包放入纸盒里：\n准备开始移动：0%\n爪夹靠近茶包：20%\n爪夹抓取茶包：40%\n爪夹抓紧茶包接近纸盒：60%\n爪夹将茶包放入纸盒：80%\n爪夹松开茶包落入纸盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸盒接近，水平到达纸盒正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "", + "frame": 110, + "progress": 0, + "progress_explanation": "当前为初始状态，远离茶包，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离茶包，未开始移动。\n为完成抓取茶包放入纸盒的任务应当：爪夹向爪夹右方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 3.6832727195599055 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸盒接近，水平到达纸盒正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "爪夹向爪夹正前方移动，方便抓取。", + "frame": 134, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，方便抓取。因此进度提升为 10%", + "state_description": "爪夹张开，还未接近茶包。\n为完成抓取茶包放入纸箱的任务应当：爪夹向爪夹前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 4.4625 + }, + { + "action_description": "爪夹向爪夹右方的茶包移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸盒接近，水平到达纸盒正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了茶包，方便抓取。", + "frame": 168, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，。靠近了茶包，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了茶包，准备抓取茶包。\n为完成抓取茶包放入纸盒的任务应当：爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸盒接近。", + "time": 5.604980862872448 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧茶包垂直升高爪夹并向爪夹右前方的纸盒接近，水平到达纸盒正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到茶包。", + "frame": 204, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到茶包。因此进度提升为40%", + "state_description": "爪夹合拢抓取到茶包，爪夹角度与桌面接近垂直。\n为完成抓取茶包放入纸盒的任务应当：抓紧茶包垂直升高爪夹并向爪夹右前方的纸盒接近。", + "time": 6.8125 + }, + { + "action_description": "爪夹夹紧茶包，垂直升高，向爪夹右前方移动。", + "correction_plan": "继续向爪夹右前方的纸盒接近，水平到达纸盒的正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "爪夹合拢继续夹紧茶包，水平上接近了纸盒，更加方便接近纸盒。", + "frame": 232, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧茶包，垂直升高并向爪夹右前方的纸盒接近，缩短了与纸盒的距离，因此进度提升为50%", + "state_description": "爪夹合拢夹紧茶包，水平上接近了纸盒\n为完成抓取茶包放入纸盒的任务应当：继续向爪夹右前方的纸盒接近，水平到达纸盒的正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "time": 7.726866937780047 + }, + { + "action_description": "爪夹夹紧茶包，向爪夹右前方移动。", + "correction_plan": "爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "爪夹移动到了纸盒的正上方，方便茶包落入纸盒。", + "frame": 260, + "progress": 60, + "progress_explanation": "爪夹夹紧茶包，到了爪夹右前方的纸盒正上方，方便茶包落入纸盒。因此进度提升为60%", + "state_description": "爪夹夹紧茶包，爪夹i骄傲都接近垂直于桌面，位于纸盒正上方。\n为完成抓取茶包放入纸盒的任务应当：爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "time": 8.6625 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。方便茶包落入纸盒。", + "frame": 277, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。方便茶包落入纸盒。因此进度提升为80%", + "state_description": "爪夹夹紧茶包，爪夹i骄傲都接近垂直于桌面，位于纸盒正上方。\n为完成抓取茶包放入纸盒的任务应当：爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "time": 9.248219217902475 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取茶包放入纸盒的任务目标完成。", + "error_success_analysis": "爪夹张开，茶包落入纸盒，任务完成。", + "frame": 313, + "progress": 100, + "progress_explanation": "爪夹张开，茶包落入纸盒，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取茶包放入纸盒的任务目标完成。", + "time": 10.449286807472815 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767841382334", + "name": "茶包" + }, + { + "color": "#FF9800", + "id": "bbox_1767841382513", + "name": "纸盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767841391506", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767841391678", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-163223-power cord-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-163223-power cord-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..6161160a834cff296695dde53a446b8d6af92a15 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-163223-power cord-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,105 @@ +{ + "task_description": "抓取茶包放入纸箱里：\n准备开始移动：0%\n爪夹靠近茶包：20%\n爪夹抓取茶包：40%\n爪夹抓紧茶包接近纸箱：60%\n爪夹将茶包放入纸箱：80%\n爪夹松开茶包落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "当前为初始状态，远离茶包，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离茶包，未开始移动。\n为完成抓取茶包放入纸箱的任务应当：爪夹向爪夹前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 1.988666 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。接着落下爪夹靠近茶包，接近茶包后爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹向爪夹正前方移动，方便抓取。", + "frame": 81, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，方便抓取。因此进度提升为 10%", + "state_description": "爪夹张开，还未接近茶包。\n为完成抓取茶包放入纸箱的任务应当：爪夹向爪夹前方的茶包移动，同时调整爪夹的角度使其垂直于桌面，并移动到茶包的正上方。", + "time": 2.7004 + }, + { + "action_description": "爪夹向爪夹前方的茶包移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹垂直向下移动，靠近了茶包，方便抓取。", + "frame": 113, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，。靠近了茶包，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度接近垂直于桌面，靠近了茶包，准备抓取茶包。\n为完成抓取茶包放入纸箱的任务应当：爪夹合拢抓取茶包。抓紧茶包垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 3.754589762306788 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧茶包垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到茶包。", + "frame": 150, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到茶包。因此进度提升为40%", + "state_description": "爪夹合拢抓取到茶包，爪夹角度与桌面接近垂直。\n为完成抓取茶包放入纸箱的任务应当：抓紧茶包垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 4.9926 + }, + { + "action_description": "爪夹夹紧茶包，垂直升高，向爪夹右前方移动。", + "correction_plan": "继续向爪夹右前方的纸盒接近，水平到达纸盒的正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "error_success_analysis": "爪夹合拢继续夹紧茶包，水平上接近了纸盒，更加方便接近纸盒。", + "frame": 186, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧茶包，垂直升高并向爪夹右前方的纸盒接近，缩短了与纸盒的距离，因此进度提升为50%", + "state_description": "爪夹合拢夹紧茶包，水平上接近了纸盒\n为完成抓取茶包放入纸盒的任务应当：继续向爪夹右前方的纸盒接近，水平到达纸盒的正上方后，爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸盒。", + "time": 6.1858 + }, + { + "action_description": "爪夹夹紧茶包，向爪夹右前方移动。", + "correction_plan": "爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹移动到了纸盒的正上方，方便茶包落入纸箱。", + "frame": 212, + "progress": 60, + "progress_explanation": "爪夹夹紧茶包，到了爪夹右前方的纸箱正上方，方便茶包落入纸箱。因此进度提升为60%", + "state_description": "爪夹夹紧茶包，爪夹i骄傲都接近垂直于桌面，位于纸盒正上方。\n为完成抓取茶包放入纸箱的任务应当：爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "time": 7.054533 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使茶包落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。方便茶包落入纸箱。", + "frame": 239, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。方便茶包落入纸箱。因此进度提升为80%", + "state_description": "爪夹夹紧茶包，爪夹i骄傲都接近垂直于桌面，位于纸箱正上方。\n为完成抓取茶包放入纸箱的任务应当：爪夹垂直下降至合适位置，松开爪夹，使茶包落入纸箱。", + "time": 7.965133 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取茶包放入纸箱的任务目标完成。", + "error_success_analysis": "爪夹张开，茶包落入纸箱，任务完成。", + "frame": 277, + "progress": 100, + "progress_explanation": "爪夹张开，茶包落入纸箱，任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取茶包放入纸箱的任务目标完成。", + "time": 9.218860280273832 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767842255350", + "name": "茶包" + }, + { + "color": "#FF9800", + "id": "bbox_1767842255542", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767842264778", + "name": "爪夹左" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-163223-power cord-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-163223-power cord-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..7abc246c3e4db3e2c7e96fdda488510bad75739e --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-163223-power cord-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,135 @@ +{ + "task_description": "抓取充电线放入纸箱里：\n准备开始移动：0%\n爪夹靠近充电线：20%\n爪夹抓取充电线：40%\n爪夹抓紧充电线接近纸箱：60%\n爪夹将充电线放入纸箱：80%\n爪夹松开充电线落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "当前为初始状态，远离充电线，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离充电线，未开始移动。\n为完成抓取充电线放入纸箱的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 1.7072 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹垂直向下移动，靠近了充电线，方便抓取。", + "frame": 117, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了充电线，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度垂直于桌面，靠近了充电线，准备抓取充电线。\n为完成抓取充电线放入纸箱的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的纸箱接近。", + "time": 3.914517591710913 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧充电线垂直升高爪夹并向爪夹右后方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到充电线。", + "frame": 205, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到充电线，因此进度提升为40%", + "state_description": "爪夹合拢抓取到充电线，爪夹角度与桌面接近垂直。\n为完成抓取充电线放入纸箱的任务应当：抓紧充电线垂直升高爪夹并向爪夹右后方的纸箱接近。", + "time": 6.848199 + }, + { + "action_description": "爪夹夹紧充电线，垂直升高，向爪夹左前方移动", + "correction_plan": "继续向爪夹右后方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹垂直升高并向爪夹左前方的白色垃圾桶接近，远离了纸箱。", + "frame": 262, + "progress": -30, + "progress_explanation": "爪夹合拢夹紧充电线，垂直升高并向爪夹左前方的白色垃圾桶接近，远离了纸箱，因此进度降低为-30%", + "state_description": "爪夹合拢夹紧充电线，水平上接近了纸箱。\n为完成抓取充电线放入纸箱的任务应当：继续向爪夹右后方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "time": 8.7494 + }, + { + "action_description": "爪夹夹紧充电线，向爪夹左前方移动", + "correction_plan": "抓紧充电线垂直升高爪夹并向爪夹右后方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹移动到了白色垃圾桶的正上方，远离了纸箱。", + "frame": 328, + "progress": -35, + "progress_explanation": "爪夹夹紧充电线，到了白色垃圾桶的正上方，远离了纸箱。因此进度降低为-30%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，位于白色垃圾桶正上方。\n为完成抓取充电线放入纸箱的任务应当：抓紧充电线垂直升高爪夹并向爪夹右后方的纸箱接近。", + "time": 10.935798577993836 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "抓紧充电线垂直升高爪夹并向爪夹右后方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹垂直向下移动。接近了白色垃圾桶。远离了纸箱。", + "frame": 377, + "progress": -40, + "progress_explanation": "爪夹角度垂直于桌面。爪夹垂直向下移动。接近白色垃圾桶。远离了纸箱。因此进度降低为-40%", + "state_description": "爪夹夹紧充电线，爪夹角度垂直于桌面。爪夹垂直向下移动。接近了白色垃圾桶。\n为完成抓取充电线放入纸箱的任务应当：抓紧充电线垂直升高爪夹并向爪夹右后方的纸箱接近。", + "time": 12.55131455713858 + }, + { + "action_description": "爪夹夹紧充电线，垂直升高，向爪夹右前方移动。", + "correction_plan": "爪夹继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧充电线，水平上接近了纸箱，更加方便接近纸箱。", + "frame": 432, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧充电线，垂直升高并向爪夹右后方的纸箱接近，缩短了与纸箱的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧充电线，水平上接近了纸箱。\n为完成抓取充电线放入纸箱的任务应当：爪夹继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "time": 14.415371456151746 + }, + { + "action_description": "爪夹夹紧充电线，向爪夹右后方移动。", + "correction_plan": "爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方，方便充电线落入纸箱。", + "frame": 472, + "progress": 60, + "progress_explanation": "爪夹夹紧充电线，到了爪夹右后方的纸箱正上方，方便充电线落入纸箱，因此进度提升为60%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取充电线放入纸箱的任务应当：爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "time": 15.742220689142242 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便充电线落入纸箱。", + "frame": 513, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，爪夹垂直下降。\n为完成抓取充电线放入纸箱的任务应当：松开爪夹，充电线落入纸箱。", + "time": 17.091399 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取充电线放入纸箱的任务完成。", + "error_success_analysis": "爪夹张开，充电线落入纸箱。任务完成。", + "frame": 581, + "progress": 100, + "progress_explanation": "爪夹张开，充电线落入纸箱。任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取充电线放入纸箱的任务完成。", + "time": 19.3806 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767858697183", + "name": "充电线" + }, + { + "color": "#FF9800", + "id": "bbox_1767858697386", + "name": "白色垃圾桶" + }, + { + "color": "#2196F3", + "id": "bbox_1767858698066", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767858761111", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767858761302", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-163223-power cord-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-163223-power cord-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..a7a89e94f68c05bfd4a8d07edad9f06d25bce012 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-163223-power cord-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,105 @@ +{ + "task_description": "抓取充电线放入纸箱里：\n准备开始移动：0%\n爪夹靠近充电线：20%\n爪夹抓取充电线：40%\n爪夹抓紧充电线接近纸箱：60%\n爪夹将充电线放入纸箱：80%\n爪夹松开充电线落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "当前为初始状态，远离充电线，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离充电线，未开始移动。\n为完成抓取充电线放入纸箱的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 1.551199 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹向爪夹正前方移动，方便抓取。", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，方便抓取。因此进度提升为 10%", + "state_description": "爪夹张开，还未接近充电线。\n为完成抓取充电线放入纸箱的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 2.3066893555872614 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹垂直向下移动，靠近了充电线，方便抓取。", + "frame": 98, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了充电线，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度垂直于桌面，靠近了充电线，准备抓取充电线。\n为完成抓取充电线放入纸箱的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 3.282596772468165 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧充电线垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到充电线。", + "frame": 129, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到充电线，因此进度提升为40%", + "state_description": "爪夹合拢抓取到充电线，爪夹角度与桌面接近垂直。\n为完成抓取充电线放入纸箱的任务应当：抓紧充电线垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 4.302733 + }, + { + "action_description": "爪夹夹紧充电线，垂直升高，向爪夹右前方移动。", + "correction_plan": "爪夹继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹合拢继续夹紧充电线，水平上接近了纸箱，更加方便接近纸箱。", + "frame": 151, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧充电线，垂直升高并向爪夹右后方的纸箱接近，缩短了与纸箱的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧充电线，水平上接近了纸箱。\n为完成抓取充电线放入纸箱的任务应当：爪夹继续向爪夹右前方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "time": 5.027400942043113 + }, + { + "action_description": "爪夹夹紧充电线，向爪夹右前方移动。", + "correction_plan": "爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方，方便充电线落入纸箱。", + "frame": 177, + "progress": 60, + "progress_explanation": "爪夹夹紧充电线，到了爪夹右前方的纸箱正上方，方便充电线落入纸箱，因此进度提升为60%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取充电线放入纸箱的任务应当：爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "time": 5.909333 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便充电线落入纸箱。", + "frame": 212, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，爪夹垂直下降。\n为完成抓取充电线放入纸箱的任务应当：松开爪夹，充电线落入纸箱。", + "time": 7.054266 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取充电线放入纸箱的任务完成。", + "error_success_analysis": "爪夹张开，充电线落入纸箱。任务完成。", + "frame": 255, + "progress": 100, + "progress_explanation": "爪夹张开，充电线落入纸箱。任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取充电线放入纸箱的任务完成。", + "time": 8.487436329166314 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767858972935", + "name": "充电线" + }, + { + "color": "#FF9800", + "id": "bbox_1767858973125", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767858971778", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-163903-power cord-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-163903-power cord-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..a6a8de6565d6f9cc6a4e52f0803ce9c976f7aeb9 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-163903-power cord-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,145 @@ +{ + "task_description": "抓取充电线放入纸箱里：\n准备开始移动：0%\n爪夹靠近充电线：20%\n爪夹抓取充电线：40%\n爪夹抓紧充电线接近纸箱：60%\n爪夹将充电线放入纸箱：80%\n爪夹松开充电线落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "", + "frame": 61, + "progress": 0, + "progress_explanation": "当前为初始状态，远离充电线，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离充电线，未开始移动。\n为完成抓取充电线放入纸箱的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 2.0276 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹张开，爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使充电线落入纸箱。", + "error_success_analysis": "爪夹垂直向下移动，靠近了芒果。远离了充电线。", + "frame": 132, + "progress": -10, + "progress_explanation": "爪夹角度于桌面接近垂直，靠近了芒果，远离充电线，因此进度降低为-10%", + "state_description": "爪夹角度接近垂直于桌面，靠近了芒果。准备抓取芒果。\n为完成抓取充电线放入纸箱的任务应当：爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 4.402266 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使充电线落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢抓取到了芒果，需要重新抓取充电线。", + "frame": 178, + "progress": -20, + "progress_explanation": "爪夹合拢抓取到芒果，因此进度降低为-20%", + "state_description": "爪夹合拢抓取芒果，爪夹角度与桌面接近垂直。\n为完成抓取充电线放入纸箱的任务应当：爪夹张开，爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 5.9184 + }, + { + "action_description": "爪夹垂直升高并向爪夹右前方移动。", + "correction_plan": "爪夹张开，爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使充电线落入纸箱。", + "error_success_analysis": "爪夹夹紧芒果垂直升高并向爪夹右前方移动，远离了充电线，需要重新抓取。", + "frame": 223, + "progress": -30, + "progress_explanation": "爪夹夹紧芒果垂直升高并向爪夹右前方移动，远离了充电线，需要重新抓取。因此进度降低为-30%", + "state_description": "爪夹夹紧芒果，向爪夹右前方移动。\n为完成抓取充电线放入纸箱的任务应当：爪夹张开，爪夹向爪夹右前方充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 7.434533 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "爪夹张开，爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使充电线落入纸箱。", + "error_success_analysis": "爪夹夹紧芒果，爪夹角度接近垂直于桌面，远离了充电线。", + "frame": 252, + "progress": -40, + "progress_explanation": "爪夹夹紧芒果，爪夹角度接近垂直于桌面，远离了充电线，因此进度降低未-40%", + "state_description": "爪夹夹紧芒果，爪夹角度接近垂直于桌面\n为完成抓取充电线放入纸箱的任务应当：爪夹张开，爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 8.384399 + }, + { + "action_description": "爪夹张开，芒果落入纸箱。", + "correction_plan": "爪夹张开，爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使充电线落入纸箱。", + "error_success_analysis": "爪夹未移动，远离充电线。", + "frame": 302, + "progress": -50, + "progress_explanation": "爪夹张开，芒果落入纸箱，爪夹未移动，远离充电线。因此进度为-50%", + "state_description": "爪夹张开，芒果落入纸箱，爪夹未移动，远离充电线。\n为完成抓取充电线放入纸箱的任务应当：爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 10.077005530000005 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使充电线落入纸箱。", + "error_success_analysis": "爪夹垂直向下移动，靠近了充电线，方便抓取。", + "frame": 346, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了充电线，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度垂直于桌面，靠近了充电线，准备抓取充电线。\n为完成抓取充电线放入纸箱的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 11.52554977595955 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧充电线垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使充电线落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到充电线。", + "frame": 401, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到充电线，因此进度提升为40%", + "state_description": "爪夹合拢抓取到充电线，爪夹角度与桌面接近垂直。\n为完成抓取充电线放入纸箱的任务应当：抓紧充电线垂直升高爪夹并向爪夹右前方的纸箱接近。", + "time": 13.352933 + }, + { + "action_description": "爪夹夹紧充电线，向爪夹右前方移动。", + "correction_plan": "爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹移动到了纸箱正上方，方便充电线落入纸箱。", + "frame": 450, + "progress": 60, + "progress_explanation": "爪夹夹紧充电线，到了爪夹右前方的纸箱正上方，方便充电线落入纸箱，因此进度提升为60%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，位于纸箱正上方。\n为完成抓取充电线放入纸箱的任务应当：爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "time": 15.0152 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，充电线落入纸箱。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便充电线落入纸箱。", + "frame": 476, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，爪夹垂直下降。\n为完成抓取充电线放入纸箱的任务应当：松开爪夹，充电线落入纸箱。", + "time": 15.873733 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取充电线放入纸箱的任务完成。", + "error_success_analysis": "爪夹张开，充电线落入纸箱。任务完成。", + "frame": 523, + "progress": 100, + "progress_explanation": "爪夹张开，充电线落入纸箱。任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取充电线放入纸箱的任务完成。", + "time": 17.434588901347762 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767859495398", + "name": "芒果" + }, + { + "color": "#FF9800", + "id": "bbox_1767859495580", + "name": "充电线" + }, + { + "color": "#2196F3", + "id": "bbox_1767859496741", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767859509624", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767859509816", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-164830-power cord-yellow-cardboard box-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-164830-power cord-yellow-cardboard box-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..8d025a99bb5bd8e81319f7f1d028f8a33d8a9a5e --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-164830-power cord-yellow-cardboard box-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,110 @@ +{ + "task_description": "抓取充电线放入纸箱里：\n准备开始移动：0%\n爪夹靠近充电线：20%\n爪夹抓取充电线：40%\n爪夹抓紧充电线接近纸箱：60%\n爪夹将充电线放入纸箱：80%\n爪夹松开充电线落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的纸箱接近，水平到达纸箱的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入纸箱。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "当前为初始状态，远离充电线，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离充电线，未开始移动。\n为完成抓取充电线放入纸箱的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 1.5800698918537746 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹张开，爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使充电线落入纸箱。", + "error_success_analysis": "爪夹角度于桌面接近垂直，靠近了芒果，远离充电线", + "frame": 102, + "progress": -10, + "progress_explanation": "爪夹角度于桌面接近垂直，靠近了白色垃圾桶，远离充电线，因此进度降低为-10%", + "state_description": "爪夹角度接近垂直于桌面，靠近了白色垃圾桶。准备抓取白色垃圾桶。\n为完成抓取充电线放入纸箱的任务应当：爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 3.397151653808981 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使充电线落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢抓取到了白色垃圾桶，需要重新抓取充电线。", + "frame": 164, + "progress": -20, + "progress_explanation": "爪夹合拢抓取到白色垃圾桶，因此进度降低为-20%", + "state_description": "爪夹合拢抓取白色垃圾桶，爪夹角度与桌面接近垂直。\n为完成抓取充电线放入纸箱的任务应当：爪夹张开，爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 5.463666 + }, + { + "action_description": "爪夹垂直升高并向爪夹右前方移动。", + "correction_plan": "爪夹张开，爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使充电线落入纸箱。", + "error_success_analysis": "爪夹夹紧白色垃圾桶垂直升高并向爪夹右前方移动，远离了充电线，需要重新抓取。", + "frame": 202, + "progress": -40, + "progress_explanation": "爪夹夹紧白色垃圾桶垂直升高并向爪夹右前方移动，远离了充电线，需要重新抓取。因此进度降低为-30%", + "state_description": "爪夹夹紧白色垃圾桶，向爪夹右前方移动。\n为完成抓取充电线放入纸箱的任务应当：爪夹张开，爪夹向爪夹右前方充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 6.721666 + }, + { + "action_description": "爪夹张开，白色垃圾桶落入纸箱。", + "correction_plan": "爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使充电线落入纸箱。", + "error_success_analysis": "爪夹未移动，远离充电线。", + "frame": 238, + "progress": -50, + "progress_explanation": "爪夹张开，白色垃圾桶落入纸箱，爪夹未移动，远离充电线。因此进度为-50%", + "state_description": "爪夹张开，白色垃圾桶落入纸箱，爪夹未移动，远离充电线。\n为完成抓取充电线放入纸箱的任务应当：爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 7.939856058696998 + }, + { + "action_description": "爪夹向爪夹前方移动，调整爪夹角度接近垂直于桌面，垂直向下移动。", + "correction_plan": "爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使充电线落入纸箱。", + "error_success_analysis": "爪夹向爪夹前方移动并垂直向下移动。靠近了纸箱，远离了充电线。", + "frame": 290, + "progress": -10, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向爪夹前方移动并垂直向下移动。靠近了纸箱，远离了充电线。因此进度降低为-10%", + "state_description": "爪夹角度接近垂直于桌面，爪夹向爪夹前方移动并垂直向下移动。靠近了纸箱。\n为完成抓取充电线放入纸箱的任务应当：爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 9.656999 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使充电线落入纸箱。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢抓取到纸箱。远离了充电线。", + "frame": 318, + "progress": -20, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到纸箱。远离了充电线，因此进度降低为-20%", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取纸箱。\n为完成抓取充电线放入纸箱的任务应当：爪夹张开，爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 10.594333 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的下接近，水平到达纸箱正上方后，爪夹垂直下降至合适位置，松开爪夹，使充电线落入纸箱。", + "error_success_analysis": "当前爪夹张开，纸箱落在桌面上，爪夹未移动，远离充电线。", + "frame": 367, + "progress": 0, + "progress_explanation": "当前爪夹张开，纸箱落在桌面上，爪夹未移动，远离充电线，因此进度为0%", + "state_description": "爪夹张开，纸箱落在桌面上，爪夹未移动。\n为完成抓取充电线放入纸箱的任务应当：爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 12.222333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767923084852", + "name": "充电线" + }, + { + "color": "#FF9800", + "id": "bbox_1767923085054", + "name": "白色垃圾桶" + }, + { + "color": "#2196F3", + "id": "bbox_1767923087479", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767923101918", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-171611-put-power cord-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-171611-put-power cord-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..fb797649baa115f487112a1b2c43a3abeb21df70 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-171611-put-power cord-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,99 @@ +{ + "task_description": "抓取充电线放入白色垃圾桶里：\n准备开始移动：0%\n爪夹靠近充电线：20%\n爪夹抓取充电线：40%\n爪夹抓紧充电线接近白色垃圾桶：60%\n爪夹将充电线放入白色垃圾桶：80%\n爪夹松开充电线落入白色垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹左前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "当前为初始状态，远离充电线，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离充电线，未开始移动。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 1.6387889463727425 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹左前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹向爪夹正前方移动，方便抓取。", + "frame": 64, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，方便抓取。因此进度提升为 10%", + "state_description": "爪夹张开，还未接近充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 2.138766 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹左前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直向下移动，靠近了充电线，方便抓取。", + "frame": 104, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了充电线，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度垂直于桌面，靠近了充电线，准备抓取充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹左前方的白色垃圾桶接近。", + "time": 3.4742336865767793 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧充电线垂直升高爪夹并向爪夹左前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到充电线。", + "frame": 147, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到充电线，因此进度提升为40%", + "state_description": "爪夹合拢抓取到充电线，爪夹角度与桌面接近垂直。\n为完成抓取充电线放入白色垃圾桶的任务应当：抓紧充电线垂直升高爪夹并向爪夹左前方的白色垃圾桶接近。", + "time": 4.916368839594237 + }, + { + "action_description": "爪夹夹紧充电线，垂直升高，向爪夹左前方移动。", + "correction_plan": "继续向爪夹左前方的白色垃圾桶接技能，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹合拢继续夹紧充电线，水平上接近了白色垃圾桶，更加方便接近白色垃圾桶。", + "frame": 183, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧充电线，垂直升高并向爪夹左前方的白色垃圾桶接近，缩短了与白色垃圾桶的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧充电线，水平上接近了白色垃圾桶。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹继续向爪夹左前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "time": 6.096297601153975 + }, + { + "action_description": "爪夹夹紧充电线，向爪夹左前方移动。", + "correction_plan": "爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹移动到了白色垃圾桶正上方，方便充电线落入白色垃圾桶。", + "frame": 221, + "progress": 60, + "progress_explanation": "爪夹夹紧充电线，到了爪夹左前方的白色垃圾桶正上方，方便充电线落入白色垃圾桶，因此进度提升为60%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，位于白色垃圾桶正上方。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "time": 7.357766 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便充电线落入白色垃圾桶。", + "frame": 246, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，爪夹垂直下降。\n为完成抓取充电线放入白色垃圾桶的任务应当：松开爪夹，充电线落入白色垃圾桶。", + "time": 8.207133 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取充电线放入白色垃圾桶的任务完成。", + "error_success_analysis": "爪夹张开，充电线落入白色垃圾桶。任务完成。", + "frame": 271, + "progress": 100, + "progress_explanation": "爪夹张开，充电线落入白色垃圾桶。任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取充电线放入白色垃圾桶的任务完成。", + "time": 9.046119505053321 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767924908315", + "name": "充电线" + }, + { + "color": "#FF9800", + "id": "bbox_1767924908495", + "name": "白色垃圾桶" + } + ], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-172251-put-power cord-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-172251-put-power cord-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..a8f7e18a21f80b498cd47d9437332236181f6437 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-172251-put-power cord-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,139 @@ +{ + "task_description": "抓取充电线放入白色垃圾桶里：\n准备开始移动：0%\n爪夹靠近充电线：20%\n爪夹抓取充电线：40%\n爪夹抓紧充电线接近白色垃圾桶：60%\n爪夹将充电线放入白色垃圾桶：80%\n爪夹松开充电线落入白色垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "当前为初始状态，远离充电线，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离充电线，未开始移动。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 1.6226 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹向爪夹正前方移动，水平上还未接近充电线。", + "frame": 78, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，方便抓取。因此进度提升为 10%。", + "state_description": "爪夹张开，还未接近充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 2.598468394465472 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直向下移动，靠近了充电线，方便抓取。", + "frame": 112, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了充电线，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度垂直于桌面，靠近了充电线，准备抓取充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹左前方的白色垃圾桶接近。", + "time": 3.748610718238028 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹合拢未抓取到充电线，需要多一次抓取。", + "frame": 133, + "progress": 30, + "progress_explanation": "爪夹合拢未抓取到充电线，需要多一次抓取，因此进度提升为30%", + "state_description": "爪夹合拢未抓取到充电线，爪夹角度与桌面接近垂直。\n为完成抓取充电线放入白色垃圾桶的任务应当：重新调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 4.4422 + }, + { + "action_description": "爪夹垂直升高，调整爪夹的角度。", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直升高，爪夹张开，调整爪夹角度。未接近充电线", + "frame": 163, + "progress": 10, + "progress_explanation": "爪夹垂直升高，爪夹张开，调整爪夹角度。未接近充电线，因此进度降低为10%", + "state_description": "爪夹垂直升高，爪夹张开，调整爪夹角度。\n为完成抓取充电线放入白色垃圾桶的任务应当：重新调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 5.4397 + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹角度与桌面接近垂直，水平上接近了充电线，更加方便抓取", + "frame": 185, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了充电线，更加方便抓取，因此进度提升为15%", + "state_description": "爪夹张开，水平上接近了充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：重新调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 6.1766889573134245 + }, + { + "action_description": "爪夹垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直向下移动，靠近了充电线，方便抓取。", + "frame": 217, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了充电线，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度垂直于桌面，靠近了充电线，准备抓取充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近。", + "time": 7.241635553399125 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧充电线垂直升高爪夹并向爪夹左前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到充电线。", + "frame": 248, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到充电线，因此进度提升为40%", + "state_description": "爪夹合拢抓取到充电线，爪夹角度与桌面接近垂直。\n为完成抓取充电线放入白色垃圾桶的任务应当：抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近。", + "time": 8.255749394949724 + }, + { + "action_description": "爪夹夹紧充电线，垂直升高，向爪夹左前方移动。", + "correction_plan": "继续向爪夹左前方的白色垃圾桶接技，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹合拢继续夹紧充电线，水平上接近了白色垃圾桶，更加方便接近白色垃圾桶。", + "frame": 278, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧充电线，垂直升高并向爪夹右前方的白色垃圾桶接近，缩短了与白色垃圾桶的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧充电线，水平上接近了白色垃圾桶。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹继续向爪夹左前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "time": 9.2701 + }, + { + "action_description": "爪夹夹紧充电线，向爪夹左前方移动。", + "correction_plan": "爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹移动到了白色垃圾桶正上方，方便充电线落入白色垃圾桶。", + "frame": 296, + "progress": 60, + "progress_explanation": "爪夹夹紧充电线，到了爪夹左前方的白色垃圾桶正上方，方便充电线落入白色垃圾桶，因此进度提升为60%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，位于白色垃圾桶正上方。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "time": 9.8686 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便充电线落入白色垃圾桶。", + "frame": 314, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，爪夹垂直下降。\n为完成抓取充电线放入白色垃圾桶的任务应当：松开爪夹，充电线落入白色垃圾桶。", + "time": 10.479073205499654 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取充电线放入白色垃圾桶的任务完成。", + "error_success_analysis": "爪夹张开，充电线落入白色垃圾桶。任务完成。", + "frame": 381, + "progress": 100, + "progress_explanation": "爪夹张开，充电线落入白色垃圾桶。任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取充电线放入白色垃圾桶的任务完成。", + "time": 12.711934681564193 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767928878505", + "name": "充电线" + }, + { + "color": "#FF9800", + "id": "bbox_1767928878703", + "name": "白色垃圾桶" + } + ], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-172251-put-power cord-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-172251-put-power cord-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..3f132506ea3c8ef9249c48d763f1b4f66e222a0b --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-172251-put-power cord-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,155 @@ +{ + "task_description": "抓取充电线放入白色垃圾桶里：\n准备开始移动：0%\n爪夹靠近充电线：20%\n爪夹抓取充电线：40%\n爪夹抓紧充电线接近白色垃圾桶：60%\n爪夹将充电线放入白色垃圾桶：80%\n爪夹松开充电线落入白色垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "当前为初始状态，远离充电线，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离充电线，未开始移动。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 1.9888 + }, + { + "action_description": "爪夹向爪夹右前方移动", + "correction_plan": "爪夹继续向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹的角度接近垂直于桌面，缩短了充电线之间的距离，方便后续抓取充电线。", + "frame": 103, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了充电线。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，水平上接近了充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 3.4496 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直向下移动，靠近了充电线，方便抓取。", + "frame": 137, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了充电线，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度垂直于桌面，靠近了充电线，准备抓取充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹左前方的白色垃圾桶接近。", + "time": 4.5584 + }, + { + "action_description": "爪夹升高，调整爪夹的角度。", + "correction_plan": "爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直升高，调整爪夹角度，方便抓取充电线。", + "frame": 184, + "progress": 25, + "progress_explanation": "爪夹垂直升高，调整爪夹角度，方便抓取充电线。因此进度提升为25%", + "state_description": "爪夹垂直升高，调整爪夹角度，准备抓取充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹左前方的白色垃圾桶接近。", + "time": 6.1424 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹合拢未抓取到充电线，需要多一次抓取。", + "frame": 237, + "progress": 30, + "progress_explanation": "爪夹合拢未抓取到充电线，需要多一次抓取，因此进度提升为30%", + "state_description": "爪夹合拢未抓取到充电线，爪夹角度与桌面接近垂直。\n为完成抓取充电线放入白色垃圾桶的任务应当：重新调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 7.8947985528502445 + }, + { + "action_description": "爪夹垂直升高，调整爪夹的角度。", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直升高，爪夹张开，调整爪夹角度。未接近充电线", + "frame": 269, + "progress": 10, + "progress_explanation": "爪夹垂直升高，爪夹张开，调整爪夹角度。未接近充电线，因此进度降低为10%", + "state_description": "爪夹垂直升高，爪夹张开，调整爪夹角度。\n为完成抓取充电线放入白色垃圾桶的任务应当：重新调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 8.962845060130597 + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹角度与桌面接近垂直，水平上接近了充电线，更加方便抓取", + "frame": 304, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了充电线，更加方便抓取，因此进度提升为15%", + "state_description": "爪夹角度垂直于桌面，靠近了充电线，准备抓取充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近。", + "time": 10.126550989741629 + }, + { + "action_description": "爪夹垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直向下移动，靠近了充电线，方便抓取。", + "frame": 331, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了充电线，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度垂直于桌面，靠近了充电线，准备抓取充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近。", + "time": 11.033767427502353 + }, + { + "action_description": "爪夹向下，爪夹合拢", + "correction_plan": "抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到充电线。", + "frame": 370, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到充电线，因此进度提升为40%", + "state_description": "爪夹合拢抓取到充电线，爪夹角度与桌面接近垂直。\n为完成抓取充电线放入白色垃圾桶的任务应当：抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近。", + "time": 12.345051392360672 + }, + { + "action_description": "爪夹夹紧充电线，垂直升高，向爪夹右前方移动。", + "correction_plan": "继续向爪夹右前方的白色垃圾桶接近。水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹合拢继续夹紧充电线，水平上接近了白色垃圾桶，更加方便接近白色垃圾桶。", + "frame": 406, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧充电线，垂直升高并向爪夹右前方的白色垃圾桶接近，缩短了与白色垃圾桶的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧充电线，水平上接近了白色垃圾桶。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹继续向爪夹右前方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "time": 13.5344 + }, + { + "action_description": "爪夹夹紧充电线，向爪夹右前方移动。", + "correction_plan": "爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹移动到了白色垃圾桶正上方，方便充电线落入白色垃圾桶。", + "frame": 433, + "progress": 60, + "progress_explanation": "爪夹夹紧充电线，到了爪夹右前方的白色垃圾桶正上方，方便充电线落入白色垃圾桶，因此进度提升为60%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，位于白色垃圾桶正上方。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "time": 14.430745297235884 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便充电线落入白色垃圾桶。", + "frame": 465, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，爪夹垂直下降。\n为完成抓取充电线放入白色垃圾桶的任务应当：松开爪夹，充电线落入白色垃圾桶。", + "time": 15.501777302442074 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取充电线放入白色垃圾桶的任务完成。", + "error_success_analysis": "爪夹张开，充电线落入白色垃圾桶。任务完成。", + "frame": 504, + "progress": 100, + "progress_explanation": "爪夹张开，充电线落入白色垃圾桶。任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取充电线放入白色垃圾桶的任务完成。", + "time": 16.798289729796938 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767939991809", + "name": "充电线", + "color": "#4CAF50" + }, + { + "id": "bbox_1767939992018", + "name": "白色垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767940002391", + "name": "爪夹右", + "color": "#2196F3" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-172251-put-power cord-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-172251-put-power cord-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..1bdcd7a10ae4b2edf69e52658b808beb897718ab --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-172251-put-power cord-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,160 @@ +{ + "task_description": "抓取充电线放入白色垃圾桶里：\n准备开始移动：0%\n爪夹靠近充电线：20%\n爪夹抓取充电线：40%\n爪夹抓紧充电线接近白色垃圾桶：60%\n爪夹将充电线放入白色垃圾桶：80%\n爪夹松开充电线落入白色垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "", + "frame": 80, + "progress": 0, + "progress_explanation": "当前为初始状态，远离充电线，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离充电线，未开始移动。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 2.660666 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直向下移动，靠近了充电线，方便抓取。", + "frame": 131, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了充电线，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度垂直于桌面，靠近了充电线，准备抓取充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹左前方的白色垃圾桶接近。", + "time": 4.3594 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到充电线。", + "frame": 149, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到充电线，因此进度提升为40%", + "state_description": "爪夹合拢抓取到充电线，爪夹角度与桌面接近垂直。\n为完成抓取充电线放入白色垃圾桶的任务应当：抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近。", + "time": 4.98191968063693 + }, + { + "action_description": "爪夹夹紧充电线，垂直升高，向爪夹右后方移动。", + "correction_plan": "继续向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹合拢继续夹紧充电线，水平上接近了白色垃圾桶，更加方便接近白色垃圾桶。", + "frame": 205, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧充电线，垂直升高并向爪夹右后方的白色垃圾桶接近，缩短了与白色垃圾桶的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧充电线，水平上接近了白色垃圾桶。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹继续向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "time": 6.835866 + }, + { + "action_description": "爪夹夹紧充电线，向爪夹右后方移动。", + "correction_plan": "爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹移动到了白色垃圾桶正上方，方便充电线落入白色垃圾桶。", + "frame": 216, + "progress": 60, + "progress_explanation": "爪夹夹紧充电线，到了爪夹右后方的白色垃圾桶正上方，方便充电线落入白色垃圾桶，因此进度提升为60%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，位于白色垃圾桶正上方。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "time": 7.2106741169243405 + }, + { + "action_description": "爪夹张开", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹张开，角度保持垂直向下于桌面，充电线落在桌面上。需要重新抓取。", + "frame": 258, + "progress": 90, + "progress_explanation": "爪夹张开，角度保持垂直向下于桌面，充电线落在桌面上。需要重新抓取。因此进度为90%", + "state_description": "爪夹张开，角度保持垂直向下于桌面，充电线落在桌面上。\n为完成抓取充电线放入白色垃圾桶的任务应当：调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 8.587257739337154 + }, + { + "action_description": "爪夹垂直升高，调整爪夹的角度。", + "correction_plan": "落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直升高，爪夹张开，调整爪夹角度。未接近充电线", + "frame": 309, + "progress": 5, + "progress_explanation": "爪夹垂直升高，爪夹张开，调整爪夹角度。未接近充电线，因此进度降低为5%", + "state_description": "爪夹垂直升高，爪夹张开，调整爪夹角度。\n为完成抓取充电线放入白色垃圾桶的任务应当：重新调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 10.29159936708635 + }, + { + "action_description": "爪夹向下移动", + "correction_plan": "接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹角度与桌面接近垂直，水平上接近了充电线，更加方便抓取", + "frame": 375, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了充电线，更加方便抓取，因此进度提升为15%", + "state_description": "爪夹角度垂直于桌面，靠近了充电线，准备抓取充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的白色垃圾桶接近。", + "time": 12.484666 + }, + { + "action_description": "爪夹垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直向下移动，靠近了充电线，方便抓取。", + "frame": 417, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了充电线，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度垂直于桌面，靠近了充电线，准备抓取充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹左前方的白色垃圾桶接近。", + "time": 13.896937425786575 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到充电线。", + "frame": 474, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到充电线，因此进度提升为40%", + "state_description": "爪夹合拢抓取到充电线，爪夹角度与桌面接近垂直。\n为完成抓取充电线放入白色垃圾桶的任务应当：抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近。", + "time": 15.800266 + }, + { + "action_description": "爪夹夹紧充电线，向爪夹右后方移动。", + "correction_plan": "爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹移动到了白色垃圾桶正上方，方便充电线落入白色垃圾桶。", + "frame": 525, + "progress": 60, + "progress_explanation": "爪夹夹紧充电线，到了爪夹右后方的白色垃圾桶正上方，方便充电线落入白色垃圾桶，因此进度提升为60%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，位于白色垃圾桶正上方。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "time": 17.499 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便充电线落入白色垃圾桶。", + "frame": 546, + "progress": 80, + "progress_explanation": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，爪夹垂直下降。\n为完成抓取充电线放入白色垃圾桶的任务应当：松开爪夹，充电线落入白色垃圾桶。", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，爪夹垂直下降。\n为完成抓取充电线放入白色垃圾桶的任务应当：松开爪夹，充电线落入白色垃圾桶。", + "time": 18.194866 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取充电线放入白色垃圾桶的任务完成。", + "error_success_analysis": "爪夹张开，充电线落入白色垃圾桶。任务完成。", + "frame": 608, + "progress": 100, + "progress_explanation": "爪夹张开，充电线落入白色垃圾桶。任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取充电线放入白色垃圾桶的任务完成。", + "time": 20.282466 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767941666918", + "name": "充电线", + "color": "#4CAF50" + }, + { + "id": "bbox_1767941667104", + "name": "白色垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767941676274", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767941676437", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-175249-put-power cord-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-175249-put-power cord-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..4561a28763236551d303a3839491d260c0b9c840 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-175249-put-power cord-white-trash can-bad/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,139 @@ +{ + "task_description": "抓取充电线放入白色垃圾桶里：\n准备开始移动：0%\n爪夹靠近充电线：20%\n爪夹抓取充电线：40%\n爪夹抓紧充电线接近白色垃圾桶：60%\n爪夹将充电线放入白色垃圾桶：80%\n爪夹松开充电线落入白色垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "当前为初始状态，远离充电线，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离充电线，未开始移动。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 1.575 + }, + { + "action_description": "爪夹向爪夹右后方移动", + "correction_plan": "爪夹继续向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，缩短了充电线之间的距离，方便后续抓取充电线。", + "frame": 76, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了充电线。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，水平上接近了充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 2.525 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直向下移动，靠近了充电线，方便抓取。", + "frame": 113, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了充电线，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度垂直于桌面，靠近了充电线，准备抓取充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹左前方的白色垃圾桶接近。", + "time": 3.75 + }, + { + "action_description": "爪夹张开", + "correction_plan": "抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到充电线。", + "frame": 150, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到充电线，因此进度提升为40%", + "state_description": "爪夹合拢抓取到充电线，爪夹角度与桌面接近垂直。\n为完成抓取充电线放入白色垃圾桶的任务应当：抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近。", + "time": 5.004447068087278 + }, + { + "action_description": "爪夹夹紧充电线，垂直升高，向爪夹右后方移动。", + "correction_plan": "继续向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹合拢继续夹紧充电线，水平上接近了白色垃圾桶，更加方便接近白色垃圾桶。", + "frame": 189, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧充电线，垂直升高并向爪夹右后方的白色垃圾桶接近，缩短了与白色垃圾桶的距离。因此进度提升为50%", + "state_description": "爪夹合拢夹紧充电线，水平上接近了白色垃圾桶。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹继续向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "time": 6.2855858302956396 + }, + { + "action_description": "爪夹夹紧充电线，向爪夹右后方移动。", + "correction_plan": "爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹移动到了白色垃圾桶正上方，方便充电线落入白色垃圾桶。", + "frame": 209, + "progress": 60, + "progress_explanation": "爪夹夹紧充电线，到了爪夹右后方的白色垃圾桶正上方，方便充电线落入白色垃圾桶，因此进度提升为60%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，位于白色垃圾桶正上方。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "time": 6.9625 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，爪夹垂直下降。\n为完成抓取充电线放入白色垃圾桶的任务应当：松开爪夹，充电线落入白色垃圾桶。", + "frame": 227, + "progress": 80, + "progress_explanation": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，爪夹垂直下降。\n为完成抓取充电线放入白色垃圾桶的任务应当：松开爪夹，充电线落入白色垃圾桶。", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，爪夹垂直下降。\n为完成抓取充电线放入白色垃圾桶的任务应当：松开爪夹，充电线落入白色垃圾桶。", + "time": 7.566724592504001 + }, + { + "action_description": "爪夹张开", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹张开，角度保持垂直向下于桌面，充电线落在桌面上。需要重新抓取。", + "frame": 244, + "progress": 90, + "progress_explanation": "爪夹张开，角度保持垂直向下于桌面，充电线落在桌面上。需要重新抓取。因此进度为90%", + "state_description": "爪夹张开，角度保持垂直向下于桌面，充电线落在桌面上，白色垃圾桶倒下。\n为完成抓取充电线放入白色垃圾桶的任务应当：调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 8.12722280097016 + }, + { + "action_description": "爪夹向爪夹右方移动", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹角度垂直于桌面，水平上远离了充电线。需要重新抓取。", + "frame": 277, + "progress": -5, + "progress_explanation": "爪夹角度垂直于桌面，水平上远离了充电线。因此进度降低为-5%", + "state_description": "爪夹合拢，爪夹角度垂直于桌面，水平上远离了充电线。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 9.248219217902475 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹靠近了白色垃圾桶，远离了充电线。需要重新抓取。", + "frame": 298, + "progress": -10, + "progress_explanation": "爪夹角接近度垂直于桌面，靠近了白色垃圾桶，远离了充电线。需要重新抓取。因此进度降低为-10%", + "state_description": "爪夹角接近度垂直于桌面，靠近了白色垃圾桶，准备抓取白色垃圾桶。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 9.9375 + }, + { + "action_description": "爪夹垂直升高", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹垂直升高，未抓取到白色垃圾桶。爪夹将白色垃圾桶推远。需要重新抓取。", + "frame": 332, + "progress": -20, + "progress_explanation": "爪夹垂直升高，未抓取到白色垃圾桶。爪夹将白色垃圾桶推远。因此进度降低为-20%", + "state_description": "爪夹垂直升高，未抓取到白色垃圾桶。爪夹将白色垃圾桶推远。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 11.0625 + }, + { + "action_description": "爪夹张开，未移动。", + "correction_plan": "调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右后方的白色垃圾桶接近，水平到达白色垃圾桶的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入白色垃圾桶。", + "error_success_analysis": "爪夹张开，未抓取到物体，爪夹未移动。", + "frame": 375, + "progress": 0, + "progress_explanation": "爪夹张开，未抓取到物体，爪夹未移动。因此进度为0%", + "state_description": "爪夹张开，未抓取到物体，爪夹未移动。\n为完成抓取充电线放入白色垃圾桶的任务应当：爪夹向爪夹右前方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 12.5 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767943206763", + "name": "充电线", + "color": "#4CAF50" + }, + { + "id": "bbox_1767943207000", + "name": "白色垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180057-put-power cord-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180057-put-power cord-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..f10a9d8603b200bc8536499c8a0789c11f2130c2 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180057-put-power cord-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,105 @@ +{ + "task_description": "抓取充电线放入木盒里：\n准备开始移动：0%\n爪夹靠近充电线：20%\n爪夹抓取充电线：40%\n爪夹抓紧充电线接近木盒：60%\n爪夹将充电线放入木盒：80%\n爪夹松开充电线落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入木盒。", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "当前为初始状态，远离充电线，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离充电线，未开始移动。\n为完成抓取充电线放入木盒的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 1.683599 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入木盒。", + "error_success_analysis": "爪夹向爪夹正前方移动，水平上未接近充电线。", + "frame": 73, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，还未接近充电线。\n为完成抓取充电线放入木盒的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 2.4472 + }, + { + "action_description": "爪夹向爪夹右前方移动。", + "correction_plan": "爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。接着落下爪夹靠近充电线，接近充电线后爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入木盒。", + "error_success_analysis": "爪夹角度与桌面接近垂直，缩短了充电线之间的距离。方便后续抓取充电线。", + "frame": 92, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了充电线。更加方便抓取，因此进度提升为15%", + "state_description": "爪夹张开，水平上接近了充电线。\n为完成抓取充电线放入木盒的任务应当：爪夹向爪夹右方的充电线移动，同时调整爪夹的角度使其垂直于桌面，并移动到充电线的正上方。", + "time": 3.072799 + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度。", + "correction_plan": "爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了充电线，方便抓取。", + "frame": 117, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了充电线，方便抓取，因此进度提升为20%", + "state_description": "爪夹角度垂直于桌面，靠近了充电线，准备抓取充电线。\n为完成抓取充电线放入木盒的任务应当：爪夹合拢抓取充电线。抓紧充电线垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 3.900799 + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧充电线垂直升高爪夹并向爪夹右前方的木盒接近，水平到达木盒的正上方后，爪夹垂直下降至合适位置后，松开爪夹，充电线落入木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到充电线。", + "frame": 159, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到充电线，因此进度提升为40%", + "state_description": "爪夹合拢抓取到充电线，爪夹角度与桌面接近垂直。\n为完成抓取充电线放入木盒的任务应当：抓紧充电线垂直升高爪夹并向爪夹右前方的木盒接近。", + "time": 5.303913576305814 + }, + { + "action_description": "爪夹夹紧充电线，向爪夹右前方移动。", + "correction_plan": "爪夹垂直下降至合适位置后，松开爪夹，充电线落入木盒。", + "error_success_analysis": "爪夹移动到了木盒正上方，方便充电线落入木盒。", + "frame": 201, + "progress": 60, + "progress_explanation": "爪夹夹紧充电线，到了爪夹右前方的木盒正上方，方便充电线落入木盒，因此进度提升为60%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，位于木盒正上方。\n为完成抓取充电线放入木盒的任务应当：爪夹垂直下降至合适位置后，松开爪夹，充电线落入木盒。", + "time": 6.6884 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，充电线落入木盒。", + "error_success_analysis": "爪夹垂直下降至合适位置，方便充电线落入木盒。", + "frame": 217, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹垂直下降至合适位置。因此进度提升为80%", + "state_description": "爪夹夹紧充电线，爪夹角度接近垂直于桌面，爪夹垂直下降。\n为完成抓取充电线放入木盒的任务应当：松开爪夹，充电线落入木盒。", + "time": 7.2404 + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹抓取充电线放入木盒的任务完成。", + "error_success_analysis": "爪夹张开，充电线落入木盒。任务完成。", + "frame": 260, + "progress": 100, + "progress_explanation": "爪夹张开，充电线落入木盒。任务完成。因此进度提升为100%", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹抓取充电线放入木盒的任务完成。", + "time": 8.6664 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767926236875", + "name": "充电线", + "color": "#4CAF50" + }, + { + "id": "bbox_1767926237089", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767926246407", + "name": "爪夹右", + "color": "#2196F3" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180057-put-power cord-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180057-put-power cord-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..ed4cb2e326acb02c9822544a3e8b652d00338e74 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180057-put-power cord-yellow-wooden box-good/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,348 @@ +{ + "task_description": "将电源线放入黄色木盒中\n准备开始移动：0%\n爪夹靠近电源线：20%\n爪夹抓取电源线：40%\n爪夹抓紧电源线接近黄色木盒：60%\n爪夹将电源线放入黄色木盒：80%\n爪夹松开电源线落入黄色木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767772927968": { + "instances": [ + { + "height": 0.10533333333333333, + "id": "bbox_1767772927968_1767774048296_586ezc89l", + "width": 0.12300000000000004, + "x": 0.5335, + "y": 0.6546666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767772934855": { + "instances": [ + { + "height": 0.33866666666666667, + "id": "bbox_1767772934855_1767774042176_sagx0xuf6", + "width": 0.28500000000000003, + "x": 0.6235, + "y": 0.28933333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向上升高并向爪夹正前方移动，调整爪夹角度。然后爪夹向爪夹右前方的电源线移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹右前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "当前为初始状态，远离电源线，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离电源线，未开始移动。\n为完成抓取将电源线放入黄色木盒中应当：爪夹向爪夹右前方的电源线移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。", + "time": 1.6511856201030926 + }, + { + "action_description": "爪夹向上升高并向爪夹正前方移动，调整爪夹角度。", + "annotations": { + "bbox_1767772927968": { + "instances": [ + { + "height": 0.09066666666666663, + "id": "bbox_1767772927968_1767775530202_94b8mzajl", + "width": 0.11500000000000003, + "x": 0.5425, + "y": 0.6613333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767772934855": { + "instances": [ + { + "height": 0.34266666666666673, + "id": "bbox_1767772934855_1767775534904_omb7wlf8b", + "width": 0.27299999999999996, + "x": 0.6325000000000001, + "y": 0.2919999999999999 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方的电源线移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹右前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹的角度与桌面垂直。水平上未接近电源线。", + "frame": 82, + "progress": 10, + "progress_explanation": "爪夹向上升高并向爪夹正前方移动，调整爪夹角度。方便抓取。因此进度提升为 10%。", + "state_description": "爪夹张开。还未接近电源线。\n为完成抓取将电源线放入黄色木盒中应当：爪夹向爪夹右前方的电源线移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。", + "time": 2.719914176804124 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直向下移动，调整爪夹角度。", + "annotations": { + "bbox_1767772927968": { + "instances": [ + { + "height": 0.1013333333333333, + "id": "bbox_1767772927968_1767775557097_fcrfhn90n", + "width": 0.11399999999999996, + "x": 0.5405, + "y": 0.6586666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767772934855": { + "instances": [ + { + "height": 0.328, + "id": "bbox_1767772934855_1767775563377_zna0gbufa", + "width": 0.269, + "x": 0.6395000000000001, + "y": 0.2946666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹右前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了电源线，方便抓取。\n", + "frame": 114, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了电源线。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了电源线。准备抓取电源线。\n为完成抓取将电源线放入黄色木盒中应当：爪夹合拢抓取电源线，抓紧电源线垂直升高爪夹并向爪夹右前方的黄色木盒接近", + "time": 3.8046736618556696 + }, + { + "action_description": "爪夹继续下降，爪夹张开。", + "annotations": { + "bbox_1767772927968": { + "instances": [ + { + "height": 0.10533333333333333, + "id": "bbox_1767772927968_1767920925883_m4tc57oia", + "width": 0.11899999999999995, + "x": 0.536375, + "y": 0.6541979166666666 + } + ], + "type": "bbox" + }, + "bbox_1767772934855": { + "instances": [ + { + "height": 0.3373333333333334, + "id": "bbox_1767772934855_1767920930771_p9w4f9ggq", + "width": 0.2750000000000001, + "x": 0.630375, + "y": 0.29153125 + } + ], + "type": "bbox" + }, + "point_1767772499935": { + "instances": [ + { + "id": "point_1767772499935_1767920938596_ctwzhkqft", + "x": 0.589375, + "y": 0.66753125 + } + ], + "type": "point" + }, + "point_1767772506834": { + "instances": [ + { + "id": "point_1767772506834_1767920951739_fp6qgef92", + "x": 0.6563749999999999, + "y": 0.7075312500000001 + } + ], + "type": "point" + } + }, + "correction_plan": "接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹右前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹继续向下移动，靠近了电源线，更方便方便抓取。", + "frame": 139, + "progress": 30, + "progress_explanation": "爪夹继续下降，爪夹张开。靠近了电源线。准备抓取电源线。因此进度提升为 30%。", + "state_description": "爪夹张开，继续下降过程中碰到旁边的杯子，靠近了电源线。准备抓取电源线。\n为完成抓取将电源线放入黄色木盒中应当：爪夹合拢抓取电源线，抓紧电源线垂直升高爪夹并向爪夹右前方的黄色木盒接近", + "time": 4.644266 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767772927968": { + "instances": [ + { + "height": 0.08933333333333332, + "id": "bbox_1767772927968_1767775587330_heo406gca", + "width": 0.11699999999999999, + "x": 0.5465, + "y": 0.6733333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767772934855": { + "instances": [ + { + "height": 0.332, + "id": "bbox_1767772934855_1767775593356_35u4pmjvq", + "width": 0.28200000000000014, + "x": 0.6255, + "y": 0.29333333333333333 + } + ], + "type": "bbox" + }, + "point_1767772499935": { + "instances": [ + { + "id": "point_1767772499935_1767775601041_0vqjobtze", + "x": 0.5945, + "y": 0.7 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧电源线垂直升高爪夹并向爪夹右前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到电源线。\n", + "frame": 175, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到电源线。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到电源线，爪夹角度与桌面接近垂直。\n为完成抓取将电源线放入黄色木盒中应当：抓紧电源线垂直升高爪夹并向爪夹右前方的黄色木盒接近", + "time": 5.817891080541237 + }, + { + "action_description": "爪夹夹紧电源线，垂直上升并向爪夹右前方移动", + "annotations": { + "bbox_1767772927968": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1767772927968_1767775612081_9ntphppmr", + "width": 0.146, + "x": 0.5705, + "y": 0.42133333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767772934855": { + "instances": [ + { + "height": 0.3373333333333334, + "id": "bbox_1767772934855_1767775620312_a3rtc9pze", + "width": 0.26499999999999996, + "x": 0.6415, + "y": 0.28933333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹接近右前方的黄色木盒。", + "frame": 215, + "progress": 60, + "progress_explanation": "爪夹夹紧电源线，接近右前方的黄色木盒。因此进度提升为 60%。", + "state_description": "爪夹夹紧电源线，爪夹角度接近垂直于桌面上升，接近右前方的黄色木盒。\n为完成抓取将电源线放入黄色木盒中应当：水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "time": 7.175176347551546 + }, + { + "action_description": "爪夹调整角度，继续向前移动", + "annotations": { + "bbox_1767772927968": { + "instances": [ + { + "height": 0.0653333333333333, + "id": "bbox_1767772927968_1767775640282_pvfv7fbz4", + "width": 0.07699999999999996, + "x": 0.7515000000000001, + "y": 0.3626666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767772934855": { + "instances": [ + { + "height": 0.38133333333333336, + "id": "bbox_1767772934855_1767775634057_iy8ud1i3y", + "width": 0.2870000000000001, + "x": 0.6205, + "y": 0.24533333333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，电源线在黄色木盒上方。方便落入黄色木盒中。", + "frame": 240, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，电源线在黄色木盒上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧电源线，爪夹调整角度，继续向前移动，到达黄色木盒上方。\n为完成抓取将电源线放入黄色木盒中应当：松开爪夹，使电源线落入黄色木盒。", + "time": 7.994089604123713 + }, + { + "action_description": "爪夹松开", + "annotations": { + "bbox_1767772927968": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1767772927968_1767775647129_pk87866ov", + "width": 0.12000000000000002, + "x": 0.7235, + "y": 0.46 + } + ], + "type": "bbox" + }, + "bbox_1767772934855": { + "instances": [ + { + "height": 0.3026666666666667, + "id": "bbox_1767772934855_1767775652825_k9eswy6dq", + "width": 0.284, + "x": 0.6275000000000001, + "y": 0.32 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，电源线落入铁盒。任务已完成", + "frame": 272, + "progress": 100, + "progress_explanation": "爪夹张开，电源线落入铁盒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开电源线落入黄色木盒的任务目标完成。", + "time": 9.062818160824742 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767772927968", + "name": "电源线" + }, + { + "color": "#FF9800", + "id": "bbox_1767772934855", + "name": "黄色木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767772499935", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767772506834", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180057-put-power cord-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180057-put-power cord-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..f6fb21f476f2a3f021592beac0cf3d10f3a7b925 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180057-put-power cord-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,342 @@ +{ + "task_description": "将电源线放入黄色木盒中\n准备开始移动：0%\n爪夹靠近电源线：20%\n爪夹抓取电源线：40%\n爪夹抓紧电源线接近黄色木盒：60%\n爪夹将电源线放入黄色木盒：80%\n爪夹松开电源线落入黄色木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767860978140": { + "instances": [ + { + "height": 0.2133333333333333, + "id": "bbox_1767860978140_1767921061260_o7kwbzx0m", + "width": 0.1969999999999999, + "x": 0.632375, + "y": 0.36353125000000003 + } + ], + "type": "bbox" + }, + "bbox_1767860987300": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1767860987300_1767921066660_2sg16puj1", + "width": 0.05600000000000005, + "x": 0.825375, + "y": 0.5621979166666667 + } + ], + "type": "bbox" + }, + "point_1767860960668": { + "instances": [ + { + "id": "point_1767860960668_1767921070452_rezu7tcdd", + "x": 0.39437500000000003, + "y": 0.5088645833333333 + } + ], + "type": "point" + }, + "point_1767860968996": { + "instances": [ + { + "id": "point_1767860968996_1767921074068_5ic4wnrg2", + "x": 0.616375, + "y": 0.5101979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右后移动，调整爪夹角度。然后爪夹向下移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "当前为初始状态，远离电源线，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离电源线，未开始移动。\n为完成抓取将电源线放入黄色木盒中应当：爪夹向爪夹右前方的电源线移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。", + "time": 1.4828865979381443 + }, + { + "action_description": "爪夹向爪夹右后方移动并垂直向下移动，调整爪夹角度。", + "annotations": { + "bbox_1767860978140": { + "instances": [ + { + "height": 0.4026666666666667, + "id": "bbox_1767860978140_1767921100782_dqo4khk3x", + "width": 0.46099999999999997, + "x": 0.005375, + "y": 0.0008645833333333353 + } + ], + "type": "bbox" + }, + "bbox_1767860987300": { + "instances": [ + { + "height": 0.26266666666666677, + "id": "bbox_1767860987300_1767921094259_ak7o1acp1", + "width": 0.16999999999999993, + "x": 0.46937500000000004, + "y": 0.3368645833333333 + } + ], + "type": "bbox" + }, + "point_1767860960668": { + "instances": [ + { + "id": "point_1767860960668_1767921086516_bcxb6lume", + "x": 0.399375, + "y": 0.5141979166666667 + } + ], + "type": "point" + }, + "point_1767860968996": { + "instances": [ + { + "id": "point_1767860968996_1767921083492_av8lter1j", + "x": 0.616375, + "y": 0.51953125 + } + ], + "type": "point" + } + }, + "correction_plan": "接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了电源线，方便抓取。", + "frame": 111, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了电源线。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了电源线。准备抓取电源线。\n为完成抓取将电源线放入黄色木盒中应当：爪夹合拢抓取电源线，抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近", + "time": 3.6952577319587627 + }, + { + "action_description": "爪夹向下移动并合拢。", + "annotations": { + "bbox_1767860978140": { + "instances": [ + { + "height": 0.352, + "id": "bbox_1767860978140_1767921140148_yt7jtp85i", + "width": 0.374, + "x": 0.002375, + "y": 0.0008645833333333353 + } + ], + "type": "bbox" + }, + "bbox_1767860987300": { + "instances": [ + { + "height": 0.33866666666666667, + "id": "bbox_1767860987300_1767921151932_5xe62j8y0", + "width": 0.26000000000000006, + "x": 0.422375, + "y": 0.24753125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢成功抓取到电源线。", + "frame": 152, + "progress": 40, + "progress_explanation": "爪夹向下移动并合拢抓取到电源线。因此进度提升为 40%。", + "state_description": "爪夹向下移动并合拢抓取到电源线，爪夹角度与桌面接近垂直。\n为完成抓取将电源线放入黄色木盒中应当：抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近", + "time": 5.058556701030928 + }, + { + "action_description": "爪夹合拢抓紧电源线并锤子向上移动。", + "annotations": { + "bbox_1767860978140": { + "instances": [ + { + "height": 0.364, + "id": "bbox_1767860978140_1767921176501_qf1odcv7x", + "width": 0.381, + "x": 0.011375, + "y": 0.002197916666666666 + } + ], + "type": "bbox" + }, + "bbox_1767860987300": { + "instances": [ + { + "height": 0.4960000000000001, + "id": "bbox_1767860987300_1767921166300_flntxquxh", + "width": 0.26300000000000007, + "x": 0.42737499999999995, + "y": 0.08353124999999999 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向抓夹方向的左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹合拢抓取到电源线并向上移动。更加方便接近黄色木盒。", + "frame": 201, + "progress": 50, + "progress_explanation": "爪夹合拢抓取到电源线并向上移动。因此进度提升为 50%。", + "state_description": "爪夹合拢抓紧电源线并锤子向上移动。\n为完成抓取将电源线放入黄色木盒中应当：抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近", + "time": 6.684948453608246 + }, + { + "action_description": "爪夹继续上升向抓夹方向的左前方移动。", + "annotations": { + "bbox_1767860978140": { + "instances": [ + { + "height": 0.45333333333333337, + "id": "bbox_1767860978140_1767921193532_9obdno4c3", + "width": 0.37600000000000006, + "x": 0.354375, + "y": 0.17553125 + } + ], + "type": "bbox" + }, + "bbox_1767860987300": { + "instances": [ + { + "height": 0.532, + "id": "bbox_1767860987300_1767921206428_9cpibooon", + "width": 0.2819999999999999, + "x": 0.40737500000000004, + "y": 0.056864583333333336 + } + ], + "type": "bbox" + } + }, + "correction_plan": "水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹更加接近左前方的黄色木盒。", + "frame": 231, + "progress": 60, + "progress_explanation": "爪夹夹紧电源线，接近左前方的黄色木盒。因此进度提升为 60%。", + "state_description": "爪夹继续上升向抓夹方向的左前方移动。更接近黄色木盒。\n为完成抓取将电源线放入黄色木盒中应当：水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "time": 7.689484536082474 + }, + { + "action_description": "爪夹向右方旋转移动", + "annotations": { + "bbox_1767860978140": { + "instances": [ + { + "height": 0.5159999999999999, + "id": "bbox_1767860978140_1767921223148_ios9vt4gf", + "width": 0.372, + "x": 0.260375, + "y": 0.032864583333333336 + } + ], + "type": "bbox" + }, + "bbox_1767860987300": { + "instances": [ + { + "height": 0.5386666666666666, + "id": "bbox_1767860987300_1767921217749_igwqtk9vt", + "width": 0.289, + "x": 0.40037500000000004, + "y": 0.04353125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，电源线在黄色木盒上方。方便落入黄色木盒中。", + "frame": 266, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，电源线在黄色木盒上方。因此进度提升为 80%。", + "state_description": "爪夹向右方旋转移动，到达黄色木盒上方。\n为完成抓取将电源线放入黄色木盒中应当：松开爪夹，使电源线落入黄色木盒。", + "time": 8.861443298969071 + }, + { + "action_description": "爪夹松开并向左移动", + "annotations": { + "bbox_1767860978140": { + "instances": [ + { + "height": 0.5853333333333333, + "id": "bbox_1767860978140_1767921231547_kbm8ce6qs", + "width": 0.40800000000000003, + "x": 0.19437500000000002, + "y": 0.03419791666666667 + } + ], + "type": "bbox" + }, + "bbox_1767860987300": { + "instances": [ + { + "height": 0.3066666666666667, + "id": "bbox_1767860987300_1767921236067_pw0h3202j", + "width": 0.19399999999999995, + "x": 0.35737500000000005, + "y": 0.05019791666666667 + } + ], + "type": "bbox" + }, + "point_1767860960668": { + "instances": [ + { + "id": "point_1767860960668_1767921259372_09cbvzfl7", + "x": 0.397375, + "y": 0.5128645833333334 + } + ], + "type": "point" + }, + "point_1767860968996": { + "instances": [ + { + "id": "point_1767860968996_1767921263075_mtggkh88k", + "x": 0.616375, + "y": 0.5088645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，电源线落入铁盒。任务已完成。", + "frame": 308, + "progress": 100, + "progress_explanation": "爪夹张开，电源线落入铁盒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，然后向左移动，角度保持垂直向下于桌面。\n爪夹松开电源线落入黄色木盒的任务目标完成。", + "time": 10.26659793814433 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767860978140", + "name": "黄色木盒" + }, + { + "color": "#FF9800", + "id": "bbox_1767860987300", + "name": "电源线" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767860960668", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767860968996", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180057-put-power cord-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180057-put-power cord-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..ac3450185070f0d6cb54c508f9e80bbec80a064c --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180057-put-power cord-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,350 @@ +{ + "task_description": "将电源线放入黄色木盒中\n准备开始移动：0%\n爪夹靠近电源线：20%\n爪夹抓取电源线：40%\n爪夹抓紧电源线接近黄色木盒：60%\n爪夹将电源线放入黄色木盒：80%\n爪夹松开电源线落入黄色木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767924938052": { + "instances": [ + { + "height": 0.32933333333333337, + "id": "bbox_1767924938052_1767924978388_cnl653ki4", + "width": 0.10699999999999994, + "x": 0.7735000000000001, + "y": 0.48000000000000004 + } + ], + "type": "bbox" + }, + "point_1767924944078": { + "instances": [ + { + "id": "point_1767924944078_1767924981165_bqwppizyj", + "x": 0.3965, + "y": 0.508 + } + ], + "type": "point" + }, + "point_1767924954444": { + "instances": [ + { + "id": "point_1767924954444_1767924983141_mccjnl1dx", + "x": 0.6174999999999999, + "y": 0.516 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的后方移动，调整爪夹角度。然后爪夹向下移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹右前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "当前为初始状态，远离电源线，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离电源线，未开始移动。\n为完成抓取将电源线放入黄色木盒中应当：爪夹向爪夹右前方的电源线移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。", + "time": 1.7357088166237113 + }, + { + "action_description": "爪夹向爪夹后方移动并垂直向下移动，调整爪夹角度。", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.23066666666666671, + "id": "bbox_1767924928733_1767925001741_mppyb7f9t", + "width": 0.15499999999999997, + "x": 0.43150000000000005, + "y": 0.34933333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.652, + "id": "bbox_1767924938052_1767924997125_hkkelujr6", + "width": 0.21200000000000002, + "x": 0.7505, + "y": 0.012 + } + ], + "type": "bbox" + }, + "point_1767924944078": { + "instances": [ + { + "id": "point_1767924944078_1767924991717_zpphec3lj", + "x": 0.3945, + "y": 0.516 + } + ], + "type": "point" + }, + "point_1767924954444": { + "instances": [ + { + "id": "point_1767924954444_1767924988997_c0r3ooyc3", + "x": 0.6205, + "y": 0.5093333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹右前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹垂直向下移动，靠近了电源线，方便抓取。", + "frame": 97, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了电源线。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了电源线。准备抓取电源线。\n为完成抓取将电源线放入黄色木盒中应当：爪夹合拢抓取电源线，抓紧电源线垂直升高爪夹并向爪夹右前方的黄色木盒接近", + "time": 3.2341624712628865 + }, + { + "action_description": "爪夹向下移动并合拢", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.2813333333333334, + "id": "bbox_1767924928733_1767925013125_52ctjsthy", + "width": 0.34600000000000003, + "x": 0.2395, + "y": 0.332 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.5973333333333334, + "id": "bbox_1767924938052_1767925019461_9lk5grt76", + "width": 0.17699999999999996, + "x": 0.8205, + "y": 0.010666666666666666 + } + ], + "type": "bbox" + }, + "point_1767924944078": { + "instances": [ + { + "id": "point_1767924944078_1767925022076_q6lksm96s", + "x": 0.43150000000000005, + "y": 0.5053333333333333 + } + ], + "type": "point" + }, + "point_1767924954444": { + "instances": [ + { + "id": "point_1767924954444_1767925024333_qtiak7eyu", + "x": 0.5785, + "y": 0.5053333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧电源线垂直升高爪夹并向爪夹右前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢成功抓取到电源线。", + "frame": 151, + "progress": 40, + "progress_explanation": "爪夹向下移动并合拢抓取到电源线。因此进度提升为 40%。", + "state_description": "爪夹向下移动并合拢抓取到电源线，爪夹角度与桌面接近垂直。\n为完成抓取将电源线放入黄色木右前方的黄色木盒接近", + "time": 5.021207200128867 + }, + { + "action_description": "爪夹合拢抓紧电源线并锤子向上移动。", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.3040000000000001, + "id": "bbox_1767924928733_1767925048077_d2oeksyl1", + "width": 0.28600000000000003, + "x": 0.3165, + "y": 0.3093333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.6053333333333334, + "id": "bbox_1767924938052_1767925038845_8osb94oya", + "width": 0.21099999999999994, + "x": 0.7855000000000001, + "y": 0 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向抓夹方向的右前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹合拢抓取到电源线并向上移动。更加方便接近黄色木盒。", + "frame": 190, + "progress": 50, + "progress_explanation": "爪夹合拢抓取到电源线并向上移动。因此进度提升为 50%。", + "state_description": "爪夹合拢抓紧电源线并锤子向上移动。\n为完成抓取将电源线放入黄色木盒中应当：抓紧电源线垂直升高爪夹并向爪夹右前方的黄色木盒接近", + "time": 6.3198670341494845 + }, + { + "action_description": "爪夹继续上升向抓夹方向的右前方移动。", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.29733333333333334, + "id": "bbox_1767924928733_1767925069621_7ybnr2hhs", + "width": 0.28500000000000003, + "x": 0.3085, + "y": 0.31333333333333335 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.48666666666666664, + "id": "bbox_1767924938052_1767925062853_h8n18844o", + "width": 0.32700000000000007, + "x": 0.40049999999999997, + "y": 0.15200000000000002 + } + ], + "type": "bbox" + } + }, + "correction_plan": "水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹接近右前方的黄色木盒。", + "frame": 213, + "progress": 60, + "progress_explanation": "爪夹夹紧电源线，接近右前方的黄色木盒。因此进度提升为 60%", + "state_description": "爪夹夹紧电源线，爪夹角度接近垂直于桌面上升，接近右前方的黄色木盒。\n为完成抓取将电源线放入黄色木盒中应当：水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "time": 7.106 + }, + { + "action_description": "爪夹继续向下移动", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.31200000000000006, + "id": "bbox_1767924928733_1767925080076_1ufx6k9e6", + "width": 0.28300000000000003, + "x": 0.3115, + "y": 0.30133333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.784, + "id": "bbox_1767924938052_1767925084902_1tb2b178e", + "width": 0.47300000000000014, + "x": 0.1925, + "y": 0.021333333333333336 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹成功到达黄色木盒的正上方。", + "frame": 248, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，电源线在黄色木盒上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧电源线，爪夹调整角度，继续向下移动，到达黄色木盒上方。\n为完成抓取将电源线放入黄色木盒中应当：松开爪夹，使电源线落入黄色木盒。", + "time": 8.258032 + }, + { + "action_description": "松开爪夹", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.16666666666666666, + "id": "bbox_1767924928733_1767925117197_ltkfzidur", + "width": 0.16900000000000004, + "x": 0.5295, + "y": 0.5399999999999999 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.4693333333333334, + "id": "bbox_1767924938052_1767925103341_wpwcr0dxr", + "width": 0.26799999999999996, + "x": 0.48850000000000005, + "y": 0.37733333333333335 + } + ], + "type": "bbox" + }, + "point_1767924944078": { + "instances": [ + { + "id": "point_1767924944078_1767925120157_89be948hk", + "x": 0.4345, + "y": 0.5133333333333333 + } + ], + "type": "point" + }, + "point_1767924954444": { + "instances": [ + { + "id": "point_1767924954444_1767925122989_l2c6ix860", + "x": 0.5795, + "y": 0.5093333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，电源线落入铁盒。任务已完成", + "frame": 292, + "progress": 100, + "progress_explanation": "爪夹张开，电源线落入铁盒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开电源线落入黄色木盒的任务目标完成。", + "time": 9.733066 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767924928733", + "name": "电源线" + }, + { + "color": "#FF9800", + "id": "bbox_1767924938052", + "name": "黄色木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767924944078", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767924954444", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180716-put-power cord-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180716-put-power cord-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..42f04cef246e5fa54f8a79d2cba933afd47b77aa --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-180716-put-power cord-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,416 @@ +{ + "task_description": "将电源线放入黄色木盒中\n准备开始移动：0%\n爪夹靠近电源线：20%\n爪夹抓取电源线：40%\n爪夹抓紧电源线接近黄色木盒：60%\n爪夹将电源线放入黄色木盒：80%\n爪夹松开电源线落入黄色木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767924938052": { + "instances": [ + { + "height": 0.33999999999999997, + "id": "bbox_1767924938052_1767925587541_e662i70pi", + "width": 0.273, + "x": 0.4465, + "y": 0.484 + } + ], + "type": "bbox" + }, + "point_1767924944078": { + "instances": [ + { + "id": "point_1767924944078_1767925578397_ytn05d951", + "x": 0.3945, + "y": 0.5133333333333333 + } + ], + "type": "point" + }, + "point_1767924954444": { + "instances": [ + { + "id": "point_1767924954444_1767925580838_fsfqpqqvq", + "x": 0.6155, + "y": 0.52 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的后方移动，调整爪夹角度。然后爪夹向抓夹方向的右前并向下移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "当前为初始状态，远离电源线，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离电源线，未开始移动。\n为完成抓取将电源线放入黄色木盒中应当：爪夹向爪夹右前方的电源线移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。", + "time": 1.6439003898195876 + }, + { + "action_description": "爪夹向爪夹方向的后方移动，调整爪夹角度。然后爪夹向抓夹方向的右前并向下移动。", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.308, + "id": "bbox_1767924928733_1767925602333_ve6dn4rlg", + "width": 0.18, + "x": 0.3745, + "y": 0.38 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.5693333333333332, + "id": "bbox_1767924938052_1767925595726_m2owxi1he", + "width": 0.242, + "x": 0.0495, + "y": 0.392 + } + ], + "type": "bbox" + }, + "point_1767924944078": { + "instances": [ + { + "id": "point_1767924944078_1767925607230_cd0npm8mw", + "x": 0.3935, + "y": 0.5106666666666667 + } + ], + "type": "point" + }, + "point_1767924954444": { + "instances": [ + { + "id": "point_1767924954444_1767925609989_5gp824bqh", + "x": 0.6174999999999999, + "y": 0.512 + } + ], + "type": "point" + } + }, + "correction_plan": "然后调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹向爪夹方向的后方移动，调整爪夹角度。然后爪夹向抓夹方向的右前并向下移动。靠近了电源线，方便抓取。", + "frame": 103, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的后方移动，调整爪夹角度。然后爪夹向抓夹方向的右前并向下移动。靠近了电源线，方便夹取。因此进度为20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了电源线。\n为完成抓取将电源线放入黄色木盒中应当：爪夹合拢抓取电源线，抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近", + "time": 3.430017278479381 + }, + { + "action_description": "爪夹向下移动并合拢。", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.1733333333333333, + "id": "bbox_1767924928733_1767925633293_p6uxlfqv1", + "width": 0.08700000000000001, + "x": 0.40750000000000003, + "y": 0.5106666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.552, + "id": "bbox_1767924938052_1767925627989_722w2wii8", + "width": 0.21600000000000003, + "x": 0.025500000000000002, + "y": 0.41466666666666663 + } + ], + "type": "bbox" + }, + "point_1767924944078": { + "instances": [ + { + "id": "point_1767924944078_1767925622709_kahe9mo2d", + "x": 0.5005, + "y": 0.49466666666666664 + } + ], + "type": "point" + }, + "point_1767924954444": { + "instances": [ + { + "id": "point_1767924954444_1767925619701_sd16tf2di", + "x": 0.5155000000000001, + "y": 0.49466666666666664 + } + ], + "type": "point" + } + }, + "correction_plan": "然后调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹没有成功抓紧电源线。", + "frame": 145, + "progress": 30, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹向下移动并合拢。方便夹取。因此进度为30%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹向下移动并合拢。\n为完成抓取将电源线放入黄色木盒中应当：爪夹合拢抓取电源线，抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近", + "time": 4.849123847551546 + }, + { + "action_description": "爪夹向下移动并张开爪夹。", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.372, + "id": "bbox_1767924928733_1767925643293_bu5bog31w", + "width": 0.21799999999999997, + "x": 0.3785, + "y": 0.28800000000000003 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.536, + "id": "bbox_1767924938052_1767925648237_iys7py5g9", + "width": 0.30900000000000005, + "x": 0.0155, + "y": 0.4 + } + ], + "type": "bbox" + }, + "point_1767924944078": { + "instances": [ + { + "id": "point_1767924944078_1767925650261_e7qnda4vj", + "x": 0.39849999999999997, + "y": 0.5026666666666667 + } + ], + "type": "point" + }, + "point_1767924954444": { + "instances": [ + { + "id": "point_1767924954444_1767925652333_1eggjcw6o", + "x": 0.6165, + "y": 0.5106666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "然后调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹向下移动并张开爪夹。靠近了电源线，方便夹取。", + "frame": 194, + "progress": 20, + "progress_explanation": "爪夹向下移动并张开爪夹。靠近了电源线，方便夹取。因此进度降低为20%。", + "state_description": "爪夹向下移动并张开爪夹，靠近了电源线。\n为完成抓取将电源线放入黄色木盒中应当：爪夹合拢抓取电源线，抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近", + "time": 6.4517355764175255 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.388, + "id": "bbox_1767924928733_1767925665253_93wwcsppn", + "width": 0.29200000000000004, + "x": 0.3055, + "y": 0.24800000000000003 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.5333333333333333, + "id": "bbox_1767924938052_1767925672205_90uk1pzbf", + "width": 0.329, + "x": -0.0005, + "y": 0.41600000000000004 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢抓取到电源线。\n", + "frame": 221, + "progress": 40, + "progress_explanation": "爪夹向下移动并合拢抓取到电源线。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到电源线，爪夹角度与桌面接近垂直。\n为完成抓取将电源线放入黄色木盒中应当：抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近", + "time": 7.369261375386598 + }, + { + "action_description": "爪夹继续上升向抓夹方向的左前方移动。", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.38800000000000007, + "id": "bbox_1767924928733_1767925686485_mlmtkiro1", + "width": 0.2779999999999999, + "x": 0.30250000000000005, + "y": 0.24799999999999997 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.47333333333333333, + "id": "bbox_1767924938052_1767925681835_nx5rikf6q", + "width": 0.21600000000000003, + "x": 0.2455, + "y": 0.356 + } + ], + "type": "bbox" + } + }, + "correction_plan": "水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹更加接近左前方的黄色木盒。", + "frame": 262, + "progress": 60, + "progress_explanation": "爪夹夹紧电源线，接近左前方的黄色木盒。因此进度提升为 60%。", + "state_description": "爪夹继续上升向抓夹方向的左前方移动。更接近黄色木盒。\n为完成抓取将电源线放入黄色木盒中应当：水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "time": 8.728728767525773 + }, + { + "action_description": "爪夹向左移动", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.3706666666666667, + "id": "bbox_1767924928733_1767925700613_sq2cd3jg1", + "width": 0.28500000000000003, + "x": 0.2965, + "y": 0.2573333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.43066666666666664, + "id": "bbox_1767924938052_1767925714781_pw9zsy117", + "width": 0.3630000000000001, + "x": 0.2725, + "y": 0.27866666666666673 + } + ], + "type": "bbox" + }, + "point_1767924944078": { + "instances": [ + { + "id": "point_1767924944078_1767925709526_4treruhtx", + "x": 0.4505, + "y": 0.5013333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，电源线在黄色木盒上方。方便落入黄色木盒中。", + "frame": 285, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，电源线在黄色木盒上方。因此进度提升为 80%。", + "state_description": "爪夹向左移动，到达黄色木盒上方。\n为完成抓取将电源线放入黄色木盒中应当：松开爪夹，使电源线落入黄色木盒。", + "time": 9.487216761340207 + }, + { + "action_description": "松开爪夹", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.24666666666666662, + "id": "bbox_1767924928733_1767925731821_xw8g4vsni", + "width": 0.09799999999999995, + "x": 0.4615, + "y": 0.3706666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.44399999999999995, + "id": "bbox_1767924938052_1767925737941_49htu4dl7", + "width": 0.36, + "x": 0.24250000000000002, + "y": 0.35200000000000004 + } + ], + "type": "bbox" + }, + "point_1767924944078": { + "instances": [ + { + "id": "point_1767924944078_1767925740669_x71efaown", + "x": 0.3935, + "y": 0.5106666666666667 + } + ], + "type": "point" + }, + "point_1767924954444": { + "instances": [ + { + "id": "point_1767924954444_1767925743503_n14ptt9a2", + "x": 0.6165, + "y": 0.516 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，电源线落入铁盒。任务已完成。", + "frame": 342, + "progress": 100, + "progress_explanation": "爪夹张开，电源线落入铁盒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，然后轻微晃动向上升，角度保持垂直向下于桌面。\n爪夹松开电源线落入黄色木盒的任务目标完成。", + "time": 11.415733 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767924928733", + "name": "电源线" + }, + { + "color": "#FF9800", + "id": "bbox_1767924938052", + "name": "黄色木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767924944078", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767924954444", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-181729-put-power cord-yellow-wooden box-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-181729-put-power cord-yellow-wooden box-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d2d576c892ed4e0cc43435c59a43f72f2db11a6f --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250104-movetable/20260104-songjiaqi/20260104-181729-put-power cord-yellow-wooden box-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,431 @@ +{ + "task_description": "将电源线放入黄色木盒中\n准备开始移动：0%\n爪夹靠近电源线：20%\n爪夹抓取电源线：40%\n爪夹抓紧电源线接近黄色木盒：60%\n爪夹将电源线放入黄色木盒：80%\n爪夹松开电源线落入黄色木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.15466666666666656, + "id": "bbox_1767924928733_1767927193053_0o700vl4a", + "width": 0.1670000000000001, + "x": 0.6585, + "y": 0.6080000000000001 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.21066666666666656, + "id": "bbox_1767924938052_1767927198854_vy6dhzpqu", + "width": 0.31599999999999995, + "x": 0.3425, + "y": 0.37466666666666676 + } + ], + "type": "bbox" + }, + "bbox_1767927211606": { + "instances": [ + { + "height": 0.32133333333333336, + "id": "bbox_1767927211606_1767927227829_9yr34hc7k", + "width": 0.18, + "x": 0.5945, + "y": 0.5466666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右方移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "", + "frame": 60, + "progress": 0, + "progress_explanation": "当前为初始状态，远离电源线，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离电源线，未开始移动。\n为完成抓取将电源线放入黄色木盒中应当：爪夹向爪夹右方的电源线移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。", + "time": 2.0010996164948454 + }, + { + "action_description": "爪夹向上升高并向右移动。", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.1413333333333334, + "id": "bbox_1767924928733_1767927262565_mqv1fd03v", + "width": 0.17600000000000007, + "x": 0.6485000000000001, + "y": 0.628 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.20133333333333342, + "id": "bbox_1767924938052_1767927245997_n3bp7n50s", + "width": 0.31600000000000006, + "x": 0.3485, + "y": 0.37866666666666665 + } + ], + "type": "bbox" + }, + "bbox_1767927211606": { + "instances": [ + { + "height": 0.30800000000000005, + "id": "bbox_1767927211606_1767927236558_u63j2jdwk", + "width": 0.18200000000000002, + "x": 0.5925, + "y": 0.5559999999999999 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右方移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹没有接近电源线，远离电源线。", + "frame": 151, + "progress": -10, + "progress_explanation": "爪夹向上升高并向右移动，接近茶杯。因此进度为-10%", + "state_description": "爪夹向上升高并向右移动，靠近了茶杯。\n为完成抓取将电源线放入黄色木盒中应当：爪夹向爪夹右方的电源线移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。", + "time": 5.037250758762886 + }, + { + "action_description": "爪夹向左移动并抬高", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.1413333333333334, + "id": "bbox_1767924928733_1767927269829_etp6fqp97", + "width": 0.15200000000000005, + "x": 0.6755, + "y": 0.6226666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.21733333333333332, + "id": "bbox_1767924938052_1767927255087_cjcusn0pv", + "width": 0.327, + "x": 0.3315, + "y": 0.3706666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767927211606": { + "instances": [ + { + "height": 0.2946666666666667, + "id": "bbox_1767927211606_1767927275845_t6vl3pg4w", + "width": 0.23199999999999993, + "x": 0.49850000000000005, + "y": 0.528 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的右方移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹没有接近电源线，远离电源线。", + "frame": 184, + "progress": -15, + "progress_explanation": "爪夹向左移动并抬高，打翻了茶杯。因此进度为-15%", + "state_description": "爪夹向左移动并抬高，打翻了茶杯。\n为完成抓取将电源线放入黄色木盒中应当：爪夹向爪夹右方的电源线移动，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。", + "time": 6.124054860824741 + }, + { + "action_description": "爪夹张开并向下移动", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.13733333333333336, + "id": "bbox_1767924928733_1767927288581_b553xyd2d", + "width": 0.14299999999999996, + "x": 0.6705, + "y": 0.6226666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.20400000000000004, + "id": "bbox_1767924938052_1767927294622_9c114up4v", + "width": 0.31499999999999995, + "x": 0.3405, + "y": 0.37866666666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹张开并向下移动，靠近了电源线，方便抓取电源线。", + "frame": 247, + "progress": 20, + "progress_explanation": "爪夹张开并向下移动，靠近了电源线。因此进度为20%", + "state_description": "爪夹张开并向下移动，靠近了电源线。\n为完成抓取将电源线放入黄色木盒中应当：爪夹合拢抓取电源线，抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近。", + "time": 8.228659629896907 + }, + { + "action_description": "爪夹继续向下移动并向左移动。", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.07733333333333334, + "id": "bbox_1767924928733_1767927309085_kw256ef99", + "width": 0.16900000000000004, + "x": 0.6085, + "y": 0.632 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.20000000000000007, + "id": "bbox_1767924938052_1767927303197_jpqgjh01s", + "width": 0.316, + "x": 0.34950000000000003, + "y": 0.3426666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹继续向下移动并向左移动，远离电源线。", + "frame": 293, + "progress": 15, + "progress_explanation": "爪夹继续向下移动并向左移动，远离电源线，因此进度降低为15%。", + "state_description": "爪夹继续向下移动并向左移动，远离了电源线，打翻旁边的杯子和其他物品。\n为完成抓取将电源线放入黄色木盒中应当：爪夹向下方移动，靠近电源线，同时调整爪夹的角度使其垂直与桌面，并移动到电源线的正上方。", + "time": 9.7812369185567 + }, + { + "action_description": "爪夹张开并向下移动", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.08266666666666668, + "id": "bbox_1767924928733_1767927316399_1bz2jeooc", + "width": 0.17400000000000002, + "x": 0.6075, + "y": 0.624 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.18400000000000005, + "id": "bbox_1767924938052_1767927321149_gexzzdck7", + "width": 0.31300000000000006, + "x": 0.3395, + "y": 0.35333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "接着落下爪夹靠近电源线，接近电源线后爪夹合拢抓取电源线。抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹张开并向下移动，靠近了电源线，方便抓取电源线。", + "frame": 344, + "progress": 20, + "progress_explanation": "爪夹张开并向下移动，靠近了电源线。因此进度为20%", + "state_description": "爪夹张开并向下移动，靠近了电源线。\n为完成抓取将电源线放入黄色木盒中应当：爪夹合拢抓取电源线，抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近。", + "time": 11.471821077319586 + }, + { + "action_description": "爪夹向下移动并合拢", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.16399999999999995, + "id": "bbox_1767924928733_1767927344614_4vpcva0dc", + "width": 0.16799999999999998, + "x": 0.5745, + "y": 0.6146666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.20533333333333334, + "id": "bbox_1767924938052_1767927333917_h0leg7t41", + "width": 0.30300000000000005, + "x": 0.3405, + "y": 0.3546666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近，水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，爪夹合拢抓取到电源线。\n", + "frame": 368, + "progress": 40, + "progress_explanation": "爪夹向下移动并合拢抓取到电源线。因此进度提升为 40%。", + "state_description": "爪夹向下移动并合拢抓取到电源线，爪夹角度与桌面接近垂直。\n为完成抓取将电源线放入黄色木盒中应当：抓紧电源线垂直升高爪夹并向爪夹左前方的黄色木盒接近", + "time": 12.256735151030925 + }, + { + "action_description": "爪夹继续上升向抓夹方向的左前方移动。", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.13866666666666666, + "id": "bbox_1767924928733_1767927354631_29usb4m5m", + "width": 0.071, + "x": 0.5485, + "y": 0.45466666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.19066666666666668, + "id": "bbox_1767924938052_1767927388614_gve6p6d3g", + "width": 0.316, + "x": 0.3375, + "y": 0.36933333333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹更加接近左前方的黄色木盒。", + "frame": 404, + "progress": 60, + "progress_explanation": "爪夹夹紧电源线，接近左前方的黄色木盒。因此进度提升为 60%。", + "state_description": "爪夹继续上升向抓夹方向的左前方移动。更接近黄色木盒。\n为完成抓取将电源线放入黄色木盒中应当：水平到达黄色木盒的正上方后，松开爪夹，使电源线落入黄色木盒。", + "time": 13.472920693814432 + }, + { + "action_description": "爪夹向下移动", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.12666666666666668, + "id": "bbox_1767924928733_1767927405686_6cebdg006", + "width": 0.15499999999999997, + "x": 0.6565000000000001, + "y": 0.5733333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.33333333333333337, + "id": "bbox_1767924938052_1767927400573_sxubtndn0", + "width": 0.347, + "x": 0.41050000000000003, + "y": 0.364 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，使电源线落入黄色木盒。", + "error_success_analysis": "爪夹向下移动，将电源线放入黄色木盒。", + "frame": 439, + "progress": 80, + "progress_explanation": "爪夹向下移动，将电源线放入黄色木盒。因此进度提升为 80%。", + "state_description": "爪夹向下移动，将电源线放入黄色木盒。\n为完成抓取将电源线放入黄色木盒中应当：松开爪夹，使电源线落入黄色木盒。", + "time": 14.64597908969072 + }, + { + "action_description": "松开爪夹", + "annotations": { + "bbox_1767924928733": { + "instances": [ + { + "height": 0.16266666666666663, + "id": "bbox_1767924928733_1767927418742_f30cn3szy", + "width": 0.1589999999999998, + "x": 0.7275, + "y": 0.6853333333333335 + } + ], + "type": "bbox" + }, + "bbox_1767924938052": { + "instances": [ + { + "height": 0.35600000000000004, + "id": "bbox_1767924938052_1767927462733_yyjdsgcab", + "width": 0.36899999999999994, + "x": 0.48450000000000004, + "y": 0.436 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，电源线落入铁盒。任务已完成。", + "frame": 476, + "progress": 100, + "progress_explanation": "爪夹张开，电源线落入铁盒，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，然后向右拉动黄色木盒。\n爪夹松开电源线落入黄色木盒的任务目标完成。", + "time": 15.879415491237111 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767924928733", + "name": "电源线" + }, + { + "color": "#FF9800", + "id": "bbox_1767924938052", + "name": "黄色木盒" + }, + { + "color": "#2196F3", + "id": "bbox_1767927211606", + "name": "茶杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767924944078", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767924954444", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-092350-put-yellow paper cup-yellow-wooden box-good1/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-092350-put-yellow paper cup-yellow-wooden box-good1/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..45ba255a73ce05247b889f30044a21202078d7d2 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-092350-put-yellow paper cup-yellow-wooden box-good1/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,494 @@ +{ + "task_description": "抓取纸杯放入木盒中：\n爪夹准备移动：0%\n爪夹靠近纸杯：20%\n爪夹抓取纸杯：40%\n爪夹抓取纸杯接近木盒：60%\n爪夹抓取纸杯移动至木盒正上方：80%\n爪夹松开，纸杯落入木盒内：100%", + "progress_points": [ + { + "time": 1.693599, + "frame": 51, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成爪夹抓取纸杯放入木盒中的任务应当：爪夹向爪夹方向右下方移动至纸杯正上方。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向右下方移动至纸杯正上方，爪夹调整爪夹与纸杯水平角度使爪夹与桌面水平角度呈20度角，爪夹向爪夹方向下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向左边移动接近木盒，爪夹向爪夹方向左边移动直至木盒正上方，爪夹松开纸杯落入木盒中。", + "annotations": { + "point_1767684002970": { + "type": "point", + "instances": [ + { + "id": "point_1767684002970_1767684298216_4h29z8pwh", + "x": 0.3925, + "y": 0.504 + } + ] + }, + "point_1767684003094": { + "type": "point", + "instances": [ + { + "id": "point_1767684003094_1767684300106_g81tiib5m", + "x": 0.6235, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767684002061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002061_1767684308230_qiy8fwa6d", + "x": 0.7424999999999999, + "y": 0.6733333333333333, + "width": 0.08400000000000007, + "height": 0.1013333333333333 + } + ] + }, + "bbox_1767684002200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002200_1767684320408_1bpaa6ug8", + "x": 0.4445, + "y": 0.2693333333333333, + "width": 0.19299999999999998, + "height": 0.4173333333333333 + } + ] + } + } + }, + { + "time": 3.143866, + "frame": 94, + "progress": 10, + "action_description": "爪夹向爪夹方向右下方移动至纸杯正上方。", + "state_description": "当前爪夹张开，此时爪夹位于纸杯正上方。为完成爪夹抓取纸杯放入木盒中的任务应当：爪夹调整爪夹与纸杯水平角度使爪夹与桌面水平角度呈20度角。", + "progress_explanation": "爪夹向爪夹方向右下方移动至纸杯正上方。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功移动至纸杯正上方。", + "correction_plan": "爪夹调整爪夹与纸杯水平角度使爪夹与桌面水平角度呈20度角，爪夹向爪夹方向下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向左边移动接近木盒，爪夹向爪夹方向左边移动直至木盒正上方，爪夹松开纸杯落入木盒中。", + "annotations": { + "point_1767684002970": { + "type": "point", + "instances": [ + { + "id": "point_1767684002970_1767684265786_60c0d2lhb", + "x": 0.3905, + "y": 0.5 + } + ] + }, + "point_1767684003094": { + "type": "point", + "instances": [ + { + "id": "point_1767684003094_1767684270002_avelgn1us", + "x": 0.6235, + "y": 0.504 + } + ] + }, + "bbox_1767684002061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002061_1767684277700_88uueaci4", + "x": 0.3615, + "y": 0.272, + "width": 0.14200000000000004, + "height": 0.18266666666666667 + } + ] + }, + "bbox_1767684002200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002200_1767684291884_lhdkur6hz", + "x": 0.0025, + "y": 0.3266666666666667, + "width": 0.20600000000000002, + "height": 0.5053333333333333 + } + ] + } + } + }, + { + "time": 3.737599, + "frame": 112, + "progress": 15, + "action_description": "爪夹调整爪夹与纸杯水平角度使爪夹与桌面水平角度呈20度角。", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈20度角。为完成爪夹抓取纸杯放入木盒中的任务应当：爪夹向爪夹方向下方移动靠近纸杯。", + "progress_explanation": "爪夹调整爪夹与纸杯水平角度使爪夹与桌面水平角度呈20度角。因此当前进度提升至15%。", + "error_success_analysis": "当前爪夹成功调整爪夹与桌面之间的水平角度。", + "correction_plan": "爪夹向爪夹方向下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向左边移动接近木盒，爪夹向爪夹方向左边移动直至木盒正上方，爪夹松开纸杯落入木盒中。", + "annotations": { + "point_1767684002970": { + "type": "point", + "instances": [ + { + "id": "point_1767684002970_1767684236241_bf6txvczt", + "x": 0.3905, + "y": 0.5026666666666667 + } + ] + }, + "point_1767684003094": { + "type": "point", + "instances": [ + { + "id": "point_1767684003094_1767684238764_yawt93fci", + "x": 0.6225, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767684002061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002061_1767684245362_bqu6nvxxs", + "x": 0.46950000000000003, + "y": 0.31333333333333335, + "width": 0.203, + "height": 0.24133333333333334 + } + ] + }, + "bbox_1767684002200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002200_1767684256176_ssvubtpe0", + "x": 0.0025, + "y": 0.272, + "width": 0.251, + "height": 0.5906666666666667 + } + ] + } + } + }, + { + "time": 3.990666, + "frame": 120, + "progress": 20, + "action_description": "爪夹向爪夹方向下方移动靠近纸杯，", + "state_description": "当前爪夹张开，此时爪夹靠近纸杯，为完成爪夹抓取纸杯放入木盒中的任务应当：爪夹合拢抓取纸杯。", + "progress_explanation": "爪夹向爪夹方向下方移动靠近纸杯，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹方向下方移动靠近纸杯。", + "correction_plan": "爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向左边移动接近木盒，爪夹向爪夹方向左边移动直至木盒正上方，爪夹松开纸杯落入木盒中。", + "annotations": { + "point_1767684002970": { + "type": "point", + "instances": [ + { + "id": "point_1767684002970_1767684206654_hdllob9ck", + "x": 0.3895, + "y": 0.5066666666666667 + } + ] + }, + "point_1767684003094": { + "type": "point", + "instances": [ + { + "id": "point_1767684003094_1767684208552_4profpv86", + "x": 0.6235, + "y": 0.504 + } + ] + }, + "bbox_1767684002061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002061_1767684214456_7voljlq4g", + "x": 0.4665, + "y": 0.34933333333333333, + "width": 0.21900000000000003, + "height": 0.26933333333333326 + } + ] + }, + "bbox_1767684002200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002200_1767684228132_48frtuiv2", + "x": 0.0025, + "y": 0.32933333333333337, + "width": 0.23400000000000004, + "height": 0.5506666666666667 + } + ] + } + } + }, + { + "time": 4.978755, + "frame": 149, + "progress": 40, + "action_description": "当前爪夹合拢抓取纸杯。", + "state_description": "当前爪夹合拢抓取纸杯，为完成爪夹抓取纸杯放入木盒中的任务应当：当前爪夹抓取纸杯竖直上升。", + "progress_explanation": "当前爪夹合拢抓取纸杯。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功抓取纸杯。", + "correction_plan": "爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向左边移动接近木盒，爪夹向爪夹方向左边移动直至木盒正上方，爪夹松开纸杯落入木盒中。", + "annotations": { + "point_1767684002970": { + "type": "point", + "instances": [ + { + "id": "point_1767684002970_1767684178116_kz9b1q618", + "x": 0.5015, + "y": 0.5 + } + ] + }, + "bbox_1767684002061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002061_1767684184264_bi3we2otj", + "x": 0.49450000000000005, + "y": 0.37333333333333335, + "width": 0.20800000000000002, + "height": 0.3053333333333333 + } + ] + }, + "bbox_1767684002200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002200_1767684198290_8mlo0dt4u", + "x": 0.0035000000000000005, + "y": 0.2986666666666667, + "width": 0.23700000000000002, + "height": 0.5733333333333334 + } + ] + } + } + }, + { + "time": 6.346133, + "frame": 190, + "progress": 50, + "action_description": "当前爪夹合拢抓取纸杯竖直上升。", + "state_description": "当前爪夹合拢抓取纸杯，此时爪夹与桌面水平角度呈30度角。", + "progress_explanation": "当前爪夹合拢抓取纸杯竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功抓取纸杯竖直上升。", + "correction_plan": "爪夹抓取纸杯向爪夹方向左边移动接近木盒，爪夹向爪夹方向左边移动直至木盒正上方，爪夹松开纸杯落入木盒中。", + "annotations": { + "point_1767684002970": { + "type": "point", + "instances": [ + { + "id": "point_1767684002970_1767684140426_kvxo0qamd", + "x": 0.5005, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767684002061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002061_1767684146760_di5sxezys", + "x": 0.49750000000000005, + "y": 0.37466666666666665, + "width": 0.205, + "height": 0.2933333333333333 + } + ] + }, + "bbox_1767684002200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002200_1767684163412_ndskxsn9n", + "x": 0.014500000000000002, + "y": 0.22933333333333333, + "width": 0.337, + "height": 0.5706666666666667 + } + ] + } + } + }, + { + "time": 6.706266, + "frame": 201, + "progress": 60, + "action_description": "当前爪夹合拢抓取纸杯向爪夹方向左边移动接近木盒。", + "state_description": "爪夹合拢抓取纸杯，此时纸杯与木盒水平距离接近。为完成爪夹抓取纸杯放入木盒中的任务应当：爪夹向爪夹方向左边移动直至木盒正上方。", + "progress_explanation": "当前爪夹合拢抓取纸杯向爪夹方向左边移动接近木盒。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取纸杯接近木盒。", + "correction_plan": "爪夹向爪夹方向左边移动直至木盒正上方，爪夹松开纸杯落入木盒中。", + "annotations": { + "point_1767684002970": { + "type": "point", + "instances": [ + { + "id": "point_1767684002970_1767684111326_0f4neavki", + "x": 0.5005, + "y": 0.5 + } + ] + }, + "bbox_1767684002061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002061_1767684117640_fnu6482yk", + "x": 0.49050000000000005, + "y": 0.37466666666666665, + "width": 0.21200000000000002, + "height": 0.29733333333333334 + } + ] + }, + "bbox_1767684002200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002200_1767684122584_iac0aihb8", + "x": 0.2555, + "y": 0.14, + "width": 0.25399999999999995, + "height": 0.5653333333333332 + } + ] + } + } + }, + { + "time": 7.291732, + "frame": 219, + "progress": 80, + "action_description": "当前爪夹抓取纸杯向爪夹方向左边移动至木盒正上方。", + "state_description": "当前爪夹合拢抓取纸杯，此时纸杯位于木盒正上方。为完成爪夹抓取纸杯放入木盒中的任务应当：爪夹松开纸杯落入木盒中。", + "progress_explanation": "当前爪夹抓取纸杯向爪夹方向左边移动至木盒正上方。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹抓取纸杯成功来到木盒正上方。", + "correction_plan": "爪夹松开纸杯落入木盒中。", + "annotations": { + "point_1767684002970": { + "type": "point", + "instances": [ + { + "id": "point_1767684002970_1767684066879_qtcexzob6", + "x": 0.49750000000000005, + "y": 0.49733333333333335 + } + ] + }, + "bbox_1767684002061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002061_1767684074136_pg2udc6dz", + "x": 0.49749999999999994, + "y": 0.37333333333333335, + "width": 0.2040000000000001, + "height": 0.29600000000000004 + } + ] + }, + "bbox_1767684002200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002200_1767684090476_vg69apyyk", + "x": 0.4025, + "y": 0.04933333333333334, + "width": 0.289, + "height": 0.632 + } + ] + } + } + }, + { + "time": 8.448533, + "frame": 253, + "progress": 100, + "action_description": "当前爪夹松开使纸杯落入木盒中。", + "state_description": "当前爪夹张开，此时纸杯落入木盒中。已完成抓取纸杯放入木盒中的任务。", + "progress_explanation": "当前爪夹松开使纸杯落入木盒中。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功将纸杯放入木盒。", + "correction_plan": "", + "annotations": { + "point_1767684002970": { + "type": "point", + "instances": [ + { + "id": "point_1767684002970_1767684018326_4bv6q0bsw", + "x": 0.3895, + "y": 0.5053333333333333 + } + ] + }, + "point_1767684003094": { + "type": "point", + "instances": [ + { + "id": "point_1767684003094_1767684020540_vza1b1d5y", + "x": 0.6185, + "y": 0.512 + } + ] + }, + "bbox_1767684002061": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002061_1767684029206_el4l43s7k", + "x": 0.4805, + "y": 0.24266666666666667, + "width": 0.14700000000000008, + "height": 0.18400000000000002 + } + ] + }, + "bbox_1767684002200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684002200_1767684042868_irsd7wuif", + "x": 0.3935, + "y": 0.04933333333333333, + "width": 0.265, + "height": 0.616 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767684002061", + "name": "纸杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1767684002200", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767684002970", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767684003094", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-093254-put-yellow paper cup-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-093254-put-yellow paper cup-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..505c3a0b2c3f0d156c85421c6843b2603574b528 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-093254-put-yellow paper cup-yellow-wooden box-mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,945 @@ +{ + "task_description": "分别将香蕉皮和纸杯抓进木盒中：\n爪夹准备移动：0%\n爪夹靠近香蕉皮：10%\n爪夹抓取香蕉皮：20%\n爪夹抓取香蕉皮接近木盒：25%\n爪夹抓取香蕉皮移动至木盒正上方：30%\n爪夹松开，香蕉皮落入木盒内：50%\n爪夹靠近纸杯：60%\n爪夹抓取纸杯：70%\n爪夹抓取纸杯接近木盒：80%\n爪夹抓取纸杯移动至木盒正上方：90%\n爪夹松开，纸杯落入木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方移动，爪夹向爪夹方向右下方移动至香蕉皮正上方，爪夹向爪夹方向下方移动靠近香蕉皮，爪夹合拢抓取香蕉皮，爪夹抓取香蕉皮竖直上升，爪夹抓取香蕉皮向爪夹方向前方移动接近木盒，爪夹抓取香蕉皮向爪夹方向前方移动至木盒正上方，松开爪夹使香蕉皮落入木盒，爪夹向爪夹方向左后方移动，爪夹向爪夹方向右下方移动至纸杯正上方，爪夹向爪夹方向下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向前方移动接近木盒，爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹静止不动，为完成分别将香蕉皮和纸杯抓进木盒中的任务应当：爪夹向爪夹方向前方移动。", + "time": 1.4925429262886598, + "annotations": { + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767689042755_8ujfb2vbb", + "x": 0.2465, + "y": 0.5546666666666666, + "width": 0.23399999999999999, + "height": 0.10933333333333337 + } + ] + }, + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767689053311_9yqp5a2l1", + "x": 0.4885, + "y": 0.48000000000000004, + "width": 0.079, + "height": 0.14266666666666664 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767689059333_9saolyzyp", + "x": 0.5175, + "y": 0.372, + "width": 0.347, + "height": 0.36000000000000004 + } + ] + } + } + }, + { + "time": 2.206363, + "frame": 66, + "progress": 5, + "action_description": "当前爪夹张开向爪夹方向前方移动。", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈45度角，为完成分别将香蕉皮和纸杯抓进木盒中的任务应当：爪夹向爪夹方向右下方移动至香蕉皮正上方。", + "progress_explanation": "当前爪夹张开向爪夹方向前方移动。因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功向爪夹前方移动。", + "correction_plan": "爪夹向爪夹方向右下方移动至香蕉皮正上方，爪夹向爪夹方向下方移动靠近香蕉皮，爪夹合拢抓取香蕉皮，爪夹抓取香蕉皮竖直上升，爪夹抓取香蕉皮向爪夹方向前方移动接近木盒，爪夹抓取香蕉皮向爪夹方向前方移动至木盒正上方，松开爪夹使香蕉皮落入木盒，爪夹向爪夹方向左后方移动，爪夹向爪夹方向右下方移动至纸杯正上方，爪夹向爪夹方向下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向前方移动接近木盒，爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "annotations": { + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767689004829_cxwnjciem", + "x": 0.24450000000000002, + "y": 0.5533333333333332, + "width": 0.23599999999999993, + "height": 0.10533333333333333 + } + ] + }, + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767689017491_w7updd3o6", + "x": 0.48950000000000005, + "y": 0.4746666666666667, + "width": 0.07999999999999999, + "height": 0.14266666666666664 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767689028857_nu3obpfxs", + "x": 0.5195000000000001, + "y": 0.3706666666666667, + "width": 0.3459999999999999, + "height": 0.3586666666666666 + } + ] + } + } + }, + { + "time": 3.032599, + "frame": 91, + "progress": 8, + "action_description": "当前爪夹向爪夹方向右下方移动至香蕉皮正上方。", + "state_description": "当前爪夹张开，此时爪夹位于香蕉皮正上方。为完成分别将香蕉皮和纸杯抓进木盒中的任务应当：爪夹向爪夹方向下方移动靠近香蕉皮。", + "progress_explanation": "当前爪夹向爪夹方向右下方移动至香蕉皮正上方。因此当前进度提升至8%。", + "error_success_analysis": "当前爪夹成功移动至香蕉皮正上方。", + "correction_plan": "爪夹向爪夹方向下方移动靠近香蕉皮，爪夹合拢抓取香蕉皮，爪夹抓取香蕉皮竖直上升，爪夹抓取香蕉皮向爪夹方向前方移动接近木盒，爪夹抓取香蕉皮向爪夹方向前方移动至木盒正上方，松开爪夹使香蕉皮落入木盒，爪夹向爪夹方向左后方移动，爪夹向爪夹方向右下方移动至纸杯正上方，爪夹向爪夹方向下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向前方移动接近木盒，爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "annotations": { + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767688964419_g0zzzcmij", + "x": 0.4915, + "y": 0.47733333333333333, + "width": 0.07800000000000003, + "height": 0.13999999999999999 + } + ] + }, + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767688973885_izk3g6pnj", + "x": 0.2435, + "y": 0.5533333333333333, + "width": 0.23900000000000002, + "height": 0.10533333333333333 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688987254_bedqzxl7n", + "x": 0.5145000000000001, + "y": 0.372, + "width": 0.35099999999999987, + "height": 0.35866666666666674 + } + ] + } + } + }, + { + "time": 3.409533, + "frame": 102, + "progress": 10, + "action_description": "爪夹向爪夹方向下方移动靠近香蕉皮。", + "state_description": "当前爪夹张开，此时爪夹靠近香蕉皮，为完成分别将香蕉皮和纸杯抓进木盒中的任务应当：爪夹合拢抓取香蕉皮。", + "progress_explanation": "爪夹向爪夹方向下方移动靠近香蕉皮。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功下降并靠近香蕉皮。", + "correction_plan": "爪夹合拢抓取香蕉皮，爪夹抓取香蕉皮竖直上升，爪夹抓取香蕉皮向爪夹方向前方移动接近木盒，爪夹抓取香蕉皮向爪夹方向前方移动至木盒正上方，松开爪夹使香蕉皮落入木盒，爪夹向爪夹方向左后方移动，爪夹向爪夹方向右下方移动至纸杯正上方，爪夹向爪夹方向下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向前方移动接近木盒，爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "annotations": { + "point_1767688261566": { + "type": "point", + "instances": [ + { + "id": "point_1767688261566_1767688876633_vm3rpr1ty", + "x": 0.4795, + "y": 0.6453333333333333 + } + ] + }, + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767688885364_z2p0kxr6d", + "x": 0.48950000000000005, + "y": 0.47733333333333333, + "width": 0.079, + "height": 0.13999999999999999 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688890989_16q69ozuw", + "x": 0.5185000000000001, + "y": 0.36933333333333335, + "width": 0.34699999999999986, + "height": 0.36 + } + ] + }, + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767688898100_o3fotqm3e", + "x": 0.23850000000000002, + "y": 0.5546666666666666, + "width": 0.251, + "height": 0.10666666666666665 + } + ] + } + } + }, + { + "time": 4.167481, + "frame": 125, + "progress": 20, + "action_description": "当前爪夹合拢抓取香蕉皮。", + "state_description": "当前爪夹合拢抓取香蕉皮，为完成分别将香蕉皮和纸杯抓进木盒中的任务应当：爪夹抓取香蕉皮竖直上升。", + "progress_explanation": "当前爪夹合拢抓取香蕉皮。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功合拢爪夹抓取香蕉皮。", + "correction_plan": "爪夹抓取香蕉皮竖直上升，爪夹抓取香蕉皮向爪夹方向前方移动接近木盒，爪夹抓取香蕉皮向爪夹方向前方移动至木盒正上方，松开爪夹使香蕉皮落入木盒，爪夹向爪夹方向左后方移动，爪夹向爪夹方向右下方移动至纸杯正上方，爪夹向爪夹方向下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向前方移动接近木盒，爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "annotations": { + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767688826437_4cczp9lce", + "x": 0.2515, + "y": 0.5893333333333334, + "width": 0.227, + "height": 0.10266666666666673 + } + ] + }, + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767688840522_f2cv2ulys", + "x": 0.48949999999999994, + "y": 0.4746666666666667, + "width": 0.08000000000000007, + "height": 0.14266666666666664 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688849791_7xyuo2b0z", + "x": 0.5165000000000001, + "y": 0.37200000000000005, + "width": 0.34899999999999987, + "height": 0.35866666666666663 + } + ] + }, + "point_1767688261566": { + "type": "point", + "instances": [ + { + "id": "point_1767688261566_1767688870057_ak2b63s3p", + "x": 0.43950000000000006, + "y": 0.648 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取香蕉皮竖直上升。", + "correction_plan": "爪夹抓取香蕉皮向爪夹方向前方移动接近木盒，爪夹抓取香蕉皮向爪夹方向前方移动至木盒正上方，松开爪夹使香蕉皮落入木盒，爪夹向爪夹方向左后方移动，爪夹向爪夹方向右下方移动至纸杯正上方，爪夹向爪夹方向下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向前方移动接近木盒，爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "error_success_analysis": "当前爪夹成功抓取香蕉皮并竖直上升。", + "frame": 181, + "progress": 23, + "progress_explanation": "当前爪夹合拢抓取香蕉皮竖直上升。因此当前进度提升至23%。", + "state_description": "当前爪夹合拢抓取将胶皮，此时爪夹与桌面水平角度呈20度角。", + "time": 6.031993009793814, + "annotations": { + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767688778191_t8i109845", + "x": 0.27049999999999996, + "y": 0.228, + "width": 0.15900000000000003, + "height": 0.23200000000000004 + } + ] + }, + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767688798595_bj7ltpblf", + "x": 0.4885, + "y": 0.476, + "width": 0.08000000000000007, + "height": 0.14400000000000007 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688809581_ykqgjni8b", + "x": 0.5165, + "y": 0.372, + "width": 0.347, + "height": 0.3546666666666667 + } + ] + } + } + }, + { + "time": 6.33539, + "frame": 190, + "progress": 25, + "action_description": "爪夹抓取香蕉皮向爪夹方向前方移动接近木盒。", + "state_description": "当前爪夹合拢抓取香蕉皮，为完成分别将香蕉皮和纸杯抓进木盒中的任务应当：爪夹抓取香蕉皮向爪夹方向前方移动至木盒正上方。", + "progress_explanation": "爪夹抓取香蕉皮向爪夹方向前方移动接近木盒。因此当前进度提升至25%。", + "error_success_analysis": "当前爪夹抓取香蕉皮成功接近木盒。", + "correction_plan": "爪夹抓取香蕉皮向爪夹方向前方移动至木盒正上方，松开爪夹使香蕉皮落入木盒，爪夹向爪夹方向左后方移动，爪夹向爪夹方向右下方移动至纸杯正上方，爪夹向爪夹方向下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向前方移动接近木盒，爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "annotations": { + "point_1767688261566": { + "type": "point", + "instances": [ + { + "id": "point_1767688261566_1767688734162_o1m5yv6m7", + "x": 0.4645, + "y": 0.19466666666666665 + } + ] + }, + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767688740201_kqd4g4dqe", + "x": 0.3405, + "y": 0.11733333333333333, + "width": 0.15300000000000002, + "height": 0.2773333333333333 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688750335_ihslct16i", + "x": 0.5175000000000001, + "y": 0.37200000000000005, + "width": 0.34699999999999986, + "height": 0.35866666666666663 + } + ] + }, + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767688760179_vypf7kgo7", + "x": 0.48950000000000005, + "y": 0.4746666666666667, + "width": 0.07999999999999999, + "height": 0.14266666666666664 + } + ] + } + } + }, + { + "time": 7.213563, + "frame": 216, + "progress": 30, + "action_description": "爪夹抓取香蕉皮向爪夹方向前方移动至木盒正上方。", + "state_description": "当前爪夹合拢抓取香蕉皮，此时香蕉皮位于木盒正上方。", + "progress_explanation": "此时香蕉皮位于木盒正上方，因此当前进度提升至30%。", + "error_success_analysis": "当前爪夹成功抓取香蕉皮移动至木盒正上方。", + "correction_plan": "松开爪夹使香蕉皮落入木盒，爪夹向爪夹方向左后方移动，爪夹向爪夹方向右下方移动至纸杯正上方，爪夹向爪夹方向下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向前方移动接近木盒，爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "annotations": { + "point_1767688261566": { + "type": "point", + "instances": [ + { + "id": "point_1767688261566_1767688702626_lc1gyhrfc", + "x": 0.5985, + "y": 0.18133333333333335 + } + ] + }, + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767688710490_m4qzodalm", + "x": 0.5075, + "y": 0.10133333333333333, + "width": 0.10000000000000009, + "height": 0.3306666666666667 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688722538_eyl4ccj3r", + "x": 0.5155000000000001, + "y": 0.37333333333333335, + "width": 0.3490000000000001, + "height": 0.3573333333333332 + } + ] + } + } + }, + { + "time": 7.877325, + "frame": 236, + "progress": 50, + "action_description": "爪夹松开使香蕉皮落入木盒。", + "state_description": "当前爪夹张开，此时香蕉皮落入木盒。为完成分别将香蕉皮和纸杯抓进木盒中的任务应当：爪夹向爪夹方向左后方移动。", + "progress_explanation": "当前爪夹松开使香蕉皮落入木盒。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功将香蕉皮放入木盒。", + "correction_plan": "爪夹向爪夹方向左后方移动，爪夹向爪夹方向右下方移动至纸杯正上方，爪夹向爪夹方向下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向前方移动接近木盒，爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "annotations": { + "point_1767688261566": { + "type": "point", + "instances": [ + { + "id": "point_1767688261566_1767688646355_qf3w9gqo2", + "x": 0.5935, + "y": 0.2 + } + ] + }, + "point_1767688261434": { + "type": "point", + "instances": [ + { + "id": "point_1767688261434_1767688649605_5t1jl03j8", + "x": 0.5195000000000001, + "y": 0.18533333333333335 + } + ] + }, + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767688657490_1hhrif3wl", + "x": 0.48950000000000005, + "y": 0.4746666666666667, + "width": 0.079, + "height": 0.14533333333333337 + } + ] + }, + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767688669037_tcz16ocsy", + "x": 0.5505, + "y": 0.412, + "width": 0.183, + "height": 0.14666666666666675 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688680444_7671gjb84", + "x": 0.5165, + "y": 0.3706666666666667, + "width": 0.3490000000000001, + "height": 0.36133333333333323 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左后方移动。", + "correction_plan": "爪夹向爪夹方向右下方移动至纸杯正上方，爪夹向爪夹方向下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向前方移动接近木盒，爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "error_success_analysis": "当前爪夹成功将爪夹向后移动。", + "frame": 270, + "progress": 53, + "progress_explanation": "爪夹向爪夹方向左后方移动。因此当前进度提升至53%。", + "state_description": "当前爪夹张开，此时爪夹与纸杯水平距离接近，为完成分别将香蕉皮和纸杯抓进木盒中的任务应当：爪夹向爪夹方向右下方移动至纸杯正上方。", + "time": 9, + "annotations": { + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767688606294_wlnyywvwe", + "x": 0.48950000000000005, + "y": 0.47866666666666663, + "width": 0.079, + "height": 0.13999999999999999 + } + ] + }, + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767688615270_6vviktvxv", + "x": 0.5565, + "y": 0.41200000000000003, + "width": 0.18, + "height": 0.15600000000000006 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688627006_jgmelbuxk", + "x": 0.5165000000000001, + "y": 0.37199999999999994, + "width": 0.34799999999999986, + "height": 0.3586666666666668 + } + ] + } + } + }, + { + "time": 10.536999, + "frame": 316, + "progress": 55, + "action_description": "爪夹向爪夹方向右下方移动至纸杯正上方。", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈30度。为完成分别将香蕉皮和纸杯抓进木盒中的任务应当：爪夹向爪夹方向下方移动靠近纸杯。", + "progress_explanation": "爪夹向爪夹方向右下方移动至纸杯正上方。因此当前进度提升至55%。", + "error_success_analysis": "当前爪夹成功移动至纸杯正上方", + "correction_plan": "爪夹向爪夹方向下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向前方移动接近木盒，爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "annotations": { + "point_1767688261566": { + "type": "point", + "instances": [ + { + "id": "point_1767688261566_1767688562630_7wrykipyt", + "x": 0.5855, + "y": 0.532 + } + ] + }, + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767688569918_i20joxgyx", + "x": 0.48950000000000005, + "y": 0.47466666666666674, + "width": 0.07599999999999998, + "height": 0.14533333333333331 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688581960_l1yrkq1rs", + "x": 0.5175, + "y": 0.3733333333333333, + "width": 0.346, + "height": 0.3573333333333334 + } + ] + } + } + }, + { + "time": 11.462199, + "frame": 344, + "progress": 60, + "action_description": "爪夹向爪夹方向下方移动靠近纸杯。", + "state_description": "当前抓夹张开，此时爪夹靠近纸杯。为完成分别将香蕉皮和纸杯抓进木盒中的任务应当：爪夹合拢抓取纸杯。", + "progress_explanation": "爪夹向爪夹方向下方移动靠近纸杯。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹下降成功靠近纸杯。", + "correction_plan": "爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向前方移动接近木盒，爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "annotations": { + "point_1767688261566": { + "type": "point", + "instances": [ + { + "id": "point_1767688261566_1767688517476_f6likfc5a", + "x": 0.6005, + "y": 0.5986666666666667 + } + ] + }, + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767688526120_awq57rv44", + "x": 0.4915, + "y": 0.49733333333333335, + "width": 0.07800000000000003, + "height": 0.12266666666666672 + } + ] + }, + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767688539911_qwzmbhd58", + "x": 0.5285, + "y": 0.44133333333333336, + "width": 0.209, + "height": 0.11466666666666665 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688549073_0j6yue4j1", + "x": 0.5135000000000001, + "y": 0.35733333333333334, + "width": 0.3499999999999999, + "height": 0.37066666666666653 + } + ] + } + } + }, + { + "time": 12.096133, + "frame": 363, + "progress": 70, + "action_description": "当前爪夹合拢抓取纸杯。", + "state_description": "当前爪夹合拢抓取纸杯，为完成分别将香蕉皮和纸杯抓进木盒中的任务应当：爪夹抓取纸杯竖直上升。", + "progress_explanation": "当前爪夹合拢抓取纸杯。因此当前进度提升至70%。", + "error_success_analysis": "当前爪夹成功合拢爪夹抓取纸杯。", + "correction_plan": "爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向前方移动接近木盒，爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "annotations": { + "point_1767688261566": { + "type": "point", + "instances": [ + { + "id": "point_1767688261566_1767688461960_kvxnprtib", + "x": 0.5475000000000001, + "y": 0.5986666666666667 + } + ] + }, + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767688466117_7et1j07st", + "x": 0.5115000000000001, + "y": 0.5333333333333333, + "width": 0.05999999999999996, + "height": 0.0959999999999999 + } + ] + }, + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767688474846_glvybeb0i", + "x": 0.5485, + "y": 0.4426666666666667, + "width": 0.188, + "height": 0.11199999999999997 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688490740_xk9vwj6x9", + "x": 0.5305000000000001, + "y": 0.38, + "width": 0.33499999999999985, + "height": 0.34666666666666657 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取纸杯竖直上升。", + "correction_plan": "爪夹抓取纸杯向爪夹方向前方移动接近木盒，爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "error_success_analysis": "当前爪夹成功抓取纸杯并竖直上升。", + "frame": 407, + "progress": 75, + "progress_explanation": "当前爪夹合拢抓取纸杯竖直上升。因此当前进度提升至75%。", + "state_description": "当前爪夹合拢抓取纸杯，此时爪夹与桌面水平角度呈45度角。为完成分别将香蕉皮和纸杯抓进木盒中的任务应当：爪夹抓取纸杯向爪夹方向前方移动接近木盒。", + "time": 13.574192175773195, + "annotations": { + "point_1767688261566": { + "type": "point", + "instances": [ + { + "id": "point_1767688261566_1767688420877_ug8fl24up", + "x": 0.5425, + "y": 0.34400000000000003 + } + ] + }, + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767688430481_e998pwqwz", + "x": 0.5595, + "y": 0.4106666666666667, + "width": 0.17700000000000005, + "height": 0.16533333333333336 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688435612_0q33h3nze", + "x": 0.5175000000000001, + "y": 0.372, + "width": 0.34699999999999986, + "height": 0.3573333333333333 + } + ] + } + } + }, + { + "time": 13.946533, + "frame": 418, + "progress": 80, + "action_description": "当前爪夹抓取纸杯向爪夹方向前方移动直至接近木盒。", + "state_description": "当前爪夹合拢抓取纸杯，此时纸杯水平距离接近木盒。为完成分别将香蕉皮和纸杯抓进木盒中的任务应当：爪夹抓取纸杯向爪夹方向前方移动至木盒正上方。", + "progress_explanation": "当前爪夹抓取纸杯向爪夹方向前方移动直至接近木盒。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取纸杯接近木盒。", + "correction_plan": "爪夹抓取纸杯向爪夹方向前方移动至木盒正上方，爪夹松开使纸杯落入木盒。", + "annotations": { + "point_1767688261566": { + "type": "point", + "instances": [ + { + "id": "point_1767688261566_1767688380666_ft2qind0m", + "x": 0.6345, + "y": 0.33066666666666666 + } + ] + }, + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767688393951_09fwvls99", + "x": 0.5805, + "y": 0.272, + "width": 0.07600000000000007, + "height": 0.08666666666666663 + } + ] + }, + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767688404656_ylw54yzuf", + "x": 0.5575, + "y": 0.412, + "width": 0.176, + "height": 0.14666666666666675 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688411124_v9wn7admi", + "x": 0.5145000000000001, + "y": 0.37333333333333335, + "width": 0.3489999999999999, + "height": 0.3559999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹抓取纸杯向爪夹方向前方移动至木盒正上方。", + "correction_plan": "爪夹松开使纸杯落入木盒", + "error_success_analysis": "当前爪夹成功抓取纸杯移动至木盒正上方。", + "frame": 435, + "progress": 90, + "progress_explanation": "爪夹抓取纸杯向爪夹方向前方移动至木盒正上方。因此当前进度提升至90%。", + "state_description": "当前爪夹合拢抓取纸杯，此时纸杯位于木盒正上方。为完成分别将香蕉皮和纸杯抓进木盒中的任务应当：爪夹松开使纸杯落入木盒。", + "time": 14.510343360309278, + "annotations": { + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767688351386_zyj35rp1n", + "x": 0.6205, + "y": 0.32933333333333337, + "width": 0.075, + "height": 0.08266666666666662 + } + ] + }, + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767688362076_po3id8zna", + "x": 0.5525, + "y": 0.4186666666666667, + "width": 0.184, + "height": 0.1386666666666666 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688368424_o7pjs56m0", + "x": 0.5145000000000001, + "y": 0.3866666666666667, + "width": 0.35099999999999987, + "height": 0.34266666666666656 + } + ] + }, + "point_1767688261566": { + "type": "point", + "instances": [ + { + "id": "point_1767688261566_1767688386798_29s3p8aad", + "x": 0.6725000000000001, + "y": 0.372 + } + ] + } + } + }, + { + "action_description": "爪夹松开使纸杯落入木盒。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将纸杯和香蕉皮放入木盒。", + "frame": 467, + "progress": 100, + "progress_explanation": "爪夹松开使纸杯落入木盒。因此当前进度提升至100%。", + "state_description": "当前爪夹张开，此时纸杯落入木盒。已完成分别将香蕉皮和纸杯抓进木盒中的任务。", + "time": 15.570137154123712, + "annotations": { + "point_1767688261566": { + "type": "point", + "instances": [ + { + "id": "point_1767688261566_1767688291294_14sidi0m1", + "x": 0.6535, + "y": 0.4746666666666667 + } + ] + }, + "bbox_1767688260612": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260612_1767688298995_hj3zt76ex", + "x": 0.5705000000000001, + "y": 0.444, + "width": 0.10399999999999991, + "height": 0.12399999999999996 + } + ] + }, + "bbox_1767688260474": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688260474_1767688313891_st00ygy7u", + "x": 0.5165, + "y": 0.36933333333333335, + "width": 0.348, + "height": 0.35866666666666663 + } + ] + }, + "bbox_1767688262463": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767688262463_1767688329482_pxzs1uvx1", + "x": 0.5864999999999999, + "y": 0.49066666666666664, + "width": 0.15100000000000008, + "height": 0.06666666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767688260474", + "name": "木盒", + "color": "#4CAF50" + }, + { + "id": "bbox_1767688260612", + "name": "纸杯", + "color": "#FF9800" + }, + { + "id": "bbox_1767688262463", + "name": "香蕉皮", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1767688261434", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767688261566", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-093254-put-yellow paper cup-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-093254-put-yellow paper cup-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..9871355cd99169b14e78153a1f4aa372f7305eea --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-093254-put-yellow paper cup-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,642 @@ +{ + "task_description": "抓取纸杯放入木盒中：\n爪夹准备移动：0%\n爪夹靠近纸杯：20%\n爪夹抓取纸杯：40%\n爪夹抓取纸杯接近木盒：60%\n爪夹抓取纸杯移动至木盒正上方：80%\n爪夹松开，纸杯落入木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右前方移动至纸杯正上方，爪夹向爪夹方向右下方移动使爪夹左进入纸杯中，爪夹合拢抓取纸杯，爪夹抓取纸杯向爪夹方向右前方移动直至接近木盒，爪夹抓取纸杯向爪夹右前方移动至木盒正上方，爪夹抓取纸杯垂直下降至木盒内，爪夹松开使纸杯落入木盒。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，爪夹准备移动，为完成抓取纸杯放入木盒中的任务应当：爪夹向爪夹方向右前方移动至纸杯正上方。", + "time": 1.6551030927835049, + "annotations": { + "point_1767691808175": { + "type": "point", + "instances": [ + { + "id": "point_1767691808175_1767692262763_peh94q2u9", + "x": 0.3905, + "y": 0.4986666666666667 + } + ] + }, + "point_1767691808300": { + "type": "point", + "instances": [ + { + "id": "point_1767691808300_1767692265007_rxc5ptnk3", + "x": 0.6235, + "y": 0.504 + } + ] + }, + "bbox_1767691807174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807174_1767692274211_mpovlvh79", + "x": 0.6445000000000001, + "y": 0.33066666666666666, + "width": 0.11199999999999992, + "height": 0.17733333333333334 + } + ] + }, + "bbox_1767691807443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807443_1767692290625_43rlafkqt", + "x": 0.7435, + "y": 0.30933333333333335, + "width": 0.19299999999999998, + "height": 0.328 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动至纸杯正上方。", + "correction_plan": "爪夹向爪夹方向右下方移动使爪夹左进入纸杯中，爪夹合拢抓取纸杯，爪夹抓取纸杯向爪夹方向右前方移动直至接近木盒，爪夹抓取纸杯向爪夹右前方移动至木盒正上方，爪夹抓取纸杯垂直下降至木盒内，爪夹松开使纸杯落入木盒。", + "error_success_analysis": "当前爪夹成功移动至纸杯正上方。", + "frame": 88, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向右前方移动至纸杯正上方。因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹位于纸杯正上方，为完成抓取纸杯放入木盒中的任务应当：爪夹向爪夹方向右下方移动使爪夹左进入纸杯中。", + "time": 2.9329, + "annotations": { + "point_1767691808175": { + "type": "point", + "instances": [ + { + "id": "point_1767691808175_1767692230051_ra6q5ksw0", + "x": 0.3895, + "y": 0.49733333333333335 + } + ] + }, + "point_1767691808300": { + "type": "point", + "instances": [ + { + "id": "point_1767691808300_1767692231945_keid5fikp", + "x": 0.6235, + "y": 0.5066666666666667 + } + ] + }, + "bbox_1767691807443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807443_1767692238439_5axrst11w", + "x": 0.5734999999999999, + "y": 0.16133333333333333, + "width": 0.23500000000000015, + "height": 0.3093333333333333 + } + ] + }, + "bbox_1767691807174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807174_1767692247697_m2h1c2xzw", + "x": 0.4584999999999999, + "y": 0.38666666666666666, + "width": 0.12300000000000014, + "height": 0.15600000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右下方移动使爪夹左进入纸杯中。", + "correction_plan": "爪夹合拢抓取纸杯，爪夹抓取纸杯向爪夹方向右前方移动直至接近木盒，爪夹抓取纸杯向爪夹右前方移动至木盒正上方，爪夹抓取纸杯垂直下降至木盒内，爪夹松开使纸杯落入木盒。", + "error_success_analysis": "当前爪夹成功靠近纸杯。", + "frame": 114, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向右下方移动使爪夹左进入纸杯中。当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹靠近纸杯。为完成抓取纸杯放入木盒中的任务应当：爪夹合拢抓取纸杯。", + "time": 3.7902577319587625, + "annotations": { + "point_1767691808300": { + "type": "point", + "instances": [ + { + "id": "point_1767691808300_1767692203049_eep5szjfy", + "x": 0.6214999999999999, + "y": 0.5133333333333333 + } + ] + }, + "bbox_1767691807174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807174_1767692208765_8mgiw9tig", + "x": 0.2225, + "y": 0.42133333333333334, + "width": 0.22799999999999998, + "height": 0.332 + } + ] + }, + "bbox_1767691807443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807443_1767692223049_oftlgc7oc", + "x": 0.4245, + "y": 0.029333333333333333, + "width": 0.333, + "height": 0.3173333333333333 + } + ] + } + } + }, + { + "time": 4.4063, + "frame": 132, + "progress": 10, + "action_description": "当前爪夹张开爪夹向爪夹右边移动将纸杯碰倒。", + "state_description": "当前爪夹张开，此时纸杯落在书上。为完成抓取纸杯放入木盒中的任务应当：当前爪夹调整爪夹与桌面的水平角度使其垂直于桌面。", + "progress_explanation": "当前爪夹张开爪夹向爪夹右边移动将纸杯碰倒。因此当前进度跌落至10%。", + "error_success_analysis": "当前爪夹靠近纸杯时没有合拢爪夹就向爪夹方向右边移动导致纸杯被爪夹碰倒。", + "correction_plan": "当前爪夹调整爪夹与桌面的水平角度使其垂直于桌面，爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯向爪夹方向右前方移动直至接近木盒，爪夹抓取纸杯向爪夹右前方移动至木盒正上方，爪夹抓取纸杯垂直下降至木盒内，爪夹松开使纸杯落入木盒。", + "annotations": { + "point_1767691808175": { + "type": "point", + "instances": [ + { + "id": "point_1767691808175_1767692168333_mxl1o67l5", + "x": 0.3865, + "y": 0.5 + } + ] + }, + "point_1767691808300": { + "type": "point", + "instances": [ + { + "id": "point_1767691808300_1767692170387_qr6l4cy69", + "x": 0.6245, + "y": 0.5 + } + ] + }, + "bbox_1767691807443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807443_1767692180013_9pk6fjayh", + "x": 0.22949999999999998, + "y": 0.08933333333333333, + "width": 0.387, + "height": 0.27866666666666673 + } + ] + }, + "bbox_1767691807174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807174_1767692186513_5w5ih3egg", + "x": 0.26549999999999996, + "y": 0.4106666666666667, + "width": 0.15800000000000006, + "height": 0.17866666666666664 + } + ] + } + } + }, + { + "action_description": "当前爪夹调整爪夹与桌面的水平角度使其垂直于桌面。", + "correction_plan": "爪夹向爪夹方向右下方移动并调整爪夹角度并靠近纸杯，爪夹继续向爪夹方向右下方移动并调整爪夹角度使爪夹左进入纸杯中，爪夹合拢抓取纸杯，爪夹抓取纸杯向爪夹方向右前方移动直至接近木盒，爪夹抓取纸杯向爪夹右前方移动至木盒正上方，爪夹抓取纸杯垂直下降至木盒内，爪夹松开使纸杯落入木盒。", + "error_success_analysis": "当前爪夹成功调整爪夹与桌面水平角度。", + "frame": 161, + "progress": 15, + "progress_explanation": "当前爪夹调整爪夹与桌面的水平角度使其垂直于桌面。因此当前进度提升至15%。", + "state_description": "当前爪夹张开，此时爪夹垂直于桌面。为完成抓取纸杯放入木盒中的任务应当：爪夹向爪夹方向右下方移动并调整爪夹角度并靠近纸杯。", + "time": 5.3808762886597945, + "annotations": { + "point_1767691808175": { + "type": "point", + "instances": [ + { + "id": "point_1767691808175_1767692141007_cafgv55c3", + "x": 0.3875, + "y": 0.508 + } + ] + }, + "point_1767691808300": { + "type": "point", + "instances": [ + { + "id": "point_1767691808300_1767692143025_f3077tngi", + "x": 0.6225, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767691807174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807174_1767692148801_r9z5dpvw6", + "x": 0.5295, + "y": 0.24266666666666667, + "width": 0.176, + "height": 0.20266666666666663 + } + ] + }, + "bbox_1767691807443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807443_1767692161212_36hyww492", + "x": 0.5355000000000001, + "y": 0.03066666666666667, + "width": 0.35, + "height": 0.35866666666666663 + } + ] + } + } + }, + { + "time": 7.1863, + "frame": 216, + "progress": 20, + "action_description": "爪夹向爪夹方向右下方移动并调整爪夹角度并靠近纸杯。", + "state_description": "当前爪夹张开，此时爪夹靠近纸杯。", + "progress_explanation": "爪夹向爪夹方向右下方移动并调整爪夹角度并靠近纸杯，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功下降并靠近纸杯。", + "correction_plan": "爪夹继续向爪夹方向右下方移动并调整爪夹角度使爪夹左进入纸杯中，爪夹合拢抓取纸杯，爪夹抓取纸杯向爪夹方向右前方移动直至接近木盒，爪夹抓取纸杯向爪夹右前方移动至木盒正上方，爪夹抓取纸杯垂直下降至木盒内，爪夹松开使纸杯落入木盒。", + "annotations": { + "point_1767691808175": { + "type": "point", + "instances": [ + { + "id": "point_1767691808175_1767692107653_vxvwyn71j", + "x": 0.3875, + "y": 0.4986666666666667 + } + ] + }, + "point_1767691808300": { + "type": "point", + "instances": [ + { + "id": "point_1767691808300_1767692109565_cxk460su0", + "x": 0.6205, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767691807174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807174_1767692115977_v1182u4xo", + "x": 0.3415, + "y": 0.352, + "width": 0.22299999999999995, + "height": 0.26533333333333337 + } + ] + }, + "bbox_1767691807443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807443_1767692131349_a5cn07ywm", + "x": 0.3335, + "y": 0.032, + "width": 0.46000000000000013, + "height": 0.36399999999999993 + } + ] + } + } + }, + { + "time": 7.698797, + "frame": 231, + "progress": 30, + "action_description": "爪夹向爪夹方向右下方移动并调整爪夹角度使爪夹左进入纸杯中，此时爪夹略微合拢。", + "state_description": "当前爪夹略微合拢，此时爪夹左位于纸杯中。为完成抓取纸杯放入木盒中的任务应当：爪夹合拢抓取纸杯。", + "progress_explanation": "爪夹向爪夹方向右下方移动并调整爪夹角度使爪夹左进入纸杯中，此时爪夹略微合拢。因此当前进度提升至30%", + "error_success_analysis": "当前爪夹成功将爪夹左放入纸杯中。", + "correction_plan": "爪夹合拢抓取纸杯，爪夹抓取纸杯向爪夹方向右前方移动直至接近木盒，爪夹抓取纸杯向爪夹右前方移动至木盒正上方，爪夹抓取纸杯垂直下降至木盒内，爪夹松开使纸杯落入木盒。", + "annotations": { + "point_1767691808300": { + "type": "point", + "instances": [ + { + "id": "point_1767691808300_1767692077629_952mwwvgu", + "x": 0.5985, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767691807174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807174_1767692084397_tt6l4hpa9", + "x": 0.28150000000000003, + "y": 0.3479999999999999, + "width": 0.271, + "height": 0.34266666666666673 + } + ] + }, + "bbox_1767691807443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807443_1767692100704_igg4209rl", + "x": 0.2705, + "y": 0.03333333333333333, + "width": 0.533, + "height": 0.35200000000000004 + } + ] + } + } + }, + { + "time": 8.3261, + "frame": 250, + "progress": 40, + "action_description": "当前爪夹合拢抓取纸杯。", + "state_description": "当前爪夹合拢抓取纸杯，为完成抓取纸杯放入木盒中的任务应当：爪夹抓取纸杯竖直上升。", + "progress_explanation": "当前爪夹合拢抓取纸杯。当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功合拢抓取纸杯。", + "correction_plan": "爪夹抓取纸杯向爪夹方向右前方移动直至接近木盒，爪夹抓取纸杯向爪夹右前方移动至木盒正上方，爪夹抓取纸杯垂直下降至木盒内，爪夹松开使纸杯落入木盒。", + "annotations": { + "point_1767691808300": { + "type": "point", + "instances": [ + { + "id": "point_1767691808300_1767692047933_7ztc07dy3", + "x": 0.5145000000000001, + "y": 0.49733333333333335 + } + ] + }, + "bbox_1767691807174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807174_1767692056105_ovtunftet", + "x": 0.29250000000000004, + "y": 0.3506666666666666, + "width": 0.22399999999999998, + "height": 0.3533333333333334 + } + ] + }, + "bbox_1767691807443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807443_1767692066713_k8agrp6i9", + "x": 0.22749999999999998, + "y": 0.0026666666666666666, + "width": 0.533, + "height": 0.37466666666666665 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取纸杯竖直上升。", + "correction_plan": "爪夹抓取纸杯向爪夹方向右前方移动直至接近木盒，爪夹抓取纸杯向爪夹右前方移动至木盒正上方，爪夹抓取纸杯垂直下降至木盒内，爪夹松开使纸杯落入木盒。", + "error_success_analysis": "当前爪夹成功抓取纸杯竖直上升。", + "frame": 282, + "progress": 50, + "progress_explanation": "当前爪夹抓取纸杯竖直上升。因此当前进度提升至50%。", + "state_description": "当前爪夹合拢抓取纸杯，此时爪夹与桌面水平角度呈45度角。为完成抓取纸杯放入木盒中的任务应当：爪夹抓取纸杯向爪夹方向右前方移动直至接近木盒。", + "time": 9.407577319587629, + "annotations": { + "point_1767691808300": { + "type": "point", + "instances": [ + { + "id": "point_1767691808300_1767692015895_2ovoi6o17", + "x": 0.5145000000000001, + "y": 0.4986666666666667 + } + ] + }, + "bbox_1767691807174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807174_1767692020931_8bg1ycd5u", + "x": 0.2935, + "y": 0.3506666666666666, + "width": 0.22900000000000004, + "height": 0.34400000000000003 + } + ] + }, + "bbox_1767691807443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807443_1767692033199_hottc4lsw", + "x": 0.2635, + "y": 0.0013333333333333333, + "width": 0.4749999999999999, + "height": 0.38400000000000006 + } + ] + } + } + }, + { + "time": 10.1609, + "frame": 305, + "progress": 60, + "action_description": "爪夹抓取纸杯向爪夹方向右前方移动直至接近木盒。", + "state_description": "当前爪夹合拢抓取纸杯，此时纸杯与木盒水平距离接近。为完成抓取纸杯放入木盒中的任务应当：爪夹抓取纸杯向爪夹右前方移动至木盒正上方。", + "progress_explanation": "爪夹抓取纸杯向爪夹方向右前方移动直至接近木盒。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹抓取纸杯成功接近木盒。", + "correction_plan": "爪夹抓取纸杯向爪夹右前方移动至木盒正上方，爪夹抓取纸杯垂直下降至木盒内，爪夹松开使纸杯落入木盒。", + "annotations": { + "point_1767691808300": { + "type": "point", + "instances": [ + { + "id": "point_1767691808300_1767691974412_3ipg4enhq", + "x": 0.5125, + "y": 0.49733333333333335 + } + ] + }, + "bbox_1767691807174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807174_1767691979761_gvgtypaph", + "x": 0.2935, + "y": 0.35466666666666663, + "width": 0.22700000000000004, + "height": 0.3413333333333333 + } + ] + }, + "bbox_1767691807443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807443_1767691997406_2j5z5o8u6", + "x": 0.28750000000000003, + "y": 0.15866666666666665, + "width": 0.33399999999999996, + "height": 0.3546666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹抓取纸杯向爪夹右前方移动至木盒正上方。", + "correction_plan": "爪夹松开使纸杯落入木盒。", + "error_success_analysis": "当前爪夹成功抓取纸杯移动至木盒正上方。", + "frame": 332, + "progress": 80, + "progress_explanation": "爪夹抓取纸杯向爪夹右前方移动至木盒正上方。因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取纸杯，此时纸杯位于木盒正上方。为完成抓取纸杯放入木盒中的任务应当：爪夹松开使纸杯落入木盒。", + "time": 11.055515463917525, + "annotations": { + "point_1767691808300": { + "type": "point", + "instances": [ + { + "id": "point_1767691808300_1767691938771_ldmmej440", + "x": 0.5175, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767691807174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807174_1767691943678_yvgfk7fk9", + "x": 0.29250000000000004, + "y": 0.34933333333333333, + "width": 0.22600000000000003, + "height": 0.3466666666666666 + } + ] + }, + "bbox_1767691807443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807443_1767691954663_dkcgn3jd3", + "x": 0.2105, + "y": 0.30266666666666675, + "width": 0.4029999999999999, + "height": 0.4279999999999999 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开使纸杯落入木盒。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将纸杯放入木盒。", + "frame": 360, + "progress": 100, + "progress_explanation": "当前爪夹松开使纸杯落入木盒。因此当前进度提升至100%。", + "state_description": "当前爪夹松开，此时纸杯落入木盒。已完成抓取纸杯放入木盒中的任务。", + "time": 11.9869587628866, + "annotations": { + "point_1767691808175": { + "type": "point", + "instances": [ + { + "id": "point_1767691808175_1767691906025_ss8j250k6", + "x": 0.3915, + "y": 0.512 + } + ] + }, + "point_1767691808300": { + "type": "point", + "instances": [ + { + "id": "point_1767691808300_1767691907627_x9lmuhg4q", + "x": 0.6205, + "y": 0.5093333333333334 + } + ] + }, + "bbox_1767691807174": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807174_1767691911517_zi9tnra8k", + "x": 0.2995, + "y": 0.392, + "width": 0.12299999999999996, + "height": 0.16266666666666668 + } + ] + }, + "bbox_1767691807443": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767691807443_1767691924867_frfei1iov", + "x": 0.21450000000000005, + "y": 0.33866666666666667, + "width": 0.3919999999999999, + "height": 0.32000000000000006 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767691807174", + "name": "纸杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1767691807443", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767691808175", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767691808300", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-093254-put-yellow paper cup-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-093254-put-yellow paper cup-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..2eab75bad499856fab9523d471dfe8128bd320be --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-093254-put-yellow paper cup-yellow-wooden box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,566 @@ +{ + "task_description": "抓取纸杯放入木盒中：\n爪夹准备移动：0%\n爪夹靠近纸杯：20%\n爪夹抓取纸杯：40%\n爪夹抓取纸杯接近木盒：60%\n爪夹抓取纸杯移动至木盒正上方：80%\n爪夹松开，纸杯落入木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "当前爪夹向爪夹右下方移动并调整爪夹与桌面水平角度，使爪夹与桌面水平角度呈45度角，爪夹向爪夹方向右前方移动至纸杯正上方，爪夹向爪夹方向右下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右后方移动至木盒正上方，松开爪夹使纸杯落入木盒。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取纸杯放入木盒中的任务应当：当前爪夹向爪夹右下方移动并调整爪夹与桌面水平角度，使爪夹与桌面水平角度呈45度角。", + "time": 1.5278693860824744, + "annotations": { + "point_1767749274594": { + "type": "point", + "instances": [ + { + "id": "point_1767749274594_1767749761368_jwqq3kp31", + "x": 0.3895, + "y": 0.49733333333333335 + } + ] + }, + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767749763606_abbv4w0qf", + "x": 0.6245, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767749770464_7p15c1wts", + "x": 0.7165000000000001, + "y": 0.3799999999999999, + "width": 0.07299999999999995, + "height": 0.12266666666666677 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767749786802_cf3prvq7h", + "x": 0.6115, + "y": 0.528, + "width": 0.274, + "height": 0.31733333333333325 + } + ] + } + } + }, + { + "time": 3.0115806974226804, + "frame": 90, + "progress": 5, + "action_description": "当前爪夹向爪夹右下方移动并调整爪夹与桌面水平角度。", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈45度角。为完成抓取纸杯放入木盒中的任务应当：爪夹向爪夹方向右前方移动至纸杯正上方。", + "progress_explanation": "当前爪夹向爪夹右下方移动并调整爪夹与桌面水平角度。因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功调整爪夹与桌面的水平角度。", + "correction_plan": "爪夹向爪夹方向右前方移动至纸杯正上方，爪夹向爪夹方向右下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右后方移动至木盒正上方，松开爪夹使纸杯落入木盒。", + "annotations": { + "point_1767749274594": { + "type": "point", + "instances": [ + { + "id": "point_1767749274594_1767749731864_fzzuhpdpz", + "x": 0.3915, + "y": 0.5013333333333334 + } + ] + }, + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767749734058_mfobkp6iq", + "x": 0.6265000000000001, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767749739560_1134zrlpm", + "x": 0.2455, + "y": 0.20533333333333334, + "width": 0.4920000000000001, + "height": 0.6213333333333334 + } + ] + } + } + }, + { + "time": 3.6651202036082475, + "frame": 110, + "progress": -5, + "action_description": "当前爪夹向爪夹方向下方移动靠近桌面。", + "state_description": "当前爪夹略微合拢，此时爪夹位于白色茶杯后方。为完成抓取纸杯放入木盒中的任务应当：爪夹向爪夹方向右上方移动至纸杯正上方。", + "progress_explanation": "当前爪夹向爪夹方向下方移动靠近桌面。因此当前进度跌落至-5%。", + "error_success_analysis": "当前爪夹没有直接取抓取纸杯。", + "correction_plan": "爪夹向爪夹方向右上方移动至纸杯正上方，爪夹向爪夹方向右下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右后方移动至木盒正上方，松开爪夹使纸杯落入木盒。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767749711775_yh30k9isz", + "x": 0.6635, + "y": 0.16266666666666665, + "width": 0.18100000000000005, + "height": 0.35866666666666674 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767749719978_74ua6q3qy", + "x": 0.46349999999999997, + "y": 0.48133333333333334, + "width": 0.358, + "height": 0.45600000000000007 + } + ] + } + } + }, + { + "time": 4.707250767525774, + "frame": 141, + "progress": -10, + "action_description": "当前爪夹竖直上升并合拢爪夹。", + "state_description": "当前爪夹合拢，此时爪夹与桌面水平角度呈30度角。为完成抓取纸杯放入木盒中的任务应当：爪夹张开向爪夹方向右边移动至纸杯正上方。", + "progress_explanation": "当前爪夹比上一阶段更加远离了纸杯。因此当前进度跌落至-10%。", + "error_success_analysis": "当前爪夹垂直距离更加远离了纸杯。", + "correction_plan": "爪夹张开向爪夹方向右边移动至纸杯正上方，爪夹向爪夹方向右下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右后方移动至木盒正上方，松开爪夹使纸杯落入木盒。", + "annotations": { + "point_1767749274594": { + "type": "point", + "instances": [ + { + "id": "point_1767749274594_1767749662894_dr2kgdh3i", + "x": 0.49850000000000005, + "y": 0.4986666666666667 + } + ] + }, + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767749664628_vaefol6oj", + "x": 0.5135, + "y": 0.504 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767749672054_umz4bwlr3", + "x": 0.5505, + "y": 0.3773333333333333, + "width": 0.11299999999999999, + "height": 0.20266666666666666 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767749691868_07vtbu0mh", + "x": 0.5035000000000001, + "y": 0.5853333333333333, + "width": 0.24400000000000005, + "height": 0.34933333333333333 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开。", + "correction_plan": "爪夹张开向爪夹方向右边移动至纸杯正上方，爪夹向爪夹方向右下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右后方移动至木盒正上方，松开爪夹使纸杯落入木盒。", + "error_success_analysis": "当前爪夹成功张开，比上一阶段更方便抓取纸杯。", + "frame": 178, + "progress": 5, + "progress_explanation": "当前爪夹张开，因此当前进度提升至5%。", + "state_description": "当前爪夹张开，此时爪夹与纸杯垂直距离较远。为完成抓取纸杯放入木盒中的任务应当：爪夹向爪夹方向右下方移动至纸杯正上方。", + "time": 5.926013630412371, + "annotations": { + "point_1767749274594": { + "type": "point", + "instances": [ + { + "id": "point_1767749274594_1767749608130_eiz0r9lqa", + "x": 0.3895, + "y": 0.5013333333333334 + } + ] + }, + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767749610914_6eqqc0xe1", + "x": 0.6255, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767749618396_tt5bdbl0s", + "x": 0.5405, + "y": 0.37866666666666665, + "width": 0.11799999999999997, + "height": 0.20400000000000004 + } + ] + } + } + }, + { + "time": 7.39206171185567, + "frame": 222, + "progress": 10, + "action_description": "爪夹张开向爪夹方向右下方移动至纸杯正上方。", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈45度角。为完成抓取纸杯放入木盒中的任务应当：爪夹向爪夹方向右下方靠近。", + "progress_explanation": "爪夹张开向爪夹方向右下方移动至纸杯正上方。因次当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功移动至纸杯正上方。", + "correction_plan": "爪夹向爪夹方向右下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右后方移动至木盒正上方，松开爪夹使纸杯落入木盒。", + "annotations": { + "point_1767749274594": { + "type": "point", + "instances": [ + { + "id": "point_1767749274594_1767749557412_yqvlnj064", + "x": 0.3925, + "y": 0.512 + } + ] + }, + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767749559316_bwu0l57jx", + "x": 0.6235, + "y": 0.5 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767749568530_zfzufmceh", + "x": 0.3635, + "y": 0.3373333333333334, + "width": 0.16400000000000006, + "height": 0.26799999999999996 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767749581948_1n1rn2xi9", + "x": 0.3175, + "y": 0.5493333333333333, + "width": 0.41100000000000003, + "height": 0.42266666666666663 + } + ] + } + } + }, + { + "time": 8.893436253092785, + "frame": 267, + "progress": 20, + "action_description": "当前爪夹张开向爪夹方向右下方移动靠近纸杯。", + "state_description": "当前爪夹张开，此时爪夹靠近纸杯，为完成抓取纸杯放入木盒中的任务应当：爪夹合拢抓取纸杯。", + "progress_explanation": "当前爪夹张开向爪夹方向右下方移动靠近纸杯。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右下方移动并靠近纸杯。", + "correction_plan": "爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右后方移动至木盒正上方，松开爪夹使纸杯落入木盒。", + "annotations": { + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767749520584_c58w2tkpl", + "x": 0.6235, + "y": 0.5026666666666667 + } + ] + }, + "point_1767749274594": { + "type": "point", + "instances": [ + { + "id": "point_1767749274594_1767749524550_wexosoghv", + "x": 0.3725, + "y": 0.516 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767749531582_43iqyys9s", + "x": 0.34450000000000003, + "y": 0.34400000000000003, + "width": 0.24000000000000005, + "height": 0.3733333333333333 + } + ] + } + } + }, + { + "time": 10.288831414948453, + "frame": 309, + "progress": 40, + "action_description": "当前爪夹合拢抓取纸杯。", + "state_description": "当前爪夹合拢抓取纸杯，为完成抓取纸杯放入木盒中的任务应当：爪夹抓取纸杯竖直上升。", + "progress_explanation": "当前爪夹合拢抓取纸杯。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹合拢成功抓取纸杯。", + "correction_plan": "爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右后方移动至木盒正上方，松开爪夹使纸杯落入木盒。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767749484343_39jz9w1z8", + "x": 0.3755, + "y": 0.34400000000000003, + "width": 0.23200000000000004, + "height": 0.38133333333333336 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767749498236_yet4416vo", + "x": 0.4765, + "y": 0.5853333333333333, + "width": 0.30000000000000016, + "height": 0.38133333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹抓取纸杯竖直上升。", + "correction_plan": "爪夹抓取纸杯向爪夹方向右后方移动至木盒正上方，松开爪夹使纸杯落入木盒。", + "error_success_analysis": "当前爪夹成功抓取纸杯竖直上升。", + "frame": 367, + "progress": 50, + "progress_explanation": "爪夹抓取纸杯竖直上升。因此当前进度提升至50%。", + "state_description": "当前爪夹合拢抓取纸杯，此时爪夹与木盒水平距离略微接近，为完成抓取纸杯放入木盒中的任务应当：爪夹抓取纸杯向爪夹方向右后方移动至木盒正上方。", + "time": 12.249449933505154, + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767749447444_arec8jsys", + "x": 0.3765, + "y": 0.34400000000000003, + "width": 0.22900000000000004, + "height": 0.37999999999999995 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767749463697_fo6xbutvl", + "x": 0.3895, + "y": 0.5626666666666666, + "width": 0.315, + "height": 0.4013333333333333 + } + ] + } + } + }, + { + "time": 12.797010060309281, + "frame": 384, + "progress": 60, + "action_description": "当前爪夹抓取纸杯向爪夹右边略微移动接近木盒。", + "state_description": "当前爪夹合拢抓取纸杯，此时爪夹与木盒水平距离接近。为完成抓取纸杯放入木盒中的任务应当：爪夹抓取纸杯向爪夹方向右后方移动至木盒正上方。", + "progress_explanation": "当前爪夹抓取纸杯向爪夹右边略微移动接近木盒。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取纸杯接近木盒。", + "correction_plan": "爪夹抓取纸杯向爪夹方向右后方移动至木盒正上方，松开爪夹使纸杯落入木盒。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767749400590_ketvtpu7p", + "x": 0.3765, + "y": 0.3426666666666666, + "width": 0.23000000000000004, + "height": 0.38 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767749414036_1b7a41vka", + "x": 0.3195, + "y": 0.40800000000000003, + "width": 0.332, + "height": 0.49600000000000016 + } + ] + } + } + }, + { + "action_description": "爪夹抓取纸杯向爪夹方向右后方移动至木盒正上方。", + "correction_plan": "松开爪夹使纸杯落入木盒。", + "error_success_analysis": "当前爪夹抓取纸杯成功来到木盒正上方。", + "frame": 397, + "progress": 80, + "progress_explanation": "爪夹抓取纸杯向爪夹方向右后方移动至木盒正上方。因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取纸杯，此时纸杯位于木盒正上方，为完成抓取纸杯放入木盒中的任务应当：爪夹松开，纸杯落入木盒内。", + "time": 13.220927577835052, + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767749359448_3ji062ife", + "x": 0.37649999999999995, + "y": 0.3413333333333333, + "width": 0.23000000000000007, + "height": 0.38533333333333325 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767749376126_1qpfgskpg", + "x": 0.1925, + "y": 0.136, + "width": 0.43599999999999994, + "height": 0.6053333333333332 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开，纸杯落在木盒中。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将纸杯放入木盒中。", + "frame": 450, + "progress": 100, + "progress_explanation": "当前爪夹松开，纸杯落在木盒中。因此当前进度提升至100%。", + "state_description": "当前爪夹松开，此时纸杯落在木盒中。已完成纸杯放入木盒中的任务。", + "time": 14.987250567525773, + "annotations": { + "point_1767749274594": { + "type": "point", + "instances": [ + { + "id": "point_1767749274594_1767749309404_ffcljbhmu", + "x": 0.3885, + "y": 0.5013333333333334 + } + ] + }, + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767749311578_ppd213hqa", + "x": 0.6235, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767749319788_z40c2cwlj", + "x": 0.4955, + "y": 0.6786666666666666, + "width": 0.10800000000000001, + "height": 0.10133333333333343 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767749327604_47uff5n2m", + "x": 0.3405, + "y": 0.5453333333333332, + "width": 0.32999999999999996, + "height": 0.3906666666666669 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767749273694", + "name": "纸杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1767749273828", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767749274594", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767749274740", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-095053-put-yellow paper cup-yellow-wooden box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-095053-put-yellow paper cup-yellow-wooden box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..ed92549628713063321983ae7f8ec7e621947aa1 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-095053-put-yellow paper cup-yellow-wooden box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,456 @@ +{ + "task_description": "抓取纸杯放入木盒中：\n爪夹准备移动：0%\n爪夹靠近纸杯：20%\n爪夹抓取纸杯：40%\n爪夹抓取纸杯接近木盒：60%\n爪夹抓取纸杯移动至木盒正上方：80%\n爪夹松开，纸杯落入木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右前方移动至纸杯正上方，爪夹垂直下降使爪夹左进入纸杯中，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹右边移动直至接近木盒，爪夹抓取纸杯向爪夹方向后方移动至木盒正上方，松开爪夹使纸杯落入木盒中。", + "error_success_analysis": "", + "frame": 55, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取纸杯放入木盒中的任务应当：爪夹向爪夹方向右前方移动至纸杯正上方。", + "time": 1.8198453015463918, + "annotations": { + "point_1767749274594": { + "type": "point", + "instances": [ + { + "id": "point_1767749274594_1767752704893_x3uj4cw5b", + "x": 0.3885, + "y": 0.5013333333333334 + } + ] + }, + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767752706671_dvrq22oip", + "x": 0.6265000000000001, + "y": 0.504 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767752711013_wdtbshw37", + "x": 0.3955000000000001, + "y": 0.36666666666666664, + "width": 0.11999999999999988, + "height": 0.1853333333333334 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767752724811_sp4d76rzm", + "x": 0.6135, + "y": 0.36000000000000004, + "width": 0.08399999999999999, + "height": 0.11733333333333326 + } + ] + } + } + }, + { + "time": 3.222972403608247, + "frame": 97, + "progress": 10, + "action_description": "当前爪夹张开向爪夹方向右前方移动至纸杯正上方。", + "state_description": "当前爪夹张开，此时爪夹位于纸杯正上方。为完成抓取纸杯放入木盒中的任务应当：爪夹垂直下降使爪夹左进入纸杯中。", + "progress_explanation": "当前爪夹张开向爪夹方向右前方移动至纸杯正上方。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功移动至纸杯正上方。", + "correction_plan": "爪夹垂直下降使爪夹左进入纸杯中，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹右边移动直至接近木盒，爪夹抓取纸杯向爪夹方向后方移动至木盒正上方，松开爪夹使纸杯落入木盒中。", + "annotations": { + "point_1767749274594": { + "type": "point", + "instances": [ + { + "id": "point_1767749274594_1767752676205_vrpw08mce", + "x": 0.3915, + "y": 0.504 + } + ] + }, + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767752678149_5vgch4rgd", + "x": 0.6214999999999999, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767752681749_3atcg76ez", + "x": 0.3695, + "y": 0.3466666666666666, + "width": 0.14300000000000002, + "height": 0.19866666666666669 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767752691141_68wod9sbp", + "x": 0.2065, + "y": 0.7066666666666667, + "width": 0.16400000000000006, + "height": 0.1866666666666667 + } + ] + } + } + }, + { + "time": 3.898161385051546, + "frame": 117, + "progress": 20, + "action_description": "当前爪夹张开垂直下降使爪夹左进入纸杯中。", + "state_description": "当前爪夹张开，此时爪夹左位于纸杯中，为完成抓取纸杯放入木盒中的任务应当：爪夹合拢抓取纸杯。", + "progress_explanation": "当前爪夹张开垂直下降使爪夹左进入纸杯中。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近纸杯。", + "correction_plan": "爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹右边移动直至接近木盒，爪夹抓取纸杯向爪夹方向后方移动至木盒正上方，松开爪夹使纸杯落入木盒中。", + "annotations": { + "point_1767749274594": { + "type": "point", + "instances": [ + { + "id": "point_1767749274594_1767752649387_3yepm21kq", + "x": 0.3875, + "y": 0.5 + } + ] + }, + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767752651013_7mg29y35r", + "x": 0.6245, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767752655101_84y0mdaxv", + "x": 0.2765, + "y": 0.384, + "width": 0.21800000000000003, + "height": 0.30800000000000005 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767752665928_5lp01xz4b", + "x": 0.19850000000000004, + "y": 0.748, + "width": 0.164, + "height": 0.22266666666666665 + } + ] + } + } + }, + { + "time": 4.963693996391752, + "frame": 149, + "progress": 40, + "action_description": "当前爪夹合拢抓取纸杯。", + "state_description": "当前爪夹合拢抓取纸杯，为完成抓取纸杯放入木盒中的任务应当：当前爪夹合拢抓取纸杯竖直上升。", + "progress_explanation": "当前爪夹合拢抓取纸杯。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹合拢成功抓取纸杯。", + "correction_plan": "爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹右边移动直至接近木盒，爪夹抓取纸杯向爪夹方向后方移动至木盒正上方，松开爪夹使纸杯落入木盒中。", + "annotations": { + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767752623181_78iymej4z", + "x": 0.5165, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767752627727_inz9b5c2b", + "x": 0.2915, + "y": 0.36933333333333335, + "width": 0.229, + "height": 0.3653333333333333 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767752637061_njtt3v3hq", + "x": 0.1995, + "y": 0.7066666666666667, + "width": 0.17100000000000004, + "height": 0.26400000000000007 + } + ] + } + } + }, + { + "time": 6.018676779896907, + "frame": 181, + "progress": 50, + "action_description": "当前爪夹合拢抓取纸杯竖直上升。", + "state_description": "当前抓夹合拢抓取纸杯，此时爪夹与木盒水平距离略微接近，为完成抓取纸杯放入木盒中的任务应当：爪夹抓取纸杯向爪夹方向左边移动直至接近木盒。", + "progress_explanation": "当前爪夹合拢抓取纸杯竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹合拢抓取纸杯成功竖直上升。", + "correction_plan": "爪夹抓取纸杯向爪夹右边移动直至接近木盒，爪夹抓取纸杯向爪夹方向后方移动至木盒正上方，松开爪夹使纸杯落入木盒中。", + "annotations": { + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767752599723_3evlvgne9", + "x": 0.5115000000000001, + "y": 0.4986666666666667 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767752603292_syun5x11y", + "x": 0.2935, + "y": 0.37200000000000005, + "width": 0.22900000000000004, + "height": 0.35733333333333334 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767752613559_zmjik5zjp", + "x": 0.2225, + "y": 0.6493333333333333, + "width": 0.12599999999999997, + "height": 0.2133333333333333 + } + ] + } + } + }, + { + "time": 6.841563351030928, + "frame": 205, + "progress": 60, + "action_description": "当前爪夹抓取纸杯向爪夹方向左边移动直至接近木盒。", + "state_description": "当前爪夹合拢抓取纸杯，此时纸杯水平距离接近木盒。为完成抓取纸杯放入木盒中的任务应当：爪夹抓取纸杯向爪夹方向后方移动至木盒正上方。", + "progress_explanation": "当前爪夹抓取纸杯向爪夹方向左边移动直至接近木盒。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取纸杯接近木盒。", + "correction_plan": "爪夹抓取纸杯向爪夹方向后方移动至木盒正上方，松开爪夹使纸杯落入木盒中。", + "annotations": { + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767752582403_hxdary69g", + "x": 0.5135, + "y": 0.4986666666666667 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767752586491_63b3jz8s1", + "x": 0.2915, + "y": 0.36933333333333335, + "width": 0.22999999999999998, + "height": 0.3626666666666667 + } + ] + } + } + }, + { + "time": 7.791047856185566, + "frame": 234, + "progress": 80, + "action_description": "当前爪夹抓取纸杯向爪夹方向后方移动至木盒正上方。", + "state_description": "当前爪夹合拢抓取纸杯，此时纸杯位于木盒正上方，为完成抓取纸杯放入木盒中的任务应当：爪夹松开使纸杯落入木盒中。", + "progress_explanation": "当前爪夹抓取纸杯向爪夹方向后方移动至木盒正上方。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取纸杯移动至木盒正上方。", + "correction_plan": "松开爪夹使纸杯落入木盒中。", + "annotations": { + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767752554381_2iahaosbp", + "x": 0.5095, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767752558558_v379d966e", + "x": 0.2915, + "y": 0.372, + "width": 0.23100000000000004, + "height": 0.35866666666666674 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767752570745_q5mfosww3", + "x": 0.42749999999999994, + "y": 0.3186666666666666, + "width": 0.15200000000000005, + "height": 0.20933333333333337 + } + ] + } + } + }, + { + "time": 8.538947, + "frame": 256, + "progress": 100, + "action_description": "当前爪夹松开使纸杯落入木盒中。", + "state_description": "当前爪夹张开，此时纸杯位于木盒中。已完成抓取纸杯放入木盒中的任务。", + "progress_explanation": "当前爪夹松开使纸杯落入木盒中。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功将纸杯抓进木盒中。", + "correction_plan": "", + "annotations": { + "point_1767749274594": { + "type": "point", + "instances": [ + { + "id": "point_1767749274594_1767752526015_yu399c8i2", + "x": 0.4415, + "y": 0.5093333333333334 + } + ] + }, + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767752527615_wvx685is0", + "x": 0.5695, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767752532125_pllro0uk6", + "x": 0.4495, + "y": 0.2986666666666667, + "width": 0.14500000000000002, + "height": 0.24400000000000002 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767752542271_7apew0h22", + "x": 0.43450000000000005, + "y": 0.356, + "width": 0.16099999999999995, + "height": 0.1973333333333334 + } + ] + } + } + }, + { + "action_description": "关键帧 2/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 320, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 10.666666666666666 + }, + { + "action_description": "关键帧 3/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 592, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 19.733333333333334 + }, + { + "action_description": "关键帧 4/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 612, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 20.4 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767749273694", + "name": "纸杯" + }, + { + "color": "#FF9800", + "id": "bbox_1767749273828", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767749274594", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767749274740", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-100128-put-scissors-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-100128-put-scissors-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..1b5cff77d462ffc7c9e05c42cbcae644701ba21e --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-100128-put-scissors-yellow-wooden box-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,404 @@ +{ + "task_description": "抓取剪刀放入木盒中：\n爪夹准备移动：0%\n爪夹靠近剪刀：20%\n爪夹抓取剪刀：40%\n爪夹抓取剪刀接近木盒：60%\n爪夹抓取剪刀移动至木盒正上方：80%\n爪夹松开，剪刀落入木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方调整爪夹使爪夹垂直于桌面，爪夹向爪夹方向右前方移动至剪刀正上方，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左边移动接近木盒，爪夹调整剪刀与桌面的水平角度使剪刀位于木盒正上方，松开爪夹使剪刀落入木盒中。", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取剪刀放入木盒中的任务应当：爪夹向爪夹方向前方调整爪夹使爪夹垂直于桌面。", + "time": 1.6191237634020619, + "annotations": { + "point_1767749274594": { + "type": "point", + "instances": [ + { + "id": "point_1767749274594_1767754051447_mi6ganlld", + "x": 0.4175, + "y": 0.6133333333333334 + } + ] + }, + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767754053207_xmj7neafx", + "x": 0.5265, + "y": 0.6106666666666667 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767754058243_brquf8un5", + "x": 0.6765, + "y": 0.4506666666666667, + "width": 0.06000000000000005, + "height": 0.22533333333333333 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767754068245_c8s9oxgyi", + "x": 0.4505, + "y": 0.08133333333333333, + "width": 0.22700000000000004, + "height": 0.40399999999999997 + } + ] + } + } + }, + { + "time": 2.997783601546392, + "frame": 90, + "progress": 5, + "action_description": "当前爪夹张开调整爪夹与桌面水平角度使爪夹垂直于桌面。", + "state_description": "当前爪夹张开，此时爪夹垂直于桌面。为完成抓取剪刀放入木盒中的任务应当：爪夹向爪夹方向右前方移动至剪刀正上方。", + "progress_explanation": "当前爪夹张开调整爪夹与桌面水平角度使爪夹垂直于桌面。因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功调整爪夹与桌面之间的水平角度使其垂直于桌面。", + "correction_plan": "爪夹向爪夹方向右前方移动至剪刀正上方，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左边移动接近木盒，爪夹调整剪刀与桌面的水平角度使剪刀位于木盒正上方，松开爪夹使剪刀落入木盒中。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767754033107_4mrgglfxf", + "x": 0.6755, + "y": 0.452, + "width": 0.05899999999999998, + "height": 0.2213333333333333 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767754040330_o42z18stp", + "x": 0.45050000000000007, + "y": 0.08, + "width": 0.22399999999999992, + "height": 0.42933333333333334 + } + ] + } + } + }, + { + "time": 3.468024166494845, + "frame": 104, + "progress": 10, + "action_description": "当前爪夹张开向爪夹方向右前方移动至剪刀正上方。", + "state_description": "当前爪夹张开，此时爪夹位于剪刀正上方，为完成抓取剪刀放入木盒中的任务应当：爪夹垂直下降靠近剪刀。", + "progress_explanation": "当前爪夹张开向爪夹方向右前方移动至剪刀正上方。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功移动至剪刀正上方。", + "correction_plan": "爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左边移动接近木盒，爪夹调整剪刀与桌面的水平角度使剪刀位于木盒正上方，松开爪夹使剪刀落入木盒中。", + "annotations": { + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767754006159_hsjc5pqhk", + "x": 0.4495, + "y": 0.08, + "width": 0.22800000000000004, + "height": 0.3960000000000001 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767754020131_4kozstjlb", + "x": 0.6775, + "y": 0.452, + "width": 0.05999999999999996, + "height": 0.22 + } + ] + } + } + }, + { + "time": 4.376443439690722, + "frame": 131, + "progress": 20, + "action_description": "当前爪夹张开垂直下降靠近剪刀。", + "state_description": "当前爪夹张开，此时爪夹靠近剪刀，为完成抓取剪刀放入木盒中的任务应当：爪夹合拢抓取剪刀。", + "progress_explanation": "当前爪夹张开垂直下降靠近剪刀。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近剪刀。", + "correction_plan": "爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左边移动接近木盒，爪夹调整剪刀与桌面的水平角度使剪刀位于木盒正上方，松开爪夹使剪刀落入木盒中。", + "annotations": { + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767753985631_82jh4bpqs", + "x": 0.45149999999999996, + "y": 0.08133333333333333, + "width": 0.22400000000000003, + "height": 0.4066666666666667 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767753990971_2h9da99kk", + "x": 0.6775, + "y": 0.444, + "width": 0.05800000000000001, + "height": 0.23200000000000004 + } + ] + } + } + }, + { + "time": 5.316924569587628, + "frame": 160, + "progress": 40, + "action_description": "当前爪夹合拢抓取剪刀。", + "state_description": "当前爪夹合拢抓取剪刀，为完成抓取剪刀放入木盒中的任务应当：当前爪夹合拢抓取剪刀竖直上升。", + "progress_explanation": "当前爪夹抓取剪刀。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功合拢并抓取剪刀。", + "correction_plan": "爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左边移动接近木盒，爪夹调整剪刀与桌面的水平角度使剪刀位于木盒正上方，松开爪夹使剪刀落入木盒中。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767753962867_7vnv7tykh", + "x": 0.6755, + "y": 0.4653333333333334, + "width": 0.07300000000000004, + "height": 0.228 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767753971765_59dt23rs4", + "x": 0.4505, + "y": 0.08, + "width": 0.22600000000000006, + "height": 0.4053333333333333 + } + ] + } + } + }, + { + "time": 6.759708121134021, + "frame": 203, + "progress": 50, + "action_description": "当前爪夹抓取剪刀竖直上升。", + "state_description": "当前爪夹合拢抓取剪刀，此时爪夹与木盒水平距离略微接近，为完成抓取剪刀放入木盒中的任务应当：爪夹抓取剪刀向爪夹方向左边移动接近木盒。", + "progress_explanation": "当前爪夹抓取剪刀竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹合拢抓取剪刀成功竖直上升。", + "correction_plan": "爪夹抓取剪刀向爪夹方向左边移动接近木盒，爪夹调整剪刀与桌面的水平角度使剪刀位于木盒正上方，松开爪夹使剪刀落入木盒中。", + "annotations": { + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767753926973_whobedzos", + "x": 0.4534999999999999, + "y": 0.08133333333333333, + "width": 0.22300000000000014, + "height": 0.40800000000000003 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767753942167_88bcwzk7o", + "x": 0.6905, + "y": 0.392, + "width": 0.07000000000000002, + "height": 0.2333333333333334 + } + ] + } + } + }, + { + "time": 7.272697828350514, + "frame": 218, + "progress": 60, + "action_description": "当前爪夹合拢抓取剪刀向爪夹方向左边移动直至接近木盒。", + "state_description": "当前爪夹合拢抓取剪刀，此时剪刀水平距离接近木盒。为完成抓取剪刀放入木盒中的任务应当：当前爪夹调整爪夹角度使剪刀位于木盒正上方。", + "progress_explanation": "当前爪夹合拢抓取剪刀向爪夹方向左边移动直至接近木盒。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取剪刀接近木盒。", + "correction_plan": "爪夹调整剪刀与桌面的水平角度使剪刀位于木盒正上方，松开爪夹使剪刀落入木盒中。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767753906335_kk5d36i9o", + "x": 0.4965, + "y": 0.24666666666666667, + "width": 0.06900000000000003, + "height": 0.22266666666666665 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767753917357_7se5f3yt9", + "x": 0.45949999999999996, + "y": 0.084, + "width": 0.21600000000000003, + "height": 0.4026666666666667 + } + ] + } + } + }, + { + "time": 8.191804387113402, + "frame": 246, + "progress": 80, + "action_description": "当前抓夹抓取剪刀调整爪夹角度使剪刀位于木盒正上方。", + "state_description": "爪夹合拢抓取剪刀，此时剪刀位于木盒正上方。为完成抓取剪刀放入木盒中的任务应当：爪夹松开使剪刀落入木盒。", + "progress_explanation": "当前抓夹抓取剪刀调整爪夹角度使剪刀位于木盒正上方。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功使剪刀位于木盒正上方。", + "correction_plan": "松开爪夹使剪刀落入木盒中。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767753880369_1oyzrqs7e", + "x": 0.49450000000000005, + "y": 0.17333333333333334, + "width": 0.06699999999999999, + "height": 0.22266666666666668 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767753887583_f1x8mwdti", + "x": 0.46749999999999997, + "y": 0.08266666666666667, + "width": 0.20800000000000002, + "height": 0.404 + } + ] + } + } + }, + { + "time": 8.956911, + "frame": 269, + "progress": 100, + "action_description": "当前爪夹松开使剪刀落入木盒。", + "state_description": "当前爪夹松开，此时剪刀位于木盒中。已完成抓取剪刀放入木盒中的任务。", + "progress_explanation": "当前爪夹松开使剪刀落入木盒。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功降剪刀抓进木盒。", + "correction_plan": "", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767753847053_7fjw42ghl", + "x": 0.5105, + "y": 0.22266666666666665, + "width": 0.10500000000000007, + "height": 0.15466666666666667 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767753860313_2t374isvx", + "x": 0.44449999999999995, + "y": 0.08266666666666667, + "width": 0.23200000000000012, + "height": 0.40800000000000003 + } + ] + } + } + }, + { + "action_description": "关键帧 2/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 372, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 12.4 + }, + { + "action_description": "关键帧 3/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 588, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 19.6 + }, + { + "action_description": "关键帧 4/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 620, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 20.666666666666668 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767749273694", + "name": "剪刀" + }, + { + "color": "#FF9800", + "id": "bbox_1767749273828", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767749274594", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767749274740", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-101531-put-scissors-yellow-wooden box-mix2/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-101531-put-scissors-yellow-wooden box-mix2/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..27c928ce447fa2d2d2ff9d821584e4ba10bed1be --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-101531-put-scissors-yellow-wooden box-mix2/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,829 @@ +{ + "task_description": "抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中：\n爪夹准备移动：0%\n爪夹靠近剪刀：10%\n爪夹抓取剪刀：20%\n爪夹抓取剪刀接近棕色木盒：30%\n爪夹抓取剪刀移动至棕色木盒正上方：40%\n爪夹松开，剪刀落入棕色木盒内：50%\n爪夹靠近剪刀：60%\n爪夹抓取剪刀：70%\n爪夹抓取剪刀接近黄色木盒：80%\n爪夹抓取剪刀移动至黄色木盒正上方：90%\n爪夹松开，剪刀落入黄色木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方调整爪夹水平角度使爪夹与桌面水平角度呈45度角，爪夹向爪夹方向右下方移动靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀向爪夹方向右上方移动接近棕色木盒，爪夹抓取剪刀向爪夹方向右边移动至棕色木盒正上方，爪夹松开使剪刀落入棕色木盒，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左前方移动接近黄色木盒，爪夹向爪夹方向右前方移动至黄色木盒正上方，爪夹松开使剪刀落入黄色木盒中。", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：爪夹向爪夹方向前方调整爪夹水平角度使爪夹与桌面水平角度呈45度角。", + "time": 1.85860827371134, + "annotations": { + "point_1767749274594": { + "type": "point", + "instances": [ + { + "id": "point_1767749274594_1767758370832_sjy7xvaez", + "x": 0.3815, + "y": 0.6026666666666667 + } + ] + }, + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767758372703_6d3dhdf8s", + "x": 0.49050000000000005, + "y": 0.5853333333333333 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767758378231_2i9xr3891", + "x": 0.48250000000000004, + "y": 0.40800000000000003, + "width": 0.16399999999999998, + "height": 0.09066666666666669 + } + ] + }, + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767758389653_0k9wvq5fr", + "x": 0.6415, + "y": 0.4346666666666667, + "width": 0.12199999999999997, + "height": 0.16266666666666668 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767758403845_t69fyvwo9", + "x": 0.5055, + "y": 0.11999999999999998, + "width": 0.3200000000000001, + "height": 0.35733333333333334 + } + ] + } + } + }, + { + "time": 2.830429593298969, + "frame": 85, + "progress": 5, + "action_description": "爪夹向爪夹方向前方调整爪夹水平角度使爪夹与桌面水平角度呈45度角。", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈45度角，为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：爪夹向爪夹方向右下方移动靠近剪刀。", + "progress_explanation": "爪夹向爪夹方向前方调整爪夹水平角度使爪夹与桌面水平角度呈45度角。因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功调整爪夹水平角度使其更方便抓取剪刀。", + "correction_plan": "爪夹向爪夹方向右下方移动靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀向爪夹方向右上方移动接近棕色木盒，爪夹抓取剪刀向爪夹方向右边移动至棕色木盒正上方，爪夹松开使剪刀落入棕色木盒，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左前方移动接近黄色木盒，爪夹向爪夹方向右前方移动至黄色木盒正上方，爪夹松开使剪刀落入黄色木盒中。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767758332997_w7qwcvx16", + "x": 0.48549999999999993, + "y": 0.4066666666666667, + "width": 0.16100000000000003, + "height": 0.09066666666666663 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767758343210_wsoc273se", + "x": 0.5075000000000001, + "y": 0.11733333333333333, + "width": 0.31700000000000006, + "height": 0.36133333333333334 + } + ] + }, + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767758352245_wxnb2oaix", + "x": 0.6425000000000001, + "y": 0.436, + "width": 0.12099999999999991, + "height": 0.15999999999999998 + } + ] + } + } + }, + { + "time": 5.1385052273195875, + "frame": 154, + "progress": 10, + "action_description": "当前爪夹张开向爪夹方向右下方移动靠近剪刀。", + "state_description": "当前爪夹张开，此时爪夹靠近剪刀，为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：爪夹合拢抓取剪刀。", + "progress_explanation": "当前爪夹张开向爪夹方向右下方移动靠近剪刀。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹向爪夹方向右下方移动成功靠近剪刀。", + "correction_plan": "爪夹合拢抓取剪刀，爪夹抓取剪刀向爪夹方向右上方移动接近棕色木盒，爪夹抓取剪刀向爪夹方向右边移动至棕色木盒正上方，爪夹松开使剪刀落入棕色木盒，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左前方移动接近黄色木盒，爪夹向爪夹方向右前方移动至黄色木盒正上方，爪夹松开使剪刀落入黄色木盒中。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767758296132_c09t1ikwn", + "x": 0.5235000000000001, + "y": 0.41333333333333333, + "width": 0.12400000000000003, + "height": 0.08266666666666668 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767758306389_ddeoozc9x", + "x": 0.5065000000000001, + "y": 0.11733333333333333, + "width": 0.31800000000000006, + "height": 0.36000000000000004 + } + ] + }, + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767758314211_5gvct1k3k", + "x": 0.6435000000000001, + "y": 0.4346666666666667, + "width": 0.121, + "height": 0.16400000000000012 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取剪刀。", + "correction_plan": "爪夹抓取剪刀向爪夹方向右上方移动接近棕色木盒，爪夹抓取剪刀向爪夹方向右边移动至棕色木盒正上方，爪夹松开使剪刀落入棕色木盒，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左前方移动接近黄色木盒，爪夹向爪夹方向右前方移动至黄色木盒正上方，爪夹松开使剪刀落入黄色木盒中。", + "error_success_analysis": "当前爪夹成功合拢抓取剪刀。", + "frame": 192, + "progress": 20, + "progress_explanation": "当前爪夹合拢抓取剪刀。因此当前进度提升至20%。", + "state_description": "当前爪夹合拢抓取剪刀，为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：爪夹抓取剪刀向爪夹方向右上方移动。", + "time": 6.401872942783505, + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767758267461_lhfwyl8l5", + "x": 0.5315000000000001, + "y": 0.45866666666666667, + "width": 0.08599999999999994, + "height": 0.09066666666666669 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767758275212_dkl93mlyk", + "x": 0.5065000000000001, + "y": 0.11333333333333333, + "width": 0.31800000000000006, + "height": 0.364 + } + ] + }, + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767758282738_ukyvxz3ll", + "x": 0.6425000000000001, + "y": 0.43733333333333335, + "width": 0.12199999999999997, + "height": 0.16133333333333333 + } + ] + } + } + }, + { + "time": 8.418402180927833, + "frame": 253, + "progress": 25, + "action_description": "当前爪夹抓取剪刀向爪夹方向右上方移动。", + "state_description": "当前爪夹合拢抓取剪刀，此时爪夹与棕色木盒水平距离略微接近，为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：爪夹抓取剪刀向爪夹方向右边移动接近棕色木盒。", + "progress_explanation": "当前爪夹抓取剪刀向爪夹方向右上方移动。因此当前进度提升至25%。", + "error_success_analysis": "当前爪夹成功抓取剪刀并向爪夹方向右上方移动。", + "correction_plan": "爪夹抓取剪刀向爪夹方向右边移动至棕色木盒正上方，爪夹松开使剪刀落入棕色木盒，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左前方移动接近黄色木盒，爪夹向爪夹方向右前方移动至黄色木盒正上方，爪夹松开使剪刀落入黄色木盒中。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767758230412_h6alp3q72", + "x": 0.5645, + "y": 0.3666666666666666, + "width": 0.05999999999999996, + "height": 0.08266666666666674 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767758239747_1stg01lo3", + "x": 0.5105, + "y": 0.11733333333333333, + "width": 0.3150000000000001, + "height": 0.372 + } + ] + }, + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767758248042_exifbh3q0", + "x": 0.6435, + "y": 0.4346666666666667, + "width": 0.121, + "height": 0.1600000000000001 + } + ] + } + } + }, + { + "time": 8.97719943969072, + "frame": 269, + "progress": 30, + "action_description": "当前爪夹抓取剪刀向爪夹方向右边略微移动接近棕色木盒。", + "state_description": "当前爪夹合拢抓取剪刀，此时剪刀与棕色木盒水平距离接近，为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：爪夹抓取剪刀向爪夹方向右边移动至棕色木盒正上方。", + "progress_explanation": "当前爪夹抓取剪刀向爪夹方向右边略微移动接近棕色木盒。因此当前进度提升至30%。", + "error_success_analysis": "当前爪夹成功抓取剪刀接近棕色木盒。", + "correction_plan": "爪夹抓取剪刀向爪夹方向右边移动至棕色木盒正上方，爪夹松开使剪刀落入棕色木盒，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左前方移动接近黄色木盒，爪夹向爪夹方向右前方移动至黄色木盒正上方，爪夹松开使剪刀落入黄色木盒中。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767758184485_ke8nbwb5g", + "x": 0.6445, + "y": 0.30799999999999994, + "width": 0.07800000000000011, + "height": 0.08533333333333341 + } + ] + }, + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767758200729_v4i1y7e4p", + "x": 0.6425000000000001, + "y": 0.432, + "width": 0.12199999999999997, + "height": 0.1666666666666666 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767758213343_6tv5aa6dh", + "x": 0.5115000000000001, + "y": 0.12000000000000001, + "width": 0.31199999999999994, + "height": 0.35733333333333334 + } + ] + } + } + }, + { + "time": 9.87613416030928, + "frame": 296, + "progress": 40, + "action_description": "当前爪夹抓取剪刀向爪夹方向右下方边移动至棕色木盒正上方。", + "state_description": "当前爪夹合拢抓取剪刀，此时剪刀位于棕色木盒正上方，为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：爪夹松开使剪刀落入棕色木盒中。", + "progress_explanation": "当前爪夹抓取剪刀向爪夹方向右下方边移动至棕色木盒正上方。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功将剪刀抓取至棕色木盒正上方。", + "correction_plan": "爪夹松开使剪刀落入棕色木盒，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左前方移动接近黄色木盒，爪夹向爪夹方向右前方移动至黄色木盒正上方，爪夹松开使剪刀落入黄色木盒中。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767758103370_pupkewiz5", + "x": 0.6645000000000001, + "y": 0.4533333333333333, + "width": 0.03700000000000001, + "height": 0.08000000000000002 + } + ] + }, + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767758109192_t81h647xa", + "x": 0.6435000000000001, + "y": 0.4346666666666667, + "width": 0.12000000000000002, + "height": 0.164 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767758120281_xml19hma0", + "x": 0.5075000000000001, + "y": 0.116, + "width": 0.31800000000000006, + "height": 0.36933333333333335 + } + ] + } + } + }, + { + "time": 10.896546545876289, + "frame": 327, + "progress": 50, + "action_description": "爪夹松开使剪刀落入棕色木盒中。", + "state_description": "当前爪夹松开，此时剪刀落入棕色木盒中，为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：当前爪夹垂直下降靠近剪刀。", + "progress_explanation": "爪夹松开使剪刀落入棕色木盒中。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功将剪刀放进棕色木盒中。", + "correction_plan": "爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左前方移动接近黄色木盒，爪夹向爪夹方向右前方移动至黄色木盒正上方，爪夹松开使剪刀落入黄色木盒中。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767758040106_sxqbfszfd", + "x": 0.6585, + "y": 0.4533333333333333, + "width": 0.05499999999999998, + "height": 0.08800000000000008 + } + ] + }, + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767758048222_74svkbvva", + "x": 0.6435000000000001, + "y": 0.43466666666666665, + "width": 0.12199999999999997, + "height": 0.16266666666666676 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767758058436_vs8fze6pk", + "x": 0.5075000000000001, + "y": 0.11733333333333333, + "width": 0.31800000000000006, + "height": 0.35866666666666663 + } + ] + } + } + }, + { + "time": 11.67400360154639, + "frame": 350, + "progress": 55, + "action_description": "当前爪夹张开向爪夹方向左边移动。", + "state_description": "当前爪夹张开，此时爪夹位于爪夹左上方，为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：爪夹向爪夹方向右下方移动靠近剪刀。", + "progress_explanation": "当前爪夹张开向爪夹方向左边移动。因此当前进度提升至55%。", + "error_success_analysis": "当前爪夹成功向爪夹方向左边移动。", + "correction_plan": "爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左前方移动接近黄色木盒，爪夹向爪夹方向右前方移动至黄色木盒正上方，爪夹松开使剪刀落入黄色木盒中。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767758001714_vx50is97r", + "x": 0.6605, + "y": 0.45866666666666667, + "width": 0.05600000000000005, + "height": 0.10266666666666667 + } + ] + }, + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767758014267_aza3e166f", + "x": 0.6435000000000001, + "y": 0.43066666666666664, + "width": 0.121, + "height": 0.17066666666666663 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767758023552_1wx0gphky", + "x": 0.5155000000000001, + "y": 0.11733333333333332, + "width": 0.3080000000000001, + "height": 0.37066666666666664 + } + ] + } + } + }, + { + "time": 12.91307578402062, + "frame": 387, + "progress": 58, + "action_description": "当前爪夹张开向爪夹方向右前方移动。", + "state_description": "当前爪夹张开，此时爪夹略微接近剪刀，为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：爪夹垂直下降靠近剪刀。", + "progress_explanation": "当前爪夹张开向爪夹方向右前方移动。因此当前进度提升至55%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动。", + "correction_plan": "爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左前方移动接近黄色木盒，爪夹向爪夹方向右前方移动至黄色木盒正上方，爪夹松开使剪刀落入黄色木盒中。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767757963074_9005tv3g7", + "x": 0.6695, + "y": 0.46266666666666667, + "width": 0.052999999999999936, + "height": 0.10933333333333331 + } + ] + }, + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767757976146_9mroyelhi", + "x": 0.6415, + "y": 0.42533333333333334, + "width": 0.121, + "height": 0.17066666666666663 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767757989426_bc1lx07ye", + "x": 0.5065000000000001, + "y": 0.11866666666666667, + "width": 0.31599999999999995, + "height": 0.35866666666666663 + } + ] + } + } + }, + { + "time": 14.176443499484535, + "frame": 425, + "progress": 60, + "action_description": "当前爪夹张开垂直下降靠近剪刀。", + "state_description": "当前爪夹张开，此时爪夹靠近剪刀。为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：爪夹合拢抓取剪刀。", + "progress_explanation": "当前爪夹张开垂直下降靠近剪刀。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近剪刀。", + "correction_plan": "爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左前方移动接近黄色木盒，爪夹向爪夹方向右前方移动至黄色木盒正上方，爪夹松开使剪刀落入黄色木盒中。", + "annotations": { + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767757933910_0nkwfyewn", + "x": 0.6425000000000001, + "y": 0.43333333333333335, + "width": 0.11999999999999993, + "height": 0.16533333333333336 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767757945418_cmd5e06m1", + "x": 0.5055000000000001, + "y": 0.11866666666666668, + "width": 0.31800000000000006, + "height": 0.36400000000000005 + } + ] + } + } + }, + { + "time": 15.172560352061856, + "frame": 455, + "progress": 70, + "action_description": "当前爪夹合拢抓取剪刀。", + "state_description": "当前爪夹合拢抓取剪刀。为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：爪夹抓取剪刀竖直上升。", + "progress_explanation": "当前爪夹合拢抓取剪刀。因此当前进度提升至70%。", + "error_success_analysis": "当前爪夹成功合拢抓取剪刀。", + "correction_plan": "爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向左前方移动接近黄色木盒，爪夹向爪夹方向右前方移动至黄色木盒正上方，爪夹松开使剪刀落入黄色木盒中。", + "annotations": { + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767757715982_1443cy44o", + "x": 0.6595, + "y": 0.428, + "width": 0.10600000000000005, + "height": 0.16133333333333322 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767757726404_mkvpvcr2h", + "x": 0.6645, + "y": 0.4706666666666667, + "width": 0.050999999999999976, + "height": 0.06533333333333337 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767757735362_hdcdnlkmt", + "x": 0.5085, + "y": 0.11866666666666667, + "width": 0.31499999999999995, + "height": 0.3613333333333333 + } + ] + } + } + }, + { + "time": 16.72747446340206, + "frame": 502, + "progress": 75, + "action_description": "当前爪夹抓取剪刀竖直上升。", + "state_description": "当前爪夹合拢抓取剪刀，此时剪刀与黄色木盒水平距离略微接近，为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：爪夹抓取剪刀向爪夹方向左前方移动接近黄色木盒。", + "progress_explanation": "当前爪夹抓取剪刀竖直上升。因此当前进度提升至75%。", + "error_success_analysis": "当前爪夹抓取剪刀成功竖直上升。", + "correction_plan": "爪夹抓取剪刀向爪夹方向左前方移动接近黄色木盒，爪夹向爪夹方向右前方移动至黄色木盒正上方，爪夹松开使剪刀落入黄色木盒中。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767757657396_9dlrjl8nh", + "x": 0.6775, + "y": 0.3266666666666666, + "width": 0.1120000000000001, + "height": 0.12266666666666672 + } + ] + }, + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767757675179_ds5e7iae0", + "x": 0.6975, + "y": 0.3346666666666667 + } + ] + }, + "point_1767749274594": { + "type": "point", + "instances": [ + { + "id": "point_1767749274594_1767757677593_k8vryraf0", + "x": 0.6805, + "y": 0.3266666666666667 + } + ] + }, + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767757683345_gb58kjmby", + "x": 0.6565000000000001, + "y": 0.4053333333333333, + "width": 0.12999999999999998, + "height": 0.1733333333333333 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767757692086_x2rozz8tn", + "x": 0.5065, + "y": 0.11200000000000002, + "width": 0.31800000000000017, + "height": 0.3453333333333333 + } + ] + } + } + }, + { + "time": 17.529227052061856, + "frame": 526, + "progress": 80, + "action_description": "当前爪夹抓取剪刀向爪夹房前右前方略微移动接近黄色木盒。", + "state_description": "当前爪夹合拢抓取剪刀，此时爪夹与黄色木盒水平距离接近。为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：爪夹向爪夹方向右前方移动至黄色木盒正上方。", + "progress_explanation": "当前爪夹抓取剪刀向爪夹房前右前方略微移动接近黄色木盒。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹抓取剪刀成功接近黄色木盒。", + "correction_plan": "爪夹向爪夹方向右前方移动至黄色木盒正上方，爪夹松开使剪刀落入黄色木盒中。", + "annotations": { + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767757611047_j19easyik", + "x": 0.7075, + "y": 0.3106666666666666, + "width": 0.06600000000000002, + "height": 0.08666666666666671 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767757621924_yd3tqk29u", + "x": 0.5085, + "y": 0.11200000000000002, + "width": 0.31900000000000006, + "height": 0.3546666666666667 + } + ] + }, + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767757635046_zk4cau4p5", + "x": 0.6555000000000001, + "y": 0.4093333333333334, + "width": 0.13199999999999984, + "height": 0.1746666666666666 + } + ] + } + } + }, + { + "time": 18.01513771185567, + "frame": 540, + "progress": 90, + "action_description": "当前爪夹向爪夹方向左边移动至黄色木盒正上方。", + "state_description": "当前爪夹合拢抓取剪刀，此时剪刀位于黄色木盒正上方。为完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务应当：爪夹松开使剪刀落入黄色木盒中。", + "progress_explanation": "当前爪夹向爪夹方向左边移动至黄色木盒正上方。因此当前进度提升至90%。", + "error_success_analysis": "当前爪夹成功夹取剪刀移动至黄色木盒正上方。", + "correction_plan": "爪夹松开使剪刀落入黄色木盒中。", + "annotations": { + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767757569704_7i8f9a0lt", + "x": 0.6565000000000001, + "y": 0.4093333333333334, + "width": 0.129, + "height": 0.1706666666666667 + } + ] + }, + "bbox_1767749273694": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273694_1767757585144_s0g5h3xsh", + "x": 0.6545, + "y": 0.224, + "width": 0.06800000000000006, + "height": 0.08266666666666671 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767757595202_f7f9ibnhl", + "x": 0.5085, + "y": 0.13466666666666666, + "width": 0.31700000000000006, + "height": 0.332 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开使剪刀落入黄色木盒。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功降剪刀放入黄色木盒内。", + "frame": 574, + "progress": 100, + "progress_explanation": "当前爪夹松开使剪刀落入黄色木盒。因此当前进度提升至100%。", + "state_description": "当前爪夹张开，此时剪刀落入黄色木盒中，已完成抓取剪刀放入棕色木盒中后再将剪刀放入黄色木盒中的任务。", + "time": 19.132732229381446, + "annotations": { + "point_1767749274740": { + "type": "point", + "instances": [ + { + "id": "point_1767749274740_1767757534020_x9lyd0smw", + "x": 0.7245, + "y": 0.23333333333333334 + } + ] + }, + "bbox_1767757522050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757522050_1767757541286_0sgiy4jp0", + "x": 0.6555000000000001, + "y": 0.40800000000000003, + "width": 0.12899999999999992, + "height": 0.1773333333333333 + } + ] + }, + "bbox_1767749273828": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767749273828_1767757553228_2044sjks0", + "x": 0.5085, + "y": 0.11333333333333333, + "width": 0.3160000000000001, + "height": 0.356 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767749273694", + "name": "剪刀" + }, + { + "color": "#FF9800", + "id": "bbox_1767749273828", + "name": "黄色木盒" + }, + { + "id": "bbox_1767757522050", + "name": "棕色木盒", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767749274594", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767749274740", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-102405-put-scissors-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-102405-put-scissors-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..f08e917a26ff973255b178547009193b10bc0ffc --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-102405-put-scissors-yellow-wooden box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,386 @@ +{ + "task_description": "抓取剪刀放入木盒中：\n爪夹准备移动：0%\n爪夹靠近剪刀：20%\n爪夹抓取剪刀：40%\n爪夹抓取剪刀接近木盒：60%\n爪夹抓取剪刀移动至木盒正上方：80%\n爪夹松开，剪刀落入木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向又前方移动至剪刀正上方并调整爪夹角度使其垂直于剪刀，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向前方移动直至接近木盒，爪夹抓取剪刀向爪夹前方移动至木盒正上方，爪夹松开使剪刀落入木盒。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取剪刀放入木盒中的任务应当：爪夹向爪夹方向又前方移动至剪刀正上方并调整爪夹角度使其垂直于剪刀。", + "time": 1.541237113402062, + "annotations": { + "bbox_1767766838025": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766838025_1767767160170_29xkeg0g6", + "x": 0.6224999999999999, + "y": 0.17200000000000004, + "width": 0.3190000000000001, + "height": 0.312 + } + ] + }, + "bbox_1767766837886": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766837886_1767767174788_x6uci4jsh", + "x": 0.5595, + "y": 0.5373333333333333, + "width": 0.12600000000000006, + "height": 0.13733333333333336 + } + ] + }, + "point_1767766838859": { + "type": "point", + "instances": [ + { + "id": "point_1767766838859_1767767190718_7kdzbcxkk", + "x": 0.5225000000000001, + "y": 0.616 + } + ] + } + } + }, + { + "time": 2.4484536082474224, + "frame": 73, + "progress": 5, + "action_description": "当前爪夹向爪夹方向右前方移动并调整爪夹水平角度，使其垂直于桌面。", + "state_description": "当前爪夹张开，此时爪夹垂直于桌面。为完成抓取剪刀放入木盒中的任务应当：爪夹向爪夹方向右前方移动至剪刀正上方。", + "progress_explanation": "当前爪夹向爪夹方向右前方移动并调整爪夹水平角度，使其垂直于桌面。因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功调整爪夹水平角度。", + "correction_plan": "当前爪夹向爪夹方向右前方移动至剪刀正上方，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向前方移动直至接近木盒，爪夹抓取剪刀向爪夹前方移动至木盒正上方，爪夹松开使剪刀落入木盒。", + "annotations": { + "bbox_1767766838025": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766838025_1767767092543_1mejrxppj", + "x": 0.6225, + "y": 0.17333333333333334, + "width": 0.3179999999999999, + "height": 0.30666666666666664 + } + ] + }, + "bbox_1767766837886": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766837886_1767767130912_6028pad3b", + "x": 0.5665, + "y": 0.5359999999999999, + "width": 0.11800000000000006, + "height": 0.13466666666666677 + } + ] + } + } + }, + { + "time": 3.118556701030928, + "frame": 94, + "progress": 10, + "action_description": "当前爪夹张开向爪夹方向右前方移动至剪刀正上方。", + "state_description": "当前爪夹张开，此时爪夹位于剪刀正上方。为完成抓取剪刀放入木盒中的任务应当：爪夹垂直下降靠近剪刀。", + "progress_explanation": "当前爪夹张开向爪夹方向右前方移动至剪刀正上方。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功移动至剪刀正上方。", + "correction_plan": "爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向前方移动直至接近木盒，爪夹抓取剪刀向爪夹前方移动至木盒正上方，爪夹松开使剪刀落入木盒。", + "annotations": { + "bbox_1767766838025": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766838025_1767767072294_9edzbsrpf", + "x": 0.6224999999999999, + "y": 0.17466666666666666, + "width": 0.317, + "height": 0.3106666666666667 + } + ] + } + } + }, + { + "time": 3.7783505154639174, + "frame": 113, + "progress": 20, + "action_description": "当前爪夹垂直下降靠近剪刀。", + "state_description": "当前爪夹张开，此时爪夹靠近剪刀，为完成抓取剪刀放入木盒中的任务应当：爪夹合拢抓取剪刀。", + "progress_explanation": "当前爪夹垂直下降靠近剪刀。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近剪刀。", + "correction_plan": "爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向前方移动直至接近木盒，爪夹抓取剪刀向爪夹前方移动至木盒正上方，爪夹松开使剪刀落入木盒。", + "annotations": { + "bbox_1767766838025": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766838025_1767767053874_b4z75gsdz", + "x": 0.6215, + "y": 0.17333333333333334, + "width": 0.3179999999999999, + "height": 0.3093333333333333 + } + ] + } + } + }, + { + "time": 5.427835051546391, + "frame": 163, + "progress": 40, + "action_description": "当前爪夹合拢抓取剪刀。", + "state_description": "当前抓夹合拢抓取剪刀，为完成抓取剪刀放入木盒中的任务应当：爪夹抓取剪刀竖直上升。", + "progress_explanation": "当前爪夹合拢抓取剪刀。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功合拢抓取剪刀。", + "correction_plan": "爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向前方移动直至接近木盒，爪夹抓取剪刀向爪夹前方移动至木盒正上方，爪夹松开使剪刀落入木盒。", + "annotations": { + "bbox_1767766838025": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766838025_1767767037866_gs4z7tsri", + "x": 0.6245, + "y": 0.17333333333333334, + "width": 0.31599999999999995, + "height": 0.3106666666666666 + } + ] + } + } + }, + { + "time": 5.974226804123711, + "frame": 179, + "progress": 50, + "action_description": "当前爪夹合拢抓取剪刀竖直上升。", + "state_description": "当前爪夹合拢抓取剪刀，此时爪夹于木盒水平距离略微接近，为完成抓取剪刀放入木盒中的任务应当：爪夹抓取剪刀向爪夹方向前方移动接近木盒。", + "progress_explanation": "当前爪夹合拢抓取剪刀竖直上升。因此当前进度提升至50%.", + "error_success_analysis": "当前爪夹成功合拢抓取剪刀并竖直上升。", + "correction_plan": "爪夹抓取剪刀向爪夹方向前方移动直至接近木盒，爪夹抓取剪刀向爪夹前方移动至木盒正上方，爪夹松开使剪刀落入木盒。", + "annotations": { + "bbox_1767766838025": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766838025_1767767021139_2b5k13sar", + "x": 0.6225, + "y": 0.17466666666666666, + "width": 0.3179999999999999, + "height": 0.308 + } + ] + } + } + }, + { + "time": 6.592783505154639, + "frame": 198, + "progress": 60, + "action_description": "当前爪夹抓取剪刀向爪夹方向左前方移动直至接近木盒。", + "state_description": "当前爪夹合拢抓取剪刀，此时爪夹与木盒水平距离略微接近，为完成抓取剪刀放入木盒中的任务应当：爪夹抓取剪刀向爪夹方向右前方移动至木盒正上方。", + "progress_explanation": "当前爪夹抓取剪刀向爪夹方向左前方移动直至接近木盒。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹抓取剪刀成功接近木盒。", + "correction_plan": "爪夹抓取剪刀向爪夹右前方移动至木盒正上方，爪夹松开使剪刀落入木盒。", + "annotations": { + "bbox_1767766838025": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766838025_1767767007889_t4hjfioyj", + "x": 0.6415, + "y": 0.17600000000000002, + "width": 0.29899999999999993, + "height": 0.30400000000000005 + } + ] + } + } + }, + { + "time": 7.067010309278351, + "frame": 212, + "progress": 58, + "action_description": "当前爪夹抓取剪刀向爪夹方向左前方移动至塑料桶正上方。", + "state_description": "当前爪夹合拢抓取剪刀，此时爪夹与木盒水平距离略微接近，为完成抓取剪刀放入木盒中的任务应当：爪夹抓取剪刀向爪夹方向右边移动至木盒正上方。", + "progress_explanation": "当前爪夹抓取剪刀向爪夹方向左前方移动至塑料桶正上方。因此当前进度跌落至58%。", + "error_success_analysis": "当前爪夹抓取剪刀向爪夹方向左前方移动因此爪夹远离了木盒。", + "correction_plan": "爪夹抓取剪刀向爪夹右边移动至木盒正上方，爪夹松开使剪刀落入木盒。", + "annotations": { + "bbox_1767766837886": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766837886_1767766942432_qdjrafwpf", + "x": 0.5635, + "y": 0.0013333333333333335, + "width": 0.0330000000000001, + "height": 0.19333333333333333 + } + ] + }, + "bbox_1767766838025": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766838025_1767766959538_m1v24zdx2", + "x": 0.6235000000000002, + "y": 0.17333333333333334, + "width": 0.31999999999999973, + "height": 0.30666666666666664 + } + ] + }, + "point_1767766838859": { + "type": "point", + "instances": [ + { + "id": "point_1767766838859_1767766977562_q94wgemy6", + "x": 0.5925, + "y": 0.084 + } + ] + }, + "point_1767766838722": { + "type": "point", + "instances": [ + { + "id": "point_1767766838722_1767766980438_cucwc8o1r", + "x": 0.5815, + "y": 0.08133333333333333 + } + ] + } + } + }, + { + "time": 8.273195876288659, + "frame": 248, + "progress": 8, + "action_description": "当前爪夹松开使剪刀落入塑料桶内。", + "state_description": "当前爪夹张开，此时剪刀位于塑料同内，为完成抓取剪刀放入木盒中的任务应当：爪夹向爪夹方向调整爪夹水平角度使爪夹垂直于桌面。", + "progress_explanation": "当前爪夹松开使剪刀落入塑料桶内。因此当前进度跌落至8%。", + "error_success_analysis": "当前爪夹没能将剪刀放进木盒中因此需要再次抓取剪刀。", + "correction_plan": "爪夹向爪夹方向调整爪夹水平角度使爪夹垂直于桌面，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向前方移动直至接近木盒，爪夹抓取剪刀向爪夹前方移动至木盒正上方，爪夹松开使剪刀落入木盒。", + "annotations": { + "point_1767766838859": { + "type": "point", + "instances": [ + { + "id": "point_1767766838859_1767766891670_4bxgxczjp", + "x": 0.6505, + "y": 0.15466666666666665 + } + ] + }, + "point_1767766838722": { + "type": "point", + "instances": [ + { + "id": "point_1767766838722_1767766893687_prtuqne20", + "x": 0.5505, + "y": 0.13466666666666666 + } + ] + }, + "bbox_1767766838025": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766838025_1767766901460_irqez2rqo", + "x": 0.6205, + "y": 0.17466666666666666, + "width": 0.3209999999999999, + "height": 0.30666666666666664 + } + ] + } + } + }, + { + "time": 9.283505154639176, + "frame": 279, + "progress": 5, + "action_description": "当前爪夹张开向爪夹方向后方移动。", + "state_description": "当前爪夹张开，此时爪夹与剪刀水平距离较远。为完成抓取剪刀放入木盒中的任务应当：爪夹向爪夹方向前方移动。", + "progress_explanation": "当前爪夹张开向爪夹方向后方移动。因此当前进度跌落至5%。", + "error_success_analysis": "当前爪夹向爪夹方向后移动导致爪夹与剪刀水平距离更远。", + "correction_plan": "爪夹向爪夹方向前方移动，爪夹向爪夹方向调整爪夹水平角度使爪夹垂直于桌面，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀，爪夹抓取剪刀竖直上升，爪夹抓取剪刀向爪夹方向前方移动直至接近木盒，爪夹抓取剪刀向爪夹前方移动至木盒正上方，爪夹松开使剪刀落入木盒。", + "annotations": { + "bbox_1767766838025": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766838025_1767766876445_6h6rfpsee", + "x": 0.6214999999999999, + "y": 0.17600000000000002, + "width": 0.31799999999999995, + "height": 0.30533333333333335 + } + ] + } + } + }, + { + "action_description": "关键帧 2/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 316, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 10.533333333333333 + }, + { + "action_description": "关键帧 3/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 578, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 19.266666666666666 + }, + { + "action_description": "关键帧 4/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 598, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 19.933333333333334 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767766837886", + "name": "剪刀", + "color": "#4CAF50" + }, + { + "id": "bbox_1767766838025", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767766838722", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767766838859", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-104208-put-medicine bottle-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-104208-put-medicine bottle-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..3fd21e34bcea3969ac5d65ba2353d97b462a5d5f --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-104208-put-medicine bottle-yellow-wooden box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,564 @@ +{ + "task_description": "抓取药瓶放入木盒中：\n爪夹准备移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹抓取药瓶接近木盒：60%\n爪夹抓取药瓶移动至木盒正上方：80%\n爪夹松开，药瓶落入木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前下方移动至药瓶正上方，爪夹向爪夹方向下方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹方向右前方移动接近木盒，爪夹抓取药瓶向爪夹方向右前方移动直至木盒正上方，松开爪夹使药瓶落入木盒。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向前下方移动至药瓶正上方。", + "time": 1.5058418706185566, + "annotations": { + "point_1767768867966": { + "type": "point", + "instances": [ + { + "id": "point_1767768867966_1767769112518_z2e87wt6m", + "x": 0.3915, + "y": 0.5093333333333334 + } + ] + }, + "point_1767768868098": { + "type": "point", + "instances": [ + { + "id": "point_1767768868098_1767769114505_578icvi2y", + "x": 0.6225, + "y": 0.5066666666666667 + } + ] + }, + "bbox_1767768867104": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867104_1767769120738_j3k7qd6q1", + "x": 0.6545, + "y": 0.38533333333333336, + "width": 0.04700000000000006, + "height": 0.07199999999999994 + } + ] + }, + "bbox_1767768867236": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867236_1767769133418_uotqdc2iv", + "x": 0.6045, + "y": 0.21600000000000003, + "width": 0.209, + "height": 0.26400000000000007 + } + ] + } + } + }, + { + "time": 2.3910652067010307, + "frame": 72, + "progress": 5, + "action_description": "当前爪夹张开向爪夹方向右前方移动。", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈60度角。为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹右前方移动并下降至药瓶正上方。", + "progress_explanation": "当前爪夹张开向爪夹方向右前方移动。因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动。", + "correction_plan": "爪夹向爪夹方向前下方移动至药瓶正上方，爪夹向爪夹方向下方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹方向右前方移动接近木盒，爪夹抓取药瓶向爪夹方向右前方移动直至木盒正上方，松开爪夹使药瓶落入木盒。", + "annotations": { + "point_1767768867966": { + "type": "point", + "instances": [ + { + "id": "point_1767768867966_1767769083308_ge6g814yj", + "x": 0.3885, + "y": 0.504 + } + ] + }, + "point_1767768868098": { + "type": "point", + "instances": [ + { + "id": "point_1767768868098_1767769085236_k77ugif68", + "x": 0.6214999999999999, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767768867104": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867104_1767769089590_s9e1dz5wk", + "x": 0.5545, + "y": 0.39466666666666667, + "width": 0.06200000000000001, + "height": 0.08266666666666668 + } + ] + }, + "bbox_1767768867236": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867236_1767769100578_is654of9t", + "x": 0.4465, + "y": 0.06266666666666666, + "width": 0.333, + "height": 0.40266666666666673 + } + ] + } + } + }, + { + "time": 3.353264485051546, + "frame": 101, + "progress": 10, + "action_description": "当前爪夹向爪夹方向右前方移动并下降直至药瓶正上方。", + "state_description": "当前爪夹张开，此时爪夹位于药瓶正上方。为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向下方下降靠近药瓶。", + "progress_explanation": "当前爪夹向爪夹方向右前方移动并下降直至药瓶正上方。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功移动至药瓶正上方。", + "correction_plan": "爪夹向爪夹方向下方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹方向右前方移动接近木盒，爪夹抓取药瓶向爪夹方向右前方移动直至木盒正上方，松开爪夹使药瓶落入木盒。", + "annotations": { + "point_1767768867966": { + "type": "point", + "instances": [ + { + "id": "point_1767768867966_1767769056976_yk5nk87r6", + "x": 0.3915, + "y": 0.4986666666666667 + } + ] + }, + "point_1767768868098": { + "type": "point", + "instances": [ + { + "id": "point_1767768868098_1767769058988_d6q33pbe8", + "x": 0.6195, + "y": 0.5066666666666667 + } + ] + }, + "bbox_1767768867104": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867104_1767769064038_f6gj4lxfe", + "x": 0.49850000000000005, + "y": 0.5546666666666666, + "width": 0.096, + "height": 0.11199999999999997 + } + ] + }, + "bbox_1767768867236": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867236_1767769074094_nykdyjxxp", + "x": 0.2935, + "y": 0.032, + "width": 0.533, + "height": 0.548 + } + ] + } + } + }, + { + "time": 4.123023907731959, + "frame": 124, + "progress": 20, + "action_description": "当前爪夹向爪夹方向下方移动靠近药瓶。", + "state_description": "当前爪夹张开，此时爪夹靠近药瓶，为完成抓取药瓶放入木盒中的任务应当：爪夹合拢抓取药瓶。", + "progress_explanation": "当前爪夹向爪夹方向下方移动靠近药瓶。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功下降至药瓶两侧并准备抓取药瓶。", + "correction_plan": "爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹方向右前方移动接近木盒，爪夹抓取药瓶向爪夹方向右前方移动直至木盒正上方，松开爪夹使药瓶落入木盒。", + "annotations": { + "point_1767768867966": { + "type": "point", + "instances": [ + { + "id": "point_1767768867966_1767769029074_9qb4l3r14", + "x": 0.3905, + "y": 0.5026666666666667 + } + ] + }, + "point_1767768868098": { + "type": "point", + "instances": [ + { + "id": "point_1767768868098_1767769030900_j3tlis0i7", + "x": 0.6235, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767768867104": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867104_1767769036254_0lbcig2mg", + "x": 0.4385, + "y": 0.4826666666666667, + "width": 0.10400000000000001, + "height": 0.13066666666666674 + } + ] + }, + "bbox_1767768867236": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867236_1767769046226_9kgiv0pkk", + "x": 0.21150000000000002, + "y": 0.0013333333333333333, + "width": 0.609, + "height": 0.5093333333333334 + } + ] + } + } + }, + { + "time": 4.854295359278351, + "frame": 146, + "progress": 40, + "action_description": "当前爪夹合拢抓取药瓶。", + "state_description": "当前爪夹合拢抓取药瓶，为完成抓取药瓶放入木盒中的任务应当：爪夹抓取药瓶竖直上升。", + "progress_explanation": "当前爪夹合拢抓取药瓶。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功合拢抓取药瓶。", + "correction_plan": "爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹方向右前方移动接近木盒，爪夹抓取药瓶向爪夹方向右前方移动直至木盒正上方，松开爪夹使药瓶落入木盒。", + "annotations": { + "point_1767768867966": { + "type": "point", + "instances": [ + { + "id": "point_1767768867966_1767769000554_936sl330y", + "x": 0.4565, + "y": 0.49600000000000005 + } + ] + }, + "point_1767768868098": { + "type": "point", + "instances": [ + { + "id": "point_1767768868098_1767769002445_slsa61po6", + "x": 0.5535, + "y": 0.49466666666666664 + } + ] + }, + "bbox_1767768867104": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867104_1767769006740_oenhdpnxy", + "x": 0.4575, + "y": 0.47600000000000003, + "width": 0.1, + "height": 0.13200000000000003 + } + ] + }, + "bbox_1767768867236": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867236_1767769019612_aty086q1y", + "x": 0.23450000000000001, + "y": 0.005333333333333333, + "width": 0.611, + "height": 0.504 + } + ] + } + } + }, + { + "time": 6.374570219072165, + "frame": 191, + "progress": 50, + "action_description": "当前爪夹抓取药瓶竖直上升。", + "state_description": "当前爪夹合拢抓取药瓶，此时爪夹与木盒水平距离略微接近，为完成抓取药瓶放入木盒中的任务应当：爪夹抓取药瓶向爪夹右前方移动。", + "progress_explanation": "当前爪夹抓取药瓶竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹抓取药瓶成功竖直上升。", + "correction_plan": "爪夹抓取药瓶向爪夹方向右前方移动接近木盒，爪夹抓取药瓶向爪夹方向右前方移动直至木盒正上方，松开爪夹使药瓶落入木盒。", + "annotations": { + "point_1767768867966": { + "type": "point", + "instances": [ + { + "id": "point_1767768867966_1767768976546_w1y5yt7tc", + "x": 0.45549999999999996, + "y": 0.49733333333333335 + } + ] + }, + "point_1767768868098": { + "type": "point", + "instances": [ + { + "id": "point_1767768868098_1767768978567_vw369wn84", + "x": 0.5545, + "y": 0.5 + } + ] + }, + "bbox_1767768867104": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867104_1767768983408_u16j5r26x", + "x": 0.4585, + "y": 0.47866666666666663, + "width": 0.09800000000000005, + "height": 0.1293333333333334 + } + ] + }, + "bbox_1767768867236": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867236_1767768987824_1htvqedxh", + "x": 0.3055, + "y": 0.37466666666666665, + "width": 0.33399999999999996, + "height": 0.4093333333333332 + } + ] + } + } + }, + { + "time": 6.653608009793814, + "frame": 200, + "progress": 60, + "action_description": "当前爪夹抓取药瓶向爪夹方向右前方移动接近木盒。", + "state_description": "当前爪夹合拢抓取药瓶，此时爪夹与木盒水平距离接近，为完成抓取药瓶放入木盒中的任务应当：当前爪夹抓取药瓶向爪夹方向右前方移动至木盒正上方。", + "progress_explanation": "当前爪夹抓取药瓶向爪夹方向右前方移动接近木盒。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹合拢抓取药瓶成功接近木盒。", + "correction_plan": "爪夹抓取药瓶向爪夹方向右前方移动直至木盒正上方，松开爪夹使药瓶落入木盒。", + "annotations": { + "point_1767768867966": { + "type": "point", + "instances": [ + { + "id": "point_1767768867966_1767768947853_wetell164", + "x": 0.4565, + "y": 0.49733333333333335 + } + ] + }, + "point_1767768868098": { + "type": "point", + "instances": [ + { + "id": "point_1767768868098_1767768949808_n8qo56m8g", + "x": 0.5535, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767768867104": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867104_1767768954674_iffahw3mx", + "x": 0.4575, + "y": 0.47600000000000003, + "width": 0.09900000000000002, + "height": 0.1306666666666666 + } + ] + }, + "bbox_1767768867236": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867236_1767768960226_enft8fgxr", + "x": 0.21849999999999997, + "y": 0.34800000000000003, + "width": 0.36400000000000005, + "height": 0.45466666666666666 + } + ] + } + } + }, + { + "time": 7.327147504639175, + "frame": 220, + "progress": 80, + "action_description": "当前爪夹抓取药瓶向爪夹方向右前方移动至木盒正上方。", + "state_description": "当前爪夹合拢抓取药瓶，此时药瓶位于木盒正上方。为完成抓取药瓶放入木盒中的任务应当：爪夹松开使药瓶落入木盒。", + "progress_explanation": "当前爪夹抓取药瓶向爪夹方向右前方移动至木盒正上方。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹抓取药瓶成功移动至木盒正上方。", + "correction_plan": "松开爪夹使药瓶落入木盒。", + "annotations": { + "point_1767768867966": { + "type": "point", + "instances": [ + { + "id": "point_1767768867966_1767768913994_kmxyh44cc", + "x": 0.4565, + "y": 0.4986666666666667 + } + ] + }, + "point_1767768868098": { + "type": "point", + "instances": [ + { + "id": "point_1767768868098_1767768915849_1pu46vn4e", + "x": 0.5565, + "y": 0.4986666666666667 + } + ] + }, + "bbox_1767768867236": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867236_1767768920554_rlw1gumvx", + "x": 0.14350000000000002, + "y": 0.32266666666666666, + "width": 0.42000000000000004, + "height": 0.4706666666666667 + } + ] + }, + "bbox_1767768867104": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867104_1767768936616_0ow3y0siv", + "x": 0.4575, + "y": 0.47600000000000003, + "width": 0.09900000000000002, + "height": 0.1306666666666666 + } + ] + } + } + }, + { + "time": 8.007999, + "frame": 240, + "progress": 100, + "action_description": "当前爪夹松开使药瓶落入木盒。", + "state_description": "当前爪夹张开，此时药瓶落入木盒。已完成抓取药瓶放入木盒中的任务。", + "progress_explanation": "当前爪夹松开使药瓶落入木盒。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功将药瓶方进木盒中。", + "correction_plan": "", + "annotations": { + "point_1767768867966": { + "type": "point", + "instances": [ + { + "id": "point_1767768867966_1767768881166_t1whudm2o", + "x": 0.3905, + "y": 0.5053333333333333 + } + ] + }, + "point_1767768868098": { + "type": "point", + "instances": [ + { + "id": "point_1767768868098_1767768883258_mlf52l2uo", + "x": 0.6245, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767768867104": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867104_1767768887522_gukiuztzl", + "x": 0.3755, + "y": 0.3506666666666666, + "width": 0.04900000000000002, + "height": 0.10666666666666665 + } + ] + }, + "bbox_1767768867236": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767768867236_1767768897664_m4z30nkz8", + "x": 0.14850000000000002, + "y": 0.22933333333333333, + "width": 0.39200000000000007, + "height": 0.38133333333333336 + } + ] + } + } + }, + { + "action_description": "关键帧 2/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 346, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 11.533333333333333 + }, + { + "action_description": "关键帧 3/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 534, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 17.8 + }, + { + "action_description": "关键帧 4/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 558, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 18.6 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767768867104", + "name": "药瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1767768867236", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767768867966", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767768868098", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-104920-put-medicine bottle-yellow-wooden box-mix1/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-104920-put-medicine bottle-yellow-wooden box-mix1/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..6edcb21eb60e517297f51ce8155d3c03af53df41 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-104920-put-medicine bottle-yellow-wooden box-mix1/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,444 @@ +{ + "task_description": "抓取药瓶放入木盒中：\n爪夹准备移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹抓取药瓶接近木盒：60%\n爪夹抓取药瓶移动至木盒正上方：80%\n爪夹松开，药瓶落入木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方移动，爪夹向爪夹方向右前方移动并下降，爪夹向爪夹方向左前方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹方向后方移动接近木盒，爪夹抓取药瓶向爪夹后方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向前方移动。", + "time": 1.5311339798969072, + "annotations": { + "bbox_1767769622376": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769622376_1767772265559_0du2aelip", + "x": 0.5175, + "y": 0.44533333333333336, + "width": 0.03700000000000001, + "height": 0.08533333333333334 + } + ] + }, + "bbox_1767769623181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769623181_1767772274139_97gf9qjt9", + "x": 0.3095, + "y": 0.62, + "width": 0.398, + "height": 0.3453333333333333 + } + ] + } + } + }, + { + "time": 2.319312653092784, + "frame": 70, + "progress": 5, + "action_description": "当前爪夹向爪夹前方移动。", + "state_description": "当前爪夹张开，此时爪夹位于木盒正上方。为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向右前方移动并下降。", + "progress_explanation": "当前爪夹向爪夹前方移动。因此当前进度提升至5%。", + "error_success_analysis": "爪夹成功向爪夹方向前方移动此时爪夹距离药瓶更近一步。", + "correction_plan": "爪夹向爪夹方向右前方移动并下降，爪夹向爪夹方向左前方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹方向后方移动接近木盒，爪夹抓取药瓶向爪夹后方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "bbox_1767769623181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769623181_1767772236793_t28rie75u", + "x": 0.3065, + "y": 0.6226666666666666, + "width": 0.40199999999999997, + "height": 0.34666666666666673 + } + ] + }, + "bbox_1767769622376": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769622376_1767772247573_levdwu04t", + "x": 0.5155, + "y": 0.44533333333333336, + "width": 0.040000000000000036, + "height": 0.08666666666666666 + } + ] + } + } + }, + { + "time": 3.10749132628866, + "frame": 93, + "progress": 10, + "action_description": "当前爪夹向爪夹方向右前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹位于药瓶后上方，为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹前下方移动靠近药瓶。", + "progress_explanation": "当前爪夹向爪夹方向右前方移动并下降。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动并下降。", + "correction_plan": "爪夹向爪夹方向左前方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹方向后方移动接近木盒，爪夹抓取药瓶向爪夹后方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "bbox_1767769623181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769623181_1767772220643_v98f9t51d", + "x": 0.3075, + "y": 0.6226666666666668, + "width": 0.402, + "height": 0.33733333333333326 + } + ] + } + } + }, + { + "time": 3.805223266494845, + "frame": 114, + "progress": 13, + "action_description": "当前爪夹垂直下降。", + "state_description": "当前爪夹张开，此时爪夹位于书的正上方。为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向前方移动靠近药瓶。", + "progress_explanation": "当前爪夹垂直下降。因此当前进度提升至13%。", + "error_success_analysis": "当前爪夹成功垂直下降此时爪夹比上一节阶段略微接近药瓶。", + "correction_plan": "爪夹向爪夹方向前方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹方向后方移动接近木盒，爪夹抓取药瓶向爪夹后方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "bbox_1767769623181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769623181_1767772209009_zx726oudk", + "x": 0.3065, + "y": 0.624, + "width": 0.4040000000000001, + "height": 0.34533333333333344 + } + ] + } + } + }, + { + "time": 4.30914077886598, + "frame": 129, + "progress": -10, + "action_description": "当前爪夹合拢抓空。", + "state_description": "当前爪夹合拢，此时爪夹空抓，为完成抓取药瓶放入木盒中的任务应当：爪夹张开并向爪夹方向前方移动靠近药瓶。", + "progress_explanation": "当前爪夹合拢抓空。因此当前进度跌落至-10%。", + "error_success_analysis": "当前爪夹还未靠近药瓶就合拢爪夹导致爪夹空抓。", + "correction_plan": "爪夹松开并向爪夹方向前方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹方向后方移动接近木盒，爪夹抓取药瓶向爪夹后方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "bbox_1767769623181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769623181_1767772191817_b52hwht71", + "x": 0.30650000000000005, + "y": 0.6186666666666666, + "width": 0.3999999999999999, + "height": 0.34400000000000014 + } + ] + } + } + }, + { + "time": 4.851821176804124, + "frame": 146, + "progress": -15, + "action_description": "当前爪夹合拢竖直上升。", + "state_description": "当前爪夹合拢，此时爪夹与药瓶水平距离略微接近，为完成抓取药瓶放入木盒中的任务应当：爪夹松开向爪夹方向前下方移动靠近药瓶。", + "progress_explanation": "当前爪夹合拢竖直上升。因此当前进度跌落至-15%。", + "error_success_analysis": "当前爪夹空抓并竖直上升导致此阶段爪夹比上一阶段与药瓶垂直距离更远。", + "correction_plan": "爪夹松开后向爪夹方向前下方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹方向后方移动接近木盒，爪夹抓取药瓶向爪夹后方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "bbox_1767769623181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769623181_1767772159997_uwdsbr545", + "x": 0.3075, + "y": 0.6226666666666667, + "width": 0.403, + "height": 0.34266666666666673 + } + ] + } + } + }, + { + "time": 5.872577163402062, + "frame": 176, + "progress": 8, + "action_description": "当前爪夹张开。", + "state_description": "当前爪夹张开，此时爪夹与药瓶水平距离略微接近。为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向前下方移动靠近药瓶。", + "progress_explanation": "当前爪夹张开比上一阶段更进一步。因此当前进度提升至8%。", + "error_success_analysis": "当前爪夹成功张开爪夹方便后续抓取药瓶。", + "correction_plan": "爪夹向爪夹方向前下方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹方向后方移动接近木盒，爪夹抓取药瓶向爪夹后方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "bbox_1767769622376": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769622376_1767772127709_xd2cq2uic", + "x": 0.5195000000000001, + "y": 0.45866666666666667, + "width": 0.03300000000000001, + "height": 0.0706666666666667 + } + ] + }, + "bbox_1767769623181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769623181_1767772138493_ns9cx0nom", + "x": 0.3095, + "y": 0.6213333333333334, + "width": 0.398, + "height": 0.34133333333333327 + } + ] + } + } + }, + { + "time": 7.436013547938145, + "frame": 223, + "progress": 20, + "action_description": "当前爪夹张开向爪夹方向前下方移动靠近药瓶。", + "state_description": "当前爪夹张开，此时爪夹靠近药瓶，为完成抓取药瓶放入木盒中的任务应当：爪夹合拢抓取药瓶。", + "progress_explanation": "当前爪夹张开向爪夹方向前下方移动靠近药瓶。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹想爪夹方向前下方移动成功靠近药瓶。", + "correction_plan": "爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹方向后方移动接近木盒，爪夹抓取药瓶向爪夹后方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "bbox_1767769623181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769623181_1767772102603_myemt43gx", + "x": 0.2965, + "y": 0.62, + "width": 0.4109999999999999, + "height": 0.33999999999999997 + } + ] + }, + "bbox_1767769622376": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769622376_1767772112437_8170wlhg6", + "x": 0.5165000000000001, + "y": 0.44666666666666666, + "width": 0.03899999999999988, + "height": 0.09866666666666664 + } + ] + } + } + }, + { + "time": 8.689346847938145, + "frame": 261, + "progress": 40, + "action_description": "当前爪夹合拢抓取药瓶。", + "state_description": "当前爪夹合拢抓取药瓶，为完成抓取药瓶放入木盒中的任务应当：当前爪夹抓取药瓶竖直上升。", + "progress_explanation": "当前爪夹合拢抓取药瓶。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹合拢成功抓取药瓶。", + "correction_plan": "爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹方向后方移动接近木盒，爪夹抓取药瓶向爪夹后方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "bbox_1767769623181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769623181_1767772089383_hn2nkvhop", + "x": 0.3035, + "y": 0.6213333333333334, + "width": 0.406, + "height": 0.33999999999999997 + } + ] + } + } + }, + { + "time": 9.619656101546394, + "frame": 289, + "progress": 50, + "action_description": "当前爪夹抓取药瓶竖直上升。", + "state_description": "当前爪夹合拢抓取药瓶，此时爪夹与木盒水平距离略微接近。为完成抓取药瓶放入木盒中的任务应当：爪夹抓取药瓶向爪夹方向后方移动直至接近木盒。", + "progress_explanation": "当前爪夹抓取药瓶竖直上升，因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹抓取药瓶成功竖直上升。", + "correction_plan": "爪夹抓取药瓶向爪夹方向后方移动接近木盒，爪夹抓取药瓶向爪夹后方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "bbox_1767769623181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769623181_1767772070101_zghps5ui2", + "x": 0.3075, + "y": 0.6199999999999999, + "width": 0.402, + "height": 0.3360000000000001 + } + ] + } + } + }, + { + "time": 9.968522071649485, + "frame": 299, + "progress": 60, + "action_description": "当前爪夹合拢抓取药瓶向爪夹方向后方移动直至接近木盒。", + "state_description": "当前爪夹合拢抓取药品，此时爪夹与木盒水平距离接近。为完成抓取药瓶放入木盒中的任务应当：爪夹抓取药瓶向爪夹方向后方移动移动直至木盒正上方。", + "progress_explanation": "当前爪夹合拢抓取药瓶向爪夹方向后方移动直至接近木盒。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取药瓶成功接近木盒。", + "correction_plan": "爪夹抓取药瓶向爪夹后方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "bbox_1767769623181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769623181_1767772054993_v8x3qvaug", + "x": 0.3075, + "y": 0.6213333333333334, + "width": 0.4, + "height": 0.34133333333333327 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取药瓶向爪夹方向后方移动至木盒正上方。", + "correction_plan": "爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "当前爪夹成功将药瓶抓取到木盒正上方。", + "frame": 316, + "progress": 80, + "progress_explanation": "当前爪夹抓取药瓶向爪夹方向后方移动至木盒正上方。因此当前进度提升至80%", + "state_description": "当前爪夹合拢抓取药瓶，此时药瓶位于药瓶正上方。为完成抓取药瓶放入木盒中的任务应当：爪夹松开使药瓶落入木盒中。", + "time": 10.54996535515464, + "annotations": { + "bbox_1767769622376": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769622376_1767772022889_ldrxyv7xj", + "x": 0.47450000000000003, + "y": 0.584, + "width": 0.050999999999999976, + "height": 0.10933333333333337 + } + ] + }, + "bbox_1767769623181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769623181_1767772032903_dbqowtl3m", + "x": 0.30850000000000005, + "y": 0.6213333333333334, + "width": 0.39899999999999997, + "height": 0.3413333333333334 + } + ] + } + } + }, + { + "time": 11.040961905670104, + "frame": 331, + "progress": 100, + "action_description": "当前爪夹松开药瓶落入木盒中。", + "state_description": "当前爪夹松开，此时药瓶落入木盒中。已完成抓取药瓶放入木盒中的任务。", + "progress_explanation": "当前爪夹松开药瓶落入木盒中。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功将药瓶抓取到木盒中去。", + "correction_plan": "", + "annotations": { + "bbox_1767769622376": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769622376_1767771983773_r4wxpg847", + "x": 0.3965, + "y": 0.7426666666666667, + "width": 0.07399999999999998, + "height": 0.06133333333333333 + } + ] + }, + "bbox_1767769623181": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769623181_1767771992862_jf5r3ezz3", + "x": 0.3095, + "y": 0.6213333333333334, + "width": 0.402, + "height": 0.33999999999999997 + } + ] + } + } + }, + { + "action_description": "关键帧 3/5 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 530, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 17.666666666666668 + }, + { + "action_description": "关键帧 4/5 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 722, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 24.066666666666666 + }, + { + "action_description": "关键帧 5/5 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 750, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 25 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767769622376", + "name": "药瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1767769623181", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767769623908", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767769624036", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-104920-put-medicine bottle-yellow-wooden box-mix1/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-104920-put-medicine bottle-yellow-wooden box-mix1/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..9886fab658b310c1ad65c6ab67012e0cf40ebcfe --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-104920-put-medicine bottle-yellow-wooden box-mix1/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,498 @@ +{ + "task_description": "抓取药瓶放入木盒中：\n爪夹准备移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹抓取药瓶接近木盒：60%\n爪夹抓取药瓶移动至木盒正上方：80%\n爪夹松开，药瓶落入木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方移动，当前爪夹向爪夹右下方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹合拢抓取药瓶向爪夹方向左后方移动直至接近木盒，爪夹抓取药瓶向爪夹方向后方移动至木盒正上方，爪夹抓取药瓶垂直下降至木盒中，爪夹松开药瓶使药瓶落入木盒中。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向前方移动。", + "time": 1.465721649484536, + "annotations": { + "bbox_1767774523460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523460_1767774843244_mld8ro7q8", + "x": 0.48950000000000005, + "y": 0.52, + "width": 0.038999999999999965, + "height": 0.08666666666666666 + } + ] + }, + "bbox_1767774523603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523603_1767774849782_g4kz9need", + "x": 0.1665, + "y": 0.5960000000000001, + "width": 0.39, + "height": 0.3506666666666666 + } + ] + } + } + }, + { + "time": 2.2765463917525772, + "frame": 68, + "progress": 5, + "action_description": "爪夹张开向爪夹方向前方移动。", + "state_description": "当前爪夹张开，此时爪夹与药瓶水平距离略微接近，为完成抓取药瓶放入木盒中的任务应当：当前爪夹向爪夹右下方移动靠近药瓶。", + "progress_explanation": "当前爪夹张开向爪夹方向前方移动。因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功向爪夹前方移动。", + "correction_plan": "当前爪夹向爪夹右下方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹合拢抓取药瓶向爪夹方向左后方移动直至接近木盒，爪夹抓取药瓶向爪夹方向后方移动至木盒正上方，爪夹抓取药瓶垂直下降至木盒中，爪夹松开药瓶使药瓶落入木盒中。", + "annotations": { + "bbox_1767774523460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523460_1767774820276_clw7rgj6c", + "x": 0.4875, + "y": 0.5186666666666667, + "width": 0.041000000000000016, + "height": 0.08933333333333339 + } + ] + }, + "bbox_1767774523603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523603_1767774829694_ri2oppxms", + "x": 0.14950000000000002, + "y": 0.5946666666666667, + "width": 0.40499999999999997, + "height": 0.34933333333333333 + } + ] + } + } + }, + { + "time": 2.7879896907216493, + "frame": 84, + "progress": -5, + "action_description": "当前爪夹张开向爪夹前下方移动靠近香蕉皮。", + "state_description": "当前爪夹张开，此时爪夹靠近香蕉皮，为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向右上方移动至药瓶正上方。", + "progress_explanation": "当前爪夹张开向爪夹前下方移动靠近香蕉皮。因此当前进度跌落至-5%。", + "error_success_analysis": "当前爪夹还未到药瓶正上方就下降导致此时爪夹位于香蕉皮两侧。", + "correction_plan": "爪夹竖直上升后向爪夹右下方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹合拢抓取药瓶向爪夹方向左后方移动直至接近木盒，爪夹抓取药瓶向爪夹方向后方移动至木盒正上方，爪夹抓取药瓶垂直下降至木盒中，爪夹松开药瓶使药瓶落入木盒中。", + "annotations": { + "bbox_1767774523603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523603_1767774794942_t0qr5mc17", + "x": 0.1355, + "y": 0.5973333333333334, + "width": 0.41999999999999993, + "height": 0.34933333333333333 + } + ] + }, + "bbox_1767774523460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523460_1767774800190_vv9imodx3", + "x": 0.48850000000000005, + "y": 0.5173333333333333, + "width": 0.039999999999999945, + "height": 0.09066666666666674 + } + ] + } + } + }, + { + "time": 3.661185567010309, + "frame": 110, + "progress": -10, + "action_description": "当前爪夹合拢抓取香蕉皮。", + "state_description": "当前爪夹合拢，此时爪夹抓取香蕉皮，为完成抓取药瓶放入木盒中的任务应当：爪夹松开向爪夹方向右上方移动至药瓶正上方。", + "progress_explanation": "当前爪夹合拢抓取香蕉皮。因此当前进度跌落至-10%。", + "error_success_analysis": "当前爪夹抓取错误目标。", + "correction_plan": "爪夹松开后竖直上升向爪夹右下方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹合拢抓取药瓶向爪夹方向左后方移动直至接近木盒，爪夹抓取药瓶向爪夹方向后方移动至木盒正上方，爪夹抓取药瓶垂直下降至木盒中，爪夹松开药瓶使药瓶落入木盒中。", + "annotations": { + "bbox_1767774523460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523460_1767774765298_yoc96yh2n", + "x": 0.4965, + "y": 0.5186666666666667, + "width": 0.040000000000000036, + "height": 0.09066666666666669 + } + ] + }, + "bbox_1767774523603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523603_1767774770978_3ha6voroc", + "x": 0.14950000000000002, + "y": 0.5946666666666667, + "width": 0.40700000000000003, + "height": 0.3520000000000001 + } + ] + } + } + }, + { + "time": 4.646649484536082, + "frame": 139, + "progress": -15, + "action_description": "当前爪夹抓取香蕉屁竖直上升时香蕉皮掉落至桌面。", + "state_description": "当前爪夹合拢，此时香蕉皮掉落至桌面。为完成抓取药瓶放入木盒中的任务应当：爪夹张开向爪夹方向右下方移动靠近药瓶。", + "progress_explanation": "当前爪夹抓取香蕉屁竖直上升时香蕉皮掉落至桌面。因此当前进度跌落至-15%。", + "error_success_analysis": "当前爪夹与还未移动至药瓶两侧就合拢爪夹。", + "correction_plan": "爪夹松开后向爪夹右下方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹合拢抓取药瓶向爪夹方向左后方移动直至接近木盒，爪夹抓取药瓶向爪夹方向后方移动至木盒正上方，爪夹抓取药瓶垂直下降至木盒中，爪夹松开药瓶使药瓶落入木盒中。", + "annotations": { + "bbox_1767774523460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523460_1767774734969_ks8fgtash", + "x": 0.5855, + "y": 0.5253333333333333, + "width": 0.03799999999999999, + "height": 0.08933333333333339 + } + ] + }, + "bbox_1767774523603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523603_1767774750268_6ih7rarz0", + "x": 0.1375, + "y": 0.5933333333333333, + "width": 0.417, + "height": 0.3520000000000001 + } + ] + } + } + }, + { + "time": 5.232938144329897, + "frame": 157, + "progress": 8, + "action_description": "当前爪夹松开。", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈45度角。为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向右下方移动靠近药瓶。", + "progress_explanation": "当前爪夹松开，此时爪夹比上一届阶段少一部。因此进度提升至8%。", + "error_success_analysis": "当前爪夹成功放开爪夹。", + "correction_plan": "爪夹向爪夹右下方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹合拢抓取药瓶向爪夹方向左后方移动直至接近木盒，爪夹抓取药瓶向爪夹方向后方移动至木盒正上方，爪夹抓取药瓶垂直下降至木盒中，爪夹松开药瓶使药瓶落入木盒中。", + "annotations": { + "bbox_1767774523603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523603_1767774714100_zvv85vppg", + "x": 0.14550000000000002, + "y": 0.5946666666666667, + "width": 0.40800000000000003, + "height": 0.3506666666666666 + } + ] + }, + "bbox_1767774523460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523460_1767774720328_ojweb40g7", + "x": 0.5815, + "y": 0.5253333333333333, + "width": 0.04299999999999997, + "height": 0.08666666666666666 + } + ] + } + } + }, + { + "time": 6.55520618556701, + "frame": 197, + "progress": 10, + "action_description": "当前爪夹张开向爪夹方向右下方移动。", + "state_description": "当前爪夹张开，此时爪夹与药瓶水平距离略微接近，为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向右前方移动并下降靠近药瓶。", + "progress_explanation": "当前爪夹张开向爪夹方向右下方移动。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功拉近与药瓶之间的距离。", + "correction_plan": "当前爪夹向爪夹右前方移动并下降靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹合拢抓取药瓶向爪夹方向左后方移动直至接近木盒，爪夹抓取药瓶向爪夹方向后方移动至木盒正上方，爪夹抓取药瓶垂直下降至木盒中，爪夹松开药瓶使药瓶落入木盒中。", + "annotations": { + "bbox_1767774523460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523460_1767774691108_ro5z25six", + "x": 0.5825000000000001, + "y": 0.5253333333333333, + "width": 0.041999999999999905, + "height": 0.09066666666666669 + } + ] + }, + "bbox_1767774523603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523603_1767774699766_8u1y1ea1z", + "x": 0.1365, + "y": 0.5893333333333334, + "width": 0.418, + "height": 0.35866666666666674 + } + ] + } + } + }, + { + "time": 7.5032474226804124, + "frame": 225, + "progress": 20, + "action_description": "当前爪夹张开向爪夹方向右前方移动并下降靠近药瓶。", + "state_description": "当前爪夹张开，此时爪夹靠近药瓶。为完成抓取药瓶放入木盒中的任务应当：爪夹合拢抓取药瓶。", + "progress_explanation": "当前爪夹张开向爪夹方向右前方移动并下降靠近药瓶。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动并下降靠近药瓶。", + "correction_plan": "爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹合拢抓取药瓶向爪夹方向左后方移动直至接近木盒，爪夹抓取药瓶向爪夹方向后方移动至木盒正上方，爪夹抓取药瓶垂直下降至木盒中，爪夹松开药瓶使药瓶落入木盒中。", + "annotations": { + "bbox_1767774523603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523603_1767774669642_7mpuedz9f", + "x": 0.14450000000000002, + "y": 0.5986666666666667, + "width": 0.4109999999999999, + "height": 0.34933333333333333 + } + ] + }, + "bbox_1767774523460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523460_1767774681480_d0ia5a1fj", + "x": 0.5845, + "y": 0.5226666666666666, + "width": 0.039000000000000055, + "height": 0.09333333333333335 + } + ] + } + } + }, + { + "time": 8.214278350515464, + "frame": 246, + "progress": 40, + "action_description": "当前爪夹合拢抓取药瓶。", + "state_description": "当前爪夹合拢抓取药瓶，为完成抓取药瓶放入木盒中的任务应当：爪夹抓取药瓶竖直上升。", + "progress_explanation": "当前爪夹合拢抓取药瓶。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功合拢抓取药瓶。", + "correction_plan": "爪夹抓取药瓶竖直上升，爪夹合拢抓取药瓶向爪夹方向左后方移动直至接近木盒，爪夹抓取药瓶向爪夹方向后方移动至木盒正上方，爪夹抓取药瓶垂直下降至木盒中，爪夹松开药瓶使药瓶落入木盒中。", + "annotations": { + "bbox_1767774523603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523603_1767774653785_z0rgskhaj", + "x": 0.14450000000000002, + "y": 0.5986666666666667, + "width": 0.41100000000000003, + "height": 0.3479999999999999 + } + ] + } + } + }, + { + "time": 9.324484536082474, + "frame": 280, + "progress": 50, + "action_description": "当前爪夹抓取药瓶竖直上升。", + "state_description": "当前爪夹合拢抓取药瓶，此时爪夹与木盒水平距离略微接近，为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向左后方移动直至接近木盒。", + "progress_explanation": "当前爪夹抓取药瓶竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功抓取药瓶竖直上升。", + "correction_plan": "爪夹合拢抓取药瓶向爪夹方向左后方移动直至接近木盒，爪夹抓取药瓶向爪夹方向后方移动至木盒正上方，爪夹抓取药瓶垂直下降至木盒中，爪夹松开药瓶使药瓶落入木盒中。", + "annotations": { + "bbox_1767774523603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523603_1767774635730_vjgl9thuu", + "x": 0.15050000000000002, + "y": 0.6066666666666667, + "width": 0.4049999999999999, + "height": 0.3400000000000001 + } + ] + } + } + }, + { + "time": 9.611391752577319, + "frame": 288, + "progress": 60, + "action_description": "当前爪夹抓取药瓶向爪夹方向左后方移动直至接近木盒。", + "state_description": "当前爪夹合拢抓取药瓶，此时爪夹与木盒水平距离接近。为完成抓取药瓶放入木盒中的任务应当：爪夹抓取药瓶向爪夹方向后方移动至木盒正上方。", + "progress_explanation": "当前爪夹抓取药瓶向爪夹方向左后方移动直至接近木盒。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹抓取药瓶成功接近木盒。", + "correction_plan": "爪夹抓取药瓶向爪夹方向后方移动至木盒正上方，爪夹抓取药瓶垂直下降至木盒中，爪夹松开药瓶使药瓶落入木盒中。", + "annotations": { + "bbox_1767774523603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523603_1767774625237_lnil6rewf", + "x": 0.14650000000000002, + "y": 0.5973333333333334, + "width": 0.40700000000000003, + "height": 0.34933333333333333 + } + ] + } + } + }, + { + "time": 10.060463917525773, + "frame": 302, + "progress": 80, + "action_description": "当前爪夹抓取药瓶向爪夹方向后方移动直至木盒正上方。", + "state_description": "当前爪夹合拢抓取药瓶，此时药瓶位于木盒正上方。为完成抓取药瓶放入木盒中的任务应当：爪夹抓取药瓶垂直下降至木盒中。", + "progress_explanation": "当前爪夹抓取药瓶向爪夹方向后方移动直至木盒正上方。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取药瓶来到木盒正上方。", + "correction_plan": "，爪夹抓取药瓶垂直下降至木盒中，爪夹松开药瓶使药瓶落入木盒中。", + "annotations": { + "bbox_1767774523460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523460_1767774601140_yby6t5i2j", + "x": 0.25350000000000006, + "y": 0.548, + "width": 0.04899999999999993, + "height": 0.09599999999999996 + } + ] + }, + "bbox_1767774523603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523603_1767774606724_u5i36ev6s", + "x": 0.14650000000000002, + "y": 0.5946666666666667, + "width": 0.40800000000000003, + "height": 0.34800000000000003 + } + ] + } + } + }, + { + "time": 10.497061855670102, + "frame": 315, + "progress": 90, + "action_description": "当前爪夹抓取药瓶垂直垂直下降接近木盒。", + "state_description": "当前爪夹合拢抓取药瓶，此时药瓶与木盒垂直距离接近。为完成抓取药瓶放入木盒中的任务应当：松开爪夹使药瓶落在木盒中。", + "progress_explanation": "当前爪夹抓取药瓶垂直下降接近木盒。因此当前进度提升至90%。", + "error_success_analysis": "当前爪夹抓取药瓶垂直下降使药瓶更加接近木盒，大大增加药瓶落入木盒的成功率。", + "correction_plan": "爪夹松开药瓶使药瓶落入木盒中。", + "annotations": { + "bbox_1767774523603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523603_1767774568878_fjmp268gf", + "x": 0.14650000000000002, + "y": 0.608, + "width": 0.409, + "height": 0.3373333333333334 + } + ] + }, + "bbox_1767774523460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523460_1767774578796_gke66znfl", + "x": 0.2605, + "y": 0.6159999999999999, + "width": 0.04900000000000002, + "height": 0.09200000000000016 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开使药瓶落入木盒中。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功降药瓶抓入木盒中。", + "frame": 327, + "progress": 100, + "progress_explanation": "此时药瓶落入木盒中，因此当前进度提升至100%。", + "state_description": "当前爪夹张开，此时药瓶落入木盒中，已完成抓取药瓶放入木盒中的任务。", + "time": 10.896237113402062, + "annotations": { + "bbox_1767774523460": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523460_1767774539866_gyqt6tdyz", + "x": 0.2535, + "y": 0.7493333333333333, + "width": 0.08700000000000001, + "height": 0.08399999999999999 + } + ] + }, + "bbox_1767774523603": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774523603_1767774549844_8zh91khv0", + "x": 0.14650000000000002, + "y": 0.5986666666666668, + "width": 0.40800000000000003, + "height": 0.3493333333333332 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767774523460", + "name": "药瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1767774523603", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767774524208", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767774524469", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-105700-put-medicine bottle-yellow-wooden box-mix2/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-105700-put-medicine bottle-yellow-wooden box-mix2/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..a74171623f0575f400853c13cf5a2997cb2d45fd --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-105700-put-medicine bottle-yellow-wooden box-mix2/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,924 @@ +{ + "task_description": "抓取药瓶放入木盒中：\n爪夹准备移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹抓取药瓶接近木盒：60%\n爪夹抓取药瓶移动至木盒正上方：80%\n爪夹松开，药瓶落入木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹松开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右下方移动并调整爪夹与桌面水平角度，使爪夹与桌面水平角度呈30度角，爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹前方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前爪夹松开，爪夹准备移动。因此当前进度未0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向右下方移动并调整爪夹与桌面水平角度，使爪夹与桌面水平角度呈30度角。", + "time": 1.5044673881443298, + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767778252807_4xskuml1y", + "x": 0.3925, + "y": 0.5013333333333334 + } + ] + }, + "point_1767777790050": { + "type": "point", + "instances": [ + { + "id": "point_1767777790050_1767778254553_jx8864d13", + "x": 0.6214999999999999, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767778259465_bbfvkf1of", + "x": 0.6145, + "y": 0.448, + "width": 0.04499999999999993, + "height": 0.06933333333333333 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767778265281_1oqdcawyh", + "x": 0.4995, + "y": 0.18533333333333335, + "width": 0.246, + "height": 0.284 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右下方移动并调整爪夹与桌面水平角度，使爪夹与桌面水平角度呈30度角。", + "correction_plan": "爪夹向爪夹方向前下方移动至药瓶正上方，爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹前方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "当前爪夹成功向爪夹右下方移动并调整爪夹水平角度使其更方便抓取药瓶。", + "frame": 72, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向右下方移动并调整爪夹与桌面水平角度，使爪夹与桌面水平角度呈30度角。因此当前进度提升至5%。", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈30度角。为完成抓取药瓶放入木盒中的任务应当：当前爪夹张开向爪夹方向前下方移动至药瓶正上方。", + "time": 2.396563628350515, + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767778227943_rrf47a525", + "x": 0.3895, + "y": 0.4986666666666667 + } + ] + }, + "point_1767777790050": { + "type": "point", + "instances": [ + { + "id": "point_1767777790050_1767778229665_v56sv08s8", + "x": 0.6285000000000001, + "y": 0.5186666666666667 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767778234265_qpiq7lkpw", + "x": 0.5085, + "y": 0.39866666666666667, + "width": 0.054000000000000006, + "height": 0.0733333333333333 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767778242269_ardn9zjef", + "x": 0.2635, + "y": 0.032, + "width": 0.4029999999999999, + "height": 0.32399999999999995 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开向爪夹方向前下方移动至药瓶正上方", + "correction_plan": "爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹前方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "当前爪夹成功移动至药瓶正上方使其更进一步接近药瓶。", + "frame": 85, + "progress": 10, + "progress_explanation": "当前爪夹张开向爪夹方向前下方移动至药瓶正上方，因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹位于药瓶正上方。为完成抓取药瓶放入木盒中的任务应当：爪夹垂直下降靠近药瓶。", + "time": 2.8350516108247428, + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767778200551_0mzpx00bw", + "x": 0.3915, + "y": 0.5026666666666667 + } + ] + }, + "point_1767777790050": { + "type": "point", + "instances": [ + { + "id": "point_1767777790050_1767778202755_xahz3lptz", + "x": 0.6245, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767778207586_po645qiv9", + "x": 0.4605, + "y": 0.44133333333333336, + "width": 0.08899999999999997, + "height": 0.11866666666666668 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767778217009_wmrm4o0js", + "x": 0.1405, + "y": 0.005333333333333333, + "width": 0.5519999999999999, + "height": 0.34933333333333333 + } + ] + } + } + }, + { + "action_description": "当前爪夹垂直下降靠近药瓶。", + "correction_plan": "爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹前方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "当前爪夹垂直下降成功靠近药瓶。", + "frame": 96, + "progress": 20, + "progress_explanation": "当前爪夹垂直下降靠近药瓶。因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹靠近药瓶。为完成抓取药瓶放入木盒中的任务应当：爪夹合拢抓取药瓶。", + "time": 3.1979382170103094, + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767778171743_wbjm5iz0x", + "x": 0.3915, + "y": 0.49733333333333335 + } + ] + }, + "point_1767777790050": { + "type": "point", + "instances": [ + { + "id": "point_1767777790050_1767778173967_vehh93ev3", + "x": 0.6235, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767778179111_hw62ur83p", + "x": 0.4455, + "y": 0.4546666666666666, + "width": 0.11100000000000003, + "height": 0.15466666666666676 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767778191070_xwvm20alv", + "x": 0.1015, + "y": 0, + "width": 0.62, + "height": 0.348 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取药瓶。", + "correction_plan": "爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹前方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "当前爪夹成功合拢抓取药瓶。", + "frame": 118, + "progress": 40, + "progress_explanation": "当前爪夹合拢抓取药瓶。因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取药瓶，此时爪夹与桌面水平角度呈30度角，为完成抓取药瓶放入木盒中的任务应当：爪夹抓取药瓶竖直上升。", + "time": 3.9237114293814432, + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767778142215_cg28bguhs", + "x": 0.45949999999999996, + "y": 0.4986666666666667 + } + ] + }, + "point_1767777790050": { + "type": "point", + "instances": [ + { + "id": "point_1767777790050_1767778144113_6mcwdiw9q", + "x": 0.5525, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767778147971_yvmowhutu", + "x": 0.4585000000000001, + "y": 0.48933333333333334, + "width": 0.09999999999999991, + "height": 0.15066666666666664 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767778162637_s6gghh36b", + "x": 0.1265, + "y": 0.0013333333333333333, + "width": 0.611, + "height": 0.39333333333333337 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取药瓶竖直上升。", + "correction_plan": "爪夹抓取药瓶向爪夹前方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "当前爪夹抓取药瓶成功竖直上升。", + "frame": 153, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取药瓶竖直上升。因此当前进度提升至50%。", + "state_description": "当前爪夹合拢抓取药瓶，此时爪夹与木盒水平距离略微接近，为完成抓取药瓶放入木盒中的任务应当：爪夹抓取白色药瓶向爪夹方向前方移动接近木盒。", + "time": 5.103092899484536, + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767778113911_ygpflzpx3", + "x": 0.4605, + "y": 0.5 + } + ] + }, + "point_1767777790050": { + "type": "point", + "instances": [ + { + "id": "point_1767777790050_1767778115903_t78wozafv", + "x": 0.5525, + "y": 0.49333333333333335 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767778121700_8k649kgtk", + "x": 0.4585, + "y": 0.49466666666666664, + "width": 0.1, + "height": 0.14533333333333331 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767778131409_q67i3yqn3", + "x": 0.2505, + "y": 0.21466666666666667, + "width": 0.394, + "height": 0.4226666666666667 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取药瓶向爪夹前方移动接近木盒。", + "correction_plan": "爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "当前爪夹成功抓取药瓶接近木盒。", + "frame": 171, + "progress": 60, + "progress_explanation": "当前爪夹抓取药瓶向爪夹前方移动接近木盒。因此当前进度提升至60%。", + "state_description": "当前爪夹合拢抓取药瓶，此时爪夹与木盒水平距离接近。为完成抓取药瓶放入木盒中的任务应当：爪夹抓取药瓶向爪夹方向前方移动至木盒正上方。", + "time": 5.692783634536083, + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767778086031_4s8ewcgy1", + "x": 0.4605, + "y": 0.4986666666666667 + } + ] + }, + "point_1767777790050": { + "type": "point", + "instances": [ + { + "id": "point_1767777790050_1767778087725_lhq5wyypu", + "x": 0.5545, + "y": 0.4986666666666667 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767778092283_n3xkvt5ur", + "x": 0.4585000000000001, + "y": 0.49333333333333335, + "width": 0.10199999999999995, + "height": 0.1466666666666666 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767778103883_hnnkt0716", + "x": 0.23149999999999998, + "y": 0.23466666666666666, + "width": 0.382, + "height": 0.49066666666666664 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开使药瓶落在桌面上。", + "correction_plan": "爪夹调整爪夹水平角度使其与桌面水平角度呈30度角，爪夹向爪夹方向左下方移动至药瓶正上方，爪夹垂直至下降靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹前方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "当前爪夹未能将药瓶抓取到木盒正上方就松开爪夹导致药瓶掉落在木盒外面。", + "frame": 187, + "progress": 10, + "progress_explanation": "当前爪夹张开使药瓶落在桌面上。因此当前进度跌落至10%。", + "state_description": "当前爪夹张开，此时爪夹位于药瓶右上方，为完成抓取药瓶放入木盒中的任务应当：爪夹调整爪夹水平角度使其与桌面水平角度呈30度角。", + "time": 6.237113543814433, + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767778063939_u9xpncxhf", + "x": 0.3935, + "y": 0.504 + } + ] + }, + "point_1767777790050": { + "type": "point", + "instances": [ + { + "id": "point_1767777790050_1767778065713_is2qyu3wu", + "x": 0.6195, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767778071373_2yyd70f18", + "x": 0.20549999999999996, + "y": 0.2, + "width": 0.41500000000000004, + "height": 0.4813333333333334 + } + ] + } + } + }, + { + "time": 7.068728682989691, + "frame": 212, + "progress": 13, + "action_description": "当前爪夹调整爪夹水平角度使其与桌面水平角度呈30度角.", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈30度角.为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向左下方移动至药瓶正上方。", + "progress_explanation": "当前爪夹调整爪夹水平角度使其与桌面水平角度呈30度角.因此当前进度提升至13%。", + "error_success_analysis": "当前爪夹成功调整爪夹与桌面之间的水平角度使其更方便抓取药瓶。", + "correction_plan": "爪夹向爪夹方向左下方移动至药瓶正上方，爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹前方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767778037179_gnask20ay", + "x": 0.3915, + "y": 0.5 + } + ] + }, + "point_1767777790050": { + "type": "point", + "instances": [ + { + "id": "point_1767777790050_1767778039179_3k64ns13r", + "x": 0.6214999999999999, + "y": 0.504 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767778044778_fmek2z0uc", + "x": 0.32649999999999996, + "y": 0.42133333333333334, + "width": 0.09700000000000006, + "height": 0.128 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767778052486_xzd2j3rf5", + "x": 0.17350000000000002, + "y": 0.03866666666666666, + "width": 0.4590000000000001, + "height": 0.372 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开向爪夹方向左下方移动至药瓶正上方。", + "correction_plan": "爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹前方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "当前爪夹向爪夹方向左下方移动成功移动至药瓶正上方，使爪夹更进一步接近药瓶。", + "frame": 266, + "progress": 15, + "progress_explanation": "当前爪夹张开向爪夹方向左下方移动至药瓶正上方，因此当前爪夹进度提升至15%。", + "state_description": "当前爪夹张开，此时爪夹位于药瓶正上方，为完成抓取药瓶放入木盒中的任务应当：爪夹垂直下降靠近药瓶。", + "time": 8.868041438659793, + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767778001911_i5q6hrwqn", + "x": 0.3905, + "y": 0.504 + } + ] + }, + "point_1767777790050": { + "type": "point", + "instances": [ + { + "id": "point_1767777790050_1767778003789_45c687jkj", + "x": 0.6214999999999999, + "y": 0.504 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767778010405_50za3d7mc", + "x": 0.4225, + "y": 0.47200000000000003, + "width": 0.12600000000000006, + "height": 0.1973333333333334 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767778024624_vu25lmf56", + "x": 0.20949999999999996, + "y": 0.029333333333333333, + "width": 0.555, + "height": 0.416 + } + ] + } + } + }, + { + "time": 9.397251072680413, + "frame": 282, + "progress": 20, + "action_description": "当前爪夹张开垂直下降靠近药瓶。", + "state_description": "当前爪夹张开，此时爪夹靠近药瓶。为完成抓取药瓶放入木盒中的任务应当：爪夹合拢抓取药瓶。", + "progress_explanation": "当前爪夹张开垂直下降靠近药瓶。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近药瓶。", + "correction_plan": "爪夹合拢抓取药瓶，爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹前方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767777964347_gl2ojjob9", + "x": 0.3895, + "y": 0.504 + } + ] + }, + "point_1767777790050": { + "type": "point", + "instances": [ + { + "id": "point_1767777790050_1767777966185_2wfkfc1kz", + "x": 0.6225, + "y": 0.5 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767777973995_6nkeucbpp", + "x": 0.41950000000000004, + "y": 0.45066666666666666, + "width": 0.10999999999999996, + "height": 0.24933333333333335 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767777989955_72abwmbwe", + "x": 0.14350000000000002, + "y": 0, + "width": 0.649, + "height": 0.38533333333333336 + } + ] + } + } + }, + { + "time": 10.032302633505154, + "frame": 301, + "progress": 40, + "action_description": "当前爪夹合拢抓取药瓶。", + "state_description": "当前爪夹合拢抓取药瓶，此时爪夹于桌面水平角度呈30度角。为完成抓取药瓶放入木盒中的任务应当：爪夹抓取药瓶竖直上升。", + "progress_explanation": "当前爪夹合拢抓取药瓶。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹合拢成功抓取药瓶。", + "correction_plan": "爪夹抓取药瓶竖直上升，爪夹抓取药瓶向爪夹前方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767777934563_ztd38yhh4", + "x": 0.4545, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767777941773_plafui1mf", + "x": 0.4525, + "y": 0.43866666666666665, + "width": 0.11099999999999995, + "height": 0.2586666666666667 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767777954225_0cl2943bz", + "x": 0.1295, + "y": 0.004, + "width": 0.67, + "height": 0.35866666666666674 + } + ] + } + } + }, + { + "time": 11.332646305670103, + "frame": 340, + "progress": 50, + "action_description": "当前爪夹合拢抓取药瓶竖直上升。", + "state_description": "当前爪夹合拢抓取药瓶，此时爪夹于木盒水平距离略微接近，为完成抓取药瓶放入木盒中的任务应当：爪夹抓取药瓶向爪夹方向前上方移动接近木盒。", + "progress_explanation": "当前爪夹合拢抓取药瓶竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功抓取药瓶并竖直上升。", + "correction_plan": "爪夹抓取药瓶向爪夹前方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767777913453_g8zfb64om", + "x": 0.4535, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767777918829_tf7ftsb49", + "x": 0.4575, + "y": 0.4426666666666667, + "width": 0.10499999999999998, + "height": 0.25333333333333324 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767777925315_kcym8ad9c", + "x": 0.1605, + "y": 0.004, + "width": 0.594, + "height": 0.4066666666666667 + } + ] + } + } + }, + { + "time": 11.861855939690722, + "frame": 356, + "progress": 60, + "action_description": "当前爪夹合拢抓取向爪夹方向前上方移动接近木盒。", + "state_description": "当前爪夹合拢抓取药瓶，此时爪夹与木盒水平距离接近，为完成抓取药瓶放入木盒中的任务应当：爪夹抓取药瓶向爪夹方向前方移动至木盒正上方。", + "progress_explanation": "当前爪夹合拢抓取向爪夹方向前上方移动接近木盒。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹抓取药瓶成功接近木盒。", + "correction_plan": "爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767777873245_j5legbvax", + "x": 0.4535, + "y": 0.49466666666666664 + } + ] + }, + "point_1767777790050": { + "type": "point", + "instances": [ + { + "id": "point_1767777790050_1767777876225_sjfwkmy7b", + "x": 0.5645, + "y": 0.49733333333333335 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767777886055_1ngzl7kuf", + "x": 0.20350000000000001, + "y": 0.19733333333333333, + "width": 0.437, + "height": 0.5013333333333335 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767777900653_e6pxnwil6", + "x": 0.45549999999999996, + "y": 0.44000000000000006, + "width": 0.10800000000000001, + "height": 0.25599999999999995 + } + ] + } + } + }, + { + "time": 12.451546674742268, + "frame": 374, + "progress": 80, + "action_description": "当前爪夹合拢抓取药瓶向爪夹方向又前方移动至木盒正上方。", + "state_description": "当前爪夹合拢抓取药瓶，此时药瓶位于木盒正上方。为完成抓取药瓶放入木盒中的任务应当：松开爪夹使药瓶落入木盒。", + "progress_explanation": "当前爪夹合拢抓取药瓶向爪夹方向又前方移动至木盒正上方。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹抓取药瓶成功来到木盒正上方。", + "correction_plan": "爪夹松开使药瓶落入木盒中。", + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767777839399_n68l65gk3", + "x": 0.4525, + "y": 0.5 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767777848187_5jbgzo4lk", + "x": 0.4545, + "y": 0.44000000000000006, + "width": 0.10700000000000003, + "height": 0.25999999999999995 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767777858453_x5cd1grya", + "x": 0.12050000000000001, + "y": 0.19733333333333333, + "width": 0.466, + "height": 0.544 + } + ] + } + } + }, + { + "time": 12.937715, + "frame": 388, + "progress": 100, + "action_description": "当前爪夹松开使药瓶落入木盒。", + "state_description": "当前爪夹张开，此时药瓶落入木盒。已完成抓取药瓶放入木盒中的任务。", + "progress_explanation": "此时药瓶落入木盒因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功将药瓶抓取放入木盒中。", + "correction_plan": "", + "annotations": { + "point_1767777789927": { + "type": "point", + "instances": [ + { + "id": "point_1767777789927_1767777811111_wiup3yweo", + "x": 0.3875, + "y": 0.5053333333333333 + } + ] + }, + "point_1767777790050": { + "type": "point", + "instances": [ + { + "id": "point_1767777790050_1767777813075_c8e93apy1", + "x": 0.6245, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767777788995": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777788995_1767777818423_x2z8yizr7", + "x": 0.40049999999999997, + "y": 0.5866666666666667, + "width": 0.07000000000000002, + "height": 0.13733333333333336 + } + ] + }, + "bbox_1767777789123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767777789123_1767777829765_zdsn74qn8", + "x": 0.1125, + "y": 0.2906666666666667, + "width": 0.4440000000000001, + "height": 0.48799999999999993 + } + ] + } + } + }, + { + "action_description": "关键帧 3/6 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 460, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 15.333333333333334 + }, + { + "action_description": "关键帧 4/6 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 662, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 22.066666666666666 + }, + { + "action_description": "关键帧 5/6 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 848, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 28.266666666666666 + }, + { + "action_description": "关键帧 6/6 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 878, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 29.266666666666666 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767777788995", + "name": "药瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1767777789123", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767777789927", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767777790050", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-110242-put-medicine bottle-yellow-wooden box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-110242-put-medicine bottle-yellow-wooden box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..d44b35ef1318b1c7e5e1f7bc4516ea99388362c2 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-110242-put-medicine bottle-yellow-wooden box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,726 @@ +{ + "task_description": "抓取药瓶放入木盒中：\n爪夹准备移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹抓取药瓶接近木盒：60%\n爪夹抓取药瓶移动至木盒内：80%\n爪夹松开，药瓶落入木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向下方调整爪夹水平角度，使爪夹与桌面水平角度呈45度角，爪夹向爪夹方向右前方移动至药瓶正上方，爪夹垂直下降靠近，爪夹合拢抓取药瓶，爪夹抓取药瓶向爪夹方向左上方移动，当前爪夹夹取药瓶向爪夹方向前下方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "", + "frame": 53, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向下方调整爪夹水平角度，使爪夹与桌面水平角度呈45度角。", + "time": 1.7551031335051546, + "annotations": { + "point_1767836749263": { + "type": "point", + "instances": [ + { + "id": "point_1767836749263_1767837185560_p3kw01bpa", + "x": 0.3885, + "y": 0.5053333333333333 + } + ] + }, + "point_1767836749373": { + "type": "point", + "instances": [ + { + "id": "point_1767836749373_1767837187130_bvxmssqqk", + "x": 0.6195, + "y": 0.508 + } + ] + }, + "bbox_1767836748358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748358_1767837198784_kparx0o03", + "x": 0.6945, + "y": 0.5533333333333333, + "width": 0.16500000000000004, + "height": 0.2133333333333333 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开向爪夹方向下方调整爪夹水平角度使其与桌面水平角度呈45度角。", + "correction_plan": "爪夹向爪夹方向右前方移动至药瓶正上方，爪夹垂直下降靠近，爪夹合拢抓取药瓶，爪夹抓取药瓶向爪夹方向左上方移动，当前爪夹夹取药瓶向爪夹方向前下方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "当前爪夹成功调整爪夹与桌面水平角度。", + "frame": 75, + "progress": 5, + "progress_explanation": "当前爪夹张开向爪夹方向下方调整爪夹水平角度使其与桌面水平角度呈45度角。因此当前进度提升至5%。", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈45度角，为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向右前方移动至药瓶正上方。", + "time": 2.516531, + "annotations": { + "point_1767836749263": { + "type": "point", + "instances": [ + { + "id": "point_1767836749263_1767837150901_nhoms9jte", + "x": 0.3915, + "y": 0.508 + } + ] + }, + "point_1767836749373": { + "type": "point", + "instances": [ + { + "id": "point_1767836749373_1767837152776_8oif8acfp", + "x": 0.6235, + "y": 0.5066666666666667 + } + ] + }, + "bbox_1767836748203": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748203_1767837158126_8914axtjd", + "x": 0.7645000000000001, + "y": 0.41466666666666663, + "width": 0.05799999999999992, + "height": 0.07200000000000001 + } + ] + }, + "bbox_1767836748358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748358_1767837170782_j12ohqx8a", + "x": 0.6915, + "y": 0.10666666666666667, + "width": 0.19699999999999998, + "height": 0.29066666666666663 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开向爪夹方向右下方移动至药瓶正上方。", + "correction_plan": "爪夹垂直下降靠近，爪夹合拢抓取药瓶，爪夹抓取药瓶向爪夹方向左上方移动，当前爪夹夹取药瓶向爪夹方向前下方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "当前爪夹成功移动至药瓶正上方。", + "frame": 106, + "progress": 10, + "progress_explanation": "当前爪夹张开向爪夹方向右下方移动至药瓶正上方。因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹位于药瓶正上方。为完成抓取药瓶放入木盒中的任务应当：爪夹垂直下降靠近药瓶。", + "time": 3.519833, + "annotations": { + "point_1767836749263": { + "type": "point", + "instances": [ + { + "id": "point_1767836749263_1767837116902_d5i9pj2be", + "x": 0.3945, + "y": 0.5 + } + ] + }, + "point_1767836749373": { + "type": "point", + "instances": [ + { + "id": "point_1767836749373_1767837118878_9e2v5jn6b", + "x": 0.6214999999999999, + "y": 0.504 + } + ] + }, + "bbox_1767836748203": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748203_1767837123418_8ynd91g1n", + "x": 0.4845, + "y": 0.5239999999999999, + "width": 0.10400000000000001, + "height": 0.10400000000000004 + } + ] + }, + "bbox_1767836748358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748358_1767837134686_j3zt21zh9", + "x": 0.23349999999999999, + "y": 0.03066666666666667, + "width": 0.469, + "height": 0.2773333333333333 + } + ] + } + } + }, + { + "action_description": "当前爪夹垂直下降靠近药瓶。", + "correction_plan": "爪夹合拢抓取药瓶，爪夹抓取药瓶向爪夹方向左上方移动，当前爪夹夹取药瓶向爪夹方向前下方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "当前爪夹垂直下降成功靠近药瓶。", + "frame": 122, + "progress": 20, + "progress_explanation": "当前爪夹垂直下降靠近药瓶。因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹靠近药瓶。为完成抓取药瓶放入木盒中的任务应当：爪夹合拢抓取药瓶。", + "time": 4.065766, + "annotations": { + "point_1767836749263": { + "type": "point", + "instances": [ + { + "id": "point_1767836749263_1767837089074_aon2wez3t", + "x": 0.3915, + "y": 0.5 + } + ] + }, + "point_1767836749373": { + "type": "point", + "instances": [ + { + "id": "point_1767836749373_1767837090932_lslw6013c", + "x": 0.6225, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767836748203": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748203_1767837096801_9s0j2dgn5", + "x": 0.43649999999999994, + "y": 0.4573333333333333, + "width": 0.13800000000000007, + "height": 0.15333333333333338 + } + ] + }, + "bbox_1767836748358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748358_1767837106539_r6uju1ebo", + "x": 0.1335, + "y": 0, + "width": 0.561, + "height": 0.228 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取药瓶。", + "correction_plan": "爪夹抓取药瓶向爪夹方向左上方移动，当前爪夹夹取药瓶向爪夹方向前下方移动接近木盒，爪夹抓取药瓶向爪夹前方移动至木盒正上方，爪夹松开使药瓶落入木盒中。", + "error_success_analysis": "当前爪夹成功合拢抓取药瓶。", + "frame": 140, + "progress": 40, + "progress_explanation": "当前爪夹合拢抓取药瓶。因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取药瓶，为完成抓取药瓶放入木盒中的任务应当：当前爪夹抓取药瓶竖直上升。", + "time": 4.67946, + "annotations": { + "point_1767836749263": { + "type": "point", + "instances": [ + { + "id": "point_1767836749263_1767837068165_98mkccz4e", + "x": 0.4565, + "y": 0.4986666666666667 + } + ] + }, + "point_1767836749373": { + "type": "point", + "instances": [ + { + "id": "point_1767836749373_1767837070632_6ogiyt1ow", + "x": 0.5575, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767836748203": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748203_1767837075035_qx313nr03", + "x": 0.4565, + "y": 0.4693333333333333, + "width": 0.10400000000000001, + "height": 0.1373333333333333 + } + ] + }, + "bbox_1767836748358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748358_1767837083473_pzom5aywe", + "x": 0.1595, + "y": 0.0013333333333333333, + "width": 0.545, + "height": 0.23733333333333334 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取药瓶向爪夹方向前方移动。", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 50, + "progress_explanation": "", + "state_description": "当前爪夹合拢抓取药瓶，此时药瓶与木盒水平距离略微接近，为完成抓取药瓶放入木盒中的任务应当：爪夹抓取药瓶向爪夹方向前方移动靠近木盒。", + "time": 6.183591208762887, + "annotations": { + "point_1767836749263": { + "type": "point", + "instances": [ + { + "id": "point_1767836749263_1767837034473_tflt5hjim", + "x": 0.4585, + "y": 0.49466666666666664 + } + ] + }, + "point_1767836749373": { + "type": "point", + "instances": [ + { + "id": "point_1767836749373_1767837036604_o30uoud5a", + "x": 0.5555, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767836748203": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748203_1767837040397_vtl99edyc", + "x": 0.4545, + "y": 0.4693333333333334, + "width": 0.10499999999999998, + "height": 0.13733333333333325 + } + ] + }, + "bbox_1767836748358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748358_1767837048633_1bgsu0irt", + "x": 0.28150000000000003, + "y": 0.09599999999999999, + "width": 0.41899999999999993, + "height": 0.2813333333333334 + } + ] + } + } + }, + { + "time": 6.867266, + "frame": 206, + "progress": 60, + "action_description": "当前爪夹合拢抓取药瓶向爪夹方向前方移动接近木盒。", + "state_description": "当前爪夹合拢抓取药瓶，此时药瓶与木盒水平距离接近，为完成抓取药瓶放入木盒中的任务应当：爪夹抓取药瓶向爪夹方向前下方移动至木盒内。", + "progress_explanation": "当前爪夹合拢抓取药瓶向爪夹方向前方移动接近木盒。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取药瓶接近木盒。", + "correction_plan": "爪夹抓取药瓶向爪夹前下方移动至木盒内，爪夹松开使药瓶落入木盒中。", + "annotations": { + "point_1767836749263": { + "type": "point", + "instances": [ + { + "id": "point_1767836749263_1767837003375_fy4gwudwz", + "x": 0.4585, + "y": 0.5 + } + ] + }, + "point_1767836749373": { + "type": "point", + "instances": [ + { + "id": "point_1767836749373_1767837005695_fd89kdtsi", + "x": 0.5565, + "y": 0.49733333333333335 + } + ] + }, + "bbox_1767836748203": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748203_1767837010883_hxxd1pdfz", + "x": 0.45549999999999996, + "y": 0.4693333333333334, + "width": 0.10200000000000005, + "height": 0.13866666666666655 + } + ] + }, + "bbox_1767836748358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748358_1767837020314_u05yv4x4o", + "x": 0.3245, + "y": 0.26266666666666666, + "width": 0.43200000000000005, + "height": 0.416 + } + ] + } + } + }, + { + "time": 8.657027692268041, + "frame": 260, + "progress": 80, + "action_description": "当前爪夹抓取药瓶向爪夹前下方移动至木盒内。", + "state_description": "当前爪夹合拢抓取药瓶，此时药瓶位于木盒，为完成抓取药瓶放入木盒中的任务应当：爪夹松开将药瓶放进木盒中。", + "progress_explanation": "当前爪夹抓取药瓶向爪夹前下方移动至木盒内。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取药瓶移动至木盒中。", + "correction_plan": "爪夹松开使药瓶落入木盒中。", + "annotations": { + "point_1767836749263": { + "type": "point", + "instances": [ + { + "id": "point_1767836749263_1767836972119_nco5f3yks", + "x": 0.4605, + "y": 0.49466666666666664 + } + ] + }, + "point_1767836749373": { + "type": "point", + "instances": [ + { + "id": "point_1767836749373_1767836974106_ru6xaxcjv", + "x": 0.5525, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767836748203": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748203_1767836979301_ez2bruhi1", + "x": 0.4545, + "y": 0.47200000000000003, + "width": 0.10400000000000001, + "height": 0.15066666666666664 + } + ] + }, + "bbox_1767836748358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748358_1767836990139_e9njkx953", + "x": 0.3395, + "y": 0.07600000000000001, + "width": 0.5700000000000001, + "height": 0.5906666666666667 + } + ] + } + } + }, + { + "time": 9.1803, + "frame": 275, + "progress": 100, + "action_description": "当前爪夹松开药瓶落入木盒中。", + "state_description": "当前爪夹张开，此时药瓶位于木盒中，已完成抓取药瓶放入木盒中的任务。", + "progress_explanation": "当前爪夹使药瓶落入木盒中。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功抓取药瓶并将其放入木盒中。", + "correction_plan": "", + "annotations": { + "point_1767836749263": { + "type": "point", + "instances": [ + { + "id": "point_1767836749263_1767836928381_op1nfkmnu", + "x": 0.3925, + "y": 0.5066666666666667 + } + ] + }, + "point_1767836749373": { + "type": "point", + "instances": [ + { + "id": "point_1767836749373_1767836930093_7lyqufi9c", + "x": 0.6205, + "y": 0.508 + } + ] + }, + "bbox_1767836748203": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748203_1767836936159_xtcd3wbai", + "x": 0.5965, + "y": 0.348, + "width": 0.07899999999999992, + "height": 0.15200000000000002 + } + ] + }, + "bbox_1767836748358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748358_1767836949709_q4mcmqzww", + "x": 0.5585, + "y": 0.11200000000000002, + "width": 0.41100000000000003, + "height": 0.504 + } + ] + } + } + }, + { + "time": 9.884266, + "frame": 297, + "progress": 100, + "action_description": "当前爪夹张开向爪夹方向右下方移动接近木盒。", + "state_description": "当前爪夹张开，此时爪夹与木盒水平距离接近，已完成抓取药瓶放入木盒中的任务。", + "progress_explanation": "当前药瓶位于木盒中。因此当前进度为100%。", + "error_success_analysis": "当前爪夹成功将药瓶抓取到木盒中。", + "correction_plan": "", + "annotations": { + "point_1767836749263": { + "type": "point", + "instances": [ + { + "id": "point_1767836749263_1767836887705_30jh0gxqf", + "x": 0.3915, + "y": 0.504 + } + ] + }, + "point_1767836749373": { + "type": "point", + "instances": [ + { + "id": "point_1767836749373_1767836889275_h09kh918e", + "x": 0.6235, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767836748203": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748203_1767836894609_oi12ua5cc", + "x": 0.4375, + "y": 0.10933333333333334, + "width": 0.10899999999999999, + "height": 0.21466666666666667 + } + ] + }, + "bbox_1767836748358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748358_1767836907915_fsgbgcw6q", + "x": 0.3875, + "y": 0.0013333333333333333, + "width": 0.531, + "height": 0.5586666666666666 + } + ] + } + } + }, + { + "time": 11.493333, + "frame": 345, + "progress": 100, + "action_description": "当前爪夹向爪夹方向前下方移动靠近药瓶并调整爪夹水平角度使爪夹垂直于木盒。", + "state_description": "当前爪夹张开，此时爪夹靠近药瓶。已完成抓取药瓶放入木盒中的任务。", + "progress_explanation": "当前药瓶位于木盒中，因此当前进度为100%。", + "error_success_analysis": "当前爪夹成功将药瓶抓进木盒。", + "correction_plan": "", + "annotations": { + "bbox_1767836748203": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748203_1767836861071_6q4xyugh8", + "x": 0.3295, + "y": 0.328, + "width": 0.20400000000000001, + "height": 0.42000000000000004 + } + ] + }, + "bbox_1767836748358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748358_1767836874867_zpu5ngo5n", + "x": 0.24849999999999994, + "y": 0.02266666666666667, + "width": 0.7510000000000001, + "height": 0.6973333333333334 + } + ] + } + } + }, + { + "time": 12.053633, + "frame": 362, + "progress": 70, + "action_description": "当前爪夹合拢抓取药瓶向爪夹方向后上方移动。", + "state_description": "当前爪夹合拢抓取药瓶，此时药瓶与木盒水平距离接近。为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向前方略微移动至木盒正上方并松开爪夹使药瓶落入木盒。", + "progress_explanation": "当前爪夹抓取药瓶竖直上升，此时药瓶位于木盒正上方，因此当前进度跌落至70%。", + "error_success_analysis": "当前爪夹抓取药瓶竖直上升此时药瓶与木盒距离大大拉长。", + "correction_plan": "爪夹向爪夹方向前方略微移动至木盒正上方并松开爪夹使药瓶落入木盒，爪夹松开使药瓶落入木盒内。", + "annotations": { + "point_1767836749263": { + "type": "point", + "instances": [ + { + "id": "point_1767836749263_1767836798498_jbdc4bdt8", + "x": 0.4385, + "y": 0.49466666666666664 + } + ] + }, + "point_1767836749373": { + "type": "point", + "instances": [ + { + "id": "point_1767836749373_1767836800443_pi2a5xkfd", + "x": 0.5765, + "y": 0.5 + } + ] + }, + "bbox_1767836748203": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748203_1767836807583_bdxaa7ia4", + "x": 0.4325, + "y": 0.4693333333333333, + "width": 0.15999999999999998, + "height": 0.14400000000000007 + } + ] + }, + "bbox_1767836748358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748358_1767836818811_co9qw60d4", + "x": 0.3195, + "y": 0.044000000000000004, + "width": 0.45899999999999996, + "height": 0.6253333333333334 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开使药瓶落入桌面上。", + "correction_plan": "爪夹向爪夹方向后下方移动靠近药瓶，爪夹合拢抓取药瓶，爪夹抓取药瓶向爪夹方向右前方移动并上升至木盒正上方，爪夹松开使药瓶落入木盒内。", + "error_success_analysis": "当前爪夹抓取药瓶时没有位于木盒正上方导致爪夹松开时药瓶落在桌面上。", + "frame": 403, + "progress": 10, + "progress_explanation": "当前爪夹松开使药瓶落入桌面上，因此当前爪夹跌落至10%。", + "state_description": "当前爪夹张开，此时药瓶落在桌面上，为完成抓取药瓶放入木盒中的任务应当：爪夹向爪夹方向后下方移动靠近药瓶。", + "time": 13.426168696391752, + "annotations": { + "point_1767836749263": { + "type": "point", + "instances": [ + { + "id": "point_1767836749263_1767836764146_93rvj49ti", + "x": 0.4095, + "y": 0.5053333333333333 + } + ] + }, + "point_1767836749373": { + "type": "point", + "instances": [ + { + "id": "point_1767836749373_1767836766029_o00civ0ka", + "x": 0.6054999999999999, + "y": 0.504 + } + ] + }, + "bbox_1767836748203": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748203_1767836770586_temhv96my", + "x": 0.5115, + "y": 0.596, + "width": 0.06300000000000008, + "height": 0.10933333333333337 + } + ] + }, + "bbox_1767836748358": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767836748358_1767836787851_8akgvku5k", + "x": 0.5565, + "y": 0.18666666666666668, + "width": 0.37600000000000017, + "height": 0.4666666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767836748203", + "name": "药瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1767836748358", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767836749263", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767836749373", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-111445-put-blue pen-yellow-wooden box-good2/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-111445-put-blue pen-yellow-wooden box-good2/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..886f935e16fc21b8ed38875883e6bf3f83619027 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-111445-put-blue pen-yellow-wooden box-good2/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,472 @@ +{ + "task_description": "抓取记号笔放入木盒中：\n爪夹准备移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓取记号笔接近木盒：60%\n爪夹抓取记号笔移动至木盒正上方：80%\n爪夹松开，记号笔落入木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "annotations": { + "bbox_1767838809714": { + "instances": [ + { + "height": 0.3106666666666668, + "id": "bbox_1767838809714_1767839132157_jn53mkxzz", + "width": 0.12200000000000025, + "x": 0.7785, + "y": 0.6199999999999999 + } + ], + "type": "bbox" + }, + "point_1767838810548": { + "instances": [ + { + "id": "point_1767838810548_1767839121405_h3g7vionb", + "x": 0.3905, + "y": 0.5013333333333334 + } + ], + "type": "point" + }, + "point_1767838810708": { + "instances": [ + { + "id": "point_1767838810708_1767839123403_34621dm28", + "x": 0.6235, + "y": 0.5066666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方移动，爪夹向爪夹方向右下方移动并向爪夹方向左边逆时针转动调整爪夹角度，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右边移动接近木盒，爪夹抓取记号笔向爪夹方向右边移动至木盒正上方，爪夹松开时记号笔落入木盒中。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取记号笔放入木盒中的任务应当：爪夹向爪夹方向右前方移动。", + "time": 1.6585051546391751 + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "annotations": { + "bbox_1767838809560": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1767838809560_1767839096641_7uqtsar0d", + "width": 0.17899999999999996, + "x": 0.3055, + "y": 0.428 + } + ], + "type": "bbox" + }, + "bbox_1767838809714": { + "instances": [ + { + "height": 0.4693333333333333, + "id": "bbox_1767838809714_1767839107072_1lu996vvb", + "width": 0.262, + "x": 0.4215, + "y": 0.35066666666666674 + } + ], + "type": "bbox" + }, + "point_1767838810548": { + "instances": [ + { + "id": "point_1767838810548_1767839089300_y8to0z0mq", + "x": 0.3935, + "y": 0.5 + } + ], + "type": "point" + }, + "point_1767838810708": { + "instances": [ + { + "id": "point_1767838810708_1767839091315_pmjxlv4wh", + "x": 0.6225, + "y": 0.5026666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右下方移动并向爪夹方向左边逆时针转动调整爪夹角度，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右边移动接近木盒，爪夹抓取记号笔向爪夹方向右边移动至木盒正上方，爪夹松开时记号笔落入木盒中。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动。", + "frame": 94, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向右前方移动。因此当前进度提升至5%", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈45度角，为完成抓取记号笔放入木盒中的任务应当：爪夹向爪夹方向右下方移动并向爪夹方向左边逆时针转动调整爪夹角度。", + "time": 3.1317 + }, + { + "action_description": "爪夹向爪夹方向右下方移动并向爪夹方向左边逆时针转动调整爪夹角度。", + "annotations": { + "bbox_1767838809560": { + "instances": [ + { + "height": 0.22, + "id": "bbox_1767838809560_1767839064329_10w9zuddt", + "width": 0.21600000000000003, + "x": 0.21550000000000002, + "y": 0.292 + } + ], + "type": "bbox" + }, + "bbox_1767838809714": { + "instances": [ + { + "height": 0.5373333333333334, + "id": "bbox_1767838809714_1767839073981_5v6pjhopy", + "width": 0.3860000000000001, + "x": 0.27549999999999997, + "y": 0.348 + } + ], + "type": "bbox" + }, + "point_1767838810548": { + "instances": [ + { + "id": "point_1767838810548_1767839056572_97cfda5rp", + "x": 0.3885, + "y": 0.5013333333333334 + } + ], + "type": "point" + }, + "point_1767838810708": { + "instances": [ + { + "id": "point_1767838810708_1767839058658_34v1xpp76", + "x": 0.6205, + "y": 0.49733333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右边移动接近木盒，爪夹抓取记号笔向爪夹方向右边移动至木盒正上方，爪夹松开时记号笔落入木盒中。", + "error_success_analysis": "当前爪夹成功调整爪夹角度使爪夹更方便抓取记号笔。", + "frame": 110, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向右下方移动并向爪夹方向左边逆时针转动调整爪夹角度。因此当前进度提升至10%", + "state_description": "当前爪夹张开，此时爪夹位于记号笔正上方，为完成抓取记号笔放入木盒中的任务应当：爪夹垂直下降靠近记号笔。", + "time": 3.6751 + }, + { + "action_description": "当前爪夹垂直下降靠近记号笔。", + "annotations": { + "bbox_1767838809560": { + "instances": [ + { + "height": 0.4133333333333334, + "id": "bbox_1767838809560_1767839024406_bdo2x28mt", + "width": 0.23199999999999998, + "x": 0.3105, + "y": 0.15733333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767838809714": { + "instances": [ + { + "height": 0.4786666666666667, + "id": "bbox_1767838809714_1767839035243_lfb1x1ofj", + "width": 0.52, + "x": 0.2535, + "y": 0.42400000000000004 + } + ], + "type": "bbox" + }, + "point_1767838810548": { + "instances": [ + { + "id": "point_1767838810548_1767839017352_5hbvanoqu", + "x": 0.3895, + "y": 0.5 + } + ], + "type": "point" + }, + "point_1767838810708": { + "instances": [ + { + "id": "point_1767838810708_1767839019160_09mc6v76f", + "x": 0.6195, + "y": 0.4986666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右边移动接近木盒，爪夹抓取记号笔向爪夹方向右边移动至木盒正上方，爪夹松开时记号笔落入木盒中。", + "error_success_analysis": "当前爪夹垂直下降成功靠近记号笔。", + "frame": 211, + "progress": 20, + "progress_explanation": "当前爪夹垂直下降靠近记号笔。因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹靠近记号笔，为完成抓取记号笔放入木盒中的任务应当：爪夹合拢抓取记号笔。", + "time": 7.0499 + }, + { + "action_description": "当前爪夹合拢抓取记号笔。", + "annotations": { + "bbox_1767838809560": { + "instances": [ + { + "height": 0.52, + "id": "bbox_1767838809560_1767838987518_vomnbuo3d", + "width": 0.11899999999999995, + "x": 0.4405, + "y": 0.10266666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767838809714": { + "instances": [ + { + "height": 0.4639999999999999, + "id": "bbox_1767838809714_1767838998554_ifn3qosmh", + "width": 0.538, + "x": 0.28049999999999997, + "y": 0.43733333333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右边移动接近木盒，爪夹抓取记号笔向爪夹方向右边移动至木盒正上方，爪夹松开时记号笔落入木盒中。", + "error_success_analysis": "当前爪夹成功合拢抓取记号笔。", + "frame": 249, + "progress": 40, + "progress_explanation": "当前爪夹合拢抓取记号笔。因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取记号笔，为完成抓取记号笔放入木盒中的任务应当：爪夹合拢抓取记号笔竖直上升。", + "time": 8.308299 + }, + { + "action_description": "当前爪夹合拢抓取记号笔竖直上升。", + "annotations": { + "bbox_1767838809560": { + "instances": [ + { + "height": 0.5213333333333333, + "id": "bbox_1767838809560_1767838942322_trluhipdw", + "width": 0.11499999999999995, + "x": 0.4445, + "y": 0.10266666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767838809714": { + "instances": [ + { + "height": 0.5253333333333333, + "id": "bbox_1767838809714_1767838960486_038p4mid4", + "width": 0.37300000000000005, + "x": 0.42349999999999993, + "y": 0.24400000000000002 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取记号笔向爪夹方向右边移动接近木盒，爪夹抓取记号笔向爪夹方向右边移动至木盒正上方，爪夹松开时记号笔落入木盒中。", + "error_success_analysis": "当前爪夹成功抓取记号笔并竖直上升。", + "frame": 310, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取记号笔竖直上升。因此当前进度提升至50%。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹与木盒水平距离略微接近，为完成抓取记号笔放入木盒中的任务应当：爪夹抓取记号笔向爪夹方向右边移动接近木盒。", + "time": 10.342382 + }, + { + "action_description": "当前爪夹合拢抓取记号笔向爪夹方向右边移动接近木盒。", + "annotations": { + "bbox_1767838809560": { + "instances": [ + { + "height": 0.5226666666666666, + "id": "bbox_1767838809560_1767838906406_idt4lj9b5", + "width": 0.11399999999999996, + "x": 0.4455, + "y": 0.10133333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767838809714": { + "instances": [ + { + "height": 0.6266666666666667, + "id": "bbox_1767838809714_1767838919972_4jo6eo2al", + "width": 0.298, + "x": 0.35550000000000004, + "y": 0.03333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取记号笔向爪夹方向右边移动至木盒正上方，爪夹松开时记号笔落入木盒中。", + "error_success_analysis": "当前爪夹成功抓取记号笔接近木盒。", + "frame": 333, + "progress": 60, + "progress_explanation": "当前爪夹合拢抓取记号笔向爪夹方向右边移动接近木盒。因此当前进度提升至60%。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹与木盒水平距离接近。为完成抓取记号笔放入木盒中的任务应当：爪夹抓取记号笔向爪夹方向右边移动至木盒正上方。", + "time": 11.0968 + }, + { + "action_description": "当前爪夹合拢抓取记号笔向爪夹方向右边移动至木盒正上方。", + "annotations": { + "bbox_1767838809560": { + "instances": [ + { + "height": 0.52, + "id": "bbox_1767838809560_1767838875082_vna7b16s3", + "width": 0.11700000000000008, + "x": 0.44449999999999995, + "y": 0.10266666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767838809714": { + "instances": [ + { + "height": 0.624, + "id": "bbox_1767838809714_1767838890308_g6s47sp7m", + "width": 0.273, + "x": 0.23850000000000002, + "y": 0.032 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开时记号笔落入木盒中。", + "error_success_analysis": "当前爪夹成功抓取记号笔来到木盒正上方。", + "frame": 356, + "progress": 80, + "progress_explanation": "当前爪夹合拢抓取记号笔向爪夹方向右边移动至木盒正上方。因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取记号笔，此时记号笔位于木盒正上方，为完成抓取记号笔放入木盒中的任务应当：爪夹松开使记号笔落入木盒中。", + "time": 11.8547 + }, + { + "action_description": "当前爪夹松开使记号笔落入木盒。", + "annotations": { + "bbox_1767838809560": { + "instances": [ + { + "height": 0.21466666666666664, + "id": "bbox_1767838809560_1767838840550_5j58wvfts", + "width": 0.156, + "x": 0.2855, + "y": 0.21866666666666668 + } + ], + "type": "bbox" + }, + "bbox_1767838809714": { + "instances": [ + { + "height": 0.612, + "id": "bbox_1767838809714_1767838854426_6a82vgovt", + "width": 0.30000000000000004, + "x": 0.21149999999999997, + "y": 0.004 + } + ], + "type": "bbox" + }, + "point_1767838810548": { + "instances": [ + { + "id": "point_1767838810548_1767838827624_r9y9ya2cn", + "x": 0.3925, + "y": 0.4986666666666667 + } + ], + "type": "point" + }, + "point_1767838810708": { + "instances": [ + { + "id": "point_1767838810708_1767838833016_y18d2ywfb", + "x": 0.6245, + "y": 0.5066666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将记号笔放入木盒中。", + "frame": 378, + "progress": 100, + "progress_explanation": "当前爪夹松开使记号笔落入木盒。因此当前进度提升至100%。", + "state_description": "当前爪夹张开，此时记号笔落入木盒，已完成抓取记号笔放入木盒中的任务。", + "time": 12.6126 + }, + { + "action_description": "关键帧 2/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 570, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 19 + }, + { + "action_description": "关键帧 3/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 830, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 27.666666666666668 + }, + { + "action_description": "关键帧 4/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 856, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 28.533333333333335 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767838809560", + "name": "记号笔" + }, + { + "color": "#FF9800", + "id": "bbox_1767838809714", + "name": "木盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767838810548", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767838810708", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-112207-put-blue pen-yellow-wooden box-mix1/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-112207-put-blue pen-yellow-wooden box-mix1/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..b38cdcbfc8ef6fc62b95c6ae0cf2137e2fec20e9 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-112207-put-blue pen-yellow-wooden box-mix1/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,594 @@ +{ + "task_description": "抓取记号笔放入木盒中：\n爪夹准备移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓取记号笔接近木盒：60%\n爪夹抓取记号笔移动至木盒正上方：80%\n爪夹松开，记号笔落入木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右前方移动并调整爪夹水平角度使其接近垂直于桌面，爪夹向爪夹右边移动至记号笔正上方，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取记号笔放入木盒中的任务应当：爪夹向爪夹方向右前方移动并调整爪夹水平角度使其接近垂直于桌面。", + "time": 1.7455498005154635, + "annotations": { + "point_1767842884741": { + "type": "point", + "instances": [ + { + "id": "point_1767842884741_1767843231625_vazdiiy3l", + "x": 0.42350000000000004, + "y": 0.5373333333333333 + } + ] + }, + "point_1767842884866": { + "type": "point", + "instances": [ + { + "id": "point_1767842884866_1767843233432_aarx1tvem", + "x": 0.5515, + "y": 0.5546666666666666 + } + ] + }, + "bbox_1767842883822": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883822_1767843238155_mbcxp7i45", + "x": 0.7685000000000001, + "y": 0.548, + "width": 0.03399999999999999, + "height": 0.16666666666666666 + } + ] + }, + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767843242667_mbth7ztpd", + "x": 0.3825, + "y": 0.17333333333333334, + "width": 0.31100000000000005, + "height": 0.39866666666666667 + } + ] + } + } + }, + { + "time": 2.692266, + "frame": 81, + "progress": 5, + "action_description": "当前爪夹张开向爪夹方向右前方移动并调整爪夹与桌面水平角度，使爪夹接近垂直于桌面。", + "state_description": "当前爪夹张开，此时爪夹接近垂直于桌面，为完成抓取记号笔放入木盒中的任务应当：爪夹向爪夹方向右边移动至记号笔正上方。", + "progress_explanation": "此时爪夹接近垂直于桌面使爪夹更方便抓取记号笔，因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功调整爪夹与桌面的水平角度方便抓取记号笔。", + "correction_plan": "爪夹向爪夹右边移动至记号笔正上方，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883822": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883822_1767843211147_yqcrh7jut", + "x": 0.7665, + "y": 0.5466666666666666, + "width": 0.03400000000000007, + "height": 0.16133333333333344 + } + ] + }, + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767843219983_ybyna10yk", + "x": 0.3805, + "y": 0.17200000000000001, + "width": 0.314, + "height": 0.39599999999999996 + } + ] + } + } + }, + { + "time": 3.197066, + "frame": 96, + "progress": 10, + "action_description": "当前爪夹张开向爪夹方向右边移动至记号笔正上方。", + "state_description": "当前爪夹张开，此时爪夹位于记号笔正上方，为完成抓取记号笔放入木盒中的任务应当：爪夹垂直下降靠近记号笔。", + "progress_explanation": "当前爪夹张开向爪夹方向右边移动至记号笔正上方。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹向爪夹方向右边移动成功移动至记号笔正上方。", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767843195571_6e7vlnjnf", + "x": 0.3805, + "y": 0.17600000000000002, + "width": 0.31300000000000006, + "height": 0.39200000000000007 + } + ] + } + } + }, + { + "time": 3.912199, + "frame": 117, + "progress": 20, + "action_description": "当前爪夹垂直下降靠近记号笔。", + "state_description": "当前爪夹张开，此时爪夹靠近记号笔。为完成抓取记号笔放入木盒中的任务应当：爪夹合拢抓取记号笔。", + "progress_explanation": "当前爪夹垂直下降靠近记号笔。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近记号笔。", + "correction_plan": "爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767843180843_55h7jjbcl", + "x": 0.3815, + "y": 0.1733333333333333, + "width": 0.311, + "height": 0.39466666666666667 + } + ] + } + } + }, + { + "time": 5.994499, + "frame": 180, + "progress": 40, + "action_description": "当前爪夹合拢抓取记号笔。", + "state_description": "当前爪夹合拢抓取记号笔，为完成抓取记号笔放入木盒中的任务应当：爪夹合拢抓取记号笔竖直上升。", + "progress_explanation": "当前爪夹合拢抓取记号笔。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹合拢成功抓取记号笔。", + "correction_plan": "爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767843162411_dul30f9m5", + "x": 0.3815, + "y": 0.17333333333333334, + "width": 0.31300000000000006, + "height": 0.3946666666666667 + } + ] + } + } + }, + { + "time": 6.415166, + "frame": 192, + "progress": 50, + "action_description": "当前爪夹合拢抓取记号笔竖直上升。", + "state_description": "当前爪夹合拢抓取记号笔，此时记号笔与木盒水平距离略微接近，为完成抓取记号笔放入木盒中的任务应当：爪夹抓取记号笔向爪夹方向左前方移动接近木盒。", + "progress_explanation": "当前爪夹合拢抓取记号笔竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹合拢抓取记号笔成功竖直上升。", + "correction_plan": "爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767843148375_ceiu1qjko", + "x": 0.3815, + "y": 0.17600000000000002, + "width": 0.3100000000000001, + "height": 0.3933333333333334 + } + ] + } + } + }, + { + "time": 7.193399, + "frame": 216, + "progress": 60, + "action_description": "当前爪夹抓取记号笔向抓夹方向左前方移动接近木盒。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹与木盒水平距离接近，为完成抓取记号笔放入木盒中的任务应当：爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方。", + "progress_explanation": "当前爪夹抓取记号笔向抓夹方向左前方移动接近木盒。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取记号笔接近木盒。", + "correction_plan": "爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767843126573_5tlxh3go4", + "x": 0.3825, + "y": 0.18, + "width": 0.301, + "height": 0.39066666666666666 + } + ] + } + } + }, + { + "time": 8.202999, + "frame": 246, + "progress": 8, + "action_description": "当前爪夹向爪夹方向左前方略微移动后爪夹松开使记号笔落在桌面。", + "state_description": "当前爪夹张开，此时爪夹接近垂直于桌面。为完成抓取记号笔放入木盒中的任务应当：爪夹向爪夹方向下方移动靠近记号笔。", + "progress_explanation": "当前爪夹向爪夹方向左前方略微移动后爪夹松开使记号笔落在桌面。因此当前进度跌落至10%。", + "error_success_analysis": "当前爪夹抓取记号笔还未移动至木盒正上方就松开爪夹使记号笔掉落在桌面上。", + "correction_plan": "爪夹向爪夹方向下方移动靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767843116029_p26liepi1", + "x": 0.3825, + "y": 0.17066666666666666, + "width": 0.308, + "height": 0.39733333333333326 + } + ] + } + } + }, + { + "time": 9.086399, + "frame": 273, + "progress": 13, + "action_description": "当前爪夹张开向爪夹方向后下方移动。", + "state_description": "当前爪夹张开，此时爪夹接近垂直于桌面。为完成抓取记号笔放入木盒中的任务应当：爪夹向爪夹下前方移动靠近记号笔。", + "progress_explanation": "当前爪夹张开向爪夹方向后下方移动。因此当前进度提升至13%。", + "error_success_analysis": "当前爪夹向后下方移动试图调整位置为靠近记号笔做准备。", + "correction_plan": "爪夹向爪夹方向前下方移动靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767843100577_y0dncpo50", + "x": 0.3815, + "y": 0.17466666666666666, + "width": 0.30100000000000005, + "height": 0.3946666666666667 + } + ] + } + } + }, + { + "time": 10.642866, + "frame": 319, + "progress": 15, + "action_description": "当前爪夹张开向爪夹方向前下方移动。", + "state_description": "当前爪夹张开，此时爪夹位于记号笔正上方，为完成抓取记号笔放入木盒中的任务应当：爪夹垂直下降靠近记号笔。", + "progress_explanation": "当前爪夹张开向爪夹方向前下方移动。因此当前进度提升至15%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前下方移动使爪夹更进一步接近记号笔。", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767843083871_kg9yr0sav", + "x": 0.3805, + "y": 0.17466666666666666, + "width": 0.299, + "height": 0.39333333333333337 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向左后方移动并下降时合拢爪夹导致爪夹空抓。", + "correction_plan": "爪夹松开向爪夹方向右前方移动靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "error_success_analysis": "当前爪夹向爪夹方向左下方移动时合拢爪夹导致空抓。", + "frame": 346, + "progress": -10, + "progress_explanation": "当前爪夹下降时空抓因此当前进度跌落至-10%。", + "state_description": "当前爪夹合拢，此时爪夹与记号笔水平距离略微接近。为完成抓取记号笔放入木盒中的任务应当：爪夹松开向爪夹方向右前方移动至记号笔正上方。", + "time": 11.533333333333333, + "annotations": { + "bbox_1767842883822": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883822_1767843058368_cbcvhgw30", + "x": 0.6275000000000001, + "y": 0.37866666666666665, + "width": 0.04799999999999995, + "height": 0.17200000000000001 + } + ] + }, + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767843067551_c9ka9cvc9", + "x": 0.3805, + "y": 0.17466666666666666, + "width": 0.31300000000000006, + "height": 0.392 + } + ] + } + } + }, + { + "time": 12.157266, + "frame": 365, + "progress": -5, + "action_description": "当前爪夹合拢向爪夹方向右前方移动并上升。", + "state_description": "当前爪夹合拢，此时爪夹位于记号笔正上方。为完成抓取记号笔放入木盒中的任务应当：松开爪夹垂直下降靠近记号笔。", + "progress_explanation": "当前爪夹合拢向爪夹方向右前方移动并上升。因此当前进度为-5%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动并上升直至记号笔正上方。", + "correction_plan": "爪夹松开，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767843040735_2miltrp65", + "x": 0.38150000000000006, + "y": 0.17200000000000001, + "width": 0.31599999999999995, + "height": 0.40933333333333316 + } + ] + } + } + }, + { + "time": 13.040666, + "frame": 391, + "progress": 10, + "action_description": "当前爪夹张开。", + "state_description": "当前爪夹张开，此时爪夹位于记号笔正上方，为完成抓取记号笔放入木盒中的任务应当：爪夹垂直下降靠近记号笔。", + "progress_explanation": "当前爪夹张开比上一届阶段更进一步，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功松开使爪夹更加方便抓取记号笔。", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767843023806_bchk05pga", + "x": 0.3825, + "y": 0.17466666666666666, + "width": 0.301, + "height": 0.392 + } + ] + } + } + }, + { + "time": 15.585699, + "frame": 468, + "progress": 20, + "action_description": "当前爪夹垂直下降靠近记号笔。", + "state_description": "当前爪夹张开，此时爪夹靠近记号笔。为完成抓取记号笔放入木盒中的任务应当：爪夹合拢抓取记号笔。", + "progress_explanation": "当前爪夹垂直下降靠近记号笔。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近记号笔。", + "correction_plan": "爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767843007709_3p8mbs0cb", + "x": 0.3825, + "y": 0.1733333333333333, + "width": 0.313, + "height": 0.396 + } + ] + } + } + }, + { + "time": 16.370403, + "frame": 491, + "progress": 40, + "action_description": "当前爪夹合拢抓取记号笔。", + "state_description": "当前爪夹合拢抓取记号笔，为完成抓取记号笔放入木盒中的任务应当：爪夹抓取记号笔竖直上升。", + "progress_explanation": "当前爪夹合拢抓取记号笔。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹合拢成功抓取记号笔。", + "correction_plan": "爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767842993915_re765cpjp", + "x": 0.38049999999999995, + "y": 0.17600000000000002, + "width": 0.31400000000000006, + "height": 0.3946666666666667 + } + ] + } + } + }, + { + "time": 17.752133, + "frame": 533, + "progress": 50, + "action_description": "当前爪夹合拢抓取记号笔竖直上升。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹与木盒水平距离略微接近，为完成抓取记号笔放入木盒中的任务应当：爪夹抓取记号笔向爪夹方向左前方移动接近木盒。", + "progress_explanation": "当前爪夹合拢抓取记号笔竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功抓取记号笔竖直上升。", + "correction_plan": "爪夹抓取记号笔向爪夹方向前方移动接近木盒，爪夹抓取记号笔向爪夹方向左前方移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767842978196_21fubepmi", + "x": 0.3815, + "y": 0.17333333333333334, + "width": 0.31300000000000006, + "height": 0.39333333333333337 + } + ] + } + } + }, + { + "time": 18.383133, + "frame": 551, + "progress": 60, + "action_description": "当前爪夹抓取记号笔向爪夹方向左前方移动并向爪夹方向右边顺时针转动爪夹。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹与木盒水平距离接近，为完成抓取记号笔放入木盒中的任务应当：爪夹抓取记号笔向爪夹方向左边移动至木盒正上方。", + "progress_explanation": "当前爪夹合拢抓取记号笔，此时爪夹与木盒水平距离接近，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹调整爪夹角度使爪夹能够小幅度并且更快移动至木盒正上方。", + "correction_plan": "爪夹抓取记号笔向爪夹方向左边移动至木盒正上方，爪夹松开使记号笔落在木盒中。", + "annotations": { + "bbox_1767842883822": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883822_1767842950743_w1ematahd", + "x": 0.5425, + "y": 0.24800000000000003, + "width": 0.12000000000000002, + "height": 0.18933333333333335 + } + ] + }, + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767842961783_8brq2k3nx", + "x": 0.3825, + "y": 0.17466666666666666, + "width": 0.312, + "height": 0.3933333333333334 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取记号笔向爪夹方向左前方略微移动至木盒正上方。", + "correction_plan": "爪夹松开使记号笔落在木盒中。", + "error_success_analysis": "当前爪夹成功抓取记号笔移动至木盒正上方。", + "frame": 573, + "progress": 80, + "progress_explanation": "当前爪夹抓取记号笔向爪夹方向左前方略微移动至木盒正上方。因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹位于木盒正上方。为完成抓取记号笔放入木盒中的任务应当：爪夹松开使记号笔落入木盒中。", + "time": 19.114312411855668, + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767842934103_nu67kfh6d", + "x": 0.3825, + "y": 0.17466666666666666, + "width": 0.313, + "height": 0.3933333333333333 + } + ] + } + } + }, + { + "time": 20.549566, + "frame": 616, + "progress": 100, + "action_description": "当前爪夹松开使记号笔落入木盒中。", + "state_description": "当前爪夹张开，此时记号笔落入木盒中。已完成抓取记号笔放入木盒中的任务。", + "progress_explanation": "当前爪夹松开使记号笔落入木盒中。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功将记号笔放入木盒中。", + "correction_plan": "", + "annotations": { + "bbox_1767842883952": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842883952_1767842912395_vntfln19k", + "x": 0.38350000000000006, + "y": 0.18666666666666668, + "width": 0.30899999999999994, + "height": 0.39333333333333326 + } + ] + } + } + }, + { + "action_description": "关键帧 4/7 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 766, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 25.533333333333335 + }, + { + "action_description": "关键帧 5/7 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1020, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 34 + }, + { + "action_description": "关键帧 6/7 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1236, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 41.2 + }, + { + "action_description": "关键帧 7/7 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1260, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 42 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767842883822", + "name": "记号笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1767842883952", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767842884741", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767842884866", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-113428-put-blue pen-yellow-wooden box-bad/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-113428-put-blue pen-yellow-wooden box-bad/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..2fe2a4bd818df48bc093129e6bb11d626c9295a0 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-113428-put-blue pen-yellow-wooden box-bad/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,402 @@ +{ + "task_description": "抓取笔放入木盒中：\n爪夹准备移动：0%\n爪夹靠近笔：20%\n爪夹抓取笔：40%\n爪夹抓取笔接近木盒：60%\n爪夹抓取笔移动至木盒正上方：80%\n爪夹松开，笔落入木盒内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右前方移动，爪夹向爪夹方向左下方移动至笔的正上方，爪夹垂直下降靠近笔，爪夹合拢抓取笔，爪夹抓取笔竖直上升，爪夹抓取笔向爪夹方向右前方移动至接近木盒，爪夹抓取笔向爪夹方向右前方移动至木盒正上方，松开爪夹使笔落入木盒。", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取笔放入木盒中的任务应当：爪夹向爪夹方向右前方移动。", + "time": 1.9281270984536083, + "annotations": { + "point_1767850857934": { + "type": "point", + "instances": [ + { + "id": "point_1767850857934_1767851175724_b0z1uakp8", + "x": 0.2185, + "y": 0.22133333333333335 + } + ] + }, + "bbox_1767850856860": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856860_1767851181416_at6qq7lwe", + "x": 0.39949999999999997, + "y": 0.5173333333333333, + "width": 0.017000000000000036, + "height": 0.156 + } + ] + }, + "bbox_1767850856994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856994_1767851192399_qscecuz86", + "x": 0.43949999999999995, + "y": 0.2613333333333333, + "width": 0.20200000000000004, + "height": 0.312 + } + ] + } + } + }, + { + "time": 3.464636, + "frame": 104, + "progress": 5, + "action_description": "当前爪夹张开向爪夹方向右前方移动。", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈60度角。为完成抓取笔放入木盒中的任务应当：爪夹向爪夹方向左下方移动至笔的正上方。", + "progress_explanation": "当前爪夹张开向爪夹方向右前方移动。因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动。", + "correction_plan": "爪夹向爪夹方向左下方移动至笔的正上方，爪夹垂直下降靠近笔，爪夹合拢抓取笔，爪夹抓取笔竖直上升，爪夹抓取笔向爪夹方向右前方移动至接近木盒，爪夹抓取笔向爪夹方向右前方移动至木盒正上方，松开爪夹使笔落入木盒。", + "annotations": { + "bbox_1767850856860": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856860_1767851149303_nltopqje1", + "x": 0.3995, + "y": 0.5186666666666667, + "width": 0.015999999999999924, + "height": 0.15200000000000002 + } + ] + }, + "bbox_1767850856994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856994_1767851162679_7rf490nib", + "x": 0.4375, + "y": 0.25866666666666666, + "width": 0.20400000000000001, + "height": 0.3160000000000001 + } + ] + } + } + }, + { + "time": 5.226366, + "frame": 157, + "progress": 10, + "action_description": "当前爪夹张开向爪夹方向左下方移动至笔的正上方。", + "state_description": "当前爪夹张开，此时爪夹位于笔的正上方。", + "progress_explanation": "当前爪夹张开向爪夹方向左下方移动至笔的正上方。因次当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向左下方移动至笔的正上方。", + "correction_plan": "爪夹垂直下降靠近笔，爪夹合拢抓取笔，爪夹抓取笔竖直上升，爪夹抓取笔向爪夹方向右前方移动至接近木盒，爪夹抓取笔向爪夹方向右前方移动至木盒正上方，松开爪夹使笔落入木盒。", + "annotations": { + "bbox_1767850856860": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856860_1767851108447_nm9875lr1", + "x": 0.3995, + "y": 0.5173333333333333, + "width": 0.016999999999999904, + "height": 0.1573333333333334 + } + ] + }, + "bbox_1767850856994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856994_1767851132453_id30qg7ec", + "x": 0.4385, + "y": 0.25733333333333336, + "width": 0.20400000000000001, + "height": 0.316 + } + ] + } + } + }, + { + "time": 6.347233, + "frame": 190, + "progress": 20, + "action_description": "当前爪夹垂直下降靠近笔。", + "state_description": "当前爪夹张开，此时爪夹靠近笔，为完成抓取笔放入木盒中的任务应当：爪夹合拢抓取笔。", + "progress_explanation": "当前爪夹垂直下降靠近笔。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近笔。", + "correction_plan": "爪夹抓取笔竖直上升，爪夹抓取笔向爪夹方向右前方移动至接近木盒，爪夹抓取笔向爪夹方向右前方移动至木盒正上方，松开爪夹使笔落入木盒。", + "annotations": { + "bbox_1767850856860": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856860_1767851078168_a7anq4txw", + "x": 0.3975, + "y": 0.512, + "width": 0.019999999999999973, + "height": 0.16133333333333327 + } + ] + }, + "bbox_1767850856994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856994_1767851092480_5se18m74b", + "x": 0.4405, + "y": 0.26, + "width": 0.203, + "height": 0.3146666666666667 + } + ] + } + } + }, + { + "time": 7.885166, + "frame": 237, + "progress": 40, + "action_description": "当前爪夹合拢抓取笔。", + "state_description": "当前爪夹合拢抓取笔，为完成抓取笔放入木盒中的任务应当：爪夹抓取笔竖直上升。", + "progress_explanation": "当前爪夹合拢抓取笔。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功合拢抓取笔。", + "correction_plan": "爪夹抓取笔竖直上升，爪夹抓取笔向爪夹方向右前方移动至接近木盒，爪夹抓取笔向爪夹方向右前方移动至木盒正上方，松开爪夹使笔落入木盒。", + "annotations": { + "bbox_1767850856994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856994_1767851055270_25mzlvxdf", + "x": 0.43950000000000006, + "y": 0.26266666666666666, + "width": 0.20400000000000001, + "height": 0.31200000000000006 + } + ] + }, + "point_1767850857794": { + "type": "point", + "instances": [ + { + "id": "point_1767850857794_1767851066383_8utbc5gle", + "x": 0.42350000000000004, + "y": 0.6093333333333334 + } + ] + }, + "point_1767850857934": { + "type": "point", + "instances": [ + { + "id": "point_1767850857934_1767851069293_a39k362og", + "x": 0.4335, + "y": 0.6080000000000001 + } + ] + } + } + }, + { + "time": 9.976546136597937, + "frame": 299, + "progress": 50, + "action_description": "当前爪夹抓取笔竖直上升。", + "state_description": "当前爪夹合拢抓取笔，此时爪夹与木盒水平距离略微接近。为完成抓取笔放入木盒中的任务应当：爪夹抓取笔向爪夹方向右前方移动接近木盒。", + "progress_explanation": "当前爪夹抓取笔竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功抓取笔并竖直上升。", + "correction_plan": "爪夹抓取笔向爪夹方向右前方移动至接近木盒，爪夹抓取笔向爪夹方向右前方移动至木盒正上方，松开爪夹使笔落入木盒。", + "annotations": { + "bbox_1767850856860": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856860_1767851011934_769o1rsgu", + "x": 0.39049999999999996, + "y": 0.3413333333333333, + "width": 0.018000000000000016, + "height": 0.19066666666666662 + } + ] + }, + "bbox_1767850856994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856994_1767851031747_ni2udy0d4", + "x": 0.43950000000000006, + "y": 0.2573333333333333, + "width": 0.20299999999999993, + "height": 0.31866666666666676 + } + ] + } + } + }, + { + "time": 10.335433, + "frame": 310, + "progress": 60, + "action_description": "当前爪夹抓取笔向爪夹方向右前方移动直至接近木盒。", + "state_description": "当前爪夹合拢抓取笔，此时爪夹与木盒水平距离接近。为完成抓取笔放入木盒中的任务应当：爪夹抓取笔向爪夹方向右前方移动至木盒正上方。", + "progress_explanation": "当前爪夹抓取笔向爪夹方向右前方移动直至接近木盒。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹抓取笔成功接近木盒。", + "correction_plan": "爪夹抓取笔向爪夹方向右前方移动至木盒正上方，松开爪夹使笔落入木盒。", + "annotations": { + "bbox_1767850856860": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856860_1767850987044_8zslr6r8k", + "x": 0.4845, + "y": 0.08133333333333333, + "width": 0.03500000000000005, + "height": 0.23733333333333337 + } + ] + }, + "bbox_1767850856994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856994_1767850994204_o51l3fd8c", + "x": 0.43950000000000006, + "y": 0.2573333333333333, + "width": 0.20400000000000001, + "height": 0.31866666666666676 + } + ] + } + } + }, + { + "time": 10.817666, + "frame": 325, + "progress": 80, + "action_description": "当前爪夹合拢抓取笔向爪夹方向右前方移动至木盒正上方。", + "state_description": "当前爪夹合拢抓取笔，此时爪夹位于木盒正上方。为完成抓取笔放入木盒中的任务应当：爪夹松开使笔落入木盒。", + "progress_explanation": "当前爪夹合拢抓取笔向爪夹方向右前方移动至木盒正上方。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取笔移动至木盒正上方。", + "correction_plan": "松开爪夹使笔落入木盒。", + "annotations": { + "bbox_1767850856860": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856860_1767850952354_4367hxam4", + "x": 0.5055, + "y": 0.12133333333333333, + "width": 0.04400000000000004, + "height": 0.21466666666666664 + } + ] + }, + "bbox_1767850856994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856994_1767850964822_ebziu7wnh", + "x": 0.4405, + "y": 0.25733333333333336, + "width": 0.203, + "height": 0.3173333333333333 + } + ] + } + } + }, + { + "time": 11.482366, + "frame": 344, + "progress": 100, + "action_description": "当前爪夹松开使笔落入木盒中。", + "state_description": "当前爪夹松开，此时笔落入木盒中。已完成抓取笔放入木盒中的任务。", + "progress_explanation": "此时笔落入木盒中，因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功抓取笔将其放入木盒中。", + "correction_plan": "", + "annotations": { + "bbox_1767850856860": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856860_1767850880792_ppmqd4c3b", + "x": 0.4915000000000001, + "y": 0.42, + "width": 0.08699999999999992, + "height": 0.11733333333333337 + } + ] + }, + "bbox_1767850856994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767850856994_1767850920966_frm4rmm96", + "x": 0.43950000000000006, + "y": 0.25866666666666666, + "width": 0.20199999999999996, + "height": 0.31733333333333336 + } + ] + } + } + }, + { + "action_description": "关键帧 2/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 550, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 18.333333333333332 + }, + { + "action_description": "关键帧 3/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 756, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 25.2 + }, + { + "action_description": "关键帧 4/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 780, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 26 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767850856860", + "name": "笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1767850856994", + "name": "木盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767850857794", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767850857934", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-114159-put-blue pen-white-trash can-good1/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-114159-put-blue pen-white-trash can-good1/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..6fbe4275f2bcb9ad3fb5857cbdbb7d44d10508f9 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-114159-put-blue pen-white-trash can-good1/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,302 @@ +{ + "task_description": "抓取记号笔放入垃圾桶中：\n爪夹准备移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓取记号笔移动至垃圾桶正上方：60%\n爪夹抓取记号笔下降至垃圾桶内：80%\n爪夹松开，记号笔落入垃圾桶内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "annotations": { + "bbox_1767853109494": { + "instances": [ + { + "height": 0.17866666666666664, + "id": "bbox_1767853109494_1767853381621_d9u12jnzg", + "width": 0.06800000000000006, + "x": 0.5974999999999999, + "y": 0.336 + } + ], + "type": "bbox" + }, + "bbox_1767853109660": { + "instances": [ + { + "height": 0.23599999999999993, + "id": "bbox_1767853109660_1767853400657_wg3tph1c5", + "width": 0.154, + "x": 0.4405, + "y": 0.3533333333333334 + } + ], + "type": "bbox" + }, + "point_1767853110476": { + "instances": [ + { + "id": "point_1767853110476_1767853372021_nxj8nnfgi", + "x": 0.3605, + "y": 0.5213333333333333 + } + ], + "type": "point" + }, + "point_1767853110606": { + "instances": [ + { + "id": "point_1767853110606_1767853374220_ziyov43dg", + "x": 0.4965, + "y": 0.512 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方移动并调整爪夹与桌面的水平角度使爪夹接近垂直于桌面，爪夹向爪夹方向左下方移动至记号笔正上方，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向左边移动至垃圾桶正上方，爪夹抓取记号笔垂直下降至塑料桶内，松开爪夹使记号笔落入垃圾桶。", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹方向右前方移动并调整爪夹与桌面的水平角度使爪夹垂直于桌面。", + "time": 1.807731904639175 + }, + { + "action_description": "爪夹向爪夹方向右前方移动并调整爪夹与桌面的水平角度，使爪夹接近垂直于桌面。", + "annotations": { + "bbox_1767853109660": { + "instances": [ + { + "height": 0.23466666666666675, + "id": "bbox_1767853109660_1767853357322_ifddqrf54", + "width": 0.15499999999999997, + "x": 0.4405, + "y": 0.352 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向左下方移动至记号笔正上方，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向左边移动至垃圾桶正上方，爪夹抓取记号笔垂直下降至塑料桶内，松开爪夹使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹成功调整爪夹与桌面之间的水平角度使爪夹更方便抓取记号笔。", + "frame": 83, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向右前方移动并调整爪夹与桌面的水平角度，使爪夹接近垂直于桌面。因此当前进度提升至5%。", + "state_description": "当前爪夹张开，此时爪夹与桌面接近垂直。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹方向左下方移动至记号笔正上方。", + "time": 2.761066 + }, + { + "action_description": "当前爪夹向爪夹方向左下方移动至记号笔正上方。", + "annotations": { + "bbox_1767853109660": { + "instances": [ + { + "height": 0.2333333333333334, + "id": "bbox_1767853109660_1767853343114_jgqy1tnwi", + "width": 0.15600000000000006, + "x": 0.4415, + "y": 0.35333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向左边移动至垃圾桶正上方，爪夹抓取记号笔垂直下降至塑料桶内，松开爪夹使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹成功移动至记号笔正上方。", + "frame": 102, + "progress": 10, + "progress_explanation": "当前爪夹向爪夹方向左下方移动至记号笔正上方。因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹位于记号笔正上方，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹垂直下降靠近记号笔。", + "time": 3.406799 + }, + { + "action_description": "当前爪夹张开垂直下降靠近记号笔。", + "annotations": { + "bbox_1767853109660": { + "instances": [ + { + "height": 0.22933333333333336, + "id": "bbox_1767853109660_1767853328703_cc3getbcu", + "width": 0.158, + "x": 0.4405, + "y": 0.35333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向左边移动至垃圾桶正上方，爪夹抓取记号笔垂直下降至塑料桶内，松开爪夹使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹垂直下降成功靠近记号笔。", + "frame": 132, + "progress": 20, + "progress_explanation": "当前爪夹张开垂直下降靠近记号笔。因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹靠近记号笔，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹合拢抓取记号笔。", + "time": 4.397666 + }, + { + "action_description": "当前爪夹合拢抓取记号笔。", + "annotations": { + "bbox_1767853109660": { + "instances": [ + { + "height": 0.23866666666666678, + "id": "bbox_1767853109660_1767853312472_1okwfcq4l", + "width": 0.15599999999999997, + "x": 0.4415, + "y": 0.3506666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向左边移动至垃圾桶正上方，爪夹抓取记号笔垂直下降至塑料桶内，松开爪夹使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹合拢成功抓取记号笔。", + "frame": 166, + "progress": 40, + "progress_explanation": "当前爪夹合拢抓取记号笔。因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取记号笔。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔竖直上升。", + "time": 5.522133 + }, + { + "action_description": "当前爪夹合拢抓取记号笔竖直上升。", + "annotations": { + "bbox_1767853109494": { + "instances": [ + { + "height": 0.24799999999999997, + "id": "bbox_1767853109494_1767853284922_27ec1b3bi", + "width": 0.07800000000000003, + "x": 0.5475000000000001, + "y": 0.12933333333333336 + } + ], + "type": "bbox" + }, + "bbox_1767853109660": { + "instances": [ + { + "height": 0.2333333333333334, + "id": "bbox_1767853109660_1767853295524_crcvifcnv", + "width": 0.154, + "x": 0.4405, + "y": 0.35333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取记号笔向爪夹方向左边移动至垃圾桶正上方，爪夹抓取记号笔垂直下降至塑料桶内，松开爪夹使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹成功抓取记号笔竖直上升。", + "frame": 215, + "progress": 50, + "progress_explanation": "当前爪夹合拢抓取记号笔竖直上升。因此当前进度提升50%。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹与垃圾桶水平距离接近，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔向爪夹方向左边移动至垃圾桶正上方。", + "time": 7.180999 + }, + { + "action_description": "当前爪夹抓取记号笔向爪夹方向左边移动至垃圾桶正上方。", + "annotations": { + "bbox_1767853109494": { + "instances": [ + { + "height": 0.23600000000000002, + "id": "bbox_1767853109494_1767853237512_zrtr3yv3f", + "width": 0.025999999999999978, + "x": 0.5235000000000001, + "y": 0.15866666666666665 + } + ], + "type": "bbox" + }, + "bbox_1767853109660": { + "instances": [ + { + "height": 0.2386666666666666, + "id": "bbox_1767853109660_1767853252480_2kixpm65g", + "width": 0.14699999999999988, + "x": 0.4405000000000001, + "y": 0.3453333333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取记号笔垂直下降至塑料桶内，松开爪夹使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹成功抓取记号笔移动至垃圾桶正上方。", + "frame": 243, + "progress": 60, + "progress_explanation": "当前爪夹抓取记号笔向爪夹方向左边移动至垃圾桶正上方。因此当前进度提升至60%。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹位于垃圾桶正上方，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔垂直下降至垃圾桶内。", + "time": 8.093933 + }, + { + "action_description": "当前爪夹抓取记号笔下降至垃圾桶内。", + "annotations": { + "bbox_1767853109660": { + "instances": [ + { + "height": 0.2493333333333334, + "id": "bbox_1767853109660_1767853214182_qmo5iva3u", + "width": 0.17, + "x": 0.4405, + "y": 0.364 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹成功抓取记号笔移动至垃圾桶正上方。", + "frame": 267, + "progress": 80, + "progress_explanation": "当前爪夹抓取记号笔下降至垃圾桶内。因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹下降至垃圾桶内，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹松开使记号笔落入垃圾桶。", + "time": 8.895533 + }, + { + "action_description": "当前爪夹松开使记号笔落入垃圾桶内。", + "annotations": { + "bbox_1767853109660": { + "instances": [ + { + "height": 0.19999999999999993, + "id": "bbox_1767853109660_1767853187728_1j2wi95o3", + "width": 0.1419999999999999, + "x": 0.44750000000000006, + "y": 0.34 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将记号笔抓进垃圾桶。", + "frame": 289, + "progress": 100, + "progress_explanation": "当前爪夹松开使记号笔落入垃圾桶内。因此当前进度提升至100%。", + "state_description": "当前爪夹松开，此时记号笔位于垃圾桶内。已完成抓取记号笔放入垃圾桶中的任务。", + "time": 9.641549 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767853109494", + "name": "记号笔" + }, + { + "color": "#FF9800", + "id": "bbox_1767853109660", + "name": "垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767853110476", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767853110606", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-114159-put-blue pen-white-trash can-good1/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-114159-put-blue pen-white-trash can-good1/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..251d05086e244e5cf6a37e850690ea016ae13cf2 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-114159-put-blue pen-white-trash can-good1/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,524 @@ +{ + "task_description": "抓取记号笔放入垃圾桶中：\n爪夹准备移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓取记号笔接近垃圾桶：60%\n爪夹抓取记号笔移动至垃圾桶正上方：80%\n爪夹松开，记号笔落入垃圾桶内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹前方移动，爪夹向爪夹方向前下方移动至记号笔正上方，爪夹竖直上升，爪夹垂直下降并且爪夹略微合拢，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔迅速向下移动试图甩掉香蕉皮，爪夹抓取记号笔向爪夹方向上方迅速移动试图甩掉香蕉皮，爪夹抓取记号笔向下迅速移动后猛然上升甩掉香蕉皮，爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶，当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "error_success_analysis": "", + "frame": 55, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹前方移动。", + "time": 1.8176804123711339, + "annotations": { + "point_1767857110562": { + "type": "point", + "instances": [ + { + "id": "point_1767857110562_1767857438093_ocieqe0d6", + "x": 0.22149999999999997, + "y": 0.468 + } + ] + }, + "bbox_1767857109590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109590_1767857442827_dtksujhrc", + "x": 0.3885, + "y": 0.38799999999999996, + "width": 0.026000000000000023, + "height": 0.1466666666666668 + } + ] + }, + "bbox_1767857109728": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109728_1767857461931_cn49dkmht", + "x": 0.15650000000000003, + "y": 0.5213333333333333, + "width": 0.189, + "height": 0.2946666666666667 + } + ] + } + } + }, + { + "time": 2.805563, + "frame": 84, + "progress": 5, + "action_description": "当前爪夹向爪夹方向前方移动。", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈60度角。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹方向前下方移动至记号笔正上方。", + "progress_explanation": "当前爪夹向爪夹方向前方移动。因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前方移动。", + "correction_plan": "爪夹向爪夹方向前下方移动至记号笔正上方，当前爪夹略微合拢，爪夹竖直上升，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔迅速向下移动试图甩掉香蕉皮，爪夹抓取记号笔向爪夹方向上方迅速移动试图甩掉香蕉皮，爪夹抓取记号笔向下迅速移动后猛然上升甩掉香蕉皮，爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶，当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767857109728": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109728_1767857419247_g7wnh2vyi", + "x": 0.1595, + "y": 0.5199999999999999, + "width": 0.18300000000000002, + "height": 0.3013333333333334 + } + ] + }, + "bbox_1767857109590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109590_1767857429135_bcwjxvzx0", + "x": 0.3825, + "y": 0.372, + "width": 0.02999999999999998, + "height": 0.16133333333333333 + } + ] + } + } + }, + { + "time": 3.705299, + "frame": 111, + "progress": 10, + "action_description": "当前爪夹向爪夹方向前下方移动至记号笔正上方。", + "state_description": "当前爪夹张开，此时爪夹位于记号笔正上方。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹略微向爪夹方向上方移动。", + "progress_explanation": "当前爪夹向爪夹方向前下方移动至记号笔正上方。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功移动至记号笔正上方。", + "correction_plan": "爪夹略微向爪夹方向上方移动，爪夹略微合拢，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔迅速向下移动试图甩掉香蕉皮，爪夹抓取记号笔向爪夹方向上方迅速移动试图甩掉香蕉皮，爪夹抓取记号笔向下迅速移动后猛然上升甩掉香蕉皮，爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶，当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767857109590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109590_1767857393095_ph98lqfu1", + "x": 0.3795, + "y": 0.3813333333333333, + "width": 0.03399999999999999, + "height": 0.1506666666666667 + } + ] + }, + "bbox_1767857109728": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109728_1767857404839_16p7sau6c", + "x": 0.1625, + "y": 0.5226666666666667, + "width": 0.181, + "height": 0.29600000000000004 + } + ] + } + } + }, + { + "time": 4.7972, + "frame": 144, + "progress": 8, + "action_description": "爪夹略微向爪夹方向上方移动。", + "state_description": "当前爪夹张开，此时爪夹位于记号笔正上方，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹垂直下降并且爪夹略微合拢。", + "progress_explanation": "爪夹略微向爪夹方向上方移动当前阶段比上一阶段更加远离记号笔。因此当前进度跌落至8%。", + "error_success_analysis": "当前爪夹向上移动比上一阶段更加远离记号笔。", + "correction_plan": "当前爪夹垂直下降并且爪夹略微合拢，爪夹竖直上升，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔迅速向下移动试图甩掉香蕉皮，爪夹抓取记号笔向爪夹方向上方迅速移动试图甩掉香蕉皮，爪夹抓取记号笔向下迅速移动后猛然上升甩掉香蕉皮，爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶，当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767857109590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109590_1767857352373_e4g9dqamr", + "x": 0.3845, + "y": 0.35333333333333333, + "width": 0.027000000000000003, + "height": 0.18266666666666673 + } + ] + } + } + }, + { + "time": 5.7996, + "frame": 174, + "progress": 15, + "action_description": "当前爪夹垂直下降并且爪夹略微合拢。", + "state_description": "当前爪夹略微合拢，此时爪夹位于记号笔正上方，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹垂直下降靠近记号笔。", + "progress_explanation": "当前爪夹垂直下降并且爪夹略微合拢。因此当前进度提升至15%。", + "error_success_analysis": "当前爪夹略微合拢爪夹使其更加方便抓取记号笔。", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔迅速向下移动试图甩掉香蕉皮，爪夹抓取记号笔向爪夹方向上方迅速移动试图甩掉香蕉皮，爪夹抓取记号笔向下迅速移动后猛然上升甩掉香蕉皮，爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶，当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767857109590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109590_1767857323313_heaibprvc", + "x": 0.3845, + "y": 0.372, + "width": 0.02799999999999998, + "height": 0.16000000000000003 + } + ] + }, + "bbox_1767857109728": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109728_1767857337041_t43nt5kit", + "x": 0.15150000000000002, + "y": 0.5253333333333333, + "width": 0.18900000000000003, + "height": 0.2933333333333333 + } + ] + } + } + }, + { + "time": 8.251899, + "frame": 248, + "progress": 8, + "action_description": "当前爪夹张开并竖直上升。", + "state_description": "当前爪夹张开，此时爪夹与记号笔垂直距离加大，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹垂直下降靠近记号笔。", + "progress_explanation": "当前爪夹张开，当前爪夹位置比上一阶段更加远离记号笔，因此当前进度跌落至8%。", + "error_success_analysis": "当前爪夹向爪夹方向上方移动导致爪夹远离记号笔。", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔迅速向下移动试图甩掉香蕉皮，爪夹抓取记号笔向爪夹方向上方迅速移动试图甩掉香蕉皮，爪夹抓取记号笔向下迅速移动后猛然上升甩掉香蕉皮，爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶，当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767857109590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109590_1767857299814_vzsct9hz6", + "x": 0.38049999999999995, + "y": 0.36666666666666664, + "width": 0.03200000000000003, + "height": 0.16666666666666666 + } + ] + }, + "bbox_1767857109728": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109728_1767857310456_dbp9jpvgi", + "x": 0.1705, + "y": 0.5133333333333333, + "width": 0.17400000000000002, + "height": 0.3066666666666667 + } + ] + } + } + }, + { + "time": 10.256699, + "frame": 308, + "progress": 20, + "action_description": "当前爪夹垂直下降并略微合拢爪夹靠近记号笔。", + "state_description": "当前爪夹略微合拢，此时爪夹靠近记号笔。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹合拢抓取记号笔。", + "progress_explanation": "当前爪夹垂直下降并略微合拢爪夹靠近记号笔。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近记号笔。", + "correction_plan": "爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔迅速向下移动试图甩掉香蕉皮，爪夹抓取记号笔向爪夹方向上方迅速移动试图甩掉香蕉皮，爪夹抓取记号笔向下迅速移动后猛然上升甩掉香蕉皮，爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶，当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767857109728": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109728_1767857281523_kuxqoz37f", + "x": 0.1685, + "y": 0.5266666666666667, + "width": 0.175, + "height": 0.2946666666666667 + } + ] + }, + "point_1767857110428": { + "type": "point", + "instances": [ + { + "id": "point_1767857110428_1767857290579_gxb7vlggc", + "x": 0.3665, + "y": 0.516 + } + ] + } + } + }, + { + "time": 10.851155, + "frame": 326, + "progress": 40, + "action_description": "爪夹合拢抓取记号笔。", + "state_description": "当前爪夹合拢抓取记号笔。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔竖直上升。", + "progress_explanation": "当前爪夹合拢抓取记号笔，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹合拢成功抓取记号笔。", + "correction_plan": "爪夹抓取记号笔竖直上升，爪夹抓取记号笔迅速向下移动试图甩掉香蕉皮，爪夹抓取记号笔向爪夹方向上方迅速移动试图甩掉香蕉皮，爪夹抓取记号笔向下迅速移动后猛然上升甩掉香蕉皮，爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶，当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767857109728": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109728_1767857259793_sdy4r3oln", + "x": 0.1515, + "y": 0.516, + "width": 0.19100000000000003, + "height": 0.3013333333333334 + } + ] + } + } + }, + { + "time": 12.742794, + "frame": 382, + "progress": 50, + "action_description": "当前爪夹抓取记号笔竖直上升。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹与垃圾桶水平距离略微接近。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔迅速向下移动。", + "progress_explanation": "当前爪夹抓取记号笔竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹成功抓取记号笔竖直上升。", + "correction_plan": "爪夹抓取记号笔迅速向下移动试图甩掉香蕉皮，爪夹抓取记号笔向爪夹方向上方迅速移动试图甩掉香蕉皮，爪夹抓取记号笔向下迅速移动后猛然上升甩掉香蕉皮，爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶，当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767857109728": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109728_1767857249290_hsrc65alv", + "x": 0.1545, + "y": 0.5093333333333334, + "width": 0.189, + "height": 0.30933333333333335 + } + ] + } + } + }, + { + "time": 13.550299, + "frame": 407, + "progress": 45, + "action_description": "当前爪夹合拢抓取记号笔迅速向爪夹方向下方移动试图甩掉香蕉皮。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹试图甩掉香蕉皮，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔向爪夹方向上方迅速移动。", + "progress_explanation": "当前爪夹合拢抓取记号笔迅速向爪夹方向下方移动，比上一阶段更加远离垃圾桶，因此当前进度跌落至45%。", + "error_success_analysis": "当前爪夹迅速向下移动没能甩掉香蕉皮。", + "correction_plan": "爪夹抓取记号笔向爪夹方向上方迅速移动试图甩掉香蕉皮，爪夹抓取记号笔向下迅速移动后猛然上升甩掉香蕉皮，爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶，当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767857109728": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109728_1767857235639_06rv0tfqm", + "x": 0.1595, + "y": 0.5213333333333333, + "width": 0.18400000000000005, + "height": 0.2946666666666667 + } + ] + } + } + }, + { + "time": 13.872499, + "frame": 416, + "progress": 49, + "action_description": "当前爪夹抓取记号笔迅速向爪夹方向上方移动试图甩掉香蕉皮。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹试图甩掉香蕉皮。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔向下迅速移动后猛然上升甩掉香蕉皮。", + "progress_explanation": "当前爪夹迅速向爪夹方向上方移动再次试图甩掉香蕉皮，因此当前进度提升至49%。", + "error_success_analysis": "当前爪夹迅速向爪夹方向上方移动试图甩掉香蕉皮未果。", + "correction_plan": "爪夹抓取记号笔向下迅速移动后猛然上升甩掉香蕉皮，爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶，当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767857109728": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109728_1767857225498_q60m7heef", + "x": 0.15350000000000003, + "y": 0.5186666666666667, + "width": 0.189, + "height": 0.30000000000000004 + } + ] + } + } + }, + { + "time": 14.946499, + "frame": 448, + "progress": 52, + "action_description": "爪夹抓取记号笔向下迅速移动后猛然上升甩掉香蕉皮。", + "state_description": "当前爪夹合拢抓取记号笔，此时香蕉皮被甩落至桌面，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶。", + "progress_explanation": "爪夹抓取记号笔向下迅速移动后猛然上升甩掉香蕉皮。因此当前进度提升至52%。", + "error_success_analysis": "当前爪夹成功将香蕉皮甩掉。", + "correction_plan": "爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶，当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767857109728": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109728_1767857211832_4qkabuc00", + "x": 0.14350000000000002, + "y": 0.5173333333333333, + "width": 0.2, + "height": 0.30266666666666675 + } + ] + } + } + }, + { + "time": 15.429799, + "frame": 463, + "progress": 60, + "action_description": "爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶。", + "state_description": "当前爪夹向合拢抓取记号笔，此时爪夹与垃圾桶水平距离接近。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔向爪夹方向左后方移动至垃圾桶正上方。", + "progress_explanation": "爪夹抓取记号笔向爪夹方向左后方移动并上升直至接近垃圾桶。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取记号笔接近垃圾桶。", + "correction_plan": "当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶", + "annotations": { + "bbox_1767857109590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109590_1767857179167_li4llm34v", + "x": 0.27549999999999997, + "y": 0.20266666666666666, + "width": 0.03700000000000001, + "height": 0.20800000000000002 + } + ] + }, + "bbox_1767857109728": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109728_1767857193658_pu8xzhbhl", + "x": 0.15150000000000002, + "y": 0.5226666666666667, + "width": 0.193, + "height": 0.29866666666666664 + } + ] + } + } + }, + { + "time": 15.9668, + "frame": 479, + "progress": 80, + "action_description": "当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方。", + "state_description": "当前爪夹合拢抓取记号笔，此时记号笔位于垃圾桶正上方。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹松开使记号笔落入垃圾桶。", + "progress_explanation": "当前爪夹抓取记号笔向爪夹方向左后方移动并下降至垃圾桶正上方。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取记号笔移动至垃圾桶正上方。", + "correction_plan": "爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767857109728": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109728_1767857157156_8g53olk2z", + "x": 0.1505, + "y": 0.528, + "width": 0.19200000000000003, + "height": 0.2946666666666667 + } + ] + } + } + }, + { + "time": 16.574438, + "frame": 497, + "progress": 100, + "action_description": "爪夹松开使记号笔落入垃圾桶。", + "state_description": "当前爪夹松开，此时记号笔落入垃圾桶。已完成抓取记号笔放入垃圾桶中的任务。", + "progress_explanation": "此时记号笔落入垃圾桶，因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功将记号笔抓进垃圾桶。", + "correction_plan": "", + "annotations": { + "bbox_1767857109590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109590_1767857127170_7y37onv98", + "x": 0.22749999999999998, + "y": 0.6173333333333333, + "width": 0.10200000000000001, + "height": 0.16133333333333333 + } + ] + }, + "bbox_1767857109728": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857109728_1767857136108_ja7d08dhz", + "x": 0.15050000000000002, + "y": 0.516, + "width": 0.192, + "height": 0.30666666666666664 + } + ] + } + } + }, + { + "action_description": "关键帧 2/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 714, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 23.8 + }, + { + "action_description": "关键帧 3/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1050, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 35 + }, + { + "action_description": "关键帧 4/4 (自动生成-expert)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1072, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 35.733333333333334 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767857109590", + "name": "记号笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1767857109728", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767857110428", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767857110562", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-115100-put-blue pen-white-trash can-good2/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-115100-put-blue pen-white-trash can-good2/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..ea06cbee76bdc4716e2a8592655c005614f151fd --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-115100-put-blue pen-white-trash can-good2/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,478 @@ +{ + "task_description": "抓取记号笔放入垃圾桶中：\n爪夹准备移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓取记号笔接近垃圾桶：60%\n爪夹抓取记号笔移动至垃圾桶正上方：80%\n爪夹松开，记号笔落入垃圾桶内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右前方移动至记号笔正上方，爪夹向爪夹方向左下方移动靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向左边移动接近垃圾桶，爪夹抓取记号笔向爪夹前下方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "error_success_analysis": "", + "frame": 64, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹方向右前方移动至记号笔正上方。", + "time": 2.142422680412371, + "annotations": { + "point_1767858867509": { + "type": "point", + "instances": [ + { + "id": "point_1767858867509_1767859111689_zg04595ba", + "x": 0.3895, + "y": 0.5013333333333334 + } + ] + }, + "point_1767858867639": { + "type": "point", + "instances": [ + { + "id": "point_1767858867639_1767859113566_7q62zphj6", + "x": 0.6235, + "y": 0.5066666666666667 + } + ] + }, + "bbox_1767858866745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866745_1767859118888_1fucbwnvu", + "x": 0.6134999999999999, + "y": 0.19333333333333333, + "width": 0.137, + "height": 0.21333333333333337 + } + ] + }, + "bbox_1767858866601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866601_1767859129277_xt1yyojkp", + "x": 0.6775, + "y": 0.46, + "width": 0.09800000000000005, + "height": 0.11866666666666663 + } + ] + } + } + }, + { + "time": 3.3464, + "frame": 100, + "progress": 10, + "action_description": "当前爪夹向爪夹方向右前方移动至记号笔正上方。", + "state_description": "当前爪夹张开，此时爪夹位于记号笔正上方，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹方向左下方移动靠近记号笔。", + "progress_explanation": "当前爪夹向爪夹方向右前方移动至记号笔正上方。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动至记号笔正上方。", + "correction_plan": "爪夹向爪夹方向左下方移动靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向左边移动接近垃圾桶，爪夹抓取记号笔向爪夹前下方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "point_1767858867509": { + "type": "point", + "instances": [ + { + "id": "point_1767858867509_1767859081618_7aczm0uhc", + "x": 0.3875, + "y": 0.5053333333333333 + } + ] + }, + "point_1767858867639": { + "type": "point", + "instances": [ + { + "id": "point_1767858867639_1767859083833_tkvvg45a4", + "x": 0.6255, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767858866601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866601_1767859088211_8f9enmkwa", + "x": 0.4415, + "y": 0.276, + "width": 0.09500000000000001, + "height": 0.26799999999999996 + } + ] + }, + "bbox_1767858866745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866745_1767859096475_5hb1yysn8", + "x": 0.1285, + "y": 0.04133333333333333, + "width": 0.24600000000000005, + "height": 0.3106666666666667 + } + ] + } + } + }, + { + "time": 4.1029, + "frame": 123, + "progress": 20, + "action_description": "当前爪夹向爪夹方向左下方移动靠近记号笔。", + "state_description": "当前爪夹张开，此时爪夹靠近记号笔，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹合拢抓取记号笔。", + "progress_explanation": "当前爪夹向爪夹方向左下方移动靠近记号笔。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功下降并靠近记号笔。", + "correction_plan": "爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向左边移动接近垃圾桶，爪夹抓取记号笔向爪夹前下方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767858866745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866745_1767859053503_p9h2o2thw", + "x": -0.001500000000000001, + "y": 0.044000000000000004, + "width": 0.305, + "height": 0.5546666666666666 + } + ] + }, + "point_1767858867509": { + "type": "point", + "instances": [ + { + "id": "point_1767858867509_1767859061189_kihci770o", + "x": 0.3895, + "y": 0.49600000000000005 + } + ] + }, + "point_1767858867639": { + "type": "point", + "instances": [ + { + "id": "point_1767858867639_1767859063235_0iiypgz2h", + "x": 0.6245, + "y": 0.5 + } + ] + }, + "bbox_1767858866601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866601_1767859068595_qtsmrjya7", + "x": 0.4755, + "y": 0.28400000000000003, + "width": 0.12999999999999998, + "height": 0.4186666666666667 + } + ] + } + } + }, + { + "time": 5.013063, + "frame": 150, + "progress": 40, + "action_description": "当前爪夹合拢抓取记号笔。", + "state_description": "当前爪夹合拢爪夹记号笔。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔竖直上升。", + "progress_explanation": "当前爪夹合拢抓取记号笔。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功合拢抓取记号笔。", + "correction_plan": "爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向左边移动接近垃圾桶，爪夹抓取记号笔向爪夹前下方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "point_1767858867509": { + "type": "point", + "instances": [ + { + "id": "point_1767858867509_1767859010549_e8i4k9on9", + "x": 0.4805, + "y": 0.49733333333333335 + } + ] + }, + "point_1767858867639": { + "type": "point", + "instances": [ + { + "id": "point_1767858867639_1767859012825_bv0rexoq1", + "x": 0.5335, + "y": 0.49466666666666664 + } + ] + }, + "bbox_1767858866601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866601_1767859021345_z1m5w94kz", + "x": 0.47850000000000004, + "y": 0.20266666666666666, + "width": 0.06699999999999999, + "height": 0.5106666666666667 + } + ] + }, + "bbox_1767858866745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866745_1767859032729_3dububqjf", + "x": 0.0005, + "y": 0.018666666666666668, + "width": 0.22600000000000003, + "height": 0.5293333333333333 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取记号笔竖直上升。", + "correction_plan": "爪夹抓取记号笔向爪夹方向左边移动接近垃圾桶，爪夹抓取记号笔向爪夹前下方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹成功抓取记号笔竖直上升。", + "frame": 183, + "progress": 50, + "progress_explanation": "当前爪夹抓取记号笔竖直上升。因此当前进度提升至50%。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹与垃圾桶水平距离略微接近，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔向爪夹方向左边移动接近垃圾桶。", + "time": 6.106134020618556, + "annotations": { + "point_1767858867509": { + "type": "point", + "instances": [ + { + "id": "point_1767858867509_1767858984247_nna0xq2dx", + "x": 0.47850000000000004, + "y": 0.49733333333333335 + } + ] + }, + "point_1767858867639": { + "type": "point", + "instances": [ + { + "id": "point_1767858867639_1767858987071_xbq76magn", + "x": 0.5335, + "y": 0.49333333333333335 + } + ] + }, + "bbox_1767858866601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866601_1767858993379_esdvu7k8m", + "x": 0.47850000000000004, + "y": 0.20266666666666666, + "width": 0.06500000000000003, + "height": 0.5106666666666667 + } + ] + }, + "bbox_1767858866745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866745_1767858997897_2aq58n85g", + "x": 0.2145, + "y": 0.29600000000000004, + "width": 0.20299999999999999, + "height": 0.2853333333333333 + } + ] + } + } + }, + { + "time": 6.319, + "frame": 190, + "progress": 60, + "action_description": "当前爪夹抓取记号笔向爪夹方向左边移动接近垃圾桶。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹与垃圾桶水平距离接近，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔向爪夹前下方移动至垃圾桶正上方。", + "progress_explanation": "当前爪夹抓取记号笔向爪夹方向左边移动接近垃圾桶。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取记号笔接近垃圾桶。", + "correction_plan": "爪夹抓取记号笔向爪夹前下方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "point_1767858867509": { + "type": "point", + "instances": [ + { + "id": "point_1767858867509_1767858937567_gp4ljcch7", + "x": 0.4795, + "y": 0.49733333333333335 + } + ] + }, + "point_1767858867639": { + "type": "point", + "instances": [ + { + "id": "point_1767858867639_1767858939324_na1t9y9bg", + "x": 0.5375, + "y": 0.49733333333333335 + } + ] + }, + "bbox_1767858866601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866601_1767858945331_5di31eypb", + "x": 0.4765, + "y": 0.20266666666666666, + "width": 0.06800000000000006, + "height": 0.5133333333333333 + } + ] + }, + "bbox_1767858866745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866745_1767858972197_sv2lq96s1", + "x": 0.35350000000000004, + "y": 0.492, + "width": 0.13899999999999996, + "height": 0.20000000000000007 + } + ] + } + } + }, + { + "action_description": "爪夹抓取记号笔向爪夹前下方移动至垃圾桶正上方。", + "correction_plan": "爪夹松开使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹成功抓取记号笔移动至垃圾桶正上方。", + "frame": 211, + "progress": 80, + "progress_explanation": "爪夹抓取记号笔向爪夹前下方移动至垃圾桶正上方。因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹位于垃圾桶正上方，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹松开使记号笔落入垃圾桶。", + "time": 7.042010309278351, + "annotations": { + "point_1767858867509": { + "type": "point", + "instances": [ + { + "id": "point_1767858867509_1767858914056_fylus580a", + "x": 0.4795, + "y": 0.4986666666666667 + } + ] + }, + "point_1767858867639": { + "type": "point", + "instances": [ + { + "id": "point_1767858867639_1767858915983_pyeelemuu", + "x": 0.5345, + "y": 0.49333333333333335 + } + ] + }, + "bbox_1767858866601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866601_1767858921931_jr48bc3wc", + "x": 0.47750000000000004, + "y": 0.20133333333333334, + "width": 0.06799999999999998, + "height": 0.512 + } + ] + }, + "bbox_1767858866745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866745_1767858953855_lupszhgwy", + "x": 0.4135000000000001, + "y": 0.5853333333333333, + "width": 0.16499999999999995, + "height": 0.2240000000000001 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开使记号笔落入垃圾桶。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将记号笔抓进垃圾桶内。", + "frame": 230, + "progress": 100, + "progress_explanation": "当前爪夹松开使记号笔落入垃圾桶。因此当前进度提升至100%。", + "state_description": "当前爪夹张开，此时记号笔落入垃圾桶，已完成抓取记号笔放入垃圾桶中的任务。", + "time": 7.656752577319589, + "annotations": { + "point_1767858867509": { + "type": "point", + "instances": [ + { + "id": "point_1767858867509_1767858881623_otbr3yh2k", + "x": 0.3885, + "y": 0.49733333333333335 + } + ] + }, + "point_1767858867639": { + "type": "point", + "instances": [ + { + "id": "point_1767858867639_1767858884285_19xl47ie4", + "x": 0.6214999999999999, + "y": 0.4986666666666667 + } + ] + }, + "bbox_1767858866601": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866601_1767858890117_6zo3z9oeh", + "x": 0.4635000000000001, + "y": 0.44133333333333336, + "width": 0.04999999999999991, + "height": 0.22666666666666663 + } + ] + }, + "bbox_1767858866745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858866745_1767858901825_28scj65g9", + "x": 0.38150000000000006, + "y": 0.3893333333333333, + "width": 0.23599999999999993, + "height": 0.32133333333333336 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767858866601", + "name": "记号笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1767858866745", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767858867509", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767858867639", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-131149-put-blue pen-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-131149-put-blue pen-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..d81dc33e7e02c27e9a7912656163f54df43f5e1f --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-131149-put-blue pen-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,522 @@ +{ + "task_description": "抓取记号笔放入垃圾桶中：\n爪夹准备移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓取记号笔接近垃圾桶：60%\n爪夹抓取记号笔移动至垃圾桶正上方：80%\n爪夹松开，记号笔落入垃圾桶内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹前方移动，爪夹向爪夹右前方移动靠近记号笔，爪夹向爪夹前方移动并合拢爪夹抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右上方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向右下方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹前方移动。", + "time": 1.7451030927835052, + "annotations": { + "bbox_1767862592898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592898_1767863020473_qa08m9z4l", + "x": 0.4495, + "y": 0.3706666666666667, + "width": 0.14699999999999996, + "height": 0.26266666666666666 + } + ] + }, + "bbox_1767862592747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592747_1767863031277_734ogx6yb", + "x": 0.3465, + "y": 0.444, + "width": 0.03200000000000003, + "height": 0.1586666666666667 + } + ] + } + } + }, + { + "time": 2.397287, + "frame": 72, + "progress": 10, + "action_description": "当前爪夹向爪夹前方移动。", + "state_description": "当前爪夹张开，此时爪夹与桌面接近平行，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹方向右前方移动靠近记号笔。", + "progress_explanation": "当前爪夹向爪夹前方移动比上一阶段更加接近记号笔，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹前方移动此时爪夹离记号笔更近一步。", + "correction_plan": "爪夹向爪夹右前方移动靠近记号笔，爪夹向爪夹前方移动并合拢爪夹抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右上方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向右下方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767862592747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592747_1767863000801_kic232gz7", + "x": 0.34550000000000003, + "y": 0.4453333333333333, + "width": 0.03199999999999999, + "height": 0.156 + } + ] + }, + "bbox_1767862592898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592898_1767863006856_8ahst9f3t", + "x": 0.4495, + "y": 0.3706666666666667, + "width": 0.14699999999999996, + "height": 0.26 + } + ] + } + } + }, + { + "time": 3.182, + "frame": 95, + "progress": 20, + "action_description": "当前爪夹张开向爪夹方向右前方移动靠近记号笔。", + "state_description": "当前爪夹张开，此时爪夹靠近记号笔，为完成抓取记号笔放入垃圾桶中的任务应当：当前爪夹向爪夹方向右前方移动并合拢爪夹抓取记号笔。", + "progress_explanation": "当前爪夹张开向爪夹方向右前方移动靠近记号笔。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹向爪夹方向右前方移动使爪夹比上一阶段更加靠近记号笔。", + "correction_plan": "爪夹向爪夹前方移动并合拢爪夹抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右上方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向右下方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767862592898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592898_1767862976867_fs72ii0hc", + "x": 0.4494999999999999, + "y": 0.36933333333333335, + "width": 0.14700000000000008, + "height": 0.26133333333333336 + } + ] + }, + "bbox_1767862592747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592747_1767862986071_tmp9xjhtb", + "x": 0.34750000000000003, + "y": 0.43333333333333335, + "width": 0.02999999999999998, + "height": 0.16799999999999998 + } + ] + } + } + }, + { + "time": 3.819719, + "frame": 115, + "progress": 40, + "action_description": "当前爪夹向爪夹方向右前方移动并合拢爪夹抓取记号笔。", + "state_description": "当前爪夹合拢抓取记号笔，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔竖直上升。", + "progress_explanation": "当前爪夹向爪夹方向右前方移动并合拢爪夹抓取记号笔。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功靠近记号笔并抓取记号笔。", + "correction_plan": "爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右上方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向右下方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767862592747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592747_1767862954793_iavc9cjgd", + "x": 0.3465, + "y": 0.45733333333333337, + "width": 0.051000000000000024, + "height": 0.15200000000000002 + } + ] + }, + "bbox_1767862592898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592898_1767862962927_4omh6dl3k", + "x": 0.4495, + "y": 0.37066666666666664, + "width": 0.146, + "height": 0.26133333333333325 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取记号笔竖直上升。", + "correction_plan": "爪夹抓取记号笔向爪夹方向右上方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向右下方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹成功抓取记号笔竖直上升。", + "frame": 141, + "progress": 50, + "progress_explanation": "当前爪夹抓取记号笔竖直上升。因此当前进度提升至50%。", + "state_description": "当前爪夹抓取记号笔，此时爪夹与垃圾桶水平距离略微接近。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔向爪夹方向右上方移动接近垃圾桶。", + "time": 4.701288659793814, + "annotations": { + "bbox_1767862592747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592747_1767862928487_x5moi0bap", + "x": 0.3405, + "y": 0.37333333333333335, + "width": 0.05600000000000001, + "height": 0.16933333333333334 + } + ] + }, + "bbox_1767862592898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592898_1767862934219_i1u0p04me", + "x": 0.4505, + "y": 0.3706666666666667, + "width": 0.146, + "height": 0.26 + } + ] + } + } + }, + { + "time": 5.978561, + "frame": 179, + "progress": 60, + "action_description": "当前爪夹抓取记号笔向爪夹方向右上方移动接近垃圾桶。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹与垃圾桶水平距离接近，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹方向右边移动至垃圾桶正上方。", + "progress_explanation": "当前爪夹抓取记号笔向爪夹方向右上方移动接近垃圾桶。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取记号笔接近垃圾桶。", + "correction_plan": "爪夹抓取记号笔向爪夹方向右下方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767862592747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592747_1767862912592_8rqteq5kh", + "x": 0.3835, + "y": 0.164, + "width": 0.06299999999999999, + "height": 0.14533333333333331 + } + ] + }, + "bbox_1767862592898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592898_1767862919781_h72skdqmi", + "x": 0.4485, + "y": 0.372, + "width": 0.146, + "height": 0.26266666666666666 + } + ] + } + } + }, + { + "time": 7.696, + "frame": 231, + "progress": 5, + "action_description": "当前爪夹抓取记号笔向爪夹右方移动使忽然向左边摆动并松开爪夹使记号笔掉落至桌面。", + "state_description": "当前爪夹张开，此时记号笔掉落至桌面，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹方向后方移动至记号笔正上方。", + "progress_explanation": "当前爪夹抓取记号笔向爪夹右方移动使忽然向左边摆动并松开爪夹使记号笔掉落至桌面。因此当前进度跌落至5%。", + "error_success_analysis": "当前爪夹抓取记号笔使还未移动至垃圾桶正上方就松开爪夹使记号笔掉落至桌面。", + "correction_plan": "爪夹向爪夹后方移动至记号笔正上方，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767862592747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592747_1767862887507_68ufvzzi0", + "x": 0.34550000000000003, + "y": 0.8213333333333334, + "width": 0.15999999999999998, + "height": 0.1466666666666666 + } + ] + }, + "bbox_1767862592898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592898_1767862895792_g56p7l0dt", + "x": 0.4495000000000001, + "y": 0.372, + "width": 0.14499999999999993, + "height": 0.2586666666666667 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向后方移动至记号笔正上方。", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹向爪夹后方移动成功移动至记号笔正上方。", + "frame": 284, + "progress": 10, + "progress_explanation": "当前爪夹向爪夹方向后方移动至记号笔正上方。因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹位于记号笔正上方，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹垂直下降靠近记号笔。", + "time": 9.469329896907215, + "annotations": { + "bbox_1767862592747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592747_1767862854615_1u6tfaoqz", + "x": 0.34450000000000003, + "y": 0.8240000000000001, + "width": 0.16099999999999995, + "height": 0.14133333333333328 + } + ] + }, + "bbox_1767862592898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592898_1767862863663_0833vfxgf", + "x": 0.45050000000000007, + "y": 0.372, + "width": 0.14399999999999996, + "height": 0.2613333333333333 + } + ] + } + } + }, + { + "time": 11.1555, + "frame": 335, + "progress": 18, + "action_description": "当前爪夹垂直下降。", + "state_description": "当前爪夹张开，此时爪夹接近垂直于桌面。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹方向下方调整爪夹与记号笔之间的位置使爪夹更接近记号笔。", + "progress_explanation": "当前爪夹垂直下降靠近记号笔。因此当前进度提升至18%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近记号笔。", + "correction_plan": "爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767862592747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592747_1767862830525_3sqij53y9", + "x": 0.34550000000000003, + "y": 0.828, + "width": 0.16100000000000003, + "height": 0.14800000000000005 + } + ] + }, + "bbox_1767862592898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592898_1767862841379_a8ojozq4s", + "x": 0.4505, + "y": 0.372, + "width": 0.146, + "height": 0.2586666666666667 + } + ] + } + } + }, + { + "time": 12.8575, + "frame": 386, + "progress": 20, + "action_description": "当前爪夹向爪夹方向下方调整爪夹与记号笔之间的位置使爪夹更接近记号笔。", + "state_description": "当前爪夹张开，此时爪夹比上一阶段更加靠近记号笔。为完成抓取记号笔放入垃圾桶中的任务应当：合拢爪夹抓取记号笔。", + "progress_explanation": "当前爪夹向爪夹方向下方调整爪夹位置，使爪夹与记号笔比上一阶段更加靠近，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹向下调整爪夹位置使爪夹更方便抓取记号笔。", + "correction_plan": "爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767862592747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592747_1767862803433_x9a1q6lus", + "x": 0.33249999999999996, + "y": 0.8253333333333333, + "width": 0.173, + "height": 0.1413333333333334 + } + ] + }, + "bbox_1767862592898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592898_1767862815769_qds055oqx", + "x": 0.4495, + "y": 0.372, + "width": 0.146, + "height": 0.26 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取记号笔。", + "correction_plan": "爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹成功合拢抓取记号笔。", + "frame": 431, + "progress": 40, + "progress_explanation": "爪夹合拢抓取记号笔。因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取记号笔，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔竖直上升。", + "time": 14.351804123711341, + "annotations": { + "bbox_1767862592898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592898_1767862773659_qhi9yecx0", + "x": 0.4504999999999999, + "y": 0.372, + "width": 0.1450000000000001, + "height": 0.26 + } + ] + }, + "bbox_1767862592747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592747_1767862788799_gpruhxf4c", + "x": 0.3355, + "y": 0.7906666666666666, + "width": 0.135, + "height": 0.1706666666666667 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取记号笔竖直上升。", + "correction_plan": "爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，爪夹松开使记号笔落入垃圾桶。", + "error_success_analysis": "档期那爪夹成功抓取记号笔竖直上升。", + "frame": 469, + "progress": 50, + "progress_explanation": "当前爪夹抓取记号笔竖直上升。因此当前进度提升至50%。", + "state_description": "当前爪夹抓取记号笔，此时爪夹与垃圾桶水平距离略微接近，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶。", + "time": 15.629639175257731, + "annotations": { + "bbox_1767862592898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592898_1767862755387_m3xop5yth", + "x": 0.4535, + "y": 0.3626666666666667, + "width": 0.142, + "height": 0.27066666666666667 + } + ] + } + } + }, + { + "time": 16.5945, + "frame": 498, + "progress": 80, + "action_description": "爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方。", + "state_description": "当前爪夹合拢抓取记号笔，当前爪夹位于垃圾桶正上方。为完成抓取记号笔放入垃圾桶中的任务应当：松开爪夹使记号笔落入垃圾桶。", + "progress_explanation": "爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方。因此当前进度提升至60%。", + "error_success_analysis": "爪夹成功抓取记号笔移动至垃圾桶正上方。", + "correction_plan": "爪夹松开使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767862592747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592747_1767862645403_3sqlvi517", + "x": 0.5275000000000001, + "y": 0.084, + "width": 0.040999999999999925, + "height": 0.2613333333333333 + } + ] + }, + "bbox_1767862592898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592898_1767862740109_t473cc1i4", + "x": 0.45050000000000007, + "y": 0.3706666666666667, + "width": 0.1459999999999999, + "height": 0.2613333333333333 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开使记号笔落入垃圾桶内。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功将记号笔放入垃圾桶内。", + "frame": 512, + "progress": 100, + "progress_explanation": "当前爪夹松开使记号笔落入垃圾桶内。因此当前进度提升至100%。", + "state_description": "当前爪夹松开，此时记号笔落入垃圾桶内。已完成抓取记号笔放入垃圾桶中的任务。", + "time": 17.079123711340205, + "annotations": { + "bbox_1767862592747": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592747_1767862621522_vk1b50igy", + "x": 0.5275000000000001, + "y": 0.42533333333333334, + "width": 0.05999999999999996, + "height": 0.20133333333333336 + } + ] + }, + "bbox_1767862592898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767862592898_1767862629057_0p2aajsho", + "x": 0.4505, + "y": 0.37066666666666664, + "width": 0.146, + "height": 0.25866666666666666 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767862592747", + "name": "记号笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1767862592898", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767862593656", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767862593777", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-133010-put-blue pen-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-133010-put-blue pen-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..aafc720d610c9e7fe98b1120c72492d6677799e9 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-133010-put-blue pen-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,288 @@ +{ + "task_description": "抓取记号笔放入垃圾桶中：\n爪夹准备移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓取记号笔接近垃圾桶：60%\n爪夹抓取记号笔移动至垃圾桶正上方：80%\n爪夹松开，记号笔落入垃圾桶内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方移动并调整爪夹与桌面水平角度，使爪夹接近垂直于桌面，爪夹向爪夹方向前下方移动靠近记号笔，爪夹抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右后方移动至垃圾桶正上方，爪夹抓取记号笔垂直下降至垃圾桶内，爪夹松开使记号笔落入垃圾桶内。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹方向前方移动并调整爪夹与桌面水平角度，使爪夹接近垂直于桌面。", + "time": 1.6775257731958761, + "annotations": { + "point_1767919681509": { + "type": "point", + "instances": [ + { + "id": "point_1767919681509_1767919920914_d2xlne37e", + "x": 0.4405, + "y": 0.4906666666666667 + } + ] + }, + "point_1767919681699": { + "type": "point", + "instances": [ + { + "id": "point_1767919681699_1767919922927_m043wfww4", + "x": 0.5805, + "y": 0.5133333333333333 + } + ] + }, + "bbox_1767919680229": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919680229_1767919927723_e7atpmvo3", + "x": 0.4915, + "y": 0.41333333333333333, + "width": 0.02999999999999998, + "height": 0.08800000000000002 + } + ] + }, + "bbox_1767919680321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919680321_1767919938190_l2aqwts2k", + "x": 0.5965, + "y": 0.5253333333333333, + "width": 0.14900000000000002, + "height": 0.21200000000000005 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向前方移动并调整爪夹与桌面水平角度，使爪夹接近垂直于桌面。", + "correction_plan": "爪夹向爪夹方向前下方移动靠近记号笔，爪夹抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右后方移动至垃圾桶正上方，爪夹抓取记号笔垂直下降至垃圾桶内，爪夹松开使记号笔落入垃圾桶内。", + "error_success_analysis": "当前爪夹成功向前移动并调整爪夹于桌面水平角度，使其更方便抓取记号笔。", + "frame": 79, + "progress": 10, + "progress_explanation": "当前爪夹向爪夹方向前方移动并调整爪夹与桌面水平角度，使爪夹接近垂直于桌面。因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹于桌面接近垂直，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹线下方移动靠近记号笔。", + "time": 2.6177319587628864, + "annotations": { + "bbox_1767919680321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919680321_1767919897101_zbyf6ach4", + "x": 0.5805, + "y": 0.5213333333333333, + "width": 0.1670000000000001, + "height": 0.22000000000000006 + } + ] + } + } + }, + { + "action_description": "当前爪夹张开向爪夹方向前下方移动靠近记号笔。", + "correction_plan": "爪夹抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右后方移动至垃圾桶正上方，爪夹抓取记号笔垂直下降至垃圾桶内，爪夹松开使记号笔落入垃圾桶内。", + "error_success_analysis": "当前爪夹成功下降并靠近记号笔。", + "frame": 101, + "progress": 20, + "progress_explanation": "当前爪夹张开向爪夹方向前下方移动靠近记号笔。因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹位于记号笔正上方，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹合拢抓取记号笔。", + "time": 3.36, + "annotations": { + "bbox_1767919680321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919680321_1767919882947_zeqa9goni", + "x": 0.5865, + "y": 0.5239999999999999, + "width": 0.15999999999999998, + "height": 0.2133333333333334 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取记号笔。", + "correction_plan": "爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右后方移动至垃圾桶正上方，爪夹抓取记号笔垂直下降至垃圾桶内，爪夹松开使记号笔落入垃圾桶内。", + "error_success_analysis": "当前爪夹成功抓取记号笔。", + "frame": 126, + "progress": 40, + "progress_explanation": "当前爪夹合拢抓取记号笔。因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取记号笔，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹合拢抓取记号笔竖直上升。", + "time": 4.201237113402062, + "annotations": { + "bbox_1767919680321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919680321_1767919870387_lkr0s8030", + "x": 0.5835, + "y": 0.5253333333333333, + "width": 0.16299999999999998, + "height": 0.21066666666666672 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取记号笔竖直上升。", + "correction_plan": "爪夹抓取记号笔向爪夹方向右后方移动至垃圾桶正上方，爪夹抓取记号笔垂直下降至垃圾桶内，爪夹松开使记号笔落入垃圾桶内。", + "error_success_analysis": "当前爪夹成功抓取记号笔竖直上升。", + "frame": 167, + "progress": 50, + "progress_explanation": "当前爪夹抓取记号笔竖直上升。因此当前进度提升至50%。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹与垃圾桶水平距离接近。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔向爪夹方向右边移动至垃圾桶正上方。", + "time": 5.557113402061856, + "annotations": { + "bbox_1767919680321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919680321_1767919850743_ncis717w6", + "x": 0.5854999999999999, + "y": 0.524, + "width": 0.16000000000000006, + "height": 0.21333333333333346 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取记号笔向爪夹方向右边移动使爪夹掉落至桌面。", + "correction_plan": "爪夹张开向爪夹方向左前方移动至记号笔正上方，爪夹垂直下降靠近记号笔，爪夹抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右后方移动至垃圾桶正上方，爪夹抓取记号笔垂直下降至垃圾桶内，爪夹松开使记号笔落入垃圾桶内。", + "error_success_analysis": "当前爪夹抓取记号笔时没有抓稳导致爪夹大幅度移动时记号笔掉落。", + "frame": 178, + "progress": -10, + "progress_explanation": "当前爪夹合拢，爪夹空抓，因此当前进度跌落至-10%。", + "state_description": "当前爪夹合拢，此时爪夹空抓，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹松开向爪夹方向左前方移动至记号笔正上方。", + "time": 5.93319587628866, + "annotations": { + "bbox_1767919680229": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919680229_1767919803885_kr1rtov5c", + "x": 0.4925, + "y": 0.4093333333333333, + "width": 0.027000000000000045, + "height": 0.09200000000000005 + } + ] + }, + "bbox_1767919680321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919680321_1767919823775_tjji9hkm3", + "x": 0.5845, + "y": 0.5386666666666666, + "width": 0.16399999999999998, + "height": 0.17733333333333334 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢垂直下降至垃圾桶内。", + "correction_plan": "爪夹张开向爪夹方向左前方移动至记号笔正上方，爪夹垂直下降靠近记号笔，爪夹抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右后方移动至垃圾桶正上方，爪夹抓取记号笔垂直下降至垃圾桶内，爪夹松开使记号笔落入垃圾桶内。", + "error_success_analysis": "当前爪夹没能爪取记号笔下降至垃圾桶内。", + "frame": 195, + "progress": -13, + "progress_explanation": "当前爪夹合拢垂直下降至垃圾桶内。因此当前进度跌落至-13%。", + "state_description": "当前爪夹合拢，此时爪夹位于垃圾桶内。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹竖直上升并松开爪夹。", + "time": 6.4874226804123705, + "annotations": { + "bbox_1767919680229": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919680229_1767919771427_mt9sqwno0", + "x": 0.4915, + "y": 0.41200000000000003, + "width": 0.03200000000000003, + "height": 0.09066666666666663 + } + ] + }, + "bbox_1767919680321": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919680321_1767919787729_0otiav8s1", + "x": 0.5845, + "y": 0.5226666666666666, + "width": 0.16400000000000006, + "height": 0.19333333333333336 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向左边移动导致爪夹撞到垃圾桶。", + "correction_plan": "爪夹向爪夹方向右边移动将垃圾桶扶正，爪夹竖直上升，爪夹张开向爪夹方向左前方移动至记号笔正上方，爪夹垂直下降靠近记号笔，爪夹抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右后方移动至垃圾桶正上方，爪夹抓取记号笔垂直下降至垃圾桶内，爪夹松开使记号笔落入垃圾桶内。", + "error_success_analysis": "当前爪夹向爪夹方向右边移动时撞到垃圾桶。", + "frame": 207, + "progress": -15, + "progress_explanation": "当前爪夹向爪夹方向左边移动导致爪夹撞到垃圾桶。因此当前进度跌落至-15%。", + "state_description": "当前爪夹合拢，此时爪夹撞击垃圾桶。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹方向右边移动将垃圾桶扶正。", + "time": 6.89319587628866 + }, + { + "action_description": "当前爪夹向爪夹左边移动张开爪夹，此时垃圾桶和记号笔被撞到桌子底下。", + "correction_plan": "", + "error_success_analysis": "当前爪夹没能移动出垃圾桶就向爪夹方向左边移动导致爪夹将垃圾桶和记号笔撞到桌子下方。", + "frame": 247, + "progress": -50, + "progress_explanation": "当前爪夹向爪夹左边移动张开爪夹，此时垃圾桶和记号笔被撞到桌子底下。因此当前进度跌落至-50%。", + "state_description": "当前爪夹张开，当前爪夹接近垂直于桌面。为完成抓取记号笔放入垃圾桶中的任务应当：重置所有物品位置。", + "time": 8.2272, + "annotations": { + "bbox_1767919680229": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919680229_1767919717665_q8swezfcf", + "x": 0.1255, + "y": 0.5239999999999999, + "width": 0.059999999999999984, + "height": 0.10533333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767919680229", + "name": "记号笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1767919680321", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767919681509", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767919681699", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-133010-put-blue pen-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-133010-put-blue pen-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f782edd3de7b01da5e2dfd51b05e8fa33a5a6f1a --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-133010-put-blue pen-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,500 @@ +{ + "task_description": "抓取记号笔放入垃圾桶中：\n爪夹准备移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓取记号笔接近垃圾桶：60%\n爪夹抓取记号笔移动至垃圾桶正上方：80%\n爪夹松开，记号笔落入垃圾桶内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右前方移动并调整爪夹角度，使其与桌面水平角度呈30度角，爪夹向爪夹前方移动并下降至记号笔正上方，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，松开抓夹使记号笔落入垃圾桶。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度提升至0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹方向右前方移动并调整爪夹角度，使其与桌面水平角度呈30度角。", + "time": 1.4194329896907216, + "annotations": { + "bbox_1767923474716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474716_1767923930792_4lr5bhis2", + "x": 0.7295, + "y": 0.20666666666666667, + "width": 0.17300000000000004, + "height": 0.22266666666666668 + } + ] + }, + "bbox_1767923474578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474578_1767923959292_hvp1sw3nm", + "x": 0.6765000000000001, + "y": 0.436, + "width": 0.12599999999999997, + "height": 0.12533333333333332 + } + ] + }, + "point_1767923475629": { + "type": "point", + "instances": [ + { + "id": "point_1767923475629_1767923973272_v1v142oqc", + "x": 0.47850000000000004, + "y": 0.5173333333333333 + } + ] + }, + "point_1767923475776": { + "type": "point", + "instances": [ + { + "id": "point_1767923475776_1767923975809_3egaqm939", + "x": 0.6085, + "y": 0.5533333333333333 + } + ] + } + } + }, + { + "time": 2.8285051546391755, + "frame": 85, + "progress": 5, + "action_description": "当前爪夹张开向爪夹右前方移动并调整爪夹与桌面水平角度，使其与桌面呈30度角。", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈30度角。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹方向右前方移动并下降至记号笔正上方。", + "progress_explanation": "当前爪夹张开向爪夹右前方移动并调整爪夹与桌面水平角度，使其与桌面呈30度角。因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功调整爪夹与桌面水平角度。", + "correction_plan": "爪夹向爪夹前方移动并下降至记号笔正上方，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，松开抓夹使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767923474578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474578_1767923908942_6mwtwlrlw", + "x": 0.6785, + "y": 0.44000000000000006, + "width": 0.121, + "height": 0.11333333333333334 + } + ] + }, + "bbox_1767923474716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474716_1767923915436_5mfhki9vp", + "x": 0.7315, + "y": 0.20800000000000002, + "width": 0.172, + "height": 0.22533333333333333 + } + ] + } + } + }, + { + "time": 3.740257731958763, + "frame": 112, + "progress": 10, + "action_description": "爪夹向爪夹前方移动并下降至记号笔正上方。", + "state_description": "当前爪夹张开，此时爪夹位于记号笔正上方。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹垂直下降靠近记号笔。", + "progress_explanation": "当前爪夹向爪夹前方移动并下降至记号笔正上方。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动并下降至记号笔正上方。", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，松开抓夹使记号笔落入垃圾桶。", + "annotations": { + "point_1767923475776": { + "type": "point", + "instances": [ + { + "id": "point_1767923475776_1767923873509_3wthdylnw", + "x": 0.8154999999999999, + "y": 0.47733333333333333 + } + ] + }, + "bbox_1767923474578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474578_1767923884882_2uixhzc84", + "x": 0.6775, + "y": 0.43866666666666665, + "width": 0.12000000000000002, + "height": 0.11866666666666663 + } + ] + }, + "bbox_1767923474716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474716_1767923891998_bqmmn2gok", + "x": 0.7295, + "y": 0.20533333333333334, + "width": 0.17399999999999993, + "height": 0.22533333333333339 + } + ] + } + } + }, + { + "time": 4.486237113402062, + "frame": 135, + "progress": 20, + "action_description": "当前爪夹垂直下降靠近记号笔。", + "state_description": "当前爪夹张开，此时爪夹靠近记号笔。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹合拢抓取记号笔。", + "progress_explanation": "当前爪夹垂直下降靠近记号笔。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下将成功靠近记号笔。", + "correction_plan": "爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，松开抓夹使记号笔落入垃圾桶。", + "annotations": { + "point_1767923475629": { + "type": "point", + "instances": [ + { + "id": "point_1767923475629_1767923836156_iv3gnq4sg", + "x": 0.6925, + "y": 0.5253333333333333 + } + ] + }, + "bbox_1767923474716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474716_1767923858340_50ikjinf2", + "x": 0.7305, + "y": 0.20666666666666667, + "width": 0.17299999999999996, + "height": 0.224 + } + ] + } + } + }, + { + "time": 5.729536082474227, + "frame": 172, + "progress": 40, + "action_description": "当前爪夹合拢抓取记号笔。", + "state_description": "当前爪夹合拢抓取记号笔，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹合拢抓取记号笔竖直上升。", + "progress_explanation": "当前爪夹抓取记号笔，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功将记号笔抓取。", + "correction_plan": "爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，松开抓夹使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767923474578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474578_1767923803344_9zict3tvi", + "x": 0.6895, + "y": 0.428, + "width": 0.07199999999999998, + "height": 0.17466666666666672 + } + ] + }, + "bbox_1767923474716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474716_1767923812588_rzz7xqn41", + "x": 0.7295, + "y": 0.20800000000000002, + "width": 0.175, + "height": 0.22400000000000003 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取记号笔竖直上升。", + "correction_plan": "爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，松开抓夹使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹成功抓取记号笔竖直上升。", + "frame": 225, + "progress": 50, + "progress_explanation": "当前爪夹抓取记号笔竖直上升。因此当前进度提升至50%。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹与垃圾桶水平位置略微接近。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶。", + "time": 7.51159793814433, + "annotations": { + "bbox_1767923474578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474578_1767923747019_zz9mo6qkf", + "x": 0.7525000000000001, + "y": 0.3733333333333333, + "width": 0.046, + "height": 0.20133333333333342 + } + ] + }, + "bbox_1767923474716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474716_1767923758946_8e60szpdg", + "x": 0.7304999999999999, + "y": 0.20533333333333334, + "width": 0.175, + "height": 0.22533333333333333 + } + ] + } + } + }, + { + "time": 8.257577319587629, + "frame": 248, + "progress": 60, + "action_description": "当前爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶。", + "state_description": "当前爪夹合拢抓取记号笔，此时爪夹与垃圾桶水平距离接近，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔向爪夹方向左前方移动至垃圾桶正上方。", + "progress_explanation": "当前爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取记号笔接近垃圾桶。", + "correction_plan": "爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，松开抓夹使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767923474716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474716_1767923715940_czp5is3th", + "x": 0.7315, + "y": 0.20533333333333334, + "width": 0.17700000000000005, + "height": 0.22933333333333336 + } + ] + } + } + }, + { + "time": 9.335103092783505, + "frame": 280, + "progress": -10, + "action_description": "当前爪夹合拢抓取记号笔向爪夹方向前下方移动将垃圾桶撞倒。", + "state_description": "爪夹合拢抓取记号笔，此时垃圾桶被爪夹撞到，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔向爪夹方向前上方移动将垃圾桶扶起。", + "progress_explanation": "当前爪夹合拢抓取记号笔向爪夹方向前下方移动将垃圾桶撞倒。因此当前进度跌落至-10%。", + "error_success_analysis": "当前爪夹没有移动至垃圾桶正上方就下降导致爪夹撞到垃圾桶边沿使垃圾桶被撞倒。", + "correction_plan": "爪夹抓取记号笔向爪夹方向前上方移动将垃圾桶扶起，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，松开抓夹使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767923474578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474578_1767923680766_2xwwt9awf", + "x": 0.8285, + "y": 0.4706666666666667, + "width": 0.040000000000000036, + "height": 0.16266666666666663 + } + ] + }, + "bbox_1767923474716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474716_1767923690230_2zi9x5gjx", + "x": 0.7315, + "y": 0.29333333333333333, + "width": 0.16800000000000007, + "height": 0.2413333333333333 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取记号笔向爪夹方向前上方移动扶起垃圾桶时，爪夹松开导致记号笔掉落。", + "correction_plan": "爪夹向爪夹方向左后方移动至记号笔正上方，爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，松开抓夹使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹成功向爪夹前上方移动将垃圾桶扶正。", + "frame": 314, + "progress": 5, + "progress_explanation": "当前爪夹抓取记号笔向爪夹方向前上方移动扶起垃圾桶时，爪夹松开导致记号笔掉落。因此当前进度提升至5%。", + "state_description": "当前爪夹张开，此时垃圾桶被扶起记号笔掉落至桌面，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹向爪夹方向左后方移动至记号笔正上方。", + "time": 10.47479381443299, + "annotations": { + "bbox_1767923474716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474716_1767923646110_720tmom12", + "x": 0.6885000000000001, + "y": 0.08533333333333333, + "width": 0.17799999999999985, + "height": 0.25200000000000006 + } + ] + }, + "bbox_1767923474578": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474578_1767923662728_veamc8fnl", + "x": 0.7725000000000001, + "y": 0.6866666666666668, + "width": 0.088, + "height": 0.14400000000000002 + } + ] + } + } + }, + { + "time": 12.712731958762888, + "frame": 381, + "progress": 10, + "action_description": "爪夹向爪夹方向左后方移动至记号笔正上方。", + "state_description": "当前爪夹张开，此时爪夹位于记号笔正上方。为完成抓取记号笔放入垃圾桶中的任务应当：爪夹垂直下降靠近记号笔。", + "progress_explanation": "爪夹向爪夹方向左后方移动至记号笔正上方。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右后方移动至记号笔正上方。", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，松开抓夹使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767923474716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474716_1767923634977_5yzy2193c", + "x": 0.6885000000000001, + "y": 0.08666666666666667, + "width": 0.172, + "height": 0.2373333333333333 + } + ] + } + } + }, + { + "time": 14.101082474226803, + "frame": 423, + "progress": 20, + "action_description": "当前爪夹垂直下降靠近记号笔。", + "state_description": "当前爪夹张开，此时爪夹靠近记号笔，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹合拢抓取记号笔。", + "progress_explanation": "当前爪夹垂直下降靠近记号笔，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近记号笔。", + "correction_plan": "爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，松开抓夹使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767923474716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474716_1767923620362_k2w1j34nw", + "x": 0.6875000000000001, + "y": 0.08533333333333332, + "width": 0.17299999999999996, + "height": 0.24000000000000005 + } + ] + } + } + }, + { + "time": 15.779536082474227, + "frame": 473, + "progress": 40, + "action_description": "当前爪夹合拢抓取记号笔。", + "state_description": "当前爪夹合拢抓取记号笔，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹抓取记号笔竖直上升。", + "progress_explanation": "当前爪夹合拢抓取记号笔，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功抓取记号笔并准备竖直上升。", + "correction_plan": "爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，松开抓夹使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767923474716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474716_1767923602257_anqcmh5dm", + "x": 0.6875, + "y": 0.08533333333333333, + "width": 0.1740000000000002, + "height": 0.2386666666666666 + } + ] + } + } + }, + { + "time": 17.312938144329898, + "frame": 519, + "progress": -10, + "action_description": "当前爪夹合拢竖直上升。", + "state_description": "当前爪夹合拢，此时记号笔位于桌面，为完成抓取记号笔放入垃圾桶中的任务应当：爪夹松开垂直下降靠近记号笔。", + "progress_explanation": "当前爪夹合拢竖直上升，因为没有抓取倒记号笔所以当前进度跌落至-10%。", + "error_success_analysis": "当前爪夹抓取时没能靠近记号笔导致爪夹抓空。", + "correction_plan": "爪夹张开垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，松开抓夹使记号笔落入垃圾桶。", + "annotations": { + "bbox_1767923474716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474716_1767923581790_jllz0coxe", + "x": 0.6885000000000001, + "y": 0.08533333333333333, + "width": 0.17399999999999993, + "height": 0.23600000000000004 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开。", + "correction_plan": "爪夹张开垂直下降靠近记号笔，爪夹合拢抓取记号笔，爪夹抓取记号笔竖直上升，爪夹抓取记号笔向爪夹方向右前方移动接近垃圾桶，爪夹抓取记号笔向爪夹方向前方移动至垃圾桶正上方，松开抓夹使记号笔落入垃圾桶。", + "error_success_analysis": "当前爪夹张开准备再次下降抓取记号笔。", + "frame": 556, + "progress": 10, + "progress_explanation": "此时爪夹位于记号笔正上方，因此当前进度提升至10%。", + "state_description": "当前爪夹松开，此时爪夹位于记号笔正上方，为完成抓取记号笔放入垃圾桶中的任务应当：垂直下降靠近记号笔。", + "time": 18.535515463917527, + "annotations": { + "point_1767923475629": { + "type": "point", + "instances": [ + { + "id": "point_1767923475629_1767923555592_8al5jkzm5", + "x": 0.7595, + "y": 0.5613333333333334 + } + ] + }, + "bbox_1767923474716": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923474716_1767923565670_b5bytj6z9", + "x": 0.6895, + "y": 0.08533333333333333, + "width": 0.172, + "height": 0.2373333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767923474578", + "name": "记号笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1767923474716", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767923475629", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767923475776", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-135556-put-yellow paper cup-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-135556-put-yellow paper cup-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..40cf27a82db4316134f8cc798fb4672645d17941 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-135556-put-yellow paper cup-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,426 @@ +{ + "task_description": "抓取纸杯放入垃圾桶中：\n爪夹准备移动：0%\n爪夹靠近纸杯：20%\n爪夹抓取纸杯：40%\n爪夹抓取纸杯接近垃圾桶：60%\n爪夹抓取纸杯移动至垃圾桶正上方：80%\n爪夹松开，纸杯落入垃圾桶内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右前方移动至纸杯正上方，爪夹向爪夹方向右下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右前方移动接近垃圾桶，爪夹抓取纸杯向爪夹右方移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶内。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹向爪夹方向右前方移动至纸杯正上方。", + "time": 1.4908075025773195, + "annotations": { + "point_1767925792851": { + "type": "point", + "instances": [ + { + "id": "point_1767925792851_1767926080366_cen8s007s", + "x": 0.3905, + "y": 0.5066666666666667 + } + ] + }, + "point_1767925793015": { + "type": "point", + "instances": [ + { + "id": "point_1767925793015_1767926082558_vntwkh1r6", + "x": 0.6245, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767925792093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925792093_1767926089756_z8srhq7e0", + "x": 0.7585, + "y": 0.46, + "width": 0.11499999999999995, + "height": 0.17733333333333334 + } + ] + } + } + }, + { + "time": 2.5944500716494847, + "frame": 78, + "progress": 10, + "action_description": "当前爪夹向爪夹方向右下方移动至纸杯正上方。", + "state_description": "当前爪夹张开，此时爪夹位于纸杯正上方。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹垂直下降靠近纸杯。", + "progress_explanation": "此时爪夹位于纸杯正上方，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹向爪夹方向右下方移动成功移动到纸杯正上方。", + "correction_plan": "爪夹向爪夹方向右下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右前方移动接近垃圾桶，爪夹抓取纸杯向爪夹右方移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶内。", + "annotations": { + "point_1767925792851": { + "type": "point", + "instances": [ + { + "id": "point_1767925792851_1767926053144_vr4l6rwyu", + "x": 0.3905, + "y": 0.5 + } + ] + }, + "point_1767925793015": { + "type": "point", + "instances": [ + { + "id": "point_1767925793015_1767926055062_kqu871hwt", + "x": 0.6235, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767925791897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925791897_1767926061107_dfrsvy98w", + "x": 0.4035, + "y": 0.344, + "width": 0.11799999999999992, + "height": 0.15333333333333338 + } + ] + }, + "bbox_1767925792093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925792093_1767926073948_iirti3uw3", + "x": 0.5535, + "y": 0.03333333333333333, + "width": 0.20599999999999996, + "height": 0.17466666666666666 + } + ] + } + } + }, + { + "time": 3.5467868046391753, + "frame": 106, + "progress": 20, + "action_description": "当前爪夹垂直下降靠近纸杯。", + "state_description": "当前爪夹张开，此时爪夹靠近纸杯。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹合拢抓取纸杯。", + "progress_explanation": "当前爪夹靠近纸杯，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近纸杯。", + "correction_plan": "爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右前方移动接近垃圾桶，爪夹抓取纸杯向爪夹右方移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶内。", + "annotations": { + "point_1767925792851": { + "type": "point", + "instances": [ + { + "id": "point_1767925792851_1767926026720_u6zw1rnfe", + "x": 0.3935, + "y": 0.5 + } + ] + }, + "point_1767925793015": { + "type": "point", + "instances": [ + { + "id": "point_1767925793015_1767926028574_azl96c1je", + "x": 0.6205, + "y": 0.5 + } + ] + }, + "bbox_1767925791897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925791897_1767926034037_s97gqrxc1", + "x": 0.3215, + "y": 0.37733333333333335, + "width": 0.19599999999999995, + "height": 0.27999999999999997 + } + ] + }, + "bbox_1767925792093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925792093_1767926047627_2lernmx80", + "x": 0.5865, + "y": 0.0013333333333333333, + "width": 0.31199999999999994, + "height": 0.08933333333333333 + } + ] + } + } + }, + { + "time": 4.267714611855671, + "frame": 128, + "progress": 40, + "action_description": "当前爪夹合拢抓取纸杯。", + "state_description": "当前爪夹合拢抓取纸杯，为完成抓取纸杯放入垃圾桶中的任务应当：当前爪夹合拢抓取纸杯竖直上升。", + "progress_explanation": "当前爪夹合拢抓取纸杯。因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹合拢成功抓取纸杯。", + "correction_plan": "爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右前方移动接近垃圾桶，爪夹抓取纸杯向爪夹右方移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶内。", + "annotations": { + "point_1767925793015": { + "type": "point", + "instances": [ + { + "id": "point_1767925793015_1767925975236_e0mjjx3r8", + "x": 0.5135, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767925791897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925791897_1767925987994_6kaasu1t9", + "x": 0.3065, + "y": 0.36666666666666664, + "width": 0.20800000000000005, + "height": 0.3293333333333333 + } + ] + }, + "bbox_1767925792093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925792093_1767926008145_8r399louc", + "x": 0.6445000000000001, + "y": 0, + "width": 0.31300000000000006, + "height": 0.06533333333333333 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取纸杯竖直上升。", + "correction_plan": "爪夹抓取纸杯向爪夹方向右前方移动接近垃圾桶，爪夹抓取纸杯向爪夹右方移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶内。", + "error_success_analysis": "当前爪夹成功抓取纸杯竖直上升。", + "frame": 168, + "progress": 50, + "progress_explanation": "当前爪夹抓取纸杯竖直上升。因此当前进度提升至50%。", + "state_description": "当前爪夹合拢抓取纸杯，此时爪夹与桌面水平角度呈20度角，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹抓取纸杯向爪夹方向右前方移动接近垃圾桶。", + "time": 5.61166645, + "annotations": { + "point_1767925793015": { + "type": "point", + "instances": [ + { + "id": "point_1767925793015_1767925943814_kykxc3djg", + "x": 0.5135, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767925791897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925791897_1767925948831_mgyykjn52", + "x": 0.3095, + "y": 0.36800000000000005, + "width": 0.207, + "height": 0.32799999999999996 + } + ] + }, + "bbox_1767925792093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925792093_1767925960493_d7wbhzcwm", + "x": 0.6465, + "y": 0.07733333333333334, + "width": 0.20199999999999996, + "height": 0.2653333333333333 + } + ] + } + } + }, + { + "time": 6.038882928350516, + "frame": 181, + "progress": 60, + "action_description": "当前爪夹合拢抓取纸杯向爪夹方向右前方移动接近垃圾桶。", + "state_description": "当前爪夹合拢抓取纸杯，此时爪夹与垃圾桶水平距离接近，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方。", + "progress_explanation": "此时爪夹与垃圾桶水平距离接近，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取纸杯接近垃圾桶。", + "correction_plan": "爪夹抓取纸杯向爪夹右方移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶内。", + "annotations": { + "point_1767925793015": { + "type": "point", + "instances": [ + { + "id": "point_1767925793015_1767925914874_w2ejg1pcr", + "x": 0.5135, + "y": 0.4986666666666667 + } + ] + }, + "bbox_1767925791897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925791897_1767925919433_gs7jzj392", + "x": 0.3075, + "y": 0.36800000000000005, + "width": 0.21100000000000002, + "height": 0.31333333333333335 + } + ] + }, + "bbox_1767925792093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925792093_1767925929441_bzreo7m4m", + "x": 0.46749999999999997, + "y": 0.3333333333333333, + "width": 0.15700000000000003, + "height": 0.20533333333333345 + } + ] + } + } + }, + { + "time": 6.394896660309278, + "frame": 192, + "progress": 80, + "action_description": "当前爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方。", + "state_description": "当前爪夹合拢抓取纸杯，此时纸杯位于垃圾桶正上方，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹松开使纸杯落入垃圾桶。", + "progress_explanation": "此时纸杯位于垃圾桶正上方，因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取纸杯移动至垃圾桶正上方。", + "correction_plan": "爪夹松开使纸杯落入垃圾桶内。", + "annotations": { + "point_1767925793015": { + "type": "point", + "instances": [ + { + "id": "point_1767925793015_1767925876457_7bim5pgwo", + "x": 0.5155000000000001, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767925791897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925791897_1767925883239_l7m9hesju", + "x": 0.3105, + "y": 0.36800000000000005, + "width": 0.20800000000000005, + "height": 0.3186666666666667 + } + ] + }, + "bbox_1767925792093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925792093_1767925893017_eosiib9oh", + "x": 0.2935, + "y": 0.3853333333333333, + "width": 0.19700000000000006, + "height": 0.2600000000000001 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开使纸杯落入垃圾桶内。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功抓取纸杯将其放入垃圾桶。", + "frame": 222, + "progress": 100, + "progress_explanation": "此时纸杯位于垃圾桶内，因此当前进度提升至100%。", + "state_description": "当前爪夹张开，此时纸杯位于垃圾桶内。已完成抓取纸杯放入垃圾桶中的任务。", + "time": 7.400635453092783, + "annotations": { + "point_1767925792851": { + "type": "point", + "instances": [ + { + "id": "point_1767925792851_1767925834915_kuk9dr3x6", + "x": 0.3905, + "y": 0.5013333333333334 + } + ] + }, + "point_1767925793015": { + "type": "point", + "instances": [ + { + "id": "point_1767925793015_1767925836932_xdfsupuk6", + "x": 0.6255, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767925791897": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925791897_1767925844575_5eh2jjrkv", + "x": 0.41949999999999993, + "y": 0.2826666666666666, + "width": 0.12400000000000011, + "height": 0.1573333333333334 + } + ] + }, + "bbox_1767925792093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767925792093_1767925860024_rr1i505fe", + "x": 0.38550000000000006, + "y": 0.18266666666666667, + "width": 0.22699999999999987, + "height": 0.28800000000000003 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767925791897", + "name": "纸杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1767925792093", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767925792851", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767925793015", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-140634-put-yellow paper cup-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-140634-put-yellow paper cup-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..a209e1e7ed835a693b3536a3829114bf7b086db2 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-140634-put-yellow paper cup-white-trash can-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,692 @@ +{ + "task_description": "抓取纸杯放入垃圾桶中：\n爪夹准备移动：0%\n爪夹靠近纸杯：20%\n爪夹抓取纸杯：40%\n爪夹抓取纸杯接近垃圾桶：60%\n爪夹抓取纸杯移动至垃圾桶正上方：80%\n爪夹松开，纸杯落入垃圾桶内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "当前爪夹向爪夹方向右下方移动告知纸杯正上方，爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹向爪夹后方移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，松开爪夹使纸杯落入垃圾桶。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹向爪夹方向右下方移动至纸杯正上方。", + "time": 1.6542611407216492, + "annotations": { + "point_1767929035364": { + "type": "point", + "instances": [ + { + "id": "point_1767929035364_1767929426844_9yw1jumqw", + "x": 0.3895, + "y": 0.5053333333333333 + } + ] + }, + "point_1767929035516": { + "type": "point", + "instances": [ + { + "id": "point_1767929035516_1767929428786_n723je9ho", + "x": 0.6255, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767929034521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034521_1767929436538_omzcl4oi6", + "x": 0.7035, + "y": 0.648, + "width": 0.13699999999999993, + "height": 0.18133333333333326 + } + ] + } + } + }, + { + "time": 2.866700982989691, + "frame": 86, + "progress": 10, + "action_description": "当前爪夹向爪夹方向右下方移动至纸杯正上方。", + "state_description": "当前爪夹张开，此时爪夹位于纸杯正上方。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹垂直下降靠近纸杯。", + "progress_explanation": "此时爪夹位于纸杯正上方，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹向爪夹右下方移动成功移动至纸杯正上方。", + "correction_plan": "爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹向爪夹后方移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，松开爪夹使纸杯落入垃圾桶。", + "annotations": { + "point_1767929035364": { + "type": "point", + "instances": [ + { + "id": "point_1767929035364_1767929386368_7hzddqxpj", + "x": 0.3905, + "y": 0.5066666666666667 + } + ] + }, + "point_1767929035516": { + "type": "point", + "instances": [ + { + "id": "point_1767929035516_1767929388134_9uyni1u1y", + "x": 0.6255, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767929034380": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034380_1767929393172_x58nwvmet", + "x": 0.48550000000000004, + "y": 0.428, + "width": 0.13499999999999995, + "height": 0.17866666666666664 + } + ] + }, + "bbox_1767929034521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034521_1767929403550_fnj6hfj7f", + "x": 0.5755, + "y": 0.508, + "width": 0.2450000000000002, + "height": 0.34133333333333343 + } + ] + } + } + }, + { + "time": 3.6681442685567016, + "frame": 110, + "progress": 20, + "action_description": "当前爪夹垂直下降靠近纸杯。", + "state_description": "当前爪夹张开，此时爪夹靠近纸杯，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹合拢抓取纸杯。", + "progress_explanation": "此时爪夹靠近纸杯准备抓取纸杯，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功靠近纸杯并准备抓取纸杯。", + "correction_plan": "爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹向爪夹后方移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，松开爪夹使纸杯落入垃圾桶。", + "annotations": { + "point_1767929035364": { + "type": "point", + "instances": [ + { + "id": "point_1767929035364_1767929343206_622k80vp8", + "x": 0.3955, + "y": 0.5026666666666667 + } + ] + }, + "point_1767929035516": { + "type": "point", + "instances": [ + { + "id": "point_1767929035516_1767929345174_1s6z6uztb", + "x": 0.6174999999999999, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767929034380": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034380_1767929350916_rlq1xk7x0", + "x": 0.5215, + "y": 0.38, + "width": 0.20500000000000007, + "height": 0.2813333333333333 + } + ] + }, + "bbox_1767929034521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034521_1767929361177_9qhu8n848", + "x": 0.6475000000000001, + "y": 0.48666666666666664, + "width": 0.2579999999999999, + "height": 0.4186666666666668 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取纸杯。", + "correction_plan": "爪夹抓取纸杯竖直上升，爪夹向爪夹后方移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，松开爪夹使纸杯落入垃圾桶。", + "error_success_analysis": "当前爪夹成功合拢爪夹抓取纸杯。", + "frame": 141, + "progress": 40, + "progress_explanation": "当前爪夹抓取纸杯，因此当前进度提升至40%。", + "state_description": "当前爪夹合拢抓取纸杯，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹抓取纸杯竖直上升。", + "time": 4.695635660309278, + "annotations": { + "point_1767929035364": { + "type": "point", + "instances": [ + { + "id": "point_1767929035364_1767929315520_256r9rymu", + "x": 0.5015, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767929034380": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034380_1767929319698_jlagm685h", + "x": 0.49350000000000005, + "y": 0.372, + "width": 0.19699999999999998, + "height": 0.28533333333333327 + } + ] + }, + "bbox_1767929034521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034521_1767929328784_xn2hc5o4x", + "x": 0.5905, + "y": 0.49066666666666675, + "width": 0.3000000000000001, + "height": 0.4066666666666665 + } + ] + } + } + }, + { + "time": 5.64092774072165, + "frame": 169, + "progress": 50, + "action_description": "当前爪夹合拢抓取纸杯竖直上升。", + "state_description": "当前爪夹抓取纸杯，此时爪夹与垃圾桶水平距离略微接近。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹抓取纸杯向爪夹方向后方移动接近垃圾桶。", + "progress_explanation": "爪夹抓取纸杯竖直上升，此时爪夹与垃圾桶水平距离略微接近，因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹抓取纸杯成功竖直上升。", + "correction_plan": "爪夹向爪夹后方移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，松开爪夹使纸杯落入垃圾桶。", + "annotations": { + "point_1767929035364": { + "type": "point", + "instances": [ + { + "id": "point_1767929035364_1767929296938_xq2atgqiw", + "x": 0.4995, + "y": 0.49733333333333335 + } + ] + }, + "bbox_1767929034380": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034380_1767929301274_ugjorg03z", + "x": 0.49450000000000005, + "y": 0.37333333333333335, + "width": 0.196, + "height": 0.28 + } + ] + } + } + }, + { + "time": 6.688968960309278, + "frame": 201, + "progress": 60, + "action_description": "当前爪夹抓取纸杯向爪夹方向后方移动至接近垃圾桶。", + "state_description": "当前爪夹合拢抓取纸杯，此时爪夹水平距离接近垃圾桶。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹抓取纸杯向爪夹方向右后方移动至垃圾桶正上方。", + "progress_explanation": "此时爪夹水平距离接近垃圾桶，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹合拢抓取纸杯成功接近垃圾桶。", + "correction_plan": "爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，松开爪夹使纸杯落入垃圾桶。", + "annotations": { + "point_1767929035364": { + "type": "point", + "instances": [ + { + "id": "point_1767929035364_1767929279316_qiaznl39t", + "x": 0.5015, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767929034380": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034380_1767929284668_qh58j9kqr", + "x": 0.49350000000000005, + "y": 0.372, + "width": 0.19499999999999992, + "height": 0.2813333333333334 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取纸杯向爪夹方向左后方移动并松开爪夹使纸杯落入陶瓷杯中。", + "correction_plan": "爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，松开爪夹使纸杯落入垃圾桶。", + "error_success_analysis": "当前爪夹没能抓取纸杯移动至垃圾桶正上方导致纸杯落入陶瓷杯中。", + "frame": 265, + "progress": 10, + "progress_explanation": "当前爪夹松开使纸杯落入陶瓷杯中，当前爪夹位于纸杯，正上方因此进度跌落至10%。", + "state_description": "当前爪夹张开，此时纸杯位于陶瓷杯中。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹垂直下降靠近纸杯。", + "time": 8.82615105515464, + "annotations": { + "point_1767929035364": { + "type": "point", + "instances": [ + { + "id": "point_1767929035364_1767929250654_z969e5yb7", + "x": 0.3875, + "y": 0.5026666666666667 + } + ] + }, + "point_1767929035516": { + "type": "point", + "instances": [ + { + "id": "point_1767929035516_1767929252812_angmpoxya", + "x": 0.6275000000000001, + "y": 0.504 + } + ] + }, + "bbox_1767929034380": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034380_1767929258428_dhu1celif", + "x": 0.4605, + "y": 0.41733333333333333, + "width": 0.08999999999999994, + "height": 0.12666666666666668 + } + ] + }, + "bbox_1767929034521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034521_1767929268581_h9w7q77jg", + "x": 0.5635, + "y": 0.36000000000000004, + "width": 0.18600000000000003, + "height": 0.22533333333333327 + } + ] + } + } + }, + { + "time": 11.394879534536082, + "frame": 342, + "progress": 18, + "action_description": "当前爪夹张开垂直下降尝试靠近纸杯。", + "state_description": "当前爪夹张开，此时爪夹位于纸杯正上方，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹略微合拢并垂直下降靠近纸杯。", + "progress_explanation": "当前爪夹垂直下降比上一阶段更加靠近纸杯，因此当前进度提升至18%。", + "error_success_analysis": "因为陶瓷杯的直径与爪夹的直径想接近所以需要爪夹调整后再次靠近纸杯。", + "correction_plan": "爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，松开爪夹使纸杯落入垃圾桶。", + "annotations": { + "point_1767929035364": { + "type": "point", + "instances": [ + { + "id": "point_1767929035364_1767929220584_zvff2pa0k", + "x": 0.3915, + "y": 0.5013333333333334 + } + ] + }, + "point_1767929035516": { + "type": "point", + "instances": [ + { + "id": "point_1767929035516_1767929222294_w25ke651f", + "x": 0.6225, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767929034380": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034380_1767929226738_ps63v6fod", + "x": 0.38049999999999995, + "y": 0.3346666666666667, + "width": 0.18200000000000002, + "height": 0.2506666666666666 + } + ] + }, + "bbox_1767929034521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034521_1767929236448_ah35mghgu", + "x": 0.5595, + "y": 0.18400000000000002, + "width": 0.3350000000000001, + "height": 0.44266666666666665 + } + ] + } + } + }, + { + "time": 13.717010079896905, + "frame": 412, + "progress": 20, + "action_description": "当前爪夹略微合拢后垂直下降靠近纸杯。", + "state_description": "当前爪夹略微合拢，此时爪夹位垂直于桌面，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹合拢抓取纸杯。", + "progress_explanation": "当前爪夹合拢垂直下降比上一阶段更加接近纸杯，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹调试后成功靠近纸杯。", + "correction_plan": "爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，松开爪夹使纸杯落入垃圾桶。", + "annotations": { + "point_1767929035364": { + "type": "point", + "instances": [ + { + "id": "point_1767929035364_1767929183516_kog6nt6i2", + "x": 0.43550000000000005, + "y": 0.5 + } + ] + }, + "point_1767929035516": { + "type": "point", + "instances": [ + { + "id": "point_1767929035516_1767929185528_kj0fetdw0", + "x": 0.5725, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767929034380": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034380_1767929191470_i2dkdjnxq", + "x": 0.4495, + "y": 0.3346666666666667, + "width": 0.19400000000000003, + "height": 0.268 + } + ] + }, + "bbox_1767929034521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034521_1767929205892_poq714ilz", + "x": 0.6265000000000001, + "y": 0.18533333333333335, + "width": 0.32799999999999996, + "height": 0.4733333333333334 + } + ] + } + } + }, + { + "time": 14.292405259278352, + "frame": 429, + "progress": 40, + "action_description": "当前爪夹合拢抓取纸杯。", + "state_description": "当前爪夹合拢抓取纸杯准备上升，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹抓取纸杯竖直上升。", + "progress_explanation": "当前爪夹抓取纸杯准备上升，因此当前进度提升至40%。", + "error_success_analysis": "此时爪夹成功合拢并抓取纸杯准备竖直上升。", + "correction_plan": "爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，松开爪夹使纸杯落入垃圾桶。", + "annotations": { + "point_1767929035364": { + "type": "point", + "instances": [ + { + "id": "point_1767929035364_1767929149088_z0fhma5ay", + "x": 0.49850000000000005, + "y": 0.49600000000000005 + } + ] + }, + "point_1767929035516": { + "type": "point", + "instances": [ + { + "id": "point_1767929035516_1767929151534_l536l34q3", + "x": 0.5175, + "y": 0.49333333333333335 + } + ] + }, + "bbox_1767929034380": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034380_1767929157130_3btz227vd", + "x": 0.5005, + "y": 0.32933333333333337, + "width": 0.18500000000000005, + "height": 0.27466666666666667 + } + ] + }, + "bbox_1767929034521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034521_1767929170822_vl24jpprd", + "x": 0.6385, + "y": 0.19466666666666665, + "width": 0.32200000000000006, + "height": 0.4693333333333334 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取纸杯竖直上升。", + "correction_plan": "爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，松开爪夹使纸杯落入垃圾桶。", + "error_success_analysis": "当前爪夹成功抓取纸杯脱离陶瓷杯。", + "frame": 484, + "progress": 58, + "progress_explanation": "此时纸杯水平距离接近垃圾桶，因此当前进度提升至58%。", + "state_description": "当前爪夹抓取纸杯，此时纸杯水平距离接近垃圾桶。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方。", + "time": 16.141889764432992, + "annotations": { + "point_1767929035364": { + "type": "point", + "instances": [ + { + "id": "point_1767929035364_1767929118108_zpzqyccau", + "x": 0.4995, + "y": 0.49333333333333335 + } + ] + }, + "point_1767929035516": { + "type": "point", + "instances": [ + { + "id": "point_1767929035516_1767929120662_gw8zqv072", + "x": 0.5165, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767929034380": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034380_1767929126474_zq4q9o5vf", + "x": 0.5085, + "y": 0.3466666666666667, + "width": 0.179, + "height": 0.27199999999999996 + } + ] + }, + "bbox_1767929034521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034521_1767929133156_1bgi301lx", + "x": 0.6135, + "y": 0.3466666666666666, + "width": 0.213, + "height": 0.30266666666666675 + } + ] + } + } + }, + { + "action_description": "爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方。", + "correction_plan": "松开爪夹使纸杯落入垃圾桶。", + "error_success_analysis": "当前爪夹成功抓取纸杯移动至垃圾桶正上方。", + "frame": 514, + "progress": 80, + "progress_explanation": "当前纸杯位于垃圾桶正上方，因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取纸杯，此时纸杯位于垃圾桶正上方。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹松开使纸杯落入垃圾桶。", + "time": 17.128281500515463, + "annotations": { + "point_1767929035364": { + "type": "point", + "instances": [ + { + "id": "point_1767929035364_1767929082170_yxel9aqky", + "x": 0.49750000000000005, + "y": 0.49600000000000005 + } + ] + }, + "point_1767929035516": { + "type": "point", + "instances": [ + { + "id": "point_1767929035516_1767929087390_v0ww4vy3f", + "x": 0.5175, + "y": 0.4986666666666667 + } + ] + }, + "bbox_1767929034380": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034380_1767929094020_tahxdpj7j", + "x": 0.5055, + "y": 0.344, + "width": 0.18200000000000002, + "height": 0.28 + } + ] + }, + "bbox_1767929034521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034521_1767929103228_rumhq1s1a", + "x": 0.4125000000000001, + "y": 0.30933333333333335, + "width": 0.23199999999999998, + "height": 0.30533333333333335 + } + ] + } + } + }, + { + "action_description": "当前爪夹松开使纸杯落入垃圾桶。", + "correction_plan": "", + "error_success_analysis": "当前爪夹成功抓取纸杯放入垃圾桶内。", + "frame": 553, + "progress": 100, + "progress_explanation": "此时纸杯位于垃圾桶内，因此当前进度提升至100%。", + "state_description": "当前爪夹张开，此时纸杯位于垃圾桶内。已完成抓取纸杯放入垃圾桶中的任务。", + "time": 18.422920654123715, + "annotations": { + "point_1767929035364": { + "type": "point", + "instances": [ + { + "id": "point_1767929035364_1767929049124_vbtoxe7du", + "x": 0.3925, + "y": 0.5013333333333334 + } + ] + }, + "point_1767929035516": { + "type": "point", + "instances": [ + { + "id": "point_1767929035516_1767929051016_s1pc38r1n", + "x": 0.6245, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767929034380": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034380_1767929056505_24mvfrb8j", + "x": 0.5425000000000001, + "y": 0.356, + "width": 0.08199999999999993, + "height": 0.1066666666666667 + } + ] + }, + "bbox_1767929034521": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767929034521_1767929068258_nz8zpp8zb", + "x": 0.5155000000000001, + "y": 0.28666666666666674, + "width": 0.19499999999999984, + "height": 0.25333333333333324 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767929034380", + "name": "纸杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1767929034521", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767929035364", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767929035516", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-141806-put-yellow paper cup-white-trash can-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-141806-put-yellow paper cup-white-trash can-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..38321aef2377084e57347ad700e39a71b031bd55 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-141806-put-yellow paper cup-white-trash can-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,974 @@ +{ + "task_description": "抓取纸杯放入垃圾桶中：\n爪夹准备移动：0%\n爪夹靠近纸杯：20%\n爪夹抓取纸杯：40%\n爪夹抓取纸杯接近垃圾桶：60%\n爪夹抓取纸杯移动至垃圾桶正上方：80%\n爪夹松开，纸杯落入垃圾桶内：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右下方移动并调整爪夹于桌面水平角度，使爪夹与桌面水平角度呈30度角，爪夹右前方移动直至纸杯正上方，爪夹垂直下降，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹向爪夹方向右下方移动并调整爪夹于桌面水平角度，使爪夹与桌面水平角度呈30度角。", + "time": 1.5394329896907217, + "annotations": { + "point_1767941188894": { + "type": "point", + "instances": [ + { + "id": "point_1767941188894_1767941924452_4693aeey6", + "x": 0.3905, + "y": 0.5 + } + ] + }, + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941926499_4phy6ixge", + "x": 0.6255, + "y": 0.504 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941932333_jqqpne6ck", + "x": 0.6105, + "y": 0.56, + "width": 0.05099999999999989, + "height": 0.09466666666666666 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941940990_mye5686px", + "x": 0.7225, + "y": 0.46266666666666667, + "width": 0.11599999999999992, + "height": 0.17466666666666666 + } + ] + } + } + }, + { + "time": 2.5097422680412373, + "frame": 75, + "progress": 5, + "action_description": "爪夹向爪夹方向右下方移动并调整爪夹于桌面水平角度，使爪夹与桌面水平角度呈30度角。", + "state_description": "当前爪夹张开，此时爪夹与桌面水平角度呈30度角。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹向爪夹方向右前方移动至纸杯正上方。", + "progress_explanation": "爪夹向爪夹方向右下方移动，此时爪夹比上一阶段略微靠近纸杯因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功调整抓夹与桌面之间的水平距离使爪夹方便抓取纸杯。", + "correction_plan": "爪夹右前方移动直至纸杯正上方，爪夹垂直下降，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶。", + "annotations": { + "point_1767941188894": { + "type": "point", + "instances": [ + { + "id": "point_1767941188894_1767941886534_lbt49q8ji", + "x": 0.3895, + "y": 0.5013333333333334 + } + ] + }, + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941888364_h683u93l9", + "x": 0.6195, + "y": 0.512 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941895047_glgnulngz", + "x": 0.6275000000000001, + "y": 0.05733333333333334, + "width": 0.1789999999999999, + "height": 0.21733333333333332 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941908039_5go541pay", + "x": 0.4575, + "y": 0.12400000000000001, + "width": 0.08399999999999999, + "height": 0.10266666666666666 + } + ] + } + } + }, + { + "time": 3.1255154639175258, + "frame": 94, + "progress": -5, + "action_description": "当前爪夹张开向爪夹方向右下方移动靠近棕色木盒。", + "state_description": "当前爪夹张开，此时爪夹靠近棕色木盒。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹竖直上升。", + "progress_explanation": "此时爪夹下降靠近棕色木盒，因此当前进度跌落至-5%。", + "error_success_analysis": "当前爪夹还未移动至纸杯正上方就下降导致爪夹下降靠近棕色木盒。", + "correction_plan": "爪夹竖直上升，爪夹右前方移动直至纸杯正上方，爪夹垂直下降，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶。", + "annotations": { + "point_1767941188894": { + "type": "point", + "instances": [ + { + "id": "point_1767941188894_1767941826605_xfbnzwqw3", + "x": 0.3885, + "y": 0.5013333333333334 + } + ] + }, + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941828560_s9mnop76k", + "x": 0.6255, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941840930_41iecaii4", + "x": 0.20049999999999998, + "y": 0.18400000000000002, + "width": 0.136, + "height": 0.15866666666666668 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941865263_8kyj72ga5", + "x": 0.4545, + "y": 0.0026666666666666666, + "width": 0.277, + "height": 0.22000000000000003 + } + ] + } + } + }, + { + "time": 4.170463917525773, + "frame": 125, + "progress": -10, + "action_description": "当前爪夹合拢抓取棕色木盒。", + "state_description": "当前爪夹合拢抓取棕色木盒，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹松开竖直上升。", + "progress_explanation": "当前爪夹靠近棕色木盒并抓取棕色木盒，因此当前进度跌落至-10%。", + "error_success_analysis": "当前爪夹未能远离木盒就合拢爪夹导致爪夹抓取棕色木盒。", + "correction_plan": "爪夹松开竖直上升，爪夹右前方移动直至纸杯正上方，爪夹垂直下降，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶。", + "annotations": { + "point_1767941188894": { + "type": "point", + "instances": [ + { + "id": "point_1767941188894_1767941785807_yp74fbgcj", + "x": 0.48950000000000005, + "y": 0.49733333333333335 + } + ] + }, + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941787768_kd4pr5blj", + "x": 0.5245, + "y": 0.49733333333333335 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941794942_ezb0q8niv", + "x": 0.21749999999999997, + "y": 0.006666666666666667, + "width": 0.17500000000000004, + "height": 0.19866666666666666 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941810873_u1ikbi9kt", + "x": 0.5824999999999999, + "y": 0.004, + "width": 0.3280000000000001, + "height": 0.18533333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹抓取棕色木盒竖直上升。", + "correction_plan": "爪夹松开放下棕色木盒，爪夹左前方移动直至纸杯正上方，爪夹垂直下降，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶。", + "error_success_analysis": "当前爪夹抓取棕色木盒比上阶段多出一步。", + "frame": 150, + "progress": -8, + "progress_explanation": "当前爪夹抓取棕色木盒竖直上升。因此当前进度跌落至-8%。", + "state_description": "当前爪夹合拢抓取棕色木盒，此时爪夹与纸杯水平距离略微接近，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹松开放下棕色木盒。", + "time": 4.991494845360825, + "annotations": { + "point_1767941188894": { + "type": "point", + "instances": [ + { + "id": "point_1767941188894_1767941763147_t6bvc059o", + "x": 0.49050000000000005, + "y": 0.4986666666666667 + } + ] + }, + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941765318_3nc6cra6l", + "x": 0.5255, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941770967_7g40a6m9y", + "x": 0.2415, + "y": 0.014666666666666666, + "width": 0.158, + "height": 0.17866666666666664 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941779247_y252uy3l0", + "x": 0.5705, + "y": 0.0013333333333333333, + "width": 0.30999999999999994, + "height": 0.188 + } + ] + } + } + }, + { + "action_description": "当前爪夹抓取棕色木盒向爪夹方向移动至黄色木盒正上方。", + "correction_plan": "松开抓夹使棕色木盒落入黄色木盒中，爪夹右边移动直至纸杯正上方，爪夹垂直下降，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶。", + "error_success_analysis": "当前爪夹抓取错误目标来到黄色木盒正上方，爪夹需松开棕色木盒才能去抓取纸杯。", + "frame": 182, + "progress": -9, + "progress_explanation": "当前爪夹抓取棕色木盒移动至黄色木盒正上方比上一阶段多处一步因此当前进度为-9%。", + "state_description": "当前爪夹合拢抓取棕色木盒，此时爪夹位于黄色木盒正上方，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹松开使棕色木盒落入黄色木盒中。", + "time": 6.055103092783505, + "annotations": { + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941729095_pxv1q0716", + "x": 0.5235000000000001, + "y": 0.4933333333333333 + } + ] + }, + "point_1767941188894": { + "type": "point", + "instances": [ + { + "id": "point_1767941188894_1767941733283_69foubvzi", + "x": 0.4885, + "y": 0.49733333333333335 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941746385_wss9oojy5", + "x": 0.7825, + "y": 0.5800000000000001, + "width": 0.12000000000000002, + "height": 0.17066666666666658 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941756767_17ys8627x", + "x": 0.6795, + "y": 0.5346666666666666, + "width": 0.06299999999999999, + "height": 0.10266666666666673 + } + ] + } + } + }, + { + "time": 7.45458762886598, + "frame": 224, + "progress": 5, + "action_description": "当前爪夹松开。", + "state_description": "当前爪夹松开，此时爪夹位于黄色木盒正上方。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹向爪夹方向右前方移动至纸杯正上方。", + "progress_explanation": "当前爪夹松开棕色木盒，此时爪夹位于黄色木盒正上方，因此当前进度提升至5%。", + "error_success_analysis": "当前爪夹成功松开棕色木盒准备移动。", + "correction_plan": "爪夹右边移动直至纸杯正上方，爪夹垂直下降，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶。", + "annotations": { + "point_1767941188894": { + "type": "point", + "instances": [ + { + "id": "point_1767941188894_1767941697091_q1a8knp4n", + "x": 0.40049999999999997, + "y": 0.504 + } + ] + }, + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941698946_3bycmginv", + "x": 0.6134999999999999, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941704624_vr71wje7x", + "x": 0.7705, + "y": 0.49599999999999994, + "width": 0.12300000000000004, + "height": 0.16133333333333333 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941716138_09fzzye12", + "x": 0.6555, + "y": 0.4346666666666667, + "width": 0.08500000000000005, + "height": 0.10133333333333336 + } + ] + } + } + }, + { + "time": 8.63015463917526, + "frame": 259, + "progress": 8, + "action_description": "当前爪夹向爪夹方向右后方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹调整爪夹高度，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹向爪夹方向右前方移动至纸杯正上方。", + "progress_explanation": "当前爪夹向爪夹方向右后方移动并下降。因此当前进度提升至8%。", + "error_success_analysis": "当前爪夹向爪夹方向右后方移动成功调整爪夹高度。", + "correction_plan": "爪夹右边移动直至纸杯正上方，爪夹垂直下降，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶。", + "annotations": { + "point_1767941188894": { + "type": "point", + "instances": [ + { + "id": "point_1767941188894_1767941667107_en9ey5ymj", + "x": 0.3905, + "y": 0.5066666666666667 + } + ] + }, + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941668820_ytpkso04t", + "x": 0.6265000000000001, + "y": 0.5 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941674125_x037jzjqp", + "x": 0.6465000000000001, + "y": 0.12666666666666665, + "width": 0.162, + "height": 0.19466666666666668 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941686226_rlwpzt69d", + "x": 0.5015000000000001, + "y": 0.17200000000000001, + "width": 0.07999999999999999, + "height": 0.11999999999999998 + } + ] + } + } + }, + { + "time": 9.619123711340206, + "frame": 289, + "progress": 10, + "action_description": "当前爪夹向爪夹方向右前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹水平距离接近纸杯，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹向爪夹方向前下方移动靠近纸杯。", + "progress_explanation": "当前爪夹水平距离接近纸杯，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹向爪夹方向右前方移动并下降使爪夹更进一步靠近纸杯。", + "correction_plan": "爪夹向爪夹方向前下方移动靠近纸杯，爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶。", + "annotations": { + "point_1767941188894": { + "type": "point", + "instances": [ + { + "id": "point_1767941188894_1767941635953_j7qomc425", + "x": 0.3895, + "y": 0.5013333333333334 + } + ] + }, + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941637949_o9t9si436", + "x": 0.6275000000000001, + "y": 0.5 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941642626_tzju75lvc", + "x": 0.3765, + "y": 0.36000000000000004, + "width": 0.119, + "height": 0.14400000000000002 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941655942_kdwbjhtq5", + "x": 0.5894999999999999, + "y": 0.14666666666666667, + "width": 0.21799999999999997, + "height": 0.2866666666666667 + } + ] + } + } + }, + { + "time": 10.496134020618559, + "frame": 315, + "progress": 20, + "action_description": "爪夹向爪夹方向前下方移动靠近纸杯。", + "state_description": "当前爪夹张开，此时爪夹靠近纸杯。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹合拢抓取纸杯。", + "progress_explanation": "当前爪夹张开，此时爪夹靠近纸杯。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹向爪夹方向前下方移动成功靠近纸杯。", + "correction_plan": "爪夹合拢抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶。", + "annotations": { + "point_1767941188894": { + "type": "point", + "instances": [ + { + "id": "point_1767941188894_1767941601918_1z176r3kd", + "x": 0.3945, + "y": 0.504 + } + ] + }, + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941604307_gbfj0b0dv", + "x": 0.6225, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941610798_c8zkfu4gb", + "x": 0.3275, + "y": 0.35733333333333334, + "width": 0.202, + "height": 0.2666666666666666 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941625116_pnhezz1h3", + "x": 0.6735, + "y": 0.0026666666666666666, + "width": 0.32399999999999995, + "height": 0.3853333333333333 + } + ] + } + } + }, + { + "time": 12.082216494845362, + "frame": 362, + "progress": 40, + "action_description": "当前爪夹合拢抓取纸杯。", + "state_description": "当前爪夹合拢抓取纸杯准备上升。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹抓取纸杯竖直上升。", + "progress_explanation": "当前爪夹合拢抓取纸杯准备上升，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功抓取纸杯准备上升。", + "correction_plan": "爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右边移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶。", + "annotations": { + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941535970_43lkykaig", + "x": 0.5145000000000001, + "y": 0.49466666666666664 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941541597_0lt19sn1c", + "x": 0.32649999999999996, + "y": 0.396, + "width": 0.19000000000000003, + "height": 0.288 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941566962_swul7ev76", + "x": 0.7115, + "y": 0.0026666666666666666, + "width": 0.2859999999999999, + "height": 0.37466666666666665 + } + ] + } + } + }, + { + "time": 12.69798969072165, + "frame": 381, + "progress": 50, + "action_description": "当前爪夹抓取纸杯竖直上升。", + "state_description": "当前爪夹抓取纸杯，此时爪夹与垃圾桶水平距离较远。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹抓取纸杯向爪夹方向右前方移动直至接近垃圾桶。", + "progress_explanation": "当前爪夹抓取纸杯竖直上升。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹抓取纸杯成功竖直上升并且准备向垃圾桶移动。", + "correction_plan": "爪夹抓取纸杯向爪夹方向右边移动接近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶。", + "annotations": { + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941509770_gl7nolmpy", + "x": 0.5155000000000001, + "y": 0.49733333333333335 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941513210_yajgsrhm4", + "x": 0.3275, + "y": 0.3986666666666666, + "width": 0.19399999999999995, + "height": 0.28400000000000003 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941529543_vv2vzy0sz", + "x": 0.5775, + "y": 0.4066666666666667, + "width": 0.175, + "height": 0.22400000000000003 + } + ] + } + } + }, + { + "time": 13.29510309278351, + "frame": 399, + "progress": 60, + "action_description": "当前爪夹抓取纸杯向爪夹方向右前方移动至接近垃圾桶。", + "state_description": "当前爪夹合拢抓取纸杯，此时纸杯水平距离接近垃圾桶。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹向爪夹方向右前方移动至垃圾桶正上方。", + "progress_explanation": "此时纸杯水平距离接近垃圾桶，因此当前进度提升至60%。", + "error_success_analysis": "爪夹合拢抓取纸杯成功接近垃圾桶。", + "correction_plan": "爪夹抓取纸杯向爪夹方向右边移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶。", + "annotations": { + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941480088_b6g4zki2y", + "x": 0.5125, + "y": 0.49600000000000005 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941485375_9l93ntlux", + "x": 0.32649999999999996, + "y": 0.4013333333333334, + "width": 0.195, + "height": 0.28 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941497243_o4o6hk2xc", + "x": 0.27449999999999997, + "y": 0.412, + "width": 0.22400000000000006, + "height": 0.32400000000000007 + } + ] + } + } + }, + { + "time": 13.70561855670103, + "frame": 411, + "progress": 85, + "action_description": "当前爪夹抓取纸杯向爪夹方向左下方移动撞击垃圾桶。", + "state_description": "当前爪夹合拢抓取纸杯，此时爪夹抓取纸杯撞击垃圾桶。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹抓取纸杯向爪夹方向右边移动将垃圾桶扶正。", + "progress_explanation": "此时爪夹抓取纸杯位于垃圾桶内，因此当前进度提升至85%。", + "error_success_analysis": "当前爪夹抓取纸杯向爪夹方向前下方移动至垃圾桶内时向爪夹方向左边移动导致纸杯撞击垃圾桶，使垃圾桶倾斜。", + "correction_plan": "爪夹抓取纸杯向爪夹方向右边移动将垃圾桶扶正，爪夹松开使纸杯落入垃圾桶。", + "annotations": { + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941447780_s2j2zq6oc", + "x": 0.5135, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941452522_5ozn5la5w", + "x": 0.3265, + "y": 0.3986666666666666, + "width": 0.19199999999999995, + "height": 0.28 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941459394_y0we3e67s", + "x": 0.23349999999999999, + "y": 0.15600000000000003, + "width": 0.404, + "height": 0.5413333333333334 + } + ] + } + } + }, + { + "time": 14.06015463917526, + "frame": 422, + "progress": -20, + "action_description": "当前爪夹抓取纸杯向爪夹方向左上方移动。", + "state_description": "当前爪夹抓取纸杯，此时垃圾桶杯爪夹完全击倒，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹松开将纸杯放下。", + "progress_explanation": "此时垃圾桶杯爪夹击倒，因此当前进度跌落至-20%。", + "error_success_analysis": "当前爪夹需将垃圾桶扶起才能继续完成抓取纸杯放入垃圾桶中的任务。", + "correction_plan": "爪夹抓取纸杯向爪夹方向左下方移动靠近垃圾桶，爪夹抓取纸杯向爪夹方向右边移动进入垃圾桶，爪夹抓取纸杯向爪夹方向右上方移动扶起垃圾桶，爪夹松开使纸杯落入垃圾桶。", + "annotations": { + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941422072_93f3w9ift", + "x": 0.5145000000000001, + "y": 0.49466666666666664 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941426494_wl5861uwd", + "x": 0.3265, + "y": 0.39733333333333337, + "width": 0.19899999999999998, + "height": 0.28933333333333333 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941440892_hgo8pyg1s", + "x": 0.5825, + "y": 0.44133333333333336, + "width": 0.21900000000000003, + "height": 0.26133333333333336 + } + ] + } + } + }, + { + "time": 14.601288659793816, + "frame": 438, + "progress": -25, + "action_description": "当前爪夹松开，纸杯掉落至桌面。", + "state_description": "当前爪夹松开，此时纸杯位于桌面。为完成抓取纸杯放入垃圾桶中的任务应当：爪夹向爪夹方向右下方移动靠近垃圾桶。", + "progress_explanation": "当前爪夹松开，纸杯掉落至桌面。因此当前进度跌落至-25%。", + "error_success_analysis": "当前爪夹松开爪夹使纸杯落在桌面，当前阶段比上一阶段又多出一步。", + "correction_plan": "爪夹向爪夹方向右下方移动至垃圾桶左上方，爪夹下降并调整爪夹角度使爪夹移动至垃圾桶边沿两侧，爪夹合拢抓取垃圾桶，爪夹抓取垃圾桶向爪夹方向右上方移动扶起垃圾桶，爪夹松开竖直上升，爪夹向爪夹方向左前方移动至纸杯正上方，爪夹垂直下降抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右后方移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶内。", + "annotations": { + "point_1767941188894": { + "type": "point", + "instances": [ + { + "id": "point_1767941188894_1767941315794_4z3fv146j", + "x": 0.42350000000000004, + "y": 0.5146666666666666 + } + ] + }, + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941317845_9ebgp9nmu", + "x": 0.5925, + "y": 0.49733333333333335 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941323450_3j70snq50", + "x": 0.3635, + "y": 0.20666666666666667, + "width": 0.12800000000000003, + "height": 0.13866666666666663 + } + ] + } + } + }, + { + "time": 15.198402061855672, + "frame": 456, + "progress": -20, + "action_description": "当前爪夹向爪夹方向左下方移动靠近垃圾桶。", + "state_description": "当前爪夹张开，此时爪夹靠近垃圾桶，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹下降并调整爪夹角度使爪夹移动至垃圾桶边沿两侧。", + "progress_explanation": "当前爪夹靠近垃圾桶，因此当前进度提升至-20%。", + "error_success_analysis": "当前爪夹靠近垃圾桶准备扶起垃圾桶。", + "correction_plan": "爪夹下降并调整爪夹角度使爪夹移动至垃圾桶边沿两侧，爪夹合拢抓取垃圾桶，爪夹抓取垃圾桶向爪夹方向右上方移动扶起垃圾桶，爪夹松开竖直上升，爪夹向爪夹方向左前方移动至纸杯正上方，爪夹垂直下降抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右后方移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶内。", + "annotations": { + "point_1767941188894": { + "type": "point", + "instances": [ + { + "id": "point_1767941188894_1767941288638_plkjt9rg8", + "x": 0.3925, + "y": 0.5053333333333333 + } + ] + }, + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941290814_dn8bphsmg", + "x": 0.6225, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941296600_rjssrb102", + "x": 0.5095, + "y": 0.24133333333333334, + "width": 0.3420000000000001, + "height": 0.4613333333333334 + } + ] + }, + "bbox_1767941188195": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188195_1767941302634_qopr4njkz", + "x": 0.12150000000000001, + "y": 0.20933333333333334, + "width": 0.06799999999999999, + "height": 0.12800000000000003 + } + ] + } + } + }, + { + "time": 16.57922680412371, + "frame": 497, + "progress": -27, + "action_description": "当前爪夹向爪夹方向右上方移动并略微合拢爪夹。", + "state_description": "当前爪夹略微合拢，此时爪夹位于垃圾桶后上方，为完成抓取纸杯放入垃圾桶中的任务应当：", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "当前爪夹向爪夹方向前下方移动并张开爪夹，爪夹调整爪夹角度使爪夹移动至垃圾桶边沿两侧，爪夹合拢抓取垃圾桶，爪夹抓取垃圾桶向爪夹方向右上方移动扶起垃圾桶，爪夹松开竖直上升，爪夹向爪夹方向左前方移动至纸杯正上方，爪夹垂直下降抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右后方移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶内。", + "annotations": { + "point_1767941188894": { + "type": "point", + "instances": [ + { + "id": "point_1767941188894_1767941270322_n6rm17ccy", + "x": 0.47250000000000003, + "y": 0.5013333333333334 + } + ] + }, + "point_1767941189056": { + "type": "point", + "instances": [ + { + "id": "point_1767941189056_1767941272329_jyb5t6jur", + "x": 0.5405, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767941188042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767941188042_1767941277185_lm88aoux6", + "x": 0.3805, + "y": 0.36133333333333334, + "width": 0.227, + "height": 0.25200000000000006 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向左后方移动并张开爪夹。", + "correction_plan": "当前爪夹向爪夹方向前下方移动至垃圾桶左上方，爪夹调整爪夹角度使爪夹移动至垃圾桶边沿两侧，爪夹合拢抓取垃圾桶，爪夹抓取垃圾桶向爪夹方向右上方移动扶起垃圾桶，爪夹松开竖直上升，爪夹向爪夹方向左前方移动至纸杯正上方，爪夹垂直下降抓取纸杯，爪夹抓取纸杯竖直上升，爪夹抓取纸杯向爪夹方向右后方移动至垃圾桶正上方，爪夹松开使纸杯落入垃圾桶内。", + "error_success_analysis": "当前爪夹张开调整爪夹位置为扶起垃圾桶做准备。", + "frame": 524, + "progress": -26, + "progress_explanation": "当前爪夹张开，此时爪夹与垃圾桶水平距离略微接近，因此当前进度提升至-26%。", + "state_description": "当前爪夹张开，此时爪夹与垃圾桶水平距离略微接近，为完成抓取纸杯放入垃圾桶中的任务应当：爪夹向爪夹方向前下方移动至垃圾桶左上方。", + "time": 17.474896907216497 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767941188042", + "name": "垃圾桶", + "color": "#4CAF50" + }, + { + "id": "bbox_1767941188195", + "name": "纸杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767941188894", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767941189056", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-142355-put-scissors-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-142355-put-scissors-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..6361f8bd3f7f84622d26f7261f4cea3eb2ba2391 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-142355-put-scissors-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,364 @@ +{ + "task_description": "抓取剪刀放进白色小桶里：\n准备开始移动：0%\n爪夹靠近剪刀：20%\n爪夹抓取剪刀：40%\n爪夹夹紧剪刀靠近白色小桶：60%\n爪夹将剪刀放进白色小桶：80%\n爪夹松开剪刀落入白色小桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767682814889": { + "instances": [ + { + "height": 0.15466666666666662, + "id": "bbox_1767682814889_1767682841673_drlc8j807", + "width": 0.071, + "x": 0.5275000000000001, + "y": 0.468 + } + ], + "type": "bbox" + }, + "bbox_1767682819634": { + "instances": [ + { + "height": 0.24000000000000007, + "id": "bbox_1767682819634_1767682844617_ygpibvb1a", + "width": 0.14499999999999996, + "x": 0.3265, + "y": 0.23466666666666666 + } + ], + "type": "bbox" + }, + "point_1767682832403": { + "instances": [ + { + "id": "point_1767682832403_1767682853086_muzc0n7cc", + "x": 0.2105, + "y": 0.22266666666666665 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹左前方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "爪夹张开，远离剪刀，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离剪刀，未开始移动。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 1.535824742268041 + }, + { + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度", + "annotations": { + "bbox_1767682814889": { + "instances": [ + { + "height": 0.15066666666666664, + "id": "bbox_1767682814889_1767682860099_gs818hnuo", + "width": 0.07000000000000002, + "x": 0.5295, + "y": 0.47200000000000003 + } + ], + "type": "bbox" + }, + "bbox_1767682819634": { + "instances": [ + { + "height": 0.2346666666666667, + "id": "bbox_1767682819634_1767682867521_6mcee2iao", + "width": 0.14400000000000007, + "x": 0.3235, + "y": 0.23600000000000002 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹左前方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹正前方移动缩短了于剪刀之间的距离。方便抓取剪刀。", + "frame": 70, + "progress": 10, + "progress_explanation": "爪夹角度接近于桌面平行，水平上接近了剪刀。方便抓取剪刀，因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近于桌面平行。水平上接近了剪刀。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 2.3331 + }, + { + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "annotations": { + "bbox_1767682814889": { + "instances": [ + { + "height": 0.156, + "id": "bbox_1767682814889_1767682881970_28s1jmwkr", + "width": 0.07000000000000002, + "x": 0.5265, + "y": 0.4666666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767682819634": { + "instances": [ + { + "height": 0.24399999999999997, + "id": "bbox_1767682819634_1767682885263_pq441lxta", + "width": 0.14400000000000004, + "x": 0.3255, + "y": 0.232 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹左前方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到了剪刀正上方，调整爪夹角度接近垂直于桌面。方便抓取剪刀。", + "frame": 93, + "progress": 15, + "progress_explanation": "爪夹角度接近垂直于桌面，来到了剪刀正上方。方便抓取剪刀。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，位于剪刀正上方。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。", + "time": 3.1007 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1767682814889": { + "instances": [ + { + "height": 0.14266666666666677, + "id": "bbox_1767682814889_1767682897902_o4cv47sl5", + "width": 0.06799999999999998, + "x": 0.5315000000000001, + "y": 0.48133333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767682819634": { + "instances": [ + { + "height": 0.22400000000000003, + "id": "bbox_1767682819634_1767682904665_j0m2n07b6", + "width": 0.14100000000000001, + "x": 0.3255, + "y": 0.23866666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取剪刀，抓紧剪刀向爪夹左前方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹垂直下降靠近了剪刀，方便抓取剪刀。", + "frame": 124, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近剪刀两侧。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近剪刀两侧。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹合拢抓取剪刀，抓紧剪刀向爪夹左前方的白色小桶移动并垂直升高。", + "time": 4.130899 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767682814889": { + "instances": [ + { + "height": 0.14000000000000004, + "id": "bbox_1767682814889_1767682915745_pmdjl17e9", + "width": 0.03399999999999999, + "x": 0.5035000000000001, + "y": 0.48666666666666664 + } + ], + "type": "bbox" + }, + "bbox_1767682819634": { + "instances": [ + { + "height": 0.2346666666666667, + "id": "bbox_1767682819634_1767682921677_2b56k5ppx", + "width": 0.13699999999999996, + "x": 0.3265, + "y": 0.23866666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧剪刀向爪夹左前方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹合拢，成功抓取到了剪刀。方便将剪刀放进白色小桶。", + "frame": 159, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面。抓取到了剪刀。方便将剪刀靠近白色小桶。因此进度提升为40%。", + "state_description": "爪夹合拢，角度接近垂直于桌面。抓取到了剪刀。\n为完成抓取剪刀放进白色小桶里的任务应当：抓紧剪刀向爪夹左前方的白色小桶移动并垂直升高。来到白色小桶正上方。", + "time": 5.294690721649484 + }, + { + "action_description": "爪夹夹紧剪刀垂直升高", + "annotations": { + "bbox_1767682814889": { + "instances": [ + { + "height": 0.15200000000000002, + "id": "bbox_1767682814889_1767682927405_w60d5cj7d", + "width": 0.03700000000000001, + "x": 0.5135, + "y": 0.24666666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767682819634": { + "instances": [ + { + "height": 0.2573333333333334, + "id": "bbox_1767682819634_1767682935717_1avmbkngq", + "width": 0.13200000000000006, + "x": 0.3345, + "y": 0.21600000000000003 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧剪刀向爪夹左前方移动升高，来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹夹紧剪刀垂直升高缩短了于小桶之间的距离。方便将后续剪刀放进白色小桶。", + "frame": 186, + "progress": 50, + "progress_explanation": "爪夹夹紧剪刀垂直上接近了白色小桶口。方便继续向小桶口移动。因此进度提升为50%。", + "state_description": "爪夹夹紧剪刀，位于半空中。垂直上接近了白色小桶口。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹夹紧剪刀向爪夹左前方移动升高，来到白色小桶正上方。", + "time": 6.1913 + }, + { + "action_description": "爪夹向爪夹左前方移动升高，调整爪夹角度", + "annotations": { + "bbox_1767682814889": { + "instances": [ + { + "height": 0.16133333333333333, + "id": "bbox_1767682814889_1767682950511_71tpsr86s", + "width": 0.04799999999999995, + "x": 0.3745, + "y": 0.03866666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767682819634": { + "instances": [ + { + "height": 0.24666666666666667, + "id": "bbox_1767682819634_1767682957003_sbx8n1h6e", + "width": 0.14100000000000001, + "x": 0.32649999999999996, + "y": 0.23333333333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹左前方移动升高来到了小桶正上方。调整爪夹角度使剪刀接近竖直状态。方便将剪刀放进白色小桶。", + "frame": 209, + "progress": 60, + "progress_explanation": "爪夹剪刀接近竖直。来到了小桶正上方。方便将剪刀放进白色小桶。因此进度提升为60%。", + "state_description": "爪夹夹紧剪刀，位于小桶正上方。剪刀接近竖直状态。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "time": 6.9589 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1767682814889": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1767682814889_1767682972973_f05y372fj", + "width": 0.03600000000000003, + "x": 0.3995, + "y": 0.116 + } + ], + "type": "bbox" + }, + "bbox_1767682819634": { + "instances": [ + { + "height": 0.23199999999999996, + "id": "bbox_1767682819634_1767682976178_z8qs117q8", + "width": 0.135, + "x": 0.3295, + "y": 0.23866666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "为完成抓取剪刀放进白色小桶里的任务应当：爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹垂直下降靠近了小桶口。方便将剪刀放进白色小桶。", + "frame": 226, + "progress": 70, + "progress_explanation": "爪夹剪刀接近竖直。靠近了小桶口。方便将剪刀放进白色小桶。因此进度提升为70%。", + "state_description": "爪夹夹紧剪刀，剪刀接近竖直状态。靠近小桶口。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "time": 7.5447 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1767682814889": { + "instances": [ + { + "height": 0.164, + "id": "bbox_1767682814889_1767682988475_iqxoe0c8v", + "width": 0.06000000000000001, + "x": 0.3375, + "y": 0.24133333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767682819634": { + "instances": [ + { + "height": 0.23999999999999996, + "id": "bbox_1767682819634_1767682995099_5ksvl53h9", + "width": 0.14400000000000004, + "x": 0.3165, + "y": 0.23866666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，剪刀落入白色小桶里。任务完成。", + "frame": 252, + "progress": 100, + "progress_explanation": "爪夹松开，剪刀落入白色小桶里。因此进度提升为100%。", + "state_description": "爪夹张开，位于小桶正上方。\n抓取剪刀放进白色小桶里的任务目标完成。", + "time": 8.38716494845361 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767682814889", + "name": "剪刀" + }, + { + "color": "#FF9800", + "id": "bbox_1767682819634", + "name": "白色小桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767682827316", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767682832403", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-142355-put-scissors-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-142355-put-scissors-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..1de61a1fd3d83ea1578dded95768870aa0a8ace4 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-142355-put-scissors-white-trash can-good/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,400 @@ +{ + "task_description": "抓取剪刀放进白色小桶里：\n准备开始移动：0%\n爪夹靠近剪刀：20%\n爪夹抓取剪刀：40%\n爪夹夹紧剪刀靠近白色小桶：60%\n爪夹将剪刀放进白色小桶：80%\n爪夹松开剪刀落入白色小桶：100%", + "progress_points": [ + { + "time": 1.496735, + "frame": 45, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离剪刀，未开始移动。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于剪刀，来到剪刀正上方。", + "progress_explanation": "爪夹张开，远离剪刀，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于剪刀，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹正后方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "annotations": { + "bbox_1767684536706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684536706_1767684563959_v4k4932x9", + "x": 0.49350000000000005, + "y": 0.30400000000000005, + "width": 0.07199999999999998, + "height": 0.16799999999999998 + } + ] + }, + "bbox_1767684541218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684541218_1767684568009_tayi3gb0d", + "x": 0.4835000000000001, + "y": 0.468, + "width": 0.16999999999999993, + "height": 0.2893333333333333 + } + ] + }, + "point_1767684552017": { + "type": "point", + "instances": [ + { + "id": "point_1767684552017_1767684577315_te12iwusv", + "x": 0.2395, + "y": 0.43733333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于剪刀，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹正后方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹右前方移动缩短了于剪刀之间的距离。方便抓取剪刀。", + "frame": 73, + "progress": 10, + "progress_explanation": "爪夹角度接近于桌面平行，水平上接近了剪刀。方便抓取剪刀，因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近于桌面平行。水平上接近了剪刀。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 2.4448452819587625, + "annotations": { + "bbox_1767684536706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684536706_1767684583652_91xxafsyg", + "x": 0.49250000000000005, + "y": 0.312, + "width": 0.06999999999999992, + "height": 0.15733333333333335 + } + ] + }, + "bbox_1767684541218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684541218_1767684590869_g8ysu8exv", + "x": 0.4835000000000001, + "y": 0.468, + "width": 0.16899999999999996, + "height": 0.28400000000000003 + } + ] + } + } + }, + { + "time": 3.2012026458762888, + "frame": 96, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度接近垂直于剪刀，位于剪刀正上方。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹正前方移动并垂直下降靠近剪刀，爪夹合拢抓取剪刀。", + "progress_explanation": "爪夹角度接近垂直于桌面，来到了剪刀正上方。方便抓取剪刀。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到了剪刀正上方，调整爪夹角度接近垂直于剪刀。方便抓取剪刀。", + "correction_plan": "爪夹向爪夹正前方移动并垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹正后方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "annotations": { + "bbox_1767684536706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684536706_1767684603596_onzv4qke6", + "x": 0.49250000000000005, + "y": 0.3146666666666667, + "width": 0.06999999999999992, + "height": 0.16933333333333328 + } + ] + }, + "bbox_1767684541218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684541218_1767684611889_gojm5ztjb", + "x": 0.4825000000000001, + "y": 0.464, + "width": 0.17199999999999988, + "height": 0.2906666666666667 + } + ] + } + } + }, + { + "time": 3.916333, + "frame": 117, + "progress": 20, + "action_description": "爪夹向爪夹正前方移动并垂直下降", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近剪刀两侧。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹合拢抓取剪刀。抓紧剪刀向爪夹正后方的白色小桶移动并垂直升高。", + "progress_explanation": "爪夹角度接近垂直于剪刀，靠近剪刀两侧。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹正前方移动并垂直下降靠近了剪刀，方便抓取剪刀。", + "correction_plan": "爪夹合拢抓取剪刀。抓紧剪刀向爪夹正后方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "annotations": { + "bbox_1767684536706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684536706_1767684623071_kq4eaayv5", + "x": 0.4995, + "y": 0.308, + "width": 0.06299999999999999, + "height": 0.16266666666666663 + } + ] + }, + "bbox_1767684541218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684541218_1767684629687_etakfug0p", + "x": 0.47850000000000004, + "y": 0.4666666666666667, + "width": 0.17699999999999996, + "height": 0.28933333333333333 + } + ] + } + } + }, + { + "time": 4.815333, + "frame": 144, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，角度接近垂直于剪刀。抓取到了剪刀。\n为完成抓取剪刀放进白色小桶里的任务应当：抓紧剪刀向爪夹正后方的白色小桶移动并垂直升高。来到白色小桶正上方。", + "progress_explanation": "爪夹角度接近垂直于剪刀。抓取到了剪刀。方便将剪刀靠近白色小桶。因此进度提升为40%。", + "error_success_analysis": "爪夹合拢，成功抓取到了剪刀。方便将剪刀放进白色小桶。", + "correction_plan": "抓紧剪刀向爪夹正后方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "annotations": { + "bbox_1767684536706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684536706_1767684635063_ins92d68o", + "x": 0.5055000000000001, + "y": 0.3266666666666667, + "width": 0.06199999999999992, + "height": 0.1506666666666666 + } + ] + }, + "bbox_1767684541218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684541218_1767684641748_cr1ebzybh", + "x": 0.4835000000000001, + "y": 0.4666666666666667, + "width": 0.16799999999999998, + "height": 0.2919999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高又下降", + "correction_plan": "抓紧剪刀向爪夹正后方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹垂直升高又下降调整剪刀角度，方便剪刀抓出木盒。", + "frame": 169, + "progress": 42, + "progress_explanation": "爪夹夹紧剪刀，剪刀位于木盒正里。调整剪刀的角度，方便剪刀抓出木盒。因此进度提升为42%。", + "state_description": "爪夹夹紧剪刀，剪刀位于木盒正里。\n为完成抓取剪刀放进白色小桶里的任务应当：抓紧剪刀向爪夹正后方的白色小桶移动并垂直升高。来到白色小桶正上方。", + "time": 5.633333333333334, + "annotations": { + "bbox_1767684536706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684536706_1767684652736_uevgevbcp", + "x": 0.5035000000000001, + "y": 0.34933333333333333, + "width": 0.053000000000000026, + "height": 0.14533333333333337 + } + ] + }, + "bbox_1767684541218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684541218_1767684662528_duyq4jcji", + "x": 0.4845, + "y": 0.4666666666666667, + "width": 0.16800000000000007, + "height": 0.29333333333333333 + } + ] + } + } + }, + { + "time": 6.282666, + "frame": 188, + "progress": 50, + "action_description": "爪夹夹紧剪刀垂直升高", + "state_description": "爪夹夹紧剪刀，位于木盒正上方。垂直上接近了白色小桶口。\n为完成抓取剪刀放进白色小桶里的任务应当：抓紧剪刀向爪夹正后方的白色小桶移动，来到白色小桶正上方", + "progress_explanation": "爪夹夹紧剪刀垂直上接近了白色小桶口。方便继续向小桶口移动。因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧剪刀垂直升高垂直上缩短了于小桶口之间的距离。方便将后续剪刀放进白色小桶。", + "correction_plan": "抓紧剪刀向爪夹正后方的白色小桶移动，来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "annotations": { + "bbox_1767684536706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684536706_1767684670334_44if0iv4z", + "x": 0.47250000000000003, + "y": 0.17200000000000001, + "width": 0.05899999999999998, + "height": 0.15466666666666667 + } + ] + }, + "bbox_1767684541218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684541218_1767684674296_rwcamb18w", + "x": 0.4805, + "y": 0.4693333333333333, + "width": 0.17600000000000007, + "height": 0.2893333333333333 + } + ] + } + } + }, + { + "time": 7.005999, + "frame": 210, + "progress": 60, + "action_description": "爪夹向爪夹右后方移动", + "state_description": "爪夹夹紧剪刀，剪刀竖直状态。位于小桶正上方。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "progress_explanation": "爪夹剪刀接近竖直。来到了小桶正上方。方便将剪刀放进白色小桶。因此进度提升为60%。", + "error_success_analysis": "爪夹向爪夹右后方移动升高来到了小桶正上方。方便将剪刀放进白色小桶。", + "correction_plan": "爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "annotations": { + "bbox_1767684536706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684536706_1767684688554_5f4ithb6e", + "x": 0.5275000000000001, + "y": 0.2506666666666667, + "width": 0.06200000000000001, + "height": 0.23866666666666664 + } + ] + }, + "bbox_1767684541218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684541218_1767684695137_f7bjjlbx0", + "x": 0.48250000000000004, + "y": 0.46, + "width": 0.17099999999999999, + "height": 0.2973333333333333 + } + ] + } + } + }, + { + "time": 7.7606526706185575, + "frame": 233, + "progress": 80, + "action_description": "爪夹垂直下降", + "state_description": "爪夹夹紧剪刀，剪刀竖直状态。剪刀放进白色小桶口里。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹松开，剪刀落入白色小桶。", + "progress_explanation": "爪夹剪刀接近竖直。落入了小桶口。方便将剪刀放进白色小桶。因此进度提升为80%。", + "error_success_analysis": "爪夹垂直下降将剪刀放进白色小桶.方便剪刀落入白色小桶。", + "correction_plan": "爪夹松开，剪刀落入白色小桶。", + "annotations": { + "bbox_1767684536706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684536706_1767684700556_okpks94lp", + "x": 0.5325, + "y": 0.33066666666666666, + "width": 0.06699999999999999, + "height": 0.2346666666666667 + } + ] + }, + "bbox_1767684541218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684541218_1767684707988_ggwmet4oy", + "x": 0.48250000000000004, + "y": 0.468, + "width": 0.1710000000000001, + "height": 0.2906666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，剪刀落入白色小桶里。任务完成。", + "frame": 249, + "progress": 100, + "progress_explanation": "爪夹松开，剪刀落入白色小桶里。因此进度提升为100%。", + "state_description": "爪夹张开，位于小桶正上方。\n抓取剪刀放进白色小桶里的任务目标完成。", + "time": 8.30395162216495, + "annotations": { + "bbox_1767684536706": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684536706_1767684721450_tqaghb4qi", + "x": 0.5385, + "y": 0.4906666666666667, + "width": 0.08400000000000007, + "height": 0.21733333333333338 + } + ] + }, + "bbox_1767684541218": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767684541218_1767684725322_ryut83zcb", + "x": 0.48250000000000004, + "y": 0.468, + "width": 0.17400000000000002, + "height": 0.29600000000000004 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767684536706", + "name": "剪刀", + "color": "#4CAF50" + }, + { + "id": "bbox_1767684541218", + "name": "白色小桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767684547348", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767684552017", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-143212-put-scissors-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-143212-put-scissors-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..c6c905abfb7ce4a249ec7a3a7c4bdbf7c5ed1415 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-143212-put-scissors-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,580 @@ +{ + "task_description": "抓取剪刀放进白色小桶里：\n准备开始移动：0%\n爪夹靠近剪刀：20%\n爪夹抓取剪刀：40%\n爪夹夹紧剪刀靠近白色小桶：60%\n爪夹将剪刀放进白色小桶：80%\n爪夹松开剪刀落入白色小桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹左前方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹张开，远离剪刀，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离剪刀，未开始移动。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 1.5010824479381442, + "annotations": { + "bbox_1767687891827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687891827_1767687984503_4tdjh05ye", + "x": 0.4755, + "y": 0.48933333333333334, + "width": 0.16100000000000003, + "height": 0.0733333333333333 + } + ] + }, + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767687989749_pxg1ila3m", + "x": 0.1595, + "y": 0.3346666666666667, + "width": 0.15700000000000006, + "height": 0.25999999999999995 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹左前方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹右前方移动缩短了于剪刀之间的距离。方便抓取剪刀。", + "frame": 74, + "progress": 10, + "progress_explanation": "爪夹角度与桌面呈45度，水平上接近了剪刀。方便抓取剪刀，因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面呈45度。水平上接近了剪刀。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 2.474333, + "annotations": { + "bbox_1767687891827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687891827_1767688007997_kdgxqqylh", + "x": 0.47250000000000003, + "y": 0.492, + "width": 0.16399999999999998, + "height": 0.07200000000000006 + } + ] + }, + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688011746_l2fgkd87i", + "x": 0.1845, + "y": 0.3626666666666667, + "width": 0.12700000000000003, + "height": 0.23066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右移动下降", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹左前方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹右移动下降缩短了与剪刀之间的距离。方便抓取剪刀。", + "frame": 99, + "progress": 15, + "progress_explanation": "爪夹角度与桌面呈45度，水平和垂直上接近了剪刀。方便抓取剪刀。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈45度，水平和垂直上接近了剪刀。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 3.311799, + "annotations": { + "bbox_1767687891827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687891827_1767688019317_c0c1f22le", + "x": 0.4754999999999999, + "y": 0.4933333333333333, + "width": 0.15800000000000008, + "height": 0.07200000000000019 + } + ] + }, + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688031911_1vw907x58", + "x": 0.14550000000000002, + "y": 0.3346666666666667, + "width": 0.148, + "height": 0.24399999999999994 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右移动下降", + "correction_plan": "爪夹合拢抓取剪刀。抓紧剪刀向爪夹左前方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹右移动下降靠近剪刀两侧。方便抓取剪刀。", + "frame": 123, + "progress": 20, + "progress_explanation": "爪夹靠近剪刀两侧。方便抓取剪刀，因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面呈45度，靠近了剪刀两侧。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹合拢抓取剪刀。抓紧剪刀向爪夹左前方的白色小桶移动并垂直升高。", + "time": 4.111199, + "annotations": { + "bbox_1767687891827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687891827_1767688039674_438xagegx", + "x": 0.47350000000000003, + "y": 0.48133333333333334, + "width": 0.137, + "height": 0.08533333333333334 + } + ] + }, + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688043752_8l55iodsr", + "x": 0.14450000000000002, + "y": 0.3306666666666667, + "width": 0.15999999999999998, + "height": 0.26533333333333325 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧剪刀向爪夹左前方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹合拢，成功抓取到了剪刀。方便将剪刀放进白色小桶。", + "frame": 155, + "progress": 40, + "progress_explanation": "爪夹角度与桌面呈30度。抓取到了剪刀。方便将剪刀靠近白色小桶。因此进度提升为40%。", + "state_description": "爪夹合拢，角度与桌面呈30度。抓取到了剪刀。\n为完成抓取剪刀放进白色小桶里的任务应当：抓紧剪刀向爪夹左前方的白色小桶移动并垂直升高。来到白色小桶正上方。", + "time": 5.150773105670102, + "annotations": { + "bbox_1767687891827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687891827_1767688056554_7qle8wduk", + "x": 0.4965, + "y": 0.4733333333333334, + "width": 0.11600000000000002, + "height": 0.13066666666666665 + } + ] + }, + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688060766_s2w27hu3u", + "x": 0.14750000000000002, + "y": 0.3346666666666667, + "width": 0.152, + "height": 0.25599999999999995 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧剪刀垂直升高", + "correction_plan": "爪夹夹紧剪刀向爪夹左前方移动升高，来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹夹紧剪刀垂直升高垂直上缩短了于小桶之间的距离。方便将后续剪刀放进白色小桶。", + "frame": 202, + "progress": 50, + "progress_explanation": "爪夹夹紧剪刀垂直上接近了白色小桶口。方便继续向小桶口移动。因此进度提升为50%。", + "state_description": "爪夹夹紧剪刀，位于半空中。垂直上接近了白色小桶口。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹夹紧剪刀向爪夹左前方移动，来到白色小桶正上方。", + "time": 6.718766, + "annotations": { + "bbox_1767687891827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687891827_1767688071571_t5yzmg8js", + "x": 0.48450000000000004, + "y": 0.13733333333333334, + "width": 0.12699999999999995, + "height": 0.22133333333333338 + } + ] + }, + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688079320_2wsqepnt4", + "x": 0.14550000000000002, + "y": 0.3493333333333333, + "width": 0.15399999999999997, + "height": 0.27866666666666673 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动", + "correction_plan": "爪夹夹紧剪刀向爪夹左前方移动，来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹夹紧剪刀向爪夹左前方移动水平上缩短了于小桶之间的距离。方便将后续剪刀放进白色小桶。", + "frame": 224, + "progress": 55, + "progress_explanation": "爪夹夹紧剪刀水平上接近了白色小桶口。方便继续向小桶口移动。因此进度提升为55%。", + "state_description": "爪夹夹紧剪刀，剪刀接近平行于桌面。水平上接近了小桶。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹夹紧剪刀向爪夹左前方移动，来到白色小桶正上方。", + "time": 7.461066, + "annotations": { + "bbox_1767687891827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687891827_1767688094055_s72frnv40", + "x": 0.2875, + "y": 0.24133333333333334, + "width": 0.094, + "height": 0.16933333333333334 + } + ] + }, + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688098813_w3mu2flnt", + "x": 0.1545, + "y": 0.3346666666666667, + "width": 0.15700000000000003, + "height": 0.264 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹垂直下降并调整爪夹角度，使其接近垂直于剪刀。靠近剪刀后爪夹合拢抓取剪刀。抓紧剪刀向爪夹左方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹张开剪刀掉落桌面上。爪夹远离了剪刀。需重新抓取剪刀。", + "frame": 249, + "progress": 12, + "progress_explanation": "爪夹角度与桌面接近平行，剪刀掉落桌面上。爪夹远离了剪刀。因此进度降低为12%。", + "state_description": "爪夹张开，爪夹角度与桌面接近平行，位于剪刀正上方。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹垂直下降并调整爪夹角度，使其接近垂直于剪刀。靠近剪刀后爪夹合拢抓取剪刀。", + "time": 8.298533, + "annotations": { + "bbox_1767687891827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687891827_1767688108658_dalc9fiy4", + "x": 0.3245, + "y": 0.5586666666666668, + "width": 0.137, + "height": 0.057333333333333174 + } + ] + }, + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688116893_h3s0nincd", + "x": 0.1585, + "y": 0.3253333333333333, + "width": 0.152, + "height": 0.2720000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正后方移动", + "correction_plan": "爪夹向爪夹前方移动下降并调整爪夹角度，使其接近垂直于剪刀。靠近剪刀后爪夹合拢抓取剪刀。抓紧剪刀向爪夹左方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹正后方移动微微远离了剪刀。未向剪刀方向移动。", + "frame": 273, + "progress": 11, + "progress_explanation": "爪夹角度与桌面接近平行，水平稍微上远离了剪刀。不方便抓取剪刀。因此进度降低为11%。", + "state_description": "爪夹张开，爪夹角度与桌面接近平行，水平稍微上远离了剪刀。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹前方移动下降并调整爪夹角度，使其接近垂直于剪刀。靠近剪刀后爪夹合拢抓取剪刀。", + "time": 9.1, + "annotations": { + "point_1767687902108": { + "type": "point", + "instances": [ + { + "id": "point_1767687902108_1767688124039_yh99jmldq", + "x": 0.3335, + "y": 0.364 + } + ] + }, + "bbox_1767687891827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687891827_1767688127983_fn68dtqhc", + "x": 0.3205, + "y": 0.5546666666666666, + "width": 0.14400000000000004, + "height": 0.06266666666666663 + } + ] + }, + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688131939_zj62vlk96", + "x": 0.1515, + "y": 0.3306666666666667, + "width": 0.16600000000000004, + "height": 0.2599999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动下降，调整爪夹角度", + "correction_plan": "爪夹垂直下降，同时调整爪夹角度使其接近垂直于桌面。靠近剪刀后爪夹合拢抓取剪刀。抓紧剪刀向爪夹左方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹正前方移动下降来到剪刀正上方，调整爪夹角度与桌面呈30度。方便靠近抓取剪刀。", + "frame": 322, + "progress": 15, + "progress_explanation": "爪夹角度与桌面呈30度。来到剪刀正上方。方便靠近抓取剪刀。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。位于剪刀正上方。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹垂直下降，同时调整爪夹角度使其接近垂直于桌面。靠近剪刀后爪夹合拢抓取剪刀。", + "time": 10.723419056185566, + "annotations": { + "bbox_1767687891827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687891827_1767688154539_ctrkj6rho", + "x": 0.3325, + "y": 0.5533333333333333, + "width": 0.12800000000000003, + "height": 0.06399999999999993 + } + ] + }, + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688159613_1e7wxzja4", + "x": 0.15250000000000002, + "y": 0.336, + "width": 0.15999999999999998, + "height": 0.24533333333333338 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹合拢抓取剪刀。抓紧剪刀向爪夹左方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹垂直下降靠近了剪刀，方便抓取剪刀。", + "frame": 350, + "progress": 20, + "progress_explanation": "爪夹角度与桌面呈30度，靠近剪刀两侧。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面呈30度，靠近剪刀两侧。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹合拢抓取剪刀。抓紧剪刀向爪夹左方的白色小桶移动并垂直升高。", + "time": 11.667433, + "annotations": { + "bbox_1767687891827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687891827_1767688165825_rln2r17zx", + "x": 0.3385, + "y": 0.528, + "width": 0.13000000000000003, + "height": 0.08933333333333332 + } + ] + }, + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688168706_lzppj9b7m", + "x": 0.14350000000000002, + "y": 0.336, + "width": 0.14499999999999996, + "height": 0.27066666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧剪刀向爪夹左方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹合拢，成功抓取到了剪刀。方便将剪刀放进白色小桶。", + "frame": 368, + "progress": 40, + "progress_explanation": "爪夹角度与桌面呈30度。抓取到了剪刀。方便将剪刀靠近白色小桶。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈30度。抓取到了剪刀。\n为完成抓取剪刀放进白色小桶里的任务应当：抓紧剪刀向爪夹左方的白色小桶移动并垂直升高。来到白色小桶正上方。", + "time": 12.273556486082475, + "annotations": { + "bbox_1767687891827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687891827_1767688180579_lbaf4pud8", + "x": 0.3355, + "y": 0.5426666666666667, + "width": 0.12100000000000004, + "height": 0.07866666666666665 + } + ] + }, + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688183847_rs5scx08g", + "x": 0.14750000000000002, + "y": 0.3346666666666667, + "width": 0.14699999999999996, + "height": 0.25733333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧剪刀垂直升高", + "correction_plan": "爪夹夹紧剪刀向爪夹左方移动升高，来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹夹紧剪刀垂直升高垂直上缩短了于小桶之间的距离。方便将后续剪刀放进白色小桶。", + "frame": 442, + "progress": 50, + "progress_explanation": "爪夹夹紧剪刀垂直上接近了白色小桶口。方便继续向小桶口移动。因此进度提升为50%。", + "state_description": "爪夹夹紧剪刀，位于半空中。垂直上接近了白色小桶口。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹夹紧剪刀向爪夹左方移动升高，来到白色小桶正上方。", + "time": 14.726305584020619, + "annotations": { + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688199153_ke0a7q5qn", + "x": 0.1685, + "y": 0.3506666666666666, + "width": 0.142, + "height": 0.25333333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动升高", + "correction_plan": "爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹左前方移动升高来到了小桶正上方。方便将剪刀放进白色小桶。", + "frame": 468, + "progress": 60, + "progress_explanation": "爪夹剪刀接近平行与桌面。来到了小桶正上方。方便将剪刀放进白色小桶。因此进度提升为60%。", + "state_description": "爪夹夹紧剪刀，剪刀接近与桌面平行。位于小桶正上方。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "time": 15.588299, + "annotations": { + "bbox_1767687891827": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687891827_1767688210094_ug78gisgh", + "x": 0.0475, + "y": 0.2546666666666667, + "width": 0.213, + "height": 0.09466666666666666 + } + ] + }, + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688217227_65c009bu0", + "x": 0.14950000000000002, + "y": 0.332, + "width": 0.16299999999999998, + "height": 0.2613333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹松开，剪刀落入白色小桶。", + "error_success_analysis": "爪夹垂直下降将剪刀放进白色小桶，方便剪刀落入小桶。", + "frame": 492, + "progress": 80, + "progress_explanation": "剪刀接近平行于桌面。剪刀放进了白色小桶里。因此进度提升为80%。", + "state_description": "爪夹夹紧剪刀，剪刀接近平行于桌面。剪刀放进白色小桶里。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹松开，剪刀落入白色小桶。", + "time": 16.406733, + "annotations": { + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688225533_2jglgt9w4", + "x": 0.14350000000000002, + "y": 0.32, + "width": 0.168, + "height": 0.28266666666666673 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，剪刀落入白色小桶里。任务完成。", + "frame": 512, + "progress": 100, + "progress_explanation": "爪夹松开，剪刀落入白色小桶里。因此进度提升为100%。", + "state_description": "爪夹张开，位于小桶正上方。\n抓取剪刀放进白色小桶里的任务目标完成。", + "time": 17.06132272525773, + "annotations": { + "bbox_1767687895942": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767687895942_1767688242081_z4pymngkn", + "x": 0.1615, + "y": 0.3453333333333333, + "width": 0.151, + "height": 0.24666666666666662 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767687891827", + "name": "剪刀", + "color": "#4CAF50" + }, + { + "id": "bbox_1767687895942", + "name": "白色小桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767687902108", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767687906680", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-144719-put-scissors-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-144719-put-scissors-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..081597b2e54b2ca70ca14c38700fab79b0c244c9 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-144719-put-scissors-white-trash can-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,636 @@ +{ + "task_description": "抓取剪刀放进小桶里：\n准备开始移动：0%\n爪夹靠近剪刀：20%\n爪夹抓取剪刀：40%\n爪夹夹紧剪刀靠近小桶：60%\n爪夹将剪刀放进小桶：80%\n爪夹松开剪刀落入小桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的小桶移动并垂直升高。来到小桶正上方。接着爪夹垂直下降将剪刀放进小桶里，爪夹松开剪刀落入小桶。", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "爪夹张开，远离剪刀，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离剪刀，未开始移动。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 1.4723368056701032, + "annotations": { + "bbox_1767746305472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746305472_1767746352876_du4k9pdy7", + "x": 0.6695, + "y": 0.30133333333333334, + "width": 0.06699999999999999, + "height": 0.204 + } + ] + }, + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746358776_p9n43hh1i", + "x": 0.8184999999999999, + "y": 0.35066666666666674, + "width": 0.1790000000000001, + "height": 0.2386666666666666 + } + ] + }, + "point_1767746321397": { + "type": "point", + "instances": [ + { + "id": "point_1767746321397_1767746367452_odr5qht0o", + "x": 0.34950000000000003, + "y": 0.5519999999999999 + } + ] + }, + "point_1767746326706": { + "type": "point", + "instances": [ + { + "id": "point_1767746326706_1767746371002_mm0vmpu76", + "x": 0.47450000000000003, + "y": 0.5533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹右前方移动下降缩短了于剪刀之间的距离。调整爪夹角度与桌面呈70度，方便抓取剪刀。", + "frame": 69, + "progress": 10, + "progress_explanation": "爪夹角度与桌面呈70度，水平和垂直上接近了剪刀。方便抓取剪刀，因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面呈70度。水平和垂直上接近了剪刀。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 2.296, + "annotations": { + "bbox_1767746305472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746305472_1767746379854_cwshgs15k", + "x": 0.6725000000000001, + "y": 0.29733333333333334, + "width": 0.06199999999999992, + "height": 0.20800000000000002 + } + ] + }, + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746384264_mku30ld3a", + "x": 0.8215, + "y": 0.35466666666666674, + "width": 0.175, + "height": 0.22799999999999992 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "correction_plan": "爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到了剪刀正上方，调整爪夹角度接近垂直于桌面。方便抓取剪刀。", + "frame": 103, + "progress": 15, + "progress_explanation": "爪夹角度接近垂直于桌面，来到了剪刀正上方。方便抓取剪刀。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。位于剪刀正上方。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。", + "time": 3.430333, + "annotations": { + "bbox_1767746305472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746305472_1767746396746_lyqr4rs1q", + "x": 0.6735, + "y": 0.3, + "width": 0.06099999999999994, + "height": 0.18800000000000003 + } + ] + }, + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746401068_f9f9yzjgx", + "x": 0.8275, + "y": 0.356, + "width": 0.1700000000000001, + "height": 0.23466666666666663 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹垂直下降靠近了剪刀，方便抓取剪刀。", + "frame": 135, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近剪刀两侧。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近剪刀两侧。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的白色小桶移动并垂直升高。", + "time": 4.501546501546392, + "annotations": { + "bbox_1767746305472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746305472_1767746415812_72hh52m3x", + "x": 0.6685000000000001, + "y": 0.2946666666666667, + "width": 0.05999999999999996, + "height": 0.17600000000000005 + } + ] + }, + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746420212_cryu5frvb", + "x": 0.8254999999999999, + "y": 0.35866666666666663, + "width": 0.1730000000000002, + "height": 0.23066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧剪刀向爪夹右方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹合拢，成功抓取到了剪刀。方便将剪刀放进白色小桶。", + "frame": 172, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面。抓取到了剪刀。方便将剪刀靠近白色小桶。因此进度提升为40%。", + "state_description": "爪夹合拢，角度接近垂直于桌面。抓取到了剪刀。\n为完成抓取剪刀放进白色小桶里的任务应当：抓紧剪刀向爪夹右方的白色小桶移动并垂直升高。来到白色小桶正上方。", + "time": 5.726333, + "annotations": { + "bbox_1767746305472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746305472_1767746431692_awod0ka74", + "x": 0.6535, + "y": 0.292, + "width": 0.06600000000000002, + "height": 0.18666666666666665 + } + ] + }, + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746434722_zdkx0iwt6", + "x": 0.8174999999999999, + "y": 0.35866666666666674, + "width": 0.183, + "height": 0.22933333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧剪刀垂直升高", + "correction_plan": "抓紧剪刀向爪夹右方的小桶移动。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入小桶。", + "error_success_analysis": "爪夹夹紧剪刀垂直升高垂直上缩短了于小桶之间的距离。方便将后续剪刀放进白色小桶。", + "frame": 222, + "progress": 50, + "progress_explanation": "爪夹夹紧剪刀垂直上接近了白色小桶口。方便继续向小桶口移动。因此进度提升为50%。", + "state_description": "爪夹夹紧剪刀，位于半空中。垂直上接近了白色小桶口。\n为完成抓取剪刀放进白色小桶里的任务应当：抓紧剪刀向爪夹右方的白色小桶移动。来到白色小桶正上方。", + "time": 7.3898627231958764, + "annotations": { + "bbox_1767746305472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746305472_1767746448998_mliyrtsv5", + "x": 0.7435, + "y": 0.08666666666666667, + "width": 0.08200000000000003, + "height": 0.268 + } + ] + }, + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746464445_7cfufcpg8", + "x": 0.8265, + "y": 0.35466666666666674, + "width": 0.1709999999999999, + "height": 0.23466666666666683 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右后方移动", + "correction_plan": "爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹右后方移动来到了小桶正上方。方便将剪刀放进白色小桶。", + "frame": 234, + "progress": 60, + "progress_explanation": "爪夹角度接近垂直于桌面。来到了小桶正上方。方便将剪刀放进白色小桶。因此进度提升为60%。", + "state_description": "爪夹夹紧剪刀，爪夹角度接近垂直于桌面。位于白色小桶正上方。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "time": 7.79, + "annotations": { + "bbox_1767746305472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746305472_1767746481477_0phwl0r5z", + "x": 0.8935000000000001, + "y": 0.21200000000000008, + "width": 0.10199999999999995, + "height": 0.26 + } + ] + }, + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746490475_aq8cv4g6i", + "x": 0.8355, + "y": 0.36000000000000004, + "width": 0.16199999999999992, + "height": 0.24533333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右后方移动下降", + "correction_plan": "爪夹夹紧剪刀向爪夹左方移动升高，来到小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹右后方移动下降增加了与白色小桶之间的距离。不方便将剪刀放进白色小桶。", + "frame": 249, + "progress": 45, + "progress_explanation": "比上一阶段爪夹水平上远离了白色小桶。因此进度降低为45%。", + "state_description": "爪夹夹紧剪刀处于屏幕外。水平上远离了白色小桶。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹夹紧剪刀向爪夹左方移动升高，来到小桶正上方。", + "time": 8.295666, + "annotations": { + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746504121_pflxyxx1e", + "x": 0.8164999999999999, + "y": 0.36000000000000004, + "width": 0.183, + "height": 0.23333333333333328 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧剪刀向爪夹左方移动下降", + "correction_plan": "爪夹夹紧剪刀垂直升高，向爪夹左移动。来到小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹夹紧剪刀向爪夹左方移动下降，剪刀触碰到了白色小桶。", + "frame": 255, + "progress": 47, + "progress_explanation": "爪夹夹紧剪刀，剪刀触碰到了白色小桶。水平上接近了白色小桶。因此进度提升为47%。", + "state_description": "爪夹夹紧剪刀，剪刀触碰到了白色小桶右侧。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹夹紧剪刀垂直升高，向爪夹左移动。来到小桶正上方。", + "time": 8.514333, + "annotations": { + "bbox_1767746305472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746305472_1767746527191_0jlw9anb4", + "x": 0.9255000000000001, + "y": 0.5066666666666667, + "width": 0.07199999999999988, + "height": 0.11466666666666665 + } + ] + }, + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746532212_dgx6t0l11", + "x": 0.8145000000000001, + "y": 0.3533333333333334, + "width": 0.183, + "height": 0.2413333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动升高，张开爪夹", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹左前方移动升高，张开爪夹剪刀掉落。水平和垂直上远离了剪刀。", + "frame": 269, + "progress": 10, + "progress_explanation": "爪夹角度与桌面呈40度，剪刀掉落到桌面上。因此进度降低为10%。", + "state_description": "爪夹张开，爪夹角度与桌面呈40度。水平和垂直上远离了剪刀。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 8.979, + "annotations": { + "bbox_1767746305472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746305472_1767746543429_wu63cohh3", + "x": 0.8205, + "y": 0.4266666666666667, + "width": 0.09299999999999997, + "height": 0.156 + } + ] + }, + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746546511_909xsnk12", + "x": 0.8585000000000003, + "y": 0.35200000000000004, + "width": 0.1389999999999997, + "height": 0.19066666666666668 + } + ] + }, + "point_1767746321397": { + "type": "point", + "instances": [ + { + "id": "point_1767746321397_1767746560371_90wfwe42c", + "x": 0.6335, + "y": 0.312 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "correction_plan": "爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到了剪刀正上方，调整爪夹角度接近垂直于桌面。方便抓取剪刀。", + "frame": 286, + "progress": 15, + "progress_explanation": "爪夹角度接近垂直于桌面，来到了剪刀正上方。方便抓取剪刀。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，位于剪刀正上方。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。", + "time": 9.539333, + "annotations": { + "bbox_1767746305472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746305472_1767746567705_3l5i086qd", + "x": 0.7925, + "y": 0.42533333333333334, + "width": 0.12700000000000006, + "height": 0.1333333333333334 + } + ] + }, + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746571731_znsc2qy82", + "x": 0.8494999999999999, + "y": 0.30533333333333335, + "width": 0.14700000000000008, + "height": 0.22 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动升高", + "correction_plan": "爪夹向爪夹左后方移动升高。来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的白色小桶移动并垂直升高。来到白色小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹向爪夹右前方移动升高，碰到了小桶。不方便抓取剪刀。", + "frame": 305, + "progress": -10, + "progress_explanation": "爪夹张开，触碰到了小桶。比上一阶段多出一步向后垂直升高爪夹。因此进度降低为-10%。", + "state_description": "爪夹张开，位于白色小桶边缘触碰到了小桶。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹左后方移动升高。来到剪刀正上方。", + "time": 10.179553512886597, + "annotations": { + "bbox_1767746305472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746305472_1767746582017_19rkokps8", + "x": 0.7915, + "y": 0.42133333333333334, + "width": 0.12000000000000002, + "height": 0.13999999999999999 + } + ] + }, + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746585613_pf747y377", + "x": 0.8515000000000003, + "y": 0.316, + "width": 0.14999999999999983, + "height": 0.21333333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹向爪夹右前方移动靠近小桶。爪夹抓取小桶，将小桶扶正。接着向爪夹左后方移动靠近剪刀。来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的白色小桶移动并垂直升高。来到小桶正上方。接着爪夹垂直下降将剪刀放进白色小桶里，爪夹松开剪刀落入白色小桶。", + "error_success_analysis": "爪夹垂直下降，将小桶带倒侧翻倒在桌面上。压在剪刀上。不方便抓取剪刀。", + "frame": 314, + "progress": -40, + "progress_explanation": "爪夹将小桶打翻侧翻倒在桌面上。压在了剪刀上。比上一阶段多出三步，爪夹右前方移动靠近小桶。爪夹抓取小桶，爪夹将小桶扶正。因此进度降低为-40%。", + "state_description": "爪夹张开，位于小桶内。小桶侧翻倒在桌面上。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹右前方移动靠近小桶。爪夹抓取小桶，将小桶扶正。", + "time": 10.475429808762888, + "annotations": { + "bbox_1767746305472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746305472_1767746597857_7bxchv9c6", + "x": 0.7945, + "y": 0.4266666666666667, + "width": 0.11899999999999995, + "height": 0.14400000000000002 + } + ] + }, + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746601091_pz57yzu0t", + "x": 0.8585, + "y": 0.392, + "width": 0.13899999999999987, + "height": 0.26133333333333325 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动升高", + "correction_plan": "爪夹向爪夹右前方移动下降靠近小桶。爪夹抓取小桶，将小桶扶正。接着向爪夹左后方移动靠近剪刀。来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的小桶移动并垂直升高。来到小桶正上方。接着爪夹垂直下降将剪刀放进小桶里，爪夹松开剪刀落入小桶。", + "error_success_analysis": "爪夹向爪夹左后方移动升高，水平上和垂直上远离了小桶。不方便将小桶扶正。", + "frame": 329, + "progress": -45, + "progress_explanation": "爪夹角度接近垂直于桌面。远离了小桶。因此进度降低为-45%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。远离了小桶。\n为完成抓取剪刀放进白色小桶里的任务应当：爪夹向爪夹右前方移动下降靠近小桶。爪夹抓取小桶，将小桶扶正。", + "time": 10.954467621134024, + "annotations": { + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746616405_opw8ta5m3", + "x": 0.8515, + "y": 0.408, + "width": 0.14499999999999993, + "height": 0.24400000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动下降", + "correction_plan": "爪夹合拢抓取小桶，向爪夹右前方移动升高。将小桶扶正。接着向爪夹左后方移动靠近剪刀。来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的小桶移动并垂直升高。来到小桶正上方。接着爪夹垂直下降将剪刀放进小桶里，爪夹松开剪刀落入小桶。", + "error_success_analysis": "爪夹向爪夹右前方移动下降靠近了小桶，方便将小桶扶正。", + "frame": 353, + "progress": -40, + "progress_explanation": "爪夹靠近了小桶，方便将小桶扶正。因此进度提升为-40%。", + "state_description": "爪夹张开，爪夹靠近了小桶。\n为完成抓取剪刀放进小桶里的任务应当：爪夹合拢抓取小桶，向爪夹右前方移动升高。将小桶扶正。", + "time": 11.767, + "annotations": { + "bbox_1767746305472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746305472_1767746633401_l4bjolt20", + "x": 0.8015000000000001, + "y": 0.43066666666666664, + "width": 0.13200000000000003, + "height": 0.14533333333333337 + } + ] + }, + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746637825_hhjnvojer", + "x": 0.8664999999999997, + "y": 0.4013333333333334, + "width": 0.13000000000000025, + "height": 0.25599999999999995 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正上方移动升高", + "correction_plan": "爪夹向爪夹右前方移动下降靠近小桶。爪夹抓取小桶，将小桶扶正。接着向爪夹左后方移动靠近剪刀。来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的小桶移动并垂直升高。来到小桶正上方。接着爪夹垂直下降将剪刀放进小桶里，爪夹松开剪刀落入小桶。", + "error_success_analysis": "爪夹向爪夹正上方移动升高，垂直上远离了小桶。扶起小桶失败。", + "frame": 367, + "progress": -43, + "progress_explanation": "爪夹角度与桌面接近平行，远离了小桶。小桶未扶正，因此进度降低为-43%。", + "state_description": "爪夹张开，角度与桌面接近平行。远离了小桶。\n为完成抓取剪刀放进小桶里的任务应当：爪夹向爪夹右前方移动下降靠近小桶。爪夹抓取小桶，将小桶扶正。", + "time": 12.218, + "annotations": { + "bbox_1767746305472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746305472_1767746651199_nfcilsie5", + "x": 0.8005000000000001, + "y": 0.428, + "width": 0.13999999999999985, + "height": 0.16533333333333336 + } + ] + }, + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746654217_edmzlemoa", + "x": 0.8175000000000002, + "y": 0.3653333333333333, + "width": 0.17999999999999988, + "height": 0.20266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左移动升高", + "correction_plan": "爪夹向爪夹右前方移动下降靠近小桶。爪夹抓取小桶，将小桶扶正。接着向爪夹左后方移动靠近剪刀。来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的小桶移动并垂直升高。来到小桶正上方。接着爪夹垂直下降将剪刀放进小桶里，爪夹松开剪刀落入小桶。", + "error_success_analysis": "爪夹向爪夹正上方移动升高，垂直和水平上远离了小桶。", + "frame": 410, + "progress": -45, + "progress_explanation": "爪夹张开，角度与桌面接近平行。更加远离了小桶。因此进度降低为-45%。", + "state_description": "爪夹张开，爪夹角度接近与桌面平行。\n为完成抓取剪刀放进小桶里的任务应当：爪夹向爪夹右前方移动下降靠近小桶。爪夹抓取小桶，将小桶扶正。", + "time": 13.666667, + "annotations": { + "bbox_1767746314726": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767746314726_1767746670885_vprjz5y1g", + "x": 0.8234999999999999, + "y": 0.36933333333333335, + "width": 0.17300000000000004, + "height": 0.1773333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767746305472", + "name": "剪刀", + "color": "#4CAF50" + }, + { + "id": "bbox_1767746314726", + "name": "小桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767746321397", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767746326706", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-150629-put-medicine bottle-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-150629-put-medicine bottle-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..210ea60b684de86e6cc60e23a9398e0dae3d4d89 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-150629-put-medicine bottle-white-trash can-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,570 @@ +{ + "task_description": "抓取药瓶放进小桶里：\n准备开始移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹夹紧药瓶靠近小桶：60%\n爪夹将药瓶放进小桶：80%\n爪夹松开药瓶落入小桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767748872430": { + "instances": [ + { + "height": 0.03999999999999997, + "id": "bbox_1767748872430_1767748945320_vss2mwxk3", + "width": 0.05899999999999998, + "x": 0.6615, + "y": 0.396 + } + ], + "type": "bbox" + }, + "bbox_1767748879916": { + "instances": [ + { + "height": 0.19999999999999998, + "id": "bbox_1767748879916_1767748960599_7l7lzrjru", + "width": 0.125, + "x": 0.5945, + "y": 0.15066666666666667 + } + ], + "type": "bbox" + }, + "point_1767748919953": { + "instances": [ + { + "id": "point_1767748919953_1767748950117_53xm3bpnw", + "x": 0.3965, + "y": 0.5106666666666667 + } + ], + "type": "point" + }, + "point_1767748924988": { + "instances": [ + { + "id": "point_1767748924988_1767748952994_7w1t03tzb", + "x": 0.6205, + "y": 0.5053333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左前方的小桶移动并垂直升高。来到小桶正上方。接着爪夹垂直下降将药瓶放进小桶里，爪夹松开药瓶落入小桶。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离药瓶，未开始移动。\n为完成抓取药瓶放进小桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。", + "time": 1.5735566551546392 + }, + { + "action_description": "爪夹向右移动并下降", + "annotations": { + "bbox_1767748872430": { + "instances": [ + { + "height": 0.1413333333333333, + "id": "bbox_1767748872430_1767748968344_dfeko5q20", + "width": 0.10999999999999996, + "x": 0.5315000000000001, + "y": 0.24266666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767748879916": { + "instances": [ + { + "height": 0.2813333333333334, + "id": "bbox_1767748879916_1767748976190_f4ucm2zyq", + "width": 0.30099999999999993, + "x": 0.17550000000000002, + "y": 0.0040000000000000036 + } + ], + "type": "bbox" + }, + "point_1767748919953": { + "instances": [ + { + "id": "point_1767748919953_1767748986140_t9ufewuhf", + "x": 0.3975, + "y": 0.512 + } + ], + "type": "point" + }, + "point_1767748924988": { + "instances": [ + { + "id": "point_1767748924988_1767748989250_iroox257m", + "x": 0.6195, + "y": 0.5106666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左前方的小桶移动并垂直升高。来到小桶正上方。接着爪夹垂直下降将药瓶放进小桶里，爪夹松开药瓶落入小桶。", + "error_success_analysis": "爪夹向右移动并下降缩短了于药瓶之间的距离。方便抓取药瓶。", + "frame": 79, + "progress": 10, + "progress_explanation": "爪夹角度与桌面呈40度，水平和垂直上接近了药瓶。方便抓取药瓶，因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面呈40度。水平和垂直上接近了药瓶。\n为完成抓取药瓶放进小桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。", + "time": 2.641099 + }, + { + "action_description": "爪夹向右移动并下降", + "annotations": { + "bbox_1767748872430": { + "instances": [ + { + "height": 0.20800000000000002, + "id": "bbox_1767748872430_1767749001584_asjoxsgxv", + "width": 0.154, + "x": 0.5085, + "y": 0.35733333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767748879916": { + "instances": [ + { + "height": 0.4613333333333333, + "id": "bbox_1767748879916_1767749013158_zzqrd0r0c", + "width": 0.37299999999999994, + "x": 0.053500000000000006, + "y": 7.401486830834377e-18 + } + ], + "type": "bbox" + }, + "point_1767748919953": { + "instances": [ + { + "id": "point_1767748919953_1767748995294_mruysy0un", + "x": 0.3965, + "y": 0.512 + } + ], + "type": "point" + }, + "point_1767748924988": { + "instances": [ + { + "id": "point_1767748924988_1767748997850_3ybjvmsny", + "x": 0.6214999999999999, + "y": 0.512 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左前方的小桶移动并垂直升高。来到小桶正上方。接着爪夹垂直下降将药瓶放进小桶里，爪夹松开药瓶落入小桶。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到了药瓶正上方，方便抓取药瓶。", + "frame": 108, + "progress": 15, + "progress_explanation": "爪夹角度与桌面呈50度，来到了药瓶正上方。方便抓取药瓶。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈50度。位于药瓶正上方。\n为完成抓取药瓶放进小桶里的任务应当：爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。", + "time": 3.5891236067010306 + }, + { + "action_description": "爪夹向爪夹右方移动升高", + "annotations": { + "bbox_1767748872430": { + "instances": [ + { + "height": 0.16133333333333333, + "id": "bbox_1767748872430_1767749049730_8k8av0ve6", + "width": 0.10700000000000003, + "x": 0.40449999999999997, + "y": 0.5413333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767748879916": { + "instances": [ + { + "height": 0.36400000000000005, + "id": "bbox_1767748879916_1767749055046_jt1f4rivt", + "width": 0.257, + "x": 0.07850000000000001, + "y": 0.3013333333333333 + } + ], + "type": "bbox" + }, + "point_1767748919953": { + "instances": [ + { + "id": "point_1767748919953_1767749067700_jfk50ekuj", + "x": 0.3975, + "y": 0.5133333333333333 + } + ], + "type": "point" + }, + "point_1767748924988": { + "instances": [ + { + "id": "point_1767748924988_1767749077282_sxxql5w1p", + "x": 0.6195, + "y": 0.5066666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左移动下降，靠近药瓶。爪夹合拢抓取药瓶。抓紧药瓶向爪夹左前方的小桶移动并垂直升高。来到小桶正上方。接着爪夹垂直下降将药瓶放进小桶里，爪夹松开药瓶落入小桶。", + "error_success_analysis": "爪夹向爪夹右方移动升高，水平和垂直上远离了药瓶。", + "frame": 130, + "progress": 13, + "progress_explanation": "爪夹触碰到茶缸。垂直上远离了药瓶。因此进度降低为13%。", + "state_description": "爪夹张开，爪夹角度与桌面呈50度。触碰到茶缸。\n为完成抓取药瓶放进小桶里的任务应当：爪夹向爪夹左移动下降，靠近药瓶。爪夹合拢抓取药瓶。", + "time": 4.321799 + }, + { + "action_description": "爪夹向爪夹左方移动下降", + "annotations": { + "bbox_1767748872430": { + "instances": [ + { + "height": 0.24266666666666675, + "id": "bbox_1767748872430_1767749090080_9n3bfizzx", + "width": 0.1710000000000001, + "x": 0.4205, + "y": 0.42533333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767748879916": { + "instances": [ + { + "height": 0.544, + "id": "bbox_1767748879916_1767749103352_pv2xpemi7", + "width": 0.323, + "x": 0.0035000000000000005, + "y": 0.07333333333333333 + } + ], + "type": "bbox" + }, + "point_1767748919953": { + "instances": [ + { + "id": "point_1767748919953_1767749083396_9isa299uy", + "x": 0.3965, + "y": 0.5146666666666666 + } + ], + "type": "point" + }, + "point_1767748924988": { + "instances": [ + { + "id": "point_1767748924988_1767749085512_e96kbesyx", + "x": 0.6185, + "y": 0.5133333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取药瓶。抓紧药瓶向爪夹左前方的小桶移动并垂直升高。来到小桶正上方。接着爪夹垂直下降将药瓶放进小桶里，爪夹松开药瓶落入小桶。", + "error_success_analysis": "爪夹向爪夹左方移动下降靠近了药瓶两侧。方便抓取药瓶。", + "frame": 155, + "progress": 20, + "progress_explanation": "爪夹角度与桌面呈50度。靠近了药瓶两侧。方便抓取药瓶。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面呈50度。靠近了药瓶两侧。\n为完成抓取药瓶放进小桶里的任务应当：爪夹合拢抓取药瓶。抓紧药瓶向爪夹左前方的小桶移动并垂直升高。", + "time": 5.156433 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767748872430": { + "instances": [ + { + "height": 0.24533333333333343, + "id": "bbox_1767748872430_1767749169909_1wr4m3q1h", + "width": 0.11100000000000003, + "x": 0.4545, + "y": 0.43333333333333335 + } + ], + "type": "bbox" + }, + "bbox_1767748879916": { + "instances": [ + { + "height": 0.5519999999999999, + "id": "bbox_1767748879916_1767749183748_mi07n1jvt", + "width": 0.314, + "x": 0.0005, + "y": 0.07733333333333332 + } + ], + "type": "bbox" + }, + "point_1767748919953": { + "instances": [ + { + "id": "point_1767748919953_1767749137282_3uo9vvhl7", + "x": 0.4585, + "y": 0.5053333333333333 + } + ], + "type": "point" + }, + "point_1767748924988": { + "instances": [ + { + "id": "point_1767748924988_1767749139752_ithnjeva1", + "x": 0.5595, + "y": 0.5106666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧药瓶向爪夹左前方的小桶移动并垂直升高。来到小桶正上方。接着爪夹垂直下降将药瓶放进小桶里，爪夹松开药瓶落入小桶。", + "error_success_analysis": "爪夹合拢，成功抓取到了药瓶。方便将药瓶放进小桶。", + "frame": 177, + "progress": 40, + "progress_explanation": "爪夹角度与桌面呈50度。抓取到了药瓶。方便将药瓶靠近小桶。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈50度。抓取到药瓶。\n为完成抓取药瓶放进小桶里的任务应当：抓紧药瓶向爪夹左前方的小桶移动并垂直升高。", + "time": 5.899364089175258 + }, + { + "action_description": "爪夹夹紧药瓶垂直升高", + "annotations": { + "bbox_1767748872430": { + "instances": [ + { + "height": 0.24666666666666673, + "id": "bbox_1767748872430_1767749199018_fypo6ne1r", + "width": 0.10799999999999992, + "x": 0.4535, + "y": 0.4293333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767748879916": { + "instances": [ + { + "height": 0.3106666666666667, + "id": "bbox_1767748879916_1767749210504_nrlrrjewx", + "width": 0.25099999999999995, + "x": 0.20850000000000005, + "y": 0.22266666666666665 + } + ], + "type": "bbox" + }, + "point_1767748919953": { + "instances": [ + { + "id": "point_1767748919953_1767749191966_d0rqsxn1o", + "x": 0.4585, + "y": 0.5053333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧药瓶向爪夹左前方的小桶移动。来到小桶正上方。接着爪夹垂直下降将药瓶放进小桶里，爪夹松开药瓶落入小桶。", + "error_success_analysis": "爪夹夹紧药瓶垂直升高垂直上缩短了于小桶之间的距离。方便将后续药瓶放进小桶。", + "frame": 225, + "progress": 50, + "progress_explanation": "爪夹夹紧药瓶垂直上接近了小桶口。方便继续向小桶口移动。因此进度提升为50%。", + "state_description": "爪夹夹紧药瓶，位于半空中。垂直上接近了小桶口。\n为完成抓取药瓶放进小桶里的任务应当：抓紧药瓶向爪夹左前方的小桶移动。来到小桶正上方。", + "time": 7.500266 + }, + { + "action_description": "爪夹向爪夹左前方移动升高", + "annotations": { + "bbox_1767748872430": { + "instances": [ + { + "height": 0.24533333333333326, + "id": "bbox_1767748872430_1767749233817_py7ifs8pz", + "width": 0.10899999999999999, + "x": 0.4545, + "y": 0.4346666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767748879916": { + "instances": [ + { + "height": 0.27333333333333354, + "id": "bbox_1767748879916_1767749251509_kn7q032u9", + "width": 0.20400000000000001, + "x": 0.3915, + "y": 0.5413333333333333 + } + ], + "type": "bbox" + }, + "point_1767748919953": { + "instances": [ + { + "id": "point_1767748919953_1767749227088_bhjz7n0ir", + "x": 0.4585, + "y": 0.5106666666666667 + } + ], + "type": "point" + }, + "point_1767748924988": { + "instances": [ + { + "id": "point_1767748924988_1767749229526_jr7w3mccj", + "x": 0.5585, + "y": 0.5 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降将药瓶放进小桶里，爪夹松开药瓶落入小桶。", + "error_success_analysis": "爪夹向爪夹左前方移动升高，来到了小桶正上方。方便将药瓶放进小桶里。", + "frame": 249, + "progress": 60, + "progress_explanation": "爪夹角度接近平行于桌面。来到了小桶正上方。方便将药瓶放进小桶。因此进度提升为60%。", + "state_description": "爪夹夹紧药瓶，爪夹角度与桌面接近平行。位于小桶正上方。\n为完成抓取药瓶放进小桶里的任务应当：爪夹垂直下降将药瓶放进小桶里，爪夹松开药瓶落入小桶。", + "time": 8.303900101546391 + }, + { + "action_description": "爪夹向爪夹左移动下降", + "annotations": { + "bbox_1767748872430": { + "instances": [ + { + "height": 0.24666666666666662, + "id": "bbox_1767748872430_1767749279139_usvbnfdc5", + "width": 0.10800000000000001, + "x": 0.4525, + "y": 0.43200000000000005 + } + ], + "type": "bbox" + }, + "bbox_1767748879916": { + "instances": [ + { + "height": 0.3986666666666668, + "id": "bbox_1767748879916_1767749286771_loecb3lkk", + "width": 0.279, + "x": 0.3525, + "y": 0.4386666666666666 + } + ], + "type": "bbox" + }, + "point_1767748919953": { + "instances": [ + { + "id": "point_1767748919953_1767749269081_muttkpfcw", + "x": 0.4575, + "y": 0.5066666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "为完成抓取药瓶放进小桶里的任务应当：爪夹垂直下降将药瓶放进小桶里，爪夹松开药瓶落入小桶。", + "error_success_analysis": "爪夹向爪夹左移动下降，靠近了小桶口。方便将药瓶放进小桶里。", + "frame": 270, + "progress": 70, + "progress_explanation": "爪夹角度与桌面接近平行。垂直上接近了小桶口。方便将药瓶放进小桶。因此进度提升为70%。", + "state_description": "爪夹夹紧药瓶，爪夹角度与桌面接近平行。垂直上接近了小桶口。\n为完成抓取药瓶放进小桶里的任务应当：爪夹垂直下降将药瓶放进小桶里，爪夹松开药瓶落入小桶。", + "time": 8.987542693298968 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1767748872430": { + "instances": [ + { + "height": 0.10400000000000004, + "id": "bbox_1767748872430_1767749327533_aa5tw3fh3", + "width": 0.079, + "x": 0.46749999999999997, + "y": 0.5506666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767748879916": { + "instances": [ + { + "height": 0.3386666666666666, + "id": "bbox_1767748879916_1767749338455_z9th39m5z", + "width": 0.26400000000000007, + "x": 0.3545, + "y": 0.4186666666666667 + } + ], + "type": "bbox" + }, + "point_1767748919953": { + "instances": [ + { + "id": "point_1767748919953_1767749317851_56nqiward", + "x": 0.3975, + "y": 0.5093333333333334 + } + ], + "type": "point" + }, + "point_1767748924988": { + "instances": [ + { + "id": "point_1767748924988_1767749320501_hrjfdte8q", + "x": 0.6205, + "y": 0.5093333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开药瓶落入小桶，任务完成。", + "frame": 292, + "progress": 100, + "progress_explanation": "爪夹松开，药瓶落入小桶。因此进度提升为100%。", + "state_description": "爪夹张开，位于小桶正上方。\n抓取药瓶放进小桶里的任务目标完成。", + "time": 9.741906932474226 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767748872430", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767748879916", + "name": "小桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767748919953", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767748924988", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-151508-put-medicine bottle-white-trash can-mix1/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-151508-put-medicine bottle-white-trash can-mix1/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..1459ac6e9b46eca352fea0fcb7cd7a9cfa8ee7cf --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-151508-put-medicine bottle-white-trash can-mix1/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,909 @@ +{ + "task_description": "抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里：\n准备开始移动：0%\n爪夹靠近纸团：10%\n爪夹抓取纸团：20%\n爪夹夹紧纸团靠近小桶：30%\n爪夹将纸团放进小桶：40%\n爪夹松开纸团落入小桶：50%\n爪夹靠近药瓶：60%\n爪夹抓取药瓶：70%\n爪夹夹紧药瓶靠近小桶：80%\n爪夹将药瓶放进小桶：90%\n爪夹松开药瓶落入小桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度使其接近垂直于桌面，来到纸团正上方。爪夹垂直下降靠近纸团，爪夹合拢抓取纸团。抓紧纸团向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将纸团放进垃圾桶里，爪夹松开纸团落入垃圾桶。接着爪夹向爪夹右方移动下降，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹张开，远离纸团，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离纸团，未开始移动。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度使其接近垂直于桌面，来到纸团正上方。", + "time": 1.5104811252577321, + "annotations": { + "bbox_1767754407525": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754407525_1767754439094_p49le5f2j", + "x": 0.4455, + "y": 0.6106666666666667, + "width": 0.08099999999999996, + "height": 0.12133333333333335 + } + ] + }, + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754443360_qvkgijt4p", + "x": 0.5355000000000001, + "y": 0.5773333333333334, + "width": 0.039999999999999945, + "height": 0.09333333333333335 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754447794_pctt1v1he", + "x": 0.2375, + "y": 0.44666666666666666, + "width": 0.16699999999999998, + "height": 0.264 + } + ] + }, + "point_1767754426870": { + "type": "point", + "instances": [ + { + "id": "point_1767754426870_1767754451810_6xrf4n9g4", + "x": 0.2875, + "y": 0.4706666666666667 + } + ] + } + } + }, + { + "time": 2.635333, + "frame": 79, + "progress": 5, + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。水平和垂直上接近了纸团。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度使其接近垂直于桌面，来到纸团正上方。", + "progress_explanation": "爪夹角度与桌面呈30度。水平和垂直上接近了纸团。因此进度提升为5%", + "error_success_analysis": "爪夹向爪夹右前方移动下降水平和垂直上接近了纸团。方便抓取纸团。", + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度使其接近垂直于桌面，来到纸团正上方。爪夹垂直下降靠近纸团，爪夹合拢抓取纸团。抓紧纸团向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将纸团放进垃圾桶里，爪夹松开纸团落入垃圾桶。接着爪夹向爪夹右方移动下降，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767754407525": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754407525_1767754458812_tg452duai", + "x": 0.44749999999999995, + "y": 0.6133333333333333, + "width": 0.07600000000000007, + "height": 0.12133333333333335 + } + ] + }, + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754469710_4y4wqmasp", + "x": 0.5345, + "y": 0.5773333333333334, + "width": 0.041000000000000016, + "height": 0.09066666666666663 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754473878_4snij94rd", + "x": 0.2455, + "y": 0.4426666666666667, + "width": 0.15700000000000003, + "height": 0.26666666666666666 + } + ] + } + } + }, + { + "time": 3.441666, + "frame": 103, + "progress": 3, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。靠近了黄色玩偶。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹向爪夹左后方移动升高，调整爪夹角度使其接近垂直于桌面，来到纸团正上方。", + "progress_explanation": "爪夹角度与桌面呈30度。远离了纸团。不方便抓取纸团，因此进度降低为3%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降，水平上远离了纸团。", + "correction_plan": "爪夹向爪夹左后方移动升高，调整爪夹角度使其接近垂直于桌面，来到纸团正上方。爪夹垂直下降靠近纸团，爪夹合拢抓取纸团。抓紧纸团向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将纸团放进垃圾桶里，爪夹松开纸团落入垃圾桶。接着爪夹向爪夹右方移动下降，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767754407525": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754407525_1767754481725_zg55z0ygs", + "x": 0.4505, + "y": 0.6173333333333333, + "width": 0.07400000000000002, + "height": 0.11866666666666674 + } + ] + }, + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754489172_et8fzjls3", + "x": 0.5375, + "y": 0.5800000000000001, + "width": 0.038999999999999965, + "height": 0.09066666666666663 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754493272_bss09jrz6", + "x": 0.23850000000000007, + "y": 0.4533333333333333, + "width": 0.16499999999999995, + "height": 0.25600000000000006 + } + ] + } + } + }, + { + "time": 4.228333, + "frame": 127, + "progress": -5, + "action_description": "爪夹合拢向爪夹左方移动", + "state_description": "爪夹合拢，推动了大木盒。远离纸团。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹张开，爪夹向爪夹正后方移动升高，调整爪夹角度使其接近垂直于桌面，来到纸团正上方。", + "progress_explanation": "爪夹合拢，向左推动了大木盒。比起上一阶段多出一步张开爪夹。因此进度降低为-5%", + "error_success_analysis": "爪夹合拢向爪夹左方移动，向左推动了大木盒。水平上远离了纸团。", + "correction_plan": "爪夹张开，爪夹向爪夹正后方移动升高，调整爪夹角度使其接近垂直于桌面，来到纸团正上方。爪夹垂直下降靠近纸团，爪夹合拢抓取纸团。抓紧纸团向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将纸团放进垃圾桶里，爪夹松开纸团落入垃圾桶。接着爪夹向爪夹右方移动下降，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767754407525": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754407525_1767754504328_1eaiycank", + "x": 0.44849999999999995, + "y": 0.6133333333333334, + "width": 0.07600000000000007, + "height": 0.12266666666666654 + } + ] + }, + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754510232_qjwlgczlz", + "x": 0.5335, + "y": 0.572, + "width": 0.04299999999999997, + "height": 0.0973333333333334 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754513836_0enqkkw6k", + "x": 0.23550000000000004, + "y": 0.4653333333333334, + "width": 0.16899999999999996, + "height": 0.2426666666666667 + } + ] + } + } + }, + { + "time": 5.113333, + "frame": 153, + "progress": -8, + "action_description": "爪夹向爪夹右方移动", + "state_description": "爪夹合拢，推动了黄色玩偶。远离纸团。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹张开，爪夹向爪夹左后方移动升高，调整爪夹角度使其接近垂直于桌面，来到纸团正上方。", + "progress_explanation": "爪夹合拢，向右推动了黄色玩偶。比起上一阶段更加远离了纸团。因此进度降低为-8%", + "error_success_analysis": "爪夹向爪夹右方移动向右推动了黄色玩偶。水平上更加远离了纸团。", + "correction_plan": "爪夹张开，爪夹向爪夹左后方移动升高，调整爪夹角度使其接近垂直于桌面，来到纸团正上方。爪夹垂直下降靠近纸团，爪夹合拢抓取纸团。抓紧纸团向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将纸团放进垃圾桶里，爪夹松开纸团落入垃圾桶。接着爪夹向爪夹右方移动下降，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767754407525": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754407525_1767754530178_coh8tr8ob", + "x": 0.4465, + "y": 0.6133333333333334, + "width": 0.07999999999999999, + "height": 0.11733333333333332 + } + ] + }, + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754533590_1cmhxu9c3", + "x": 0.5335, + "y": 0.5746666666666668, + "width": 0.04299999999999997, + "height": 0.09066666666666663 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754537108_r0aycyu7t", + "x": 0.2355, + "y": 0.44933333333333336, + "width": 0.16299999999999998, + "height": 0.2706666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹张开向爪夹左后方移动升高", + "correction_plan": "爪夹垂直下降靠近纸团，调整爪夹角度使其接近垂直与桌面，爪夹合拢抓取纸团。抓紧纸团向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将纸团放进垃圾桶里，爪夹松开纸团落入垃圾桶。接着爪夹向爪夹右方移动下降，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹张开向爪夹左后方移动升高来到了纸团上空，方便下降抓取纸团。", + "frame": 190, + "progress": 4, + "progress_explanation": "爪夹角度与桌面呈10度。水平上接近了纸团。方便向纸团靠近，因此进度提升为4%。", + "state_description": "爪夹张开，爪夹角度与桌面呈10度。水平上接近了纸团。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹垂直下降靠近纸团，调整爪夹角度使其接近垂直与桌面，爪夹合拢抓取纸团。", + "time": 6.333333333333333, + "annotations": { + "bbox_1767754407525": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754407525_1767754549326_bn63msqgr", + "x": 0.45149999999999996, + "y": 0.6093333333333334, + "width": 0.07600000000000007, + "height": 0.13333333333333333 + } + ] + }, + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754552774_1e0fmibbm", + "x": 0.5335, + "y": 0.572, + "width": 0.041999999999999996, + "height": 0.09599999999999996 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754557396_0nxo9f6ow", + "x": 0.23850000000000002, + "y": 0.44666666666666666, + "width": 0.16299999999999995, + "height": 0.264 + } + ] + } + } + }, + { + "time": 7.532333, + "frame": 226, + "progress": 8, + "action_description": "爪夹垂直下降，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。垂直上接近了纸团。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹继续垂直下降靠近纸团，爪夹合拢抓取纸团。", + "progress_explanation": "爪夹角度与桌面接近垂直。垂直上接近了纸团。方便抓取纸团。因此进度提升为8%", + "error_success_analysis": "爪夹垂直下降接近了纸团，调整爪夹角度接近垂直于桌面方便抓取纸团。", + "correction_plan": "爪夹继续垂直下降靠近纸团，爪夹合拢抓取纸团。抓紧纸团向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将纸团放进垃圾桶里，爪夹松开纸团落入垃圾桶。接着爪夹向爪夹右方移动下降，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767754407525": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754407525_1767754564421_c1lm2pu3j", + "x": 0.4455, + "y": 0.6133333333333334, + "width": 0.08200000000000003, + "height": 0.12133333333333324 + } + ] + }, + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754567387_uvap4favb", + "x": 0.5335, + "y": 0.5733333333333334, + "width": 0.039000000000000055, + "height": 0.09466666666666666 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754571319_ol89l9zgr", + "x": 0.2455, + "y": 0.45066666666666666, + "width": 0.158, + "height": 0.26266666666666677 + } + ] + } + } + }, + { + "time": 8.181333, + "frame": 245, + "progress": 10, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。靠近了纸团。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹合拢抓取纸团。抓紧纸团向爪夹左方的垃圾桶移动并垂直升高。", + "progress_explanation": "爪夹角度与桌面接近垂直。靠近了纸团。方便抓取纸团。因此进度提升为10%。", + "error_success_analysis": "爪夹垂直下降来到纸团两侧，方便抓取纸团。", + "correction_plan": "爪夹合拢抓取纸团。抓紧纸团向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将纸团放进垃圾桶里，爪夹松开纸团落入垃圾桶。接着爪夹向爪夹右方移动下降，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767754407525": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754407525_1767754577649_esb5pqfj0", + "x": 0.4425, + "y": 0.6133333333333334, + "width": 0.08599999999999994, + "height": 0.11199999999999997 + } + ] + }, + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754584877_oo726ledd", + "x": 0.5355000000000001, + "y": 0.572, + "width": 0.041999999999999996, + "height": 0.10533333333333333 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754588761_74ehs5wtm", + "x": 0.2325, + "y": 0.456, + "width": 0.175, + "height": 0.25333333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧纸团向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将纸团放进垃圾桶里，爪夹松开纸团落入垃圾桶。接着爪夹向爪夹右方移动下降，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹合拢，成功抓取到了纸团。方便将纸团放进垃圾桶。", + "frame": 273, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面。抓取到了纸团。因此进度提升为20%。", + "state_description": "爪夹合拢，角度接近垂直于桌面。抓取到了纸团。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：抓紧纸团向爪夹左方的垃圾桶移动并垂直升高。", + "time": 9.093299123195877, + "annotations": { + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754596099_zjnzstq3f", + "x": 0.5335, + "y": 0.5746666666666668, + "width": 0.041999999999999996, + "height": 0.09199999999999993 + } + ] + }, + "bbox_1767754407525": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754407525_1767754598985_8nzatkeol", + "x": 0.42350000000000004, + "y": 0.6293333333333333, + "width": 0.07400000000000002, + "height": 0.09600000000000009 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754603082_dijzjcv4w", + "x": 0.23349999999999999, + "y": 0.4453333333333333, + "width": 0.166, + "height": 0.26400000000000007 + } + ] + } + } + }, + { + "time": 10.370618732474227, + "frame": 311, + "progress": 25, + "action_description": "爪夹垂直升高，调整爪夹角度", + "state_description": "爪夹夹紧纸团，爪夹角度与桌面呈70度。位于垃圾桶上空右侧。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：抓紧纸团向爪夹左方的垃圾桶移动。来到垃圾桶正上方。", + "progress_explanation": "爪夹角度与桌面呈70度。位于垃圾桶上空右侧。垂直上接近了垃圾桶口。方便将纸团放进垃圾桶。因此进度提升为25%。", + "error_success_analysis": "爪夹垂直升高，高过了垃圾桶口，方便将纸团放进垃圾桶。", + "correction_plan": "抓紧纸团向爪夹左方的垃圾桶移动。来到垃圾桶正上方。接着爪夹垂直下降将纸团放进垃圾桶里，爪夹松开纸团落入垃圾桶。接着爪夹向爪夹右方移动下降，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754613273_q86bwqgx8", + "x": 0.5335, + "y": 0.572, + "width": 0.041999999999999996, + "height": 0.0986666666666667 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754617539_ryldsenxf", + "x": 0.23650000000000002, + "y": 0.44533333333333336, + "width": 0.166, + "height": 0.264 + } + ] + } + } + }, + { + "time": 10.816666, + "frame": 324, + "progress": 30, + "action_description": "爪夹向爪夹左后方移动", + "state_description": "爪夹夹紧纸团，爪夹角度接近于桌面平行，位于垃圾桶正上方。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹垂直下降将纸团放进垃圾桶里，爪夹松开纸团落入垃圾桶。", + "progress_explanation": "爪夹角度接近于桌面平行，位于垃圾桶正上方。方便将纸团放入垃圾桶。因此进度提升为30%。", + "error_success_analysis": "爪夹向爪夹左后方移动来到了垃圾桶正上方。方便将纸团放入垃圾桶。", + "correction_plan": "爪夹垂直下降将纸团放进垃圾桶里，爪夹松开纸团落入垃圾桶。接着爪夹向爪夹右方移动下降，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754628242_j2xux0rnf", + "x": 0.5325, + "y": 0.5733333333333334, + "width": 0.04299999999999997, + "height": 0.0986666666666667 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754632434_n47ifwsy6", + "x": 0.2355, + "y": 0.444, + "width": 0.16899999999999998, + "height": 0.26533333333333337 + } + ] + } + } + }, + { + "time": 11.201890224226803, + "frame": 336, + "progress": 35, + "action_description": "爪夹垂直下降", + "state_description": "爪夹夹紧纸团，爪夹角度接近于桌面平行，垂直上接近了垃圾桶口。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹垂直下降将纸团放进垃圾桶里，爪夹松开纸团落入垃圾桶。", + "progress_explanation": "爪夹角度接近于桌面平行，垂直上接近了垃圾桶口。因此进度提升为35%。", + "error_success_analysis": "爪夹垂直下降垂直上更加接近了垃圾桶口，方便将纸团放入垃圾桶。", + "correction_plan": "爪夹垂直下降将纸团放进垃圾桶里，爪夹松开纸团落入垃圾桶。接着爪夹向爪夹右方移动下降，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754646204_mfnoiugxu", + "x": 0.5315000000000001, + "y": 0.572, + "width": 0.046, + "height": 0.0973333333333334 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754651090_gstycylpm", + "x": 0.23349999999999999, + "y": 0.43200000000000005, + "width": 0.16799999999999998, + "height": 0.276 + } + ] + } + } + }, + { + "time": 11.957333, + "frame": 359, + "progress": 50, + "action_description": "爪夹张开", + "state_description": "爪夹张开，爪夹角度接近于桌面平行，位于垃圾桶正上方。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹向爪夹右方移动下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。", + "progress_explanation": "爪夹张开，纸团落入小桶。因此进度提升为50%。", + "error_success_analysis": "爪夹张开，纸团落入小桶。方便向药瓶移动。", + "correction_plan": "爪夹向爪夹右方移动下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754658718_h6xjtp8tj", + "x": 0.2375, + "y": 0.44800000000000006, + "width": 0.166, + "height": 0.26399999999999996 + } + ] + }, + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754666040_ngfm9me5s", + "x": 0.5335, + "y": 0.5706666666666667, + "width": 0.04400000000000004, + "height": 0.0986666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右移动", + "correction_plan": "爪夹向爪夹右方移动下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹向爪夹右移动水平上缩短了与药瓶之间的距离。", + "frame": 390, + "progress": 52, + "progress_explanation": "爪夹角度与桌面呈15度。水平上接近了药瓶。因此进度提升为52%。", + "state_description": "爪夹张开，爪夹角度与桌面呈15度。水平上接近了药瓶。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹向爪夹右方移动下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。", + "time": 12.986082694329896, + "annotations": { + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754673488_tbbr0dva8", + "x": 0.5345, + "y": 0.5733333333333334, + "width": 0.040000000000000036, + "height": 0.0973333333333334 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754676872_ufynjawr7", + "x": 0.23450000000000001, + "y": 0.44, + "width": 0.16899999999999998, + "height": 0.26933333333333337 + } + ] + } + } + }, + { + "time": 14.002666, + "frame": 420, + "progress": 55, + "action_description": "爪夹向爪夹右移动下降，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈40度。水平和垂直上接近了药瓶。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹向爪夹右方移动下降，调整爪夹角度使其接近垂直于桌面，来到药瓶两侧，靠近药瓶。", + "progress_explanation": "爪夹角度与桌面呈40度。水平和垂直上接近了药瓶。方便抓取药瓶，因此进度提升为55%。", + "error_success_analysis": "爪夹向爪夹右移动下降水平和垂直上接近了药瓶。调整爪夹角度与桌面呈40度方便抓取药瓶。", + "correction_plan": "爪夹向爪夹右方移动下降，调整爪夹角度使其接近垂直于桌面，来到药瓶两侧，靠近药瓶。爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754689771_nlm9ukjbc", + "x": 0.5315000000000001, + "y": 0.5773333333333334, + "width": 0.046, + "height": 0.08800000000000002 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754701693_ckwq9dmr4", + "x": 0.23150000000000004, + "y": 0.42533333333333334, + "width": 0.16799999999999998, + "height": 0.28400000000000003 + } + ] + } + } + }, + { + "time": 14.789333, + "frame": 444, + "progress": 60, + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈80度。靠近了药瓶。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。", + "progress_explanation": "爪夹角度与桌面呈80度，靠近了药瓶。方便抓取药瓶。因此进度提升为60%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降靠近了药瓶，调整爪夹角度与桌面呈80度方便抓取药瓶。", + "correction_plan": "爪夹合拢抓取药瓶。抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754717097_fek2izkb1", + "x": 0.5375, + "y": 0.5773333333333334, + "width": 0.038999999999999965, + "height": 0.08933333333333332 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754720781_yrq5fqb7m", + "x": 0.2345, + "y": 0.39866666666666667, + "width": 0.16900000000000004, + "height": 0.3133333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹合拢成功抓取到了药瓶。方便将药瓶靠近垃圾桶。", + "frame": 466, + "progress": 70, + "progress_explanation": "爪夹角度与桌面呈80度。抓取到了药瓶。方便将药瓶靠近垃圾桶。因此进度提升为70%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈80度。抓取到药瓶。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：抓紧药瓶向爪夹左方的垃圾桶移动并垂直升高。来到垃圾桶正上方。", + "time": 15.540721912886598, + "annotations": { + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754736597_egpgq9mj8", + "x": 0.5245, + "y": 0.568, + "width": 0.04400000000000004, + "height": 0.0986666666666667 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754740867_rr6e6xi64", + "x": 0.2495, + "y": 0.41466666666666663, + "width": 0.15199999999999997, + "height": 0.2906666666666667 + } + ] + } + } + }, + { + "time": 16.775666, + "frame": 503, + "progress": 75, + "action_description": "爪夹夹紧药瓶垂直升高", + "state_description": "爪夹夹紧药瓶，位于半空中。垂直上接近了垃圾桶口。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：抓紧药瓶向爪夹左方的垃圾桶移动。来到垃圾桶正上方。", + "progress_explanation": "爪夹夹紧药瓶垂直上接近了垃圾桶口。方便继续向垃圾桶口移动。因此进度提升为75%。", + "error_success_analysis": "爪夹夹紧药瓶垂直升高垂直上缩短了于案垃圾桶之间的距离。方便将后续药瓶放进垃圾桶。", + "correction_plan": "抓紧药瓶向爪夹左方的垃圾桶移动。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754747264_psrvfjyge", + "x": 0.49050000000000005, + "y": 0.35866666666666663, + "width": 0.046, + "height": 0.10533333333333333 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754751226_h9un6n9dv", + "x": 0.2395, + "y": 0.444, + "width": 0.16300000000000003, + "height": 0.26400000000000007 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧药瓶向爪夹左移动升高", + "correction_plan": "爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹夹紧药瓶向爪夹左移动升高，来到了垃圾桶正上方。方便将药瓶放进垃圾桶。", + "frame": 524, + "progress": 80, + "progress_explanation": "爪夹角度与桌面呈20度。来到了垃圾桶正上方。方便将药瓶放进垃圾桶。因此进度提升为80%", + "state_description": "爪夹夹紧药瓶，爪夹角度与桌面呈20度。位于垃圾桶正上方。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "time": 17.466838784020617, + "annotations": { + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754762800_o8jybarxy", + "x": 0.3135, + "y": 0.27466666666666667, + "width": 0.046, + "height": 0.10400000000000004 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754769486_rwl4n9qz2", + "x": 0.23149999999999998, + "y": 0.44666666666666666, + "width": 0.16999999999999998, + "height": 0.2653333333333333 + } + ] + } + } + }, + { + "time": 17.857333, + "frame": 536, + "progress": 85, + "action_description": "爪夹垂直下降", + "state_description": "爪夹夹紧药瓶，爪夹角度与桌面呈40度。垂直上接近了垃圾桶口。\n为完成抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务应当：爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "progress_explanation": "爪夹角度与桌面呈40度。垂直上接近了垃圾桶口。方便将药瓶放进垃圾桶。因此进度提升为85%。", + "error_success_analysis": "爪夹向爪夹下方移动下降，靠近了垃圾桶口。方便将药瓶放进垃圾桶里。", + "correction_plan": "爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767754413557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754413557_1767754778087_r7a3diyt2", + "x": 0.30250000000000005, + "y": 0.388, + "width": 0.04599999999999995, + "height": 0.11600000000000002 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754784632_jlv9aph8s", + "x": 0.2355, + "y": 0.43200000000000005, + "width": 0.16700000000000004, + "height": 0.2813333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，药瓶落入小桶。任务完成。", + "frame": 549, + "progress": 100, + "progress_explanation": "爪夹松开，药瓶落入小桶。因此进度提升为100%。", + "state_description": "爪夹张开，位于垃圾桶正上方。\n抓取纸团放进垃圾桶里，接着抓取药瓶放进垃圾桶里的任务完成。", + "time": 18.298110275773197, + "annotations": { + "bbox_1767754407525": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754407525_1767754794176_dfrmcppmc", + "x": 0.3095, + "y": 0.5640000000000001, + "width": 0.05699999999999998, + "height": 0.07066666666666659 + } + ] + }, + "bbox_1767754417654": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754417654_1767754798298_5iu1tz8up", + "x": 0.23650000000000002, + "y": 0.44266666666666665, + "width": 0.16699999999999998, + "height": 0.2693333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767754407525", + "name": "纸团", + "color": "#4CAF50" + }, + { + "id": "bbox_1767754413557", + "name": "药瓶", + "color": "#FF9800" + }, + { + "id": "bbox_1767754417654", + "name": "垃圾桶", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1767754422111", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767754426870", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-151508-put-medicine bottle-white-trash can-mix1/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-151508-put-medicine bottle-white-trash can-mix1/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..92986900ab59fdd33f308aa1c2bc5b3dae4b4804 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-151508-put-medicine bottle-white-trash can-mix1/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,750 @@ +{ + "task_description": "抓取药瓶放进垃圾桶里：\n准备开始移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹夹紧药瓶靠近垃圾桶：60%\n爪夹将药瓶放进垃圾桶：80%\n爪夹松开药瓶落入垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹右方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离药瓶，未开始移动。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。", + "time": 1.1793298969072163, + "annotations": { + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756715135_0kt2ig41c", + "x": 0.7355, + "y": 0.44000000000000006, + "width": 0.052999999999999936, + "height": 0.09600000000000003 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756724477_ttan25kgb", + "x": 0.9325000000000001, + "y": 0.43333333333333335, + "width": 0.06599999999999984, + "height": 0.17600000000000005 + } + ] + }, + "point_1767756699301": { + "type": "point", + "instances": [ + { + "id": "point_1767756699301_1767756727891_7vib6zdsh", + "x": 0.3965, + "y": 0.512 + } + ] + }, + "point_1767756703956": { + "type": "point", + "instances": [ + { + "id": "point_1767756703956_1767756730663_xezsg9tmf", + "x": 0.6185, + "y": 0.5066666666666667 + } + ] + } + } + }, + { + "time": 2.315618556701031, + "frame": 69, + "progress": 10, + "action_description": "爪夹向爪夹右侧移动下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。水平和垂直上接近了药瓶。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了药瓶。方便抓取药瓶，因此进度提升为10%。", + "error_success_analysis": "爪夹向右前方移动并下降缩短了于药瓶之间的距离。方便抓取药瓶。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹右方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "point_1767756699301": { + "type": "point", + "instances": [ + { + "id": "point_1767756699301_1767756735225_d5t61qooz", + "x": 0.3935, + "y": 0.5093333333333334 + } + ] + }, + "point_1767756703956": { + "type": "point", + "instances": [ + { + "id": "point_1767756703956_1767756737743_3i3upq2tr", + "x": 0.6185, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756741439_1vkrfnzz5", + "x": 0.4885, + "y": 0.30400000000000005, + "width": 0.06400000000000006, + "height": 0.1373333333333333 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756747243_13ix6ufzh", + "x": 0.7835, + "y": 0.10533333333333333, + "width": 0.18099999999999997, + "height": 0.22666666666666668 + } + ] + } + } + }, + { + "time": 3.139599, + "frame": 94, + "progress": 20, + "action_description": "爪夹向爪夹右侧移动并垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。靠近了药瓶两侧。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹合拢抓取药瓶。抓紧药瓶向爪夹右方的垃圾桶移动并垂直升高。", + "progress_explanation": "爪夹角度与桌面接近垂直。靠近了药瓶两侧。方便抓取药瓶。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右方移动下降靠近了药瓶两侧。方便抓取药瓶。", + "correction_plan": "爪夹合拢抓取药瓶。抓紧药瓶向爪夹右方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "point_1767756703956": { + "type": "point", + "instances": [ + { + "id": "point_1767756703956_1767756758486_xyfyodian", + "x": 0.6185, + "y": 0.5093333333333334 + } + ] + }, + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756762189_mzyb3xasa", + "x": 0.4565, + "y": 0.388, + "width": 0.10199999999999995, + "height": 0.23999999999999996 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756765925_9l63d0ll7", + "x": 0.8755000000000001, + "y": 0.128, + "width": 0.12199999999999989, + "height": 0.32133333333333336 + } + ] + } + } + }, + { + "time": 3.874399, + "frame": 116, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。抓取到药瓶。\n为完成抓取药瓶放进垃圾桶里的任务应当：抓紧药瓶向爪夹右方的垃圾桶移动并垂直升高。", + "progress_explanation": "爪夹角度与桌面接近垂直。抓取到了药瓶。方便将药瓶靠近垃圾桶。因此进度提升为40%。", + "error_success_analysis": "爪夹合拢，成功抓取到了药瓶。方便将药瓶放进垃圾桶。", + "correction_plan": "抓紧药瓶向爪夹右方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756771596_42quaqyfw", + "x": 0.4545, + "y": 0.37733333333333335, + "width": 0.12199999999999997, + "height": 0.2546666666666667 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756783267_qu2nim4d0", + "x": 0.8585, + "y": 0.12933333333333333, + "width": 0.1379999999999999, + "height": 0.3360000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高", + "correction_plan": "抓紧药瓶向爪夹右方的垃圾桶移动。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹夹紧药瓶垂直升高垂直上缩短了于垃圾桶之间的距离。方便将后续药瓶放进垃圾桶。", + "frame": 172, + "progress": 50, + "progress_explanation": "爪夹夹紧药瓶垂直上接近了垃圾桶口。方便继续向垃圾桶口移动。因此进度提升为50%。", + "state_description": "爪夹夹紧药瓶，位于半空中。垂直上接近了垃圾桶口。\n为完成抓取药瓶放进垃圾桶里的任务应当：抓紧药瓶向爪夹右方的垃圾桶移动。来到垃圾桶正上方。", + "time": 5.733333333333333, + "annotations": { + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756792039_g70tzg94e", + "x": 0.4485, + "y": 0.372, + "width": 0.12999999999999998, + "height": 0.2573333333333333 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756796949_9fba3fyhn", + "x": 0.7665, + "y": 0.14133333333333334, + "width": 0.19799999999999995, + "height": 0.2906666666666667 + } + ] + } + } + }, + { + "time": 6.46479381443299, + "frame": 194, + "progress": 52, + "action_description": "爪夹向爪夹右侧移动升高", + "state_description": "爪夹夹紧药瓶，爪夹角度接近垂直于桌面。水平上接近了垃圾桶。\n为完成抓取药瓶放进垃圾桶里的任务应当：抓紧药瓶向爪夹右方的垃圾桶移动。来到垃圾桶正上方。", + "progress_explanation": "爪夹角度接近垂直于桌面。水平上接近了垃圾桶。因此进度提升为52%。", + "error_success_analysis": "爪夹向爪夹右侧移动升高水平上接近了垃圾桶。方便将药瓶放进垃圾桶。", + "correction_plan": "抓紧药瓶向爪夹右方的垃圾桶移动。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756804469_0aasht1ld", + "x": 0.4575, + "y": 0.36533333333333334, + "width": 0.11699999999999999, + "height": 0.26933333333333326 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756808023_p67smqhtb", + "x": 0.5835, + "y": 0.26666666666666666, + "width": 0.19400000000000003, + "height": 0.22266666666666665 + } + ] + } + } + }, + { + "time": 6.843556701030927, + "frame": 205, + "progress": 8, + "action_description": "爪夹张开", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。药瓶落到桌面上。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。", + "progress_explanation": "爪夹角度接近垂直于桌面。爪夹张开，药瓶落到桌面上。垂直上远离了药瓶。因此进度降低为8%。", + "error_success_analysis": "爪夹张开，药瓶落到桌面上。垂直上远离了药瓶。", + "correction_plan": "爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹右方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "point_1767756699301": { + "type": "point", + "instances": [ + { + "id": "point_1767756699301_1767756816829_7jhqr379d", + "x": 0.3965, + "y": 0.5053333333333333 + } + ] + }, + "point_1767756703956": { + "type": "point", + "instances": [ + { + "id": "point_1767756703956_1767756819002_esqji5opn", + "x": 0.6195, + "y": 0.5093333333333334 + } + ] + }, + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756822263_h7tifsfx6", + "x": 0.5025000000000001, + "y": 0.37733333333333335, + "width": 0.05800000000000001, + "height": 0.11466666666666665 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756830967_9n8lfqrr0", + "x": 0.6485000000000001, + "y": 0.19733333333333333, + "width": 0.19400000000000003, + "height": 0.23066666666666666 + } + ] + } + } + }, + { + "time": 7.4649, + "frame": 224, + "progress": 7, + "action_description": "爪夹向爪夹左移动", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。水平上微微远离了药瓶。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹向爪夹右前方移动下降，靠近药瓶，爪夹合拢抓取药瓶。", + "progress_explanation": "爪夹角度接近垂直于桌面。水平上微微远离了药瓶。因此进度降低为7%。", + "error_success_analysis": "爪夹向爪夹左移动增加了与药瓶之间的距离。不方便抓取药瓶。", + "correction_plan": "爪夹向爪夹右前方移动下降，靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹右方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "point_1767756699301": { + "type": "point", + "instances": [ + { + "id": "point_1767756699301_1767756838435_0kbjckfxm", + "x": 0.3955, + "y": 0.5093333333333334 + } + ] + }, + "point_1767756703956": { + "type": "point", + "instances": [ + { + "id": "point_1767756703956_1767756841298_kitxc16nk", + "x": 0.6185, + "y": 0.5133333333333333 + } + ] + }, + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756846338_eujqyms1g", + "x": 0.6375, + "y": 0.3346666666666667, + "width": 0.06000000000000005, + "height": 0.12399999999999996 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756850389_nmswpen6y", + "x": 0.7845, + "y": 0.19866666666666666, + "width": 0.172, + "height": 0.23333333333333336 + } + ] + } + } + }, + { + "time": 8.7842, + "frame": 264, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。位于药瓶正上方。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。", + "progress_explanation": "爪夹角度接近垂直于桌面。位于药瓶正上方。方便抓取药瓶。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到了药瓶正上方。方便抓取药瓶。", + "correction_plan": "爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹右方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "point_1767756699301": { + "type": "point", + "instances": [ + { + "id": "point_1767756699301_1767756854384_zegprkwcn", + "x": 0.3975, + "y": 0.512 + } + ] + }, + "point_1767756703956": { + "type": "point", + "instances": [ + { + "id": "point_1767756703956_1767756856556_u9fkk35kt", + "x": 0.6225, + "y": 0.516 + } + ] + }, + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756859931_li3egg1py", + "x": 0.5015, + "y": 0.34, + "width": 0.079, + "height": 0.16933333333333334 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756863106_qr5rgthhc", + "x": 0.6745000000000001, + "y": 0.09866666666666667, + "width": 0.23499999999999996, + "height": 0.28800000000000003 + } + ] + } + } + }, + { + "time": 10.527886597938144, + "frame": 316, + "progress": 20, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了药瓶。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹合拢抓取药瓶。抓紧药瓶向爪夹右方的垃圾桶移动并垂直升高。", + "progress_explanation": "爪夹角度与桌面接近垂直。靠近了药瓶两侧。方便抓取药瓶。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右方移动下降靠近了药瓶两侧。方便抓取药瓶。", + "correction_plan": "爪夹合拢抓取药瓶。抓紧药瓶向爪夹右方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "point_1767756699301": { + "type": "point", + "instances": [ + { + "id": "point_1767756699301_1767756873583_fx5p2ivjw", + "x": 0.4135, + "y": 0.5133333333333333 + } + ] + }, + "point_1767756703956": { + "type": "point", + "instances": [ + { + "id": "point_1767756703956_1767756875241_src7l5rj8", + "x": 0.6035, + "y": 0.5093333333333334 + } + ] + }, + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756879332_j3fmorbrq", + "x": 0.48950000000000005, + "y": 0.36800000000000005, + "width": 0.10899999999999999, + "height": 0.2373333333333333 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756883223_nyk8t2w6z", + "x": 0.7195, + "y": 0.005333333333333333, + "width": 0.2779999999999999, + "height": 0.39866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧药瓶向爪夹右方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹合拢，成功抓取到了药瓶。方便将药瓶放进垃圾桶。", + "frame": 332, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直。抓取到了药瓶。方便将药瓶靠近垃圾桶。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。抓取到药瓶。\n为完成抓取药瓶放进垃圾桶里的任务应当：抓紧药瓶向爪夹右方的垃圾桶移动并垂直升高。", + "time": 11.07881443298969, + "annotations": { + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756891157_stlqo5u7f", + "x": 0.4585, + "y": 0.3346666666666667, + "width": 0.13500000000000006, + "height": 0.25866666666666666 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756898066_j7ii6wf0o", + "x": 0.7304999999999999, + "y": 0.009333333333333334, + "width": 0.26900000000000013, + "height": 0.4026666666666667 + } + ] + } + } + }, + { + "time": 12.817680412371134, + "frame": 385, + "progress": 50, + "action_description": "爪夹垂直升高", + "state_description": "爪夹夹紧药瓶，位于半空中。垂直上接近了垃圾桶口。\n为完成抓取药瓶放进垃圾桶里的任务应当：抓紧药瓶向爪夹右方的垃圾桶移动。来到垃圾桶正上方。", + "progress_explanation": "爪夹夹紧药瓶垂直上接近了垃圾桶口。方便继续向垃圾桶口移动。因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧药瓶垂直升高垂直上缩短了于垃圾桶之间的距离。方便将后续药瓶放进垃圾桶。", + "correction_plan": "抓紧药瓶向爪夹右方的垃圾桶移动。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756905460_j4n2rkiun", + "x": 0.4585, + "y": 0.316, + "width": 0.133, + "height": 0.2746666666666666 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756911044_qapjz94gh", + "x": 0.7315, + "y": 0.14666666666666667, + "width": 0.20699999999999993, + "height": 0.272 + } + ] + }, + "point_1767756699301": { + "type": "point", + "instances": [ + { + "id": "point_1767756699301_1767756919357_nksofcgzp", + "x": 0.4585, + "y": 0.5 + } + ] + } + } + }, + { + "time": 13.7608, + "frame": 413, + "progress": 60, + "action_description": "爪夹向爪夹右前方移动", + "state_description": "爪夹夹紧药瓶，爪夹角度接近垂直于桌面。位于垃圾桶正上方。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "progress_explanation": "爪夹角度接近垂直于桌面。位于垃圾桶正上方。方便将药瓶放进垃圾桶。因此进度提升为60%。", + "error_success_analysis": "爪夹向爪夹右前方移动来到了垃圾桶正上方。方便将药瓶放进垃圾桶。", + "correction_plan": "爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "point_1767756699301": { + "type": "point", + "instances": [ + { + "id": "point_1767756699301_1767756924139_8cddw5osi", + "x": 0.4605, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756928474_30kyfau9a", + "x": 0.4575, + "y": 0.32, + "width": 0.13399999999999998, + "height": 0.2720000000000001 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756936003_5dduokbjx", + "x": 0.39649999999999996, + "y": 0.37466666666666665, + "width": 0.19600000000000004, + "height": 0.27733333333333327 + } + ] + } + } + }, + { + "time": 14.177783505154638, + "frame": 425, + "progress": 70, + "action_description": "爪夹向爪夹右方移动下降", + "state_description": "爪夹夹紧药瓶，爪夹角度接近垂直于桌面。垂直上接近了垃圾桶口。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "progress_explanation": "爪夹角度接近垂直于桌面。垂直上接近了垃圾桶口。方便将药瓶放进垃圾桶。因此进度提升为70%。", + "error_success_analysis": "爪夹向爪夹右方移动下降，垂直上接近了垃圾桶口。方便将药瓶放进垃圾桶。", + "correction_plan": "爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "annotations": { + "point_1767756699301": { + "type": "point", + "instances": [ + { + "id": "point_1767756699301_1767756945267_0g7tccb9l", + "x": 0.4625, + "y": 0.504 + } + ] + }, + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756949087_du4hku255", + "x": 0.46049999999999996, + "y": 0.31466666666666665, + "width": 0.13200000000000003, + "height": 0.2813333333333333 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756957865_7xmls32ip", + "x": 0.2645, + "y": 0.3266666666666667, + "width": 0.244, + "height": 0.33999999999999997 + } + ] + } + } + }, + { + "time": 14.812899, + "frame": 444, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，位于垃圾桶正上方。\n抓取药瓶放进垃圾桶里的任务目标完成。", + "progress_explanation": "爪夹松开，药瓶落入垃圾桶。因此进度提升为100%。", + "error_success_analysis": "爪夹松开，药瓶落入垃圾桶。任务完成。", + "correction_plan": "", + "annotations": { + "bbox_1767756690339": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756690339_1767756972407_m1hdesyl3", + "x": 0.2605, + "y": 0.42533333333333334, + "width": 0.052000000000000005, + "height": 0.11066666666666673 + } + ] + }, + "bbox_1767756694581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756694581_1767756977817_qvjbp495s", + "x": 0.22349999999999998, + "y": 0.2853333333333333, + "width": 0.264, + "height": 0.36800000000000005 + } + ] + }, + "point_1767756699301": { + "type": "point", + "instances": [ + { + "id": "point_1767756699301_1767756984496_kvsjnrl0o", + "x": 0.3955, + "y": 0.5106666666666667 + } + ] + }, + "point_1767756703956": { + "type": "point", + "instances": [ + { + "id": "point_1767756703956_1767756986701_98dnxjf7q", + "x": 0.6205, + "y": 0.5106666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767756690339", + "name": "药瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1767756694581", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767756699301", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767756703956", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-154149-put-medicine bottle-white-trash can-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-154149-put-medicine bottle-white-trash can-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..ca39fff97162fe9e6861a3f9acd5562199a8656a --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-154149-put-medicine bottle-white-trash can-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,514 @@ +{ + "task_description": "抓取药瓶放进垃圾桶里：\n准备开始移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹夹紧药瓶靠近垃圾桶：60%\n爪夹将药瓶放进垃圾桶：80%\n爪夹松开药瓶落入垃圾桶：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左前方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离药瓶，未开始移动。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。", + "time": 1.637061855670103, + "annotations": { + "point_1767764946178": { + "type": "point", + "instances": [ + { + "id": "point_1767764946178_1767765022747_tzgi0rr9b", + "x": 0.3945, + "y": 0.504 + } + ] + }, + "point_1767764955494": { + "type": "point", + "instances": [ + { + "id": "point_1767764955494_1767765025278_5wmq9gr2b", + "x": 0.6214999999999999, + "y": 0.5093333333333334 + } + ] + }, + "bbox_1767764930910": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764930910_1767765031232_0yzl500ix", + "x": 0.6225, + "y": 0.5946666666666667, + "width": 0.038999999999999965, + "height": 0.06666666666666667 + } + ] + }, + "bbox_1767764938068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764938068_1767765036615_eed4ke8yk", + "x": 0.5135, + "y": 0.2946666666666667, + "width": 0.13500000000000006, + "height": 0.192 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动并下降，调整爪夹角度", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左前方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹向右移动并下降缩短了于药瓶之间的距离。方便抓取药瓶。", + "frame": 72, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直。水平和垂直上接近了药瓶。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。水平和垂直上接近了药瓶。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。", + "time": 2.4115, + "annotations": { + "point_1767764946178": { + "type": "point", + "instances": [ + { + "id": "point_1767764946178_1767765047292_26l55rffq", + "x": 0.3955, + "y": 0.5093333333333334 + } + ] + }, + "point_1767764955494": { + "type": "point", + "instances": [ + { + "id": "point_1767764955494_1767765050266_xkij0xngm", + "x": 0.6195, + "y": 0.508 + } + ] + }, + "bbox_1767764930910": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764930910_1767765054788_3nwjsyeg3", + "x": 0.5395000000000001, + "y": 0.392, + "width": 0.04899999999999993, + "height": 0.060000000000000026 + } + ] + }, + "bbox_1767764938068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764938068_1767765059074_b78arcicw", + "x": 0.3585, + "y": 0.014666666666666665, + "width": 0.188, + "height": 0.24000000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹向右移动并下降", + "correction_plan": "爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左前方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到了药瓶正上方，方便抓取药瓶。", + "frame": 91, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，来到了药瓶正上方。方便抓取药瓶。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。位于药瓶正上方。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。", + "time": 3.039399, + "annotations": { + "point_1767764946178": { + "type": "point", + "instances": [ + { + "id": "point_1767764946178_1767765069343_gt5tlwy50", + "x": 0.3945, + "y": 0.5066666666666667 + } + ] + }, + "point_1767764955494": { + "type": "point", + "instances": [ + { + "id": "point_1767764955494_1767765072088_fewml7p99", + "x": 0.6185, + "y": 0.5146666666666666 + } + ] + }, + "bbox_1767764930910": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764930910_1767765076592_tud3sf6nb", + "x": 0.4965, + "y": 0.43733333333333335, + "width": 0.06400000000000006, + "height": 0.08133333333333331 + } + ] + }, + "bbox_1767764938068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764938068_1767765083438_xy9a9kplc", + "x": 0.1155, + "y": 0, + "width": 0.255, + "height": 0.308 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹合拢抓取药瓶。抓紧药瓶向爪夹左前方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹垂直下降靠近了药瓶两侧。方便抓取药瓶。", + "frame": 112, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直。靠近了药瓶两侧。方便抓取药瓶。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。靠近了药瓶两侧。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹合拢抓取药瓶。抓紧药瓶向爪夹左前方的垃圾桶移动并垂直升高。", + "time": 3.7401, + "annotations": { + "point_1767764946178": { + "type": "point", + "instances": [ + { + "id": "point_1767764946178_1767765095096_glzfyf12e", + "x": 0.3965, + "y": 0.5106666666666667 + } + ] + }, + "point_1767764955494": { + "type": "point", + "instances": [ + { + "id": "point_1767764955494_1767765098076_2rsosip5x", + "x": 0.6205, + "y": 0.5173333333333333 + } + ] + }, + "bbox_1767764930910": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764930910_1767765102444_mxuipxg40", + "x": 0.4425, + "y": 0.464, + "width": 0.10100000000000006, + "height": 0.15600000000000006 + } + ] + }, + "bbox_1767764938068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764938068_1767765108484_6izgt44fx", + "x": 0.0025, + "y": 0.005333333333333333, + "width": 0.325, + "height": 0.20800000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧药瓶向爪夹左前方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹合拢，成功抓取到了药瓶。方便将药瓶放进垃圾桶。", + "frame": 136, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，抓取到了药瓶。方便将药瓶靠近垃圾桶。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。抓取到药瓶。\n为完成抓取药瓶放进垃圾桶里的任务应当：抓紧药瓶向爪夹左前方的垃圾桶移动并垂直升高。来到垃圾桶正上方。", + "time": 4.5409, + "annotations": { + "bbox_1767764938068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764938068_1767765116484_ylzo1z9fd", + "x": 0.0004999999999999976, + "y": -0.004, + "width": 0.39, + "height": 0.164 + } + ] + }, + "point_1767764946178": { + "type": "point", + "instances": [ + { + "id": "point_1767764946178_1767765128506_cwq0toj9h", + "x": 0.4545, + "y": 0.5026666666666667 + } + ] + }, + "point_1767764955494": { + "type": "point", + "instances": [ + { + "id": "point_1767764955494_1767765130649_gfjamubqh", + "x": 0.5595, + "y": 0.49733333333333335 + } + ] + }, + "bbox_1767764930910": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764930910_1767765135298_10z0obm84", + "x": 0.4585, + "y": 0.42133333333333334, + "width": 0.1, + "height": 0.1733333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高", + "correction_plan": "抓紧药瓶向爪夹左前方的垃圾桶移动。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹夹紧药瓶垂直升高垂直上缩短了于垃圾桶之间的距离。方便后续药瓶放进垃圾桶。", + "frame": 179, + "progress": 50, + "progress_explanation": "爪夹夹紧药瓶垂直上接近了垃圾桶口。方便继续向垃圾桶口移动。因此进度提升为50%。", + "state_description": "爪夹夹紧药瓶，位于半空中。垂直上接近了垃圾桶口。\n为完成抓取药瓶放进垃圾桶里的任务应当：抓紧药瓶向爪夹左前方的垃圾桶移动。来到垃圾桶正上方。", + "time": 5.980670103092783, + "annotations": { + "bbox_1767764930910": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764930910_1767765141842_562u9ji8a", + "x": 0.4545, + "y": 0.41733333333333333, + "width": 0.10400000000000001, + "height": 0.17866666666666664 + } + ] + }, + "bbox_1767764938068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764938068_1767765152203_ohs71dig2", + "x": 0.17950000000000002, + "y": 0.11333333333333333, + "width": 0.213, + "height": 0.27466666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动", + "correction_plan": "抓紧药瓶向爪夹左前方的垃圾桶移动。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹向爪夹左前方移动缩短了于垃圾桶之间的距离。", + "frame": 198, + "progress": 55, + "progress_explanation": "爪夹角度接近垂直于桌面。水平上靠近了垃圾桶。因此进度提升为55%。", + "state_description": "爪夹夹紧药瓶，爪夹角度接近垂直于桌面。水平上靠近了垃圾桶。\n为完成抓取药瓶放进垃圾桶里的任务应当：抓紧药瓶向爪夹左前方的垃圾桶移动。来到垃圾桶正上方。", + "time": 6.5884, + "annotations": { + "bbox_1767764930910": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764930910_1767765166141_gom4byorg", + "x": 0.4565, + "y": 0.42400000000000004, + "width": 0.10400000000000001, + "height": 0.16933333333333334 + } + ] + }, + "point_1767764946178": { + "type": "point", + "instances": [ + { + "id": "point_1767764946178_1767765181553_srrh7xibu", + "x": 0.4565, + "y": 0.4986666666666667 + } + ] + }, + "point_1767764955494": { + "type": "point", + "instances": [ + { + "id": "point_1767764955494_1767765184715_siyh0riwz", + "x": 0.5585, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767764938068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764938068_1767765191708_ma48spg2q", + "x": 0.3385, + "y": 0.2546666666666667, + "width": 0.19899999999999998, + "height": 0.25866666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹垂直下降，靠近药瓶。爪夹合拢抓取药瓶。抓紧药瓶向爪夹左前方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹张开药瓶落入水杯里。垂直上远离了药瓶。需要重新抓取药瓶。", + "frame": 211, + "progress": 12, + "progress_explanation": "爪夹角度接近垂直于桌面。药瓶落入水杯里。垂直上远离了药瓶。因此进度降低为12%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。药瓶落入水杯里。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹垂直下降，靠近药瓶。爪夹合拢抓取药瓶。", + "time": 7.03139175257732, + "annotations": { + "point_1767764946178": { + "type": "point", + "instances": [ + { + "id": "point_1767764946178_1767765195869_6lwsnn9dz", + "x": 0.39849999999999997, + "y": 0.5093333333333334 + } + ] + }, + "point_1767764955494": { + "type": "point", + "instances": [ + { + "id": "point_1767764955494_1767765198125_75vknc01x", + "x": 0.6134999999999999, + "y": 0.5066666666666667 + } + ] + }, + "bbox_1767764930910": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764930910_1767765202043_ook86ckwr", + "x": 0.4665, + "y": 0.528, + "width": 0.07300000000000004, + "height": 0.09200000000000005 + } + ] + }, + "bbox_1767764938068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764938068_1767765205751_xswkvb9fs", + "x": 0.35150000000000003, + "y": 0.23733333333333334, + "width": 0.20600000000000002, + "height": 0.26 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右后方移动升高", + "correction_plan": "爪夹向爪夹左前方移动并垂直下降，靠近药瓶。爪夹合拢抓取药瓶。抓紧药瓶向爪夹左前方的垃圾桶移动并垂直升高。来到垃圾桶正上方。接着爪夹垂直下降将药瓶放进垃圾桶里，爪夹松开药瓶落入垃圾桶。", + "error_success_analysis": "爪夹向爪夹右后方移动升高增加了于药瓶之间的距离。不方便抓取药瓶。", + "frame": 272, + "progress": 8, + "progress_explanation": "爪夹角度接近垂直于桌面。水平和垂直上远离了药瓶。因此进度降低为8%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。水平和垂直上远离了药瓶。\n为完成抓取药瓶放进垃圾桶里的任务应当：爪夹向爪夹左前方移动并垂直下降，靠近药瓶。爪夹合拢抓取药瓶。", + "time": 9.066666666666666, + "annotations": { + "point_1767764946178": { + "type": "point", + "instances": [ + { + "id": "point_1767764946178_1767765215117_3mr9zj9lv", + "x": 0.3945, + "y": 0.512 + } + ] + }, + "point_1767764955494": { + "type": "point", + "instances": [ + { + "id": "point_1767764955494_1767765217130_s5d336nb2", + "x": 0.6214999999999999, + "y": 0.5093333333333334 + } + ] + }, + "bbox_1767764930910": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764930910_1767765221202_8cml0od1l", + "x": 0.3875, + "y": 0.332, + "width": 0.075, + "height": 0.08933333333333332 + } + ] + }, + "bbox_1767764938068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767764938068_1767765225815_lgc8194sq", + "x": 0.2785, + "y": 0.06266666666666668, + "width": 0.192, + "height": 0.24933333333333332 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767764930910", + "name": "药瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1767764938068", + "name": "垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767764946178", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767764955494", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-154924-put-medicine bottle-white-ceramic mug-good1/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-154924-put-medicine bottle-white-ceramic mug-good1/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..79f76df4d7b0df8b93b8e1785cc7b1a0a79112b2 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-154924-put-medicine bottle-white-ceramic mug-good1/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,230 @@ +{ + "task_description": "抓取药瓶放进水杯里：\n准备开始移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹夹紧药瓶靠近水杯：60%\n爪夹将药瓶放进水杯：80%\n爪夹松开药瓶落入水杯：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹右前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离药瓶，未开始移动。\n为完成抓取药瓶放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。", + "time": 1.3132646530927836, + "annotations": { + "bbox_1767766683968": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766683968_1767766708855_gm3zn4tnb", + "x": 0.7115, + "y": 0.5453333333333333, + "width": 0.04500000000000002, + "height": 0.06800000000000009 + } + ] + }, + "bbox_1767766687879": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766687879_1767766713587_yy3zu0pfh", + "x": 0.6955, + "y": 0.336, + "width": 0.12599999999999997, + "height": 0.148 + } + ] + }, + "point_1767766692360": { + "type": "point", + "instances": [ + { + "id": "point_1767766692360_1767766719029_vu90e3irp", + "x": 0.4535, + "y": 0.42 + } + ] + }, + "point_1767766697099": { + "type": "point", + "instances": [ + { + "id": "point_1767766697099_1767766722711_0htcnsotp", + "x": 0.5805, + "y": 0.4346666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "correction_plan": "爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹右前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到了药瓶正上方，调整爪夹角度与桌面接近垂直。方便下降抓取药瓶。", + "frame": 74, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，位于药瓶正上方。水平和垂直上接近了药瓶。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于药瓶正上方。\n为完成抓取药瓶放进水杯里的任务应当：爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。", + "time": 2.453608337628866, + "annotations": { + "bbox_1767766687879": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766687879_1767766730226_lpzvk9upw", + "x": 0.6995, + "y": 0.34, + "width": 0.11299999999999999, + "height": 0.14266666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹合拢抓取药瓶。抓紧药瓶向爪夹右前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹垂直下降靠近了药瓶两侧。方便抓取药瓶。", + "frame": 106, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了药瓶两侧。方便抓取药瓶。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了药瓶两侧。\n为完成抓取药瓶放进水杯里的任务应当：爪夹合拢抓取药瓶，抓紧药瓶向爪夹右前方的水杯移动并垂直升高。", + "time": 3.5191753871134024, + "annotations": { + "bbox_1767766687879": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766687879_1767766755299_ox8vk97gp", + "x": 0.6925000000000001, + "y": 0.33866666666666667, + "width": 0.13099999999999987, + "height": 0.14266666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧药瓶向爪夹右前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹合拢，成功抓取到了药瓶。方便将药瓶放进水杯。", + "frame": 131, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直。抓取到了药瓶。方便将药瓶靠近水杯。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。抓取到药瓶。\n为完成抓取药瓶放进水杯里的任务应当：抓紧药瓶向爪夹右前方的水杯移动并垂直升高。来到水杯正上方。", + "time": 4.369759610824743, + "annotations": { + "bbox_1767766687879": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766687879_1767766760653_gcylz4rr6", + "x": 0.6955, + "y": 0.3346666666666667, + "width": 0.13000000000000006, + "height": 0.1493333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧药瓶垂直升高", + "correction_plan": "抓紧药瓶向爪夹右前方的水杯移动。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹夹紧药瓶垂直升高垂直上高过了水杯。方便将后续药瓶放进水杯。", + "frame": 173, + "progress": 50, + "progress_explanation": "爪夹夹紧药瓶垂直上接近了水杯。方便继续向水杯移动。因此进度提升为50%。", + "state_description": "爪夹夹紧药瓶，位于半空中。垂直上高过了水杯。\n为完成抓取药瓶放进水杯里的任务应当：抓紧药瓶向爪夹右前方的水杯移动。来到水杯正上方。", + "time": 5.75312735927835, + "annotations": { + "bbox_1767766687879": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766687879_1767766765299_5gxr8wcna", + "x": 0.6955, + "y": 0.33599999999999997, + "width": 0.12400000000000003, + "height": 0.14800000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧药瓶向爪夹右前方移动下降", + "correction_plan": "爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹夹紧药瓶向爪夹右前方移动下降来到水杯正上方，方便将药瓶放进水杯。", + "frame": 194, + "progress": 60, + "progress_explanation": "爪夹来到了水杯正上方。方便将药瓶放进水杯。因此进度提升为60%。", + "state_description": "爪夹夹紧药瓶，爪夹位于水杯正上方。\n为完成抓取药瓶放进水杯里的任务应当：爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "time": 6.454158312886599, + "annotations": { + "bbox_1767766687879": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766687879_1767766775939_r3h1lagd2", + "x": 0.6945, + "y": 0.3360000000000001, + "width": 0.11799999999999997, + "height": 0.13999999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开药瓶落入水杯，任务完成。", + "frame": 210, + "progress": 100, + "progress_explanation": "爪夹松开，药瓶落入水杯里。因此进度提升为100%。", + "state_description": "爪夹张开，位于水杯正上方。\n抓取药瓶放进水杯里的任务目标完成。", + "time": 7.014983075773197, + "annotations": { + "bbox_1767766687879": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767766687879_1767766789239_zstibnls2", + "x": 0.6905, + "y": 0.3373333333333334, + "width": 0.12600000000000006, + "height": 0.13333333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767766683968", + "name": "药瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1767766687879", + "name": "水杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767766692360", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767766697099", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-155736-put-medicine bottle-white-ceramic mug-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-155736-put-medicine bottle-white-ceramic mug-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..3254dcae3f75e57cb039aec97e48146d66b31f95 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-155736-put-medicine bottle-white-ceramic mug-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,690 @@ +{ + "task_description": "抓取药瓶放进水杯里：\n准备开始移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹夹紧药瓶靠近水杯：60%\n爪夹将药瓶放进水杯：80%\n爪夹松开药瓶落入水杯：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离药瓶，未开始移动。\n为完成抓取药瓶放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。", + "time": 1.6233504757731956, + "annotations": { + "bbox_1767769366750": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769366750_1767769393956_74vkhsbuo", + "x": 0.7275, + "y": 0.5640000000000001, + "width": 0.05, + "height": 0.047999999999999925 + } + ] + }, + "bbox_1767769371309": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769371309_1767769397865_ki0wgrb52", + "x": 0.7115, + "y": 0.444, + "width": 0.09000000000000004, + "height": 0.12799999999999986 + } + ] + }, + "point_1767769375830": { + "type": "point", + "instances": [ + { + "id": "point_1767769375830_1767769406428_x1urp8k13", + "x": 0.3935, + "y": 0.512 + } + ] + }, + "point_1767769380266": { + "type": "point", + "instances": [ + { + "id": "point_1767769380266_1767769408858_58327cl9d", + "x": 0.6195, + "y": 0.5133333333333333 + } + ] + } + } + }, + { + "time": 2.999333, + "frame": 90, + "progress": 10, + "action_description": "爪夹向爪夹右移动下降，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。水平和垂直上接近了药瓶。\n为完成抓取药瓶放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。", + "progress_explanation": "爪夹角度与桌面呈30度，水平和垂直上接近了药瓶。方便抓取药瓶，因此进度提升为10%。", + "error_success_analysis": "爪夹向右移动并下降缩短了于药瓶之间的距离。方便抓取药瓶。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "annotations": { + "point_1767769375830": { + "type": "point", + "instances": [ + { + "id": "point_1767769375830_1767769414495_bs409bjwo", + "x": 0.3975, + "y": 0.5133333333333333 + } + ] + }, + "point_1767769380266": { + "type": "point", + "instances": [ + { + "id": "point_1767769380266_1767769417209_dc2vs0epg", + "x": 0.6185, + "y": 0.5093333333333334 + } + ] + }, + "bbox_1767769366750": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769366750_1767769421993_9dvj57ydk", + "x": 0.5875, + "y": 0.3173333333333333, + "width": 0.07199999999999998, + "height": 0.05200000000000002 + } + ] + }, + "bbox_1767769371309": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769371309_1767769427216_6i1vrd759", + "x": 0.5165000000000001, + "y": 0.14400000000000002, + "width": 0.15099999999999988, + "height": 0.1653333333333333 + } + ] + } + } + }, + { + "time": 3.9283676015463915, + "frame": 118, + "progress": 15, + "action_description": "爪夹向爪夹右移动下降，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈70度。水平和垂直上接近了药瓶。\n为完成抓取药瓶放进水杯里的任务应当：爪夹向爪夹正前方移动下降，靠近药瓶。爪夹合拢抓取药瓶。", + "progress_explanation": "爪夹角度与桌面呈70度。水平和垂直上更加接近了药瓶。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右移动下降更加接近了药瓶，调整爪夹角度与桌面呈70度。", + "correction_plan": "爪夹向爪夹正前方移动下降，靠近药瓶。爪夹合拢抓取药瓶。抓紧药瓶向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "annotations": { + "point_1767769375830": { + "type": "point", + "instances": [ + { + "id": "point_1767769375830_1767769437811_6i1fcrfsj", + "x": 0.3955, + "y": 0.512 + } + ] + }, + "point_1767769380266": { + "type": "point", + "instances": [ + { + "id": "point_1767769380266_1767769440066_8nc5qm4bt", + "x": 0.6195, + "y": 0.508 + } + ] + }, + "bbox_1767769366750": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769366750_1767769444821_i1tjz5s62", + "x": 0.4265, + "y": 0.2733333333333333, + "width": 0.13600000000000004, + "height": 0.11466666666666671 + } + ] + }, + "bbox_1767769371309": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769371309_1767769453172_t5ylnawcl", + "x": 0.2745, + "y": 1.8503717077085942e-18, + "width": 0.289, + "height": 0.276 + } + ] + } + } + }, + { + "time": 4.546786830412371, + "frame": 136, + "progress": 18, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，爪夹角度与桌面呈70度。位于药瓶上空后方。\n为完成抓取药瓶放进水杯里的任务应当：爪夹向爪夹前方移动下降，靠近药瓶。爪夹合拢抓取药瓶。", + "progress_explanation": "爪夹角度与桌面呈70度。水平和垂直上更加接近了药瓶。因此进度提升为18%。", + "error_success_analysis": "爪夹向爪夹右移动下降更加接近了药瓶，方便抓取药瓶。", + "correction_plan": "爪夹向爪夹前方移动下降，靠近药瓶。爪夹合拢抓取药瓶。抓紧药瓶向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "annotations": { + "bbox_1767769366750": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769366750_1767769468131_0j132runu", + "x": 0.3435, + "y": 0.288, + "width": 0.21199999999999997, + "height": 0.1773333333333334 + } + ] + }, + "point_1767769375830": { + "type": "point", + "instances": [ + { + "id": "point_1767769375830_1767769479188_uwb0b1ur3", + "x": 0.3975, + "y": 0.5106666666666667 + } + ] + }, + "point_1767769380266": { + "type": "point", + "instances": [ + { + "id": "point_1767769380266_1767769481130_35n9hb62n", + "x": 0.6205, + "y": 0.5106666666666667 + } + ] + }, + "bbox_1767769371309": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769371309_1767769488333_vf0puwph0", + "x": 0.0985, + "y": 0.004, + "width": 0.5399999999999999, + "height": 0.30933333333333335 + } + ] + } + } + }, + { + "time": 5.316999, + "frame": 160, + "progress": -10, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，位于药瓶左后侧上空。爪夹角度接近垂直于桌面。\n为完成抓取药瓶放进水杯里的任务应当：爪夹张开，向爪夹右前方移动下降，靠近药瓶。", + "progress_explanation": "爪夹合拢，爪夹角度接近垂直于桌面。比起上一阶段多出一步爪夹张开。因此进度降低为-10%。", + "error_success_analysis": "爪夹合拢进行了空抓，未抓取到目标。", + "correction_plan": "爪夹张开，向爪夹右前方移动下降，靠近药瓶。爪夹合拢抓取药瓶。抓紧药瓶向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "annotations": { + "point_1767769375830": { + "type": "point", + "instances": [ + { + "id": "point_1767769375830_1767769493572_xoljiphw4", + "x": 0.5015, + "y": 0.49600000000000005 + } + ] + }, + "point_1767769380266": { + "type": "point", + "instances": [ + { + "id": "point_1767769380266_1767769495452_bxoske022", + "x": 0.5115000000000001, + "y": 0.5026666666666667 + } + ] + }, + "bbox_1767769366750": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769366750_1767769498741_vaxzd5w6d", + "x": 0.5894999999999999, + "y": 0.3066666666666667, + "width": 0.1710000000000001, + "height": 0.13066666666666665 + } + ] + }, + "bbox_1767769371309": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769371309_1767769509905_pvjbw5x1z", + "x": 0.4875, + "y": 0.0026666666666666666, + "width": 0.39299999999999996, + "height": 0.284 + } + ] + } + } + }, + { + "time": 5.862333, + "frame": 176, + "progress": -15, + "action_description": "爪夹垂直升高", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面。垂直上远离了药瓶。\n为完成抓取药瓶放进水杯里的任务应当：爪夹张开，向爪夹右前方移动下降，靠近药瓶。", + "progress_explanation": "爪夹角度接近垂直于桌面。垂直上远离了药瓶。因此进度降低未-15%。", + "error_success_analysis": "爪夹垂直升高垂直上远离了药瓶，不方便抓取药瓶。", + "correction_plan": "爪夹张开，向爪夹右前方移动下降，靠近药瓶。爪夹合拢抓取药瓶。抓紧药瓶向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "annotations": { + "point_1767769375830": { + "type": "point", + "instances": [ + { + "id": "point_1767769375830_1767769515916_nn88ts09a", + "x": 0.5035000000000001, + "y": 0.5013333333333334 + } + ] + }, + "point_1767769380266": { + "type": "point", + "instances": [ + { + "id": "point_1767769380266_1767769518032_lcenwq352", + "x": 0.5145000000000001, + "y": 0.5 + } + ] + }, + "bbox_1767769366750": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769366750_1767769521553_1uyeidu40", + "x": 0.5505, + "y": 0.32266666666666666, + "width": 0.10800000000000001, + "height": 0.07599999999999998 + } + ] + }, + "bbox_1767769371309": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769371309_1767769531917_piqars28j", + "x": 0.4445, + "y": 0.052000000000000005, + "width": 0.25500000000000006, + "height": 0.25333333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹向爪夹右前方移动下降，靠近药瓶。爪夹合拢抓取药瓶。抓紧药瓶向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹张开方便向药瓶靠近抓取。", + "frame": 199, + "progress": 12, + "progress_explanation": "爪夹张开，比上一阶段少了一步。方便向药瓶靠近抓取。因此进度提升为12%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面。\n为完成抓取药瓶放进水杯里的任务应当：爪夹向爪夹右前方移动下降，靠近药瓶。", + "time": 6.626924236597938, + "annotations": { + "point_1767769375830": { + "type": "point", + "instances": [ + { + "id": "point_1767769375830_1767769541636_p4kfu9v56", + "x": 0.3945, + "y": 0.5146666666666666 + } + ] + }, + "point_1767769380266": { + "type": "point", + "instances": [ + { + "id": "point_1767769380266_1767769543844_zvggyd1xe", + "x": 0.6185, + "y": 0.5106666666666667 + } + ] + }, + "bbox_1767769366750": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769366750_1767769548275_ews4gjc6h", + "x": 0.5445, + "y": 0.3173333333333333, + "width": 0.10599999999999996, + "height": 0.07600000000000004 + } + ] + }, + "bbox_1767769371309": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769371309_1767769552659_o6we9hs05", + "x": 0.45050000000000007, + "y": 0.06666666666666668, + "width": 0.2379999999999999, + "height": 0.23733333333333337 + } + ] + } + } + }, + { + "time": 7.765377817010309, + "frame": 233, + "progress": 16, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，爪夹角度与桌面呈70度。水平和垂直上接近了药瓶。\n为完成抓取药瓶放进水杯里的任务应当：爪夹向爪夹正前方移动下降，靠近药瓶。爪夹合拢抓取药瓶。", + "progress_explanation": "爪夹角度与桌面呈70度。水平和垂直上更加接近了药瓶。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右移动下降更加接近了药瓶，方便抓取药瓶。", + "correction_plan": "爪夹向爪夹正前方移动下降，靠近药瓶。爪夹合拢抓取药瓶。抓紧药瓶向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "annotations": { + "point_1767769375830": { + "type": "point", + "instances": [ + { + "id": "point_1767769375830_1767769562244_sgqvb6ipr", + "x": 0.3975, + "y": 0.5106666666666667 + } + ] + }, + "point_1767769380266": { + "type": "point", + "instances": [ + { + "id": "point_1767769380266_1767769564521_csjk8iqmb", + "x": 0.6205, + "y": 0.5106666666666667 + } + ] + }, + "bbox_1767769366750": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769366750_1767769568081_7r1wtwnlg", + "x": 0.45050000000000007, + "y": 0.38533333333333336, + "width": 0.14499999999999993, + "height": 0.10666666666666665 + } + ] + }, + "bbox_1767769371309": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769371309_1767769576306_nz6upeia9", + "x": 0.26850000000000007, + "y": 0.0026666666666666666, + "width": 0.39399999999999996, + "height": 0.42400000000000004 + } + ] + } + } + }, + { + "time": 8.752599, + "frame": 263, + "progress": 20, + "action_description": "爪夹向爪夹正前方移动下降", + "state_description": "爪夹张开，爪夹角度与桌面呈70度。靠近了药瓶两侧。\n为完成抓取药瓶放进水杯里的任务应当：爪夹合拢抓取药瓶。抓紧药瓶向爪夹正前方的水杯移动并垂直升高。", + "progress_explanation": "爪夹角度与桌面呈70度。靠近了药瓶两侧。方便抓取药瓶。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹正前方移动下降靠近了药瓶两侧。方便抓取药瓶。", + "correction_plan": "爪夹合拢抓取药瓶。抓紧药瓶向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "annotations": { + "bbox_1767769371309": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769371309_1767769588320_241f9hrx6", + "x": 0.1575, + "y": 0.0013333333333332956, + "width": 0.61, + "height": 0.6213333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧药瓶向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹合拢，成功抓取到了药瓶。方便将药瓶放进水杯。", + "frame": 295, + "progress": 40, + "progress_explanation": "爪夹角度与桌面呈70度。抓取到了药瓶。方便将药瓶靠近水杯。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈70度。抓取到药瓶。\n为完成抓取药瓶放进水杯里的任务应当：抓紧药瓶向爪夹正前方的水杯移动并垂直升高。", + "time": 9.833333333333334, + "annotations": { + "bbox_1767769371309": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769371309_1767769609172_wyspfrijc", + "x": 0.15450000000000003, + "y": 0.0013333333333333333, + "width": 0.631, + "height": 0.6173333333333333 + } + ] + } + } + }, + { + "time": 10.538566, + "frame": 316, + "progress": 50, + "action_description": "爪夹夹紧药瓶垂直升高", + "state_description": "爪夹夹紧药瓶，位于半空中。垂直上高过了水杯。\n为完成抓取药瓶放进水杯里的任务应当：爪夹向爪夹正前方移动下降，来到水杯正上方。", + "progress_explanation": "爪夹夹紧药瓶垂直上接近了水杯。方便继续向水杯移动。因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧药瓶垂直升高垂直上缩短了于水杯之间的距离。方便将后续药瓶放进水杯。", + "correction_plan": "爪夹向爪夹正前方移动下降，来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "annotations": { + "bbox_1767769366750": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769366750_1767769624147_o2aor2n95", + "x": 0.40750000000000003, + "y": 0.43466666666666665, + "width": 0.19500000000000012, + "height": 0.14533333333333343 + } + ] + }, + "bbox_1767769371309": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769371309_1767769631346_n0kxc622r", + "x": 0.29050000000000004, + "y": 0.16666666666666666, + "width": 0.23200000000000004, + "height": 0.25733333333333336 + } + ] + } + } + }, + { + "time": 11.042999, + "frame": 331, + "progress": 60, + "action_description": "爪夹夹紧药瓶向爪夹正前方移动", + "state_description": "爪夹夹紧药瓶，爪夹角度与桌面呈70度。位于水杯正上方。\n为完成抓取药瓶放进水杯里的任务应当：爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "progress_explanation": "爪夹角度与桌面呈70度。来到了水杯正上方。方便将药瓶放进水杯。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧药瓶向爪夹正前方移动，来到了水杯正上方。方便将药瓶放进水杯里。", + "correction_plan": "爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "annotations": { + "bbox_1767769366750": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769366750_1767769641627_din6kkhqj", + "x": 0.4125, + "y": 0.44133333333333336, + "width": 0.18900000000000006, + "height": 0.14000000000000004 + } + ] + }, + "bbox_1767769371309": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769371309_1767769644891_jhcb8yqft", + "x": 0.3905, + "y": 0.436, + "width": 0.16499999999999995, + "height": 0.176 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹垂直下降垂直上接近了水杯。方便将药瓶放进水杯。", + "frame": 342, + "progress": 70, + "progress_explanation": "爪夹角度与桌面呈70度。垂直上接近了水杯。方便将药瓶放进水杯。因此进度提升为70%。", + "state_description": "爪夹夹紧药瓶，爪夹角度与桌面呈70度。位于水杯正上方。\n为完成抓取药瓶放进水杯里的任务应当：爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "time": 11.405618277835051, + "annotations": { + "bbox_1767769366750": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769366750_1767769655477_8eoi00fsn", + "x": 0.4115000000000001, + "y": 0.43466666666666665, + "width": 0.1879999999999999, + "height": 0.14533333333333343 + } + ] + }, + "bbox_1767769371309": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769371309_1767769663198_dhnna97n2", + "x": 0.3275, + "y": 0.4026666666666667, + "width": 0.19200000000000003, + "height": 0.2213333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，药瓶落入水杯。任务完成。", + "frame": 351, + "progress": 100, + "progress_explanation": "爪夹松开，药瓶落入水杯。因此进度提升为100%。", + "state_description": "爪夹张开，位于水杯正上方。\n抓取药瓶放进水杯里的任务目标完成。", + "time": 11.686717927319588, + "annotations": { + "point_1767769375830": { + "type": "point", + "instances": [ + { + "id": "point_1767769375830_1767769672027_cvdcddsod", + "x": 0.3935, + "y": 0.508 + } + ] + }, + "point_1767769380266": { + "type": "point", + "instances": [ + { + "id": "point_1767769380266_1767769673849_58urohhi5", + "x": 0.6214999999999999, + "y": 0.512 + } + ] + }, + "bbox_1767769366750": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769366750_1767769677961_v1jlo8sji", + "x": 0.3915, + "y": 0.48000000000000004, + "width": 0.09900000000000002, + "height": 0.09733333333333333 + } + ] + }, + "bbox_1767769371309": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769371309_1767769681404_yixgmv2en", + "x": 0.3365, + "y": 0.412, + "width": 0.20099999999999998, + "height": 0.22666666666666668 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767769366750", + "name": "药瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1767769371309", + "name": "水杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767769375830", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767769380266", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-160840-put-medicine bottle-white-ceramic mug-bad/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-160840-put-medicine bottle-white-ceramic mug-bad/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..c8b9fcd8586621b47da806fe437442b9bf0a0723 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-160840-put-medicine bottle-white-ceramic mug-bad/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,354 @@ +{ + "task_description": "抓取药瓶放进水杯里：\n准备开始移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹夹紧药瓶靠近水杯：60%\n爪夹将药瓶放进水杯：80%\n爪夹松开药瓶落入水杯：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767771938780": { + "instances": [ + { + "height": 0.08933333333333326, + "id": "bbox_1767771938780_1767771967292_rf0444rh4", + "width": 0.03700000000000001, + "x": 0.5785, + "y": 0.49600000000000005 + } + ], + "type": "bbox" + }, + "bbox_1767771942922": { + "instances": [ + { + "height": 0.1840000000000001, + "id": "bbox_1767771942922_1767771972652_w06v5mfjq", + "width": 0.125, + "x": 0.4505, + "y": 0.5519999999999999 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左后方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离药瓶，未开始移动。\n为完成抓取药瓶放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。", + "time": 1.29441585 + }, + { + "action_description": "爪夹向爪夹右移动下降，调整爪夹角度", + "annotations": { + "bbox_1767771938780": { + "instances": [ + { + "height": 0.08799999999999995, + "id": "bbox_1767771938780_1767771984289_mu9mfma5f", + "width": 0.03799999999999999, + "x": 0.5785, + "y": 0.4906666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767771942922": { + "instances": [ + { + "height": 0.18800000000000003, + "id": "bbox_1767771942922_1767771988724_ftn6pbtk8", + "width": 0.12599999999999997, + "x": 0.4495, + "y": 0.5493333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左后方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹向右移动并下降缩短了于药瓶之间的距离。方便抓取药瓶。", + "frame": 77, + "progress": 10, + "progress_explanation": "爪夹角度与桌面呈30度，水平和垂直上接近了药瓶。方便抓取药瓶，因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。水平和垂直上接近了药瓶。\n为完成抓取药瓶放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。", + "time": 2.551833 + }, + { + "action_description": "爪夹向爪夹右移动下降", + "annotations": { + "bbox_1767771938780": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1767771938780_1767771997794_wfie83ii9", + "width": 0.03799999999999999, + "x": 0.5795, + "y": 0.49333333333333335 + } + ], + "type": "bbox" + }, + "bbox_1767771942922": { + "instances": [ + { + "height": 0.18133333333333326, + "id": "bbox_1767771942922_1767772003362_p0akm69fa", + "width": 0.12299999999999996, + "x": 0.4525, + "y": 0.5533333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹左后方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹向爪夹右移动下降更加接近了药瓶，方便抓取药瓶。", + "frame": 106, + "progress": 15, + "progress_explanation": "爪夹角度与桌面呈30度。水平和垂直上更加接近了药瓶。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。水平和垂直上接近了药瓶。\n为完成抓取药瓶放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到药瓶正上方。", + "time": 3.538 + }, + { + "action_description": "爪夹向爪夹右移动下降", + "annotations": { + "bbox_1767771938780": { + "instances": [ + { + "height": 0.08400000000000005, + "id": "bbox_1767771938780_1767772016792_q5x30jktg", + "width": 0.039999999999999945, + "x": 0.5775, + "y": 0.49733333333333335 + } + ], + "type": "bbox" + }, + "bbox_1767771942922": { + "instances": [ + { + "height": 0.1853333333333333, + "id": "bbox_1767771942922_1767772022384_qzvb5eru0", + "width": 0.12599999999999997, + "x": 0.4485, + "y": 0.5546666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取药瓶。抓紧药瓶向爪夹左后方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹向爪夹右移动下降靠近了药瓶两侧。方便抓取药瓶。", + "frame": 140, + "progress": 20, + "progress_explanation": "爪夹角度与桌面呈30度，靠近了药瓶两侧。方便抓取药瓶。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面呈30度，靠近了药瓶两侧。\n为完成抓取药瓶放进水杯里的任务应当：爪夹合拢抓取药瓶。抓紧药瓶向爪夹左后方的水杯移动并垂直升高。", + "time": 4.676666 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767771938780": { + "instances": [ + { + "height": 0.08133333333333338, + "id": "bbox_1767771938780_1767772033552_ufkfzum8x", + "width": 0.039000000000000055, + "x": 0.5875, + "y": 0.5053333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767771942922": { + "instances": [ + { + "height": 0.18000000000000008, + "id": "bbox_1767771942922_1767772037608_64dcs5etc", + "width": 0.12800000000000003, + "x": 0.44749999999999995, + "y": 0.5533333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧药瓶向爪夹左后方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹合拢，成功抓取到了药瓶。方便将药瓶放进水杯。", + "frame": 162, + "progress": 40, + "progress_explanation": "爪夹抓取到了药瓶。方便将药瓶靠近水杯。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈30度。抓取到药瓶。\n为完成抓取药瓶放进水杯里的任务应当：抓紧药瓶向爪夹左后方的水杯移动并垂直升高。来到水杯正上方。", + "time": 5.3985 + }, + { + "action_description": "爪夹夹紧药瓶垂直升高", + "annotations": { + "bbox_1767771938780": { + "instances": [ + { + "height": 0.08933333333333332, + "id": "bbox_1767771938780_1767772049754_aic6detu4", + "width": 0.04800000000000004, + "x": 0.6335, + "y": 0.2613333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767771942922": { + "instances": [ + { + "height": 0.18800000000000003, + "id": "bbox_1767771942922_1767772055192_a7wg7cvpb", + "width": 0.129, + "x": 0.4485, + "y": 0.548 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧药瓶向爪夹左后方的水杯移动。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹夹紧药瓶垂直升高垂直上高过了水杯。方便将后续药瓶放进水杯。", + "frame": 198, + "progress": 50, + "progress_explanation": "爪夹夹紧药瓶垂直上高过了水杯。方便继续向水杯移动。因此进度提升为50%。", + "state_description": "爪夹夹紧药瓶，位于半空中。垂直上高过了水杯。\n为完成抓取药瓶放进水杯里的任务应当：抓紧药瓶向爪夹左后方的水杯移动。来到水杯正上方。", + "time": 6.587371350000001 + }, + { + "action_description": "爪夹夹紧药瓶向爪夹左方移动升高", + "annotations": { + "bbox_1767771942922": { + "instances": [ + { + "height": 0.18266666666666667, + "id": "bbox_1767771942922_1767772064082_dhzp273aq", + "width": 0.12800000000000003, + "x": 0.44749999999999995, + "y": 0.5533333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧药瓶向爪夹右方的水杯移动。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹夹紧药瓶向爪夹左方移动升高缩短了与水杯之间的距离。方便将药瓶放进水杯。", + "frame": 211, + "progress": 52, + "progress_explanation": "爪夹夹紧药瓶，水平上略微接近了水杯。因此进度提升为52%。", + "state_description": "爪夹夹紧药瓶，位于半空中，水平上略微接近了水杯。\n为完成抓取药瓶放进水杯里的任务应当：抓紧药瓶向爪夹右方的水杯移动。来到水杯正上方。", + "time": 7.035333 + }, + { + "action_description": "爪夹向爪夹左方移动下降", + "annotations": { + "bbox_1767771938780": { + "instances": [ + { + "height": 0.08933333333333332, + "id": "bbox_1767771938780_1767772078825_hxtsd5skk", + "width": 0.039999999999999994, + "x": 0.37150000000000005, + "y": 0.3333333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767771942922": { + "instances": [ + { + "height": 0.18000000000000008, + "id": "bbox_1767771942922_1767772085345_bkgkwanki", + "width": 0.125, + "x": 0.45149999999999996, + "y": 0.5546666666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧药瓶向爪夹右方的水杯移动。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹向爪夹左方移动下降来到了垃圾桶正上方。稍微远离水杯。", + "frame": 231, + "progress": 48, + "progress_explanation": "爪夹夹紧药瓶，水平上略微远离了水杯。因此进度降低为48%。", + "state_description": "爪夹夹紧药瓶，位于垃圾桶正上方，水平上略微远离了水杯。\n为完成抓取药瓶放进水杯里的任务应当：抓紧药瓶向爪夹右方的水杯移动。来到水杯正上方。", + "time": 7.7165 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1767771942922": { + "instances": [ + { + "height": 0.1840000000000001, + "id": "bbox_1767771942922_1767772098075_sv0uqv2t4", + "width": 0.12299999999999996, + "x": 0.44750000000000006, + "y": 0.5519999999999999 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度使其接近垂直于桌面，爪夹垂直下降来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹右后方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹张开垂直上远离了药瓶。任务失败，需要重新抓取药瓶。", + "frame": 244, + "progress": -30, + "progress_explanation": "爪夹角度与桌面呈30度。药瓶落入错误目标垃圾桶里。垂直上远离了药瓶。因此进度降低为-30%。", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。药瓶落入垃圾桶里。\n为完成抓取药瓶放进水杯里的任务应当：调整爪夹角度使其接近垂直于桌面，爪夹垂直下降来到药瓶正上方。", + "time": 8.149055250000002 + }, + { + "action_description": "爪夹向爪夹正后方移动升高", + "annotations": { + "bbox_1767771942922": { + "instances": [ + { + "height": 0.18133333333333326, + "id": "bbox_1767771942922_1767772104949_ri53l9n3m", + "width": 0.12200000000000007, + "x": 0.45149999999999996, + "y": 0.5533333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "调整爪夹角度使其接近垂直于桌面，爪夹向爪夹前方移动并垂直下降来到药瓶正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹右后方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将药瓶放进水杯里，爪夹松开药瓶落入水杯里。", + "error_success_analysis": "爪夹向爪夹正后方移动升高增加了于药瓶之间的距离。不方便抓取药瓶。", + "frame": 303, + "progress": -35, + "progress_explanation": "爪夹角度接近平行于桌面。水平和垂直上远离了药瓶。因此进度降低为-35%。", + "state_description": "爪夹张开，爪夹角度接近平行于桌面水平上远离了药瓶。\n为完成抓取药瓶放进水杯里的任务应当：调整爪夹角度使其接近垂直于桌面，爪夹向爪夹前方移动并垂直下降来到药瓶正上方。", + "time": 10.10902095 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767771938780", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767771942922", + "name": "水杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767771947126", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767771952462", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-161920-put-yellow paper cup-white-ceramic mug-good/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-161920-put-yellow paper cup-white-ceramic mug-good/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..9c7ef415ebc0e0ae832462cbaa09d00188ba4bf7 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-161920-put-yellow paper cup-white-ceramic mug-good/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,366 @@ +{ + "task_description": "抓取纸杯放进水杯里：\n准备开始移动：0%\n爪夹靠近纸杯：20%\n爪夹抓取纸杯：40%\n爪夹夹紧纸杯靠近水杯：60%\n爪夹将纸杯放进水杯：80%\n爪夹松开纸杯落入水杯：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767773606696": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1767773606696_1767773632098_w0aa43ksx", + "width": 0.075, + "x": 0.6445000000000001, + "y": 0.43733333333333335 + } + ], + "type": "bbox" + }, + "bbox_1767773610757": { + "instances": [ + { + "height": 0.16666666666666669, + "id": "bbox_1767773610757_1767773637128_rojz9ruql", + "width": 0.11200000000000002, + "x": 0.6615, + "y": 0.17066666666666666 + } + ], + "type": "bbox" + }, + "point_1767773615508": { + "instances": [ + { + "id": "point_1767773615508_1767773645320_d2f0x32ze", + "x": 0.3965, + "y": 0.5800000000000001 + } + ], + "type": "point" + }, + "point_1767773620707": { + "instances": [ + { + "id": "point_1767773620707_1767773648063_ui7hbyk66", + "x": 0.5125, + "y": 0.5760000000000001 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯。抓紧纸杯向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离纸杯，未开始移动。\n为完成抓取纸杯放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。", + "time": 1.35730237371134 + }, + { + "action_description": "爪夹垂直升高向爪夹右前方移动", + "annotations": { + "bbox_1767773606696": { + "instances": [ + { + "height": 0.10399999999999997, + "id": "bbox_1767773606696_1767773658098_g4xs1m64a", + "width": 0.06499999999999995, + "x": 0.6475000000000001, + "y": 0.436 + } + ], + "type": "bbox" + }, + "bbox_1767773610757": { + "instances": [ + { + "height": 0.16666666666666669, + "id": "bbox_1767773610757_1767773662387_wmqi10koq", + "width": 0.11500000000000003, + "x": 0.6585, + "y": 0.168 + } + ], + "type": "bbox" + }, + "point_1767773615508": { + "instances": [ + { + "id": "point_1767773615508_1767773653266_xu2ssfsb8", + "x": 0.6495, + "y": 0.41333333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯。抓紧纸杯向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹垂直升高向爪夹右前方移动，缩短了于纸杯之间的距离。方便抓取纸杯。", + "frame": 94, + "progress": 10, + "progress_explanation": "爪夹角度与桌面呈30度。水平接近了纸杯。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。水平接近了纸杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。", + "time": 3.117099 + }, + { + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "annotations": { + "bbox_1767773606696": { + "instances": [ + { + "height": 0.11600000000000002, + "id": "bbox_1767773606696_1767773676975_we8m7vxx6", + "width": 0.07199999999999998, + "x": 0.6515000000000001, + "y": 0.43866666666666665 + } + ], + "type": "bbox" + }, + "bbox_1767773610757": { + "instances": [ + { + "height": 0.16933333333333336, + "id": "bbox_1767773610757_1767773682336_8adivlg6u", + "width": 0.11700000000000008, + "x": 0.6595, + "y": 0.16533333333333333 + } + ], + "type": "bbox" + }, + "point_1767773620707": { + "instances": [ + { + "id": "point_1767773620707_1767773673060_gnt0jdolq", + "x": 0.7055, + "y": 0.5546666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动下降，靠近纸杯两侧。爪夹合拢抓取纸杯。抓紧纸杯向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹角度与桌面呈45度，接近了纸杯。方便抓取药瓶。", + "frame": 146, + "progress": 15, + "progress_explanation": "爪夹角度与桌面呈45度。水平和垂直上接近了纸杯。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈45度。水平和垂直上接近了纸杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹向爪夹右前方移动下降，靠近纸杯两侧。爪夹合拢抓取纸杯。", + "time": 4.853566 + }, + { + "action_description": "爪夹向爪夹右前方移动下降", + "annotations": { + "bbox_1767773606696": { + "instances": [ + { + "height": 0.09466666666666672, + "id": "bbox_1767773606696_1767773697381_r87b48y73", + "width": 0.06700000000000009, + "x": 0.6535, + "y": 0.448 + } + ], + "type": "bbox" + }, + "bbox_1767773610757": { + "instances": [ + { + "height": 0.16533333333333336, + "id": "bbox_1767773610757_1767773706278_5kyoavsyv", + "width": 0.11500000000000013, + "x": 0.6575, + "y": 0.16933333333333334 + } + ], + "type": "bbox" + }, + "point_1767773620707": { + "instances": [ + { + "id": "point_1767773620707_1767773691807_cfsv9o1iw", + "x": 0.7195, + "y": 0.5066666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取纸杯。抓紧纸杯向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹向爪夹右前方移动下降靠近了纸杯两侧。方便抓取纸杯。", + "frame": 192, + "progress": 20, + "progress_explanation": "爪夹角度与桌面呈45度。靠近了纸杯两侧。方便抓取纸杯，因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面呈45度。靠近了纸杯两侧。\n为完成抓取纸杯放进水杯里的任务应当：爪夹合拢抓取纸杯。抓紧纸杯向爪夹正前方的水杯移动并垂直升高。", + "time": 6.390766 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767773606696": { + "instances": [ + { + "height": 0.11600000000000002, + "id": "bbox_1767773606696_1767773718797_m41qavoh2", + "width": 0.07499999999999991, + "x": 0.6425000000000001, + "y": 0.41733333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767773610757": { + "instances": [ + { + "height": 0.1653333333333333, + "id": "bbox_1767773610757_1767773726695_24142tl5b", + "width": 0.11300000000000017, + "x": 0.6595, + "y": 0.16933333333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧纸杯向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹合拢，成功抓取到了纸杯。方便将纸杯放进水杯。", + "frame": 223, + "progress": 40, + "progress_explanation": "爪夹角度与桌面呈45度。抓取到了纸杯。方便将纸杯靠近水杯。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈45度。抓取到纸杯。\n为完成抓取纸杯放进水杯里的任务应当：抓紧纸杯向爪夹正前方的水杯移动并垂直升高。来到水杯正上方。", + "time": 7.417474053092784 + }, + { + "action_description": "爪夹夹紧纸杯垂直升高", + "annotations": { + "bbox_1767773606696": { + "instances": [ + { + "height": 0.11866666666666668, + "id": "bbox_1767773606696_1767773744097_3r1rif4x8", + "width": 0.08099999999999996, + "x": 0.7145, + "y": 0.3 + } + ], + "type": "bbox" + }, + "bbox_1767773610757": { + "instances": [ + { + "height": 0.16400000000000003, + "id": "bbox_1767773610757_1767773747951_2lijwelri", + "width": 0.11500000000000003, + "x": 0.6575, + "y": 0.17066666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧纸杯向爪夹正前方的水杯移动。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹夹紧纸杯垂直升高垂直上缩短了于水杯之间的距离。方便后续将纸杯放进水杯。", + "frame": 280, + "progress": 50, + "progress_explanation": "爪夹夹紧纸杯垂直上接近了水杯口。方便继续向水杯口移动。因此进度提升为50%。", + "state_description": "爪夹夹紧纸杯，位于半空中。垂直上高过了水杯。\n为完成抓取纸杯放进水杯里的任务应当：抓紧纸杯向爪夹正前方的水杯移动。来到水杯正上方。", + "time": 9.339707685051547 + }, + { + "action_description": "爪夹夹紧纸杯向爪夹正前方移动", + "annotations": { + "bbox_1767773606696": { + "instances": [ + { + "height": 0.12533333333333332, + "id": "bbox_1767773606696_1767773760656_7dtfstf8a", + "width": 0.09700000000000006, + "x": 0.7055, + "y": 0.06533333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹夹紧纸杯向爪夹正前方移动来到了水杯正上方。方便将纸杯放进水杯里。", + "frame": 304, + "progress": 60, + "progress_explanation": "爪夹角度与桌面呈15度。位于水杯正上方。方便将纸杯方将水杯里。因此进度提升为60%。", + "state_description": "爪夹夹紧纸杯，爪夹角度与桌面呈15度。位于水杯正上方。\n为完成抓取纸杯放进水杯里的任务应当：爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "time": 10.148366 + }, + { + "action_description": "爪夹向爪夹正前方移动下降", + "annotations": { + "bbox_1767773606696": { + "instances": [ + { + "height": 0.13866666666666666, + "id": "bbox_1767773606696_1767773770692_4snps85gc", + "width": 0.09399999999999994, + "x": 0.7025, + "y": 0.05733333333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹向爪夹正前方移动下降，垂直上靠近了水杯。方便将纸杯放进水杯。", + "frame": 322, + "progress": 70, + "progress_explanation": "爪夹角度与桌面呈15度。垂直上靠近了水杯。更加方便将纸杯放进水杯。因此进度提升为70%。", + "state_description": "爪夹夹紧纸杯，爪夹角度与桌面呈15度。垂直上靠近了水杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "time": 10.717699 + }, + { + "action_description": "爪夹张开", + "annotations": { + "point_1767773620707": { + "instances": [ + { + "id": "point_1767773620707_1767773784808_vjvljcmmi", + "x": 0.7885, + "y": 0.20933333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，纸杯落入水杯。任务完成。", + "frame": 355, + "progress": 100, + "progress_explanation": "爪夹松开，纸杯落入水杯。因此进度提升为100%。", + "state_description": "爪夹张开，爪夹角度与桌面呈15度。位于水杯正上方。\n抓取纸杯放进水杯里的任务目标完成。", + "time": 11.842133 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767773606696", + "name": "纸杯" + }, + { + "color": "#FF9800", + "id": "bbox_1767773610757", + "name": "水杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767773615508", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767773620707", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-161920-put-yellow paper cup-white-ceramic mug-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-161920-put-yellow paper cup-white-ceramic mug-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..b000103481af793118e982bd41a7d69f09ff5b9d --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-161920-put-yellow paper cup-white-ceramic mug-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,432 @@ +{ + "task_description": "抓取纸杯放进水杯里：\n准备开始移动：0%\n爪夹靠近纸杯：20%\n爪夹抓取纸杯：40%\n爪夹夹紧纸杯靠近水杯：60%\n爪夹将纸杯放进水杯：80%\n爪夹松开纸杯落入水杯：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯。抓紧纸杯向爪夹右后方的水杯移动并垂直下降。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离纸杯，未开始移动。\n为完成抓取纸杯放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。", + "time": 1.488745667525773, + "annotations": { + "bbox_1767775062336": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775062336_1767775085454_n910zlmn9", + "x": 0.5445, + "y": 0.21200000000000002, + "width": 0.08399999999999999, + "height": 0.12533333333333335 + } + ] + }, + "bbox_1767775066729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775066729_1767775090682_9m51ypqol", + "x": 0.6155, + "y": 0.43333333333333335, + "width": 0.09100000000000001, + "height": 0.10933333333333337 + } + ] + }, + "point_1767775071046": { + "type": "point", + "instances": [ + { + "id": "point_1767775071046_1767775096470_p64qs88qd", + "x": 0.39849999999999997, + "y": 0.512 + } + ] + }, + "point_1767775075392": { + "type": "point", + "instances": [ + { + "id": "point_1767775075392_1767775098722_co5ewi69v", + "x": 0.6185, + "y": 0.512 + } + ] + } + } + }, + { + "time": 2.686666, + "frame": 81, + "progress": 10, + "action_description": "爪夹向爪夹右前方移动", + "state_description": "爪夹张开，爪夹角度与桌面呈15度。水平接近了纸杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。", + "progress_explanation": "爪夹角度与桌面呈15度。水平接近了纸杯。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右前方移动，缩短了于纸杯之间的距离。方便抓取纸杯。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯。抓紧纸杯向爪夹右后方的水杯移动并垂直下降。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "annotations": { + "point_1767775075392": { + "type": "point", + "instances": [ + { + "id": "point_1767775075392_1767775103844_ft8pzvvgm", + "x": 0.6205, + "y": 0.5093333333333334 + } + ] + }, + "point_1767775071046": { + "type": "point", + "instances": [ + { + "id": "point_1767775071046_1767775106502_lq4ie4gie", + "x": 0.3955, + "y": 0.5106666666666667 + } + ] + }, + "bbox_1767775062336": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775062336_1767775111149_w7q1m1ty4", + "x": 0.5195000000000001, + "y": 0.36666666666666664, + "width": 0.10099999999999998, + "height": 0.15466666666666667 + } + ] + }, + "bbox_1767775066729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775066729_1767775120765_dwl85daio", + "x": 0.6955, + "y": 0.5026666666666667, + "width": 0.07999999999999999, + "height": 0.11733333333333337 + } + ] + } + } + }, + { + "time": 3.7322507664948454, + "frame": 112, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动并下降", + "state_description": "爪夹张开，爪夹角度与桌面呈15度。水平和垂直上接近了纸杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，靠近纸杯两侧。", + "progress_explanation": "爪夹角度与桌面呈15度。水平和垂直上接近了纸杯。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动并下降，水平和垂直上接近了纸杯。方便抓取纸杯。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，靠近纸杯两侧。爪夹合拢抓取纸杯。抓紧纸杯向爪夹右后方的水杯移动并垂直下降。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "annotations": { + "point_1767775071046": { + "type": "point", + "instances": [ + { + "id": "point_1767775071046_1767775131358_2r91e6q97", + "x": 0.3965, + "y": 0.512 + } + ] + }, + "point_1767775075392": { + "type": "point", + "instances": [ + { + "id": "point_1767775075392_1767775134108_bfg5g8yr9", + "x": 0.6185, + "y": 0.5093333333333334 + } + ] + }, + "bbox_1767775062336": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775062336_1767775138364_4bdv03sgi", + "x": 0.4255, + "y": 0.308, + "width": 0.17300000000000004, + "height": 0.2493333333333333 + } + ] + }, + "bbox_1767775066729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775066729_1767775145566_2sd6dob20", + "x": 0.6845, + "y": 0.52, + "width": 0.09600000000000009, + "height": 0.14000000000000004 + } + ] + } + } + }, + { + "time": 5.518745567525773, + "frame": 166, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，爪夹角度与桌面呈15度。靠近了纸杯两侧。\n为完成抓取纸杯放进水杯里的任务应当：爪夹合拢抓取纸杯。抓紧纸杯向爪夹右后方的水杯移动并垂直下降。", + "progress_explanation": "爪夹角度与桌面呈15度。靠近了纸杯两侧。方便抓取纸杯，因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降靠近了纸杯两侧。方便抓取纸杯。", + "correction_plan": "爪夹合拢抓取纸杯。抓紧纸杯向爪夹右后方的水杯移动并垂直下降。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "annotations": { + "point_1767775071046": { + "type": "point", + "instances": [ + { + "id": "point_1767775071046_1767775159953_pyzp8urxw", + "x": 0.3965, + "y": 0.5106666666666667 + } + ] + }, + "bbox_1767775062336": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775062336_1767775164580_5ytyxe5qy", + "x": 0.4215000000000001, + "y": 0.30133333333333334, + "width": 0.23499999999999996, + "height": 0.31733333333333325 + } + ] + }, + "bbox_1767775066729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775066729_1767775174430_vg3hh817x", + "x": 0.7065, + "y": 0.596, + "width": 0.1009999999999999, + "height": 0.1840000000000001 + } + ] + } + } + }, + { + "time": 7.079366, + "frame": 212, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，爪夹角度与桌面呈15度。抓取到纸杯。\n为完成抓取纸杯放进水杯里的任务应当：抓紧纸杯向爪夹右后方的水杯移动并垂直下降。来到水杯正上方。", + "progress_explanation": "爪夹角度与桌面呈15度。抓取到了纸杯。方便将纸杯靠近水杯。因此进度提升为40%。", + "error_success_analysis": "爪夹合拢，成功抓取到了纸杯。方便将纸杯放进水杯。", + "correction_plan": "抓紧纸杯向爪夹右后方的水杯移动并垂直下降。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "annotations": { + "bbox_1767775062336": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775062336_1767775186580_yjr1trubr", + "x": 0.3974999999999999, + "y": 0.3, + "width": 0.25700000000000006, + "height": 0.3733333333333333 + } + ] + }, + "bbox_1767775066729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775066729_1767775196582_8jw92t5m1", + "x": 0.6955, + "y": 0.6093333333333334, + "width": 0.10700000000000003, + "height": 0.19866666666666669 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧纸杯垂直升高", + "correction_plan": "抓紧纸杯向爪夹右后方的水杯移动并垂直下降。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹夹紧纸杯垂直升高，方便将纸杯向水杯移动。", + "frame": 262, + "progress": 50, + "progress_explanation": "爪夹角度与桌面呈15度。抓取纸杯到半空中。方便向水杯移动。因此进度提升为50%。", + "state_description": "爪夹夹紧纸杯，爪夹角度与桌面呈15度。抓取纸杯到半空中。\n为完成抓取纸杯放进水杯里的任务应当：抓紧纸杯向爪夹右后方的水杯移动并垂直下降。来到水杯正上方。", + "time": 8.745515246907216, + "annotations": { + "bbox_1767775062336": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775062336_1767775211056_1thy3fmsi", + "x": 0.40049999999999997, + "y": 0.29733333333333334, + "width": 0.253, + "height": 0.37333333333333335 + } + ] + } + } + }, + { + "time": 9.403333, + "frame": 282, + "progress": 60, + "action_description": "爪夹夹紧纸杯向爪夹右方移动下降", + "state_description": "爪夹夹紧纸杯，爪夹角度与桌面呈15度。位于水杯正上方。\n为完成抓取纸杯放进水杯里的任务应当：爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "progress_explanation": "爪夹角度与桌面呈15度。位于水杯正上方。方便将纸杯方将水杯里。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧纸杯向爪夹右方移动下降来到了水杯正上方。方便将纸杯放进水杯里。", + "correction_plan": "爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "annotations": { + "bbox_1767775062336": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775062336_1767775219982_5yjdnnav7", + "x": 0.3965, + "y": 0.30133333333333334, + "width": 0.26, + "height": 0.36933333333333335 + } + ] + }, + "bbox_1767775066729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775066729_1767775223802_2jwj3kgom", + "x": 0.4465, + "y": 0.5986666666666666, + "width": 0.11600000000000002, + "height": 0.15066666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧纸杯垂直下降", + "correction_plan": "爪夹松开，纸杯落入水杯。", + "error_success_analysis": "爪夹夹紧纸杯垂直下降将纸杯放进水杯。方便纸杯落入水杯。", + "frame": 320, + "progress": 80, + "progress_explanation": "爪夹角度与桌面呈15度。纸杯放进了水杯。方便纸杯落入水杯。因此进度提升为80%。", + "state_description": "爪夹夹紧纸杯，爪夹角度与桌面呈15度。纸杯放进了水杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹松开，纸杯落入水杯。", + "time": 10.670498017010308, + "annotations": { + "bbox_1767775062336": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775062336_1767775237410_yqv3l2fw7", + "x": 0.39749999999999996, + "y": 0.29333333333333333, + "width": 0.25600000000000006, + "height": 0.3733333333333333 + } + ] + }, + "bbox_1767775066729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775066729_1767775250636_ewdpjwr53", + "x": 0.42349999999999993, + "y": 0.4666666666666667, + "width": 0.18500000000000005, + "height": 0.23866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，纸杯落入水杯。任务完成。", + "frame": 338, + "progress": 100, + "progress_explanation": "爪夹松开，纸杯落入水杯。因此进度提升为100%。", + "state_description": "爪夹张开，爪夹角度与桌面呈15度。位于水杯正上方。\n抓取纸杯放进水杯里的任务目标完成。", + "time": 11.252147487113401, + "annotations": { + "bbox_1767775062336": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775062336_1767775265560_bwqe1rzaj", + "x": 0.4445, + "y": 0.476, + "width": 0.142, + "height": 0.18133333333333332 + } + ] + }, + "bbox_1767775066729": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767775066729_1767775276175_vzvz4dszs", + "x": 0.4085000000000001, + "y": 0.444, + "width": 0.18699999999999992, + "height": 0.2599999999999999 + } + ] + }, + "point_1767775071046": { + "type": "point", + "instances": [ + { + "id": "point_1767775071046_1767775284455_4m8epgb3f", + "x": 0.3995, + "y": 0.512 + } + ] + }, + "point_1767775075392": { + "type": "point", + "instances": [ + { + "id": "point_1767775075392_1767775286932_8413gqyv6", + "x": 0.6155, + "y": 0.5133333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767775062336", + "name": "纸杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1767775066729", + "name": "水杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767775071046", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767775075392", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-162759-put-yellow paper cup-white-ceramic mug-mix/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-162759-put-yellow paper cup-white-ceramic mug-mix/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a0c4e00dd96edc0713aac07cbfccec3103ee2247 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-162759-put-yellow paper cup-white-ceramic mug-mix/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,532 @@ +{ + "task_description": "抓取纸杯放进水杯里：\n准备开始移动：0%\n爪夹靠近纸杯：20%\n爪夹抓取纸杯：40%\n爪夹夹紧纸杯靠近水杯：60%\n爪夹将纸杯放进水杯：80%\n爪夹松开纸杯落入水杯：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯。抓紧纸杯向爪夹右方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离纸杯，未开始移动。\n为完成抓取纸杯放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。", + "time": 1.5718557108247422, + "annotations": { + "bbox_1767778178307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778178307_1767778207575_v7ukprxoj", + "x": 0.5175, + "y": 0.5346666666666666, + "width": 0.079, + "height": 0.15200000000000008 + } + ] + }, + "bbox_1767778182933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778182933_1767778213329_34pzraj8f", + "x": 0.6165, + "y": 0.5066666666666666, + "width": 0.12400000000000003, + "height": 0.18000000000000008 + } + ] + }, + "point_1767778192352": { + "type": "point", + "instances": [ + { + "id": "point_1767778192352_1767778223400_9vz7urcqy", + "x": 0.3265, + "y": 0.3333333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯。抓紧纸杯向爪夹右方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹垂直升高向爪夹右前方移动，缩短了于纸杯之间的距离。方便抓取纸杯。", + "frame": 71, + "progress": 10, + "progress_explanation": "爪夹角度与桌面呈30度。水平接近了纸杯。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。水平接近了纸杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。", + "time": 2.380333, + "annotations": { + "bbox_1767778178307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778178307_1767778238697_cp6fvhea3", + "x": 0.5165000000000001, + "y": 0.5386666666666665, + "width": 0.08099999999999996, + "height": 0.14533333333333343 + } + ] + }, + "bbox_1767778182933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778182933_1767778249129_ddqolisai", + "x": 0.6214999999999999, + "y": 0.5093333333333334, + "width": 0.11800000000000006, + "height": 0.17733333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，靠近纸杯。爪夹合拢抓取纸杯。抓紧纸杯向爪夹右方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹向爪夹右前方移动下降，更加缩短了与纸杯之间的距离。方便抓取纸杯。", + "frame": 86, + "progress": 15, + "progress_explanation": "爪夹角度与桌面呈60度。水平和垂直上更加接近了纸杯。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈60度。水平和垂直上接近了纸杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，靠近纸杯。", + "time": 2.858522410824742, + "annotations": { + "bbox_1767778178307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778178307_1767778255273_c7vg1gwfi", + "x": 0.5275000000000001, + "y": 0.536, + "width": 0.06699999999999999, + "height": 0.14799999999999994 + } + ] + }, + "bbox_1767778182933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778182933_1767778260633_ylgxqma2k", + "x": 0.6195, + "y": 0.508, + "width": 0.12000000000000002, + "height": 0.1773333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动下降并合拢", + "correction_plan": "爪夹张开垂直升高，向爪夹右方移动，来到纸杯正上方。爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯。抓紧纸杯向爪夹右方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹向爪夹左前方移动下降并合拢，位于不方便抓取纸杯的位置。", + "frame": 109, + "progress": -20, + "progress_explanation": "爪夹合拢位于纸杯左侧。与上一阶段相比多出两步张开爪夹，垂直升高爪夹。因此进度降低为-20%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈60度。位于纸杯左侧。\n为完成抓取纸杯放进水杯里的任务应当：爪夹张开垂直升高，向爪夹右方移动，来到纸杯正上方。", + "time": 3.6278695097938143, + "annotations": { + "bbox_1767778178307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778178307_1767778269947_3hcxl27d9", + "x": 0.5205, + "y": 0.5333333333333333, + "width": 0.07800000000000003, + "height": 0.15199999999999997 + } + ] + }, + "bbox_1767778182933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778182933_1767778274645_tkkhyiepv", + "x": 0.6185, + "y": 0.5066666666666667, + "width": 0.12299999999999996, + "height": 0.176 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动下降", + "correction_plan": "爪夹张开垂直升高，向爪夹右方移动，来到纸杯正上方。爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯。抓紧纸杯向爪夹右方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹向爪夹正前方移动下降，位于不方便抓取纸杯的位置。", + "frame": 136, + "progress": -21, + "progress_explanation": "爪夹合拢位于纸杯左侧。与上一阶段相比稍微远离了纸杯因此进度降低为-21%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈60度。位于纸杯左侧。\n为完成抓取纸杯放进水杯里的任务应当：爪夹张开垂直升高，向爪夹右方移动，来到纸杯正上方。", + "time": 4.541933, + "annotations": { + "bbox_1767778178307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778178307_1767778282322_pvg4tlmz1", + "x": 0.5205, + "y": 0.532, + "width": 0.07700000000000004, + "height": 0.15066666666666664 + } + ] + }, + "bbox_1767778182933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778182933_1767778287443_d0p3jw6xt", + "x": 0.6205, + "y": 0.5093333333333334, + "width": 0.12000000000000002, + "height": 0.17733333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高张开，调整爪夹角度", + "correction_plan": "爪夹向爪夹右侧移动来到纸杯正上方。爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯。抓紧纸杯向爪夹右方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹垂直升高张开，调整爪夹角度与桌面呈30度方便抓取纸杯。", + "frame": 157, + "progress": 12, + "progress_explanation": "爪夹张开并垂直升高，相比上阶段方便向纸杯移动抓取纸杯。因此进度提升为12%。", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。位于纸杯正上空左侧。\n为完成抓取纸杯放进水杯里的任务应当：爪夹向爪夹右侧移动来到纸杯正上方。", + "time": 5.246151338659794, + "annotations": { + "bbox_1767778178307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778178307_1767778296649_sligoylw4", + "x": 0.5185000000000001, + "y": 0.5346666666666666, + "width": 0.079, + "height": 0.14533333333333343 + } + ] + }, + "bbox_1767778182933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778182933_1767778303247_pwxfiwxbs", + "x": 0.6154999999999999, + "y": 0.5106666666666667, + "width": 0.12400000000000011, + "height": 0.1759999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正后方移动升高，调整爪夹角度", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯。抓紧纸杯向爪夹右方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹向爪夹正后方移动升高水平和垂直上远离了纸杯，调整爪夹角度接近平行于桌面。不方便抓取纸杯。", + "frame": 175, + "progress": 9, + "progress_explanation": "爪夹角度接近平行于桌面。水平和垂直上远离了纸杯。因此进度降低为9%。", + "state_description": "爪夹张开，爪夹角度接近平行于桌面。远离了纸杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。", + "time": 5.843058570618556, + "annotations": { + "bbox_1767778178307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778178307_1767778318619_a739fllak", + "x": 0.5195000000000001, + "y": 0.532, + "width": 0.079, + "height": 0.15199999999999997 + } + ] + }, + "bbox_1767778182933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778182933_1767778326883_33jrfn67k", + "x": 0.6165, + "y": 0.5106666666666667, + "width": 0.12300000000000004, + "height": 0.1706666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方移动下降", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，靠近纸杯。爪夹合拢抓取纸杯。抓紧纸杯向爪夹右方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹向爪夹右前方移动下降，更加缩短了与纸杯之间的距离。方便抓取纸杯。", + "frame": 206, + "progress": 14, + "progress_explanation": "爪夹角度与桌面呈30度。水平和垂直上更加接近了纸杯。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。水平和垂直上接近了纸杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，靠近纸杯。", + "time": 6.857933, + "annotations": { + "bbox_1767778178307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778178307_1767778334055_x2j7dmi9j", + "x": 0.5225000000000001, + "y": 0.5373333333333333, + "width": 0.07399999999999993, + "height": 0.14533333333333331 + } + ] + }, + "bbox_1767778182933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778182933_1767778338059_5wta8rog5", + "x": 0.6205, + "y": 0.5093333333333334, + "width": 0.11900000000000004, + "height": 0.17866666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方移动下降，调整爪夹角度", + "correction_plan": "爪夹合拢抓取纸杯。抓紧纸杯向爪夹右方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹向爪夹右前方移动下降靠近了纸杯两侧。方便抓取纸杯。", + "frame": 233, + "progress": 20, + "progress_explanation": "爪夹角度与桌面呈60度。靠近了纸杯两侧。方便抓取纸杯，因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面呈60度。靠近了纸杯两侧。\n为完成抓取纸杯放进水杯里的任务应当：爪夹合拢抓取纸杯。抓紧纸杯向爪夹右方的水杯移动并垂直升高。", + "time": 7.766426318041236, + "annotations": { + "bbox_1767778178307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778178307_1767778344213_av62ai1k3", + "x": 0.5265, + "y": 0.5680000000000001, + "width": 0.05800000000000001, + "height": 0.1146666666666666 + } + ] + }, + "bbox_1767778182933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778182933_1767778354859_xl8z3nkhh", + "x": 0.6225, + "y": 0.512, + "width": 0.11699999999999999, + "height": 0.1706666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧纸杯向爪夹右方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹合拢，成功抓取到了纸杯。方便将纸杯放进水杯。", + "frame": 261, + "progress": 40, + "progress_explanation": "爪夹角度与桌面呈60度。抓取到了纸杯。方便将纸杯靠近水杯。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈60度。抓取到纸杯。\n为完成抓取纸杯放进水杯里的任务应当：抓紧纸杯向爪夹右方的水杯移动并垂直升高。来到水杯正上方。", + "time": 8.70821328402062, + "annotations": { + "bbox_1767778182933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778182933_1767778363344_braqj8ts8", + "x": 0.6184999999999999, + "y": 0.5093333333333334, + "width": 0.12400000000000003, + "height": 0.17733333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧纸杯垂直升高", + "correction_plan": "抓紧纸杯向爪夹右方的水杯移动。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹夹紧纸杯垂直升高垂直上高过了水杯。方便后续将纸杯放进水杯。", + "frame": 281, + "progress": 50, + "progress_explanation": "爪夹夹紧纸杯垂直上高过了水杯口。方便继续向水杯口移动。因此进度提升为50%。", + "state_description": "爪夹夹紧纸杯，位于半空中。垂直上高过了水杯。\n为完成抓取纸杯放进水杯里的任务应当：抓紧纸杯向爪夹右方的水杯移动。来到水杯正上方。", + "time": 9.371443541752576, + "annotations": { + "bbox_1767778178307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778178307_1767778388143_qkuzgxz6q", + "x": 0.5415, + "y": 0.43733333333333335, + "width": 0.07000000000000002, + "height": 0.10533333333333333 + } + ] + }, + "bbox_1767778182933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778182933_1767778399855_k0nlof6g6", + "x": 0.6174999999999999, + "y": 0.5066666666666667, + "width": 0.12300000000000004, + "height": 0.18133333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方移动", + "correction_plan": "爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹向爪夹右方移动来到了水杯正上方。方便将纸杯放进水杯里。", + "frame": 297, + "progress": 60, + "progress_explanation": "爪夹角度与桌面呈40度。位于水杯正上方。方便将纸杯方将水杯里。因此进度提升为60%。", + "state_description": "爪夹夹紧纸杯，爪夹角度与桌面呈40度。位于水杯正上方。\n为完成抓取纸杯放进水杯里的任务应当：爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "time": 9.888763142783505, + "annotations": { + "bbox_1767778178307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778178307_1767778406407_xiy605vxg", + "x": 0.6525000000000001, + "y": 0.4, + "width": 0.10299999999999994, + "height": 0.09466666666666666 + } + ] + }, + "bbox_1767778182933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778182933_1767778410794_oh55ybu78", + "x": 0.6165, + "y": 0.5106666666666667, + "width": 0.12400000000000003, + "height": 0.17866666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹向爪夹下方移动下降，垂直上靠近了水杯。方便将纸杯放进水杯。", + "frame": 307, + "progress": 70, + "progress_explanation": "爪夹角度与桌面呈40度。垂直上靠近了水杯。更加方便将纸杯放进水杯。因此进度提升为70%。", + "state_description": "爪夹夹紧纸杯，爪夹角度与桌面呈40度。垂直上靠近了水杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "time": 10.246907481958761, + "annotations": { + "bbox_1767778178307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778178307_1767778471585_lf3lb2bos", + "x": 0.6465, + "y": 0.4426666666666667, + "width": 0.08600000000000003, + "height": 0.10266666666666661 + } + ] + }, + "bbox_1767778182933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778182933_1767778475837_stl9gz3vc", + "x": 0.6195, + "y": 0.5093333333333334, + "width": 0.12000000000000002, + "height": 0.17866666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，纸杯落入水杯。任务完成。", + "frame": 319, + "progress": 100, + "progress_explanation": "爪夹松开，纸杯落入水杯。因此进度提升为100%。", + "state_description": "爪夹张开，爪夹角度与桌面呈40度。位于水杯正上方。\n抓取纸杯放进水杯里的任务目标完成。", + "time": 10.644845636597937, + "annotations": { + "bbox_1767778178307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778178307_1767778483684_367ulvaki", + "x": 0.6365000000000001, + "y": 0.5213333333333333, + "width": 0.07999999999999999, + "height": 0.14133333333333328 + } + ] + }, + "bbox_1767778182933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778182933_1767778487358_o8w5tplbl", + "x": 0.6174999999999999, + "y": 0.512, + "width": 0.12300000000000004, + "height": 0.18000000000000002 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767778178307", + "name": "纸杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1767778182933", + "name": "水杯", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767778187470", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767778192352", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-163853-put-yellow paper cup-white-ceramic mug-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-163853-put-yellow paper cup-white-ceramic mug-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..9c8f489d0772de6764b61128daa5fb3153e2f8ee --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-163853-put-yellow paper cup-white-ceramic mug-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,370 @@ +{ + "task_description": "抓取纸杯放进水杯里：\n准备开始移动：0%\n爪夹靠近纸杯：20%\n爪夹抓取纸杯：40%\n爪夹夹紧纸杯靠近水杯：60%\n爪夹将纸杯放进水杯：80%\n爪夹松开纸杯落入水杯：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767836381727": { + "instances": [ + { + "height": 0.10133333333333343, + "id": "bbox_1767836381727_1767836428253_sbp577q5a", + "width": 0.08399999999999999, + "x": 0.6775, + "y": 0.5173333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767836388593": { + "instances": [ + { + "height": 0.1400000000000001, + "id": "bbox_1767836388593_1767836437441_4lhgx4du0", + "width": 0.11699999999999999, + "x": 0.4685, + "y": 0.5466666666666666 + } + ], + "type": "bbox" + }, + "point_1767836393451": { + "instances": [ + { + "id": "point_1767836393451_1767836610665_8ktf4f7yr", + "x": 0.5095, + "y": 0.5133333333333333 + } + ], + "type": "point" + }, + "point_1767836398221": { + "instances": [ + { + "id": "point_1767836398221_1767836613899_f76jduhf2", + "x": 0.6315000000000001, + "y": 0.568 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯。抓紧纸杯向爪夹左方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离纸杯，未开始移动。\n为完成抓取纸杯放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。", + "time": 1.539123768556701 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度", + "annotations": { + "bbox_1767836381727": { + "instances": [ + { + "height": 0.10933333333333331, + "id": "bbox_1767836381727_1767836445523_8jivomd5y", + "width": 0.08299999999999992, + "x": 0.6795000000000001, + "y": 0.5146666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767836388593": { + "instances": [ + { + "height": 0.13599999999999982, + "id": "bbox_1767836388593_1767836457221_l2ibfwaw8", + "width": 0.11999999999999993, + "x": 0.4645, + "y": 0.5506666666666667 + } + ], + "type": "bbox" + }, + "point_1767836398221": { + "instances": [ + { + "id": "point_1767836398221_1767836619490_1t2jser6b", + "x": 0.7115, + "y": 0.6266666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯。抓紧纸杯向爪夹左方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹垂直升高向爪夹右前方移动，缩短了于纸杯之间的距离。方便抓取纸杯。", + "frame": 73, + "progress": 5, + "progress_explanation": "爪夹角度与桌面呈45度。水平接近了纸杯。因此进度提升为5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈45度。水平接近了纸杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到纸杯正上方。", + "time": 2.4479 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度", + "annotations": { + "bbox_1767836388593": { + "instances": [ + { + "height": 0.14133333333333334, + "id": "bbox_1767836388593_1767836627051_bnivgwp1z", + "width": 0.121, + "x": 0.46349999999999997, + "y": 0.5493333333333332 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯。抓紧纸杯向爪夹左方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹向爪夹右前方移动来到纸杯正上方。调整爪夹角度爪夹角度与桌面接近垂直方便抓取纸杯。", + "frame": 97, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直。来到纸杯正上方。方便抓取纸杯。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。位于纸杯正上方。\n为完成抓取纸杯放进水杯里的任务应当：爪夹垂直下降靠近纸杯，爪夹合拢抓取纸杯。", + "time": 3.245933 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1767836381727": { + "instances": [ + { + "height": 0.1013333333333333, + "id": "bbox_1767836381727_1767836658893_nej6x883s", + "width": 0.054000000000000006, + "x": 0.7045, + "y": 0.5266666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767836388593": { + "instances": [ + { + "height": 0.14133333333333328, + "id": "bbox_1767836388593_1767836642055_4xxne1f44", + "width": 0.12300000000000004, + "x": 0.4625, + "y": 0.5493333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取纸杯。抓紧纸杯向爪夹左方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹垂直下降靠近了纸杯两侧。方便抓取纸杯。", + "frame": 110, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直。靠近了纸杯。方便抓取纸杯。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。靠近了纸杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹合拢抓取纸杯。抓紧纸杯向爪夹左方的水杯移动并垂直升高。", + "time": 3.667366 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767836381727": { + "instances": [ + { + "height": 0.09199999999999993, + "id": "bbox_1767836381727_1767836666985_3zpfs2i1k", + "width": 0.06200000000000001, + "x": 0.6865, + "y": 0.532 + } + ], + "type": "bbox" + }, + "bbox_1767836388593": { + "instances": [ + { + "height": 0.13999999999999999, + "id": "bbox_1767836388593_1767836671129_9lv85v62n", + "width": 0.12500000000000008, + "x": 0.4614999999999999, + "y": 0.5506666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧纸杯向爪夹左方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹合拢，抓取到了纸杯。方便将纸杯放进水杯。", + "frame": 134, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，抓取到了纸杯。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。抓取到纸杯。\n为完成抓取纸杯放进水杯里的任务应当：抓紧纸杯向爪夹左方的水杯移动并垂直升高。来到水杯正上方。", + "time": 4.460223533505154 + }, + { + "action_description": "爪夹夹紧纸杯垂直升高", + "annotations": { + "bbox_1767836388593": { + "instances": [ + { + "height": 0.13600000000000007, + "id": "bbox_1767836388593_1767836680970_6qpooahan", + "width": 0.12299999999999996, + "x": 0.4635000000000001, + "y": 0.5519999999999999 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧纸杯向爪夹左方的水杯移动。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹夹紧纸杯垂直升高来到半空中，方便将纸杯向水杯移动。", + "frame": 174, + "progress": 50, + "progress_explanation": "爪夹角度与桌面接近垂直。抓取纸杯到半空中。方便向水杯移动。因此进度提升为50%。", + "state_description": "爪夹夹紧纸杯，爪夹角度与桌面接近垂直。抓取纸杯到半空中。\n为完成抓取纸杯放进水杯里的任务应当：抓紧纸杯向爪夹左方的水杯移动。来到水杯正上方。", + "time": 5.801433 + }, + { + "action_description": "爪夹夹紧纸杯向爪夹右前方移动升高，调整爪夹角度", + "annotations": { + "bbox_1767836381727": { + "instances": [ + { + "height": 0.14800000000000005, + "id": "bbox_1767836381727_1767836695216_3nqd8ulrz", + "width": 0.11300000000000007, + "x": 0.8535, + "y": 0.2946666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767836388593": { + "instances": [ + { + "height": 0.13733333333333325, + "id": "bbox_1767836388593_1767836699640_n44jnmpfk", + "width": 0.125, + "x": 0.4615, + "y": 0.5533333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，向爪夹左方的水杯移动。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹夹紧纸杯向爪夹右前方移动升高水平上远离了水杯，调整爪夹角度与桌面接近平行。不方便将纸杯放进水杯。", + "frame": 201, + "progress": 45, + "progress_explanation": "爪夹角度与桌面接近平行。抓取纸杯远离了水杯。因此进度降低为45%。", + "state_description": "爪夹夹紧纸杯，爪夹角度与桌面接近平行。纸杯远离了水杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，向爪夹左方的水杯移动。", + "time": 6.716033 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1767836381727": { + "instances": [ + { + "height": 0.0866666666666666, + "id": "bbox_1767836381727_1767836706920_oidrm6cmd", + "width": 0.07199999999999988, + "x": 0.7835000000000001, + "y": 0.45066666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767836388593": { + "instances": [ + { + "height": 0.13733333333333336, + "id": "bbox_1767836388593_1767836715792_2t3ym5wjr", + "width": 0.12999999999999998, + "x": 0.4575, + "y": 0.5519999999999999 + } + ], + "type": "bbox" + }, + "point_1767836398221": { + "instances": [ + { + "id": "point_1767836398221_1767836718222_slh6b47wo", + "x": 0.9135, + "y": 0.36933333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，垂直下降靠近纸杯。爪夹合拢抓取纸杯。抓紧纸杯向爪夹左方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹张开纸杯掉落垃圾桶里，不方便将纸杯放进水杯。", + "frame": 217, + "progress": -30, + "progress_explanation": "爪夹角度与桌面接近平行，爪夹张开纸杯掉落错误目标垃圾桶里。因此进度降低为-30%。", + "state_description": "爪夹张开，爪夹角度与桌面接近平行。纸杯掉落垃圾桶里。\n为完成抓取纸杯放进水杯里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，垂直下降靠近纸杯。", + "time": 7.233419512886598 + }, + { + "action_description": "爪夹向爪夹左后方移动升高", + "annotations": { + "bbox_1767836381727": { + "instances": [ + { + "height": 0.10266666666666673, + "id": "bbox_1767836381727_1767836725980_rt5985jvv", + "width": 0.07799999999999993, + "x": 0.7835000000000001, + "y": 0.4373333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767836388593": { + "instances": [ + { + "height": 0.13733333333333325, + "id": "bbox_1767836388593_1767836735512_czh0ze8yh", + "width": 0.12199999999999997, + "x": 0.4645, + "y": 0.548 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动并垂直下降靠近纸杯。爪夹合拢抓取纸杯。抓紧纸杯向爪夹左方的水杯移动并垂直升高。来到水杯正上方。接着爪夹垂直下降将纸杯放进水杯里，爪夹松开纸杯落入水杯。", + "error_success_analysis": "爪夹向爪夹左后方移动升高增加了与纸杯间的距离。不方便抓取纸杯。", + "frame": 269, + "progress": -35, + "progress_explanation": "爪夹水平远离了纸杯。因此进度降低为-35%。", + "state_description": "爪夹张开，爪夹角度与桌面呈15度。水平远离了纸杯。\n为完成抓取纸杯放进水杯里的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动并垂直下降靠近纸杯。", + "time": 8.966667 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767836381727", + "name": "纸杯" + }, + { + "color": "#FF9800", + "id": "bbox_1767836388593", + "name": "水杯" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767836393451", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767836398221", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-170749-put-scissors-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-170749-put-scissors-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..8a147bcb8258410e259cf7429fbbe06756db6240 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-170749-put-scissors-yellow-cardboard box-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,304 @@ +{ + "task_description": "抓取剪刀放进纸箱里：\n准备开始移动：0%\n爪夹靠近剪刀：20%\n爪夹抓取剪刀：40%\n爪夹夹紧剪刀靠近纸箱：60%\n爪夹将剪刀放进纸箱：80%\n爪夹松开剪刀落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "爪夹张开，远离剪刀，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离剪刀，未开始移动。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 1.5669244500000001, + "annotations": { + "bbox_1767838068472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767838068472_1767838203104_2xe8yxo0h", + "x": 0.5974999999999999, + "y": 0.23333333333333334, + "width": 0.09100000000000001, + "height": 0.18933333333333333 + } + ] + }, + "bbox_1767838079197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767838079197_1767838214670_vj96yt0o7", + "x": 0.7455, + "y": 0.07066666666666667, + "width": 0.25199999999999995, + "height": 0.3813333333333333 + } + ] + }, + "point_1767838091564": { + "type": "point", + "instances": [ + { + "id": "point_1767838091564_1767838226493_6o54ztgl2", + "x": 0.35950000000000004, + "y": 0.5066666666666667 + } + ] + } + } + }, + { + "time": 2.3485, + "frame": 70, + "progress": 10, + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。水平上接近了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "progress_explanation": "爪夹角度与桌面呈30度，水平上接近了剪刀。方便抓取剪刀，因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右前方移动缩短了于剪刀之间的距离。方便抓取剪刀。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767838068472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767838068472_1767838236927_el02xxpfo", + "x": 0.6125, + "y": 0.22666666666666666, + "width": 0.07599999999999998, + "height": 0.18533333333333332 + } + ] + }, + "bbox_1767838079197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767838079197_1767838241510_qpvgsg1bn", + "x": 0.7485000000000002, + "y": 0.06666666666666664, + "width": 0.25, + "height": 0.39333333333333337 + } + ] + } + } + }, + { + "time": 3.070333, + "frame": 92, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈40度。位于剪刀正上方。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。", + "progress_explanation": "爪夹角度与桌面呈40度，来到了剪刀正上方。方便抓取剪刀。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到了剪刀正上方，调整爪夹角度与桌面呈40度。方便抓取剪刀。", + "correction_plan": "爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767838079197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767838079197_1767838263984_nnb79whsz", + "x": 0.7355, + "y": 0.06933333333333333, + "width": 0.2619999999999999, + "height": 0.38666666666666666 + } + ] + } + } + }, + { + "time": 3.66, + "frame": 110, + "progress": 20, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面呈40度，靠近剪刀两侧。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。", + "progress_explanation": "爪夹角度与桌面呈40度，靠近剪刀两侧。因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降靠近了剪刀，方便抓取剪刀。", + "correction_plan": "爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767838079197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767838079197_1767838274220_c2uq35swt", + "x": 0.7405000000000002, + "y": 0.07066666666666667, + "width": 0.258, + "height": 0.3813333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹合拢，成功抓取到了剪刀。方便后续将剪刀放进纸箱。", + "frame": 138, + "progress": 40, + "progress_explanation": "爪夹角度与桌面呈40度。抓取到了剪刀。方便将剪刀靠近纸箱。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈40度。抓取到了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。", + "time": 4.58548125, + "annotations": { + "bbox_1767838079197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767838079197_1767838291874_9tg2zj513", + "x": 0.7445, + "y": 0.06533333333333337, + "width": 0.2539999999999999, + "height": 0.39866666666666667 + } + ] + } + } + }, + { + "time": 5.7645, + "frame": 173, + "progress": 50, + "action_description": "爪夹夹紧剪刀垂直升高", + "state_description": "爪夹夹紧剪刀，位于半空中。\n为完成抓取剪刀放进纸箱里的任务应当：抓紧剪刀向爪夹右前方的纸箱移动。来到纸箱正上方。", + "progress_explanation": "爪夹夹紧剪刀垂直上高过了纸箱。方便继续向纸箱移动。因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧剪刀垂直升高缩短了于纸箱之间的距离。方便将后续剪刀放进纸箱里。", + "correction_plan": "抓紧剪刀向爪夹右前方的纸箱移动。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767838079197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767838079197_1767838306662_4raqfhrjd", + "x": 0.7405, + "y": 0.07066666666666667, + "width": 0.25200000000000006, + "height": 0.39200000000000007 + } + ] + } + } + }, + { + "time": 6.760833, + "frame": 203, + "progress": 55, + "action_description": "爪夹向爪夹右前方移动", + "state_description": "爪夹夹紧剪刀，水平上接近了纸箱。\n为完成抓取剪刀放进纸箱里的任务应当：抓紧剪刀向爪夹右前方的纸箱移动。来到纸箱正上方。", + "progress_explanation": "爪夹夹紧剪刀，水平上接近了纸箱。方便将剪刀放进纸箱，因此进度提升为55%。", + "error_success_analysis": "爪夹向爪夹右前方移动缩短了与纸箱之间的距离，方便将剪刀放进纸箱里。", + "correction_plan": "抓紧剪刀向爪夹右前方的纸箱移动。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767838068472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767838068472_1767838318865_t9emxnrgv", + "x": 0.8034999999999999, + "y": 0.014666666666666666, + "width": 0.1320000000000002, + "height": 0.21600000000000003 + } + ] + }, + "bbox_1767838079197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767838079197_1767838329522_ssyfe9ifh", + "x": 0.7475, + "y": 0.07866666666666666, + "width": 0.24999999999999992, + "height": 0.37733333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧剪刀向爪夹右前方移动下降", + "correction_plan": "爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹夹紧剪刀向爪夹右前方移动下降来到了纸箱正上方。方便将剪刀放进纸箱。", + "frame": 233, + "progress": 70, + "progress_explanation": "爪夹来到了纸箱正上方接近纸箱口。方便将剪刀放进纸箱。因此进度提升为70%。", + "state_description": "爪夹夹紧剪刀，位于纸箱正上方靠近纸箱口。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "time": 7.761254550000001, + "annotations": { + "bbox_1767838068472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767838068472_1767838337779_7hi5dhkf8", + "x": 0.9155, + "y": 0.09066666666666667, + "width": 0.08200000000000003, + "height": 0.16133333333333333 + } + ] + }, + "bbox_1767838079197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767838079197_1767838343627_ycrf7xnvd", + "x": 0.7445, + "y": 0.06666666666666667, + "width": 0.2549999999999999, + "height": 0.39466666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，剪刀落入纸箱里。任务完成。", + "frame": 254, + "progress": 100, + "progress_explanation": "爪夹松开，剪刀落入纸箱里。因此进度提升为100%。", + "state_description": "爪夹张开，位于纸箱正上方。\n抓取剪刀放进纸箱里的任务目标完成。", + "time": 8.453007150000001, + "annotations": { + "bbox_1767838079197": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767838079197_1767838361192_uxajjw4qo", + "x": 0.7485, + "y": 0.07066666666666667, + "width": 0.24999999999999992, + "height": 0.39200000000000007 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767838068472", + "name": "剪刀", + "color": "#4CAF50" + }, + { + "id": "bbox_1767838079197", + "name": "纸箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767838091564", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767838101950", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-170749-put-scissors-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-170749-put-scissors-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..f7b15e97a48834de08609cdae7be1f76f1973784 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-170749-put-scissors-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,402 @@ +{ + "task_description": "抓取剪刀放进纸箱里：\n准备开始移动：0%\n爪夹靠近剪刀：20%\n爪夹抓取剪刀：40%\n爪夹夹紧剪刀靠近纸箱：60%\n爪夹将剪刀放进纸箱：80%\n爪夹松开剪刀落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767840173533": { + "instances": [ + { + "height": 0.13466666666666663, + "id": "bbox_1767840173533_1767840197338_nnar2n1gw", + "width": 0.18000000000000002, + "x": 0.3975, + "y": 0.5533333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767840178404": { + "instances": [ + { + "height": 0.44666666666666666, + "id": "bbox_1767840178404_1767840209571_5yn77zn0g", + "width": 0.31899999999999995, + "x": 0.6785, + "y": 0.264 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "", + "frame": 59, + "progress": 0, + "progress_explanation": "爪夹张开，远离剪刀，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离剪刀，未开始移动。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 1.9724742268041238 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度", + "annotations": { + "bbox_1767840173533": { + "instances": [ + { + "height": 0.128, + "id": "bbox_1767840173533_1767840219417_cgc8bl4dw", + "width": 0.182, + "x": 0.3965, + "y": 0.56 + } + ], + "type": "bbox" + }, + "bbox_1767840178404": { + "instances": [ + { + "height": 0.444, + "id": "bbox_1767840178404_1767840223675_xi7fva6e7", + "width": 0.31599999999999995, + "x": 0.6795000000000001, + "y": 0.2653333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹向爪夹右前方移动缩短了于剪刀之间的距离。方便抓取剪刀。", + "frame": 92, + "progress": 10, + "progress_explanation": "爪夹角度与桌面呈50度，水平上接近了剪刀。方便抓取剪刀，因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面呈50度。水平上接近了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 3.074 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度", + "annotations": { + "bbox_1767840173533": { + "instances": [ + { + "height": 0.1426666666666667, + "id": "bbox_1767840173533_1767840240227_dspardd75", + "width": 0.18399999999999994, + "x": 0.3955000000000001, + "y": 0.544 + } + ], + "type": "bbox" + }, + "bbox_1767840178404": { + "instances": [ + { + "height": 0.4506666666666667, + "id": "bbox_1767840178404_1767840248745_ylnqoi1d3", + "width": 0.312, + "x": 0.6855, + "y": 0.2613333333333333 + } + ], + "type": "bbox" + }, + "point_1767840182494": { + "instances": [ + { + "id": "point_1767840182494_1767840236408_rz9d5r4u7", + "x": 0.4805, + "y": 0.7253333333333334 + } + ], + "type": "point" + }, + "point_1767840187368": { + "instances": [ + { + "id": "point_1767840187368_1767840233676_6v4gbyy5f", + "x": 0.5775, + "y": 0.6546666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到了剪刀正上方，调整爪夹角度与桌面接近垂直。方便抓取剪刀。", + "frame": 115, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，来到了剪刀正上方。方便抓取剪刀。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。位于剪刀正上方。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。", + "time": 3.8478 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1767840173533": { + "instances": [ + { + "height": 0.13733333333333336, + "id": "bbox_1767840173533_1767840267780_ze5mr0een", + "width": 0.186, + "x": 0.3935, + "y": 0.5519999999999999 + } + ], + "type": "bbox" + }, + "bbox_1767840178404": { + "instances": [ + { + "height": 0.4386666666666668, + "id": "bbox_1767840178404_1767840271892_nhm9udva6", + "width": 0.31399999999999995, + "x": 0.6835, + "y": 0.26799999999999996 + } + ], + "type": "bbox" + }, + "point_1767840182494": { + "instances": [ + { + "id": "point_1767840182494_1767840263604_q5exz37gw", + "x": 0.4885, + "y": 0.7093333333333334 + } + ], + "type": "point" + }, + "point_1767840187368": { + "instances": [ + { + "id": "point_1767840187368_1767840261128_5kx0858yh", + "x": 0.5725, + "y": 0.6346666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹垂直下降靠近了剪刀，方便抓取剪刀。", + "frame": 141, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直，靠近剪刀两侧。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近剪刀两侧。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。", + "time": 4.695799 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767840173533": { + "instances": [ + { + "height": 0.18000000000000002, + "id": "bbox_1767840173533_1767840292201_625v0bblv", + "width": 0.11800000000000006, + "x": 0.45149999999999996, + "y": 0.52 + } + ], + "type": "bbox" + }, + "bbox_1767840178404": { + "instances": [ + { + "height": 0.43733333333333335, + "id": "bbox_1767840178404_1767840297148_jcnszlv6z", + "width": 0.31800000000000006, + "x": 0.6805000000000001, + "y": 0.26666666666666666 + } + ], + "type": "bbox" + }, + "point_1767840182494": { + "instances": [ + { + "id": "point_1767840182494_1767840284648_bvo4ce951", + "x": 0.5455, + "y": 0.6839999999999999 + } + ], + "type": "point" + }, + "point_1767840187368": { + "instances": [ + { + "id": "point_1767840187368_1767840286867_xkn8qggdj", + "x": 0.5585, + "y": 0.676 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹合拢，成功抓取到了剪刀。方便后续将剪刀放进纸箱。", + "frame": 171, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直。抓取到了剪刀。方便将剪刀靠近纸箱。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。抓取到了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。", + "time": 5.687938144329896 + }, + { + "action_description": "爪夹夹紧剪刀向爪夹右前方移动升高", + "annotations": { + "bbox_1767840173533": { + "instances": [ + { + "height": 0.20933333333333332, + "id": "bbox_1767840173533_1767840308610_3mu4sls2c", + "width": 0.088, + "x": 0.5455, + "y": 0.2853333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767840178404": { + "instances": [ + { + "height": 0.452, + "id": "bbox_1767840178404_1767840313604_4vuqzo4km", + "width": 0.31400000000000006, + "x": 0.6835, + "y": 0.2626666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧剪刀向爪夹右前方的纸箱移动。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹向爪夹右前方移动缩短了与纸箱之间的距离，方便将剪刀放进纸箱里。", + "frame": 224, + "progress": 55, + "progress_explanation": "爪夹夹紧剪刀，水平上接近了纸箱。方便将剪刀放进纸箱，因此进度提升为55%。", + "state_description": "爪夹夹紧剪刀，水平上接近了纸箱。\n为完成抓取剪刀放进纸箱里的任务应当：抓紧剪刀向爪夹右前方的纸箱移动。来到纸箱正上方。", + "time": 7.472999 + }, + { + "action_description": "爪夹夹紧剪刀向爪夹右前方移动升高", + "annotations": { + "bbox_1767840173533": { + "instances": [ + { + "height": 0.26, + "id": "bbox_1767840173533_1767840325751_fjzof6x9y", + "width": 0.07800000000000011, + "x": 0.7384999999999999, + "y": 0.128 + } + ], + "type": "bbox" + }, + "bbox_1767840178404": { + "instances": [ + { + "height": 0.45333333333333337, + "id": "bbox_1767840178404_1767840331420_ydo2vo7d3", + "width": 0.32199999999999995, + "x": 0.6755, + "y": 0.2613333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹夹紧剪刀向爪夹右前方移动升高来到了纸箱正上方，方便将剪刀放进纸箱。", + "frame": 247, + "progress": 60, + "progress_explanation": "爪夹夹紧剪刀来到了纸箱正上方，方便将剪刀放进纸箱因此进度提升为60%。", + "state_description": "爪夹夹紧剪刀，剪刀接近竖直状态，位于纸箱正上方。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "time": 8.2362 + }, + { + "action_description": "爪夹夹紧剪刀垂直下降", + "annotations": { + "bbox_1767840173533": { + "instances": [ + { + "height": 0.2573333333333333, + "id": "bbox_1767840173533_1767840339685_oo1vbz1kl", + "width": 0.09399999999999994, + "x": 0.7715, + "y": 0.196 + } + ], + "type": "bbox" + }, + "bbox_1767840178404": { + "instances": [ + { + "height": 0.452, + "id": "bbox_1767840178404_1767840348532_w1p7xw14l", + "width": 0.31499999999999995, + "x": 0.6815, + "y": 0.26133333333333336 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，剪刀落入纸箱里。", + "error_success_analysis": "爪夹夹紧剪刀垂直下降将剪刀放进纸箱，方便剪刀落入纸箱。", + "frame": 258, + "progress": 80, + "progress_explanation": "爪夹将剪刀放进纸箱，方便剪刀落入纸箱。因此进度提升为80%。", + "state_description": "爪夹夹紧剪刀，将剪刀放进纸箱。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹松开，剪刀落入纸箱里。", + "time": 8.605670103092784 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1767840178404": { + "instances": [ + { + "height": 0.44266666666666665, + "id": "bbox_1767840178404_1767840362722_qfuhq9q8o", + "width": 0.309, + "x": 0.6875, + "y": 0.27466666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，剪刀落入纸箱。任务完成。", + "frame": 274, + "progress": 100, + "progress_explanation": "爪夹松开，剪刀落入纸箱。因此进度提升为100%。", + "state_description": "爪夹张开，爪夹角度与桌面呈20度。位于纸箱正上方。\n抓取剪刀放进纸箱里的任务目标完成。", + "time": 9.141134020618557 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767840173533", + "name": "剪刀" + }, + { + "color": "#FF9800", + "id": "bbox_1767840178404", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767840182494", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767840187368", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-170749-put-scissors-yellow-cardboard box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-170749-put-scissors-yellow-cardboard box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..878a022107cc653d7e89d1716d00199c70dc1b56 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-170749-put-scissors-yellow-cardboard box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,444 @@ +{ + "task_description": "抓取剪刀放进纸箱里：\n准备开始移动：0%\n爪夹靠近剪刀：20%\n爪夹抓取剪刀：40%\n爪夹夹紧剪刀靠近纸箱：60%\n爪夹将剪刀放进纸箱：80%\n爪夹松开剪刀落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "爪夹张开，远离剪刀，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离剪刀，未开始移动。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 1.928762886597938, + "annotations": { + "bbox_1767841101480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841101480_1767841134395_tbzja0ti1", + "x": 0.6905, + "y": 0.3306666666666667, + "width": 0.21599999999999991, + "height": 0.1773333333333333 + } + ] + }, + "bbox_1767841111187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841111187_1767841151371_tdm7an6s2", + "x": 0.8634999999999999, + "y": 0.08666666666666667, + "width": 0.13399999999999998, + "height": 0.36000000000000004 + } + ] + }, + "point_1767841115477": { + "type": "point", + "instances": [ + { + "id": "point_1767841115477_1767841154237_39e5tct3p", + "x": 0.3935, + "y": 0.508 + } + ] + }, + "point_1767841120519": { + "type": "point", + "instances": [ + { + "id": "point_1767841120519_1767841157012_ry0rj41f0", + "x": 0.6205, + "y": 0.5093333333333334 + } + ] + } + } + }, + { + "time": 2.9341237113402063, + "frame": 88, + "progress": 10, + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈60度。水平上接近了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "progress_explanation": "爪夹角度与桌面呈60度，水平上接近了剪刀。方便抓取剪刀，因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右前方移动缩短了于剪刀之间的距离。方便抓取剪刀。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "point_1767841115477": { + "type": "point", + "instances": [ + { + "id": "point_1767841115477_1767841161203_ulttzay4f", + "x": 0.3965, + "y": 0.5133333333333333 + } + ] + }, + "point_1767841120519": { + "type": "point", + "instances": [ + { + "id": "point_1767841120519_1767841163383_3uel43x8k", + "x": 0.6205, + "y": 0.5106666666666667 + } + ] + }, + "bbox_1767841101480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841101480_1767841168306_zrawxnuu8", + "x": 0.5185000000000001, + "y": 0.37866666666666665, + "width": 0.29000000000000004, + "height": 0.1573333333333334 + } + ] + }, + "bbox_1767841111187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841111187_1767841173143_r0c71ccl6", + "x": 0.7805000000000001, + "y": 0.0026666666666666666, + "width": 0.21699999999999992, + "height": 0.3346666666666667 + } + ] + } + } + }, + { + "time": 3.8796, + "frame": 116, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。位于剪刀正上方。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。", + "progress_explanation": "爪夹角度与桌面接近垂直，来到了剪刀正上方。方便抓取剪刀。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到了剪刀正上方，调整爪夹角度与桌面接近垂直。方便抓取剪刀。", + "correction_plan": "爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "point_1767841115477": { + "type": "point", + "instances": [ + { + "id": "point_1767841115477_1767841177681_x0bs3hvvc", + "x": 0.3945, + "y": 0.508 + } + ] + }, + "point_1767841120519": { + "type": "point", + "instances": [ + { + "id": "point_1767841120519_1767841180024_izi6mubw6", + "x": 0.6235, + "y": 0.5066666666666667 + } + ] + }, + "bbox_1767841101480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841101480_1767841184082_epb5iektm", + "x": 0.1975, + "y": 0.0026666666666666653, + "width": 0.38699999999999996, + "height": 0.3733333333333333 + } + ] + }, + "bbox_1767841111187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841111187_1767841194677_0fgpsf424", + "x": 0.7205, + "y": 0.0013333333333333333, + "width": 0.2200000000000001, + "height": 0.41066666666666674 + } + ] + } + } + }, + { + "time": 4.6852, + "frame": 141, + "progress": 20, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近剪刀两侧。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。", + "progress_explanation": "爪夹角度与桌面接近垂直，靠近剪刀两侧。因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降靠近了剪刀，方便抓取剪刀。", + "correction_plan": "爪夹合拢抓取剪刀。抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "point_1767841120519": { + "type": "point", + "instances": [ + { + "id": "point_1767841120519_1767841208694_rwm2t2psb", + "x": 0.6195, + "y": 0.5066666666666667 + } + ] + }, + "bbox_1767841101480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841101480_1767841212813_m29d9gi3g", + "x": 0.14250000000000002, + "y": 0.1, + "width": 0.44300000000000006, + "height": 0.5346666666666666 + } + ] + }, + "bbox_1767841111187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841111187_1767841222891_e4i8y4ror", + "x": 0.7285, + "y": 0.15333333333333332, + "width": 0.25999999999999995, + "height": 0.456 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹合拢，成功抓取到了剪刀。方便后续将剪刀放进纸箱。", + "frame": 170, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直。抓取到了剪刀。方便将剪刀靠近纸箱。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。抓取到了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：抓紧剪刀向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。", + "time": 5.666082474226804, + "annotations": { + "bbox_1767841101480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841101480_1767841238689_1j92ybg39", + "x": 0.3125, + "y": 0.0026666666666666666, + "width": 0.33399999999999996, + "height": 0.6853333333333335 + } + ] + }, + "bbox_1767841111187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841111187_1767841244800_tv6bylqeb", + "x": 0.7125000000000001, + "y": 0.104, + "width": 0.279, + "height": 0.48533333333333334 + } + ] + } + } + }, + { + "time": 7.536599, + "frame": 226, + "progress": 55, + "action_description": "爪夹夹紧剪刀向爪夹右前方移动升高", + "state_description": "爪夹夹紧剪刀，爪夹角度与桌面呈50度。水平上接近了纸箱。\n为完成抓取剪刀放进纸箱里的任务应当：抓紧剪刀向爪夹右前方的纸箱移动。来到纸箱正上方。", + "progress_explanation": "爪夹角度与桌面呈50度。水平上接近了纸箱。方便将剪刀放进纸箱，因此进度提升为55%。", + "error_success_analysis": "爪夹向爪夹右前方移动缩短了与纸箱之间的距离，方便将剪刀放进纸箱里。", + "correction_plan": "抓紧剪刀向爪夹右前方的纸箱移动。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767841101480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841101480_1767841257553_h2he4znnw", + "x": 0.3125, + "y": 0.0026666666666666666, + "width": 0.328, + "height": 0.684 + } + ] + }, + "bbox_1767841111187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841111187_1767841265564_03degqo4t", + "x": 0.4805, + "y": 0.14266666666666666, + "width": 0.25900000000000006, + "height": 0.484 + } + ] + } + } + }, + { + "time": 8.321546391752577, + "frame": 250, + "progress": 60, + "action_description": "爪夹夹紧剪刀向爪夹右前方移动升高", + "state_description": "爪夹夹紧剪刀，爪夹角度与桌面呈50度，位于纸箱正上方。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "progress_explanation": "爪夹夹紧剪刀来到了纸箱正上方，方便将剪刀放进纸箱因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧剪刀向爪夹右前方移动升高来到了纸箱正上方，方便将剪刀放进纸箱。", + "correction_plan": "爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767841101480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841101480_1767841276728_y7na8opzp", + "x": 0.3095, + "y": 0.005333333333333333, + "width": 0.32799999999999996, + "height": 0.6880000000000001 + } + ] + }, + "bbox_1767841111187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841111187_1767841280724_xfii8frz9", + "x": 0.29650000000000004, + "y": 0.16, + "width": 0.4039999999999999, + "height": 0.5186666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧剪刀垂直下降", + "correction_plan": "爪夹松开，剪刀落入纸箱里。", + "error_success_analysis": "爪夹夹紧剪刀垂直下降将剪刀靠近纸箱，方便剪刀落入纸箱。", + "frame": 260, + "progress": 70, + "progress_explanation": "爪夹角度与桌面呈50度，将剪刀靠近纸箱口。方便剪刀落入纸箱。因此进度提升为70%。", + "state_description": "爪夹夹紧剪刀，爪夹角度与桌面呈50度，将剪刀靠近纸箱口。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹松开，剪刀落入纸箱里。", + "time": 8.660309278350516, + "annotations": { + "bbox_1767841101480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841101480_1767841296545_kdjaqozoz", + "x": 0.2995, + "y": 0.004, + "width": 0.32, + "height": 0.7186666666666668 + } + ] + }, + "bbox_1767841111187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841111187_1767841315561_ojs30fgz2", + "x": 0.23650000000000002, + "y": 0.07866666666666666, + "width": 0.51, + "height": 0.6333333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，纸杯落入水杯。任务完成。", + "frame": 275, + "progress": 100, + "progress_explanation": "爪夹松开，纸杯落入水杯。因此进度提升为100%。", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。位于水杯正上方。\n抓取纸杯放进水杯里的任务目标完成。", + "time": 9.16298969072165, + "annotations": { + "point_1767841115477": { + "type": "point", + "instances": [ + { + "id": "point_1767841115477_1767841323641_cd11zsvqm", + "x": 0.3975, + "y": 0.512 + } + ] + }, + "point_1767841120519": { + "type": "point", + "instances": [ + { + "id": "point_1767841120519_1767841325859_05yki86dz", + "x": 0.6155, + "y": 0.5146666666666666 + } + ] + }, + "bbox_1767841101480": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841101480_1767841329475_oqjdpwyy7", + "x": 0.3425, + "y": 0.468, + "width": 0.18399999999999994, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1767841111187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767841111187_1767841335317_rgz6wh9b3", + "x": 0.27749999999999997, + "y": 0.168, + "width": 0.45, + "height": 0.5626666666666668 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767841101480", + "name": "剪刀", + "color": "#4CAF50" + }, + { + "id": "bbox_1767841111187", + "name": "纸箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767841115477", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767841120519", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-172117-put-scissors-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-172117-put-scissors-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..e81331a2f7e296390972e2575a630f380f755831 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-172117-put-scissors-yellow-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,588 @@ +{ + "task_description": "抓取剪刀放进纸箱里：\n准备开始移动：0%\n爪夹靠近剪刀：20%\n爪夹抓取剪刀：40%\n爪夹夹紧剪刀靠近纸箱：60%\n爪夹将剪刀放进纸箱：80%\n爪夹松开剪刀落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹正前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "爪夹张开，远离剪刀，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离剪刀，未开始移动。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 1.0915635912371136, + "annotations": { + "bbox_1767852562643": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852562643_1767852587083_j28r31yhw", + "x": 0.5995, + "y": 0.3, + "width": 0.03300000000000001, + "height": 0.16800000000000004 + } + ] + }, + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852591443_hablpqe69", + "x": 0.8025000000000002, + "y": 0.24666666666666667, + "width": 0.19399999999999987, + "height": 0.3813333333333333 + } + ] + }, + "point_1767852571305": { + "type": "point", + "instances": [ + { + "id": "point_1767852571305_1767852599512_q8i6grw71", + "x": 0.5165, + "y": 0.48800000000000004 + } + ] + } + } + }, + { + "time": 2.872433, + "frame": 86, + "progress": 5, + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈50度。水平上接近了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "progress_explanation": "爪夹角度与桌面呈50度，水平上接近了剪刀。方便抓取剪刀，因此进度提升为5%。", + "error_success_analysis": "爪夹向爪夹正前方移动缩短了与剪刀之间的距离。方便抓取剪刀。", + "correction_plan": "爪夹向爪夹正前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852610195_n1o615ezx", + "x": 0.8045, + "y": 0.24933333333333335, + "width": 0.192, + "height": 0.37999999999999995 + } + ] + } + } + }, + { + "time": 5.1119760262886595, + "frame": 153, + "progress": 14, + "action_description": "爪夹向爪夹正前方移动下降", + "state_description": "爪夹张开，爪夹角度与桌面呈50度。位于剪刀正上方右侧。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹左方移动下降靠近剪刀。爪夹合拢抓取剪刀。", + "progress_explanation": "爪夹角度与桌面呈50度，水平和垂直上接近了剪刀。方便抓取剪刀，因此进度提升为14%。", + "error_success_analysis": "爪夹向爪夹正前方移动下降缩短了与剪刀之间的距离。方便抓取剪刀。", + "correction_plan": "爪夹向爪夹左方移动下降靠近剪刀。爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767852562643": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852562643_1767852622417_cvc6q6p0c", + "x": 0.6005, + "y": 0.32133333333333336, + "width": 0.03600000000000003, + "height": 0.1373333333333333 + } + ] + }, + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852632063_tyicx9op0", + "x": 0.8045, + "y": 0.24799999999999997, + "width": 0.19399999999999995, + "height": 0.3813333333333333 + } + ] + } + } + }, + { + "time": 6.059366, + "frame": 182, + "progress": -20, + "action_description": "爪夹向爪夹右前方移动下降并合拢", + "state_description": "爪夹合拢，抓取到耳机盒。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹张开，爪夹垂直升高向爪夹左方的剪刀移动，来到剪刀正上方。", + "progress_explanation": "爪夹合拢，抓取到耳机盒。比上一阶段相比多出两步爪夹张开，爪夹垂直升高。因此进度降低为-20%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降并合拢抓取到错误的目标。", + "correction_plan": "爪夹张开，爪夹垂直升高向爪夹左方的剪刀移动，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852643178_3gcdo9qc0", + "x": 0.8024999999999999, + "y": 0.2493333333333333, + "width": 0.19299999999999998, + "height": 0.37466666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧耳机盒向爪夹左方移动升高", + "correction_plan": "爪夹张开，向爪夹右下方的剪刀移动。来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹夹紧耳机盒向爪夹左方移动升高，垂直上远离了剪刀。", + "frame": 227, + "progress": -25, + "progress_explanation": "爪夹角度与桌面呈15度，爪夹夹紧耳机盒。比上阶段远离了剪刀。因此进度降低为-25%。", + "state_description": "爪夹夹紧耳机盒，爪夹角度与桌面呈15度。位于木盒正上方。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹张开，向爪夹右下方的剪刀移动。来到剪刀正上方。", + "time": 7.566666666666666, + "annotations": { + "point_1767852571305": { + "type": "point", + "instances": [ + { + "id": "point_1767852571305_1767852653483_rbko4pbnc", + "x": 0.5785, + "y": 0.192 + } + ] + }, + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852657711_y50k4946z", + "x": 0.8035, + "y": 0.24266666666666664, + "width": 0.19400000000000003, + "height": 0.3986666666666666 + } + ] + } + } + }, + { + "time": 8.072165, + "frame": 242, + "progress": 5, + "action_description": "爪夹张开", + "state_description": "爪夹张开，爪夹角度与桌面呈15度，耳机盒掉落。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹右下方的剪刀移动。来到剪刀正上方。", + "progress_explanation": "爪夹张开，爪夹比上阶段相比方便向剪刀靠近抓取剪刀。因此进度提升为5%。", + "error_success_analysis": "爪夹张开，耳机盒掉落。方便向剪刀靠近抓取剪刀", + "correction_plan": "爪夹向爪夹右下方的剪刀移动。来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "point_1767852571305": { + "type": "point", + "instances": [ + { + "id": "point_1767852571305_1767852673615_lrq7qb2dy", + "x": 0.5005, + "y": 0.16 + } + ] + }, + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852678286_hvu0q7yz8", + "x": 0.8045, + "y": 0.24533333333333335, + "width": 0.19299999999999998, + "height": 0.396 + } + ] + }, + "bbox_1767852562643": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852562643_1767852688031_v0xd36fxb", + "x": 0.6065, + "y": 0.3173333333333333, + "width": 0.06399999999999997, + "height": 0.18000000000000008 + } + ] + } + } + }, + { + "time": 8.937852375773197, + "frame": 268, + "progress": 15, + "action_description": "爪夹向正前方移动下降，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈60度，位于剪刀正上方。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。", + "progress_explanation": "爪夹角度与桌面呈60度，位于剪刀正上方。方便下降抓取剪刀，因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹正前方移动下降缩短了与剪刀之间的距离。方便抓取剪刀。", + "correction_plan": "爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852704497_w0em5khdi", + "x": 0.8035, + "y": 0.2453333333333333, + "width": 0.19400000000000023, + "height": 0.3866666666666667 + } + ] + } + } + }, + { + "time": 9.6237, + "frame": 289, + "progress": 18, + "action_description": "爪夹向爪夹右移动下降", + "state_description": "爪夹张开，爪夹角度与桌面呈60度，将要靠近剪刀。触碰到了木盒。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降合拢爪夹，抓取剪刀。", + "progress_explanation": "爪夹角度与桌面呈60度，更加靠近剪刀。因此进度提升为18%。", + "error_success_analysis": "爪夹向爪夹右移动下降更加靠近了剪刀，方便抓取剪刀。", + "correction_plan": "爪夹垂直下降合拢爪夹，抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767852562643": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852562643_1767852717282_l6op67hs8", + "x": 0.6085, + "y": 0.3026666666666667, + "width": 0.071, + "height": 0.1946666666666667 + } + ] + }, + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852724605_6j2e2os2b", + "x": 0.8035, + "y": 0.24533333333333335, + "width": 0.19499999999999992, + "height": 0.39333333333333337 + } + ] + } + } + }, + { + "time": 10.1269, + "frame": 304, + "progress": -5, + "action_description": "爪夹向爪夹左方移动", + "state_description": "爪夹张开，爪夹角度与桌面呈60度，推动木盒至一侧。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降合拢爪夹，抓取剪刀。", + "progress_explanation": "爪夹角度与桌面呈60度，推动木盒至一侧。进行了错误的动作因此进度降低为-5%。", + "error_success_analysis": "爪夹向爪夹左方移动推动木盒至一侧，未进行正确的动作。", + "correction_plan": "爪夹垂直下降合拢爪夹，抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852741399_rrnzxtd1f", + "x": 0.8054999999999998, + "y": 0.24666666666666667, + "width": 0.1910000000000002, + "height": 0.38266666666666654 + } + ] + } + } + }, + { + "time": 10.420433, + "frame": 313, + "progress": 15, + "action_description": "爪夹垂直升高", + "state_description": "爪夹张开，爪夹角度与桌面呈60度，位于剪刀正上方。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降合拢爪夹，抓取剪刀。", + "progress_explanation": "爪夹角度与桌面呈60度，位于剪刀正上方。方便抓取剪刀。因此进度提升为15%。", + "error_success_analysis": "爪夹垂直升高稍微远离了木盒，来到剪刀正上方，方便抓取剪刀。", + "correction_plan": "爪夹垂直下降合拢爪夹，抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767852562643": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852562643_1767852758202_vn7o87m4v", + "x": 0.5045, + "y": 0.272, + "width": 0.079, + "height": 0.192 + } + ] + }, + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852767150_2a80ttjli", + "x": 0.8035, + "y": 0.25066666666666665, + "width": 0.1960000000000001, + "height": 0.384 + } + ] + } + } + }, + { + "time": 11.091366, + "frame": 333, + "progress": -5, + "action_description": "爪夹向爪夹左移动下降", + "state_description": "爪夹张开，爪夹角度与桌面呈60度，推动木盒至一侧。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹右移动并垂直下降合拢爪夹，抓取剪刀。", + "progress_explanation": "爪夹角度与桌面呈60度，推动木盒至一侧。进行了错误的动作因此进度降低为-5%。", + "error_success_analysis": "爪夹向爪夹左方移动推动木盒至一侧，未进行正确的动作。", + "correction_plan": "爪夹向爪夹右移动并垂直下降合拢爪夹，抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767852562643": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852562643_1767852778925_vvmwy4u8k", + "x": 0.5065, + "y": 0.27999999999999997, + "width": 0.06600000000000002, + "height": 0.16666666666666666 + } + ] + }, + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852789251_av1pcrryl", + "x": 0.8074999999999999, + "y": 0.24800000000000003, + "width": 0.19099999999999992, + "height": 0.392 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右移动升高", + "correction_plan": "爪夹垂直下降合拢爪夹，抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹向爪夹右移动升高接近了剪刀，来到剪刀正上方，方便抓取剪刀。", + "frame": 362, + "progress": 15, + "progress_explanation": "爪夹角度与桌面呈60度，位于剪刀正上方。方便抓取剪刀。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈60度，位于剪刀正上方。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降合拢爪夹，抓取剪刀。", + "time": 12.072044865463917, + "annotations": { + "bbox_1767852562643": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852562643_1767852801289_55tnj67os", + "x": 0.5055, + "y": 0.276, + "width": 0.06500000000000003, + "height": 0.18133333333333332 + } + ] + }, + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852811031_19dum6r2w", + "x": 0.8055, + "y": 0.24400000000000002, + "width": 0.19099999999999992, + "height": 0.388 + } + ] + } + } + }, + { + "time": 13.6493, + "frame": 409, + "progress": 20, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面呈50度，靠近剪刀两侧。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹合拢，抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。", + "progress_explanation": "爪夹角度与桌面呈50度，靠近剪刀两侧。因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降靠近了剪刀，方便抓取剪刀。", + "correction_plan": "爪夹合拢，抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767852562643": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852562643_1767852823329_wtt9n67av", + "x": 0.5075000000000001, + "y": 0.2946666666666668, + "width": 0.0589999999999999, + "height": 0.15999999999999984 + } + ] + }, + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852833973_vdkusc2xn", + "x": 0.8065000000000001, + "y": 0.24266666666666667, + "width": 0.19099999999999992, + "height": 0.38933333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹合拢，成功抓取到了剪刀。方便后续将剪刀放进纸箱。", + "frame": 455, + "progress": 40, + "progress_explanation": "爪夹角度与桌面呈50度。抓取到了剪刀。方便将剪刀靠近纸箱。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈50度。抓取到了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。", + "time": 15.163007113917526, + "annotations": { + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852845018_uuyrijvhm", + "x": 0.8045, + "y": 0.24666666666666667, + "width": 0.191, + "height": 0.38266666666666665 + } + ] + } + } + }, + { + "time": 17.528133, + "frame": 526, + "progress": 55, + "action_description": "爪夹夹紧剪刀向爪夹右方移动升高", + "state_description": "爪夹夹紧剪刀，水平上接近了纸箱。\n为完成抓取剪刀放进纸箱里的任务应当：抓紧剪刀向爪夹右方的纸箱移动。来到纸箱正上方。", + "progress_explanation": "爪夹夹紧剪刀，水平上接近了纸箱。方便将剪刀放进纸箱，因此进度提升为55%。", + "error_success_analysis": "爪夹向爪夹右方移动缩短了与纸箱之间的距离，方便将剪刀放进纸箱里。", + "correction_plan": "抓紧剪刀向爪夹右方的纸箱移动。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852857333_kuqa2qenq", + "x": 0.8024999999999999, + "y": 0.24000000000000005, + "width": 0.19500000000000012, + "height": 0.4013333333333334 + } + ] + } + } + }, + { + "time": 18.426890327319587, + "frame": 553, + "progress": 60, + "action_description": "爪夹夹紧剪刀向爪夹右方移动", + "state_description": "爪夹夹紧剪刀，位于纸箱正上方。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "progress_explanation": "爪夹夹紧剪刀来到了纸箱正上方，方便将剪刀放进纸箱因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧剪刀向爪夹右方移动来到了纸箱正上方，方便将剪刀放进纸箱。", + "correction_plan": "爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "annotations": { + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852872597_81vg0bgb6", + "x": 0.7985, + "y": 0.25199999999999995, + "width": 0.2, + "height": 0.37999999999999995 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹垂直下降将剪刀靠近了纸箱口，方便将剪刀放进纸箱。", + "frame": 566, + "progress": 70, + "progress_explanation": "爪夹垂直上接近了纸箱，方便将剪刀放进纸箱，因此进度提升为70%。", + "state_description": "爪夹夹紧剪刀，垂直上接近了纸箱。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "time": 18.88080786030928, + "annotations": { + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852883215_w7e4df94m", + "x": 0.8055, + "y": 0.24666666666666667, + "width": 0.19000000000000003, + "height": 0.38933333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，剪刀落入纸箱。任务完成。", + "frame": 583, + "progress": 100, + "progress_explanation": "爪夹松开，剪刀落入纸箱。因此进度提升为100%。", + "state_description": "爪夹张开，位于纸箱正上方。\n抓取剪刀放进纸箱里的任务目标完成。", + "time": 19.442800996391753, + "annotations": { + "bbox_1767852567248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767852567248_1767852896515_jyao7uooz", + "x": 0.8115, + "y": 0.25733333333333336, + "width": 0.18800000000000008, + "height": 0.3786666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767852562643", + "name": "剪刀", + "color": "#4CAF50" + }, + { + "id": "bbox_1767852567248", + "name": "纸箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767852571305", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767852576231", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-173418-put-scissors-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-173418-put-scissors-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..3e21d7cf3e0bb85082b979c453d5bec742148506 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-173418-put-scissors-yellow-cardboard box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,552 @@ +{ + "task_description": "抓取剪刀放进纸箱里：\n准备开始移动：0%\n爪夹靠近剪刀：20%\n爪夹抓取剪刀：40%\n爪夹夹紧剪刀靠近纸箱：60%\n爪夹将剪刀放进纸箱：80%\n爪夹松开剪刀落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767855489105": { + "instances": [ + { + "height": 0.09733333333333333, + "id": "bbox_1767855489105_1767855514898_cchrs0qpv", + "width": 0.142, + "x": 0.6165, + "y": 0.3466666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767855493390": { + "instances": [ + { + "height": 0.3813333333333333, + "id": "bbox_1767855493390_1767855523501_hxfvdzecz", + "width": 0.21100000000000013, + "x": 0.7885, + "y": 0.192 + } + ], + "type": "bbox" + }, + "point_1767855498143": { + "instances": [ + { + "id": "point_1767855498143_1767855537816_znpflhcle", + "x": 0.4575, + "y": 0.5453333333333333 + } + ], + "type": "point" + }, + "point_1767855502970": { + "instances": [ + { + "id": "point_1767855502970_1767855541179_73oh2lq01", + "x": 0.5685, + "y": 0.5853333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "爪夹张开，远离剪刀，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离剪刀，未开始移动。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 1.5416666984536083 + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度", + "annotations": { + "bbox_1767855489105": { + "instances": [ + { + "height": 0.09066666666666669, + "id": "bbox_1767855489105_1767855548482_i5ngq06rx", + "width": 0.12799999999999995, + "x": 0.6315000000000001, + "y": 0.34933333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767855493390": { + "instances": [ + { + "height": 0.396, + "id": "bbox_1767855493390_1767855553393_n2r2r31ff", + "width": 0.20699999999999993, + "x": 0.7905, + "y": 0.18533333333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹向爪夹右前方移动缩短了于剪刀之间的距离。方便抓取剪刀。", + "frame": 78, + "progress": 10, + "progress_explanation": "爪夹角度与桌面呈60度，水平上接近了剪刀。方便抓取剪刀，因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面呈60度。水平上接近了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到剪刀正上方。", + "time": 2.602833 + }, + { + "action_description": "爪夹向爪夹右前方移动", + "annotations": { + "bbox_1767855489105": { + "instances": [ + { + "height": 0.09733333333333327, + "id": "bbox_1767855489105_1767855561024_kzot5eeex", + "width": 0.13399999999999998, + "x": 0.6285000000000001, + "y": 0.34800000000000003 + } + ], + "type": "bbox" + }, + "bbox_1767855493390": { + "instances": [ + { + "height": 0.37600000000000006, + "id": "bbox_1767855493390_1767855569996_73p25t17v", + "width": 0.20999999999999988, + "x": 0.7875000000000001, + "y": 0.19866666666666669 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到了剪刀正上方，调整爪夹角度与桌面接近垂直。方便抓取剪刀。", + "frame": 115, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，来到了剪刀正上方。方便抓取剪刀。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。位于剪刀正上方。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。", + "time": 3.847666 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767855489105": { + "instances": [ + { + "height": 0.10133333333333336, + "id": "bbox_1767855489105_1767855582967_xws6bjfpm", + "width": 0.14099999999999993, + "x": 0.6215, + "y": 0.348 + } + ], + "type": "bbox" + }, + "bbox_1767855493390": { + "instances": [ + { + "height": 0.38400000000000006, + "id": "bbox_1767855493390_1767855592175_m8vc4m5zi", + "width": 0.20999999999999996, + "x": 0.7875, + "y": 0.192 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹合拢，爪夹在空中进行了空抓。不方便抓取剪刀。", + "frame": 145, + "progress": -10, + "progress_explanation": "爪夹合拢，比起上一阶段多出一步爪夹张开，因此进度降低为-10%。", + "state_description": "爪夹合拢，位于剪刀正上方。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹张开，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。", + "time": 4.833833 + }, + { + "action_description": "爪夹张开垂直升高", + "annotations": { + "bbox_1767855489105": { + "instances": [ + { + "height": 0.09733333333333333, + "id": "bbox_1767855489105_1767855598994_gycr6v140", + "width": 0.13000000000000006, + "x": 0.6305, + "y": 0.3506666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767855493390": { + "instances": [ + { + "height": 0.3866666666666667, + "id": "bbox_1767855493390_1767855607820_8c66cc399", + "width": 0.21200000000000002, + "x": 0.7835, + "y": 0.19333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹张开垂直升高，更加方便抓取剪刀的状态。", + "frame": 182, + "progress": 12, + "progress_explanation": "爪夹张开，比上阶段方便抓取剪刀。因此进度提升为12%。", + "state_description": "爪夹张开，爪夹角度与桌面呈40度。垂直上远离了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。", + "time": 6.075000125257732 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1767855489105": { + "instances": [ + { + "height": 0.10133333333333336, + "id": "bbox_1767855489105_1767855615332_t4rkpylj8", + "width": 0.137, + "x": 0.6214999999999999, + "y": 0.348 + } + ], + "type": "bbox" + }, + "bbox_1767855493390": { + "instances": [ + { + "height": 0.3866666666666667, + "id": "bbox_1767855493390_1767855619394_e2bxtyi5c", + "width": 0.20500000000000007, + "x": 0.7905, + "y": 0.19466666666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹垂直下降缩短了与剪刀间的距离。方便抓取剪刀。", + "frame": 213, + "progress": 14, + "progress_explanation": "爪夹张开，垂直上接近了剪刀。方便抓取剪刀。因此进度提升为12%。", + "state_description": "爪夹张开，爪夹角度与桌面呈40度。垂直上接近了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹继续垂直下降靠近剪刀，爪夹合拢抓取剪刀。", + "time": 7.108333479896907 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767855489105": { + "instances": [ + { + "height": 0.10266666666666667, + "id": "bbox_1767855489105_1767855631151_sbwhp3rn2", + "width": 0.133, + "x": 0.6245, + "y": 0.348 + } + ], + "type": "bbox" + }, + "bbox_1767855493390": { + "instances": [ + { + "height": 0.37733333333333335, + "id": "bbox_1767855493390_1767855640101_sbgzfl7gk", + "width": 0.2079999999999999, + "x": 0.7895000000000001, + "y": 0.19466666666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹合拢，爪夹在空中进行了空抓。不方便抓取剪刀。", + "frame": 246, + "progress": -10, + "progress_explanation": "爪夹合拢，比起上一阶段多出一步爪夹张开，因此进度降低为-10%。", + "state_description": "爪夹合拢，位于剪刀正上方。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹张开，爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。", + "time": 8.20833350257732 + }, + { + "action_description": "爪夹张开垂直升高", + "annotations": { + "bbox_1767855489105": { + "instances": [ + { + "height": 0.10266666666666667, + "id": "bbox_1767855489105_1767855647210_h5trw5a8w", + "width": 0.12400000000000003, + "x": 0.6365000000000001, + "y": 0.348 + } + ], + "type": "bbox" + }, + "bbox_1767855493390": { + "instances": [ + { + "height": 0.39333333333333337, + "id": "bbox_1767855493390_1767855651581_zx0vicme8", + "width": 0.20299999999999993, + "x": 0.7905, + "y": 0.19066666666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹张开垂直升高，更加方便抓取剪刀的状态。", + "frame": 277, + "progress": 12, + "progress_explanation": "爪夹张开，比上阶段方便抓取剪刀。因此进度提升为12%。", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。垂直上远离了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降靠近剪刀，爪夹合拢抓取剪刀。", + "time": 9.225000190206185 + }, + { + "action_description": "爪夹向爪夹右移动下降，调整爪夹角度", + "annotations": { + "bbox_1767855489105": { + "instances": [ + { + "height": 0.09066666666666663, + "id": "bbox_1767855489105_1767855662655_ztpe3fql6", + "width": 0.12999999999999998, + "x": 0.6305000000000001, + "y": 0.35066666666666674 + } + ], + "type": "bbox" + }, + "bbox_1767855493390": { + "instances": [ + { + "height": 0.3853333333333333, + "id": "bbox_1767855493390_1767855671345_1uv6clccv", + "width": 0.21100000000000002, + "x": 0.7874999999999999, + "y": 0.19333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹向爪夹右移动下降靠近了剪刀，调整爪夹角度与桌面呈60度方便抓取剪刀。", + "frame": 320, + "progress": 20, + "progress_explanation": "爪夹角度与桌面呈60度。靠近了剪刀。方便抓取剪刀。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面呈60度。靠近了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。", + "time": 10.67 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767855489105": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1767855489105_1767855681728_7laiu0orn", + "width": 0.11100000000000003, + "x": 0.6375, + "y": 0.292 + } + ], + "type": "bbox" + }, + "bbox_1767855493390": { + "instances": [ + { + "height": 0.372, + "id": "bbox_1767855493390_1767855693164_8w0te4mtf", + "width": 0.20800000000000002, + "x": 0.7875, + "y": 0.19866666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹合拢，成功抓取到了剪刀。方便后续将剪刀放进纸箱。", + "frame": 355, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直。抓取到了剪刀。方便将剪刀靠近纸箱。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。抓取到了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。", + "time": 11.841666910824742 + }, + { + "action_description": "爪夹夹紧剪刀垂直升高", + "annotations": { + "bbox_1767855493390": { + "instances": [ + { + "height": 0.38266666666666665, + "id": "bbox_1767855493390_1767855707251_m5u3qkk2r", + "width": 0.2079999999999999, + "x": 0.7885000000000001, + "y": 0.19466666666666665 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧剪刀向爪夹右方的纸箱移动。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹夹紧剪刀垂直升高，垂直上高过了纸箱，方便剪刀放进纸箱。", + "frame": 385, + "progress": 50, + "progress_explanation": "爪夹来到半空中，高过了纸箱。方便向纸箱移动靠近。因此进度提升为50%。", + "state_description": "爪夹夹紧剪刀，来到半空中。高过了纸箱。\n为完成抓取剪刀放进纸箱里的任务应当：抓紧剪刀向爪夹右方的纸箱移动。来到纸箱正上方。", + "time": 12.836333 + }, + { + "action_description": "爪夹向爪夹左移动升高", + "annotations": { + "bbox_1767855489105": { + "instances": [ + { + "height": 0.24400000000000002, + "id": "bbox_1767855489105_1767855719666_r2h3htcig", + "width": 0.06699999999999999, + "x": 0.4245, + "y": 0.14400000000000002 + } + ], + "type": "bbox" + }, + "bbox_1767855493390": { + "instances": [ + { + "height": 0.3826666666666666, + "id": "bbox_1767855493390_1767855724530_6zj3ycui3", + "width": 0.21399999999999997, + "x": 0.7845, + "y": 0.196 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧剪刀向爪夹右方的纸箱移动。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹向爪夹左移动升高，未向纸箱靠近。", + "frame": 408, + "progress": 45, + "progress_explanation": "爪夹夹紧剪刀远离了纸箱，因此进度降低为45%。", + "state_description": "爪夹夹紧剪刀，位于木盒正上方。\n为完成抓取剪刀放进纸箱里的任务应当：抓紧剪刀向爪夹右方的纸箱移动。来到纸箱正上方。", + "time": 13.612333 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1767855489105": { + "instances": [ + { + "height": 0.19733333333333333, + "id": "bbox_1767855489105_1767855736838_3p9zzzveq", + "width": 0.08799999999999994, + "x": 0.36350000000000005, + "y": 0.3186666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767855493390": { + "instances": [ + { + "height": 0.3786666666666667, + "id": "bbox_1767855493390_1767855741352_x7sraespw", + "width": 0.20699999999999993, + "x": 0.7905, + "y": 0.196 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹垂直下降未向纸箱靠近。", + "frame": 425, + "progress": 42, + "progress_explanation": "爪夹夹紧剪刀，垂直下降靠近了木盒。垂直上低于纸箱口，不方便剪刀放进纸箱。因此进度降低为42%。", + "state_description": "爪夹夹紧剪刀，垂直下降靠近了木盒。\n为完成抓取剪刀放进纸箱里的任务应当：抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。", + "time": 14.158333625257733 + }, + { + "action_description": "爪夹张开向上升高", + "annotations": { + "bbox_1767855489105": { + "instances": [ + { + "height": 0.15200000000000002, + "id": "bbox_1767855489105_1767855755251_h85ms30rg", + "width": 0.10600000000000001, + "x": 0.3925, + "y": 0.37866666666666665 + } + ], + "type": "bbox" + }, + "bbox_1767855493390": { + "instances": [ + { + "height": 0.38133333333333336, + "id": "bbox_1767855493390_1767855760335_xizoddjno", + "width": 0.21099999999999994, + "x": 0.7865, + "y": 0.19733333333333333 + } + ], + "type": "bbox" + }, + "point_1767855498143": { + "instances": [ + { + "id": "point_1767855498143_1767855751432_xtzwzjfc9", + "x": 0.41150000000000003, + "y": 0.46 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹正前方移动下降，来到剪刀正上方。爪夹垂直下降靠近剪刀，爪夹合拢抓取剪刀。抓紧剪刀向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将剪刀放进纸箱里，爪夹松开剪刀落入纸箱里。", + "error_success_analysis": "爪夹张开向上升高，剪刀掉落错误木盒里。不方便完成任务。", + "frame": 485, + "progress": -30, + "progress_explanation": "爪夹张开剪刀掉落错误木盒里，远离了剪刀。任务失败因此进度降低为-30%。", + "state_description": "爪夹张开，剪刀掉落木盒里。远离了剪刀。\n为完成抓取剪刀放进纸箱里的任务应当：爪夹向爪夹正前方移动下降，来到剪刀正上方。", + "time": 16.166667 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767855489105", + "name": "剪刀" + }, + { + "color": "#FF9800", + "id": "bbox_1767855493390", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767855498143", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767855502970", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-175229-put-blue-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-175229-put-blue-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..207a06fbe0397c55390fd94186c6f570b4f8963b --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-175229-put-blue-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,358 @@ +{ + "task_description": "抓取记号笔放进纸箱里：\n准备开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹夹紧记号笔靠近纸箱：60%\n爪夹将记号笔放进纸箱：80%\n爪夹松开记号笔落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到记号笔正上方。爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹正前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹张开，远离记号笔，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离记号笔，未开始移动。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到记号笔正上方。", + "time": 1.4865806943298971, + "annotations": { + "bbox_1767857175906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857175906_1767857200605_y57b8o7jv", + "x": 0.5345, + "y": 0.4733333333333334, + "width": 0.05, + "height": 0.18266666666666662 + } + ] + }, + "bbox_1767857180639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857180639_1767857204815_8bvo6949z", + "x": 0.5035000000000001, + "y": 0.1746666666666667, + "width": 0.29000000000000004, + "height": 0.3453333333333333 + } + ] + }, + "point_1767857185034": { + "type": "point", + "instances": [ + { + "id": "point_1767857185034_1767857232023_vhrrra2ql", + "x": 0.2355, + "y": 0.36133333333333334 + } + ] + } + } + }, + { + "time": 2.313599, + "frame": 69, + "progress": 10, + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈40度。水平上接近了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，靠近记号笔。", + "progress_explanation": "爪夹角度与桌面呈40度。水平上接近了记号笔。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降缩短了与记号笔之间的距离，调整爪夹角度与桌面呈40度，方便抓取记号笔。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，靠近记号笔。爪夹合拢抓取记号笔。抓紧记号笔向爪夹正前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "point_1767857185034": { + "type": "point", + "instances": [ + { + "id": "point_1767857185034_1767857240137_c3x07loc0", + "x": 0.43550000000000005, + "y": 0.42533333333333334 + } + ] + }, + "point_1767857189680": { + "type": "point", + "instances": [ + { + "id": "point_1767857189680_1767857242805_zr3rovnqs", + "x": 0.5705, + "y": 0.41466666666666663 + } + ] + }, + "bbox_1767857175906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857175906_1767857248735_nmvt5sj2g", + "x": 0.5325, + "y": 0.47200000000000003, + "width": 0.050999999999999976, + "height": 0.18133333333333337 + } + ] + }, + "bbox_1767857180639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857180639_1767857255392_mwwf66t4d", + "x": 0.4955, + "y": 0.16266666666666665, + "width": 0.296, + "height": 0.36266666666666664 + } + ] + } + } + }, + { + "time": 3.457645904639176, + "frame": 104, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。靠近了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降合拢抓取记号笔。", + "progress_explanation": "爪夹角度与桌面接近垂直。靠近了记号笔。方便抓取记号笔。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降靠近了记号笔，调整爪夹角度与桌面接近垂直。方便抓取记号笔。", + "correction_plan": "爪夹垂直下降合拢抓取记号笔。抓紧记号笔向爪夹正前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "point_1767857185034": { + "type": "point", + "instances": [ + { + "id": "point_1767857185034_1767857260635_w39gv822q", + "x": 0.5435000000000001, + "y": 0.5173333333333333 + } + ] + }, + "bbox_1767857175906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857175906_1767857265949_9axlsa5lk", + "x": 0.5365, + "y": 0.48000000000000004, + "width": 0.050999999999999976, + "height": 0.17333333333333337 + } + ] + }, + "bbox_1767857180639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857180639_1767857271839_r5rjb2bxc", + "x": 0.5245, + "y": 0.16933333333333334, + "width": 0.26799999999999996, + "height": 0.356 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧记号笔向爪夹正前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹合拢，成功抓取到了记号笔。方便后续将记号笔放进纸箱。", + "frame": 125, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直。抓取到了记号笔。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。抓取到了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：抓紧记号笔向爪夹正前方的纸箱移动并垂直升高。来到纸箱正上方。", + "time": 4.169879552061857, + "annotations": { + "bbox_1767857175906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857175906_1767857282930_j5wdgcmfh", + "x": 0.4915, + "y": 0.4426666666666667, + "width": 0.071, + "height": 0.19466666666666665 + } + ] + }, + "bbox_1767857180639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857180639_1767857287502_ye91c29up", + "x": 0.5065, + "y": 0.17066666666666666, + "width": 0.28600000000000003, + "height": 0.35066666666666674 + } + ] + } + } + }, + { + "time": 5.542999, + "frame": 166, + "progress": 50, + "action_description": "爪夹垂直升高，调整爪夹角度", + "state_description": "爪夹夹紧记号笔，爪夹角度接近平行于桌面。位于半空中。\n为完成抓取记号笔放进纸箱里的任务应当：抓紧记号笔向爪夹正前方的纸箱移动。来到纸箱正上方。", + "progress_explanation": "爪夹夹紧记号笔升高到半空中高过了纸箱，方便将记号笔移动到纸箱正上方。因此进度提升为50%。", + "error_success_analysis": "爪夹垂直升高高过了纸箱，方便将记号笔放进纸箱。", + "correction_plan": "抓紧记号笔向爪夹正前方的纸箱移动。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "bbox_1767857175906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857175906_1767857296947_rkngbx9hw", + "x": 0.46749999999999997, + "y": 0, + "width": 0.03399999999999999, + "height": 0.18533333333333335 + } + ] + }, + "bbox_1767857180639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857180639_1767857303569_79kcqn2fm", + "x": 0.5045000000000001, + "y": 0.168, + "width": 0.2859999999999999, + "height": 0.35333333333333333 + } + ] + } + } + }, + { + "time": 5.936633, + "frame": 178, + "progress": 60, + "action_description": "爪夹夹紧记号笔向爪夹正前方移动下降", + "state_description": "爪夹夹紧记号笔，爪夹角度接近平行于桌面。位于纸箱正上方。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "progress_explanation": "爪夹角度接近平行于桌面。位于纸箱正上方。方便将记号笔放进纸箱，因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧记号笔向爪夹正前方移动下降，来到了纸箱正上方。方便将记号笔放进纸箱。", + "correction_plan": "爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "bbox_1767857175906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857175906_1767857317903_7qu9c86yb", + "x": 0.5895, + "y": 0.009333333333333334, + "width": 0.02399999999999993, + "height": 0.16533333333333336 + } + ] + }, + "bbox_1767857180639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857180639_1767857327735_wwjbnmp3b", + "x": 0.5025000000000001, + "y": 0.17066666666666666, + "width": 0.293, + "height": 0.3546666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹垂直下降接近了纸箱口。方便将记号笔放进纸箱。", + "frame": 187, + "progress": 70, + "progress_explanation": "爪夹垂直上接近了纸箱口。因此进度提升为70%。", + "state_description": "爪夹夹紧记号笔，垂直上接近了纸箱口。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "time": 6.223762628350516, + "annotations": { + "bbox_1767857175906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857175906_1767857335127_kf538main", + "x": 0.5965, + "y": 0.02266666666666667, + "width": 0.041999999999999996, + "height": 0.24000000000000002 + } + ] + }, + "bbox_1767857180639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857180639_1767857339051_6a49sfuw5", + "x": 0.5105000000000001, + "y": 0.16, + "width": 0.284, + "height": 0.368 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，记号笔落入纸箱。任务完成。", + "frame": 197, + "progress": 100, + "progress_explanation": "爪夹松开，记号笔落入纸箱。因此进度提升为100%。", + "state_description": "爪夹张开，位于纸箱正上方。\n抓取记号笔放进纸箱里的任务目标完成。", + "time": 6.555034092268043, + "annotations": { + "bbox_1767857175906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857175906_1767857345692_4dobt0y8j", + "x": 0.5885, + "y": 0.256, + "width": 0.05800000000000001, + "height": 0.18000000000000002 + } + ] + }, + "bbox_1767857180639": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767857180639_1767857351639_rdzj8f08z", + "x": 0.5055, + "y": 0.16666666666666666, + "width": 0.28200000000000003, + "height": 0.35733333333333334 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767857175906", + "name": "记号笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1767857180639", + "name": "纸箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767857185034", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767857189680", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-175229-put-blue-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-175229-put-blue-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..8a32f153b076a9ce0c432b0fc6093b9d54bb7fa4 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-175229-put-blue-yellow-cardboard box-good/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,436 @@ +{ + "task_description": "抓取记号笔放进纸箱里：\n准备开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹夹紧记号笔靠近纸箱：60%\n爪夹将记号笔放进纸箱：80%\n爪夹松开记号笔落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到记号笔正上方。爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "", + "frame": 53, + "progress": 0, + "progress_explanation": "爪夹张开，远离记号笔，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离记号笔，未开始移动。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到记号笔正上方。", + "time": 1.753745648969072, + "annotations": { + "bbox_1767859459839": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859459839_1767859488377_vpm3djs78", + "x": 0.4385, + "y": 0.508, + "width": 0.041000000000000016, + "height": 0.148 + } + ] + }, + "bbox_1767859464641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859464641_1767859494785_k8gu5n8xu", + "x": 0.47250000000000003, + "y": 0.07200000000000001, + "width": 0.263, + "height": 0.372 + } + ] + }, + "point_1767859473409": { + "type": "point", + "instances": [ + { + "id": "point_1767859473409_1767859499067_jwwzbbybi", + "x": 0.3005, + "y": 0.43866666666666665 + } + ] + } + } + }, + { + "time": 2.675466, + "frame": 80, + "progress": 10, + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面呈30度。水平上接近了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹继续向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，靠近记号笔。", + "progress_explanation": "爪夹角度与桌面呈30度。水平上接近了记号笔。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降缩短了与记号笔之间的距离，调整爪夹角度与桌面呈30度，方便抓取记号笔。", + "correction_plan": "爪夹继续向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，靠近记号笔。爪夹合拢抓取记号笔。抓紧记号笔向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "bbox_1767859459839": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859459839_1767859507077_ocpb1e0ie", + "x": 0.4415, + "y": 0.5066666666666667, + "width": 0.03700000000000001, + "height": 0.1506666666666666 + } + ] + }, + "bbox_1767859464641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859464641_1767859511771_wndwg9uh4", + "x": 0.4755, + "y": 0.07200000000000001, + "width": 0.26000000000000006, + "height": 0.3813333333333333 + } + ] + } + } + }, + { + "time": 3.539199, + "frame": 106, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。位于记号笔正上方。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。", + "progress_explanation": "爪夹角度与桌面接近垂直。位于记号笔正上方。方便抓取记号笔。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到记号笔正上方，调整爪夹角度与桌面接近垂直。方便抓取记号笔。", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "bbox_1767859459839": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859459839_1767859523343_z1qw2tnaz", + "x": 0.4445, + "y": 0.5013333333333334, + "width": 0.03499999999999996, + "height": 0.14533333333333337 + } + ] + }, + "bbox_1767859464641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859464641_1767859531705_r7smk2eze", + "x": 0.46950000000000003, + "y": 0.07333333333333333, + "width": 0.263, + "height": 0.3746666666666666 + } + ] + } + } + }, + { + "time": 4.255466, + "frame": 128, + "progress": -5, + "action_description": "爪夹向爪夹右下方移动", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。触碰到了耳机盒。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹向爪夹左移动升高，微微远离耳机盒。接近记号笔正上方。", + "progress_explanation": "爪夹触碰到了耳机盒，比上一阶段多出一步向爪夹左移动升高，因此进度降低为-5%。", + "error_success_analysis": "爪夹向爪夹右下方移动触碰到了耳机盒。不方便抓取记号笔。", + "correction_plan": "爪夹向爪夹左移动升高，微微远离耳机盒。接近记号笔正上方。爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "bbox_1767859459839": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859459839_1767859539509_us3qq232w", + "x": 0.43950000000000006, + "y": 0.512, + "width": 0.038999999999999965, + "height": 0.14400000000000002 + } + ] + }, + "bbox_1767859464641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859464641_1767859545150_kgq1lj6lm", + "x": 0.4715, + "y": 0.07733333333333332, + "width": 0.265, + "height": 0.376 + } + ] + } + } + }, + { + "time": 4.674845212886598, + "frame": 140, + "progress": 15, + "action_description": "爪夹向爪夹左移动升高", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。位于记号笔正上方。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。", + "progress_explanation": "爪夹角度与桌面接近垂直。位于记号笔正上方。方便抓取记号笔。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到记号笔正上方，调整爪夹角度与桌面接近垂直。方便抓取记号笔。", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "bbox_1767859459839": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859459839_1767859552077_7clj9pya0", + "x": 0.43950000000000006, + "y": 0.5026666666666667, + "width": 0.040999999999999925, + "height": 0.14400000000000007 + } + ] + }, + "bbox_1767859464641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859464641_1767859556902_p42awwtsc", + "x": 0.4765, + "y": 0.07066666666666667, + "width": 0.265, + "height": 0.3786666666666667 + } + ] + } + } + }, + { + "time": 5.308799, + "frame": 159, + "progress": 20, + "action_description": "爪夹向爪夹右移动下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。靠近了记号笔两侧。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹合拢抓取记号笔。抓紧记号笔向爪夹右前方的纸箱移动并垂直升高。", + "progress_explanation": "爪夹角度与桌面接近垂直。靠近了记号笔。方便抓取记号笔。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降靠近了记号笔。方便抓取记号笔。", + "correction_plan": "爪夹合拢抓取记号笔。抓紧记号笔向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "bbox_1767859459839": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859459839_1767859567987_diak0bmg0", + "x": 0.4405, + "y": 0.492, + "width": 0.03700000000000001, + "height": 0.164 + } + ] + }, + "bbox_1767859464641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859464641_1767859572489_stww67r7u", + "x": 0.47450000000000003, + "y": 0.07200000000000001, + "width": 0.265, + "height": 0.37999999999999995 + } + ] + } + } + }, + { + "time": 6.225199, + "frame": 187, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。抓取到了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：抓紧记号笔向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直。抓取到了记号笔。因此进度提升为40%。", + "error_success_analysis": "爪夹合拢，成功抓取到了记号笔。方便后续将记号笔放进纸箱。", + "correction_plan": "抓紧记号笔向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "bbox_1767859459839": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859459839_1767859582095_0rrubu3ub", + "x": 0.41550000000000004, + "y": 0.5026666666666667, + "width": 0.053000000000000026, + "height": 0.16933333333333334 + } + ] + }, + "bbox_1767859464641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859464641_1767859589069_hfqtqe7kg", + "x": 0.4755, + "y": 0.06933333333333333, + "width": 0.261, + "height": 0.37733333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧记号笔垂直升高", + "correction_plan": "抓紧记号笔向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹垂直升高高过了纸箱，方便将记号笔放进纸箱。", + "frame": 225, + "progress": 50, + "progress_explanation": "爪夹夹紧记号笔升高到半空中高过了纸箱，方便将记号笔移动到纸箱正上方。因此进度提升为50%。", + "state_description": "爪夹夹紧记号笔，爪夹角度接近垂直于桌面。位于半空中。\n为完成抓取记号笔放进纸箱里的任务应当：抓紧记号笔向爪夹右前方的纸箱移动并垂直升高。来到纸箱正上方。", + "time": 7.509071927319589, + "annotations": { + "bbox_1767859459839": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859459839_1767859594299_u9btmurjr", + "x": 0.4025, + "y": 0.20266666666666666, + "width": 0.039999999999999994, + "height": 0.21733333333333338 + } + ] + }, + "bbox_1767859464641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859464641_1767859601419_b9bi9j292", + "x": 0.47650000000000003, + "y": 0.07066666666666666, + "width": 0.26099999999999995, + "height": 0.388 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧记号笔向右前方移动升高，调整爪夹角度", + "correction_plan": "爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹夹紧记号笔向爪夹右前方移动，来到了纸箱正上方。方便将记号笔放进纸箱。", + "frame": 244, + "progress": 60, + "progress_explanation": "爪夹角度接近平行于桌面。位于纸箱正上方。方便将记号笔放进纸箱，因此进度提升为60%。", + "state_description": "爪夹夹紧记号笔，爪夹角度接近平行于桌面。位于纸箱正上方。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "time": 8.138900086082476, + "annotations": { + "bbox_1767859459839": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859459839_1767859611922_b95ezkjgc", + "x": 0.49749999999999994, + "y": 0.0053333333333333306, + "width": 0.05500000000000007, + "height": 0.14933333333333337 + } + ] + }, + "bbox_1767859464641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859464641_1767859621917_2uqtsur59", + "x": 0.4715, + "y": 0.07066666666666667, + "width": 0.26800000000000007, + "height": 0.38133333333333336 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧记号笔垂直下降", + "correction_plan": "爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹垂直下降接近了纸箱口。方便将记号笔放进纸箱。", + "frame": 262, + "progress": 70, + "progress_explanation": "爪夹垂直上接近了纸箱口。因此进度提升为70%。", + "state_description": "爪夹夹紧记号笔，垂直上接近了纸箱口。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "time": 8.747010032474227, + "annotations": { + "bbox_1767859459839": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859459839_1767859637991_lrv5klmag", + "x": 0.5455, + "y": 0.012, + "width": 0.04500000000000002, + "height": 0.22133333333333333 + } + ] + }, + "bbox_1767859464641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859464641_1767859642067_o5roe7upa", + "x": 0.47050000000000003, + "y": 0.07333333333333333, + "width": 0.266, + "height": 0.38133333333333336 + } + ] + } + } + }, + { + "time": 9.206133, + "frame": 276, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，位于纸箱正上方。\n抓取记号笔放进纸箱里的任务目标完成。", + "progress_explanation": "爪夹松开，记号笔落入纸箱。因此进度提升为100%。", + "error_success_analysis": "爪夹松开，记号笔落入纸箱。任务完成。", + "correction_plan": "", + "annotations": { + "bbox_1767859459839": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859459839_1767859649093_s335j0ggh", + "x": 0.6015, + "y": 0.2853333333333333, + "width": 0.06399999999999997, + "height": 0.15066666666666664 + } + ] + }, + "bbox_1767859464641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859464641_1767859652733_6argwzvdm", + "x": 0.48250000000000004, + "y": 0.07333333333333333, + "width": 0.25599999999999995, + "height": 0.37866666666666665 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767859459839", + "name": "记号笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1767859464641", + "name": "纸箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767859468681", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767859473409", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-175943-put-blue-yellow-cardboard box-mix1/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-175943-put-blue-yellow-cardboard box-mix1/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4bc56fe4f134b118d0393f2fbaa69feaab56fbb6 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-175943-put-blue-yellow-cardboard box-mix1/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,400 @@ +{ + "task_description": "抓取记号笔放进纸箱里：\n准备开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹夹紧记号笔靠近纸箱：60%\n爪夹将记号笔放进纸箱：80%\n爪夹松开记号笔落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到记号笔正上方。爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "爪夹张开，远离记号笔，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离记号笔，未开始移动。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到记号笔正上方。", + "time": 1.4345361108247423, + "annotations": { + "bbox_1767861272352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861272352_1767861300494_ea53g3bps", + "x": 0.7375, + "y": 0.452, + "width": 0.03399999999999999, + "height": 0.1786666666666667 + } + ] + }, + "bbox_1767861277292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861277292_1767861308816_qigjjw7ic", + "x": 0.20950000000000002, + "y": 0.2853333333333333, + "width": 0.33299999999999996, + "height": 0.4186666666666667 + } + ] + }, + "point_1767861290470": { + "type": "point", + "instances": [ + { + "id": "point_1767861290470_1767861315840_0fg8yf0l0", + "x": 0.5795, + "y": 0.5920000000000001 + } + ] + } + } + }, + { + "time": 2.496266, + "frame": 75, + "progress": 10, + "action_description": "爪夹向爪夹正前方移动，调整爪夹角度", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。水平上接近了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到记号笔正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直。水平上接近了记号笔。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹前方移动缩短了与记号笔之间的距离，调整爪夹角度与桌面接近垂直，方便抓取记号笔。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到记号笔正上方。爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "bbox_1767861272352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861272352_1767861323232_723040pf9", + "x": 0.7384999999999999, + "y": 0.4533333333333333, + "width": 0.03300000000000001, + "height": 0.1773333333333334 + } + ] + }, + "bbox_1767861277292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861277292_1767861328844_a3i0fjgfg", + "x": 0.2065, + "y": 0.284, + "width": 0.306, + "height": 0.43200000000000005 + } + ] + } + } + }, + { + "time": 3.609466, + "frame": 108, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。位于记号笔正上方。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。", + "progress_explanation": "爪夹角度与桌面接近垂直。位于记号笔正上方。方便抓取记号笔。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹右前方移动下降来到了记号笔正上方。方便下降抓取记号笔。", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "bbox_1767861272352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861272352_1767861370499_hekhn318g", + "x": 0.7365, + "y": 0.45066666666666666, + "width": 0.040000000000000036, + "height": 0.1693333333333334 + } + ] + }, + "bbox_1767861277292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861277292_1767861375511_z1ne0ic0b", + "x": 0.20549999999999996, + "y": 0.2786666666666667, + "width": 0.3390000000000001, + "height": 0.43466666666666676 + } + ] + } + } + }, + { + "time": 4.182933, + "frame": 125, + "progress": 20, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直。靠近了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。", + "progress_explanation": "爪夹角度与桌面接近垂直。靠近了记号笔。方便抓取记号笔。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹下方移动下降靠近了记号笔，方便抓取记号笔。", + "correction_plan": "爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "bbox_1767861272352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861272352_1767861388206_a6rcv0mty", + "x": 0.7355, + "y": 0.45466666666666666, + "width": 0.03799999999999999, + "height": 0.17733333333333334 + } + ] + }, + "bbox_1767861277292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861277292_1767861393084_x10h33bfm", + "x": 0.20950000000000002, + "y": 0.2826666666666666, + "width": 0.335, + "height": 0.44000000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹合拢，成功抓取到了记号笔。方便后续将记号笔放进纸箱。", + "frame": 150, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直。抓取到了记号笔。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。抓取到了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。", + "time": 4.999140992268041, + "annotations": { + "bbox_1767861277292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861277292_1767861412911_gv72x8o25", + "x": 0.20749999999999996, + "y": 0.28666666666666674, + "width": 0.33599999999999997, + "height": 0.43200000000000005 + } + ] + } + } + }, + { + "time": 7.067133, + "frame": 212, + "progress": 50, + "action_description": "爪夹夹紧记号笔向爪夹左方移动升高", + "state_description": "爪夹夹紧记号笔，爪夹角度接近垂直于桌面。位于半空中。\n为完成抓取记号笔放进纸箱里的任务应当：抓紧记号笔继续向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。", + "progress_explanation": "爪夹夹紧记号笔升高到半空中高过了纸箱，方便将记号笔移动到纸箱正上方。因此进度提升为50%。", + "error_success_analysis": "爪夹垂直升高高过了纸箱，方便将记号笔放进纸箱。", + "correction_plan": "抓紧记号笔继续向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "bbox_1767861277292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861277292_1767861427170_7pehtkt7e", + "x": 0.20750000000000002, + "y": 0.2826666666666667, + "width": 0.33499999999999996, + "height": 0.43333333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹向爪夹正前方移动下降靠近记号笔。爪夹合拢抓取记号笔。抓紧记号笔继续向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹张开，记号笔掉落。不能将记号笔放进纸箱。", + "frame": 261, + "progress": 12, + "progress_explanation": "爪夹张开，记号笔掉落桌面上。远离了记号笔，因此进度降低为12%。", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，记号笔掉落桌面上。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹向爪夹正前方移动下降靠近记号笔。爪夹合拢抓取记号笔。", + "time": 8.685464089175257, + "annotations": { + "bbox_1767861272352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861272352_1767861440358_z8mcq4pjy", + "x": 0.5915, + "y": 0.36533333333333334, + "width": 0.040000000000000036, + "height": 0.16133333333333333 + } + ] + }, + "bbox_1767861277292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861277292_1767861445400_ried3ugqs", + "x": 0.2045, + "y": 0.2826666666666667, + "width": 0.33799999999999997, + "height": 0.43599999999999994 + } + ] + } + } + }, + { + "time": 10.92855691701031, + "frame": 328, + "progress": 20, + "action_description": "爪夹向爪夹正前方移动下降", + "state_description": "爪夹张开，爪夹角度接近垂直于桌面，靠近了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹合拢抓取记号笔。抓紧记号笔继续向爪夹左方的纸箱移动并垂直升高。", + "progress_explanation": "爪夹角度与桌面接近垂直。靠近了记号笔。方便抓取记号笔。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹下方移动下降靠近了记号笔，方便抓取记号笔。", + "correction_plan": "爪夹合拢抓取记号笔。抓紧记号笔继续向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "annotations": { + "bbox_1767861272352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861272352_1767861457828_h8fq5vcrj", + "x": 0.5965, + "y": 0.36800000000000005, + "width": 0.03600000000000003, + "height": 0.17466666666666666 + } + ] + }, + "bbox_1767861277292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861277292_1767861463278_1edw6smis", + "x": 0.20949999999999996, + "y": 0.284, + "width": 0.3350000000000001, + "height": 0.43333333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹合拢，成功抓取到了记号笔。方便后续将记号笔放进纸箱。", + "frame": 379, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直。抓取到了记号笔。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。抓取到了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。", + "time": 12.632611933505153, + "annotations": { + "bbox_1767861277292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861277292_1767861473757_lsneq7h29", + "x": 0.20550000000000002, + "y": 0.2853333333333333, + "width": 0.33299999999999996, + "height": 0.42800000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧记号笔向爪夹左方移动升高", + "correction_plan": "爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹夹紧记号笔向爪夹左方移动升高，来到了纸箱正上方。方便将记号笔放进纸箱。", + "frame": 423, + "progress": 60, + "progress_explanation": "爪夹位于纸箱正上方。方便将记号笔放进纸箱，因此进度提升为60%。", + "state_description": "爪夹夹紧记号笔。位于纸箱正上方。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "time": 14.093230519072165, + "annotations": { + "bbox_1767861277292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861277292_1767861486046_vim66ug4z", + "x": 0.2065, + "y": 0.2773333333333333, + "width": 0.339, + "height": 0.4306666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧记号笔垂直下降", + "correction_plan": "爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹垂直下降将记号笔放进纸箱，方便后续记号笔落入纸箱。", + "frame": 442, + "progress": 80, + "progress_explanation": "爪夹记号笔放进纸箱。因此进度提升为80%。", + "state_description": "爪夹夹紧记号笔，将记号笔放进纸箱。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹松开记号笔落入纸箱里。", + "time": 14.736598229381443, + "annotations": { + "bbox_1767861277292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861277292_1767861497352_i22am1mi7", + "x": 0.20350000000000007, + "y": 0.29333333333333333, + "width": 0.3429999999999999, + "height": 0.408 + } + ] + } + } + }, + { + "time": 15.6354, + "frame": 469, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，位于纸箱正上方。\n抓取记号笔放进纸箱里的任务目标完成。", + "progress_explanation": "爪夹松开，记号笔落入纸箱。因此进度提升为100%。", + "error_success_analysis": "爪夹松开，记号笔落入纸箱。任务完成。", + "correction_plan": "", + "annotations": { + "bbox_1767861277292": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861277292_1767861511018_gbc0xsqsb", + "x": 0.2015, + "y": 0.2866666666666667, + "width": 0.33199999999999996, + "height": 0.4066666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767861272352", + "name": "记号笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1767861277292", + "name": "纸箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767861285555", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767861290470", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-175943-put-blue-yellow-cardboard box-mix1/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-175943-put-blue-yellow-cardboard box-mix1/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..1a515d8a097155e575920fe06ea740a68457675f --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-175943-put-blue-yellow-cardboard box-mix1/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,1130 @@ +{ + "task_description": "抓取记号笔放进纸箱里：\n准备开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹夹紧记号笔靠近纸箱：60%\n爪夹将记号笔放进纸箱：80%\n爪夹松开记号笔落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到记号笔正上方。爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "爪夹张开，远离记号笔，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离记号笔，未开始移动。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到记号笔正上方。", + "time": 1.314536061340206, + "annotations": { + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767923628900_ebzonydci", + "x": 0.7255, + "y": 0.49599999999999994, + "width": 0.04400000000000004, + "height": 0.10400000000000004 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767923638068_5ui4yg74v", + "x": 0.27849999999999997, + "y": 0.23466666666666666, + "width": 0.29100000000000004, + "height": 0.3866666666666667 + } + ] + }, + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767923647976_rmrb68gj7", + "x": 0.3955, + "y": 0.5093333333333334 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767923650596_e2z1d4wh6", + "x": 0.6195, + "y": 0.5053333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动下降", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹向爪夹右前方移动下降缩短了与记号笔之间的距离，方便抓取记号笔。", + "frame": 77, + "progress": 10, + "progress_explanation": "爪夹水平上接近了记号笔。因此进度提升为10%。", + "state_description": "爪夹张开，水平上接近了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降，靠近记号笔。爪夹合拢抓取记号笔。", + "time": 2.570933, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767923656112_ntbbyv27n", + "x": 0.3965, + "y": 0.5133333333333333 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767923658688_96s986fjf", + "x": 0.6225, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767923662540_41jfbwdmq", + "x": 0.4505, + "y": 0.4053333333333333, + "width": 0.04400000000000004, + "height": 0.26266666666666666 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767923671783_7ebvzgd6n", + "x": 0.0415, + "y": 0.6, + "width": 0.28500000000000003, + "height": 0.38133333333333325 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹垂直下降来到记号笔正上方，方便后续下降抓取记号笔。", + "frame": 98, + "progress": 15, + "progress_explanation": "爪夹位于记号笔正上方。方便抓取记号笔。因此进度提升为15%。", + "state_description": "爪夹张开，位于记号笔正上方。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。", + "time": 3.2809965108247416, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767923686887_34mw3aokp", + "x": 0.3955, + "y": 0.5066666666666667 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767923689375_38y8e4mx3", + "x": 0.6195, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767923695037_fr7ge2wht", + "x": 0.5015, + "y": 0.49466666666666664, + "width": 0.05800000000000001, + "height": 0.312 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767923703999_01npi6j90", + "x": 0.0035000000000000005, + "y": 0.628, + "width": 0.281, + "height": 0.3706666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左下方移动并合拢爪夹", + "correction_plan": "爪夹张开，爪夹垂直升高并向爪夹右方记号笔移动，来到记号笔正上方。爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹向爪夹左下方移动并合拢爪夹抓取到错误目标。", + "frame": 138, + "progress": -10, + "progress_explanation": "爪夹角度接近垂直于桌面，抓取到充电器线。比上一阶段多出一步爪夹张开，因此进度降低为-10%。", + "state_description": "爪夹合拢，爪夹角度接近垂直于桌面，抓取到充电器线。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹张开，爪夹垂直升高并向爪夹右方记号笔移动，来到记号笔正上方。", + "time": 4.602799, + "annotations": { + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767923715701_9kuqq1uz8", + "x": 0.5215, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767923721189_95sqh9lpm", + "x": 0.5755, + "y": 0.504, + "width": 0.07999999999999999, + "height": 0.39199999999999996 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767923725411_p4qxn0sjo", + "x": 0.0015, + "y": 0.6013333333333333, + "width": 0.32, + "height": 0.3866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧充电器线向爪夹左方移动升高", + "correction_plan": "爪夹张开，爪夹向爪夹右下方记号笔移动，来到记号笔正上方。爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹夹紧错误目标向爪夹左方移动升高接近了纸箱，远离了记号笔。", + "frame": 218, + "progress": -20, + "progress_explanation": "爪夹水平上接近了纸箱。远离了记号笔。因此进度降低为-20%。", + "state_description": "爪夹夹紧充电器线，水平上接近了纸箱。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹张开，爪夹向爪夹右下方记号笔移动，来到记号笔正上方。", + "time": 7.278041120103092, + "annotations": { + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767923912217_9is3zn7mz", + "x": 0.5165, + "y": 0.504 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767923916277_046chrmyq", + "x": 0.6585000000000001, + "y": 0.652, + "width": 0.08499999999999996, + "height": 0.19333333333333325 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767923927814_hawlrguu5", + "x": 0.1815, + "y": 0.5800000000000001, + "width": 0.2780000000000001, + "height": 0.40933333333333327 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹向爪夹右方移动并垂直下降，靠近记号笔。爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹张开充电线掉落桌面上，方便向爪夹右下方移动靠近。", + "frame": 259, + "progress": 9, + "progress_explanation": "爪夹张开，相比上阶段更加容易抓取记号笔。因此进度提升为9%。", + "state_description": "爪夹张开，充电线掉落。位于记号笔正上方偏左。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹向爪夹右方移动并垂直下降，靠近记号笔。爪夹合拢抓取记号笔。", + "time": 8.624639036597939, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767923938739_w4jrvvup6", + "x": 0.3935, + "y": 0.5106666666666667 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767923941220_inknohna8", + "x": 0.6195, + "y": 0.5066666666666667 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767923945079_ogqokbsm5", + "x": 0.5405, + "y": 0.48933333333333334, + "width": 0.10099999999999998, + "height": 0.16666666666666666 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767923958831_u6c0boi7x", + "x": 0.0685, + "y": 0.36133333333333334, + "width": 0.285, + "height": 0.49333333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方移动下降", + "correction_plan": "爪夹向左移动下降靠近记号笔。爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹向爪夹右方移动下降，来到了记号笔正上方偏右。垂直上缩短了与记号笔间的距离。", + "frame": 292, + "progress": 12, + "progress_explanation": "爪夹垂直上接近了记号笔，方便靠近抓取记号笔。因此进度提升为12%。", + "state_description": "爪夹张开，位于记号笔正上方偏右。垂直上接近了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹向左移动下降靠近记号笔。爪夹合拢抓取记号笔。", + "time": 9.723933, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767923977231_ye9iio0wu", + "x": 0.39849999999999997, + "y": 0.5146666666666666 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767923979357_hj0bmygdz", + "x": 0.6205, + "y": 0.508 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767923985719_4plf18i37", + "x": 0.3395, + "y": 0.21200000000000002, + "width": 0.098, + "height": 0.32133333333333336 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767923990393_dau8qj6bu", + "x": 0.0005000000000000004, + "y": 0.45733333333333337, + "width": 0.22200000000000003, + "height": 0.528 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左方移动下降", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹向爪夹左方移动下降来到记号笔正上方，方便后续下降抓取记号笔。", + "frame": 311, + "progress": 14, + "progress_explanation": "爪夹位于记号笔正上方，垂直上接近了记号笔。方便抓取记号笔。因此进度提升为14%。", + "state_description": "爪夹张开，位于记号笔正上方。垂直上接近了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。", + "time": 10.355979214948452, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767924001569_y0tzhg6zk", + "x": 0.3955, + "y": 0.5066666666666667 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767924003713_ku2vnqrkc", + "x": 0.6235, + "y": 0.512 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767924007391_xb2000rgp", + "x": 0.4135000000000001, + "y": 0.3453333333333333, + "width": 0.07499999999999991, + "height": 0.372 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767924014779_mnmo76ied", + "x": 0.0035000000000000005, + "y": 0.62, + "width": 0.30500000000000005, + "height": 0.37599999999999995 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹向爪夹下方移动下降靠近了记号笔，方便抓取记号笔。", + "frame": 324, + "progress": 20, + "progress_explanation": "爪夹靠近了记号笔。方便抓取记号笔。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹靠近了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。", + "time": 10.783470617010309, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767924025181_y02p0ff1a", + "x": 0.3965, + "y": 0.5106666666666667 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767924028437_3nopy5fkk", + "x": 0.6235, + "y": 0.5173333333333333 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767924070707_gm1wiifzq", + "x": 0.4085, + "y": 0.38266666666666665, + "width": 0.05999999999999996, + "height": 0.42133333333333334 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767924084166_80ige5vsl", + "x": 0.0015, + "y": 0.732, + "width": 0.256, + "height": 0.26266666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹合拢，成功抓取到了记号笔。方便后续将记号笔放进纸箱。", + "frame": 363, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直。抓取到了记号笔。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。抓取到了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。", + "time": 12.108693963402061, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767924091725_z2wbcugud", + "x": 0.48550000000000004, + "y": 0.5013333333333334 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767924093575_w6jjwkayk", + "x": 0.5315000000000001, + "y": 0.508 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767924100018_dnksg7hw2", + "x": 0.47450000000000003, + "y": 0.36800000000000005, + "width": 0.06500000000000003, + "height": 0.448 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767924106837_eu9v5bz29", + "x": 0.0045, + "y": 0.5773333333333334, + "width": 0.3, + "height": 0.4146666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左方移动并垂直升高", + "correction_plan": "爪夹张开，向爪夹右方移动并垂直下降，靠近记号笔。爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹向爪夹左方移动并垂直升高，记号笔掉落桌面上。", + "frame": 382, + "progress": -10, + "progress_explanation": "记号笔掉落桌面上，爪夹比上一阶段多出一步爪夹张开，因此进度降低为-10%。", + "state_description": "爪夹合拢，记号笔掉落桌面上。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹张开，向爪夹右方移动并垂直下降，靠近记号笔。", + "time": 12.728556496391752, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767924111561_hunpvv7qa", + "x": 0.4925, + "y": 0.5106666666666667 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767924114257_5cgkka4aj", + "x": 0.5255, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767924118582_8c1b1s436", + "x": 0.5285, + "y": 0.412, + "width": 0.038999999999999965, + "height": 0.32533333333333336 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767924124438_d2ksphqel", + "x": 0.026500000000000003, + "y": 0.5426666666666667, + "width": 0.329, + "height": 0.444 + } + ] + } + } + }, + { + "action_description": "爪夹张开，并垂直下降", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹张开，并垂直下降来到记号笔正上方。方便抓取记号笔。", + "frame": 415, + "progress": 15, + "progress_explanation": "爪夹位于记号笔正上方。方便抓取记号笔。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度接近垂直与桌面。位于记号笔正上方。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。", + "time": 13.818659571649482, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767924135918_lc1fuq0pa", + "x": 0.39849999999999997, + "y": 0.512 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767924138120_i41tkvk8d", + "x": 0.6185, + "y": 0.5133333333333333 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767924142430_fge5lamqo", + "x": 0.43950000000000006, + "y": 0.35200000000000004, + "width": 0.088, + "height": 0.3773333333333333 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767924152114_3erb149o1", + "x": 0.0015, + "y": 0.42, + "width": 0.265, + "height": 0.5573333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹垂直下降靠近了记号笔两侧。方便抓取记号笔。", + "frame": 434, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直与桌面。爪夹靠近了记号笔。方便抓取记号笔。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度接近垂直与桌面。爪夹靠近了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。", + "time": 14.459896674742266, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767924162488_m34b13ys8", + "x": 0.4085, + "y": 0.512 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767924164764_pjrlabjkb", + "x": 0.6115, + "y": 0.5213333333333333 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767924169804_il12oaevi", + "x": 0.4734999999999999, + "y": 0.3493333333333333, + "width": 0.0870000000000001, + "height": 0.4373333333333334 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767924176607_nqcwrcyli", + "x": 0.0025, + "y": 0.48933333333333334, + "width": 0.29, + "height": 0.5066666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹垂直上升", + "correction_plan": "爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹垂直上升，稍微远离了记号笔。", + "frame": 444, + "progress": 19, + "progress_explanation": "爪夹张开，微微远离了记号笔。因此进度降低为19%。", + "state_description": "爪夹张开，稍微远离了记号笔。位于记号笔正上方。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。", + "time": 14.801889796391752, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767924188562_j8j4tkb3l", + "x": 0.41950000000000004, + "y": 0.5133333333333333 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767924190884_idd39ecv5", + "x": 0.5945, + "y": 0.5106666666666667 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767924195114_u3o809sng", + "x": 0.49450000000000005, + "y": 0.38533333333333336, + "width": 0.08599999999999994, + "height": 0.39066666666666666 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767924201108_xx4shsm4a", + "x": 0.0035000000000000005, + "y": 0.46266666666666667, + "width": 0.321, + "height": 0.5293333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正前方移动下降", + "correction_plan": "爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹向爪夹正前方移动下降靠近记号笔，方便抓取记号笔。", + "frame": 468, + "progress": 20, + "progress_explanation": "爪夹靠近了记号笔。位于记号笔正上方。方便抓取记号笔，因此进度提升为20%。", + "state_description": "爪夹半合拢，爪夹靠近了记号笔。位于记号笔正上方。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹合拢抓取记号笔。抓紧记号笔向爪夹左方的纸箱移动并垂直升高。", + "time": 15.614123460309274, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767924206562_e8ahhd18c", + "x": 0.4365, + "y": 0.5133333333333333 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767924208496_65utudbmv", + "x": 0.5805, + "y": 0.5093333333333334 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767924213200_cavn6sp9i", + "x": 0.4245, + "y": 0.484, + "width": 0.10099999999999998, + "height": 0.4800000000000001 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767924225968_58mgsch0o", + "x": 0.0015, + "y": 0.5613333333333334, + "width": 0.365, + "height": 0.43466666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹合拢，成功抓取到了记号笔。方便后续将记号笔放进纸箱。", + "frame": 495, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直。抓取到了记号笔。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。抓取到了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：抓紧记号笔向爪夹左方的纸箱移动并垂直升高。来到纸箱正上方。", + "time": 16.511855404639174, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767924234564_p39eo86n3", + "x": 0.48250000000000004, + "y": 0.5013333333333334 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767924236355_dzxbe5or1", + "x": 0.5355000000000001, + "y": 0.5013333333333334 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767924243372_c1ogtph91", + "x": 0.4835, + "y": 0.48800000000000004, + "width": 0.053000000000000026, + "height": 0.44933333333333336 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767924248588_gfs52quh6", + "x": 0.0025, + "y": 0.5586666666666668, + "width": 0.24900000000000003, + "height": 0.43733333333333324 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧记号笔垂直升高", + "correction_plan": "抓紧记号笔向爪夹左方的纸箱移动。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹垂直升高高过了纸箱，方便将记号笔放进纸箱。", + "frame": 523, + "progress": 50, + "progress_explanation": "爪夹夹紧记号笔升高到半空中高过了纸箱，方便将记号笔移动到纸箱正上方。因此进度提升为50%。", + "state_description": "爪夹夹紧记号笔，爪夹角度接近垂直于桌面。位于半空中。\n为完成抓取记号笔放进纸箱里的任务应当：抓紧记号笔向爪夹左方的纸箱移动。来到纸箱正上方。", + "time": 17.433333333333334, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767924260060_pjmvknemm", + "x": 0.48549999999999993, + "y": 0.5066666666666666 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767924262796_k0w9tef46", + "x": 0.5325, + "y": 0.5 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767924272748_3tnixst0d", + "x": 0.4795, + "y": 0.48400000000000004, + "width": 0.05499999999999998, + "height": 0.4533333333333333 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767924282998_a1z1uo0mn", + "x": 0.0045, + "y": 0.476, + "width": 0.326, + "height": 0.5173333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧记号笔向爪夹左方移动升高", + "correction_plan": "爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹夹紧记号笔向爪夹左方移动，来到了纸箱正上方。方便将记号笔放进纸箱。", + "frame": 554, + "progress": 60, + "progress_explanation": "爪夹位于纸箱正上方。方便将记号笔放进纸箱，因此进度提升为60%。", + "state_description": "爪夹夹紧记号笔，位于纸箱正上方。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "time": 18.452666, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767924293338_l2b97d3gq", + "x": 0.48650000000000004, + "y": 0.4986666666666667 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767924295684_da47l4d2n", + "x": 0.5325, + "y": 0.5066666666666667 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767924300050_0ou09fej8", + "x": 0.48150000000000004, + "y": 0.48666666666666664, + "width": 0.050999999999999976, + "height": 0.44666666666666666 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767924306288_9k0b2eov6", + "x": 0.3845, + "y": 0.41600000000000004, + "width": 0.287, + "height": 0.5226666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹垂直下降接近了纸箱口。方便将记号笔放进纸箱。", + "frame": 569, + "progress": 70, + "progress_explanation": "爪夹垂直上接近了纸箱口。因此进度提升为70%。", + "state_description": "爪夹夹紧记号笔，垂直上接近了纸箱口。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "time": 18.969930966494843, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767924311643_qh662nvq8", + "x": 0.48550000000000004, + "y": 0.5066666666666667 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767924313758_6ixrs2f8d", + "x": 0.5335, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767924319174_1aagzhmr9", + "x": 0.48150000000000004, + "y": 0.48933333333333334, + "width": 0.051999999999999956, + "height": 0.4573333333333334 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767924329356_6ok71i127", + "x": 0.3355, + "y": 0.35333333333333333, + "width": 0.37, + "height": 0.5533333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，记号笔落入纸箱。任务完成。", + "frame": 583, + "progress": 100, + "progress_explanation": "爪夹松开，记号笔落入纸箱。因此进度提升为100%。", + "state_description": "爪夹张开，位于纸箱正上方。\n抓取记号笔放进纸箱里的任务目标完成。", + "time": 19.440171508762884, + "annotations": { + "point_1767923564318": { + "type": "point", + "instances": [ + { + "id": "point_1767923564318_1767924339384_lycx1afnv", + "x": 0.41850000000000004, + "y": 0.512 + } + ] + }, + "point_1767923569354": { + "type": "point", + "instances": [ + { + "id": "point_1767923569354_1767924341570_nvhtd9sro", + "x": 0.5955, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767923547992": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923547992_1767924345604_h9j96dcap", + "x": 0.5215, + "y": 0.43866666666666665, + "width": 0.03799999999999999, + "height": 0.21866666666666662 + } + ] + }, + "bbox_1767923557050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923557050_1767924352024_a490jut1u", + "x": 0.32849999999999996, + "y": 0.3466666666666666, + "width": 0.38, + "height": 0.5720000000000002 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767923547992", + "name": "记号笔", + "color": "#4CAF50" + }, + { + "id": "bbox_1767923557050", + "name": "纸箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767923564318", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767923569354", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-181507-put-blue-yellow-cardboard box-bad/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-181507-put-blue-yellow-cardboard box-bad/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..6337833e2ad9fd758ed98f71c613c5b6d4e84c2c --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/20250105-movetable/20260105-181507-put-blue-yellow-cardboard box-bad/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,330 @@ +{ + "task_description": "抓取记号笔放进纸箱里：\n准备开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹夹紧记号笔靠近纸箱：60%\n爪夹将记号笔放进纸箱：80%\n爪夹松开记号笔落入纸箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767926098175": { + "instances": [ + { + "height": 0.060000000000000026, + "id": "bbox_1767926098175_1767926130647_lvqvlnxew", + "width": 0.14100000000000001, + "x": 0.5265, + "y": 0.5 + } + ], + "type": "bbox" + }, + "bbox_1767926106725": { + "instances": [ + { + "height": 0.4106666666666667, + "id": "bbox_1767926106725_1767926136123_32zjzon38", + "width": 0.2719999999999999, + "x": 0.6685000000000001, + "y": 0.28933333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到记号笔正上方。爪夹垂直下降靠近记号笔，爪夹合拢抓取记号笔。抓紧记号笔向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹张开，远离记号笔，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离记号笔，未开始移动。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，来到记号笔正上方。", + "time": 1.4883162036082473 + }, + { + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "annotations": { + "bbox_1767926098175": { + "instances": [ + { + "height": 0.05999999999999996, + "id": "bbox_1767926098175_1767926148210_4ok6xdllw", + "width": 0.14100000000000001, + "x": 0.5275000000000001, + "y": 0.49733333333333335 + } + ], + "type": "bbox" + }, + "bbox_1767926106725": { + "instances": [ + { + "height": 0.41333333333333333, + "id": "bbox_1767926106725_1767926153549_ci08vel7k", + "width": 0.27699999999999997, + "x": 0.6635, + "y": 0.2853333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，靠近记号笔。爪夹合拢抓取记号笔。抓紧记号笔向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹向爪夹右前方移动下降缩短了与记号笔之间的距离，调整爪夹角度方便抓取记号笔。", + "frame": 73, + "progress": 10, + "progress_explanation": "爪夹水平上接近了记号笔。方便抓取记号笔，因此进度提升为10%。", + "state_description": "爪夹张开，水平上接近了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹继续向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，靠近记号笔。", + "time": 2.423466 + }, + { + "action_description": "爪夹向爪夹右前方移动下降，调整爪夹角度", + "annotations": { + "bbox_1767926098175": { + "instances": [ + { + "height": 0.06400000000000006, + "id": "bbox_1767926098175_1767926201163_c7r61eh8y", + "width": 0.15600000000000006, + "x": 0.5105, + "y": 0.49599999999999994 + } + ], + "type": "bbox" + }, + "bbox_1767926106725": { + "instances": [ + { + "height": 0.40800000000000003, + "id": "bbox_1767926106725_1767926217303_ge20eauyk", + "width": 0.2709999999999999, + "x": 0.6685000000000001, + "y": 0.292 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，靠近记号笔。爪夹合拢抓取记号笔。抓紧记号笔向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹向爪夹右前方移动下降更加缩短了与记号笔之间的距离，调整爪夹角度方便抓取记号笔。", + "frame": 93, + "progress": 15, + "progress_explanation": "爪夹水平和垂直上上接近了记号笔。方便抓取记号笔，因此进度提升为15%。", + "state_description": "爪夹张开，水平和垂直上上接近了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹继续向爪夹右前方移动并垂直下降，调整爪夹角度使其接近垂直于桌面，靠近记号笔。", + "time": 3.105066 + }, + { + "action_description": "爪夹向爪夹右前方移动下降", + "annotations": { + "bbox_1767926098175": { + "instances": [ + { + "height": 0.06266666666666663, + "id": "bbox_1767926098175_1767926229243_6kvc90cu7", + "width": 0.154, + "x": 0.5135, + "y": 0.5 + } + ], + "type": "bbox" + }, + "bbox_1767926106725": { + "instances": [ + { + "height": 0.4026666666666667, + "id": "bbox_1767926106725_1767926233641_iymylpzni", + "width": 0.2759999999999999, + "x": 0.6645000000000001, + "y": 0.292 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取记号笔。抓紧记号笔向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹向爪夹右前方移动下降靠近了记号笔。方便抓取记号笔。", + "frame": 126, + "progress": 20, + "progress_explanation": "爪夹靠近了记号笔。方便抓取记号笔。因此进度提升为20%。", + "state_description": "爪夹张开，靠近了记号笔两侧。\n为完成抓取记号笔放进纸箱里的任务应当：爪夹合拢抓取记号笔。抓紧记号笔向爪夹右方的纸箱移动并垂直升高。", + "time": 4.184266 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767926098175": { + "instances": [ + { + "height": 0.09999999999999988, + "id": "bbox_1767926098175_1767926243075_i0pb9byka", + "width": 0.13400000000000006, + "x": 0.5095, + "y": 0.552 + } + ], + "type": "bbox" + }, + "bbox_1767926106725": { + "instances": [ + { + "height": 0.4013333333333333, + "id": "bbox_1767926106725_1767926251517_09i3p2666", + "width": 0.27699999999999997, + "x": 0.6605000000000001, + "y": 0.29333333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧记号笔向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹合拢，成功抓取到了记号笔。方便后续将记号笔放进纸箱。", + "frame": 143, + "progress": 40, + "progress_explanation": "爪夹角度与桌面呈45度。抓取到了记号笔。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面呈45度。抓取到了记号笔。\n为完成抓取记号笔放进纸箱里的任务应当：抓紧记号笔向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。", + "time": 4.780666 + }, + { + "action_description": "爪夹夹紧记号笔垂直升高", + "annotations": { + "bbox_1767926098175": { + "instances": [ + { + "height": 0.10800000000000001, + "id": "bbox_1767926098175_1767926258049_8qzhkng44", + "width": 0.14399999999999996, + "x": 0.5065000000000001, + "y": 0.52 + } + ], + "type": "bbox" + }, + "bbox_1767926106725": { + "instances": [ + { + "height": 0.4026666666666667, + "id": "bbox_1767926106725_1767926265875_8s625iyyk", + "width": 0.2739999999999999, + "x": 0.6655, + "y": 0.2906666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧记号笔向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹垂直升高微微远离了桌面，方便将记号笔放进纸箱。", + "frame": 171, + "progress": 42, + "progress_explanation": "爪夹夹紧记号笔位于半空中，方便向爪夹右方移动升高。因此进度提升为42%。", + "state_description": "爪夹夹紧记号笔，微微远离了桌面。记号笔位于半空中。\n为完成抓取记号笔放进纸箱里的任务应当：抓紧记号笔向爪夹右方的纸箱移动并垂直升高。来到纸箱正上方。", + "time": 5.704398826288659 + }, + { + "action_description": "爪夹夹紧记号笔垂直升高", + "annotations": { + "bbox_1767926098175": { + "instances": [ + { + "height": 0.23466666666666666, + "id": "bbox_1767926098175_1767926273526_cja3pwm28", + "width": 0.09900000000000012, + "x": 0.4044999999999999, + "y": 0.018666666666666668 + } + ], + "type": "bbox" + }, + "bbox_1767926106725": { + "instances": [ + { + "height": 0.4093333333333333, + "id": "bbox_1767926106725_1767926282091_tgeurzpf9", + "width": 0.27699999999999997, + "x": 0.6635, + "y": 0.2893333333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧记号笔向爪夹右方的纸箱移动。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹垂直升高高过了纸箱，方便将记号笔放进纸箱。", + "frame": 195, + "progress": 50, + "progress_explanation": "爪夹夹紧记号笔升高到半空中高过了纸箱，方便将记号笔移动到纸箱正上方。因此进度提升为50%。", + "state_description": "爪夹夹紧记号笔，位于半空中，高过了纸箱。\n为完成抓取记号笔放进纸箱里的任务应当：抓紧记号笔向爪夹右方的纸箱移动。来到纸箱正上方。", + "time": 6.494133 + }, + { + "action_description": "爪夹夹紧记号笔向爪夹左方移动", + "annotations": { + "bbox_1767926106725": { + "instances": [ + { + "height": 0.40933333333333344, + "id": "bbox_1767926106725_1767926294432_ntex4s7rn", + "width": 0.274, + "x": 0.6655, + "y": 0.288 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓紧记号笔向爪夹右方的纸箱移动。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹夹紧记号笔向爪夹左方移动，远离了纸箱，未向纸箱移动靠近。", + "frame": 206, + "progress": 43, + "progress_explanation": "爪夹水平上远离了纸箱，不方便将记号笔放进纸箱。因此进度降低为43%。", + "state_description": "爪夹夹紧记号笔，水平上远离了纸箱。\n为完成抓取记号笔放进纸箱里的任务应当：抓紧记号笔向爪夹右方的纸箱移动。来到纸箱正上方。", + "time": 6.875532888144329 + }, + { + "action_description": "爪夹向爪夹左移动，张开爪夹", + "annotations": { + "bbox_1767926106725": { + "instances": [ + { + "height": 0.412, + "id": "bbox_1767926106725_1767926306645_bgyf9g3y4", + "width": 0.27299999999999996, + "x": 0.6665, + "y": 0.28666666666666674 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向屏幕外记号笔移动下降靠近记号笔。爪夹合拢抓取记号笔，抓紧记号笔向爪夹右方的纸箱移动。来到纸箱正上方。接着爪夹垂直下降将记号笔放进纸箱里，爪夹松开记号笔落入纸箱里。", + "error_success_analysis": "爪夹向爪夹左移动，张开爪夹，远离了记号笔，爪夹抓取不到。任务失败。", + "frame": 225, + "progress": -30, + "progress_explanation": "爪夹向爪夹左移动，张开爪夹记号笔掉落屏幕外。任务失败，因此进度降低为-30%。", + "state_description": "爪夹张开，记号笔掉落屏幕外。远离了记号笔\n抓取记号笔放进纸箱里的任务失败。", + "time": 7.50013772113402 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767926098175", + "name": "记号笔" + }, + { + "color": "#FF9800", + "id": "bbox_1767926106725", + "name": "纸箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767926114377", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767926119054", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..e64a91ed3ae5886856aa24e045bee618773663f9 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,484 @@ +{ + "task_description": "拿起白萝卜，把它放到盘子里：\n爪夹开始移动：0%\n爪夹靠近白萝卜：20%\n爪夹抓取白萝卜：40%\n爪夹抓住白萝卜并接近盘子：60%\n爪夹将白萝卜移动至盘子上方：80%\n爪夹松开，使白萝卜落到盘子上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达白萝卜正上方后下降，合拢爪夹抓取白萝卜后竖直上升，向爪夹方向的右前方移动，直至白萝卜处于盘子正上方。下降将白萝卜放在盘子上，随后松开爪夹，使白萝卜落到盘子上。", + "error_success_analysis": "", + "frame": 91, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起白萝卜，把它放到盘子里的任务应当：调整爪夹方向直到垂直于桌面，向爪夹方向的左前方移动至白萝卜的正上方。", + "time": 3.022736805776895, + "annotations": { + "bbox_1767754476073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476073_1767754499486_kud0jlqh6", + "x": 0.28966660829671576, + "y": 0.6307592056673824, + "width": 0.2419999852294931, + "height": 0.31066664138455075 + } + ] + }, + "bbox_1767754476192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476192_1767754509331_texmdea9k", + "x": 0.45166659840902107, + "y": 0.5454258792784928, + "width": 0.21299998699951245, + "height": 0.1546666540798622 + } + ] + }, + "point_1767754476855": { + "type": "point", + "instances": [ + { + "id": "point_1767754476855_1767754518964_9ee38q41d", + "x": 0.43566659938558355, + "y": 0.36409256070210283 + } + ] + }, + "point_1767754480018": { + "type": "point", + "instances": [ + { + "id": "point_1767754480018_1767754520961_51bv6x7gw", + "x": 0.5396665930379276, + "y": 0.3800925594000196 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时抬起并调整爪夹角度。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达白萝卜正上方后下降，合拢爪夹抓取白萝卜后竖直上升，向爪夹方向的右前方移动，直至白萝卜处于盘子正上方。下降将白萝卜放在盘子上，随后松开爪夹，使白萝卜落到盘子上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并抬起，同时调整爪夹角度与桌面呈30°角。", + "frame": 126, + "progress": 5, + "progress_explanation": "爪夹正在调整爪夹角度，与白萝卜的水平距离略微拉近。因此进度提升至5%", + "state_description": "当前状态为爪夹打开，与桌面呈30°角。\n为完成拿起白萝卜，把它放到盘子里的任务应当：继续调整爪夹方向直到垂直于桌面，向爪夹方向的左前方移动至白萝卜的正上方。", + "time": 4.200228114160023, + "annotations": { + "point_1767754480018": { + "type": "point", + "instances": [ + { + "id": "point_1767754480018_1767754524117_t28d8tf2t", + "x": 0.5446665927327519, + "y": 0.35875922780279723 + } + ] + }, + "point_1767754476855": { + "type": "point", + "instances": [ + { + "id": "point_1767754476855_1767754526605_q3xt02epk", + "x": 0.4346665994466187, + "y": 0.34542589555453324 + } + ] + }, + "bbox_1767754476192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476192_1767754531279_rupsmyasf", + "x": 0.4546665982259156, + "y": 0.5467592125033194, + "width": 0.20999998718261798, + "height": 0.15333332085503565 + } + ] + }, + "bbox_1767754476073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476073_1767754538253_cb259ihn0", + "x": 0.29266660811361034, + "y": 0.6294258724425561, + "width": 0.23999998535156344, + "height": 0.30799997493489784 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，随后向爪夹方向的左前方移动并下降，同时调整爪夹角度。", + "correction_plan": "继续向爪夹方向的左前方移动，到达白萝卜正上方后下降，合拢爪夹抓取白萝卜后竖直上升，向爪夹方向的右前方移动，直至白萝卜处于盘子正上方。下降将白萝卜放在盘子上，随后松开爪夹，使白萝卜落到盘子上。", + "error_success_analysis": "爪夹角度成功调整至垂直于桌面，与白萝卜的水平距离进一步拉近。", + "frame": 168, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的前方移动，随后向爪夹方向的左前方移动，再次拉近与白萝卜的水平距离。因此进度提升至15%", + "state_description": "当前状态为爪夹打开，垂直于桌面。\n为完成拿起白萝卜，把它放到盘子里的任务应当：继续向爪夹方向的左前方移动，到达白萝卜正上方后下降。", + "time": 5.607100846254149, + "annotations": { + "bbox_1767754476073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476073_1767754549487_wxwiyrex1", + "x": 0.29266660811361034, + "y": 0.6294258724425561, + "width": 0.23899998541259854, + "height": 0.3106666413845506 + } + ] + }, + "bbox_1767754476192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476192_1767754558818_phhz53tt4", + "x": 0.4536665982869508, + "y": 0.5480925457281457, + "width": 0.21099998712158277, + "height": 0.1546666540798622 + } + ] + }, + "point_1767754476855": { + "type": "point", + "instances": [ + { + "id": "point_1767754476855_1767754562516_pdx4or48i", + "x": 0.4666665974934937, + "y": 0.5494258789529721 + } + ] + } + } + }, + { + "time": 6.615666, + "frame": 198, + "progress": 20, + "action_description": "爪夹向爪夹方向的左前方移动，移动至白萝卜上方。", + "state_description": "当前状态为爪夹打开，垂直于白萝卜上方。\n为完成拿起白萝卜，把它放到盘子里的任务应当：下降并合拢爪夹，抓取白萝卜后竖直上升。", + "progress_explanation": "当前爪夹已悬空于白萝卜正上方，已接近白萝卜，因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功垂直于白萝卜的正上方。", + "correction_plan": "下降并合拢爪夹，抓取白萝卜后竖直上升，向爪夹方向的右前方移动，直至白萝卜处于盘子正上方。下降将白萝卜放在盘子上，随后松开爪夹，使白萝卜落到盘子上。", + "annotations": { + "point_1767754476855": { + "type": "point", + "instances": [ + { + "id": "point_1767754476855_1767754567070_c0o5ba5op", + "x": 0.5056665951131227, + "y": 0.6014258747212016 + } + ] + }, + "bbox_1767754476192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476192_1767754571436_uilghrmpr", + "x": 0.4526665983479859, + "y": 0.5494258789529721, + "width": 0.21199998706054765, + "height": 0.1466666547309038 + } + ] + }, + "bbox_1767754476073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476073_1767754576663_boky5fr2m", + "x": 0.28966660829671576, + "y": 0.629425872442556, + "width": 0.2429999851684579, + "height": 0.30799997493489795 + } + ] + } + } + }, + { + "time": 7.817166, + "frame": 235, + "progress": 30, + "action_description": "爪夹向爪夹方向的下方垂直下降。\n", + "state_description": "当前状态为爪夹打开，与白萝卜的垂直距离拉近。\n为完成拿起白萝卜，把它放到盘子里的任务应当：合拢爪夹，抓取白萝卜后竖直上升。", + "progress_explanation": "爪夹向爪夹方向的下方移动，拉近与白萝卜的垂直距离。因此进度提升至30%", + "error_success_analysis": "爪夹向爪夹方向的下方移动，成功拉近与白萝卜的垂直距离。", + "correction_plan": "合拢爪夹，抓取白萝卜后竖直上升，向爪夹方向的右前方移动，直至白萝卜处于盘子正上方。下降将白萝卜放在盘子上，随后松开爪夹，使白萝卜落到盘子上。", + "annotations": { + "bbox_1767754476073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476073_1767754590349_vs1id2bqf", + "x": 0.29166660817464546, + "y": 0.6280925392177296, + "width": 0.2399999853515633, + "height": 0.30933330815972426 + } + ] + }, + "bbox_1767754476192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476192_1767754598132_fv0lf7vo0", + "x": 0.4726665971272829, + "y": 0.5160925483323121, + "width": 0.18899998846435614, + "height": 0.18933331792534852 + } + ] + }, + "point_1767754476855": { + "type": "point", + "instances": [ + { + "id": "point_1767754476855_1767754601358_xeysi9vdl", + "x": 0.4916665959676149, + "y": 0.5987592082715488 + } + ] + } + } + }, + { + "time": 8.573666, + "frame": 257, + "progress": 40, + "action_description": "爪夹合拢，抓取白萝卜。", + "state_description": "当前爪夹合拢，抓住白萝卜。\n为完成拿起白萝卜，把它放到盘子里的任务应当：抓取白萝卜后竖直上升，向爪夹方向的右前方移动。", + "progress_explanation": "当前爪夹已抓取到白萝卜，因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功移动至白萝卜正上方，爪夹向爪夹的下方移动，成功抓取到白萝卜。", + "correction_plan": "抓取白萝卜后竖直上升，向爪夹方向的右前方移动，直至白萝卜处于盘子正上方。下降将白萝卜放在盘子上，随后松开爪夹，使白萝卜落到盘子上。", + "annotations": { + "point_1767754476855": { + "type": "point", + "instances": [ + { + "id": "point_1767754476855_1767754606776_fiv53k66b", + "x": 0.5116665947469119, + "y": 0.6014258747212016 + } + ] + }, + "bbox_1767754476192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476192_1767754611355_d9ab1av2m", + "x": 0.5076665949910525, + "y": 0.5347592134798818, + "width": 0.11199999316406295, + "height": 0.23333331434461968 + } + ] + }, + "bbox_1767754476073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476073_1767754620737_1v9fytivg", + "x": 0.28966660829671576, + "y": 0.6307592056673824, + "width": 0.2399999853515634, + "height": 0.30799997493489795 + } + ] + } + } + }, + { + "time": 10.249833, + "frame": 307, + "progress": 50, + "action_description": "爪夹向爪夹方向的上方垂直抬起。", + "state_description": "当前状态为爪夹合拢，抓住白萝卜位于桌面上方。\n为完成拿起白萝卜，把它放到盘子里的任务应当：向爪夹方向的右前方移动，直至白萝卜处于盘子正上方。", + "progress_explanation": "当前爪夹已抓住白萝卜并向爪夹方向的上方抬起爪夹，因此进度提升至50%。", + "error_success_analysis": "爪夹已经抓取到白萝卜，并成功向爪夹方向的上方抬起爪夹。", + "correction_plan": "向爪夹方向的右前方移动，直至白萝卜处于盘子正上方。下降将白萝卜放在盘子上，随后松开爪夹，使白萝卜落到盘子上。", + "annotations": { + "bbox_1767754476073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476073_1767754634169_h64rrv3bz", + "x": 0.28966660829671576, + "y": 0.6280925392177296, + "width": 0.2419999852294931, + "height": 0.31066664138455047 + } + ] + }, + "bbox_1767754476192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476192_1767754642939_rtfsrrbkx", + "x": 0.5446665927327519, + "y": 0.34675922877935966, + "width": 0.13299999188232467, + "height": 0.29333330946180747 + } + ] + }, + "point_1767754476855": { + "type": "point", + "instances": [ + { + "id": "point_1767754476855_1767754645659_fs8k66mpr", + "x": 0.5546665921224003, + "y": 0.46409255256408266 + } + ] + } + } + }, + { + "time": 12.578666, + "frame": 377, + "progress": 20, + "action_description": "爪夹张开，白萝卜掉落至桌面。", + "state_description": "当前爪夹张开，白萝卜位于桌面上。\n为完成拿起白萝卜，把它放到盘子里的任务应当：重新下降并合拢爪夹，抓取白萝卜后竖直上升。", + "progress_explanation": "爪夹张开导致胡萝卜掉落至桌面，因此进度下降至20%", + "error_success_analysis": "爪夹还没有向爪夹方向的右前方移动至盘子上方，爪夹张开，导致白萝卜掉落至桌面。", + "correction_plan": "重新下降并合拢爪夹，抓取白萝卜后竖直上升，向爪夹方向的右前方移动，直至白萝卜处于盘子正上方。下降将白萝卜放在盘子上，随后松开爪夹，使白萝卜落到盘子上。", + "annotations": { + "point_1767754476855": { + "type": "point", + "instances": [ + { + "id": "point_1767754476855_1767754649795_8o4jjt23s", + "x": 0.5266665938313846, + "y": 0.5014258828592218 + } + ] + }, + "point_1767754480018": { + "type": "point", + "instances": [ + { + "id": "point_1767754480018_1767754656243_tuosf87z8", + "x": 0.6216665880330451, + "y": 0.4600925528896035 + } + ] + }, + "bbox_1767754476192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476192_1767754660393_e6d5xckbf", + "x": 0.5316665935262088, + "y": 0.40275922422206833, + "width": 0.10599999353027378, + "height": 0.274666644314238 + } + ] + }, + "bbox_1767754476073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476073_1767754665071_opev3rdt0", + "x": 0.29266660811361034, + "y": 0.6334258721170352, + "width": 0.23999998535156344, + "height": 0.30933330815972426 + } + ] + } + } + }, + { + "time": 14.736481509951906, + "frame": 442, + "progress": 10, + "action_description": "爪夹向爪夹方向的右后方移动，同时调整爪夹角度。", + "state_description": "当前爪夹张开，与桌面呈45°角。\n为完成拿起白萝卜，把它放到盘子里的任务应当：调整爪夹角度，使其垂直于桌面后下降，合拢爪夹抓取白萝卜后竖直上升。", + "progress_explanation": "爪夹向爪夹方向的右后方移动，爪夹角度也没有垂直桌面，因此进度下降至10%", + "error_success_analysis": "爪夹角度没有垂直与桌面，不方便抓取白萝卜。", + "correction_plan": "调整爪夹角度，使其垂直于桌面后下降，合拢爪夹抓取白萝卜后竖直上升，向爪夹方向的右前方移动，直至白萝卜处于盘子正上方。下降将白萝卜放在盘子上，随后松开爪夹，使白萝卜落到盘子上。", + "annotations": { + "bbox_1767754476073": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476073_1767754674428_ompf02ab8", + "x": 0.28966660829671576, + "y": 0.629425872442556, + "width": 0.2419999852294931, + "height": 0.30933330815972426 + } + ] + }, + "bbox_1767754476192": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754476192_1767754684374_ntsisil9z", + "x": 0.46766659743245864, + "y": 0.39209255842345725, + "width": 0.07199999560546902, + "height": 0.24399998014323068 + } + ] + }, + "point_1767754476855": { + "type": "point", + "instances": [ + { + "id": "point_1767754476855_1767754690618_rr6yi21dt", + "x": 0.46266659773763436, + "y": 0.4374258880675547 + } + ] + }, + "point_1767754480018": { + "type": "point", + "instances": [ + { + "id": "point_1767754480018_1767754692586_8pe8yym40", + "x": 0.5726665910237676, + "y": 0.4294258887185963 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767754476073", + "name": "盘子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767754476192", + "name": "白萝卜", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767754476855", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767754480018", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..c7db84c2ab6dcbb44117c6c7825d4bac3bf9858c --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,472 @@ +{ + "task_description": "拿起胡萝卜，把它放到盘子里：\n爪夹开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓住胡萝卜并接近盘子：60%\n爪夹将胡萝卜移动至盘子上方：80%\n爪夹松开，使胡萝卜落到盘子上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "", + "frame": 72, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起胡萝卜，把它放到盘子里的任务应当：调整爪夹方向直到垂直于桌面，向爪夹方向的左前方移动至胡萝卜的正上方。", + "time": 2.3890598064260704, + "annotations": { + "point_1767754846558": { + "type": "point", + "instances": [ + { + "id": "point_1767754846558_1767756167530_yctq41hiu", + "x": 0.536666593221033, + "y": 0.37209256005106117 + } + ] + }, + "point_1767754846423": { + "type": "point", + "instances": [ + { + "id": "point_1767754846423_1767756169913_x8xfecuyf", + "x": 0.43266659956868897, + "y": 0.37342589327588765 + } + ] + }, + "bbox_1767754845884": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845884_1767756174162_5xr2aav85", + "x": 0.425666599995935, + "y": 0.4414258877420339, + "width": 0.20799998730468827, + "height": 0.10266665831163262 + } + ] + }, + "bbox_1767754845751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845751_1767756178867_fj9omphq1", + "x": 0.4226666001790405, + "y": 0.5494258789529721, + "width": 0.2259999862060555, + "height": 0.274666644314238 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时抬起并调整爪夹角度。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，同时调整爪夹角度与桌面呈45°角。", + "frame": 115, + "progress": 5, + "progress_explanation": "爪夹正在调整爪夹角度，准备靠近胡萝卜。因此进度提升至5%", + "state_description": "当前状态为爪夹打开，与桌面呈45°角。\n为完成拿起胡萝卜，把它放到盘子里的任务应当：继续调整爪夹方向直到垂直于桌面，向爪夹方向的左前方移动至胡萝卜的正上方。", + "time": 3.8467916445983477, + "annotations": { + "bbox_1767754845751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845751_1767756146955_s78o82e8d", + "x": 0.42166660024007563, + "y": 0.5467592125033194, + "width": 0.2249999862670907, + "height": 0.2839999768880227 + } + ] + }, + "bbox_1767754845884": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845884_1767756152369_vf3mhpss6", + "x": 0.425666599995935, + "y": 0.4414258877420339, + "width": 0.20799998730468827, + "height": 0.10399999153645906 + } + ] + }, + "point_1767754846423": { + "type": "point", + "instances": [ + { + "id": "point_1767754846423_1767756159019_yj1kkhjqo", + "x": 0.3986666016438841, + "y": 0.34142589588005406 + } + ] + }, + "point_1767754846558": { + "type": "point", + "instances": [ + { + "id": "point_1767754846558_1767756161109_1fxzcq2e7", + "x": 0.5056665951131227, + "y": 0.35742589457797086 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，同时调整爪夹的角度与方向。", + "correction_plan": "下降并合拢爪夹，抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功垂直于胡萝卜的正上方。", + "frame": 157, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于胡萝卜上方，已接近胡萝卜，因此进度提升为20%。", + "state_description": "当前爪夹打开，垂直于胡萝卜。\n为完成拿起胡萝卜，把它放到盘子里的任务应当：下降并合拢爪夹，抓取胡萝卜后竖直上升，向爪夹方向的右前方移动。", + "time": 5.235107680952899, + "annotations": { + "point_1767754846558": { + "type": "point", + "instances": [ + { + "id": "point_1767754846558_1767756124688_44s12yo13", + "x": 0.5286665937093142, + "y": 0.4827592177116522 + } + ] + }, + "point_1767754846423": { + "type": "point", + "instances": [ + { + "id": "point_1767754846423_1767756127231_4vnrf4v7q", + "x": 0.48466659639486104, + "y": 0.41342589002067953 + } + ] + }, + "bbox_1767754845884": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845884_1767756132891_fobyyp7w8", + "x": 0.42666659993489986, + "y": 0.4440925541916867, + "width": 0.2069999873657234, + "height": 0.10266665831163267 + } + ] + }, + "bbox_1767754845751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845751_1767756138365_oydjs2i8r", + "x": 0.4206666003011108, + "y": 0.5494258789529721, + "width": 0.2249999862670906, + "height": 0.27733331076389073 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方下降。", + "correction_plan": "合拢爪夹，抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，成功拉近与胡萝卜的垂直距离。", + "frame": 200, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的下方移动，拉近与胡萝卜的垂直距离。因此进度提升至30%", + "state_description": "当前爪夹打开，位于胡萝卜的两侧。\n为完成拿起胡萝卜，把它放到盘子里的任务应当：合拢爪夹，抓取胡萝卜后竖直上升，向爪夹方向的右前方移动。", + "time": 6.658131618216313, + "annotations": { + "bbox_1767754845751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845751_1767756104266_o2kw8677e", + "x": 0.4196666003621459, + "y": 0.5494258789529721, + "width": 0.2279999860839852, + "height": 0.27733331076389073 + } + ] + }, + "bbox_1767754845884": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845884_1767756116675_f710hwzgl", + "x": 0.4366665993245483, + "y": 0.4427592209668603, + "width": 0.1979999879150398, + "height": 0.10399999153645906 + } + ] + }, + "point_1767754846558": { + "type": "point", + "instances": [ + { + "id": "point_1767754846558_1767756119433_heyfl5noe", + "x": 0.536666593221033, + "y": 0.5347592134798818 + } + ] + } + } + }, + { + "time": 8.281999, + "frame": 248, + "progress": 40, + "action_description": "爪夹向爪夹方向的下方移动，同时调整爪夹方向并合拢爪夹，抓取胡萝卜。", + "state_description": "当前爪夹合拢，抓住胡萝卜。\n为完成拿起胡萝卜，把它放到盘子里的任务应当：抓取胡萝卜后竖直上升，向爪夹方向的右前方移动。", + "progress_explanation": "当前爪夹已抓取到苦瓜玩具，因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功移动至胡萝卜的正上方，爪夹向爪夹方向的下方移动，成功抓取到胡萝卜。", + "correction_plan": "抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "annotations": { + "bbox_1767754845751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845751_1767756096196_p9t72hkg7", + "x": 0.4216666002400757, + "y": 0.5480925457281457, + "width": 0.22399998632812573, + "height": 0.2826666436631964 + } + ] + } + } + }, + { + "time": 9.813833, + "frame": 294, + "progress": 50, + "action_description": "爪夹向爪夹方向的上方抬起爪夹，同时想爪夹方向的右方调整爪夹方向。", + "state_description": "当前爪夹合拢，抓住胡萝卜位于桌面上方。\n为完成拿起胡萝卜，把它放到盘子里的任务应当：向爪夹方向的前方移动，直至胡萝卜处于盘子正上方。", + "progress_explanation": "当前爪夹已抓住胡萝卜并向爪夹方向的上方抬起爪夹，因此进度提升至50%。", + "error_success_analysis": "爪夹已经抓取到胡萝卜，并成功向爪夹方向的上方抬起爪夹。", + "correction_plan": "向爪夹方向的前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "annotations": { + "bbox_1767754845751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845751_1767756073382_44mrxsezg", + "x": 0.42166660024007563, + "y": 0.5494258789529721, + "width": 0.22399998632812582, + "height": 0.2733333110894115 + } + ] + }, + "bbox_1767754845884": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845884_1767756080174_x7dnyhg9r", + "x": 0.45566659816488037, + "y": 0.31742589783317887, + "width": 0.1459999910888678, + "height": 0.1959999840494805 + } + ] + }, + "point_1767754846558": { + "type": "point", + "instances": [ + { + "id": "point_1767754846558_1767756087281_ihn9vt8ie", + "x": 0.5166665944417361, + "y": 0.46142588611442986 + } + ] + } + } + }, + { + "time": 12.103166, + "frame": 363, + "progress": 45, + "action_description": "爪夹向爪夹方向的右方移动并抬起爪夹。", + "state_description": "当前爪夹合拢，与盘子的水平距离和垂直距离拉远。\n为完成拿起胡萝卜，把它放到盘子里的任务应当：向爪夹方向的左前方移动，直至胡萝卜处于盘子正上方。", + "progress_explanation": "爪夹向爪夹方向的右方移动并抬起爪夹，使胡萝卜与盘子的水平距离和垂直距离拉远。因此进度下降至45%", + "error_success_analysis": "爪夹移动方向错误，导致胡萝卜与盘子的水平距离和垂直距离拉远。", + "correction_plan": "向爪夹方向的左前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "annotations": { + "point_1767754846423": { + "type": "point", + "instances": [ + { + "id": "point_1767754846423_1767756048353_718gv8ced", + "x": 0.6466665865071664, + "y": 0.4387592212923811 + } + ] + }, + "bbox_1767754845884": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845884_1767756054894_qzm5o6m72", + "x": 0.5866665901692755, + "y": 0.35342589490349163, + "width": 0.11099999322509806, + "height": 0.12133332345920216 + } + ] + }, + "bbox_1767754845751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845751_1767756063100_r73xuo2au", + "x": 0.4226666001790405, + "y": 0.5480925457281457, + "width": 0.2249999862670906, + "height": 0.274666644314238 + } + ] + } + } + }, + { + "time": 14.106333, + "frame": 423, + "progress": 20, + "action_description": "爪夹张开，胡萝卜掉落至桌面。", + "state_description": "当前抓夹张开，胡萝卜位于桌面上。\n为完成拿起胡萝卜，把它放到盘子里的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动。", + "progress_explanation": "爪夹张开导致胡萝卜掉回桌面。因此进度下降至20%", + "error_success_analysis": "爪夹移动方向错误，导致爪夹张开，胡萝卜掉落至桌面。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "annotations": { + "bbox_1767754845751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845751_1767756031526_7wsrzyivx", + "x": 0.4156666006062865, + "y": 0.545425879278493, + "width": 0.23199998583984457, + "height": 0.2839999768880227 + } + ] + }, + "bbox_1767754845884": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845884_1767756037344_ezvfsj7z6", + "x": 0.5246665939534549, + "y": 0.40675922389654756, + "width": 0.10799999340820357, + "height": 0.20666664984809166 + } + ] + }, + "point_1767754846423": { + "type": "point", + "instances": [ + { + "id": "point_1767754846423_1767756040663_40n9p0qb6", + "x": 0.6246665878499397, + "y": 0.4534258867654715 + } + ] + }, + "point_1767754846558": { + "type": "point", + "instances": [ + { + "id": "point_1767754846558_1767756042758_nflh9spas", + "x": 0.7016665831502329, + "y": 0.4040925574468947 + } + ] + } + } + }, + { + "time": 16.81019263405896, + "frame": 504, + "progress": 0, + "action_description": "爪夹向爪夹方向的右后方移动，同时调整爪夹角度。", + "state_description": "当前爪夹张开，与胡萝卜的水平距离拉远。\n为完成拿起胡萝卜，把它放到盘子里的任务应当：重新调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左前方移动。", + "progress_explanation": "爪夹回到爪夹的初始状态，因此进度下降至0%", + "error_success_analysis": "爪夹向爪夹方向的右后方移动并调整爪夹角度，使爪夹回到爪夹的初始状态，抓取胡萝卜任务失败。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "annotations": { + "bbox_1767754845751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845751_1767756011671_hz2e2mag6", + "x": 0.4226666001790405, + "y": 0.5480925457281457, + "width": 0.22399998632812582, + "height": 0.27866664398871716 + } + ] + }, + "bbox_1767754845884": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767754845884_1767756019714_akuh3n8b2", + "x": 0.5246665939534549, + "y": 0.40275922422206833, + "width": 0.10899999334716837, + "height": 0.20666664984809166 + } + ] + }, + "point_1767754846423": { + "type": "point", + "instances": [ + { + "id": "point_1767754846423_1767756022680_6cn0mmwzn", + "x": 0.46266659773763436, + "y": 0.35875922780279723 + } + ] + }, + "point_1767754846558": { + "type": "point", + "instances": [ + { + "id": "point_1767754846558_1767756025055_ewtw3y11x", + "x": 0.5676665913289434, + "y": 0.354759228128318 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767754845751", + "name": "盘子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767754845884", + "name": "胡萝卜", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767754846423", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767754846558", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000010.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..39cf76b868a2dfef89e787b7848ea5d96537f6a2 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000010.json @@ -0,0 +1,438 @@ +{ + "task_description": "拿起胡萝卜，把它放到盘子里：\n爪夹开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓住胡萝卜并接近盘子：60%\n爪夹将胡萝卜移动至盘子上方：80%\n爪夹松开，使胡萝卜落到盘子上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "", + "frame": 68, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起胡萝卜，把它放到盘子里的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动。", + "time": 2.2561162225079903, + "annotations": { + "bbox_1767757738418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738418_1767757866515_sxwatt3oo", + "x": 0.5246665939534549, + "y": 0.584833280653216, + "width": 0.22399998632812582, + "height": 0.2839999768880228 + } + ] + }, + "bbox_1767757738538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738538_1767757872830_fv4x7dntv", + "x": 0.36766660353597386, + "y": 0.4657221809308121, + "width": 0.2109999871215828, + "height": 0.11466665733507017 + } + ] + }, + "point_1767757739082": { + "type": "point", + "instances": [ + { + "id": "point_1767757739082_1767757875382_uppxjkjhx", + "x": 0.4466665987141968, + "y": 0.37905552131709624 + } + ] + }, + "point_1767757739208": { + "type": "point", + "instances": [ + { + "id": "point_1767757739208_1767757877465_ke8431s96", + "x": 0.5546665921224003, + "y": 0.3697221887433114 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时抬起并调整爪夹角度。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，同时调整爪夹角度与桌面呈50°角。", + "frame": 97, + "progress": 5, + "progress_explanation": "爪夹正在调整爪夹角度，准备靠近胡萝卜。因此进度提升至5%", + "state_description": "当前状态为爪夹打开，与桌面呈50°角。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：继续调整爪夹方向直到垂直于桌面，向爪夹方向的右前方移动至胡萝卜的正上方。", + "time": 3.246322345768417, + "annotations": { + "point_1767757739208": { + "type": "point", + "instances": [ + { + "id": "point_1767757739208_1767757880795_79pjfxihl", + "x": 0.563666591573084, + "y": 0.354759228128318 + } + ] + }, + "point_1767757739082": { + "type": "point", + "instances": [ + { + "id": "point_1767757739082_1767757883024_wt6tfqtgw", + "x": 0.4526665983479859, + "y": 0.35742589457797086 + } + ] + }, + "bbox_1767757738538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738538_1767757889615_st5dg4hmj", + "x": 0.36666660359700903, + "y": 0.46542588578890903, + "width": 0.20999998718261798, + "height": 0.11466665733507017 + } + ] + }, + "bbox_1767757738418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738418_1767757894413_keu82rsu4", + "x": 0.5226665940755252, + "y": 0.5814258763488057, + "width": 0.2259999862060555, + "height": 0.2839999768880227 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时调整爪夹角度，随后开始向爪夹方向的右前方移动。", + "correction_plan": "继续向爪夹方向的右前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹角度成功调整至垂直于桌面，成功拉近与胡萝卜的水平距离。", + "frame": 141, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的左前方移动，拉近与胡萝卜的水平距离。因此进度提升至20%", + "state_description": "当前状态为爪夹打开，位于胡萝卜上方。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：继续向爪夹方向的右前方移动，到达胡萝卜正上方后下降。", + "time": 4.690858337348335, + "annotations": { + "bbox_1767757738418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738418_1767757900795_jk96eaxmy", + "x": 0.5206665941975955, + "y": 0.582759209573632, + "width": 0.23099998590087978, + "height": 0.285333310112849 + } + ] + }, + "bbox_1767757738538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738538_1767757913419_0el9y3yx1", + "x": 0.36666660359700903, + "y": 0.46275921933925623, + "width": 0.20999998718261798, + "height": 0.11866665700954944 + } + ] + }, + "point_1767757739082": { + "type": "point", + "instances": [ + { + "id": "point_1767757739082_1767757916925_x71v4cj7e", + "x": 0.4046666012776733, + "y": 0.4414258877420339 + } + ] + }, + "point_1767757739208": { + "type": "point", + "instances": [ + { + "id": "point_1767757739208_1767757919043_xalxfxr8w", + "x": 0.4986665955403689, + "y": 0.49075921706061065 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "correction_plan": "向爪夹方向的后方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹移动位置错误并下降。", + "frame": 157, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的前方移动并下降，水平位置离开胡萝卜的上方。因此进度下降至15%", + "state_description": "当前爪夹张开，位于桌面上方。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：向爪夹方向的后方移动，到达胡萝卜正上方后下降。", + "time": 5.2432, + "annotations": { + "point_1767757739208": { + "type": "point", + "instances": [ + { + "id": "point_1767757739208_1767757922814_g8y2bm2lt", + "x": 0.48266659651693133, + "y": 0.5667592108757152 + } + ] + }, + "bbox_1767757738538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738538_1767757927417_lafyjdp60", + "x": 0.36566660365804415, + "y": 0.46942588546338826, + "width": 0.2129999869995125, + "height": 0.1079999912109382 + } + ] + }, + "bbox_1767757738418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738418_1767757932149_93ap5bpta", + "x": 0.5216665941365604, + "y": 0.5840925427984586, + "width": 0.2259999862060555, + "height": 0.28266664366319616 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "correction_plan": "抬起爪夹，随后向爪夹方向的后方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹没有位于胡萝卜上方，爪夹就向爪夹方向的下方移动。", + "frame": 183, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的下方移动，位于桌面上，没有垂直于胡萝卜上，因此进度下降至10%", + "state_description": "当前爪夹张开，位于桌面上。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：抬起爪夹，随后向爪夹方向的后方移动，到达胡萝卜正上方后下降。", + "time": 6.1133, + "annotations": { + "bbox_1767757738418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738418_1767757941645_9fbap8bh4", + "x": 0.5226665940755252, + "y": 0.5814258763488057, + "width": 0.2259999862060555, + "height": 0.2879999765625018 + } + ] + }, + "bbox_1767757738538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738538_1767757954207_vn6pyid0u", + "x": 0.36766660353597386, + "y": 0.46809255223856183, + "width": 0.2109999871215828, + "height": 0.1079999912109382 + } + ] + }, + "point_1767757739208": { + "type": "point", + "instances": [ + { + "id": "point_1767757739208_1767757957503_bgyxn2jt1", + "x": 0.4756665969441774, + "y": 0.6480925375901255 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抬起并张开爪夹，随后向爪夹方向的后方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹没有移动到胡萝卜的正上方就下降，合拢爪夹没有抓到胡萝卜。", + "frame": 240, + "progress": 0, + "progress_explanation": "爪夹合拢，没有抓到胡萝卜，因此进度为0%", + "state_description": "当前爪夹合拢，位于桌面上。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：抬起并张开爪夹，随后向爪夹方向的后方移动，到达胡萝卜正上方后下降。", + "time": 8.0004, + "annotations": { + "bbox_1767757738538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738538_1767757963675_jn7hzqjqh", + "x": 0.36566660365804415, + "y": 0.47475921836269386, + "width": 0.20999998718261792, + "height": 0.0986666586371534 + } + ] + }, + "bbox_1767757738418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738418_1767757967445_c4gkw9jk4", + "x": 0.5256665938924198, + "y": 0.582759209573632, + "width": 0.2229999863891609, + "height": 0.2826666436631964 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的后方移动并抬起。", + "correction_plan": "张开爪夹并调整爪夹角度，随后向爪夹方向的后方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹成功拉近与胡萝卜的水平距离。", + "frame": 301, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向的后方移动并抬起，拉近与胡萝卜的水平距离。因此进度提升至5%", + "state_description": "当前爪夹合拢，与胡萝卜的水平距离略微拉近。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：张开爪夹，并调整爪夹角度，随后向爪夹方向的后方移动。", + "time": 10.0457, + "annotations": { + "bbox_1767757738418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738418_1767757974793_qoc2mhip0", + "x": 0.5236665940144901, + "y": 0.582759209573632, + "width": 0.2259999862060555, + "height": 0.2866666433376755 + } + ] + }, + "bbox_1767757738538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738538_1767758103612_g583b9162", + "x": 0.3636666037801145, + "y": 0.46809255223856183, + "width": 0.2129999869995125, + "height": 0.10933332443576464 + } + ] + }, + "point_1767757739082": { + "type": "point", + "instances": [ + { + "id": "point_1767757739082_1767758106340_tp1b29hoj", + "x": 0.4746665970052126, + "y": 0.5574258783019306 + } + ] + }, + "point_1767757739208": { + "type": "point", + "instances": [ + { + "id": "point_1767757739208_1767758108520_p6xvbdb3y", + "x": 0.47966659670003675, + "y": 0.5574258783019306 + } + ] + } + } + }, + { + "action_description": "爪夹张开，随后向爪夹方向的后方移动。", + "correction_plan": "调整爪夹角度，向爪夹方向的下方移动，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹成功向爪夹方向的后方移动至或萝卜上方。", + "frame": 339, + "progress": 15, + "progress_explanation": "当前爪夹移动至胡萝卜上方，因此进度提升至15%", + "state_description": "当前爪夹张开，位于胡萝卜上方。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：调整爪夹角度，向爪夹方向的下方移动。", + "time": 11.3, + "annotations": { + "point_1767757739208": { + "type": "point", + "instances": [ + { + "id": "point_1767757739208_1767758111228_s9x2gajw3", + "x": 0.5676665913289434, + "y": 0.5000925496343954 + } + ] + }, + "point_1767757739082": { + "type": "point", + "instances": [ + { + "id": "point_1767757739082_1767758113168_zcpq9ihi3", + "x": 0.4556665981648805, + "y": 0.4960925499599162 + } + ] + }, + "bbox_1767757738538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738538_1767758116586_7k06sxuje", + "x": 0.36466660371907933, + "y": 0.46809255223856183, + "width": 0.21299998699951245, + "height": 0.11199999088541741 + } + ] + }, + "bbox_1767757738418": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757738418_1767758120464_yggto8c2o", + "x": 0.5246665939534549, + "y": 0.5854258760232849, + "width": 0.22399998632812582, + "height": 0.29066664301215467 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767757738418", + "name": "盘子" + }, + { + "color": "#FF9800", + "id": "bbox_1767757738538", + "name": "胡萝卜" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767757739082", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767757739208", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000015.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000015.json new file mode 100644 index 0000000000000000000000000000000000000000..cb7c6696c37f715133aeba63b1f38db0eafcd2cc --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000015.json @@ -0,0 +1,468 @@ +{ + "task_description": "拿起胡萝卜，把它放到盘子里;\n爪夹开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓住胡萝卜并接近盘子：60%\n爪夹将胡萝卜移动至盘子上方：80%\n爪夹松开，使胡萝卜落到盘子上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "", + "frame": 73, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起胡萝卜，把它放到盘子里的任务应当：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左前方移动。", + "time": 2.4331380927892883, + "annotations": { + "bbox_1767767623977": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767623977_1767767787881_btr4jgynh", + "x": 0.3596666040242551, + "y": 0.5920925421474169, + "width": 0.23199998583984463, + "height": 0.29733330913628664 + } + ] + }, + "bbox_1767767624125": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767624125_1767767797472_bjr6wtskh", + "x": 0.5736665909627324, + "y": 0.5534258786274513, + "width": 0.0989999939575199, + "height": 0.29066664301215467 + } + ] + }, + "point_1767767624696": { + "type": "point", + "instances": [ + { + "id": "point_1767767624696_1767767801469_q0d5nsw2e", + "x": 0.4366665993245483, + "y": 0.3760925597255404 + } + ] + }, + "point_1767767624836": { + "type": "point", + "instances": [ + { + "id": "point_1767767624836_1767767804336_idpnxc721", + "x": 0.5386665930989627, + "y": 0.3760925597255404 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时抬起并调整爪夹角度。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，同时调整爪夹角度与桌面呈50°角。", + "frame": 106, + "progress": 5, + "progress_explanation": "爪夹正在调整爪夹角度，准备靠近胡萝卜。因此进度提升至5%", + "state_description": "当前状态为爪夹打开，与胡萝卜的水平距离拉近。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：继续调整爪夹方向直到垂直于桌面，向爪夹方向的左前方移动至胡萝卜的正上方。", + "time": 3.5232411520319573, + "annotations": { + "point_1767767624696": { + "type": "point", + "instances": [ + { + "id": "point_1767767624696_1767767765586_2fqt2j9fz", + "x": 0.4466665987141968, + "y": 0.4334258883930755 + } + ] + }, + "point_1767767624836": { + "type": "point", + "instances": [ + { + "id": "point_1767767624836_1767767767571_2ug0j98fp", + "x": 0.5496665924275761, + "y": 0.4307592219434227 + } + ] + }, + "bbox_1767767624125": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767624125_1767767774773_nmblgt9wm", + "x": 0.5746665909016972, + "y": 0.5534258786274513, + "width": 0.09799999401855501, + "height": 0.29066664301215467 + } + ] + }, + "bbox_1767767623977": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767623977_1767767780458_ykgbph8xr", + "x": 0.3576666041463254, + "y": 0.5960925418218961, + "width": 0.23499998565673913, + "height": 0.2946666426866339 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "correction_plan": "向爪夹方向的右前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，进一步拉近与胡萝卜的距离，同时成功使爪夹垂直于桌面。", + "frame": 148, + "progress": 20, + "progress_explanation": "爪夹再次拉近与胡萝卜的距离，并使爪夹垂直于桌面，因此进度提升至20%", + "state_description": "当前爪夹张开，与胡萝卜的水平距离进一步拉近。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：向爪夹方向的右前方移动，到达胡萝卜正上方后下降。", + "time": 4.9232754732161705, + "annotations": { + "bbox_1767767623977": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767623977_1767767747330_52i7xu88u", + "x": 0.3556666042683957, + "y": 0.5947592085970697, + "width": 0.235999985595704, + "height": 0.294666642686634 + } + ] + }, + "bbox_1767767624125": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767624125_1767767757196_x69c4m7i2", + "x": 0.576666590779627, + "y": 0.5547592118522776, + "width": 0.09699999407959022, + "height": 0.2919999762369811 + } + ] + }, + "point_1767767624696": { + "type": "point", + "instances": [ + { + "id": "point_1767767624696_1767767760426_ydpjfwb8z", + "x": 0.642666586751307, + "y": 0.5947592085970697 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方下降。", + "correction_plan": "抬起爪夹，随后向爪夹方向的右前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹还未移动至胡萝卜上方，爪夹就下降至桌面。", + "frame": 200, + "progress": 15, + "progress_explanation": "爪夹没有移动至胡萝卜上方，爪夹就向爪夹方向的下方移动。因此进度下降至15%", + "state_description": "当前爪夹张开，垂直于桌面。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：抬起爪夹，随后向爪夹方向的右前方移动，到达胡萝卜正上方后下降。", + "time": 6.665766, + "annotations": { + "point_1767767624836": { + "type": "point", + "instances": [ + { + "id": "point_1767767624836_1767767722544_84rn7hhfx", + "x": 0.6726665849202523, + "y": 0.5640925444260625 + } + ] + }, + "point_1767767624696": { + "type": "point", + "instances": [ + { + "id": "point_1767767624696_1767767725042_7puxr1um3", + "x": 0.6056665890096076, + "y": 0.6387592050163408 + } + ] + }, + "bbox_1767767624125": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767624125_1767767731642_0b98gplfr", + "x": 0.5596665918172246, + "y": 0.5720925437750208, + "width": 0.10799999340820357, + "height": 0.2719999778645852 + } + ] + }, + "bbox_1767767623977": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767623977_1767767738846_ykcwgqfd1", + "x": 0.3586666040852903, + "y": 0.5960925418218961, + "width": 0.23399998571777428, + "height": 0.29066664301215467 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抬起并张开爪夹，随后向爪夹方向的右前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹未移动至胡萝卜上方就合拢爪夹，没有抓取到胡萝卜。", + "frame": 231, + "progress": 5, + "progress_explanation": "爪夹合拢，没有抓取到胡萝卜，因此进度下降至5%", + "state_description": "当前爪夹合拢，垂直于桌面。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：抬起并张开爪夹，随后向爪夹方向的右前方移动。", + "time": 7.702433, + "annotations": { + "bbox_1767767623977": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767623977_1767767706462_bdln4xnsd", + "x": 0.3576666041463254, + "y": 0.5947592085970697, + "width": 0.23199998583984463, + "height": 0.28933330978732835 + } + ] + }, + "bbox_1767767624125": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767624125_1767767712982_dovsl1yhg", + "x": 0.5586665918782597, + "y": 0.5600925447515833, + "width": 0.11499999298095745, + "height": 0.28133331043836995 + } + ] + }, + "point_1767767624696": { + "type": "point", + "instances": [ + { + "id": "point_1767767624696_1767767715344_i3dbv4rl1", + "x": 0.6396665869344124, + "y": 0.6040925411708543 + } + ] + }, + "point_1767767624836": { + "type": "point", + "instances": [ + { + "id": "point_1767767624836_1767767717323_yeve3zu2r", + "x": 0.648666586385096, + "y": 0.6014258747212016 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方抬起爪夹，同时向爪夹方向的后方移动。", + "correction_plan": "张开爪夹，随后向爪夹方向的右前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹成功向爪夹方向的上方抬起并向爪夹方向的后方移动，方便抓取胡萝卜。", + "frame": 258, + "progress": 10, + "progress_explanation": "爪夹抬起并向爪夹方向的后方轻微移动。因此进度提升至10%", + "state_description": "当前爪夹合拢，位于桌面上方。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：张开爪夹，随后向爪夹方向的右前方移动，到达胡萝卜正上方后下降。", + "time": 8.604333, + "annotations": { + "bbox_1767767623977": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767623977_1767767688980_hr7k7qbis", + "x": 0.35366660439046604, + "y": 0.5934258753722432, + "width": 0.2399999853515634, + "height": 0.294666642686634 + } + ] + }, + "bbox_1767767624125": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767624125_1767767695490_fu9xzc2g1", + "x": 0.5616665916951542, + "y": 0.5560925450771042, + "width": 0.10999999328613326, + "height": 0.29066664301215467 + } + ] + }, + "point_1767767624696": { + "type": "point", + "instances": [ + { + "id": "point_1767767624696_1767767698070_y0bgf4fek", + "x": 0.6566665858968148, + "y": 0.5547592118522776 + } + ] + }, + "point_1767767624836": { + "type": "point", + "instances": [ + { + "id": "point_1767767624836_1767767700280_op9w44s3u", + "x": 0.6666665852864633, + "y": 0.545425879278493 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右方移动，同时张开爪夹。", + "correction_plan": "向爪夹方向的左前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹成功张开并垂直于桌面，方便抓取胡萝卜。", + "frame": 294, + "progress": 15, + "progress_explanation": "爪夹张开，并向爪夹方向的右方移动，因此进度提升至15%", + "state_description": "当前爪夹张开，垂直于桌面上方。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：向爪夹方向的左前方移动，到达胡萝卜正上方后下降。", + "time": 9.807364670019112, + "annotations": { + "bbox_1767767623977": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767623977_1767767663154_aj4i439bb", + "x": 0.3596666040242551, + "y": 0.5934258753722432, + "width": 0.23299998577880943, + "height": 0.294666642686634 + } + ] + }, + "bbox_1767767624125": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767624125_1767767675312_gcefwhaqx", + "x": 0.5616665916951542, + "y": 0.5547592118522776, + "width": 0.10999999328613326, + "height": 0.2879999765625019 + } + ] + }, + "point_1767767624696": { + "type": "point", + "instances": [ + { + "id": "point_1767767624696_1767767679047_u97fb1936", + "x": 0.44266659895833743, + "y": 0.5240925476812706 + } + ] + }, + "point_1767767624836": { + "type": "point", + "instances": [ + { + "id": "point_1767767624836_1767767682266_yxie0dw9l", + "x": 0.5476665925496464, + "y": 0.5214258812316177 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的后方移动，同时调整爪夹角度。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹移动方向错误，使爪夹与胡萝卜的水平距离拉远", + "frame": 311, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向的后方移动，与胡萝卜的水平距离拉远，并且爪夹角度没有垂直与桌面，因此进度下降至5%", + "state_description": "当前爪夹张开，与胡萝卜的水平距离拉远。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左前方移动。", + "time": 10.366667, + "annotations": { + "point_1767767624836": { + "type": "point", + "instances": [ + { + "id": "point_1767767624836_1767767638226_c7dxdqtzl", + "x": 0.543666592793787, + "y": 0.4328332930230067 + } + ] + }, + "point_1767767624696": { + "type": "point", + "instances": [ + { + "id": "point_1767767624696_1767767640729_lr19fgi2w", + "x": 0.4346665994466187, + "y": 0.43638884998463134 + } + ] + }, + "bbox_1767767624125": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767624125_1767767647982_w38co0c7b", + "x": 0.5596665918172246, + "y": 0.5577221734438336, + "width": 0.11299999310302775, + "height": 0.2879999765625019 + } + ] + }, + "bbox_1767767623977": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767623977_1767767654178_5ltx6oevi", + "x": 0.3586666040852903, + "y": 0.5923888372893199, + "width": 0.23499998565673913, + "height": 0.29733330913628664 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767767623977", + "name": "盘子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767767624125", + "name": "胡萝卜", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767767624696", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767767624836", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000021.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000021.json new file mode 100644 index 0000000000000000000000000000000000000000..c6436e66777ea4f171b0497761927777a603ac0f --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000021.json @@ -0,0 +1,504 @@ +{ + "task_description": "拿起胡萝卜，把它放到盘子里;\n爪夹开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓住胡萝卜并接近盘子：60%\n爪夹将胡萝卜移动至盘子上方：80%\n爪夹松开，使胡萝卜落到盘子上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "", + "frame": 65, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起胡萝卜，把它放到盘子里的任务应当：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左方移动。", + "time": 2.1796098434374094, + "annotations": { + "point_1767769413116": { + "type": "point", + "instances": [ + { + "id": "point_1767769413116_1767769655348_pfxayeitu", + "x": 0.5356665932820682, + "y": 0.37742589295036677 + } + ] + }, + "point_1767769412982": { + "type": "point", + "instances": [ + { + "id": "point_1767769412982_1767769657456_y76xhciof", + "x": 0.4296665997517944, + "y": 0.3800925594000196 + } + ] + }, + "bbox_1767769412518": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412518_1767769662251_kwm8hk714", + "x": 0.5746665909016972, + "y": 0.4107592235710268, + "width": 0.2009999877319343, + "height": 0.10266665831163262 + } + ] + }, + "bbox_1767769412396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412396_1767769667993_yi8rc4y3l", + "x": 0.4916665959676149, + "y": 0.5534258786274513, + "width": 0.22399998632812582, + "height": 0.2746666443142379 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前上方移动，同时调整爪夹角度。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，同时调整爪夹角度微微倾斜。", + "frame": 96, + "progress": 5, + "progress_explanation": "爪夹正在调整爪夹角度，准备靠近胡萝卜。因此进度提升至5%", + "state_description": "当前状态为爪夹打开，爪夹角度微微倾斜。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：继续调整爪夹方向直到垂直于桌面，向爪夹方向的左方移动至胡萝卜的正上方。", + "time": 3.2043520181329774, + "annotations": { + "bbox_1767769412518": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412518_1767769633768_9t3vwbe0m", + "x": 0.5736665909627324, + "y": 0.41209255679585316, + "width": 0.2019999876708992, + "height": 0.10666665798611182 + } + ] + }, + "bbox_1767769412396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412396_1767769640198_5adrpb28b", + "x": 0.4896665960896852, + "y": 0.5547592118522776, + "width": 0.2249999862670907, + "height": 0.27733331076389084 + } + ] + }, + "point_1767769412982": { + "type": "point", + "instances": [ + { + "id": "point_1767769412982_1767769648312_hwajt0jij", + "x": 0.4236666001180053, + "y": 0.3320925633062693 + } + ] + }, + "point_1767769413116": { + "type": "point", + "instances": [ + { + "id": "point_1767769413116_1767769651423_cbvzgdivb", + "x": 0.5316665935262088, + "y": 0.3374258962055749 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，同时调整爪夹角度。", + "correction_plan": "向爪夹方向的左方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹拉近与胡萝卜的水平距离，并使爪夹垂直于桌面，因此进度提升至15%", + "frame": 118, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的左前方移动，同时调整爪夹角度至垂直于桌面，拉近与胡萝卜水平距离。因此进度提升至15%", + "state_description": "当前爪夹张开，与胡萝卜水平距离拉近。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：向爪夹方向的左方移动，到达胡萝卜正上方后下降。", + "time": 3.9363107143440983, + "annotations": { + "bbox_1767769412396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412396_1767769610101_jsiq2hv69", + "x": 0.4916665959676149, + "y": 0.5547592118522776, + "width": 0.22299998638916102, + "height": 0.27333331108941167 + } + ] + }, + "bbox_1767769412518": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412518_1767769620191_5jo0moz3a", + "x": 0.5726665910237676, + "y": 0.41209255679585316, + "width": 0.20599998742675857, + "height": 0.10399999153645899 + } + ] + }, + "point_1767769412982": { + "type": "point", + "instances": [ + { + "id": "point_1767769412982_1767769624152_jek0bpy2e", + "x": 0.4666665974934937, + "y": 0.42142588936963793 + } + ] + }, + "point_1767769413116": { + "type": "point", + "instances": [ + { + "id": "point_1767769413116_1767769626292_gaxxbn3gw", + "x": 0.5666665913899785, + "y": 0.40142589099724196 + } + ] + } + } + }, + { + "time": 4.390166, + "frame": 132, + "progress": 20, + "action_description": "爪夹向爪夹方向的左方移动并下降。", + "state_description": "当前爪夹张开，与胡萝卜的水平距离进一步拉近。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：继续向爪夹方向的左方移动，到达胡萝卜正上方后下降。", + "progress_explanation": "爪夹再次拉近与胡萝卜的水平距离，爪夹位于胡萝卜片上方，因此进度提升至20%", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，成功使爪夹位于胡萝卜上方。", + "correction_plan": "继续向爪夹方向的左方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "annotations": { + "point_1767769412982": { + "type": "point", + "instances": [ + { + "id": "point_1767769412982_1767769576502_saz3s7rcv", + "x": 0.5486665924886113, + "y": 0.46275921933925623 + } + ] + }, + "bbox_1767769412518": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412518_1767769584460_7o6fv7kol", + "x": 0.5716665910848028, + "y": 0.4107592235710268, + "width": 0.2049999874877937, + "height": 0.10133332508680623 + } + ] + }, + "bbox_1767769412396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412396_1767769598170_fvfnztd2y", + "x": 0.4936665958455446, + "y": 0.5547592118522776, + "width": 0.2219999864501961, + "height": 0.27733331076389073 + } + ] + } + } + }, + { + "time": 5.230333, + "frame": 157, + "progress": 15, + "action_description": "爪夹向爪夹方向的左前方移动，同时下降爪夹。", + "state_description": "当前爪夹张开，与胡萝卜的水平距离拉远。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：向爪夹方向的后方移动并抬起爪夹，到达胡萝卜正上方后下降。", + "progress_explanation": "爪夹向爪夹方向的左前方移动并下降，使爪夹与胡萝卜的水平距离拉远，因此进度下降至15%", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，导致爪夹从胡萝卜的上方移走。", + "correction_plan": "向爪夹方向的后方移动并抬起爪夹，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "annotations": { + "bbox_1767769412396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412396_1767769549965_g0qwinvbg", + "x": 0.4926665959065798, + "y": 0.5534258786274513, + "width": 0.22399998632812582, + "height": 0.274666644314238 + } + ] + }, + "bbox_1767769412518": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412518_1767769560895_h1blmecnh", + "x": 0.5656665914510137, + "y": 0.4094258903462003, + "width": 0.21199998706054757, + "height": 0.11599999055989661 + } + ] + }, + "point_1767769412982": { + "type": "point", + "instances": [ + { + "id": "point_1767769412982_1767769570663_5nwuouj6x", + "x": 0.609666588765467, + "y": 0.5200925480067914 + } + ] + } + } + }, + { + "time": 6.632358578721723, + "frame": 199, + "progress": 10, + "action_description": "爪夹向爪夹方向的左前方移动并下降，随后爪夹静止。", + "state_description": "当前爪夹张开，位于桌面上方。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：抬起爪夹，随后向爪夹方向的后方移动，到达胡萝卜正上方后下降。", + "progress_explanation": "爪夹向爪夹方向的左前方移动并下降，使爪夹与胡萝卜的水平距离进一步拉远，因此进度下降至10%", + "error_success_analysis": "爪夹移动方向错误，使爪夹与胡萝卜的水平距离进一步拉远。", + "correction_plan": "抬起爪夹，随后向爪夹方向的后方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "annotations": { + "point_1767769412982": { + "type": "point", + "instances": [ + { + "id": "point_1767769412982_1767769532508_jynco5bnc", + "x": 0.6456665865682014, + "y": 0.5640925444260625 + } + ] + }, + "bbox_1767769412518": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412518_1767769537725_ogp637ht4", + "x": 0.5726665910237676, + "y": 0.4360925548427283, + "width": 0.20999998718261798, + "height": 0.0733333273654519 + } + ] + }, + "bbox_1767769412396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412396_1767769543320_iv0u2s6gc", + "x": 0.4936665958455446, + "y": 0.5507592121777984, + "width": 0.22299998638916102, + "height": 0.27733331076389073 + } + ] + } + } + }, + { + "time": 9.064333, + "frame": 272, + "progress": 5, + "action_description": "爪夹静止后合拢。", + "state_description": "当前爪夹合拢，位于桌面上。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：抬起并张开爪夹，随后向爪夹方向的右前方移动。", + "progress_explanation": "爪夹合拢，没有抓取到胡萝卜，因此进度下降至5%", + "error_success_analysis": "爪夹未移动至胡萝卜上方就合拢爪夹，没有抓取到胡萝卜。", + "correction_plan": "张开并抬起爪夹，随后向爪夹方向的后方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。" + }, + { + "time": 10.436999, + "frame": 313, + "progress": 10, + "action_description": "爪夹张开。", + "state_description": "当前爪夹张开，位于桌面上。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：抬起爪夹向爪夹方向的后方移动，到达胡萝卜正上方后下降。", + "progress_explanation": "爪夹张开，方便抓取胡萝卜。因此进度提升至10%", + "error_success_analysis": "爪夹成功张开。", + "correction_plan": "抬起爪夹向爪夹方向的后方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "annotations": { + "bbox_1767769412396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412396_1767769490354_9gz78ajdx", + "x": 0.49066659602865015, + "y": 0.5534258786274513, + "width": 0.2259999862060555, + "height": 0.27866664398871704 + } + ] + }, + "bbox_1767769412518": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412518_1767769523067_2ya3f2irk", + "x": 0.569666591206873, + "y": 0.44675922064133944, + "width": 0.20799998730468827, + "height": 0.07199999414062551 + } + ] + }, + "point_1767769412982": { + "type": "point", + "instances": [ + { + "id": "point_1767769412982_1767769528860_lt7bppkzw", + "x": 0.648666586385096, + "y": 0.5560925450771042 + } + ] + } + } + }, + { + "time": 11.087833, + "frame": 333, + "progress": 15, + "action_description": "爪夹向爪夹方向的上方抬起。", + "state_description": "当前爪夹张开，位于桌面上方。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：向爪夹方向的后方移动，到达胡萝卜正上方后下降。", + "progress_explanation": "爪夹张开，并向爪夹方向的上方抬起，因此进度提升至15%", + "error_success_analysis": "爪夹成功张开并向爪夹方向的上方抬起爪夹，方便抓取胡萝卜。", + "correction_plan": "向爪夹方向的后方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "annotations": { + "point_1767769413116": { + "type": "point", + "instances": [ + { + "id": "point_1767769413116_1767769465896_le83usgcb", + "x": 0.7486665802815807, + "y": 0.4147592232455059 + } + ] + }, + "point_1767769412982": { + "type": "point", + "instances": [ + { + "id": "point_1767769412982_1767769468421_yxrcxrmze", + "x": 0.6686665851643929, + "y": 0.4774258848123466 + } + ] + }, + "bbox_1767769412518": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412518_1767769473344_c3kdbkkht", + "x": 0.5736665909627324, + "y": 0.40809255712137393, + "width": 0.2029999876098641, + "height": 0.10933332443576464 + } + ] + }, + "bbox_1767769412396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412396_1767769480152_0mqy6nw8d", + "x": 0.4916665959676149, + "y": 0.5534258786274513, + "width": 0.22299998638916102, + "height": 0.2826666436631964 + } + ] + } + } + }, + { + "time": 11.833333, + "frame": 355, + "progress": 20, + "action_description": "爪夹向爪夹方向的右后方移动。", + "state_description": "当前爪夹张开，爪夹位于胡萝卜上方。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：向爪夹方向的左方移动，到达胡萝卜正上方后下降。", + "progress_explanation": "当前爪夹位于胡萝卜上方，拉近与胡萝卜的水平距离，因此进度提升至20%", + "error_success_analysis": "爪夹成功拉近与胡萝卜的水平距离，方便抓取。", + "correction_plan": "向爪夹方向的左方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的右前方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "annotations": { + "bbox_1767769412396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412396_1767769438048_92qaoqir9", + "x": 0.4926665959065798, + "y": 0.5534258786274513, + "width": 0.2229999863891609, + "height": 0.28133331043836995 + } + ] + }, + "bbox_1767769412518": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769412518_1767769446257_jpnvsntxi", + "x": 0.5736665909627324, + "y": 0.41209255679585316, + "width": 0.20499998748779377, + "height": 0.10533332476128537 + } + ] + }, + "point_1767769412982": { + "type": "point", + "instances": [ + { + "id": "point_1767769412982_1767769455188_6fdedndtv", + "x": 0.5386665930989627, + "y": 0.39742589132276274 + } + ] + }, + "point_1767769413116": { + "type": "point", + "instances": [ + { + "id": "point_1767769413116_1767769457186_ar5zin2t9", + "x": 0.6336665873006233, + "y": 0.3760925597255404 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767769412396", + "name": "盘子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767769412518", + "name": "胡萝卜", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767769412982", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767769413116", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000022.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000022.json new file mode 100644 index 0000000000000000000000000000000000000000..22a0af843adb4d6b96328825658d98bf06eb09f3 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000022.json @@ -0,0 +1,494 @@ +{ + "task_description": "拿起胡萝卜，把它放到盘子里;\n爪夹开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓住胡萝卜并接近盘子：60%\n爪夹将胡萝卜移动至盘子上方：80%\n爪夹松开，使胡萝卜落到盘子上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起胡萝卜，把它放到盘子里的任务应当：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的右前方移动。", + "time": 1.5057841787747301, + "annotations": { + "point_1767772003345": { + "type": "point", + "instances": [ + { + "id": "point_1767772003345_1767772218181_rp6wbebe9", + "x": 0.5516665923055057, + "y": 0.37209256005106117 + } + ] + }, + "point_1767772003205": { + "type": "point", + "instances": [ + { + "id": "point_1767772003205_1767772220346_b0f9nf0je", + "x": 0.4556665981648805, + "y": 0.3707592268262348 + } + ] + }, + "bbox_1767772002627": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002627_1767772226079_oluoi4u3j", + "x": 0.399666601582849, + "y": 0.5200925480067914, + "width": 0.09799999401855501, + "height": 0.2653333117404531 + } + ] + }, + "bbox_1767772002501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002501_1767772230567_sn6qqz6xo", + "x": 0.491666595967615, + "y": 0.5507592121777984, + "width": 0.2249999862670906, + "height": 0.27999997721354364 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上移动，抬起并调整爪夹角度。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹向爪夹方向的上方移动，同时调整爪夹角度倾斜于桌面。", + "frame": 71, + "progress": 5, + "progress_explanation": "爪夹正在调整爪夹角度，准备靠近胡萝卜。因此进度提升至5%", + "state_description": "当前状态为爪夹打开，爪夹角度微微倾斜于桌面。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：继续调整爪夹方向直到垂直于桌面，向爪夹方向的右前方移动至胡萝卜的正上方。", + "time": 2.3547532253551853, + "annotations": { + "bbox_1767772002501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002501_1767772201531_kfs5uflzz", + "x": 0.4946665957845095, + "y": 0.5507592121777984, + "width": 0.2219999864501961, + "height": 0.27733331076389073 + } + ] + }, + "bbox_1767772002627": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002627_1767772209436_ce6ik07y9", + "x": 0.3966666017659545, + "y": 0.5174258815571385, + "width": 0.09499999420166047, + "height": 0.2733333110894115 + } + ] + }, + "point_1767772003205": { + "type": "point", + "instances": [ + { + "id": "point_1767772003205_1767772212389_u8qmv62d2", + "x": 0.4666665974934937, + "y": 0.30942589848422053 + } + ] + }, + "point_1767772003345": { + "type": "point", + "instances": [ + { + "id": "point_1767772003345_1767772214626_e4vvmwxoc", + "x": 0.5646665915120488, + "y": 0.30942589848422053 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动，同时调整爪夹角度，随后开始向爪夹方向的右前方移动。", + "correction_plan": "继续向爪夹方向的右前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，拉近与胡萝卜的水平距离，同时成功使爪夹垂直于桌面。", + "frame": 100, + "progress": 15, + "progress_explanation": "爪夹拉近与胡萝卜的水平距离，并使爪夹垂直于桌面，因此进度提升至20%", + "state_description": "当前爪夹打开，爪夹垂直于桌面。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：继续向爪夹方向的右前方移动，到达胡萝卜正上方后下降。", + "time": 3.3190143646811348, + "annotations": { + "point_1767772003345": { + "type": "point", + "instances": [ + { + "id": "point_1767772003345_1767772175771_7dm3n1h4g", + "x": 0.5296665936482792, + "y": 0.39875922454758916 + } + ] + }, + "point_1767772003205": { + "type": "point", + "instances": [ + { + "id": "point_1767772003205_1767772177541_ti6tl576g", + "x": 0.4296665997517944, + "y": 0.3867592255241516 + } + ] + }, + "bbox_1767772002627": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002627_1767772182190_8m8en9z3y", + "x": 0.3956666018269896, + "y": 0.518759214781965, + "width": 0.1019999937744144, + "height": 0.2706666446397587 + } + ] + }, + "bbox_1767772002501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002501_1767772187966_0lmyerpqf", + "x": 0.49066659602865004, + "y": 0.5534258786274513, + "width": 0.2249999862670907, + "height": 0.27866664398871704 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。\n", + "correction_plan": "下降合拢爪夹，抓取胡萝卜后竖直上升，向爪夹方向的左方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并下降，进一步拉近与胡萝卜的距离。", + "frame": 114, + "progress": 20, + "progress_explanation": "爪夹位于胡萝卜的正上方，靠近胡萝卜，因此进度提升至20%", + "state_description": "当前爪夹打开，爪夹位于胡萝卜上方。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：下降合拢爪夹，抓取胡萝卜后竖直上升，向爪夹方向的左方移动。", + "time": 3.8125, + "annotations": { + "bbox_1767772002501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002501_1767772158613_yvt3lf75b", + "x": 0.4916665959676149, + "y": 0.5534258786274513, + "width": 0.2249999862670907, + "height": 0.28133331043836995 + } + ] + }, + "bbox_1767772002627": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002627_1767772164427_sun0cs1lj", + "x": 0.3986666016438841, + "y": 0.5174258815571385, + "width": 0.09499999420166047, + "height": 0.27066664463975876 + } + ] + }, + "point_1767772003205": { + "type": "point", + "instances": [ + { + "id": "point_1767772003205_1767772169437_zee1ruwgt", + "x": 0.3966666017659545, + "y": 0.4414258877420339 + } + ] + }, + "point_1767772003345": { + "type": "point", + "instances": [ + { + "id": "point_1767772003345_1767772171677_4zs57ida5", + "x": 0.4966665956624392, + "y": 0.4600925528896035 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右方移动并下降。\n", + "correction_plan": "向爪夹方向的左前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹移动方向错误，使爪夹胡萝卜的水平距离拉远。", + "frame": 141, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的右方移动并下降，与胡萝卜的水平距离拉远。因此进度下降至15%", + "state_description": "当前爪夹张开，与胡萝卜的水平距离拉远。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：向爪夹方向的左前方移动，到达胡萝卜正上方后下降。", + "time": 4.697, + "annotations": { + "point_1767772003345": { + "type": "point", + "instances": [ + { + "id": "point_1767772003345_1767772137729_v3bih1gty", + "x": 0.40866660103353264, + "y": 0.5160925483323121 + } + ] + }, + "bbox_1767772002627": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002627_1767772144317_t0bggeq0k", + "x": 0.4016666014607787, + "y": 0.5160925483323121, + "width": 0.09399999426269563, + "height": 0.2719999778645852 + } + ] + }, + "bbox_1767772002501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002501_1767772147457_k1o2t22i4", + "x": 0.49066659602865004, + "y": 0.5547592118522776, + "width": 0.2269999861450204, + "height": 0.27733331076389073 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方下降。", + "correction_plan": "抬起爪夹，随后向爪夹方向的左前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹还未移动至胡萝卜上方，爪夹就下降至桌面。", + "frame": 184, + "progress": 10, + "progress_explanation": "爪夹未移动到胡萝卜上方就向爪夹方向的下方下降，因此进度下降至10%", + "state_description": "当前爪夹张开，位于桌面上。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：抬起爪夹，随后向爪夹方向的左前方移动，到达胡萝卜正上方后下降。", + "time": 6.120333, + "annotations": { + "bbox_1767772002501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002501_1767772111893_2us864km1", + "x": 0.4946665957845095, + "y": 0.5547592118522776, + "width": 0.2229999863891609, + "height": 0.27866664398871716 + } + ] + }, + "bbox_1767772002627": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002627_1767772120031_8euyfmt3t", + "x": 0.4136666007283568, + "y": 0.5707592105501945, + "width": 0.07899999517822298, + "height": 0.2106666495225709 + } + ] + }, + "point_1767772003205": { + "type": "point", + "instances": [ + { + "id": "point_1767772003205_1767772128185_v7gmdvd18", + "x": 0.3376666053670284, + "y": 0.5427592128288402 + } + ] + }, + "point_1767772003345": { + "type": "point", + "instances": [ + { + "id": "point_1767772003345_1767772133532_nnutn69m9", + "x": 0.43266659956868897, + "y": 0.5814258763488057 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抬起并张开爪夹，随后向爪夹方向的左前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹未移动至胡萝卜上方就合拢爪夹，没有抓取到胡萝卜。", + "frame": 231, + "progress": 5, + "progress_explanation": "爪夹合拢，未抓取到胡萝卜，因此进度下降至5%", + "state_description": "当前爪夹合拢位于桌面上。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：抬起并张开爪夹，随后向爪夹方向的左前方移动。", + "time": 7.696166, + "annotations": { + "bbox_1767772002627": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002627_1767772065053_7is5ydcw8", + "x": 0.386666602376306, + "y": 0.5280925473557497, + "width": 0.08799999462890651, + "height": 0.2533333127170156 + } + ] + }, + "bbox_1767772002501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002501_1767772070890_idb49qule", + "x": 0.4926665959065798, + "y": 0.5507592121777984, + "width": 0.2259999862060555, + "height": 0.28133331043836995 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方抬起并张开爪夹。", + "correction_plan": "向爪夹方向的左前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹成功张开并向爪夹方向的上方抬起，方便抓取胡萝卜。", + "frame": 274, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的上方抬起，同时张开爪夹，方便抓取胡萝卜，因此进度提升至15%", + "state_description": "当前爪夹张开，位于桌面上方。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：向爪夹方向的左前方移动，到达胡萝卜正上方后下降。", + "time": 9.1195, + "annotations": { + "point_1767772003345": { + "type": "point", + "instances": [ + { + "id": "point_1767772003345_1767772038553_h6fnzegry", + "x": 0.4296665997517944, + "y": 0.5547592118522776 + } + ] + }, + "bbox_1767772002627": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002627_1767772045248_6mzep1vje", + "x": 0.38866660225423566, + "y": 0.5280925473557497, + "width": 0.09099999444580109, + "height": 0.2493333130425364 + } + ] + }, + "bbox_1767772002501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002501_1767772050590_mvd4q91qj", + "x": 0.4926665959065798, + "y": 0.5534258786274513, + "width": 0.2229999863891609, + "height": 0.2773333107638906 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动，同时调整爪夹角度。", + "correction_plan": "向爪夹方向的前方移动，到达胡萝卜正上方后下降，合拢爪夹抓取胡萝卜后竖直上升，向爪夹方向的左方移动，直至胡萝卜处于盘子正上方。下降将胡萝卜放在盘子上，随后松开爪夹，使胡萝卜落到盘子上。", + "error_success_analysis": "爪夹成功移动至胡萝卜上方，方便抓取胡萝卜。", + "frame": 305, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的左后方移动，移动至胡萝卜上方。因此进度提升至20%", + "state_description": "当前爪夹张开，位于胡萝卜上方。\n为完成拿起胡萝卜，将其放在盘子上的任务应当：向爪夹方向的前方移动，到达胡萝卜正上方后下降。", + "time": 10.166667, + "annotations": { + "bbox_1767772002501": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002501_1767772020897_3eq1vtm8u", + "x": 0.4926665959065798, + "y": 0.5547592118522776, + "width": 0.22399998632812582, + "height": 0.27733331076389084 + } + ] + }, + "bbox_1767772002627": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767772002627_1767772029046_fe13cba52", + "x": 0.3826666026204466, + "y": 0.518759214781965, + "width": 0.09399999426269567, + "height": 0.27199997786458513 + } + ] + }, + "point_1767772003205": { + "type": "point", + "instances": [ + { + "id": "point_1767772003205_1767772031719_1mmal1lhh", + "x": 0.4246666000569702, + "y": 0.46542588578890903 + } + ] + }, + "point_1767772003345": { + "type": "point", + "instances": [ + { + "id": "point_1767772003345_1767772033667_fg2j8dhvm", + "x": 0.5356665932820682, + "y": 0.47342588513786743 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767772002501", + "name": "盘子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767772002627", + "name": "胡萝卜", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767772003205", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767772003345", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-142701-bad-chilli/annotations/chunk-000/observation.images.front/episode_000011.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-142701-bad-chilli/annotations/chunk-000/observation.images.front/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..2bde4f57b14ef5559f5444c0eb8b4b6d2a30274b --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251124-142701-bad-chilli/annotations/chunk-000/observation.images.front/episode_000011.json @@ -0,0 +1,568 @@ +{ + "task_description": "拿起辣椒，把它放到盘子里：\n爪夹开始移动：0%\n爪夹靠近辣椒：20%\n爪夹抓取辣椒：40%\n爪夹抓住辣椒并接近盘子：60%\n爪夹将辣椒移动至盘子上方：80%\n爪夹松开，使辣椒落到盘子上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "调整爪夹角度，向爪夹方向的左前方移动，到达辣椒正上方后下降，合拢爪夹抓取辣椒后竖直上升，向爪夹方向的右后方移动，直至辣椒处于盘子正上方。下降将辣椒放在盘子上，随后松开爪夹，使辣椒落到盘子上。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起辣椒，把它放到盘子里的任务应当：调整爪夹角度，向爪夹方向的左前方移动。", + "time": 1.2730920364164664, + "annotations": { + "bbox_1767774433658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433658_1767774454244_hi409rmvo", + "x": 0.43366659950765385, + "y": 0.35742589457797086, + "width": 0.2049999874877937, + "height": 0.22933331467014034 + } + ] + }, + "bbox_1767774433792": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433792_1767774464160_ffoyfy0q4", + "x": 0.6146665884602911, + "y": 0.6480925375901255, + "width": 0.16999998962402413, + "height": 0.17333331922743167 + } + ] + }, + "point_1767774434282": { + "type": "point", + "instances": [ + { + "id": "point_1767774434282_1767774466374_prh993wyy", + "x": 0.4926665959065798, + "y": 0.37342589327588765 + } + ] + }, + "point_1767774434401": { + "type": "point", + "instances": [ + { + "id": "point_1767774434401_1767774468689_hocchooby", + "x": 0.5866665901692755, + "y": 0.36142589425245003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，同时抬起并调整爪夹角度。", + "correction_plan": "继续向爪夹方向的左前方移动，到达辣椒正上方后下降，合拢爪夹抓取辣椒后竖直上升，向爪夹方向的右后方移动，直至辣椒处于盘子正上方。下降将辣椒放在盘子上，随后松开爪夹，使辣椒落到盘子上。", + "error_success_analysis": "爪夹成功拉近与辣椒的水平距离。", + "frame": 82, + "progress": 5, + "progress_explanation": "爪夹正在调整爪夹角度，与辣椒的水平距离拉近。因此进度提升至5%", + "state_description": "当前状态为爪夹打开，与辣椒的水平距离拉近。\n为完成拿起辣椒，把它放到盘子里的任务应当：继续向爪夹方向的左前方移动，到达辣椒正上方后下降。", + "time": 2.731957924001923, + "annotations": { + "bbox_1767774433658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433658_1767774474820_lzqwl5dw1", + "x": 0.43566659938558355, + "y": 0.35609256135314443, + "width": 0.1999999877929694, + "height": 0.22799998144531403 + } + ] + }, + "bbox_1767774433792": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433792_1767774482750_044jt2heu", + "x": 0.6166665883382209, + "y": 0.649425870814952, + "width": 0.16999998962402413, + "height": 0.17333331922743167 + } + ] + }, + "point_1767774434282": { + "type": "point", + "instances": [ + { + "id": "point_1767774434282_1767774486348_pcaod0fxe", + "x": 0.5066665950520877, + "y": 0.40809255712137393 + } + ] + }, + "point_1767774434401": { + "type": "point", + "instances": [ + { + "id": "point_1767774434401_1767774488665_tnsm3t1iw", + "x": 0.6136665885213264, + "y": 0.39475922487311 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，同时向爪夹方向的右方调整爪夹方向。", + "correction_plan": "继续向爪夹方向的左前方移动，同时调整爪夹方向，随后下降，合拢爪夹抓取辣椒后竖直上升，向爪夹方向的右后方移动，直至辣椒处于盘子正上方。下降将辣椒放在盘子上，随后松开爪夹，使辣椒落到盘子上。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，进一步拉近与辣椒的距离，位于辣椒上方。", + "frame": 124, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的左前方移动，移动至辣椒上方，因此进度提升至20%", + "state_description": "当前爪夹张开，位于辣椒上方。\n当前状态为爪夹打开，与辣椒的水平距离拉近。\n为完成拿起辣椒，把它放到盘子里的任务应当：继续向爪夹方向的左前方移动，同时调整爪夹方向，随后下降。", + "time": 4.141648556949667, + "annotations": { + "bbox_1767774433658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433658_1767774494658_924cj36v5", + "x": 0.4346665994466187, + "y": 0.35609256135314443, + "width": 0.2049999874877937, + "height": 0.2266666482204877 + } + ] + }, + "bbox_1767774433792": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433792_1767774501682_ik83rze6i", + "x": 0.6176665882771857, + "y": 0.6480925375901255, + "width": 0.16799998974609434, + "height": 0.17599998567708455 + } + ] + }, + "point_1767774434401": { + "type": "point", + "instances": [ + { + "id": "point_1767774434401_1767774504338_f8e34wvcl", + "x": 0.727666581563319, + "y": 0.6507592040397783 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "correction_plan": "向爪夹方向的左方调整爪夹方向，移动至辣椒正上方，随后合拢爪夹抓取辣椒后竖直上升，向爪夹方向的右后方移动，直至辣椒处于盘子正上方。下降将辣椒放在盘子上，随后松开爪夹，使辣椒落到盘子上。", + "error_success_analysis": "爪夹成功拉近与辣椒的垂直距离。", + "frame": 159, + "progress": 25, + "progress_explanation": "爪夹向爪夹方向的前方移动并下降，拉近与辣椒的垂直距离，因此进度提升至25%。", + "state_description": "当前爪夹张开，位于桌面上。\n为完成拿起辣椒，把它放到盘子里的任务应当：向爪夹方向的左方调整爪夹方向，移动至辣椒正上方。", + "time": 5.289071165162948, + "annotations": { + "point_1767774434401": { + "type": "point", + "instances": [ + { + "id": "point_1767774434401_1767774510128_ujrneknq2", + "x": 0.6956665835164438, + "y": 0.7280925310797095 + } + ] + }, + "bbox_1767774433792": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433792_1767774514094_fv4lzl8x9", + "x": 0.6186665882161506, + "y": 0.649425870814952, + "width": 0.16499998992919976, + "height": 0.17199998600260524 + } + ] + }, + "bbox_1767774433658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433658_1767774518274_5sxh3klhr", + "x": 0.43566659938558344, + "y": 0.354759228128318, + "width": 0.19399998815918043, + "height": 0.2319999811197933 + } + ] + } + } + }, + { + "time": 6.5349, + "frame": 196, + "progress": 30, + "action_description": "爪夹向爪夹方向的左方调整爪夹的方向。", + "state_description": "当前爪夹张开，位于辣椒上方。\n为完成拿起辣椒，把它放到盘子里的任务应当：继续向爪夹方向的左方调整爪夹方向，移动至辣椒正上方。", + "progress_explanation": "爪夹向爪夹方向的左方调整爪夹的方向，移动至辣椒的上方，因此进度提升至30%", + "error_success_analysis": "爪夹成功移动至辣椒的上方。", + "correction_plan": "继续向爪夹方向的左方调整爪夹方向，移动至辣椒正上方，随后合拢爪夹抓取辣椒后竖直上升，向爪夹方向的右后方移动，直至辣椒处于盘子正上方。下降将辣椒放在盘子上，随后松开爪夹，使辣椒落到盘子上。", + "annotations": { + "bbox_1767774433658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433658_1767774526978_dvi46mwka", + "x": 0.43366659950765385, + "y": 0.354759228128318, + "width": 0.20299998760986399, + "height": 0.22666664822048765 + } + ] + }, + "bbox_1767774433792": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433792_1767774534536_c2496pohx", + "x": 0.6266665877278694, + "y": 0.64275920469082, + "width": 0.15099999078369192, + "height": 0.18799998470052207 + } + ] + }, + "point_1767774434401": { + "type": "point", + "instances": [ + { + "id": "point_1767774434401_1767774537788_x7pqs5lk6", + "x": 0.7356665810750378, + "y": 0.713425865606619 + } + ] + } + } + }, + { + "time": 8.3475, + "frame": 250, + "progress": 35, + "action_description": "爪夹继续向爪夹方向的左方调整爪夹方向。", + "state_description": "当前爪夹张开，位于辣椒的正上方。\n为完成拿起辣椒，把它放到盘子里的任务应当：合拢爪夹抓取辣椒后竖直上升，向爪夹方向的右后方移动。", + "progress_explanation": "当前爪夹已移动至辣椒的两侧，因此进度提升至35%", + "error_success_analysis": "爪夹成功移动至辣椒的两侧。", + "correction_plan": "合拢爪夹抓取辣椒后竖直上升，向爪夹方向的右后方移动，直至辣椒处于盘子正上方。下降将辣椒放在盘子上，随后松开爪夹，使辣椒落到盘子上。", + "annotations": { + "bbox_1767774433658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433658_1767774550240_j8oqrbst4", + "x": 0.43266659956868897, + "y": 0.354759228128318, + "width": 0.2019999876708992, + "height": 0.22933331467014043 + } + ] + }, + "point_1767774434282": { + "type": "point", + "instances": [ + { + "id": "point_1767774434282_1767774556898_33oiqjhbx", + "x": 0.641666586812342, + "y": 0.713425865606619 + } + ] + }, + "bbox_1767774433792": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433792_1767774560334_erp1dyxnr", + "x": 0.6216665880330451, + "y": 0.6480925375901255, + "width": 0.15699999041748108, + "height": 0.1813333185763901 + } + ] + } + } + }, + { + "time": 11.1141, + "frame": 333, + "progress": 30, + "action_description": "爪夹轻微合拢并向爪夹方向的上方抬起。", + "state_description": "当前爪夹半合拢，辣椒位于桌面上。\n为完成拿起辣椒，把它放到盘子里的任务应当：向爪夹方向的下方移动，再次合拢爪夹抓取辣椒。", + "progress_explanation": "爪夹半合拢，未能成功抓取辣椒，因此进度下降至30%", + "error_success_analysis": "爪夹还没有完全贺龙，爪夹就向爪夹方向的上方抬升，导致没有抓取到辣椒。", + "correction_plan": "爪夹向爪夹方向的下方移动，继续合拢爪夹抓取辣椒后竖直上升，向爪夹方向的右后方移动，直至辣椒处于盘子正上方。下降将辣椒放在盘子上，随后松开爪夹，使辣椒落到盘子上。", + "annotations": { + "bbox_1767774433792": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433792_1767774565704_i6kwtg9io", + "x": 0.6796665844930063, + "y": 0.5960925418218961, + "width": 0.04999999694824231, + "height": 0.24799997981770996 + } + ] + }, + "bbox_1767774433658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433658_1767774576052_w4bu1q96s", + "x": 0.43466659944661856, + "y": 0.35742589457797086, + "width": 0.2029999876098641, + "height": 0.22533331499566125 + } + ] + } + } + }, + { + "time": 12.4815, + "frame": 374, + "progress": 35, + "action_description": "爪夹向爪夹方向的下方移动。", + "state_description": "当前爪夹半合拢，位于辣椒的两侧。\n为完成拿起辣椒，把它放到盘子里的任务应当：合拢爪夹抓取辣椒，随后向爪夹方向的上方抬起。", + "progress_explanation": "爪夹向爪夹方向的下方移动，再次移动至辣椒的两侧，因此进度提升至35%", + "error_success_analysis": "爪夹向爪夹方向的下方移动，成功移动至辣椒两侧。", + "correction_plan": "合拢爪夹抓取辣椒后竖直上升，随后向爪夹方向的上方抬起，向爪夹方向的右后方移动，直至辣椒处于盘子正上方。下降将辣椒放在盘子上，随后松开爪夹，使辣椒落到盘子上。", + "annotations": { + "bbox_1767774433658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433658_1767774585992_gdpllzwty", + "x": 0.43366659950765374, + "y": 0.35609256135314443, + "width": 0.2009999877319344, + "height": 0.23199998111979322 + } + ] + }, + "point_1767774434282": { + "type": "point", + "instances": [ + { + "id": "point_1767774434282_1767774594008_uovnhopvy", + "x": 0.661666585591639, + "y": 0.7067591994824871 + } + ] + } + } + }, + { + "time": 13.3401, + "frame": 400, + "progress": 40, + "action_description": "爪夹合拢，抓取辣椒。", + "state_description": "当前爪夹合拢抓到辣椒。\n为完成拿起辣椒，把它放到盘子里的任务应当：向爪夹方向的上方抬起，向爪夹方向的右后方移动，直至辣椒处于盘子正上方。", + "progress_explanation": "当前爪夹抓取到辣椒，因此进度提升至40%", + "error_success_analysis": "爪夹成功移动至辣椒两侧，方便爪夹抓取辣椒。", + "correction_plan": "向爪夹方向的上方抬起，向爪夹方向的右后方移动，直至辣椒处于盘子正上方。下降将辣椒放在盘子上，随后松开爪夹，使辣椒落到盘子上。", + "annotations": { + "bbox_1767774433658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433658_1767774601346_e3qnc3n90", + "x": 0.43366659950765385, + "y": 0.35742589457797086, + "width": 0.2039999875488288, + "height": 0.22533331499566125 + } + ] + } + } + }, + { + "time": 14.1033, + "frame": 423, + "progress": 20, + "action_description": "爪夹向爪夹方向的上方移动，同时辣椒掉落至桌面。\n", + "state_description": "当前爪夹合拢，辣椒位于桌面上。\n为完成拿起辣椒，把它放到盘子里的任务应当：向爪夹方向的左后方移动并张开爪夹，移动至辣椒正上方后下降并合拢爪夹。", + "progress_explanation": "爪夹向爪夹方向的上方移动，过程中辣椒掉落至桌面，同时辣椒与爪夹的水平距离拉远。因此进度下降至20%", + "error_success_analysis": "爪夹未能完全抓住辣椒，导致抬升过程中辣椒掉落。", + "correction_plan": "向爪夹方向的左后方移动并张开爪夹，移动至辣椒正上方后下降并合拢爪夹，向爪夹方向的上方抬起，向爪夹方向的右后方移动，直至辣椒处于盘子正上方。下降将辣椒放在盘子上，随后松开爪夹，使辣椒落到盘子上。", + "annotations": { + "bbox_1767774433658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433658_1767774609678_8j9rndmj5", + "x": 0.43566659938558344, + "y": 0.35609256135314443, + "width": 0.1999999877929695, + "height": 0.22799998144531403 + } + ] + }, + "bbox_1767774433792": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433792_1767774614870_xsuitzce0", + "x": 0.7436665805867565, + "y": 0.622759206318424, + "width": 0.1319999919433598, + "height": 0.1546666540798622 + } + ] + } + } + }, + { + "time": 15.550307632898853, + "frame": 467, + "progress": 10, + "action_description": "爪夹向爪夹方向的右方移动。", + "state_description": "当前爪夹合拢，与辣椒的水平距离拉远。\n为完成拿起辣椒，把它放到盘子里的任务应当：向爪夹方向的左后方移动并张开爪夹，移动至辣椒正上方后下降并合拢爪夹。", + "progress_explanation": "爪夹向爪夹方向的右方移动，与辣椒的水平距离拉远。因此进度下降至10%", + "error_success_analysis": "爪夹移动方向错误，导致爪夹与辣椒的水平距离拉远。", + "correction_plan": "向爪夹方向的左后方移动并张开爪夹，移动至辣椒正上方后下降并合拢爪夹，向爪夹方向的上方抬起，向爪夹方向的右后方移动，直至辣椒处于盘子正上方。下降将辣椒放在盘子上，随后松开爪夹，使辣椒落到盘子上。", + "annotations": { + "bbox_1767774433792": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433792_1767774621086_go8jxhc98", + "x": 0.6986665833333384, + "y": 0.6147592069694655, + "width": 0.16899998968505914, + "height": 0.1666666531032998 + } + ] + }, + "bbox_1767774433658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433658_1767774624612_k7sin3fyn", + "x": 0.4346665994466187, + "y": 0.35742589457797086, + "width": 0.2039999875488289, + "height": 0.2266666482204877 + } + ] + }, + "point_1767774434282": { + "type": "point", + "instances": [ + { + "id": "point_1767774434282_1767774631612_csmx94tsb", + "x": 0.6266665877278694, + "y": 0.6654258695128686 + } + ] + }, + "point_1767774434401": { + "type": "point", + "instances": [ + { + "id": "point_1767774434401_1767774633418_qpqe2ofsk", + "x": 0.6376665870564826, + "y": 0.6667592027376952 + } + ] + } + } + }, + { + "time": 15.9, + "frame": 477, + "progress": 15, + "action_description": "爪夹向爪夹方向的后方移动。", + "state_description": "当前爪夹合拢，与辣椒的水平距离拉近。\n为完成拿起辣椒，把它放到盘子里的任务应当：向爪夹方向的左方移动并张开爪夹，移动至辣椒正上方后下降并合拢爪夹。", + "progress_explanation": "爪夹向爪夹方向的后方移动，与辣椒的水平距离拉近，因此进度提升至15%", + "error_success_analysis": "爪夹向爪夹方向的后方移动，成功拉近爪夹与辣椒的水平距离。", + "correction_plan": "向爪夹方向的左方移动并张开爪夹，移动至辣椒正上方后下降并合拢爪夹，向爪夹方向的上方抬起，向爪夹方向的右后方移动，直至辣椒处于盘子正上方。下降将辣椒放在盘子上，随后松开爪夹，使辣椒落到盘子上。", + "annotations": { + "point_1767774434401": { + "type": "point", + "instances": [ + { + "id": "point_1767774434401_1767774637366_fghvr78qf", + "x": 0.6036665891316779, + "y": 0.6387592050163408 + } + ] + }, + "point_1767774434282": { + "type": "point", + "instances": [ + { + "id": "point_1767774434282_1767774640402_h0iqo57ip", + "x": 0.5936665897420295, + "y": 0.6360925385666879 + } + ] + }, + "bbox_1767774433792": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433792_1767774645300_wrebcv6qj", + "x": 0.6996665832723032, + "y": 0.6160925401942919, + "width": 0.17199998950195372, + "height": 0.16133332020399418 + } + ] + }, + "bbox_1767774433658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767774433658_1767774648809_7t0oi5g20", + "x": 0.4366665993245483, + "y": 0.35742589457797086, + "width": 0.18999998840332105, + "height": 0.22799998144531403 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767774433658", + "name": "盘子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767774433792", + "name": "辣椒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767774434282", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767774434401", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-012401-good-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-012401-good-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..41b37f9c72573fca73619353db4e32a16a2fca19 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-012401-good-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,718 @@ +{ + "task_description": "拿起药瓶，放在快递箱里。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近药瓶：20%\n爪夹抓住药瓶：40%\n爪夹抓住药瓶并接近快递箱：60%\n爪夹保持合拢并移动到快递箱的上方：80%\n爪夹松开，使药瓶落入快递箱里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1767748032198": { + "instances": [ + { + "height": 0.0733333333333333, + "id": "bbox_1767748032198_1767751270315_2t7zun4pm", + "width": 0.07400000000000002, + "x": 0.3835, + "y": 0.5493333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767748032391": { + "instances": [ + { + "height": 0.4293333333333334, + "id": "bbox_1767748032391_1767751275371_4fwbs0eky", + "width": 0.527, + "x": 0.0625, + "y": 0.5653333333333332 + } + ], + "type": "bbox" + }, + "point_1767748033078": { + "instances": [ + { + "id": "point_1767748033078_1767751278627_oq5vaynsj", + "x": 0.4485, + "y": 0.388 + } + ], + "type": "point" + }, + "point_1767748033238": { + "instances": [ + { + "id": "point_1767748033238_1767751281875_rfr5x321x", + "x": 0.5505, + "y": 0.38666666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，同时向爪夹的右前方移动，并调整爪夹角度，移动到药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，到快递箱的正上方，松开爪夹，使药瓶落在快递箱里。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触药瓶。\n为完成拿起药瓶，放在快递箱里的任务应当：爪夹向爪夹的上方抬起，同时向爪夹的右前方移动，并调整爪夹角度，移动到药瓶的正上方。", + "time": 1.5970790623711342 + }, + { + "action_description": "爪夹向爪夹的上方抬起，并调整爪夹角度，向爪夹的右前方移动。", + "annotations": { + "bbox_1767748032198": { + "instances": [ + { + "height": 0.07999999999999995, + "id": "bbox_1767748032198_1767751295283_trxn1xekm", + "width": 0.07300000000000004, + "x": 0.3835, + "y": 0.5426666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767748032391": { + "instances": [ + { + "height": 0.42000000000000004, + "id": "bbox_1767748032391_1767751291539_xxpi4n869", + "width": 0.534, + "x": 0.05650000000000001, + "y": 0.5653333333333334 + } + ], + "type": "bbox" + }, + "point_1767748033078": { + "instances": [ + { + "id": "point_1767748033078_1767751297451_w2v08yoh6", + "x": 0.45549999999999996, + "y": 0.3413333333333333 + } + ], + "type": "point" + }, + "point_1767748033238": { + "instances": [ + { + "id": "point_1767748033238_1767751299731_8m7eg0i5w", + "x": 0.5735, + "y": 0.33066666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，并调整爪夹角度，移动到药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，到快递箱的正上方，松开爪夹，使药瓶落在快递箱里。", + "error_success_analysis": "爪夹向爪夹的上方抬起，向爪夹的右前方移动，在水平方向上接近药瓶。", + "frame": 100, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近药瓶并开始调整爪夹角度方便抓取，因此进度提升至10%。\n", + "state_description": "当前爪夹与药瓶的水平距离略微缩短。\n为完成拿起药瓶，放在快递箱里的任务应当：向爪夹的右前方移动，并调整爪夹角度，移动到药瓶的正上方。", + "time": 3.339347130412371 + }, + { + "action_description": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，并调整爪夹角度，使爪夹接近于垂直桌面。", + "annotations": { + "bbox_1767748032198": { + "instances": [ + { + "height": 0.07866666666666676, + "id": "bbox_1767748032198_1767751308899_zytv0np4o", + "width": 0.073, + "x": 0.3855, + "y": 0.5466666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767748032391": { + "instances": [ + { + "height": 0.43333333333333335, + "id": "bbox_1767748032391_1767751313035_ldspmowl1", + "width": 0.534, + "x": 0.05750000000000001, + "y": 0.5613333333333334 + } + ], + "type": "bbox" + }, + "point_1767748033078": { + "instances": [ + { + "id": "point_1767748033078_1767751305571_m76693q02", + "x": 0.3885, + "y": 0.524 + } + ], + "type": "point" + }, + "point_1767748033238": { + "instances": [ + { + "id": "point_1767748033238_1767751302787_s1ito6qqz", + "x": 0.4845, + "y": 0.5213333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的下方移动，到药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，到快递箱的正上方，松开爪夹，使药瓶落在快递箱里。", + "error_success_analysis": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，在水平方向上成功接近药瓶，并调整角度，方便抓取。", + "frame": 127, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上进一步接近药瓶并调整完爪夹角度方便抓取，因此进度提升为20%。\n", + "state_description": "当前爪夹张开，与药瓶的水平距离进一步缩短。\n为完成拿起药瓶，放在快递箱里的任务应当：爪夹继续向爪夹的下方移动，到药瓶的正上方。", + "time": 4.225 + }, + { + "action_description": "爪夹向爪夹的右下方移动，移动至药瓶的正上方。\n", + "annotations": { + "bbox_1767748032198": { + "instances": [ + { + "height": 0.07200000000000001, + "id": "bbox_1767748032198_1767751324131_mpo4ot6cc", + "width": 0.07299999999999995, + "x": 0.3865, + "y": 0.5533333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767748032391": { + "instances": [ + { + "height": 0.4573333333333333, + "id": "bbox_1767748032391_1767751317571_0hw81artz", + "width": 0.537, + "x": 0.05450000000000001, + "y": 0.5373333333333333 + } + ], + "type": "bbox" + }, + "point_1767748033078": { + "instances": [ + { + "id": "point_1767748033078_1767751320355_r4x49h082", + "x": 0.40750000000000003, + "y": 0.6133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，到快递箱的正上方，松开爪夹，使药瓶落在快递箱里。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近药瓶，到达药瓶的正上方，准备抓取。\n", + "frame": 181, + "progress": 30, + "progress_explanation": "当前爪夹已成功移动至药瓶的正上方，因此进度提升至30%。\n", + "state_description": "当前爪夹张开，到达药瓶的正上方。\n为完成拿起药瓶，放在快递箱里的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶。", + "time": 6.023333 + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶。", + "annotations": { + "bbox_1767748032198": { + "instances": [ + { + "height": 0.09066666666666674, + "id": "bbox_1767748032198_1767751329075_m9g0aks30", + "width": 0.06699999999999995, + "x": 0.3885, + "y": 0.5453333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767748032391": { + "instances": [ + { + "height": 0.4146666666666666, + "id": "bbox_1767748032391_1767751335779_78gikyqnd", + "width": 0.542, + "x": 0.05650000000000001, + "y": 0.5800000000000001 + } + ], + "type": "bbox" + }, + "point_1767748033078": { + "instances": [ + { + "id": "point_1767748033078_1767751331475_vwuf9svza", + "x": 0.40049999999999997, + "y": 0.5973333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，到快递箱的正上方，松开爪夹，使药瓶落在快递箱里。", + "error_success_analysis": "爪夹向爪夹的下方移动，成功抓住药瓶。", + "frame": 216, + "progress": 40, + "progress_explanation": "当前爪夹已经抓住药瓶，因此进度提升至40%。", + "state_description": "当前爪夹合拢，爪夹已经抓住药瓶。\n为完成拿起药瓶，放在快递箱里的任务应当：爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，到快递箱的正上方。", + "time": 7.203608358247423 + }, + { + "action_description": "爪夹保持合拢，向爪夹的上方抬起并停下。", + "annotations": { + "bbox_1767748032198": { + "instances": [ + { + "height": 0.08533333333333329, + "id": "bbox_1767748032198_1767751346627_jl6exx8af", + "width": 0.07800000000000003, + "x": 0.5015, + "y": 0.49333333333333335 + } + ], + "type": "bbox" + }, + "bbox_1767748032391": { + "instances": [ + { + "height": 0.4266666666666667, + "id": "bbox_1767748032391_1767751340651_ktv55isw0", + "width": 0.534, + "x": 0.05750000000000001, + "y": 0.5653333333333334 + } + ], + "type": "bbox" + }, + "point_1767748033078": { + "instances": [ + { + "id": "point_1767748033078_1767751343059_t0qs7pj7n", + "x": 0.5125, + "y": 0.5506666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，到快递箱的正上方，松开爪夹，使药瓶落在快递箱里。", + "error_success_analysis": "爪夹保持合拢，向爪夹的上方抬起并停下，在水平方向上接近快递箱。", + "frame": 299, + "progress": 50, + "progress_explanation": "当前爪夹合拢，并在向着快递箱的方向靠近，因此进度提升至50%。", + "state_description": "当前爪夹保持合拢，悬空于桌子的上方。\n为完成拿起药瓶，放在快递箱里的任务应当：爪夹向爪夹的右前方移动，到快递箱的正上方，松开爪夹，使药瓶落在快递箱里。", + "time": 9.966666 + }, + { + "action_description": "爪夹松开，药瓶掉落在桌面上。", + "annotations": { + "bbox_1767748032198": { + "instances": [ + { + "height": 0.0866666666666666, + "id": "bbox_1767748032198_1767751351115_eb0zuti0p", + "width": 0.04699999999999997, + "x": 0.4445, + "y": 0.604 + } + ], + "type": "bbox" + }, + "bbox_1767748032391": { + "instances": [ + { + "height": 0.41733333333333333, + "id": "bbox_1767748032391_1767751355107_qboewxyuq", + "width": 0.519, + "x": 0.0665, + "y": 0.5706666666666667 + } + ], + "type": "bbox" + }, + "point_1767748033078": { + "instances": [ + { + "id": "point_1767748033078_1767751358067_btecq4ee5", + "x": 0.4755, + "y": 0.5546666666666666 + } + ], + "type": "point" + }, + "point_1767748033238": { + "instances": [ + { + "id": "point_1767748033238_1767751359995_u0ts4ddcs", + "x": 0.5925, + "y": 0.5373333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并调整爪夹角度，靠近药瓶，爪夹向爪夹的前方移动，使爪夹位于药瓶的两侧，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹合拢并向爪夹的上方抬起，，并向爪夹的右前方移动，到快递箱的正上方，松开爪夹，使药瓶落入快递箱里。", + "error_success_analysis": "爪夹没有继续向爪夹的右前方移动，靠近快递箱，而是松开爪夹，使药瓶掉落在桌面上。", + "frame": 330, + "progress": 10, + "progress_explanation": "当前药瓶掉落，爪夹需要下降，并调整爪夹角度，向爪夹的前方移动，才能接近药瓶，因此进度下降至10%。", + "state_description": "当前爪夹张开，药瓶位于桌面上。\n为完成拿起药瓶，放在快递箱里的任务应当：爪夹向爪夹的下方移动，并调整爪夹角度，靠近药瓶。", + "time": 11.000859275773195 + }, + { + "action_description": "爪夹向爪夹的下方移动，并调整爪夹角度。", + "annotations": { + "bbox_1767748032198": { + "instances": [ + { + "height": 0.07066666666666659, + "id": "bbox_1767748032198_1767751371443_hysk1wuwu", + "width": 0.04699999999999997, + "x": 0.44750000000000006, + "y": 0.6146666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767748032391": { + "instances": [ + { + "height": 0.4133333333333333, + "id": "bbox_1767748032391_1767751368283_sqwni895b", + "width": 0.531, + "x": 0.058499999999999996, + "y": 0.5800000000000001 + } + ], + "type": "bbox" + }, + "point_1767748033078": { + "instances": [ + { + "id": "point_1767748033078_1767751365187_nepoe2g56", + "x": 0.4175, + "y": 0.5746666666666668 + } + ], + "type": "point" + }, + "point_1767748033238": { + "instances": [ + { + "id": "point_1767748033238_1767751362619_oiftiup49", + "x": 0.5125, + "y": 0.572 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的前方移动，使爪夹位于药瓶的两侧，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹合拢并向爪夹的上方抬起，，并向爪夹的右前方移动，到快递箱的正上方，松开爪夹，使药瓶落入快递箱里。", + "error_success_analysis": "爪夹向爪夹的下方移动，并调整爪夹角度，使爪夹接近于垂直桌面。", + "frame": 371, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上略微接近药瓶，因此进度提升至20%。", + "state_description": "当前爪夹张开，爪夹与药瓶的水平距离略微缩短。\n为完成拿起药瓶，放在快递箱里的任务应当：爪夹向爪夹的前方移动，使爪夹位于药瓶的两侧，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶。", + "time": 12.371666 + }, + { + "action_description": "爪夹向爪夹的前方移动，使爪夹位于药瓶的两侧.", + "annotations": { + "bbox_1767748032198": { + "instances": [ + { + "height": 0.06799999999999998, + "id": "bbox_1767748032198_1767751375323_zou1jgaif", + "width": 0.039000000000000055, + "x": 0.4505, + "y": 0.6146666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767748032391": { + "instances": [ + { + "height": 0.424, + "id": "bbox_1767748032391_1767751384155_wsl0w57ys", + "width": 0.522, + "x": 0.0655, + "y": 0.5693333333333334 + } + ], + "type": "bbox" + }, + "point_1767748033078": { + "instances": [ + { + "id": "point_1767748033078_1767751377579_3jxtxn4ns", + "x": 0.4335, + "y": 0.6493333333333333 + } + ], + "type": "point" + }, + "point_1767748033238": { + "instances": [ + { + "id": "point_1767748033238_1767751379747_282s19c9i", + "x": 0.5315000000000001, + "y": 0.6426666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹合拢并向爪夹的上方抬起，，并向爪夹的右前方移动，到快递箱的正上方，松开爪夹，使药瓶落入快递箱里。", + "error_success_analysis": "爪夹向爪夹的前方移动，水平方向上成功接近药瓶。", + "frame": 404, + "progress": 30, + "progress_explanation": "当前爪夹在水平方向上进一步接近药瓶，因此进度提升至30%。", + "state_description": "当前爪夹张开，与药瓶的水平距离进一步缩短。\n为完成拿起药瓶，放在快递箱里的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶。", + "time": 13.457903987113403 + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶。", + "annotations": { + "bbox_1767748032198": { + "instances": [ + { + "height": 0.07200000000000001, + "id": "bbox_1767748032198_1767751393931_znbyfe0wj", + "width": 0.05, + "x": 0.45149999999999996, + "y": 0.616 + } + ], + "type": "bbox" + }, + "bbox_1767748032391": { + "instances": [ + { + "height": 0.42266666666666663, + "id": "bbox_1767748032391_1767751388643_9bo96xi4w", + "width": 0.533, + "x": 0.05650000000000001, + "y": 0.5706666666666667 + } + ], + "type": "bbox" + }, + "point_1767748033078": { + "instances": [ + { + "id": "point_1767748033078_1767751390835_1392idrns", + "x": 0.4615, + "y": 0.6653333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢并向爪夹的上方抬起，，并向爪夹的右前方移动，到快递箱的正上方，松开爪夹，使药瓶落入快递箱里。", + "error_success_analysis": "爪夹向爪夹的下方移动，爪夹成功抓住药瓶。", + "frame": 453, + "progress": 40, + "progress_explanation": "当前爪夹已经抓住药瓶，因此进度提升至40%。", + "state_description": "当前爪夹合拢，爪夹已经抓住药瓶。\n为完成拿起药瓶，放在快递箱里的任务应当：爪夹合拢并向爪夹的上方抬起，，并向爪夹的右前方移动，到快递箱的正上方。", + "time": 15.1 + }, + { + "action_description": "爪夹合拢并向爪夹的上方抬起，，并向爪夹的右前方移动，靠近快递箱。", + "annotations": { + "bbox_1767748032198": { + "instances": [ + { + "height": 0.14266666666666664, + "id": "bbox_1767748032198_1767751398915_8lvap85yy", + "width": 0.06000000000000005, + "x": 0.4545, + "y": 0.4733333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767748032391": { + "instances": [ + { + "height": 0.41866666666666674, + "id": "bbox_1767748032391_1767751408267_ancdumaq0", + "width": 0.5359999999999999, + "x": 0.05650000000000001, + "y": 0.5733333333333334 + } + ], + "type": "bbox" + }, + "point_1767748033078": { + "instances": [ + { + "id": "point_1767748033078_1767751401283_kjy4gti74", + "x": 0.4565, + "y": 0.5386666666666666 + } + ], + "type": "point" + }, + "point_1767748033238": { + "instances": [ + { + "id": "point_1767748033238_1767751403163_dc6wp5xgy", + "x": 0.5105000000000001, + "y": 0.548 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹的右前方移动，到快递箱的正上方，松开爪夹，使药瓶落入快递箱里。", + "error_success_analysis": "爪夹合拢并向爪夹的上方抬起，，并向爪夹的右前方移动，并在向着快递箱的方向靠近。", + "frame": 507, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住药瓶，并在靠近快递箱，因此进度提升至60%。", + "state_description": "当前爪夹合拢，在水平方向上接近快递箱。\n为完成拿起药瓶，放在快递箱里的任务应当：向爪夹的右前方移动，到快递箱的正上方，松开爪夹，使药瓶落入快递箱里。", + "time": 16.9 + }, + { + "action_description": "爪夹向爪夹的右前方移动，到快递箱的正上方。", + "annotations": { + "bbox_1767748032198": { + "instances": [ + { + "height": 0.13733333333333325, + "id": "bbox_1767748032198_1767751421771_z2q7iqriu", + "width": 0.06300000000000003, + "x": 0.3435, + "y": 0.6920000000000001 + } + ], + "type": "bbox" + }, + "bbox_1767748032391": { + "instances": [ + { + "height": 0.428, + "id": "bbox_1767748032391_1767751413099_7e376cb1j", + "width": 0.541, + "x": 0.0505, + "y": 0.568 + } + ], + "type": "bbox" + }, + "point_1767748033078": { + "instances": [ + { + "id": "point_1767748033078_1767751415507_lsq4mu0nn", + "x": 0.3425, + "y": 0.7546666666666667 + } + ], + "type": "point" + }, + "point_1767748033238": { + "instances": [ + { + "id": "point_1767748033238_1767751417403_n6k0pbcvm", + "x": 0.3995, + "y": 0.7706666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使药瓶落入快递箱里。", + "error_success_analysis": "爪夹向爪夹的右前方移动，成功移动到快递箱的正上方。", + "frame": 553, + "progress": 80, + "progress_explanation": "当前爪夹合拢，已经移动到快递箱的正上方，因此进度提升至60%。", + "state_description": "当前爪夹合拢，在水平方向上位于快递箱的正上方。\n为完成拿起药瓶，放在快递箱里的任务应当：松开爪夹，使药瓶落入快递箱里。", + "time": 18.439003 + }, + { + "action_description": "爪夹张开，药瓶落下。\n", + "annotations": { + "bbox_1767748032198": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1767748032198_1767751426083_z8rjbj3i0", + "width": 0.07899999999999996, + "x": 0.3385, + "y": 0.856 + } + ], + "type": "bbox" + }, + "bbox_1767748032391": { + "instances": [ + { + "height": 0.4453333333333333, + "id": "bbox_1767748032391_1767751434531_zfc99abab", + "width": 0.518, + "x": 0.0895, + "y": 0.5466666666666667 + } + ], + "type": "bbox" + }, + "point_1767748033078": { + "instances": [ + { + "id": "point_1767748033078_1767751428955_mrxkufujv", + "x": 0.2895, + "y": 0.7226666666666667 + } + ], + "type": "point" + }, + "point_1767748033238": { + "instances": [ + { + "id": "point_1767748033238_1767751430483_2lgfv5kov", + "x": 0.4245, + "y": 0.7813333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，药瓶落入快递箱里。\n", + "frame": 585, + "progress": 100, + "progress_explanation": "药瓶成功落入快递箱里，因此进度提升至100%\n", + "state_description": "当前爪夹张开，药瓶落入快递箱里。已完成拿起药瓶，放在快递箱里的任务。\n", + "time": 19.511168685051548 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767748032198", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767748032391", + "name": "快递箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767748033078", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767748033238", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-032157-good-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-032157-good-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..4ebe82dd58705a44a8128c2dd96b4c7d1d717b6a --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-032157-good-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,390 @@ +{ + "task_description": "拿起药瓶，放在白色托盘里。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近药瓶：20%\n爪夹抓住药瓶：40%\n爪夹抓住药瓶并接近白色托盘：60%\n爪夹保持合拢并移动到白色托盘的上方：80%\n爪夹松开，使药瓶落入白色托盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1767757578813": { + "instances": [ + { + "height": 0.07200000000000001, + "id": "bbox_1767757578813_1767766601287_emedzq63c", + "width": 0.040000000000000036, + "x": 0.4625, + "y": 0.37733333333333335 + } + ], + "type": "bbox" + }, + "bbox_1767757579005": { + "instances": [ + { + "height": 0.5626666666666668, + "id": "bbox_1767757579005_1767766610295_k3y0nycdf", + "width": 0.654, + "x": 0.1135, + "y": 0.4106666666666667 + } + ], + "type": "bbox" + }, + "point_1767757579813": { + "instances": [ + { + "id": "point_1767757579813_1767766604119_4pqj26w24", + "x": 0.43150000000000005, + "y": 0.392 + } + ], + "type": "point" + }, + "point_1767757579965": { + "instances": [ + { + "id": "point_1767757579965_1767766606087_x2tl6yuvq", + "x": 0.5335, + "y": 0.39466666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬升，并调整爪夹角度，使爪夹垂直于桌面，爪夹向爪夹的下方移动，到达药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，到达白色托盘的正上方，松开爪夹，使药瓶落入白色托盘中。", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触药瓶。\n为完成拿起药瓶，放在白色托盘里的任务应当：爪夹向爪夹的上方抬升，并调整爪夹角度，使爪夹垂直与桌面，爪夹向爪夹的下方移动，到达药瓶的正上方。", + "time": 1.8123882623711338 + }, + { + "action_description": "爪夹向爪夹的上方移动，并调整爪夹角度。", + "annotations": { + "bbox_1767757578813": { + "instances": [ + { + "height": 0.06800000000000003, + "id": "bbox_1767757578813_1767766623495_dbf3mrmwe", + "width": 0.040000000000000036, + "x": 0.46349999999999997, + "y": 0.37866666666666665 + } + ], + "type": "bbox" + }, + "bbox_1767757579005": { + "instances": [ + { + "height": 0.5653333333333332, + "id": "bbox_1767757579005_1767766619103_kbc5eoc1m", + "width": 0.648, + "x": 0.11750000000000001, + "y": 0.42133333333333334 + } + ], + "type": "bbox" + }, + "point_1767757579813": { + "instances": [ + { + "id": "point_1767757579813_1767766625575_yfcf8bp3f", + "x": 0.4215, + "y": 0.3253333333333333 + } + ], + "type": "point" + }, + "point_1767757579965": { + "instances": [ + { + "id": "point_1767757579965_1767766628302_k7jbag6ns", + "x": 0.5345, + "y": 0.3266666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使爪夹垂直于桌面，爪夹向爪夹的下方移动，到达药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，到达白色托盘的正上方，松开爪夹，使药瓶落入白色托盘中。", + "error_success_analysis": "爪夹向爪夹的上方移动，并调整爪夹角度，使爪夹接近于垂直药瓶。", + "frame": 87, + "progress": 10, + "progress_explanation": "当前爪夹接近于垂直药瓶，因此进度提升至10%。", + "state_description": "当前爪夹张开，悬空与桌子上方。\n为完成拿起药瓶，放在白色托盘里的任务应当：调整爪夹角度，使爪夹垂直于桌面，爪夹向爪夹的下方移动，到达药瓶的正上方。", + "time": 2.909433 + }, + { + "action_description": "爪夹向爪夹的下方调整爪夹角度，使爪夹垂直于药瓶。", + "annotations": { + "bbox_1767757578813": { + "instances": [ + { + "height": 0.0733333333333333, + "id": "bbox_1767757578813_1767766646543_45415dzsv", + "width": 0.039999999999999945, + "x": 0.4615, + "y": 0.37733333333333335 + } + ], + "type": "bbox" + }, + "bbox_1767757579005": { + "instances": [ + { + "height": 0.5693333333333332, + "id": "bbox_1767757579005_1767766637735_itugfbomg", + "width": 0.651, + "x": 0.11750000000000001, + "y": 0.4186666666666667 + } + ], + "type": "bbox" + }, + "point_1767757579813": { + "instances": [ + { + "id": "point_1767757579813_1767766640055_od2dyos8m", + "x": 0.42750000000000005, + "y": 0.396 + } + ], + "type": "point" + }, + "point_1767757579965": { + "instances": [ + { + "id": "point_1767757579965_1767766642559_97kdcawsm", + "x": 0.5225000000000001, + "y": 0.38666666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，到达白色托盘的正上方，松开爪夹，使药瓶落入白色托盘中。", + "error_success_analysis": "爪夹向爪夹的下方调整爪夹角度，垂直于药瓶的正上方。", + "frame": 122, + "progress": 20, + "progress_explanation": "当前爪夹张开，已经位于药瓶的正上方，因此进度提升至20%", + "state_description": "当前爪夹张开，垂直于药瓶的正上方。\n为完成拿起药瓶，放在白色托盘里的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶。", + "time": 4.082216373711339 + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶。", + "annotations": { + "bbox_1767757579005": { + "instances": [ + { + "height": 0.5706666666666665, + "id": "bbox_1767757579005_1767766656447_61ldfkax3", + "width": 0.655, + "x": 0.1155, + "y": 0.42533333333333334 + } + ], + "type": "bbox" + }, + "point_1767757579813": { + "instances": [ + { + "id": "point_1767757579813_1767766651487_xo271l5xb", + "x": 0.4665, + "y": 0.42533333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，到达白色托盘的正上方，松开爪夹，使药瓶落入白色托盘中。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取药瓶。\n", + "frame": 184, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取药瓶，因此进度提升为40%。\n", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到药瓶。\n为完成拿起药瓶，放在白色托盘里的任务应当：爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，到达白色托盘的正上方。", + "time": 6.143590882989692 + }, + { + "action_description": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近白色托盘。", + "annotations": { + "bbox_1767757578813": { + "instances": [ + { + "height": 0.09733333333333333, + "id": "bbox_1767757578813_1767766667951_rmaizrfm0", + "width": 0.046, + "x": 0.49450000000000005, + "y": 0.31333333333333335 + } + ], + "type": "bbox" + }, + "bbox_1767757579005": { + "instances": [ + { + "height": 0.5813333333333334, + "id": "bbox_1767757579005_1767766660783_asd8e80xa", + "width": 0.656, + "x": 0.1135, + "y": 0.404 + } + ], + "type": "bbox" + }, + "point_1767757579813": { + "instances": [ + { + "id": "point_1767757579813_1767766664063_8lgoouzlz", + "x": 0.49850000000000005, + "y": 0.37466666666666665 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹的左前方移动，到达白色托盘的正上方，松开爪夹，使药瓶落入白色托盘中。", + "error_success_analysis": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，在水平方向上接近白色托盘。", + "frame": 228, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住药瓶，并在水平方向上靠近白色托盘，因此进度提升至60%。", + "state_description": "当前爪夹合拢，已经抓住药瓶。\n为完成拿起药瓶，放在白色托盘里的任务应当：继续向爪夹的左前方移动，到达白色托盘的正上方。", + "time": 7.593733 + }, + { + "action_description": "爪夹向爪夹的左前方移动，到达白色托盘的正上方。", + "annotations": { + "bbox_1767757578813": { + "instances": [ + { + "height": 0.11733333333333344, + "id": "bbox_1767757578813_1767766672126_46oo8mjca", + "width": 0.054000000000000006, + "x": 0.5185000000000001, + "y": 0.5573333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767757579005": { + "instances": [ + { + "height": 0.5666666666666667, + "id": "bbox_1767757579005_1767766682414_tvd3mrfmn", + "width": 0.6519999999999999, + "x": 0.11950000000000001, + "y": 0.42533333333333334 + } + ], + "type": "bbox" + }, + "point_1767757579813": { + "instances": [ + { + "id": "point_1767757579813_1767766674502_0y215ln5h", + "x": 0.5245, + "y": 0.628 + } + ], + "type": "point" + }, + "point_1767757579965": { + "instances": [ + { + "id": "point_1767757579965_1767766676942_e75soexio", + "x": 0.5715, + "y": 0.6133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使药瓶落入白色托盘中。", + "error_success_analysis": "爪夹向爪夹的左前方移动，成功移动到白色托盘的正上方。", + "frame": 274, + "progress": 80, + "progress_explanation": "当前爪夹已抓住药瓶并移动至白色托盘的正上方，因此进度为80%。\n", + "state_description": "当前爪夹合找，抓住药瓶处于白色托盘的正上方。\n为完成拿起药瓶，放在白色托盘里的任务应当：松开爪夹，使药瓶落入白色托盘中。", + "time": 9.132699 + }, + { + "action_description": "爪夹松开，药瓶落下。", + "annotations": { + "bbox_1767757578813": { + "instances": [ + { + "height": 0.060000000000000026, + "id": "bbox_1767757578813_1767766697462_clqt80rri", + "width": 0.071, + "x": 0.46749999999999997, + "y": 0.6573333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767757579005": { + "instances": [ + { + "height": 0.5640000000000001, + "id": "bbox_1767757579005_1767766688558_wefwhlosm", + "width": 0.661, + "x": 0.1125, + "y": 0.42533333333333334 + } + ], + "type": "bbox" + }, + "point_1767757579813": { + "instances": [ + { + "id": "point_1767757579813_1767766691238_foz9bi6fk", + "x": 0.4875, + "y": 0.6253333333333334 + } + ], + "type": "point" + }, + "point_1767757579965": { + "instances": [ + { + "id": "point_1767757579965_1767766693838_xcbtmsc7p", + "x": 0.6085, + "y": 0.588 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，药瓶落入白色托盘里。\n", + "frame": 310, + "progress": 100, + "progress_explanation": "药瓶成功落入白色托盘里，因此进度提升至100%\n", + "state_description": "当前爪夹张开，药瓶落入白色托盘里。已完成拿起药瓶，放在白色托盘里的任务。\n", + "time": 10.345899 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767757578813", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767757579005", + "name": "白色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767757579813", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767757579965", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-034756-bad-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-034756-bad-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..135b8600119fd72953c93e98cbef8dfe422decfc --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-034756-bad-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,610 @@ +{ + "task_description": "拿起勺子，放在白色的托盘里。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近勺子：20%\n爪夹抓住勺子：40%\n爪夹抓住勺子并接近白色托盘：60%\n爪夹保持合拢并移动到白色托盘的上方：80%\n爪夹松开，使勺子落入白色托盘里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1767766863989": { + "instances": [ + { + "height": 0.2653333333333333, + "id": "bbox_1767766863989_1767768841413_991lm1j92", + "width": 0.08899999999999997, + "x": 0.6155, + "y": 0.44666666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767766864125": { + "instances": [ + { + "height": 0.5626666666666668, + "id": "bbox_1767766864125_1767768847429_o3kghm012", + "width": 0.719, + "x": 0.0405, + "y": 0.42933333333333334 + } + ], + "type": "bbox" + }, + "point_1767766864949": { + "instances": [ + { + "id": "point_1767766864949_1767768849981_vvpv24e8w", + "x": 0.3685, + "y": 0.39066666666666666 + } + ], + "type": "point" + }, + "point_1767766865101": { + "instances": [ + { + "id": "point_1767766865101_1767768852277_zjk0i67qf", + "x": 0.4715, + "y": 0.404 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，并调整爪夹的角度，爪夹向爪夹的左前方移动，并调整角度，靠近勺子，爪夹移动到勺子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取勺子，爪夹保持合拢，向爪夹的右前方移动，到白色托盘的正上方，松开爪夹，使勺子落入白色托盘中。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触勺子。\n为完成拿起勺子，放在白色的托盘里的任务应当：爪夹向爪夹的上方抬起，并调整爪夹的角度，爪夹向爪夹的左前方移动，并调整角度，靠近勺子。", + "time": 1.0262370912371133 + }, + { + "action_description": "爪夹向爪夹的上方抬起，并调整爪夹的角度。", + "annotations": { + "bbox_1767766863989": { + "instances": [ + { + "height": 0.26400000000000007, + "id": "bbox_1767766863989_1767768873741_xegd61xrw", + "width": 0.08499999999999996, + "x": 0.6205, + "y": 0.444 + } + ], + "type": "bbox" + }, + "bbox_1767766864125": { + "instances": [ + { + "height": 0.5693333333333334, + "id": "bbox_1767766864125_1767768869765_9li7bq8xe", + "width": 0.7190000000000001, + "x": 0.0435, + "y": 0.42266666666666663 + } + ], + "type": "bbox" + }, + "point_1767766864949": { + "instances": [ + { + "id": "point_1767766864949_1767768864533_6j0ypcksn", + "x": 0.3115, + "y": 0.308 + } + ], + "type": "point" + }, + "point_1767766865101": { + "instances": [ + { + "id": "point_1767766865101_1767768862437_3n18jj741", + "x": 0.4175, + "y": 0.35333333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动，并调整角度，靠近勺子，爪夹移动到勺子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取勺子，爪夹保持合拢，向爪夹的右前方移动，到白色托盘的正上方，松开爪夹，使勺子落入白色托盘中。", + "error_success_analysis": "爪夹向爪夹的上方抬起，在水平方向上略微接近勺子。", + "frame": 82, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近勺子并开始调整爪夹角度方便抓取，因此进度提升至10%。\n", + "state_description": "当前爪夹张开，与勺子的水平距离略微缩短。\n为完成拿起勺子，放在白色的托盘里的任务应当：爪夹向爪夹的左前方移动，并调整角度，靠近勺子。", + "time": 2.7445875695876287 + }, + { + "action_description": "爪夹向爪夹的左前方移动，并调整角度，靠近勺子。", + "annotations": { + "bbox_1767766863989": { + "instances": [ + { + "height": 0.2626666666666667, + "id": "bbox_1767766863989_1767768878437_q97y9rckb", + "width": 0.09399999999999994, + "x": 0.6115, + "y": 0.44666666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767766864125": { + "instances": [ + { + "height": 0.5586666666666666, + "id": "bbox_1767766864125_1767768882653_nohwx3mej", + "width": 0.716, + "x": 0.0475, + "y": 0.43066666666666664 + } + ], + "type": "bbox" + }, + "point_1767766864949": { + "instances": [ + { + "id": "point_1767766864949_1767768885365_40jzb7kwp", + "x": 0.5205, + "y": 0.4453333333333333 + } + ], + "type": "point" + }, + "point_1767766865101": { + "instances": [ + { + "id": "point_1767766865101_1767768887573_4i7nfdce4", + "x": 0.5945, + "y": 0.38666666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的左前方移动，移动到勺子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取勺子，爪夹保持合拢，向爪夹的右前方移动，到白色托盘的正上方，松开爪夹，使勺子落入白色托盘中。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近勺子，并使爪夹角度向垂直于桌面，方便抓取。\n", + "frame": 133, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上进一步接近勺子并调整完爪夹角度方便抓取，因此进度提升为20%。\n", + "state_description": "当前爪夹张开，与勺子的水平距离进一步缩短。\n为完成拿起勺子，放在白色的托盘里的任务应当：爪夹继续向爪夹的左前方移动，移动到勺子的正上方。", + "time": 4.444799 + }, + { + "action_description": "爪夹向爪夹的左前方移动，移动到勺子的正上方。", + "annotations": { + "bbox_1767766863989": { + "instances": [ + { + "height": 0.256, + "id": "bbox_1767766863989_1767768897453_s11y7jprv", + "width": 0.08499999999999996, + "x": 0.6195, + "y": 0.45066666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767766864125": { + "instances": [ + { + "height": 0.5573333333333333, + "id": "bbox_1767766864125_1767768903245_9562ijdy1", + "width": 0.722, + "x": 0.0375, + "y": 0.43066666666666664 + } + ], + "type": "bbox" + }, + "point_1767766864949": { + "instances": [ + { + "id": "point_1767766864949_1767768892765_aiml81319", + "x": 0.6705, + "y": 0.5546666666666666 + } + ], + "type": "point" + }, + "point_1767766865101": { + "instances": [ + { + "id": "point_1767766865101_1767768890565_plp9zih8u", + "x": 0.7165, + "y": 0.48000000000000004 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方调整角度，使爪夹垂直于勺子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取勺子，爪夹保持合拢，向爪夹的右前方移动，到白色托盘的正上方，松开爪夹，使勺子落入白色托盘中。", + "error_success_analysis": "爪夹向爪夹的左前方移动，水平方向上成功接勺子，到达勺子的正上方，准备抓取。", + "frame": 173, + "progress": 30, + "progress_explanation": "当前爪夹已成功移动至勺子的正上方，因此进度提升至30%。\n", + "state_description": "当前爪夹张开，到达勺子的正上方。\n为完成拿起勺子，放在白色的托盘里的任务应当：爪夹向爪夹的下方调整角度，使爪夹垂直于勺子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取勺子。", + "time": 5.76761155927835 + }, + { + "action_description": "爪夹合拢，进行抓取动作。", + "annotations": { + "bbox_1767766863989": { + "instances": [ + { + "height": 0.24133333333333334, + "id": "bbox_1767766863989_1767768916396_nyhnypiw7", + "width": 0.09299999999999997, + "x": 0.6145, + "y": 0.464 + } + ], + "type": "bbox" + }, + "bbox_1767766864125": { + "instances": [ + { + "height": 0.5693333333333334, + "id": "bbox_1767766864125_1767768908261_p49tn4san", + "width": 0.7150000000000001, + "x": 0.0465, + "y": 0.42266666666666663 + } + ], + "type": "bbox" + }, + "point_1767766864949": { + "instances": [ + { + "id": "point_1767766864949_1767768912029_7tc5e48dt", + "x": 0.6985, + "y": 0.5453333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，并向爪夹的下方调整角度，使爪夹垂直于勺子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取勺子，爪夹保持合拢，向爪夹的右前方移动，到白色托盘的正上方，松开爪夹，使勺子落入白色托盘中。", + "error_success_analysis": "爪夹没有向爪夹的下方移动，并抓取勺子，而是直接合拢爪夹，进行抓取动作。", + "frame": 219, + "progress": 20, + "progress_explanation": "当前爪夹合拢，没有抓到勺子，同上一步比，爪夹需要张开，才能接近勺子，因此进度下降至20%。", + "state_description": "当前爪夹合拢，未能抓到勺子。\n为完成拿起勺子，放在白色的托盘里的任务应当：爪夹张开，并向爪夹的下方调整角度，使爪夹垂直于勺子的正上方。", + "time": 7.299966 + }, + { + "action_description": "爪夹松开，并向爪夹的下方移动。", + "annotations": { + "bbox_1767766863989": { + "instances": [ + { + "height": 0.2293333333333333, + "id": "bbox_1767766863989_1767768923308_jrhf7jwix", + "width": 0.09700000000000006, + "x": 0.6134999999999999, + "y": 0.4826666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767766864125": { + "instances": [ + { + "height": 0.5586666666666666, + "id": "bbox_1767766864125_1767768927948_3lx7ym20y", + "width": 0.712, + "x": 0.0465, + "y": 0.43066666666666664 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取勺子，爪夹保持合拢，向爪夹的右前方移动，到白色托盘的正上方，松开爪夹，使勺子落入白色托盘中。", + "error_success_analysis": "爪夹松开，并向爪夹的下方移动，成功移动到勺子的正上方。", + "frame": 241, + "progress": 30, + "progress_explanation": "当前爪夹张开，在水平方向上已经移动到勺子的正上方，因此进度提升至30%。", + "state_description": "当前爪夹张开，垂直于勺子的正上方。\n为完成拿起勺子，放在白色的托盘里的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取勺子。", + "time": 8.042834877835052 + }, + { + "action_description": "爪夹向爪夹的左上方移动，将快递箱碰倒，并远离勺子。", + "annotations": { + "bbox_1767766863989": { + "instances": [ + { + "height": 0.26133333333333336, + "id": "bbox_1767766863989_1767768942972_wh1qzxyrv", + "width": 0.08999999999999994, + "x": 0.6145, + "y": 0.44666666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767766864125": { + "instances": [ + { + "height": 0.568, + "id": "bbox_1767766864125_1767768933204_g80y9ngv0", + "width": 0.724, + "x": 0.0385, + "y": 0.4266666666666667 + } + ], + "type": "bbox" + }, + "point_1767766864949": { + "instances": [ + { + "id": "point_1767766864949_1767768935924_g3l9tngxl", + "x": 0.9415000000000001, + "y": 0.3706666666666667 + } + ], + "type": "point" + }, + "point_1767766865101": { + "instances": [ + { + "id": "point_1767766865101_1767768938484_95a3ropar", + "x": 0.9795, + "y": 0.23733333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右下方移动，移动到勺子的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取勺子，爪夹保持合拢，向爪夹的右前方移动，到白色托盘的正上方，松开爪夹，使勺子落入白色托盘中。", + "error_success_analysis": "爪夹向爪夹的左上方移动，在水平方向上远离了勺子。", + "frame": 278, + "progress": 20, + "progress_explanation": "当前爪夹已经远离勺子，因此进度下降至20%。", + "state_description": "当前爪夹张开，在水平方向上远离了勺子。\n为完成拿起勺子，放在白色的托盘里的任务应当：爪夹向爪夹的右下方移动，移动到勺子的正上方。", + "time": 9.275433 + }, + { + "action_description": "爪夹向爪夹的右下方移动，移动到勺子的正上方。", + "annotations": { + "bbox_1767766863989": { + "instances": [ + { + "height": 0.24666666666666667, + "id": "bbox_1767766863989_1767768947188_0v85dcnbp", + "width": 0.09099999999999993, + "x": 0.6145, + "y": 0.45733333333333337 + } + ], + "type": "bbox" + }, + "bbox_1767766864125": { + "instances": [ + { + "height": 0.5599999999999999, + "id": "bbox_1767766864125_1767768952100_ohdqlofh5", + "width": 0.715, + "x": 0.0445, + "y": 0.43066666666666664 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取勺子，爪夹保持合拢，向爪夹的右前方移动，到白色托盘的正上方，松开爪夹，使勺子落入白色托盘中。", + "error_success_analysis": "爪夹向爪夹的右下方移动，成功移动到勺子的正上方。", + "frame": 307, + "progress": 30, + "progress_explanation": "当前爪夹张开，已经移动到勺子的正上方，因此进度提升至30%。", + "state_description": "当前爪夹张开，在水平方向上垂直于勺子的正上方。\n为完成拿起勺子，放在白色的托盘里的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取勺子。", + "time": 10.222594280927835 + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取勺子。", + "annotations": { + "bbox_1767766864125": { + "instances": [ + { + "height": 0.5613333333333334, + "id": "bbox_1767766864125_1767768958996_yikxe0guj", + "width": 0.7150000000000001, + "x": 0.0435, + "y": 0.43333333333333335 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢，向爪夹的右前方移动，到白色托盘的正上方，松开爪夹，使勺子落入白色托盘中。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取勺子。\n", + "frame": 349, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取勺子，因此进度提升为40%。\n", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到勺子。\n为完成拿起勺子，放在白色的托盘里的任务应当：爪夹保持合拢，向爪夹的右前方移动，到白色托盘的正上方。", + "time": 11.636733 + }, + { + "action_description": "爪夹保持合拢，向爪夹的右前方移动，靠近勺子。", + "annotations": { + "bbox_1767766863989": { + "instances": [ + { + "height": 0.30933333333333335, + "id": "bbox_1767766863989_1767768971468_1h6uw4dob", + "width": 0.20999999999999996, + "x": 0.5775, + "y": 0.388 + } + ], + "type": "bbox" + }, + "bbox_1767766864125": { + "instances": [ + { + "height": 0.5653333333333334, + "id": "bbox_1767766864125_1767768964260_hbitn9lc8", + "width": 0.72, + "x": 0.0395, + "y": 0.43200000000000005 + } + ], + "type": "bbox" + }, + "point_1767766864949": { + "instances": [ + { + "id": "point_1767766864949_1767768966668_s2ripy8ao", + "x": 0.6345, + "y": 0.5333333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹的右前方移动，到白色托盘的正上方，松开爪夹，使勺子落入白色托盘中。", + "error_success_analysis": "爪夹成功抓取勺子，并在向着白色托盘的方向靠近。\n", + "frame": 385, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住勺子，并在水平方向上靠近白色托盘，因此进度提升至60%。\n", + "state_description": "当前爪夹合拢，抓住勺子，在水平方向上接近白色托盘。\n为完成拿起勺子，放在白色的托盘里的任务应当：继续向爪夹的右前方移动，到白色托盘的正上方，松开爪夹，使勺子落入白色托盘中。", + "time": 12.825099 + }, + { + "action_description": "爪夹向爪夹的右前方移动，到白色托盘的正上方。", + "annotations": { + "bbox_1767766863989": { + "instances": [ + { + "height": 0.31200000000000006, + "id": "bbox_1767766863989_1767768977900_p99ie9kk8", + "width": 0.18100000000000005, + "x": 0.40449999999999997, + "y": 0.37466666666666665 + } + ], + "type": "bbox" + }, + "bbox_1767766864125": { + "instances": [ + { + "height": 0.5653333333333334, + "id": "bbox_1767766864125_1767768987412_14vsgabkd", + "width": 0.719, + "x": 0.0445, + "y": 0.428 + } + ], + "type": "bbox" + }, + "point_1767766864949": { + "instances": [ + { + "id": "point_1767766864949_1767768980284_bweztbd0t", + "x": 0.4325, + "y": 0.5386666666666666 + } + ], + "type": "point" + }, + "point_1767766865101": { + "instances": [ + { + "id": "point_1767766865101_1767768982332_61d1322sf", + "x": 0.48550000000000004, + "y": 0.5773333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使勺子落入白色托盘中。", + "error_success_analysis": "爪夹已经抓取到勺子，并移动到了白色托盘的正上方。\n", + "frame": 405, + "progress": 80, + "progress_explanation": "当前爪夹已抓住勺子并移动至白色托盘的正上方，因此进度为80%。\n", + "state_description": "当前爪夹合找，抓住勺子处于白色托盘的正上方。\n为完成拿起勺子，放在白色的托盘里的任务应当：松开爪夹，使勺子落入白色托盘中。", + "time": 13.50018871185567 + }, + { + "action_description": "爪夹张开，勺子落下。\n", + "annotations": { + "bbox_1767766863989": { + "instances": [ + { + "height": 0.3360000000000001, + "id": "bbox_1767766863989_1767769003108_h2w8x4b3n", + "width": 0.11600000000000002, + "x": 0.3715, + "y": 0.628 + } + ], + "type": "bbox" + }, + "bbox_1767766864125": { + "instances": [ + { + "height": 0.5613333333333334, + "id": "bbox_1767766864125_1767768992915_zmt3ai1mv", + "width": 0.719, + "x": 0.0405, + "y": 0.43200000000000005 + } + ], + "type": "bbox" + }, + "point_1767766864949": { + "instances": [ + { + "id": "point_1767766864949_1767769005988_j77s6hhya", + "x": 0.3505, + "y": 0.5146666666666666 + } + ], + "type": "point" + }, + "point_1767766865101": { + "instances": [ + { + "id": "point_1767766865101_1767769008283_4sciagtjk", + "x": 0.4625, + "y": 0.5920000000000001 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，勺子落入白色托盘中。\n", + "frame": 430, + "progress": 100, + "progress_explanation": "勺子成功落入白色托盘中，因此进度提升至100%\n", + "state_description": "当前爪夹张开，勺子落入白色托盘里。已完成拿起勺子，放在白色的托盘里的任务。\n", + "time": 14.322133 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767766863989", + "name": "勺子" + }, + { + "color": "#FF9800", + "id": "bbox_1767766864125", + "name": "白色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767766864949", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767766865101", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..3d49033340fa15c2a2be62ba2429ef2ee7890c13 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,426 @@ +{ + "task_description": "拿起药瓶，放入碗中。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近药瓶：20%\n爪夹抓住药瓶：40%\n爪夹抓住药瓶并接近碗：60%\n爪夹保持合拢并移动到碗的上方：80%\n爪夹松开，使药瓶落入碗中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767778512322": { + "instances": [ + { + "height": 0.0973333333333334, + "id": "bbox_1767778512322_1767779769576_upjxmp51v", + "width": 0.038999999999999965, + "x": 0.4605, + "y": 0.5613333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767778512466": { + "instances": [ + { + "height": 0.24933333333333335, + "id": "bbox_1767778512466_1767779773488_f419zqb8d", + "width": 0.1789999999999999, + "x": 0.6095, + "y": 0.6920000000000001 + } + ], + "type": "bbox" + }, + "point_1767778513066": { + "instances": [ + { + "id": "point_1767778513066_1767779776040_8xi92f82l", + "x": 0.44750000000000006, + "y": 0.4053333333333333 + } + ], + "type": "point" + }, + "point_1767778513241": { + "instances": [ + { + "id": "point_1767778513241_1767779778560_bw3ydpbz6", + "x": 0.4845, + "y": 0.40800000000000003 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的左前方移动，同时张开爪夹，调整爪夹角度，向爪夹的左下方移动，使爪夹垂直于药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近碗，爪夹移动至碗的正上方，爪夹松开，使药瓶落入碗中。", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触药瓶。\n为完成拿起药瓶，放入碗中的任务应当：爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近药瓶。", + "time": 1.9423710912371133 + }, + { + "action_description": "爪夹向爪夹的上方抬起，并向爪夹的左前方移动，靠近药瓶。", + "annotations": { + "bbox_1767778512322": { + "instances": [ + { + "height": 0.09733333333333327, + "id": "bbox_1767778512322_1767779796439_9ekv9kqak", + "width": 0.03799999999999999, + "x": 0.4585, + "y": 0.5640000000000001 + } + ], + "type": "bbox" + }, + "bbox_1767778512466": { + "instances": [ + { + "height": 0.24533333333333332, + "id": "bbox_1767778512466_1767779787591_qbgqwdot6", + "width": 0.18099999999999997, + "x": 0.6065, + "y": 0.6973333333333334 + } + ], + "type": "bbox" + }, + "point_1767778513066": { + "instances": [ + { + "id": "point_1767778513066_1767779789432_mi2gd12ai", + "x": 0.41450000000000004, + "y": 0.31333333333333335 + } + ], + "type": "point" + }, + "point_1767778513241": { + "instances": [ + { + "id": "point_1767778513241_1767779792111_5j3pvraj7", + "x": 0.4605, + "y": 0.3106666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "张开爪夹，调整爪夹角度，向爪夹的左下方移动，使爪夹垂直于药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近碗，爪夹移动至碗的正上方，爪夹松开，使药瓶落入碗中。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并向爪夹的左前方移动，水平方向上成功接近药瓶。", + "frame": 107, + "progress": 10, + "progress_explanation": "当前爪夹开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与药瓶的水平距离略微缩短。\n为完成拿起药瓶，放入碗中的任务应当：张开爪夹，调整爪夹角度，向爪夹的左下方移动，使爪夹垂直于药瓶的正上方。", + "time": 3.556333 + }, + { + "action_description": "爪夹向爪夹的前方移动，同时张开爪夹。", + "annotations": { + "bbox_1767778512322": { + "instances": [ + { + "height": 0.0986666666666667, + "id": "bbox_1767778512322_1767779801152_wxdvmghfe", + "width": 0.03600000000000003, + "x": 0.4615, + "y": 0.5626666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767778512466": { + "instances": [ + { + "height": 0.24400000000000002, + "id": "bbox_1767778512466_1767779810807_npjb6zswn", + "width": 0.179, + "x": 0.6105, + "y": 0.6946666666666667 + } + ], + "type": "bbox" + }, + "point_1767778513066": { + "instances": [ + { + "id": "point_1767778513066_1767779803671_9tf36rl9c", + "x": 0.3825, + "y": 0.46266666666666667 + } + ], + "type": "point" + }, + "point_1767778513241": { + "instances": [ + { + "id": "point_1767778513241_1767779805815_60qlbf100", + "x": 0.5005, + "y": 0.464 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左下方移动，使爪夹垂直于药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近碗，爪夹移动至碗的正上方，爪夹松开，使药瓶落入碗中。", + "error_success_analysis": "爪夹向爪夹的前方移动，同时张开爪夹，水平方向上成功接近药瓶。", + "frame": 131, + "progress": 20, + "progress_explanation": "当前爪夹张开，在水平方向上进一步接近药瓶，因此进度提升至20%。", + "state_description": "当前爪夹张开，与药瓶的水平距离进一步缩短。\n为完成拿起药瓶，放入碗中的任务应当：爪夹向爪夹的左下方移动，使爪夹垂直于药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶。", + "time": 4.373533 + }, + { + "action_description": "爪夹向爪夹的左下方移动，使爪夹垂直于药瓶的正上方。", + "annotations": { + "bbox_1767778512322": { + "instances": [ + { + "height": 0.0973333333333334, + "id": "bbox_1767778512322_1767779823919_bwpcchhwn", + "width": 0.03600000000000003, + "x": 0.4615, + "y": 0.5613333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767778512466": { + "instances": [ + { + "height": 0.24666666666666662, + "id": "bbox_1767778512466_1767779815399_xuy7nwcex", + "width": 0.17699999999999996, + "x": 0.6115, + "y": 0.6933333333333334 + } + ], + "type": "bbox" + }, + "point_1767778513066": { + "instances": [ + { + "id": "point_1767778513066_1767779817431_74nb15wbe", + "x": 0.4365, + "y": 0.5800000000000001 + } + ], + "type": "point" + }, + "point_1767778513241": { + "instances": [ + { + "id": "point_1767778513241_1767779819807_3vqy1lsuh", + "x": 0.5315000000000001, + "y": 0.5693333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近碗，爪夹移动至碗的正上方，爪夹松开，使药瓶落入碗中。", + "error_success_analysis": "爪夹向爪夹的左下方移动，水平方向上成功接近药瓶，到达药瓶的正上方，准备抓取。", + "frame": 168, + "progress": 30, + "progress_explanation": "当前爪夹已成功移动至药瓶的正上方，因此进度提升至30%。", + "state_description": "当前爪夹张开，到达药瓶的正上方。\n为完成拿起药瓶，放入碗中的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶。", + "time": 5.608694034536083 + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶。", + "annotations": { + "bbox_1767778512466": { + "instances": [ + { + "height": 0.2586666666666667, + "id": "bbox_1767778512466_1767779830935_iqp2s4lga", + "width": 0.176, + "x": 0.6125, + "y": 0.6880000000000001 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近碗，爪夹移动至碗的正上方，爪夹松开，使药瓶落入碗中。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取药瓶。", + "frame": 212, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取药瓶，因此进度提升为40%。", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到药瓶。\n为完成拿起药瓶，放入碗中的任务应当：爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近碗。", + "time": 7.082399 + }, + { + "action_description": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近碗。", + "annotations": { + "bbox_1767778512322": { + "instances": [ + { + "height": 0.128, + "id": "bbox_1767778512322_1767779841695_imy91t484", + "width": 0.06000000000000005, + "x": 0.5415, + "y": 0.5693333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767778512466": { + "instances": [ + { + "height": 0.2546666666666667, + "id": "bbox_1767778512466_1767779835575_mf54a82kb", + "width": 0.18100000000000005, + "x": 0.6045, + "y": 0.6880000000000001 + } + ], + "type": "bbox" + }, + "point_1767778513241": { + "instances": [ + { + "id": "point_1767778513241_1767779838135_lnxf560oc", + "x": 0.5985, + "y": 0.6213333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动，移动到碗的正上方，爪夹松开，使药瓶落入碗中。", + "error_success_analysis": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近碗，在水平方向上接近碗。", + "frame": 258, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住药瓶，并在水平方向上靠近碗，因此进度提升至60%。", + "state_description": "当前爪夹合拢，已经抓住药瓶，在水平方向上接近碗。\n为完成拿起药瓶，放入碗中的任务应当：爪夹向爪夹的左前方移动，移动到碗的正上方。", + "time": 8.595733 + }, + { + "action_description": "爪夹向爪夹的左前方移动，移动到碗的正上方。", + "annotations": { + "bbox_1767778512322": { + "instances": [ + { + "height": 0.13333333333333333, + "id": "bbox_1767778512322_1767779846183_o9ys1g45s", + "width": 0.06199999999999992, + "x": 0.6975, + "y": 0.6826666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767778512466": { + "instances": [ + { + "height": 0.24400000000000002, + "id": "bbox_1767778512466_1767779852607_dszw9e5hz", + "width": 0.17799999999999994, + "x": 0.6105, + "y": 0.6933333333333334 + } + ], + "type": "bbox" + }, + "point_1767778513241": { + "instances": [ + { + "id": "point_1767778513241_1767779848734_4ljrztg6p", + "x": 0.7545, + "y": 0.7333333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，使药瓶落入碗中。", + "error_success_analysis": "爪夹向爪夹的左前方移动，成功移动到碗的正上方。", + "frame": 284, + "progress": 80, + "progress_explanation": "当前爪夹已抓住药瓶并移动至碗的正上方，因此进度为80%。", + "state_description": "当前爪夹合找，抓住药瓶处于碗的正上方。\n为完成拿起药瓶，放入碗中的任务应当：爪夹松开，使药瓶落入碗中。", + "time": 9.473466 + }, + { + "action_description": "爪夹松开，药瓶落下。", + "annotations": { + "bbox_1767778512322": { + "instances": [ + { + "height": 0.10533333333333333, + "id": "bbox_1767778512322_1767779862823_uq1yd9qnf", + "width": 0.07999999999999999, + "x": 0.6605000000000001, + "y": 0.7533333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767778512466": { + "instances": [ + { + "height": 0.2413333333333333, + "id": "bbox_1767778512466_1767779859247_okzczku00", + "width": 0.18, + "x": 0.6085, + "y": 0.6933333333333334 + } + ], + "type": "bbox" + }, + "point_1767778513066": { + "instances": [ + { + "id": "point_1767778513066_1767779864871_l6hb470f9", + "x": 0.7235, + "y": 0.6906666666666667 + } + ], + "type": "point" + }, + "point_1767778513241": { + "instances": [ + { + "id": "point_1767778513241_1767779867431_qxz00xycd", + "x": 0.8255000000000001, + "y": 0.616 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，药瓶成功落入碗中。", + "frame": 306, + "progress": 100, + "progress_explanation": "当前药瓶成功落入碗中，因此进度提升至100%。", + "state_description": "当前药瓶已经落入碗中，已经完成拿起药瓶，放入碗中的任务。", + "time": 10.214999 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767778512322", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767778512466", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767778513066", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767778513241", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..b95880e4f749fbea29dd31df0433e1e8459daf31 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,448 @@ +{ + "task_description": "拿起玉米，放入碗中。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近玉米：20%\n爪夹抓住玉米：40%\n爪夹抓住玉米并接近碗：60%\n爪夹保持合拢并移动到碗的上方：80%\n爪夹松开，使玉米落入碗里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767835482282": { + "instances": [ + { + "height": 0.09333333333333335, + "id": "bbox_1767835482282_1767838113282_1f0jny98z", + "width": 0.13099999999999995, + "x": 0.5645, + "y": 0.35333333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767835482442": { + "instances": [ + { + "height": 0.21600000000000003, + "id": "bbox_1767835482442_1767838118754_vsdmwmkji", + "width": 0.171, + "x": 0.1285, + "y": 0.4266666666666667 + } + ], + "type": "bbox" + }, + "point_1767835483250": { + "instances": [ + { + "id": "point_1767835483250_1767838122452_aph8e5xlb", + "x": 0.3525, + "y": 0.36933333333333335 + } + ], + "type": "point" + }, + "point_1767835483402": { + "instances": [ + { + "id": "point_1767835483402_1767838125164_q04xzv87e", + "x": 0.4305, + "y": 0.39866666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，并调整爪夹角度，爪夹向爪夹的左侧移动，靠近玉米，爪夹移动至玉米的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取玉米，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，靠近碗，爪夹移动至碗的正上方，爪夹松开，使玉米落入碗中。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触玉米。\n为完成拿起玉米，放入碗中的任务应当：爪夹向爪夹的上方抬起，并调整爪夹角度，爪夹向爪夹的左侧移动，靠近玉米。", + "time": 1.6508247077319589 + }, + { + "action_description": "爪夹向爪夹的上方抬起，并调整爪夹角度。", + "annotations": { + "bbox_1767835482282": { + "instances": [ + { + "height": 0.0933333333333333, + "id": "bbox_1767835482282_1767838144228_zfhfn64za", + "width": 0.12999999999999998, + "x": 0.5645, + "y": 0.35200000000000004 + } + ], + "type": "bbox" + }, + "bbox_1767835482442": { + "instances": [ + { + "height": 0.21600000000000008, + "id": "bbox_1767835482442_1767838140140_qxdlxwfc5", + "width": 0.175, + "x": 0.1275, + "y": 0.42533333333333334 + } + ], + "type": "bbox" + }, + "point_1767835483250": { + "instances": [ + { + "id": "point_1767835483250_1767838135164_f90raeb1e", + "x": 0.2985, + "y": 0.308 + } + ], + "type": "point" + }, + "point_1767835483402": { + "instances": [ + { + "id": "point_1767835483402_1767838128764_1pa4yz13q", + "x": 0.3835, + "y": 0.332 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左侧移动，靠近玉米，爪夹移动至玉米的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取玉米，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，靠近碗，爪夹移动至碗的正上方，爪夹松开，使玉米落入碗中。", + "error_success_analysis": "爪夹向爪夹的上方移动，并调整爪夹角度，水平方向上略微接近玉米。", + "frame": 94, + "progress": 10, + "progress_explanation": "当前爪夹开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与水平方向呈60度角，与玉米的水平距离略微缩短。\n为完成拿起玉米，放入碗中的任务应当：爪夹向爪夹的左侧移动，靠近玉米，爪夹移动至玉米的正上方。", + "time": 3.145601308762887 + }, + { + "action_description": "爪夹向爪夹的左侧移动，靠近玉米。", + "annotations": { + "bbox_1767835482282": { + "instances": [ + { + "height": 0.09599999999999996, + "id": "bbox_1767835482282_1767838149284_4p6frty62", + "width": 0.13399999999999998, + "x": 0.5625, + "y": 0.35733333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767835482442": { + "instances": [ + { + "height": 0.20933333333333332, + "id": "bbox_1767835482442_1767838160396_6pcd2pryl", + "width": 0.178, + "x": 0.12350000000000001, + "y": 0.43066666666666664 + } + ], + "type": "bbox" + }, + "point_1767835483250": { + "instances": [ + { + "id": "point_1767835483250_1767838154660_oeu8ijchx", + "x": 0.48250000000000004, + "y": 0.38266666666666665 + } + ], + "type": "point" + }, + "point_1767835483402": { + "instances": [ + { + "id": "point_1767835483402_1767838152340_zr4bncmka", + "x": 0.5675, + "y": 0.36533333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左侧移动，爪夹移动至玉米的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取玉米，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，靠近碗，爪夹移动至碗的正上方，爪夹松开，使玉米落入碗中。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近玉米，并使爪夹角度向垂直于桌面，方便抓取。", + "frame": 127, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上进一步接近玉米并调整完爪夹角度方便抓取，因此进度提升为20%。\n", + "state_description": "当前爪夹张开，与玉米的水平距离进一步缩短。\n为完成拿起玉米，放入碗中的任务应当：爪夹向爪夹的左侧移动，爪夹移动至玉米的正上方。", + "time": 4.246151113917525 + }, + { + "action_description": "爪夹向爪夹的左侧移动，到达玉米的正上方。", + "annotations": { + "bbox_1767835482282": { + "instances": [ + { + "height": 0.092, + "id": "bbox_1767835482282_1767838175843_zchgl2ukl", + "width": 0.133, + "x": 0.5625, + "y": 0.35733333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767835482442": { + "instances": [ + { + "height": 0.2146666666666667, + "id": "bbox_1767835482442_1767838182925_m33v4ilsy", + "width": 0.17300000000000001, + "x": 0.1285, + "y": 0.428 + } + ], + "type": "bbox" + }, + "point_1767835483250": { + "instances": [ + { + "id": "point_1767835483250_1767838169796_4bk53w0zo", + "x": 0.6195, + "y": 0.4066666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取玉米，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，靠近碗，爪夹移动至碗的正上方，爪夹松开，使玉米落入碗中。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，水平方向上成功接近玉米，到达玉米的正上方，准备抓取。", + "frame": 165, + "progress": 30, + "progress_explanation": "当前爪夹已成功移动至玉米的正上方，因此进度提升至30%。", + "state_description": "当前爪夹张开，到达玉米的正上方。\n为完成拿起玉米，放入碗中的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取玉米。", + "time": 5.510962084020618 + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取玉米。", + "annotations": { + "bbox_1767835482282": { + "instances": [ + { + "height": 0.1333333333333334, + "id": "bbox_1767835482282_1767838216981_c9gwchyrd", + "width": 0.10999999999999996, + "x": 0.5775, + "y": 0.3426666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767835482442": { + "instances": [ + { + "height": 0.2133333333333334, + "id": "bbox_1767835482442_1767838213365_zdi0u2nbi", + "width": 0.176, + "x": 0.1265, + "y": 0.428 + } + ], + "type": "bbox" + }, + "point_1767835483250": { + "instances": [ + { + "id": "point_1767835483250_1767838219245_058ssuy5d", + "x": 0.5905, + "y": 0.42933333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，靠近碗，爪夹移动至碗的正上方，爪夹松开，使玉米落入碗中。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取玉米。", + "frame": 211, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取玉米，因此进度提升为40%。", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到玉米。\n为完成拿起玉米，放入碗中的任务应当：爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，靠近碗。", + "time": 7.042533 + }, + { + "action_description": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，靠近碗", + "annotations": { + "bbox_1767835482282": { + "instances": [ + { + "height": 0.13066666666666665, + "id": "bbox_1767835482282_1767838228821_etk5mne4l", + "width": 0.10700000000000003, + "x": 0.5705, + "y": 0.26666666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767835482442": { + "instances": [ + { + "height": 0.21200000000000005, + "id": "bbox_1767835482442_1767838233981_hezzanfmp", + "width": 0.177, + "x": 0.12250000000000001, + "y": 0.43066666666666664 + } + ], + "type": "bbox" + }, + "point_1767835483250": { + "instances": [ + { + "id": "point_1767835483250_1767838222533_w3nas56nk", + "x": 0.5745, + "y": 0.356 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，爪夹移动至碗的正上方，爪夹松开，使玉米落入碗中。", + "error_success_analysis": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左侧移动，在水平方向上接近碗。", + "frame": 246, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住玉米，并在水平方向上靠近碗，因此进度提升至60%。", + "state_description": "当前爪夹合拢，已经抓住玉米。\n为完成拿起玉米，放入碗中的任务应当：爪夹向爪夹的右前方移动，爪夹移动至碗的正上方。", + "time": 8.189733 + }, + { + "action_description": "爪夹向爪夹的右前方移动，爪夹移动至碗的正上方。", + "annotations": { + "bbox_1767835482282": { + "instances": [ + { + "height": 0.09733333333333336, + "id": "bbox_1767835482282_1767838245278_9e990ypqc", + "width": 0.119, + "x": 0.1705, + "y": 0.19333333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767835482442": { + "instances": [ + { + "height": 0.2106666666666666, + "id": "bbox_1767835482442_1767838238789_qox2jeoed", + "width": 0.174, + "x": 0.1275, + "y": 0.42933333333333334 + } + ], + "type": "bbox" + }, + "point_1767835483402": { + "instances": [ + { + "id": "point_1767835483402_1767838241182_2ahfxqx9o", + "x": 0.2515, + "y": 0.2986666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动并松开，使玉米落入碗中。", + "error_success_analysis": "爪夹向爪夹的右前方移动，成功移动到碗的正上方。", + "frame": 276, + "progress": 80, + "progress_explanation": "当前爪夹已抓住药瓶并移动至碗的正上方，因此进度为80%。", + "state_description": "当前爪夹合找，抓住药瓶处于碗的正上方。\n为完成拿起玉米，放入碗中的任务应当：爪夹向爪夹的下方移动并松开，使玉米落入碗中。", + "time": 9.193533 + }, + { + "action_description": "爪夹向爪夹的下方移动并松开爪夹，使玉米落入碗中。", + "annotations": { + "bbox_1767835482282": { + "instances": [ + { + "height": 0.14533333333333331, + "id": "bbox_1767835482282_1767838250278_ue7i56j34", + "width": 0.12699999999999997, + "x": 0.14450000000000002, + "y": 0.45466666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767835482442": { + "instances": [ + { + "height": 0.21733333333333338, + "id": "bbox_1767835482442_1767838264030_gem8r2nhz", + "width": 0.178, + "x": 0.12350000000000001, + "y": 0.42533333333333334 + } + ], + "type": "bbox" + }, + "point_1767835483250": { + "instances": [ + { + "id": "point_1767835483250_1767838253966_1uhspr2dt", + "x": 0.1605, + "y": 0.40800000000000003 + } + ], + "type": "point" + }, + "point_1767835483402": { + "instances": [ + { + "id": "point_1767835483402_1767838256406_d1nwmn3e1", + "x": 0.2375, + "y": 0.5013333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹向爪夹的下方移动并松开爪夹，玉米成功落入碗中。", + "frame": 321, + "progress": 100, + "progress_explanation": "当前玉米成功落入碗中，因此进度提升至100%。", + "state_description": "当前爪夹松开，玉米成功落入碗中，已经完成拿起玉米，放入碗中的任务。", + "time": 10.691266 + }, + { + "action_description": "爪夹向爪夹的左下方移动，随后向爪夹的右上方移动，并将碗掀起，使碗和玉米落在桌子下方。", + "correction_plan": "", + "error_success_analysis": "爪夹向爪夹的左下方移动，随后向爪夹的右上方移动，将碗和碗中的玉米掀落在地。", + "frame": 436, + "progress": 0, + "progress_explanation": "当前爪夹张开，玉米和碗落在地上，因此进度下降至0%。", + "state_description": "当前爪夹张开，在水平方向上玉米和碗处于地面上，任务失败。", + "time": 14.528900039690718 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767835482282", + "name": "玉米" + }, + { + "color": "#FF9800", + "id": "bbox_1767835482442", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767835483250", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767835483402", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..5db8ba57a6363c9060fd6cce8e35215bf4e77bfe --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,456 @@ +{ + "task_description": "拿起药瓶，放入电饭煲内锅中。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近药瓶：20%\n爪夹抓住药瓶：40%\n爪夹抓住药瓶并接近电饭煲内锅：60%\n爪夹保持合拢并移动到电饭煲内锅的上方：80%\n爪夹松开，使药瓶落入电饭煲内锅中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767838840546": { + "instances": [ + { + "height": 0.0933333333333333, + "id": "bbox_1767838840546_1767841647586_kzc9g87ie", + "width": 0.046, + "x": 0.337, + "y": 0.37679999796549485 + } + ], + "type": "bbox" + }, + "bbox_1767838840730": { + "instances": [ + { + "height": 0.3, + "id": "bbox_1767838840730_1767841657330_m0jqsic1t", + "width": 0.23399999999999999, + "x": 0.06, + "y": 0.46346666463216146 + } + ], + "type": "bbox" + }, + "point_1767838841338": { + "instances": [ + { + "id": "point_1767838841338_1767841650450_ng2xvgdsw", + "x": 0.378, + "y": 0.3794666646321615 + } + ], + "type": "point" + }, + "point_1767838841506": { + "instances": [ + { + "id": "point_1767838841506_1767841653153_qdgsd94z3", + "x": 0.47800000000000004, + "y": 0.40746666463216147 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，并调整爪夹角度，接着向爪夹的右侧移动，到达药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，靠近电饭煲内锅，爪夹移动至电饭煲内锅的正上方，爪夹保持合拢，爪夹松开，药瓶落入电饭煲内锅中。", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触药瓶。\n为完成拿起药瓶，放入电饭煲内锅中的任务应当：爪夹向爪夹的上方抬起，并调整爪夹角度，接着向爪夹的右侧移动，到达药瓶的正上方。", + "time": 1.6836770170103095 + }, + { + "action_description": "爪夹向爪夹的上方移动，并调整爪夹角度。", + "annotations": { + "bbox_1767838840546": { + "instances": [ + { + "height": 0.092, + "id": "bbox_1767838840546_1767841668097_tnbc14y9h", + "width": 0.048, + "x": 0.335, + "y": 0.3794666646321615 + } + ], + "type": "bbox" + }, + "bbox_1767838840730": { + "instances": [ + { + "height": 0.3026666666666667, + "id": "bbox_1767838840730_1767841662065_s1ju9jadj", + "width": 0.238, + "x": 0.05800000000000001, + "y": 0.4621333312988281 + } + ], + "type": "bbox" + }, + "point_1767838841338": { + "instances": [ + { + "id": "point_1767838841338_1767841682065_ldoidi1ur", + "x": 0.377, + "y": 0.3207999979654948 + } + ], + "type": "point" + }, + "point_1767838841506": { + "instances": [ + { + "id": "point_1767838841506_1767841685185_fqdiikuke", + "x": 0.48, + "y": 0.33813333129882817 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，接着向爪夹的下方移动，靠近药瓶，并向爪夹的右侧移动，到达药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，靠近电饭煲内锅，爪夹移动至电饭煲内锅的正上方，爪夹保持合拢，爪夹松开，药瓶落入电饭煲内锅中。", + "error_success_analysis": "爪夹向爪夹的上方移动，并调整爪夹角度，水平方向上成功接近药瓶。", + "frame": 82, + "progress": 10, + "progress_explanation": "当前爪夹开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与水平方向呈60度角，与药瓶的水平距离略微缩短。\n为完成拿起药瓶，放入电饭煲内锅中的任务应当：调整爪夹角度，接着向爪夹的下方移动，靠近药瓶，并向爪夹的右侧移动，到达药瓶的正上方。", + "time": 2.733333 + }, + { + "action_description": "爪夹向爪夹的下方移动，靠近药瓶。", + "annotations": { + "bbox_1767838840546": { + "instances": [ + { + "height": 0.09066666666666663, + "id": "bbox_1767838840546_1767841694610_2ywxagoyq", + "width": 0.046, + "x": 0.33599999999999997, + "y": 0.38213333129882815 + } + ], + "type": "bbox" + }, + "bbox_1767838840730": { + "instances": [ + { + "height": 0.2946666666666667, + "id": "bbox_1767838840730_1767841698378_m4k9tb5zg", + "width": 0.23800000000000004, + "x": 0.05700000000000001, + "y": 0.46479999796549476 + } + ], + "type": "bbox" + }, + "point_1767838841338": { + "instances": [ + { + "id": "point_1767838841338_1767841691018_t3rynp7df", + "x": 0.359, + "y": 0.3567999979654948 + } + ], + "type": "point" + }, + "point_1767838841506": { + "instances": [ + { + "id": "point_1767838841506_1767841688313_u5d6qj3wy", + "x": 0.454, + "y": 0.37813333129882815 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右侧移动，到达药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，靠近电饭煲内锅，爪夹移动至电饭煲内锅的正上方，爪夹保持合拢，爪夹松开，药瓶落入电饭煲内锅中。", + "error_success_analysis": "爪夹向爪夹的下方调整爪夹角度，使爪夹接近于垂直桌面。", + "frame": 112, + "progress": 20, + "progress_explanation": "当前爪夹张开，与药瓶的水平距离缩短，因此进度提升至20%。", + "state_description": "当前爪夹张开，在水平方向位于药瓶的左上方。\n为完成拿起药瓶，放入电饭煲内锅中的任务应当：爪夹向爪夹的右侧移动，到达药瓶的正上方。", + "time": 3.731 + }, + { + "action_description": "爪夹向爪夹的下方移动，到达药瓶的右侧。", + "annotations": { + "bbox_1767838840546": { + "instances": [ + { + "height": 0.08000000000000002, + "id": "bbox_1767838840546_1767841712770_wz3i94qdt", + "width": 0.04400000000000004, + "x": 0.33399999999999996, + "y": 0.39146666463216145 + } + ], + "type": "bbox" + }, + "bbox_1767838840730": { + "instances": [ + { + "height": 0.31200000000000006, + "id": "bbox_1767838840730_1767841716410_5nxkllmih", + "width": 0.24, + "x": 0.054000000000000006, + "y": 0.45546666463216146 + } + ], + "type": "bbox" + }, + "point_1767838841506": { + "instances": [ + { + "id": "point_1767838841506_1767841708689_9scxm48iz", + "x": 0.465, + "y": 0.45679999796549475 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的右侧移动，到达药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右前方移动，靠近电饭煲内锅，爪夹移动至电饭煲内锅的正上方，爪夹保持合拢，爪夹松开，药瓶落入电饭煲内锅中。", + "error_success_analysis": "爪夹向爪夹的下方移动，到达药瓶的右侧，没有移动到药瓶的正上方。", + "frame": 170, + "progress": 15, + "progress_explanation": "当前爪夹张开，在错误地点下降，没有移动到药瓶的正上方，因此进度下降至15%。", + "state_description": "当前爪夹张开，垂直于桌面。\n为完成拿起药瓶，放入电饭煲内锅中的任务应当：爪夹向爪夹的上方抬起，并向爪夹的右侧移动，到达药瓶的正上方。", + "time": 5.656872990206185 + }, + { + "action_description": "爪夹保持张开，并向爪夹的右上方移动，撞到药瓶，使药瓶向右后方移动。", + "annotations": { + "bbox_1767838840546": { + "instances": [ + { + "height": 0.060000000000000026, + "id": "bbox_1767838840546_1767841724673_ouy0ewv35", + "width": 0.06599999999999999, + "x": 0.193, + "y": 0.2887999979654948 + } + ], + "type": "bbox" + }, + "bbox_1767838840730": { + "instances": [ + { + "height": 0.3026666666666667, + "id": "bbox_1767838840730_1767841721337_n7gspesyi", + "width": 0.236, + "x": 0.06, + "y": 0.4607999979654948 + } + ], + "type": "bbox" + }, + "point_1767838841338": { + "instances": [ + { + "id": "point_1767838841338_1767841727121_ffzosvlzb", + "x": 0.066, + "y": 0.10479999796549479 + } + ], + "type": "point" + }, + "point_1767838841506": { + "instances": [ + { + "id": "point_1767838841506_1767841729473_aymfqttfu", + "x": 0.097, + "y": 0.24213333129882814 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并调整爪夹角度，向爪夹的后方移动至药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，靠近电饭煲内锅，爪夹移动至电饭煲内锅的正上方，爪夹保持合拢，爪夹松开，药瓶落入电饭煲内锅中。", + "error_success_analysis": "爪夹保持张开，并向爪夹的右上方移动，在水平方向上远离药瓶。", + "frame": 219, + "progress": 10, + "progress_explanation": "当前爪夹没有上升，并向爪夹的右侧移动至药瓶的正上方，而是向爪夹的右上方移动，因此进度下降至10%。", + "state_description": "当前爪夹张开，在水平方向上远离药瓶。\n为完成拿起药瓶，放入电饭煲内锅中的任务应当：爪夹向爪夹的下方移动，并调整爪夹角度，向爪夹的后方移动至药瓶的正上方。", + "time": 7.298 + }, + { + "action_description": "爪夹保持张开，并向爪夹的前方移动，靠近电饭煲内锅。", + "annotations": { + "bbox_1767838840730": { + "instances": [ + { + "height": 0.2946666666666667, + "id": "bbox_1767838840730_1767841738802_2cu91uzq9", + "width": 0.231, + "x": 0.062, + "y": 0.4687999979654948 + } + ], + "type": "bbox" + }, + "point_1767838841338": { + "instances": [ + { + "id": "point_1767838841338_1767841740938_9jhbi0a51", + "x": 0.15, + "y": 0.40079999796549476 + } + ], + "type": "point" + }, + "point_1767838841506": { + "instances": [ + { + "id": "point_1767838841506_1767841743729_c0m463wdl", + "x": 0.209, + "y": 0.49413333129882814 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬升，并调整爪夹角度，向爪夹的后方移动到药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，靠近电饭煲内锅，爪夹移动至电饭煲内锅的正上方，爪夹保持合拢，爪夹松开，药瓶落入电饭煲内锅中。", + "error_success_analysis": "爪夹保持张开，并向爪夹的前方移动，再次远离药瓶。", + "frame": 274, + "progress": 5, + "progress_explanation": "当前爪夹张开，没有向爪夹的下方移动，并调整爪夹角度，向爪夹的后方移动至药瓶的正上方，而是继续向爪夹的前方移动，靠近电饭煲内锅，因此进度下降至5%。", + "state_description": "当前爪夹张开，在水平方向上位于电饭煲内锅的正上方。\n为完成拿起药瓶，放入电饭煲内锅中的任务应当：爪夹向爪夹的上方抬升，并调整爪夹角度，向爪夹的后方移动到药瓶的正上方。", + "time": 9.143 + }, + { + "action_description": "爪夹保持张开，向爪夹的左侧移动，并调整爪夹角度，使电饭煲内锅翻倒在桌面。", + "annotations": { + "bbox_1767838840546": { + "instances": [ + { + "height": 0.057333333333333354, + "id": "bbox_1767838840546_1767841758738_ijbt89tb5", + "width": 0.06900000000000002, + "x": 0.189, + "y": 0.2874666646321614 + } + ], + "type": "bbox" + }, + "bbox_1767838840730": { + "instances": [ + { + "height": 0.27733333333333327, + "id": "bbox_1767838840730_1767841755506_sft5wsu4o", + "width": 0.185, + "x": 0.219, + "y": 0.3487999979654948 + } + ], + "type": "bbox" + }, + "point_1767838841338": { + "instances": [ + { + "id": "point_1767838841338_1767841750778_o19xalvv4", + "x": 0.461, + "y": 0.5034666646321615 + } + ], + "type": "point" + }, + "point_1767838841506": { + "instances": [ + { + "id": "point_1767838841506_1767841748033_ilakn1mij", + "x": 0.5700000000000001, + "y": 0.5034666646321615 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持张开，向爪夹的上方抬起，并调整角度向爪夹的右后方移动，到达药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，靠近电饭煲内锅，爪夹移动至电饭煲内锅的正上方，爪夹保持合拢，爪夹松开，药瓶落入电饭煲内锅中。", + "error_success_analysis": "爪夹张开，垂直于桌面，并再度远离药瓶。", + "frame": 343, + "progress": 0, + "progress_explanation": "当前爪夹没有同上一步向爪夹的向爪夹的后方移动，并调整爪夹角度，移动至药瓶的正上方，而是继续向爪夹的左侧移动，并再度远离药瓶，因此进度下降至0%。", + "state_description": "当前爪夹张开，在水平方向上垂直于桌面。\n为完成拿起药瓶，放入电饭煲内锅中的任务应当：爪夹保持张开，向爪夹的上方抬起，并调整角度向爪夹的右后方移动，到达药瓶的正上方。", + "time": 11.425333 + }, + { + "action_description": "爪夹向爪夹的上方抬升，随后向爪夹的下方移动。", + "annotations": { + "bbox_1767838840546": { + "instances": [ + { + "height": 0.06666666666666667, + "id": "bbox_1767838840546_1767841802370_xkyhxjal0", + "width": 0.06699999999999998, + "x": 0.19, + "y": 0.2807999979654948 + } + ], + "type": "bbox" + }, + "bbox_1767838840730": { + "instances": [ + { + "height": 0.272, + "id": "bbox_1767838840730_1767841793682_jmpgkdg2z", + "width": 0.16300000000000003, + "x": 0.244, + "y": 0.29679999796549483 + } + ], + "type": "bbox" + }, + "point_1767838841338": { + "instances": [ + { + "id": "point_1767838841338_1767841796337_fxe78p1tg", + "x": 0.42000000000000004, + "y": 0.4167999979654948 + } + ], + "type": "point" + }, + "point_1767838841506": { + "instances": [ + { + "id": "point_1767838841506_1767841798714_b43ql2fem", + "x": 0.518, + "y": 0.4247999979654948 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持张开，向爪夹的上方抬起，并调整角度向爪夹的右后方移动，到达药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，靠近电饭煲内锅，爪夹移动至电饭煲内锅的正上方，爪夹保持合拢，爪夹松开，药瓶落入电饭煲内锅中。", + "error_success_analysis": "爪夹向爪夹的上方抬升，随后向爪夹的下方移动，没有靠近药瓶。", + "frame": 410, + "progress": -5, + "progress_explanation": "当前爪夹没有重新向药瓶的方向靠近，因此进度下降至-5%。", + "state_description": "当前爪夹张开，垂直于桌面。\n为完成拿起药瓶，放入电饭煲内锅中的任务应当：爪夹保持张开，向爪夹的上方抬起，并调整角度向爪夹的右后方移动，到达药瓶的正上方。", + "time": 13.666667 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767838840546", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767838840730", + "name": "电饭煲内锅" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767838841338", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767838841506", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-051152-good-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-051152-good-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..bea55541b1775f76c7c7eacde883693ff5cbaa3f --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-051152-good-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,468 @@ +{ + "task_description": "拿起药瓶，放入透明的塑料圆形容器中。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近药瓶：20%\n爪夹抓住药瓶：40%\n爪夹抓住药瓶并接近透明的塑料圆形容器：60%\n爪夹保持合拢并移动到透明的塑料圆形容器的上方：80%\n爪夹松开，使药瓶落入透明的塑料圆形容器中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767841854010": { + "instances": [ + { + "height": 0.08000000000000002, + "id": "bbox_1767841854010_1767842869362_w2oeozibd", + "width": 0.03800000231933605, + "x": 0.33881819694935283, + "y": 0.41633712768554687 + } + ], + "type": "bbox" + }, + "bbox_1767841854170": { + "instances": [ + { + "height": 0.41733333333333333, + "id": "bbox_1767841854170_1767842874275_f8vssjzn2", + "width": 0.3360000205078138, + "x": 0.32681819621693087, + "y": 0.5670037943522136 + } + ], + "type": "bbox" + }, + "point_1767841854930": { + "instances": [ + { + "id": "point_1767841854930_1767842848267_e2wrpwt18", + "x": 0.4058182010387085, + "y": 0.3936704610188802 + } + ], + "type": "point" + }, + "point_1767841855090": { + "instances": [ + { + "id": "point_1767841855090_1767842850379_ubw1ipcs4", + "x": 0.5058182071422246, + "y": 0.4096704610188802 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，并调整爪夹角度，接着向爪夹的右侧移动，并向爪夹的下方移动，到达药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近透明的塑料圆形容器，爪夹移动至透明的塑料圆形容器的正上方，爪夹松开，药瓶落入透明的塑料圆形容器中。", + "error_success_analysis": "", + "frame": 77, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触药瓶。\n为完成拿起药瓶，放入透明的塑料圆形容器中的任务应当：爪夹向爪夹的上方抬起，并调整爪夹角度，接着向爪夹的右侧移动，到达药瓶的正上方。", + "time": 2.569775143324085 + }, + { + "action_description": "爪夹向爪夹的上方抬起，并调整爪夹角度。", + "annotations": { + "bbox_1767841854010": { + "instances": [ + { + "height": 0.08266666666666668, + "id": "bbox_1767841854010_1767842882698_9gzrs6d4r", + "width": 0.04200000256347671, + "x": 0.33581819676624736, + "y": 0.4150037943522136 + } + ], + "type": "bbox" + }, + "bbox_1767841854170": { + "instances": [ + { + "height": 0.4066666666666666, + "id": "bbox_1767841854170_1767842879154_lk43hbdq4", + "width": 0.33200002026367315, + "x": 0.3308181964610716, + "y": 0.5776704610188802 + } + ], + "type": "bbox" + }, + "point_1767841854930": { + "instances": [ + { + "id": "point_1767841854930_1767842885043_a3ezwexae", + "x": 0.40281820085560305, + "y": 0.2843371276855469 + } + ], + "type": "point" + }, + "point_1767841855090": { + "instances": [ + { + "id": "point_1767841855090_1767842887730_xv3ql1b68", + "x": 0.5258182083629277, + "y": 0.30967046101888024 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右侧移动，并向爪夹的下方移动，到达药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近透明的塑料圆形容器，爪夹移动至透明的塑料圆形容器的正上方，爪夹松开，药瓶落入透明的塑料圆形容器中。", + "error_success_analysis": "爪夹向爪夹的上方抬起，并调整爪夹角度，水平方向上成功接近药瓶。", + "frame": 128, + "progress": 10, + "progress_explanation": "当前爪夹开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与药瓶的水平距离略微缩短。\n为完成拿起药瓶，放入透明的塑料圆形容器中的任务应当：爪夹向爪夹的右侧移动，到达药瓶的正上方。", + "time": 4.2625 + }, + { + "action_description": "爪夹向爪夹的右侧移动，并向爪夹的下方移动，靠近药瓶。", + "annotations": { + "bbox_1767841854010": { + "instances": [ + { + "height": 0.07866666666666665, + "id": "bbox_1767841854010_1767842897955_bkgyt2tsq", + "width": 0.036000002197265735, + "x": 0.339818197010388, + "y": 0.4176704610188802 + } + ], + "type": "bbox" + }, + "bbox_1767841854170": { + "instances": [ + { + "height": 0.40933333333333327, + "id": "bbox_1767841854170_1767842902083_p8yxo31u1", + "width": 0.3330000203247083, + "x": 0.32981819640003635, + "y": 0.5723371276855469 + } + ], + "type": "bbox" + }, + "point_1767841854930": { + "instances": [ + { + "id": "point_1767841854930_1767842893194_vlrq828h2", + "x": 0.3578181981090208, + "y": 0.41233712768554687 + } + ], + "type": "point" + }, + "point_1767841855090": { + "instances": [ + { + "id": "point_1767841855090_1767842890834_i0a3gazp7", + "x": 0.45681820415150176, + "y": 0.4496704610188802 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右下方移动，到达药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近透明的塑料圆形容器，爪夹移动至透明的塑料圆形容器的正上方，爪夹松开，药瓶落入透明的塑料圆形容器中。", + "error_success_analysis": "爪夹向爪夹的右侧移动，并向爪夹的下方移动，在水平方向上接近药瓶。", + "frame": 168, + "progress": 20, + "progress_explanation": "当前爪夹张开，在水平方向上略微接近药瓶，因此进度提升至20%。", + "state_description": "当前爪夹张开，与药瓶的水平距离略微缩短。\n为完成拿起药瓶，放入透明的塑料圆形容器中的任务应当：爪夹向爪夹的右下方移动，到达药瓶的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶。", + "time": 5.595499 + }, + { + "action_description": "爪夹向爪夹的右下方移动，到达药瓶的正上方。", + "annotations": { + "bbox_1767841854010": { + "instances": [ + { + "height": 0.0786666666666667, + "id": "bbox_1767841854010_1767842918267_q29nuhxa7", + "width": 0.03900000238037125, + "x": 0.33781819688831766, + "y": 0.4190037943522135 + } + ], + "type": "bbox" + }, + "bbox_1767841854170": { + "instances": [ + { + "height": 0.42000000000000004, + "id": "bbox_1767841854170_1767842909107_c1mkzi96q", + "width": 0.33200002026367315, + "x": 0.3308181964610716, + "y": 0.5736704610188802 + } + ], + "type": "bbox" + }, + "point_1767841854930": { + "instances": [ + { + "id": "point_1767841854930_1767842911755_k5xfe4v14", + "x": 0.3198181957896848, + "y": 0.3936704610188802 + } + ], + "type": "point" + }, + "point_1767841855090": { + "instances": [ + { + "id": "point_1767841855090_1767842914091_y4gupuz7f", + "x": 0.39781820055042727, + "y": 0.4563371276855469 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近透明的塑料圆形容器，爪夹移动至透明的塑料圆形容器的正上方，爪夹松开，药瓶落入透明的塑料圆形容器中。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，水平方向上成功接近药瓶，到达药瓶的正上方，准备抓取。", + "frame": 212, + "progress": 30, + "progress_explanation": "当前爪夹已成功移动至药瓶的正上方，因此进度提升至30%。", + "state_description": "当前爪夹张开，到达药瓶的正上方。\n为完成拿起药瓶，放入透明的塑料圆形容器中的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶。", + "time": 7.0525 + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取药瓶。", + "annotations": { + "bbox_1767841854010": { + "instances": [ + { + "height": 0.06533333333333337, + "id": "bbox_1767841854010_1767842927034_8h0ei6fww", + "width": 0.03800000231933609, + "x": 0.33581819676624736, + "y": 0.42967046101888023 + } + ], + "type": "bbox" + }, + "bbox_1767841854170": { + "instances": [ + { + "height": 0.4013333333333333, + "id": "bbox_1767841854170_1767842932018_8wgbkm2tl", + "width": 0.32700001995849737, + "x": 0.33581819676624736, + "y": 0.5790037943522136 + } + ], + "type": "bbox" + }, + "point_1767841855090": { + "instances": [ + { + "id": "point_1767841855090_1767842923051_snimp5fe1", + "x": 0.36181819835316154, + "y": 0.4816704610188802 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近透明的塑料圆形容器，爪夹移动至透明的塑料圆形容器的正上方，爪夹松开，药瓶落入透明的塑料圆形容器中。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取药瓶。", + "frame": 269, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取药瓶，因此进度提升为40%。", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到药瓶。\n为完成拿起药瓶，放入透明的塑料圆形容器中的任务应当：爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，靠近透明的塑料圆形容器。", + "time": 8.959 + }, + { + "action_description": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动。", + "annotations": { + "bbox_1767841854010": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1767841854010_1767842949314_rh4mxqzdu", + "width": 0.049000002990722845, + "x": 0.35281819780384505, + "y": 0.41233712768554687 + } + ], + "type": "bbox" + }, + "bbox_1767841854170": { + "instances": [ + { + "height": 0.39599999999999996, + "id": "bbox_1767841854170_1767842937178_588cdgb37", + "width": 0.3400000207519544, + "x": 0.32681819621693087, + "y": 0.5830037943522136 + } + ], + "type": "bbox" + }, + "point_1767841854930": { + "instances": [ + { + "id": "point_1767841854930_1767842940619_l84kgepwl", + "x": 0.3468181974376341, + "y": 0.4643371276855469 + } + ], + "type": "point" + }, + "point_1767841855090": { + "instances": [ + { + "id": "point_1767841855090_1767842943346_5yc30qjah", + "x": 0.3848181997569702, + "y": 0.4883371276855469 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的左前方移动，爪夹移动至透明的塑料圆形容器的正上方，爪夹松开，药瓶落入透明的塑料圆形容器中。", + "error_success_analysis": "爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左前方移动，在水平方向上接近透明的塑料圆形容器。", + "frame": 318, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住药瓶，并在水平方向上靠近透明的塑料圆形容器，因此进度提升至60%。", + "state_description": "当前爪夹合拢，已经抓住药瓶，在水平方向上接近透明的塑料圆形容器。\n为完成拿起药瓶，放入透明的塑料圆形容器中的任务应当：爪夹继续向爪夹的左前方移动，爪夹移动至透明的塑料圆形容器的正上方。", + "time": 10.591425132605178 + }, + { + "action_description": "爪夹向爪夹的左前方移动，爪夹移动至透明的塑料圆形容器的正上方。", + "annotations": { + "bbox_1767841854010": { + "instances": [ + { + "height": 0.09466666666666666, + "id": "bbox_1767841854010_1767842953898_mij9u8b1n", + "width": 0.057000003479004045, + "x": 0.49681820659290815, + "y": 0.6496704610188803 + } + ], + "type": "bbox" + }, + "bbox_1767841854170": { + "instances": [ + { + "height": 0.4106666666666667, + "id": "bbox_1767841854170_1767842963010_5ro5ikwgv", + "width": 0.32900002008056767, + "x": 0.3348181967052122, + "y": 0.5696704610188802 + } + ], + "type": "bbox" + }, + "point_1767841854930": { + "instances": [ + { + "id": "point_1767841854930_1767842956267_4jzh5kenm", + "x": 0.5058182071422246, + "y": 0.7203371276855468 + } + ], + "type": "point" + }, + "point_1767841855090": { + "instances": [ + { + "id": "point_1767841855090_1767842958578_r3cd4ypu4", + "x": 0.5498182098277715, + "y": 0.7136704610188802 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，药瓶落入透明的塑料圆形容器中。", + "error_success_analysis": "爪夹保持合拢，向爪夹的左前方移动，爪夹成功移动至透明的塑料圆形容器的正上方。", + "frame": 371, + "progress": 80, + "progress_explanation": "当前爪夹已抓住药瓶并移动至透明的塑料圆形容器的正上方，因此进度为80%。", + "state_description": "当前爪夹合找，抓住药瓶处于透明的塑料圆形容器的正上方。\n为完成拿起药瓶，放入透明的塑料圆形容器中的任务应当：爪夹松开，药瓶落入透明的塑料圆形容器中。", + "time": 12.369 + }, + { + "action_description": "爪夹松开，药瓶落下。", + "annotations": { + "bbox_1767841854010": { + "instances": [ + { + "height": 0.10000000000000012, + "id": "bbox_1767841854010_1767842976866_kqs2u2zx0", + "width": 0.05200000317382827, + "x": 0.4578182042125369, + "y": 0.6616704610188802 + } + ], + "type": "bbox" + }, + "bbox_1767841854170": { + "instances": [ + { + "height": 0.4146666666666667, + "id": "bbox_1767841854170_1767842967995_sdctrqnt4", + "width": 0.3370000205688489, + "x": 0.3278181962779661, + "y": 0.5630037943522136 + } + ], + "type": "bbox" + }, + "point_1767841854930": { + "instances": [ + { + "id": "point_1767841854930_1767842969867_1i8rveoy0", + "x": 0.46081820439564236, + "y": 0.6616704610188803 + } + ], + "type": "point" + }, + "point_1767841855090": { + "instances": [ + { + "id": "point_1767841855090_1767842971955_mssunxfh8", + "x": 0.5758182114146857, + "y": 0.6630037943522136 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，药瓶落成功落入透明的塑料圆形容器中。", + "frame": 418, + "progress": 100, + "progress_explanation": "当前药瓶落成功落入透明的塑料圆形容器中，因此进度提升至100%。", + "state_description": "当前药瓶已经落入透明的塑料圆形容器中，已经完成拿起药瓶，放入透明的塑料圆形容器中的任务。", + "time": 13.919 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767841854010", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767841854170", + "name": "塑料圆形容器" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767841854930", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767841855090", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-112529-bad-rubbish/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-112529-bad-rubbish/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..318a1ba0731e2a7a2f0666a010a62c7ac407e99e --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-112529-bad-rubbish/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,587 @@ +{ + "task_description": "拿起海绵擦，把垃圾扫进垃圾桶。\n爪夹准备移动：0%\n爪夹开始移动：20%\n爪夹靠近海绵擦：40%\n爪夹抓住海绵擦：60%\n爪夹保持合拢并靠近垃圾：80%\n爪夹靠近垃圾并将垃圾扫进垃圾桶中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767865829252": { + "instances": [ + { + "height": 0.19733333333333333, + "id": "bbox_1767865829252_1767925235673_hz5cvp18s", + "width": 0.09200000561523466, + "x": 0.5878182121471076, + "y": 0.4657916666666667 + } + ], + "type": "bbox" + }, + "bbox_1767865829484": { + "instances": [ + { + "height": 0.08399999999999999, + "id": "bbox_1767865829484_1767925239033_oj2iz8zea", + "width": 0.07700000469970729, + "x": 0.389818200062146, + "y": 0.5924583333333333 + } + ], + "type": "bbox" + }, + "bbox_1767865830028": { + "instances": [ + { + "height": 0.43599999999999994, + "id": "bbox_1767865830028_1767925244537_b1u21u193", + "width": 0.19200001171875072, + "x": 0.013818177112925847, + "y": 0.5577916666666667 + } + ], + "type": "bbox" + }, + "point_1767865830716": { + "instances": [ + { + "id": "point_1767865830716_1767925247353_q4vedajlp", + "x": 0.4378182029918337, + "y": 0.38045833333333334 + } + ], + "type": "point" + }, + "point_1767865830980": { + "instances": [ + { + "id": "point_1767865830980_1767925249569_3r64rnocf", + "x": 0.533818208851209, + "y": 0.391125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，并调整爪夹角度，接着向爪夹的左前方移动，到达海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，并向爪夹的右侧移动，靠近垃圾桶，爪夹向爪夹的右侧移动，同时将路径上的垃圾扫向垃圾桶，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触海绵擦。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹向爪夹的上方抬起，并调整爪夹角度，接着向爪夹的左前方移动，到达海绵擦的正上方。", + "time": 1.5895595024137519 + }, + { + "action_description": "爪夹向爪夹的上方移动，并调整爪夹角度。", + "annotations": { + "bbox_1767865829252": { + "instances": [ + { + "height": 0.2013333333333333, + "id": "bbox_1767865829252_1767925266273_wj535sgvt", + "width": 0.08800000537109405, + "x": 0.5908182123302131, + "y": 0.463125 + } + ], + "type": "bbox" + }, + "bbox_1767865829484": { + "instances": [ + { + "height": 0.08666666666666671, + "id": "bbox_1767865829484_1767925257817_7bo2xk7vv", + "width": 0.07400000451660187, + "x": 0.39081820012318114, + "y": 0.5884583333333333 + } + ], + "type": "bbox" + }, + "bbox_1767865830028": { + "instances": [ + { + "height": 0.43599999999999994, + "id": "bbox_1767865830028_1767925262209_jau4w9jil", + "width": 0.19600001196289132, + "x": 0.01881817741810165, + "y": 0.5564583333333334 + } + ], + "type": "bbox" + }, + "point_1767865830716": { + "instances": [ + { + "id": "point_1767865830716_1767925254921_l9iibfc4j", + "x": 0.47681820537220493, + "y": 0.32045833333333335 + } + ], + "type": "point" + }, + "point_1767865830980": { + "instances": [ + { + "id": "point_1767865830980_1767925252729_87d9o24us", + "x": 0.5878182121471076, + "y": 0.311125 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，接着向爪夹的左前方移动，到达海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，并向爪夹的右侧移动，靠近垃圾桶，爪夹向爪夹的右侧移动，同时将路径上的垃圾扫向垃圾桶，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "爪夹向爪夹的上方移动，水平方向上成功接近海绵擦。", + "frame": 76, + "progress": 10, + "progress_explanation": "当前爪夹张开，与海绵擦的水平距离略微缩短，因此进度提升至10%。", + "state_description": "当前爪夹张开，与海绵擦的水平距离略微缩短。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：调整爪夹角度，接着向爪夹的左前方移动，到达海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦。", + "time": 2.5499718989281033 + }, + { + "action_description": "爪夹向爪夹的左前方移动，靠近海绵擦。", + "annotations": { + "bbox_1767865829252": { + "instances": [ + { + "height": 0.204, + "id": "bbox_1767865829252_1767925282769_1b026rywd", + "width": 0.08700000531005889, + "x": 0.5918182123912483, + "y": 0.46179166666666666 + } + ], + "type": "bbox" + }, + "bbox_1767865829484": { + "instances": [ + { + "height": 0.09599999999999996, + "id": "bbox_1767865829484_1767925274905_6pagcop2m", + "width": 0.08100000494384792, + "x": 0.389818200062146, + "y": 0.5831250000000001 + } + ], + "type": "bbox" + }, + "bbox_1767865830028": { + "instances": [ + { + "height": 0.43733333333333324, + "id": "bbox_1767865830028_1767925279225_aivbpg6ub", + "width": 0.19600001196289135, + "x": 0.014818177173961009, + "y": 0.5564583333333334 + } + ], + "type": "bbox" + }, + "point_1767865830716": { + "instances": [ + { + "id": "point_1767865830716_1767925286729_bzhjj99du", + "x": 0.5628182106212287, + "y": 0.38979166666666665 + } + ], + "type": "point" + }, + "point_1767865830980": { + "instances": [ + { + "id": "point_1767865830980_1767925289849_dirpklo16", + "x": 0.658818216480604, + "y": 0.34579166666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的左前方移动，靠近海绵擦，爪夹移动到海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，并向爪夹的右侧移动，靠近垃圾桶，爪夹向爪夹的右侧移动，同时将路径上的垃圾扫向垃圾桶，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "爪夹向爪夹的左前方移动，水平方向上成功接近海绵擦。", + "frame": 102, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上进一步接近海绵擦，因此进度提升至20%。", + "state_description": "当前爪夹张开，与海绵擦的水平距离进一步缩短。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹继续向爪夹的左前方移动，靠近海绵擦，爪夹移动到海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦。", + "time": 3.397599 + }, + { + "action_description": "爪夹向爪夹的左前方移动，靠近海绵擦，爪夹移动到海绵擦的正上方。", + "annotations": { + "bbox_1767865829252": { + "instances": [ + { + "height": 0.18666666666666665, + "id": "bbox_1767865829252_1767925299137_m5n9trojo", + "width": 0.09100000555419951, + "x": 0.5868182120860725, + "y": 0.47779166666666667 + } + ], + "type": "bbox" + }, + "bbox_1767865829484": { + "instances": [ + { + "height": 0.09200000000000005, + "id": "bbox_1767865829484_1767925303129_bjwxgkb5b", + "width": 0.0780000047607425, + "x": 0.39081820012318114, + "y": 0.587125 + } + ], + "type": "bbox" + }, + "bbox_1767865830028": { + "instances": [ + { + "height": 0.428, + "id": "bbox_1767865830028_1767925306664_tmmhjdl05", + "width": 0.2020000123291023, + "x": 0.016818177296031328, + "y": 0.5577916666666667 + } + ], + "type": "bbox" + }, + "point_1767865830716": { + "instances": [ + { + "id": "point_1767865830716_1767925295489_a8k5g4onf", + "x": 0.6608182166026744, + "y": 0.543125 + } + ], + "type": "point" + }, + "point_1767865830980": { + "instances": [ + { + "id": "point_1767865830980_1767925293097_q22ipo9r5", + "x": 0.7328182209972058, + "y": 0.4884583333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，并向爪夹的右侧移动，靠近垃圾桶，爪夹向爪夹的右侧移动，同时将路径上的垃圾扫向垃圾桶，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "爪夹向爪夹的左前方移动，水平方向上成功接近海绵擦，到达海绵擦的正上方，准备抓取。", + "frame": 134, + "progress": 30, + "progress_explanation": "当前爪夹已成功移动至海绵擦的正上方，因此进度提升至30%。", + "state_description": "当前爪夹张开，到达海绵擦的正上方。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，并向爪夹的右侧移动，靠近垃圾桶。", + "time": 4.451965076338876 + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦。", + "annotations": { + "bbox_1767865829252": { + "instances": [ + { + "height": 0.16266666666666663, + "id": "bbox_1767865829252_1767925321553_7gq4m2zmw", + "width": 0.10700000653076218, + "x": 0.5948182125743537, + "y": 0.4977916666666667 + } + ], + "type": "bbox" + }, + "bbox_1767865829484": { + "instances": [ + { + "height": 0.08133333333333338, + "id": "bbox_1767865829484_1767925313497_yozckbr07", + "width": 0.07700000469970729, + "x": 0.389818200062146, + "y": 0.5937916666666666 + } + ], + "type": "bbox" + }, + "bbox_1767865830028": { + "instances": [ + { + "height": 0.4280000000000001, + "id": "bbox_1767865830028_1767925317617_s5ynit7bo", + "width": 0.1970000120239265, + "x": 0.016818177296031328, + "y": 0.5604583333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢，并向爪夹的右侧移动，靠近垃圾桶，爪夹向爪夹的右侧移动，同时将路径上的垃圾扫进垃圾桶，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取药瓶。", + "frame": 176, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取药瓶，因此进度提升为40%。", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到药瓶。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹保持合拢，并向爪夹的右侧移动，靠近垃圾桶，爪夹向爪夹的右侧移动，同时将路径上的垃圾扫向垃圾桶。", + "time": 5.854466 + }, + { + "action_description": "爪夹保持合拢，并向爪夹的后方移动。", + "annotations": { + "bbox_1767865829252": { + "instances": [ + { + "height": 0.136, + "id": "bbox_1767865829252_1767925325673_2l413aapa", + "width": 0.09700000592041054, + "x": 0.577818211536756, + "y": 0.455125 + } + ], + "type": "bbox" + }, + "bbox_1767865829484": { + "instances": [ + { + "height": 0.09199999999999993, + "id": "bbox_1767865829484_1767925328857_96urwe394", + "width": 0.07600000463867214, + "x": 0.3928182002452515, + "y": 0.5844583333333334 + } + ], + "type": "bbox" + }, + "bbox_1767865830028": { + "instances": [ + { + "height": 0.43600000000000005, + "id": "bbox_1767865830028_1767925332880_l22ogcdgk", + "width": 0.1970000120239265, + "x": 0.016818177296031328, + "y": 0.555125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢，向爪夹的后方移动，并向爪夹的右侧移动，靠近垃圾桶，爪夹向爪夹的右侧移动，同时将路径上的垃圾扫进垃圾桶，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "爪夹向爪夹的后方移动，并准备靠近垃圾桶。", + "frame": 193, + "progress": 50, + "progress_explanation": "当前爪夹合拢，并向垃圾桶的方向靠近，因此进度提升至50%。", + "state_description": "当前爪夹合拢，在水平方向上垂直于桌面。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹保持合拢，向爪夹的后方移动，并向爪夹的右侧移动，靠近垃圾桶，爪夹向爪夹的右侧移动，同时将路径上的垃圾扫进垃圾桶。", + "time": 6.429284716221366 + }, + { + "action_description": "爪夹保持合拢，向爪夹的右侧移动，靠近垃圾桶。", + "annotations": { + "bbox_1767865829252": { + "instances": [ + { + "height": 0.16266666666666663, + "id": "bbox_1767865829252_1767925343665_lg2y2qqjn", + "width": 0.09800000598144569, + "x": 0.4748182052501345, + "y": 0.447125 + } + ], + "type": "bbox" + }, + "bbox_1767865829484": { + "instances": [ + { + "height": 0.08933333333333332, + "id": "bbox_1767865829484_1767925340392_vqceicrm4", + "width": 0.07500000457763698, + "x": 0.3918182001842163, + "y": 0.5884583333333333 + } + ], + "type": "bbox" + }, + "bbox_1767865830028": { + "instances": [ + { + "height": 0.43466666666666665, + "id": "bbox_1767865830028_1767925336944_zfqpfamyp", + "width": 0.19700001202392653, + "x": 0.01981817747913681, + "y": 0.559125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹的右侧移动，同时将垃圾扫进垃圾桶中，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "爪夹保持合拢，向爪夹的右侧移动，在水平方向上接近垃圾桶。", + "frame": 207, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住海绵擦，并在水平方向上靠近垃圾桶，因此进度提升至60%。", + "state_description": "当前爪夹合拢，已经抓住海绵擦，在水平方向上接近垃圾桶。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹继续向爪夹的右侧移动，同时将垃圾扫进垃圾桶中，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "time": 6.890659298860612 + }, + { + "action_description": "爪夹向爪夹的右上方移动，同时将垃圾扫向垃圾桶。", + "annotations": { + "bbox_1767865829252": { + "instances": [ + { + "height": 0.12666666666666668, + "id": "bbox_1767865829252_1767925358544_vbk3ymqf7", + "width": 0.14900000909423886, + "x": 0.21981818968616879, + "y": 0.599125 + } + ], + "type": "bbox" + }, + "bbox_1767865829484": { + "instances": [ + { + "height": 0.0733333333333333, + "id": "bbox_1767865829484_1767925350968_did4jw9li", + "width": 0.07700000469970733, + "x": 0.36181819835316154, + "y": 0.6337916666666668 + } + ], + "type": "bbox" + }, + "bbox_1767865830028": { + "instances": [ + { + "height": 0.43466666666666676, + "id": "bbox_1767865830028_1767925354857_d7fo342zx", + "width": 0.19100001165771555, + "x": 0.020818177540171966, + "y": 0.5604583333333333 + } + ], + "type": "bbox" + }, + "point_1767865830716": { + "instances": [ + { + "id": "point_1767865830716_1767925360912_6d3mf2vx6", + "x": 0.21681818950306334, + "y": 0.4817916666666667 + } + ], + "type": "point" + }, + "point_1767865830980": { + "instances": [ + { + "id": "point_1767865830980_1767925364240_y3b3zr320", + "x": 0.3308181964610716, + "y": 0.5671250000000001 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左侧移动，靠近垃圾，爪夹移动到垃圾的右上方，并向爪夹的下方移动，到垃圾的右侧，爪夹保持合拢，并向爪夹的右侧移动，靠近垃圾桶，同时将垃圾扫进垃圾桶中。", + "error_success_analysis": "爪夹向爪夹的右侧移动，没有将垃圾扫进垃圾桶中，而是向爪夹的右上方移动，并松开爪夹。", + "frame": 243, + "progress": 30, + "progress_explanation": "当前爪夹张开，海绵擦掉落，因此进度下降至30%。", + "state_description": "当前爪夹张开，在水平方向上位于海绵擦的上方。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左侧移动，靠近垃圾。\n", + "time": 8.08646689059907 + }, + { + "action_description": "爪夹向爪夹的左后方移动，并远离海绵擦。", + "annotations": { + "bbox_1767865829252": { + "instances": [ + { + "height": 0.1293333333333333, + "id": "bbox_1767865829252_1767925383464_qw0873314", + "width": 0.1520000092773443, + "x": 0.21881818962513364, + "y": 0.6004583333333334 + } + ], + "type": "bbox" + }, + "bbox_1767865829484": { + "instances": [ + { + "height": 0.09066666666666663, + "id": "bbox_1767865829484_1767925380208_9b0a9tdq8", + "width": 0.07900000482177764, + "x": 0.36081819829212636, + "y": 0.6364583333333333 + } + ], + "type": "bbox" + }, + "bbox_1767865830028": { + "instances": [ + { + "height": 0.4253333333333334, + "id": "bbox_1767865830028_1767925376392_tf9ax6cmd", + "width": 0.19500001190185617, + "x": 0.016818177296031328, + "y": 0.5604583333333333 + } + ], + "type": "bbox" + }, + "point_1767865830716": { + "instances": [ + { + "id": "point_1767865830716_1767925370864_h67t9h7m4", + "x": 0.4748182052501345, + "y": 0.463125 + } + ], + "type": "point" + }, + "point_1767865830980": { + "instances": [ + { + "id": "point_1767865830980_1767925368040_gh0d5hssb", + "x": 0.583818211902967, + "y": 0.463125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，靠近海绵擦，爪夹移动到海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的左侧移动，靠近垃圾，爪夹移动到垃圾的右上方，并向爪夹的下方移动，到垃圾的右侧，爪夹保持合拢，并向爪夹的右侧移动，靠近垃圾桶，同时将垃圾扫进垃圾桶中。", + "error_success_analysis": "爪夹没有向爪夹的下方移动，并合拢爪夹抓取海绵擦，而是向爪夹的左后方移动，远离了海绵擦。", + "frame": 274, + "progress": 20, + "progress_explanation": "当前爪夹张开，在水平方向上略微远离药瓶，因此进度下降至20%。", + "state_description": "当前爪夹张开，与海绵擦的水平距离略微远离。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹向爪夹的右前方移动，靠近海绵擦，爪夹移动到海绵擦的正上方。", + "time": 9.133333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767865829252", + "name": "海绵擦" + }, + { + "color": "#FF9800", + "id": "bbox_1767865829484", + "name": "垃圾" + }, + { + "color": "#2196F3", + "id": "bbox_1767865830028", + "name": "垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767865830716", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767865830980", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-112529-bad-rubbish/annotations/chunk-000/observation.images.front/episode_000011.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-112529-bad-rubbish/annotations/chunk-000/observation.images.front/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..0c1664d8322c2d84c06672be4941699e6116ce96 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-112529-bad-rubbish/annotations/chunk-000/observation.images.front/episode_000011.json @@ -0,0 +1,569 @@ +{ + "task_description": "拿起海绵擦，把垃圾扫进垃圾桶。\n爪夹准备移动：0%\n爪夹开始移动：20%\n爪夹靠近海绵擦：40%\n爪夹抓住海绵擦：60%\n爪夹保持合拢并靠近垃圾：80%\n爪夹靠近垃圾并将垃圾扫进垃圾桶中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1767925427696": { + "instances": [ + { + "height": 0.20799999999999993, + "id": "bbox_1767925427696_1767929896512_hnv5rh0sl", + "width": 0.08500000518798859, + "x": 0.6108182135509164, + "y": 0.5666401570638021 + } + ], + "type": "bbox" + }, + "bbox_1767925427872": { + "instances": [ + { + "height": 0.08933333333333332, + "id": "bbox_1767925427872_1767929899889_8iygaazqe", + "width": 0.0890000054321293, + "x": 0.42981820250355235, + "y": 0.7079734903971354 + } + ], + "type": "bbox" + }, + "bbox_1767925428064": { + "instances": [ + { + "height": 0.43733333333333335, + "id": "bbox_1767925428064_1767929912360_6191ux83r", + "width": 0.19100001165771555, + "x": 0.020818177540171966, + "y": 0.5573068237304688 + } + ], + "type": "bbox" + }, + "point_1767925428762": { + "instances": [ + { + "id": "point_1767925428762_1767929901960_x2ircndlh", + "x": 0.46381820457874784, + "y": 0.3906401570638021 + } + ], + "type": "point" + }, + "point_1767925428928": { + "instances": [ + { + "id": "point_1767925428928_1767929904480_q8r8nv42q", + "x": 0.5568182102550177, + "y": 0.3959734903971354 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，并调整爪夹角度，接着向爪夹的左前方移动，到达海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右侧移动，靠近垃圾桶，同时将路径上的垃圾扫向垃圾桶，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触药瓶。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹向爪夹的上方抬起，并调整爪夹角度，接着向爪夹的左前方移动，到达海绵擦的正上方。", + "time": 1.6549953049767125 + }, + { + "action_description": "爪夹向爪夹的上方移动，并调整爪夹角度。", + "annotations": { + "bbox_1767925427696": { + "instances": [ + { + "height": 0.2013333333333333, + "id": "bbox_1767925427696_1767929926024_sy5bn0dbl", + "width": 0.08200000500488311, + "x": 0.6098182134898812, + "y": 0.5733068237304688 + } + ], + "type": "bbox" + }, + "bbox_1767925427872": { + "instances": [ + { + "height": 0.09066666666666663, + "id": "bbox_1767925427872_1767929920368_9ppt2jee4", + "width": 0.09500000579834023, + "x": 0.42781820238148205, + "y": 0.7079734903971354 + } + ], + "type": "bbox" + }, + "bbox_1767925428064": { + "instances": [ + { + "height": 0.4306666666666667, + "id": "bbox_1767925428064_1767929916824_1g9yj8y67", + "width": 0.19800001208496165, + "x": 0.013818177112925847, + "y": 0.5586401570638021 + } + ], + "type": "bbox" + }, + "point_1767925428762": { + "instances": [ + { + "id": "point_1767925428762_1767929928776_nnepjxrf4", + "x": 0.48781820604359166, + "y": 0.3746401570638021 + } + ], + "type": "point" + }, + "point_1767925428928": { + "instances": [ + { + "id": "point_1767925428928_1767929931152_g949aur19", + "x": 0.5768182114757209, + "y": 0.3626401570638021 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，接着向爪夹的左前方移动，到达海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右侧移动，靠近垃圾桶，同时将路径上的垃圾扫向垃圾桶，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "爪夹向爪夹的上方移动，并调整爪夹角度，水平方向上成功接近海绵擦。", + "frame": 76, + "progress": 10, + "progress_explanation": "当前爪夹开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与海绵擦的水平距离略微缩短。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：调整爪夹角度，接着向爪夹的左前方移动，到达海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦。", + "time": 2.541399 + }, + { + "action_description": "爪夹向爪夹的左前方移动，并调整爪夹角度，靠近海绵擦。", + "annotations": { + "bbox_1767925427696": { + "instances": [ + { + "height": 0.2013333333333333, + "id": "bbox_1767925427696_1767929951640_1a20bj0tt", + "width": 0.08800000537109405, + "x": 0.6068182133067757, + "y": 0.5719734903971355 + } + ], + "type": "bbox" + }, + "bbox_1767925427872": { + "instances": [ + { + "height": 0.08933333333333332, + "id": "bbox_1767925427872_1767929946776_60oi86n79", + "width": 0.09000000549316445, + "x": 0.4308182025645875, + "y": 0.7079734903971354 + } + ], + "type": "bbox" + }, + "bbox_1767925428064": { + "instances": [ + { + "height": 0.43333333333333335, + "id": "bbox_1767925428064_1767929942560_v3xwcyzet", + "width": 0.20500001251220779, + "x": 0.006818176685679729, + "y": 0.5599734903971354 + } + ], + "type": "bbox" + }, + "point_1767925428762": { + "instances": [ + { + "id": "point_1767925428762_1767929936576_jbd199dqa", + "x": 0.5768182114757209, + "y": 0.4599734903971354 + } + ], + "type": "point" + }, + "point_1767925428928": { + "instances": [ + { + "id": "point_1767925428928_1767929934152_uicqwbq4g", + "x": 0.6668182169688853, + "y": 0.4146401570638021 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的左前方移动，靠近海绵擦，爪夹移动到海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右侧移动，靠近垃圾桶，同时将路径上的垃圾扫向垃圾桶，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "爪夹向爪夹的左前方移动，水平方向上成功接近海绵擦。", + "frame": 104, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上进一步接近海绵擦，因此进度提升至20%。", + "state_description": "当前爪夹张开，与海绵擦的水平距离进一步缩短。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹继续向爪夹的左前方移动，靠近海绵擦，爪夹移动到海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦。", + "time": 3.475866 + }, + { + "action_description": "爪夹向爪夹的左侧移动，同时略微下降。", + "annotations": { + "bbox_1767925427696": { + "instances": [ + { + "height": 0.2, + "id": "bbox_1767925427696_1767929957400_er77xgwn2", + "width": 0.08600000524902374, + "x": 0.6098182134898812, + "y": 0.5693068237304687 + } + ], + "type": "bbox" + }, + "bbox_1767925427872": { + "instances": [ + { + "height": 0.08933333333333332, + "id": "bbox_1767925427872_1767929966672_1usyk6t2z", + "width": 0.08700000531005898, + "x": 0.4328182026866578, + "y": 0.7079734903971354 + } + ], + "type": "bbox" + }, + "bbox_1767925428064": { + "instances": [ + { + "height": 0.43866666666666665, + "id": "bbox_1767925428064_1767929970480_ttfryxz46", + "width": 0.1970000120239265, + "x": 0.013818177112925847, + "y": 0.5573068237304688 + } + ], + "type": "bbox" + }, + "point_1767925428762": { + "instances": [ + { + "id": "point_1767925428762_1767929960320_51g9vvd8v", + "x": 0.7038182192271862, + "y": 0.5333068237304688 + } + ], + "type": "point" + }, + "point_1767925428928": { + "instances": [ + { + "id": "point_1767925428928_1767929962816_mx7sf91cq", + "x": 0.7668182230724013, + "y": 0.4666401570638021 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的右前方移动，到达海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右侧移动，靠近垃圾桶，同时将路径上的垃圾扫向垃圾桶，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "爪夹向爪夹的左侧移动，并向爪夹的下方移动，水平方向上成功接近海绵擦。", + "frame": 130, + "progress": 25, + "progress_explanation": "当前爪夹张开，在水平方向上再次接近海绵擦，因此进度提升至25%。", + "state_description": "当前爪夹张开，于海绵擦的水平距离再次缩短。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹向爪夹的右前方移动，到达海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦。\n", + "time": 4.329015989728538 + }, + { + "action_description": "爪夹向爪夹的下方移动，保持张开。", + "annotations": { + "bbox_1767925427696": { + "instances": [ + { + "height": 0.2013333333333333, + "id": "bbox_1767925427696_1767929982616_pnjsw8bop", + "width": 0.09200000561523466, + "x": 0.602818213062635, + "y": 0.5773068237304688 + } + ], + "type": "bbox" + }, + "bbox_1767925427872": { + "instances": [ + { + "height": 0.09066666666666663, + "id": "bbox_1767925427872_1767929979080_eq6krwtte", + "width": 0.08800000537109413, + "x": 0.433818202747693, + "y": 0.7053068237304688 + } + ], + "type": "bbox" + }, + "bbox_1767925428064": { + "instances": [ + { + "height": 0.4306666666666667, + "id": "bbox_1767925428064_1767929975680_aiectxmpx", + "width": 0.19600001196289135, + "x": 0.01581817723499617, + "y": 0.5586401570638021 + } + ], + "type": "bbox" + }, + "point_1767925428762": { + "instances": [ + { + "id": "point_1767925428762_1767929984912_ctk4ktzty", + "x": 0.7188182201427136, + "y": 0.5159734903971355 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近海绵擦，爪夹移动到海绵擦的正上方，向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右侧移动，靠近垃圾桶，同时将路径上的垃圾扫向垃圾桶，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "爪夹移动到错误地点，并向爪夹的下方移动，垂直于桌面。", + "frame": 169, + "progress": 10, + "progress_explanation": "当前爪夹没有移动到海绵擦的正上方，因此进度下降至10%。", + "state_description": "当前爪夹张开，在水平方向上没有位于海绵擦的正上方。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹向爪夹的上方抬起，并向爪夹的右前方移动，靠近海绵擦，爪夹移动到海绵擦的正上方", + "time": 5.641733 + }, + { + "action_description": "爪夹向爪夹的右上方移动，并将海绵擦撞击出去。", + "annotations": { + "bbox_1767925427696": { + "instances": [ + { + "height": 0.1466666666666666, + "id": "bbox_1767925427696_1767930077591_2i3trh3pf", + "width": 0.16300000994873107, + "x": 0.5368182090343144, + "y": 0.7613068237304688 + } + ], + "type": "bbox" + }, + "bbox_1767925427872": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1767925427872_1767930073263_j3k61f131", + "width": 0.08600000524902382, + "x": 0.43181820262562265, + "y": 0.7066401570638021 + } + ], + "type": "bbox" + }, + "bbox_1767925428064": { + "instances": [ + { + "height": 0.43200000000000005, + "id": "bbox_1767925428064_1767930081687_4cejxe4iv", + "width": 0.19300001177978587, + "x": 0.016818177296031328, + "y": 0.5599734903971354 + } + ], + "type": "bbox" + }, + "point_1767925428762": { + "instances": [ + { + "id": "point_1767925428762_1767930084559_r5ijf7m7j", + "x": 0.5558182101939825, + "y": 0.5853068237304687 + } + ], + "type": "point" + }, + "point_1767925428928": { + "instances": [ + { + "id": "point_1767925428928_1767930086455_gslypgxbz", + "x": 0.6698182171519907, + "y": 0.5813068237304687 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的前方移动，并调整爪夹角度，使爪夹垂直于海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右侧移动，靠近垃圾桶，同时将路径上的垃圾扫向垃圾桶，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "爪夹没有同上一步向爪夹的上方抬起，并向爪夹的右前方移动，靠近海绵擦，而是继续向爪夹的右上方移动，并将海绵擦撞击出去，使爪夹略微远离海绵擦。", + "frame": 206, + "progress": 5, + "progress_explanation": "当前爪夹张开，将海绵擦撞击出去，并远离了海绵擦，因此进度下降至5%。", + "state_description": "当前爪夹张开，与海绵擦的水平距离略微远离。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹向爪夹的前方移动，并调整爪夹角度，使爪夹垂直于海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦。", + "time": 6.876988561394418 + }, + { + "action_description": "爪夹向爪夹右下方移动，爪夹接近于垂直桌面。", + "annotations": { + "bbox_1767925427696": { + "instances": [ + { + "height": 0.13866666666666666, + "id": "bbox_1767925427696_1767930104895_8w9kffm8o", + "width": 0.16700001019287178, + "x": 0.5368182090343144, + "y": 0.7653068237304688 + } + ], + "type": "bbox" + }, + "bbox_1767925427872": { + "instances": [ + { + "height": 0.08399999999999999, + "id": "bbox_1767925427872_1767930096039_u0xnij6jp", + "width": 0.08800000537109413, + "x": 0.4328182026866578, + "y": 0.7079734903971354 + } + ], + "type": "bbox" + }, + "bbox_1767925428064": { + "instances": [ + { + "height": 0.4306666666666667, + "id": "bbox_1767925428064_1767930100135_iqquiketd", + "width": 0.19300001177978587, + "x": 0.01781817735706649, + "y": 0.5586401570638021 + } + ], + "type": "bbox" + }, + "point_1767925428762": { + "instances": [ + { + "id": "point_1767925428762_1767930091799_ai6djtcdc", + "x": 0.46481820463978296, + "y": 0.6533068237304688 + } + ], + "type": "point" + }, + "point_1767925428928": { + "instances": [ + { + "id": "point_1767925428928_1767930089815_ytql9yrmk", + "x": 0.5568182102550177, + "y": 0.6453068237304688 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的上方抬起，并向爪夹的前方移动，同时调整爪夹角度，使爪夹垂直于海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右侧移动，靠近垃圾桶，同时将路径上的垃圾扫向垃圾桶，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "爪夹没有靠近海绵擦，而是向爪夹的右下方移动，再次远离海绵擦。", + "frame": 240, + "progress": -5, + "progress_explanation": "当前爪夹张开，再次远离海绵擦，因此进度下降至-5%。", + "state_description": "当前爪夹张开，与海绵擦的水平距离再次远离。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹向爪夹的上方抬起，并向爪夹的前方移动，同时调整爪夹角度，使爪夹垂直于海绵擦的正上方。", + "time": 7.990999 + }, + { + "action_description": "爪夹向爪夹的后上方抬升并移动。", + "annotations": { + "bbox_1767925427696": { + "instances": [ + { + "height": 0.13999999999999999, + "id": "bbox_1767925427696_1767930110567_i4d5ts6o8", + "width": 0.16100000982666077, + "x": 0.5368182090343144, + "y": 0.7666401570638022 + } + ], + "type": "bbox" + }, + "bbox_1767925427872": { + "instances": [ + { + "height": 0.08933333333333332, + "id": "bbox_1767925427872_1767930114103_e7ebw91he", + "width": 0.09200000561523476, + "x": 0.42681820232044687, + "y": 0.7066401570638021 + } + ], + "type": "bbox" + }, + "bbox_1767925428064": { + "instances": [ + { + "height": 0.4306666666666666, + "id": "bbox_1767925428064_1767930124871_gvljhv13s", + "width": 0.19400001184082102, + "x": 0.01781817735706649, + "y": 0.5573068237304688 + } + ], + "type": "bbox" + }, + "point_1767925428762": { + "instances": [ + { + "id": "point_1767925428762_1767930117119_9hnyjvy44", + "x": 0.4778182054332401, + "y": 0.5066401570638022 + } + ], + "type": "point" + }, + "point_1767925428928": { + "instances": [ + { + "id": "point_1767925428928_1767930119743_yy0b8nmwv", + "x": 0.5878182121471076, + "y": 0.5133068237304688 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动，靠近海绵擦，移动到海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦，爪夹保持合拢，向爪夹的上方抬起，并向爪夹的右侧移动，靠近垃圾桶，同时将路径上的垃圾扫向垃圾桶，爪夹移动到垃圾桶的正上方，垃圾掉进垃圾桶中。", + "error_success_analysis": "爪夹没有靠近海绵擦，而是向爪夹的后上方抬升并移动，使爪夹进一步远离海绵擦。", + "frame": 262, + "progress": -10, + "progress_explanation": "当前爪夹进一步远离了海绵擦，因此进度下降至-10%。", + "state_description": "当前爪夹张开，与海绵擦的水平距离进一步远离。\n为完成拿起海绵擦，把垃圾扫进垃圾桶的任务应当：爪夹向爪夹的左前方移动，靠近海绵擦，移动到海绵擦的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取海绵擦。", + "time": 8.733333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767925427696", + "name": "海绵擦" + }, + { + "color": "#FF9800", + "id": "bbox_1767925427872", + "name": "垃圾" + }, + { + "color": "#2196F3", + "id": "bbox_1767925428064", + "name": "垃圾桶" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767925428762", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767925428928", + "name": " 爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-142022-good-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-142022-good-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..29cfb4689344835735cb72d7a227709698a90dbb --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-142022-good-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,646 @@ +{ + "task_description": "抓起饮料瓶使其放入快递箱中:\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近快递箱:60%\n爪夹抓住饮料瓶处于快递箱正上方:80%\n爪夹松开，饮料瓶落入快递箱中:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "bbox_1767684539471": { + "instances": [ + { + "height": 0.24400000000000002, + "id": "bbox_1767684539471_1767684707111_so3teu7q4", + "width": 0.09099999999999997, + "x": 0.23450000000000001, + "y": 0.47866666666666663 + } + ], + "type": "bbox" + }, + "bbox_1767684539799": { + "instances": [ + { + "height": 0.6253333333333333, + "id": "bbox_1767684539799_1767684721367_kuz7a9zab", + "width": 0.4090000000000001, + "x": 0.4915, + "y": 0.24800000000000003 + } + ], + "type": "bbox" + }, + "point_1767684540823": { + "instances": [ + { + "id": "point_1767684540823_1767684576959_jo89kvqq3", + "x": 0.4685, + "y": 0.384 + } + ], + "type": "point" + }, + "point_1767684541055": { + "instances": [ + { + "id": "point_1767684541055_1767684699687_koifqc68j", + "x": 0.5535, + "y": 0.38533333333333336 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达饮料瓶正上方，后下降，抓取饮料瓶后上升，向爪夹方向的左侧移动，直至快递箱的正上方。下降将饮料瓶放入快递箱中，爪夹张开。", + "error_success_analysis": "", + "frame": 84, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰饮料瓶。\n为完成抓起饮料瓶使其落入快递箱中的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，准备抓取饮料瓶。", + "time": 2.7977452085682075 + }, + { + "action_description": "爪夹抬升，向爪夹方向的右前方移动，并调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767684539471": { + "instances": [ + { + "height": 0.24533333333333338, + "id": "bbox_1767684539471_1767685142319_sfonksmk5", + "width": 0.09100000000000001, + "x": 0.2355, + "y": 0.48000000000000004 + } + ], + "type": "bbox" + }, + "bbox_1767684539799": { + "instances": [ + { + "height": 0.628, + "id": "bbox_1767684539799_1767684736031_rfpywhwkj", + "width": 0.41600000000000004, + "x": 0.4875, + "y": 0.24800000000000003 + } + ], + "type": "bbox" + }, + "point_1767684540823": { + "instances": [ + { + "id": "point_1767684540823_1767684580703_t26ogklc2", + "x": 0.28150000000000003, + "y": 0.31466666666666665 + } + ], + "type": "point" + }, + "point_1767684541055": { + "instances": [ + { + "id": "point_1767684541055_1767684696167_m18u8bjsp", + "x": 0.3735, + "y": 0.37733333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹继续向爪夹方向的右前方移动直至饮料瓶的正上方，后下降，抓取饮料瓶后上升，向爪夹方向的左侧移动，直至快递箱的正上方。下降将饮料瓶放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在平方向上成功接近饮料瓶，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 127, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近饮料瓶，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与水平方向呈60度角，与饮料瓶的水平距离略微缩短。\n为完成抓起饮料瓶使其落入快递箱中的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的前方移动，直至饮料瓶的正上方。", + "time": 4.2367010309278355 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "annotations": { + "bbox_1767684539471": { + "instances": [ + { + "height": 0.24133333333333334, + "id": "bbox_1767684539471_1767685128175_iij506w2c", + "width": 0.09499999999999997, + "x": 0.23350000000000004, + "y": 0.48133333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767684539799": { + "instances": [ + { + "height": 0.6213333333333334, + "id": "bbox_1767684539799_1767684781743_y4ia2oasy", + "width": 0.41000000000000003, + "x": 0.4925, + "y": 0.252 + } + ], + "type": "bbox" + }, + "point_1767684540823": { + "instances": [ + { + "id": "point_1767684540823_1767684584263_4bwccp1rf", + "x": 0.2455, + "y": 0.5013333333333334 + } + ], + "type": "point" + }, + "point_1767684541055": { + "instances": [ + { + "id": "point_1767684541055_1767684693152_9xv0gceea", + "x": 0.3345, + "y": 0.5546666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的前方移动，直至饮料瓶的正上方，后下降，抓取饮料瓶后上升，向爪夹方向的左侧移动，直至快递箱的正上方。下降将饮料瓶放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动后，爪夹在水平方向上接近饮料瓶。", + "frame": 157, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近饮料瓶，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，与饮料瓶的水平距离缩短。\n为完成抓起饮料瓶使其落入快递箱中的任务应当:爪夹向爪夹方向的前方移动，直至饮料瓶的正上方。", + "time": 5.2448 + }, + { + "action_description": "爪夹向爪夹方向的左前方略微移动并下降。", + "annotations": { + "bbox_1767684539471": { + "instances": [ + { + "height": 0.2373333333333333, + "id": "bbox_1767684539471_1767685099975_hdfnt3muq", + "width": 0.10299999999999998, + "x": 0.2265, + "y": 0.48533333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767684539799": { + "instances": [ + { + "height": 0.6253333333333334, + "id": "bbox_1767684539799_1767684799511_0cw0havpu", + "width": 0.4120000000000001, + "x": 0.4885, + "y": 0.2506666666666667 + } + ], + "type": "bbox" + }, + "point_1767684540823": { + "instances": [ + { + "id": "point_1767684540823_1767685114360_ffo4sofr8", + "x": 0.23149999999999998, + "y": 0.5533333333333333 + } + ], + "type": "point" + }, + "point_1767684541055": { + "instances": [ + { + "id": "point_1767684541055_1767684689055_98aq7quf1", + "x": 0.3205, + "y": 0.6133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的前方移动，直至爪夹包住饮料瓶。爪夹合拢抓取饮料瓶后上升，向爪夹方向的左侧移动，直至快递箱的正上方。下降将饮料瓶放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方略微移动并下降，爪夹左右触碰饮料瓶。", + "frame": 190, + "progress": 17, + "progress_explanation": "当前爪夹左右触碰饮料瓶，因此进度提升为17%。", + "state_description": "当前状态为爪夹张开，爪夹左右触碰饮料瓶。\n为完成抓起饮料瓶使其落入快递箱中的任务应当:爪夹向爪夹方向的前方移动，直至爪夹包住饮料瓶。", + "time": 6.323298969072164 + }, + { + "action_description": "爪夹向右摆动后，爪夹略微抬升，向爪夹方向的后方略微移动。", + "annotations": { + "bbox_1767684539471": { + "instances": [ + { + "height": 0.23999999999999996, + "id": "bbox_1767684539471_1767685088951_vh9yja6hk", + "width": 0.096, + "x": 0.22949999999999998, + "y": 0.49333333333333335 + } + ], + "type": "bbox" + }, + "bbox_1767684539799": { + "instances": [ + { + "height": 0.6253333333333334, + "id": "bbox_1767684539799_1767684814319_0z2vvc488", + "width": 0.4149999999999999, + "x": 0.48950000000000005, + "y": 0.24933333333333335 + } + ], + "type": "bbox" + }, + "point_1767684540823": { + "instances": [ + { + "id": "point_1767684540823_1767684591343_bg54c2d5c", + "x": 0.2485, + "y": 0.5106666666666667 + } + ], + "type": "point" + }, + "point_1767684541055": { + "instances": [ + { + "id": "point_1767684541055_1767684685887_t3xq22wxk", + "x": 0.3355, + "y": 0.6026666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的前方移动，直至爪夹处于饮料瓶的正上方。后下降，抓取饮料瓶后上升，向爪夹方向的左侧移动，直至快递箱的正上方。下降将饮料瓶放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹爪夹方向的后方略微移动，在水平方向上略微远离了饮料瓶。", + "frame": 239, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上略微远离了饮料瓶，因此进度略微下降至15%。", + "state_description": "当前状态为爪夹张开，与饮料瓶的水平距离略微增加。\n为完成抓起饮料瓶使其落入快递箱中的任务应当:爪夹向爪夹方向的前方移动，直至爪夹处于饮料瓶的正上方。", + "time": 7.9744329896907225 + }, + { + "action_description": "爪夹先下降后上升，向爪夹方向的前方移动。", + "annotations": { + "bbox_1767684539471": { + "instances": [ + { + "height": 0.24799999999999991, + "id": "bbox_1767684539471_1767685065319_bkuv3ho1g", + "width": 0.09699999999999998, + "x": 0.2265, + "y": 0.49200000000000005 + } + ], + "type": "bbox" + }, + "bbox_1767684539799": { + "instances": [ + { + "height": 0.6266666666666667, + "id": "bbox_1767684539799_1767684914863_8u72k967j", + "width": 0.41100000000000014, + "x": 0.48949999999999994, + "y": 0.24933333333333335 + } + ], + "type": "bbox" + }, + "point_1767684540823": { + "instances": [ + { + "id": "point_1767684540823_1767684594895_pamafzox2", + "x": 0.1995, + "y": 0.5706666666666667 + } + ], + "type": "point" + }, + "point_1767684541055": { + "instances": [ + { + "id": "point_1767684541055_1767684682871_vwp34qu34", + "x": 0.2895, + "y": 0.648 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢，抓取饮料瓶，后上升，向爪夹方向的左侧移动，直至快递箱的正上方。下降将饮料瓶放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动至饮料瓶正上方。", + "frame": 278, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于饮料瓶的正上方，已接近饮料瓶，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于饮料瓶的正上方。\n为完成抓起饮料瓶使其落入快递箱中的任务应当:爪夹合拢，抓取饮料瓶，后上升，向爪夹方向的左侧移动，直至快递箱的正上方。", + "time": 9.2752 + }, + { + "action_description": "爪夹合拢，抓取饮料瓶。", + "annotations": { + "bbox_1767684539471": { + "instances": [ + { + "height": 0.19600000000000004, + "id": "bbox_1767684539471_1767685060359_h8fpxnbtx", + "width": 0.098, + "x": 0.20350000000000001, + "y": 0.5026666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767684539799": { + "instances": [ + { + "height": 0.628, + "id": "bbox_1767684539799_1767684928887_ji941jfv5", + "width": 0.4130000000000001, + "x": 0.49049999999999994, + "y": 0.24800000000000003 + } + ], + "type": "bbox" + }, + "point_1767684540823": { + "instances": [ + { + "id": "point_1767684540823_1767684597983_aoih6pj2k", + "x": 0.2185, + "y": 0.5906666666666667 + } + ], + "type": "point" + }, + "point_1767684541055": { + "instances": [ + { + "id": "point_1767684541055_1767684680095_eiq4skra7", + "x": 0.2655, + "y": 0.6306666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹上升，然后向爪夹方向的左侧移动，直至快递箱的正上方。下降将饮料瓶放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹合拢，成功抓取到饮料瓶。", + "frame": 333, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到饮料瓶，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，饮料瓶已被抓取。\n为完成抓起饮料瓶使其落入快递箱中的任务应当:爪夹上升，然后向爪夹方向的左侧移动，直至快递箱的正上方。", + "time": 11.095257731958764 + }, + { + "action_description": "爪夹抓住饮料瓶上升，向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767684539471": { + "instances": [ + { + "height": 0.464, + "id": "bbox_1767684539471_1767685036863_z6lhrca3s", + "width": 0.123, + "x": 0.2495, + "y": 0.05066666666666664 + } + ], + "type": "bbox" + }, + "bbox_1767684539799": { + "instances": [ + { + "height": 0.6266666666666667, + "id": "bbox_1767684539799_1767684943263_bnzwwhrhp", + "width": 0.413, + "x": 0.48950000000000005, + "y": 0.24800000000000003 + } + ], + "type": "bbox" + }, + "point_1767684540823": { + "instances": [ + { + "id": "point_1767684540823_1767684601319_p8381etcl", + "x": 0.27949999999999997, + "y": 0.17066666666666666 + } + ], + "type": "point" + }, + "point_1767684541055": { + "instances": [ + { + "id": "point_1767684541055_1767684666967_qb1agt8be", + "x": 0.34950000000000003, + "y": 0.20133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住饮料瓶向爪夹方向的左侧移动，直至快递箱的正上方。下降将饮料瓶放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹保持合找，抓紧饮料瓶向爪夹方向的左侧移动，成功在水平方向上接近快递箱。", + "frame": 379, + "progress": 50, + "progress_explanation": "当前爪夹已抓住饮料瓶，在水平方向上略微接近快递箱，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住饮料瓶在水平方向上略微接近快递箱。\n为完成抓起饮料瓶使其落入快递箱中的任务应当:爪夹抓住饮料瓶向爪夹方向的左侧移动，直至快递箱的正上方。", + "time": 12.637525773195877 + }, + { + "action_description": "爪夹抓住饮料瓶向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767684539471": { + "instances": [ + { + "height": 0.4013333333333333, + "id": "bbox_1767684539471_1767685025295_md8wbsueq", + "width": 0.158, + "x": 0.5635, + "y": 0.08533333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767684539799": { + "instances": [ + { + "height": 0.6306666666666667, + "id": "bbox_1767684539799_1767684960471_czafcqd58", + "width": 0.414, + "x": 0.4875000000000001, + "y": 0.24399999999999997 + } + ], + "type": "bbox" + }, + "point_1767684540823": { + "instances": [ + { + "id": "point_1767684540823_1767684608519_35e952ema", + "x": 0.6065000000000002, + "y": 0.256 + } + ], + "type": "point" + }, + "point_1767684541055": { + "instances": [ + { + "id": "point_1767684541055_1767684663966_bf5fxk5xl", + "x": 0.6735, + "y": 0.22266666666666668 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住饮料瓶向爪夹方向的左侧移动，直至快递箱的正上方。下降将饮料瓶放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹抓住饮料瓶向爪夹方向的左侧移动后，在水平方向上接近快递箱。", + "frame": 399, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住饮料瓶在水平方向上接近快递箱，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住饮料瓶在水平方向上接近快递箱。\n为完成抓起饮料瓶使其落入快递箱中的任务应当:", + "time": 13.290721649484539 + }, + { + "action_description": "爪夹抓住饮料瓶向爪夹方向的左侧略微移动。", + "annotations": { + "bbox_1767684539471": { + "instances": [ + { + "height": 0.34800000000000003, + "id": "bbox_1767684539471_1767684996959_tuuyoivda", + "width": 0.11400000000000006, + "x": 0.6134999999999999, + "y": 0.12133333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767684539799": { + "instances": [ + { + "height": 0.6266666666666667, + "id": "bbox_1767684539799_1767684978671_63sybnhcq", + "width": 0.41000000000000003, + "x": 0.49050000000000005, + "y": 0.24800000000000003 + } + ], + "type": "bbox" + }, + "point_1767684540823": { + "instances": [ + { + "id": "point_1767684540823_1767684613431_xdy068cbd", + "x": 0.6605000000000001, + "y": 0.28933333333333333 + } + ], + "type": "point" + }, + "point_1767684541055": { + "instances": [ + { + "id": "point_1767684541055_1767684653815_51k9x5tw4", + "x": 0.7145, + "y": 0.2506666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，饮料瓶落入快递箱中。", + "error_success_analysis": "爪夹抓住饮料瓶向爪夹方向的左侧略微移动至快递箱的正上方。", + "frame": 441, + "progress": 80, + "progress_explanation": "当前爪夹抓住饮料瓶处于快递箱的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住饮料瓶处于快递箱的正上方。\n为完成抓起饮料瓶使其落入快递箱中的任务应当:爪夹张开，饮料瓶落入快递箱中。", + "time": 14.705979381443301 + }, + { + "action_description": "爪夹张开，饮料瓶掉落入快递箱中。", + "annotations": { + "bbox_1767684539471": { + "instances": [ + { + "height": 0.252, + "id": "bbox_1767684539471_1767684625015_9rhaoadd6", + "width": 0.10400000000000001, + "x": 0.5525, + "y": 0.37200000000000005 + } + ], + "type": "bbox" + }, + "bbox_1767684539799": { + "instances": [ + { + "height": 0.5946666666666668, + "id": "bbox_1767684539799_1767684640799_rxnduk90j", + "width": 0.3909999999999999, + "x": 0.48150000000000004, + "y": 0.24800000000000003 + } + ], + "type": "bbox" + }, + "point_1767684540823": { + "instances": [ + { + "id": "point_1767684540823_1767684616871_1z4bjs8p4", + "x": 0.6315000000000001, + "y": 0.29733333333333334 + } + ], + "type": "point" + }, + "point_1767684541055": { + "instances": [ + { + "id": "point_1767684541055_1767684620049_spnnk9fmp", + "x": 0.7555, + "y": 0.22133333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，饮料瓶已掉落入快递箱中。", + "frame": 491, + "progress": 100, + "progress_explanation": "爪夹张开，饮料瓶落入快递箱中，因此进度提升为100%。", + "state_description": "当前状态为爪夹张开，饮料瓶已掉落入快递箱中。\n为完成抓起饮料瓶使其落入快递箱中的任务应当:", + "time": 16.375257731958765 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767684539471", + "name": "饮料瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767684539799", + "name": "快递箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767684540823", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767684541055", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..bf40465322b5815712e178c47cc801147cc4e427 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,494 @@ +{ + "task_description": "抓起饮料瓶使其放在白色托盘上:\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近白色托盘:60%\n爪夹将饮料瓶放在白色托盘上:80%\n爪夹松开，饮料瓶放在白色托盘上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "bbox_1767693103288": { + "instances": [ + { + "height": 0.21951219512195125, + "id": "bbox_1767693103288_1767693230592_4ywlq2ucg", + "width": 0.2475609756097561, + "x": 0.3878048780487805, + "y": 0.7105691056910569 + } + ], + "type": "bbox" + }, + "bbox_1767693104368": { + "instances": [ + { + "height": 0.6585365853658537, + "id": "bbox_1767693104368_1767693246944_03ued6tpa", + "width": 0.4414634146341464, + "x": 0.5573170731707318, + "y": 0.3040650406504065 + } + ], + "type": "bbox" + }, + "point_1767693105288": { + "instances": [ + { + "id": "point_1767693105288_1767693160184_vwzhepqti", + "x": 0.4853658536585366, + "y": 0.38699186991869916 + } + ], + "type": "point" + }, + "point_1767693105664": { + "instances": [ + { + "id": "point_1767693105664_1767693210800_o8da3tktk", + "x": 0.573170731707317, + "y": 0.3707317073170732 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达饮料瓶正上方，后下降，抓取饮料瓶后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "", + "frame": 107, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰饮料瓶。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，准备抓取饮料瓶。", + "time": 3.5722783936708864 + }, + { + "action_description": "爪夹抬升，向爪夹方向的右前方移动，并调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767693103288": { + "instances": [ + { + "height": 0.22439024390243897, + "id": "bbox_1767693103288_1767693497280_wis2nn3qc", + "width": 0.25121951219512195, + "x": 0.3853658536585366, + "y": 0.7056910569105691 + } + ], + "type": "bbox" + }, + "bbox_1767693104368": { + "instances": [ + { + "height": 0.6617886178861789, + "id": "bbox_1767693104368_1767693261544_okk9wg9g3", + "width": 0.44268292682926835, + "x": 0.5548780487804879, + "y": 0.30243902439024395 + } + ], + "type": "bbox" + }, + "point_1767693105288": { + "instances": [ + { + "id": "point_1767693105288_1767693163096_zdc4plfh2", + "x": 0.39146341463414636, + "y": 0.47479674796747967 + } + ], + "type": "point" + }, + "point_1767693105664": { + "instances": [ + { + "id": "point_1767693105664_1767693206288_84xfou955", + "x": 0.5024390243902439, + "y": 0.49268292682926834 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，直至白色托盘的正上方，后下降，抓取饮料瓶后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在平方向上成功接近饮料瓶，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 173, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近饮料瓶，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与水平方向呈60度角，与饮料瓶的水平距离略微缩短。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，直至白色托盘的正上方。", + "time": 5.763966103797468 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降，调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767693103288": { + "instances": [ + { + "height": 0.22601626016260154, + "id": "bbox_1767693103288_1767693486256_5yhc19yag", + "width": 0.25365853658536586, + "x": 0.3829268292682927, + "y": 0.7040650406504066 + } + ], + "type": "bbox" + }, + "bbox_1767693104368": { + "instances": [ + { + "height": 0.6634146341463415, + "id": "bbox_1767693104368_1767693271536_wg07d3olq", + "width": 0.4560975609756097, + "x": 0.5402439024390244, + "y": 0.3008130081300813 + } + ], + "type": "bbox" + }, + "point_1767693105288": { + "instances": [ + { + "id": "point_1767693105288_1767693166857_n5bwunykz", + "x": 0.46829268292682935, + "y": 0.6959349593495935 + } + ], + "type": "point" + }, + "point_1767693105664": { + "instances": [ + { + "id": "point_1767693105664_1767693219576_mfx6rq9if", + "x": 0.55, + "y": 0.6813008130081302 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的前方移动，直至饮料瓶的正上方。后下降，抓取饮料瓶后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方后，爪夹在水平方向上接近饮料瓶。", + "frame": 198, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近饮料瓶，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，与饮料瓶的水平距离缩短。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的前方移动，直至饮料瓶的正上方。", + "time": 6.609577897468355 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "annotations": { + "bbox_1767693103288": { + "instances": [ + { + "height": 0.22601626016260165, + "id": "bbox_1767693103288_1767693475440_pbhhwn0yy", + "width": 0.2524390243902439, + "x": 0.38414634146341464, + "y": 0.7073170731707317 + } + ], + "type": "bbox" + }, + "bbox_1767693104368": { + "instances": [ + { + "height": 0.6650406504065042, + "id": "bbox_1767693104368_1767693290352_pajmyt5qf", + "width": 0.46219512195121953, + "x": 0.5341463414634146, + "y": 0.30081300813008127 + } + ], + "type": "bbox" + }, + "point_1767693105288": { + "instances": [ + { + "id": "point_1767693105288_1767693170048_jewtzhvcg", + "x": 0.47317073170731705, + "y": 0.8016260162601626 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的前方移动，直至饮料瓶的正上方。后下降，抓取饮料瓶后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动并下降，爪夹与饮料瓶的水平距离更加缩短，且爪夹左触碰饮料瓶。", + "frame": 221, + "progress": 17, + "progress_explanation": "较上一阶段相比，爪夹与饮料瓶的水平距离更加缩短，且爪夹左触碰饮料瓶，因此进度提升为17%。", + "state_description": "当前状态为爪夹张开，与饮料瓶的水平距离更加缩短，爪夹左触碰饮料瓶。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹向爪夹方向的前方移动，直至饮料瓶的正上方。", + "time": 7.368902773417721 + }, + { + "action_description": "爪夹向爪夹方向的后方移动并下降。", + "annotations": { + "bbox_1767693103288": { + "instances": [ + { + "height": 0.11869918699186996, + "id": "bbox_1767693103288_1767693468824_0rx293j9x", + "width": 0.2451219512195122, + "x": 0.4036585365853659, + "y": 0.7121951219512196 + } + ], + "type": "bbox" + }, + "bbox_1767693104368": { + "instances": [ + { + "height": 0.6634146341463416, + "id": "bbox_1767693104368_1767693305720_dpxpfwypz", + "width": 0.46341463414634143, + "x": 0.5329268292682927, + "y": 0.3008130081300813 + } + ], + "type": "bbox" + }, + "point_1767693105288": { + "instances": [ + { + "id": "point_1767693105288_1767693173008_71xjege58", + "x": 0.4975609756097561, + "y": 0.7056910569105691 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抬升，向爪夹方向的前方移动，直至饮料瓶的正上方。后下降，抓取饮料瓶后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到目标物品。", + "frame": 252, + "progress": -10, + "progress_explanation": "爪夹在错误地点下降，触碰桌面而不是饮料瓶，因此进度降低到-10%。", + "state_description": "当前状态为爪夹张开，在饮料瓶前方下降，爪夹左右接触桌面。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹抬升，向爪夹方向的前方移动，直至饮料瓶的正上方。", + "time": 8.411766 + }, + { + "action_description": "爪夹向爪夹方向的左后方移动并略微上升，爪夹合拢。", + "annotations": { + "bbox_1767693103288": { + "instances": [ + { + "height": 0.12682926829268293, + "id": "bbox_1767693103288_1767693462216_hx29lvkoa", + "width": 0.2487804878048781, + "x": 0.4, + "y": 0.7056910569105691 + } + ], + "type": "bbox" + }, + "bbox_1767693104368": { + "instances": [ + { + "height": 0.6585365853658537, + "id": "bbox_1767693104368_1767693319816_d9y8jl55z", + "width": 0.4499999999999999, + "x": 0.5463414634146342, + "y": 0.30569105691056914 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开并抬升，向爪夹方向的右前方略微移动，直至饮料瓶的正上方。后下降，抓取饮料瓶后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢空抓。", + "frame": 276, + "progress": -20, + "progress_explanation": "与上一阶段相比，爪夹还需要多一次张开爪夹的动作才能接近饮料瓶，因此进度降低到-20%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面已经进行空抓动作。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹张开并抬升，向爪夹方向的右前方略微移动，直至饮料瓶的正上方。", + "time": 9.188866 + }, + { + "action_description": "爪夹保持合拢并上升，向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767693103288": { + "instances": [ + { + "height": 0.13170731707317068, + "id": "bbox_1767693103288_1767693451120_aula7zt4o", + "width": 0.25000000000000006, + "x": 0.39634146341463417, + "y": 0.7089430894308943 + } + ], + "type": "bbox" + }, + "bbox_1767693104368": { + "instances": [ + { + "height": 0.6666666666666666, + "id": "bbox_1767693104368_1767693325112_oqxlr3xst", + "width": 0.4304878048780488, + "x": 0.5682926829268293, + "y": 0.3008130081300813 + } + ], + "type": "bbox" + }, + "point_1767693105288": { + "instances": [ + { + "id": "point_1767693105288_1767693178344_1yalw69jw", + "x": 0.6292682926829268, + "y": 0.5609756097560975 + } + ], + "type": "point" + }, + "point_1767693105664": { + "instances": [ + { + "id": "point_1767693105664_1767693181312_7onfzv8xv", + "x": 0.6353658536585366, + "y": 0.5544715447154472 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，向爪夹方向的右前方移动，直至饮料瓶的正上方。后下降，抓取饮料瓶后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左后方移动在水平方向上远离饮料瓶.", + "frame": 315, + "progress": -22, + "progress_explanation": "当前爪夹保持合拢，在水平方向上远离饮料瓶，因此进度降低到-22%。", + "state_description": "当前状态为爪夹合拢，爪夹在水平方向上远离饮料瓶。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹张开，向爪夹方向的右前方移动，直至饮料瓶的正上方。", + "time": 10.484033 + }, + { + "action_description": "爪夹向爪夹方向的左后方移动，爪夹由合拢到张开。", + "annotations": { + "bbox_1767693103288": { + "instances": [ + { + "height": 0.13821138211382109, + "id": "bbox_1767693103288_1767693437176_p82c94s7f", + "width": 0.25365853658536586, + "x": 0.39390243902439026, + "y": 0.702439024390244 + } + ], + "type": "bbox" + }, + "bbox_1767693104368": { + "instances": [ + { + "height": 0.6650406504065042, + "id": "bbox_1767693104368_1767693337576_zw8qe057n", + "width": 0.4378048780487805, + "x": 0.5560975609756098, + "y": 0.3008130081300813 + } + ], + "type": "bbox" + }, + "point_1767693105288": { + "instances": [ + { + "id": "point_1767693105288_1767693187840_8gkwoin2x", + "x": 0.7890243902439025, + "y": 0.4471544715447155 + } + ], + "type": "point" + }, + "point_1767693105664": { + "instances": [ + { + "id": "point_1767693105664_1767693185160_dh50mc91n", + "x": 0.8451219512195122, + "y": 0.34959349593495936 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至饮料瓶的正上方。后下降，抓取饮料瓶后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹由合拢到张开，爪夹在水平方向是略微接近饮料瓶。", + "frame": 348, + "progress": 5, + "progress_explanation": "与上一阶段相比，爪夹张开，爪夹在水平方向上略微接近饮料瓶，因此进度提升至5%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向是略微接近饮料瓶。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹向爪夹方向的右前方移动，直至饮料瓶的正上方。", + "time": 11.596961741772152 + }, + { + "action_description": "爪夹向爪夹方向的右后方移动并下降。", + "annotations": { + "bbox_1767693103288": { + "instances": [ + { + "height": 0.13658536585365866, + "id": "bbox_1767693103288_1767693391272_kzh9v1vxu", + "width": 0.2597560975609757, + "x": 0.39634146341463417, + "y": 0.705691056910569 + } + ], + "type": "bbox" + }, + "bbox_1767693104368": { + "instances": [ + { + "height": 0.6634146341463415, + "id": "bbox_1767693104368_1767693354904_oefvu92cy", + "width": 0.4426829268292683, + "x": 0.5560975609756098, + "y": 0.2991869918699187 + } + ], + "type": "bbox" + }, + "point_1767693105288": { + "instances": [ + { + "id": "point_1767693105288_1767693191008_lal9jdu7s", + "x": 0.525609756097561, + "y": 0.3788617886178862 + } + ], + "type": "point" + }, + "point_1767693105664": { + "instances": [ + { + "id": "point_1767693105664_1767693193336_5jl1nbsis", + "x": 0.624390243902439, + "y": 0.3642276422764228 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至饮料瓶的正上方。后下降，抓取饮料瓶后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动在水平方向上略微远离饮料瓶.", + "frame": 409, + "progress": 2, + "progress_explanation": "与上一阶段相比，爪夹在水平方向上略微远离饮料瓶，因此进度下降至2%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微远离饮料瓶。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹向爪夹方向的右前方移动，直至饮料瓶的正上方。", + "time": 13.633333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767693103288", + "name": "饮料瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767693104368", + "name": "白色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767693105288", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767693105664", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..a0e8655b3740f3768780b07bd374fba057a2f942 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,770 @@ +{ + "task_description": "抓起饮料瓶使其放在白色托盘上:\n开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近白色托盘:60%\n爪夹将饮料瓶放在白色托盘上:80%\n爪夹松开，饮料瓶放在白色托盘上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.14400000000000002, + "id": "bbox_1767751765709_1767751841166_9kn46e7d4", + "width": 0.259, + "x": 0.3055, + "y": 0.748 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.7133333333333333, + "id": "bbox_1767751765917_1767751824918_b1vk34lg0", + "width": 0.538, + "x": 0.46049999999999996, + "y": 0.25866666666666666 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751811957_8sgvamnsn", + "x": 0.4465, + "y": 0.37333333333333335 + } + ], + "type": "point" + }, + "point_1767751784741": { + "instances": [ + { + "id": "point_1767751784741_1767751815213_24y4754y4", + "x": 0.5415, + "y": 0.38 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达饮料瓶正上方，后下降，抓取饮料瓶后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "", + "frame": 91, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰饮料瓶。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，准备抓取饮料瓶。", + "time": 3.03819587628866 + }, + { + "action_description": "爪夹抬升，向爪夹方向的右前方移动，并调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.1400000000000001, + "id": "bbox_1767751765709_1767752422109_f81zsmwdz", + "width": 0.257, + "x": 0.3065, + "y": 0.7466666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.7133333333333333, + "id": "bbox_1767751765917_1767752399525_di4rnf4jm", + "width": 0.538, + "x": 0.45949999999999996, + "y": 0.2573333333333333 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751854877_tiqz807sk", + "x": 0.3915, + "y": 0.4653333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达饮料瓶正上方，后下降，抓取饮料瓶后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在平方向上成功接近饮料瓶，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 133, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近饮料瓶，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与水平方向呈60度角，与饮料瓶的水平距离略微缩短。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，直至白色托盘的正上方。", + "time": 4.425 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降，爪夹顺时针旋转90度。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.14533333333333331, + "id": "bbox_1767751765709_1767752437245_ta2schvu2", + "width": 0.25400000000000006, + "x": 0.3105, + "y": 0.7453333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.712, + "id": "bbox_1767751765917_1767752383549_dztqlyng3", + "width": 0.5299999999999999, + "x": 0.4675000000000001, + "y": 0.25866666666666666 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751858445_fcgsr0rjs", + "x": 0.4365, + "y": 0.6533333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的前方移动，直至饮料瓶的正上方。后下降，抓取饮料瓶后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动后在水平方向上接近饮料瓶，且爪夹顺时针旋转90度，方便抓取。", + "frame": 200, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近饮料瓶，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹与饮料瓶的水平距离缩短。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的前方移动，直至饮料瓶的正上方。", + "time": 6.651185567010309 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降，爪夹调整爪夹角度使其垂直于桌面。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.12666666666666657, + "id": "bbox_1767751765709_1767752446309_gdb4yspqr", + "width": 0.258, + "x": 0.3075, + "y": 0.7693333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.7093333333333335, + "id": "bbox_1767751765917_1767752359909_alt4fa0d2", + "width": 0.5389999999999999, + "x": 0.45949999999999996, + "y": 0.26 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751861181_l06bcstnr", + "x": 0.4175, + "y": 0.8360000000000001 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的前方移动，直至饮料瓶的正上方。后下降，抓取饮料瓶后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动并下降，在水平方向上更接近饮料瓶，爪夹左触碰饮料瓶，爪夹垂直于桌面，方便抓取饮料瓶。", + "frame": 239, + "progress": 18, + "progress_explanation": "较上一阶段相比爪夹在水平方向上更接近饮料瓶，因此进度提升至18%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹左触碰饮料瓶，爪夹在水平方向上更接近饮料瓶。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹向爪夹方向的前方移动，直至饮料瓶的正上方。", + "time": 7.965 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.1293333333333333, + "id": "bbox_1767751765709_1767752454877_bp53sdklm", + "width": 0.24899999999999997, + "x": 0.3135, + "y": 0.7386666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.712, + "id": "bbox_1767751765917_1767752315533_xb7egdunh", + "width": 0.5569999999999999, + "x": 0.4415, + "y": 0.25866666666666666 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751873685_3oy1i986h", + "x": 0.41450000000000004, + "y": 0.8893333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取饮料瓶上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并下降至饮料瓶正上方。", + "frame": 263, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于饮料瓶的正上方，已接近饮料瓶，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于饮料瓶的正上方。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹下降，抓取饮料瓶上升，向爪夹方向的左后方移动，直至白色托盘的正上方。", + "time": 8.767886597938142 + }, + { + "action_description": "爪夹合拢，抓取饮料瓶。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.1573333333333333, + "id": "bbox_1767751765709_1767752467477_m8hl8p80c", + "width": 0.259, + "x": 0.3035, + "y": 0.7066666666666668 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.7093333333333334, + "id": "bbox_1767751765917_1767752299101_87nnr55bb", + "width": 0.552, + "x": 0.44750000000000006, + "y": 0.2613333333333333 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751876845_0ng6zigde", + "x": 0.4165, + "y": 0.8520000000000001 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取饮料瓶上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹合拢，成功抓取饮料瓶。", + "frame": 279, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到饮料瓶，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，饮料瓶已被抓取。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹抓取饮料瓶上升，向爪夹方向的左后方移动，直至白色托盘的正上方。", + "time": 9.315309278350515 + }, + { + "action_description": "爪夹抓取饮料瓶上升并向爪夹方向的左后方略微移动。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.18933333333333344, + "id": "bbox_1767751765709_1767752511381_iodrhxlw2", + "width": 0.298, + "x": 0.2945, + "y": 0.5559999999999998 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.712, + "id": "bbox_1767751765917_1767752287733_dkv1royxj", + "width": 0.5539999999999999, + "x": 0.4445, + "y": 0.25866666666666666 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751880101_xyer0nl0v", + "x": 0.4415, + "y": 0.6626666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取饮料瓶向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹保持合找，抓紧饮料瓶向爪夹方向的左后方移动，成功在水平方向上接近白色托盘。", + "frame": 301, + "progress": 50, + "progress_explanation": "当前爪夹已抓住饮料瓶，在水平方向上略微接近白色托盘，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住饮料瓶在水平方向上略微接近白色托盘。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹抓取饮料瓶向爪夹方向的左后方移动，直至白色托盘的正上方。", + "time": 10.04520618556701 + }, + { + "action_description": "爪夹抓取饮料瓶向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.1373333333333333, + "id": "bbox_1767751765709_1767752534061_tnftgnsb2", + "width": 0.269, + "x": 0.41950000000000004, + "y": 0.43066666666666664 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.7106666666666667, + "id": "bbox_1767751765917_1767752281277_orzdqx4qs", + "width": 0.5369999999999999, + "x": 0.4615, + "y": 0.25866666666666666 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751883405_o74f0jbxu", + "x": 0.5455, + "y": 0.548 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取饮料瓶向爪夹方向的左后方移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹抓住饮料瓶上升向爪夹方向的左后方移动后，在水平方向上接近白色托盘。", + "frame": 335, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓住饮料瓶在水平方向上接近白色托盘，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住饮料瓶在水平方向上接近白色托盘。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹抓住饮料瓶上升向爪夹方向的右后方移动，直至白色托盘的正上方。", + "time": 11.158298969072165 + }, + { + "action_description": "爪夹张开，饮料瓶掉落至桌面。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.19200000000000006, + "id": "bbox_1767751765709_1767752550325_fwrvgyg9n", + "width": 0.18499999999999997, + "x": 0.41450000000000004, + "y": 0.42266666666666663 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.712, + "id": "bbox_1767751765917_1767752265773_8hbqv3waj", + "width": 0.5389999999999999, + "x": 0.4585, + "y": 0.25866666666666666 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751886685_yc5ygxpaz", + "x": 0.5225000000000001, + "y": 0.532 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹竖直下降，合拢抓取饮料瓶，后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹张开，饮料瓶掉落至桌面，爪夹需要重新抓取饮料瓶。", + "frame": 364, + "progress": 20, + "progress_explanation": "当前爪夹张开，饮料瓶掉落至桌面，但爪夹位于饮料瓶正上方，因此进度下降为20%。", + "state_description": "当前状态为爪夹张开，爪夹位于饮料瓶正上方。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹竖直下降，合拢抓取饮料瓶，后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。", + "time": 12.12541237113402 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并略微抬升。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.1933333333333334, + "id": "bbox_1767751765709_1767752557925_51onh25hd", + "width": 0.16499999999999995, + "x": 0.41150000000000003, + "y": 0.42 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.704, + "id": "bbox_1767751765917_1767752250541_0b9kzhamk", + "width": 0.5369999999999999, + "x": 0.4615, + "y": 0.264 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751890869_93tn0akw6", + "x": 0.6085, + "y": 0.5146666666666666 + } + ], + "type": "point" + }, + "point_1767751784741": { + "instances": [ + { + "id": "point_1767751784741_1767751893893_djtvn2utq", + "x": 0.6565000000000001, + "y": 0.42533333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右后方移动，直至饮料瓶的正上方。爪夹下降，合拢抓取饮料瓶，后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并略微抬升，在垂直方向上略微远离饮料瓶", + "frame": 385, + "progress": 17, + "progress_explanation": "当前爪夹在垂直方向上略微远离饮料瓶，因此进度下降为17%。", + "state_description": "当前状态为爪夹张开，爪夹在垂直方向上略微远离饮料瓶。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹向爪夹方向的右后方移动，直至饮料瓶的正上方。", + "time": 12.81881443298969 + }, + { + "action_description": "爪夹向爪夹方向的右后方移动并下降。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.21466666666666664, + "id": "bbox_1767751765709_1767752573469_j8ef9skxn", + "width": 0.18000000000000008, + "x": 0.4135, + "y": 0.396 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.7093333333333334, + "id": "bbox_1767751765917_1767752231861_y4eav1x2r", + "width": 0.5399999999999998, + "x": 0.4585000000000001, + "y": 0.26 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751900310_8ylns3cxc", + "x": 0.5335, + "y": 0.5266666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取饮料瓶，后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动并下降至饮料瓶正上方。", + "frame": 411, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于饮料瓶的正上方，已接近饮料瓶，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于饮料瓶的正上方。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹下降，抓取饮料瓶，后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。", + "time": 13.694690721649485 + }, + { + "action_description": "爪夹略微下降，合拢抓取饮料瓶。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.1839999999999999, + "id": "bbox_1767751765709_1767752586205_57fdh85gq", + "width": 0.188, + "x": 0.41450000000000004, + "y": 0.42800000000000005 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.712, + "id": "bbox_1767751765917_1767752209701_egejnskh0", + "width": 0.5389999999999999, + "x": 0.45949999999999996, + "y": 0.25866666666666666 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751905717_4nlj2yccd", + "x": 0.5315000000000001, + "y": 0.5106666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取饮料瓶上升，然后向爪夹方向的左侧移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹略微下降，合拢抓取饮料瓶。", + "frame": 424, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取饮料瓶，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，饮料瓶已被抓取。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹抓取饮料瓶上升，然后向爪夹方向的左侧移动，直至白色托盘的正上方。", + "time": 14.132628865979381 + }, + { + "action_description": "爪夹合拢，饮料瓶滑落至桌面。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.3306666666666667, + "id": "bbox_1767751765709_1767752605125_tny1cfwvh", + "width": 0.08599999999999994, + "x": 0.43550000000000005, + "y": 0.5493333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.7120000000000001, + "id": "bbox_1767751765917_1767752196693_xzzbkgvv8", + "width": 0.5359999999999998, + "x": 0.46150000000000013, + "y": 0.2586666666666667 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751909189_gexcnn9of", + "x": 0.5375, + "y": 0.49333333333333335 + } + ], + "type": "point" + }, + "point_1767751784741": { + "instances": [ + { + "id": "point_1767751784741_1767751913429_yrse3okm6", + "x": 0.5415, + "y": 0.47866666666666663 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，爪夹向爪夹方向的右前方移动直至饮料瓶的正上方。爪夹竖直下降，抓取饮料瓶，后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹合拢抓取饮料瓶时饮料瓶滑落至桌面，爪夹进行空抓动作。", + "frame": 454, + "progress": -20, + "progress_explanation": "爪夹合拢抓取饮料瓶时饮料瓶滑落至桌面，爪夹进行空抓动作，爪夹需要多一次张开开爪夹的动作才能接近饮料瓶，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹沿饮料瓶边缘已经进行抓取动作。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹张开，爪夹向爪夹方向的右前方移动直至饮料瓶的正上方。", + "time": 15.13623711340206 + }, + { + "action_description": "爪夹张开，爪夹顺时针旋转45度，向爪夹方向的右侧略微移动。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.3280000000000001, + "id": "bbox_1767751765709_1767752168157_k29rv2nat", + "width": 0.08600000000000003, + "x": 0.4375, + "y": 0.5519999999999999 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.712, + "id": "bbox_1767751765917_1767752185605_arwaqk953", + "width": 0.5279999999999999, + "x": 0.47050000000000003, + "y": 0.2586666666666667 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751919685_kudvtm5vk", + "x": 0.4495, + "y": 0.5506666666666666 + } + ], + "type": "point" + }, + "point_1767751784741": { + "instances": [ + { + "id": "point_1767751784741_1767751916925_p7vbwbjqg", + "x": 0.5465, + "y": 0.5213333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的前方移动，直至饮料瓶的正上方。爪夹竖直下降，抓取饮料瓶，后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹张开，向爪夹方向的右侧略微移动后，爪夹在水平方向上接近饮料瓶。", + "frame": 508, + "progress": 15, + "progress_explanation": "当前爪夹张开，爪夹在水平方向上接近饮料瓶，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近饮料瓶。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹向爪夹方向的前方移动，直至饮料瓶的正上方。", + "time": 16.942731958762888 + }, + { + "action_description": "爪夹向爪夹方向的右后方移动并下降。", + "annotations": { + "bbox_1767751765709": { + "instances": [ + { + "height": 0.3306666666666667, + "id": "bbox_1767751765709_1767752159813_g2dotmazf", + "width": 0.08399999999999999, + "x": 0.4375, + "y": 0.5493333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767751765917": { + "instances": [ + { + "height": 0.7013333333333333, + "id": "bbox_1767751765917_1767751960277_i726y4wi4", + "width": 0.542, + "x": 0.4575, + "y": 0.272 + } + ], + "type": "bbox" + }, + "point_1767751784429": { + "instances": [ + { + "id": "point_1767751784429_1767751927509_middxgzxn", + "x": 0.3875, + "y": 0.4186666666666667 + } + ], + "type": "point" + }, + "point_1767751784741": { + "instances": [ + { + "id": "point_1767751784741_1767751930533_0jjwh4y6a", + "x": 0.49050000000000005, + "y": 0.4533333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，直至饮料瓶的正上方。爪夹竖直下降，抓取饮料瓶，后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。下降将饮料瓶放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动，爪夹在水平方向上远离饮料瓶。", + "frame": 529, + "progress": 10, + "progress_explanation": "当前爪夹张开，爪夹在水平方向上远离饮料瓶，因此进度下降至10%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上远离饮料瓶。\n为完成抓起饮料瓶使其放在白色托盘上的任务应当:爪夹向爪夹方向的左前方移动，直至饮料瓶的正上方。", + "time": 17.636134020618556 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767751765709", + "name": "饮料瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767751765917", + "name": "白色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767751784429", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767751784741", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-175225-bad--red square - express box/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-175225-bad--red square - express box/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4bd2044f1b4c09e6396ca7645a1b0133ff7bae30 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-175225-bad--red square - express box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,580 @@ +{ + "task_description": "抓起红色方块使其放入快递箱中:\n开始移动:0%\n爪夹接近红色方块:20%\n爪夹抓取红色方块:40%\n爪夹抓住红色方块接近快递箱:60%\n爪夹抓住红色方块处于快递箱正上方:80%\n爪夹松开，红色方块放入快递箱中:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "bbox_1767865792158": { + "instances": [ + { + "height": 0.06933333333333327, + "id": "bbox_1767865792158_1767866113910_cy62hrct3", + "width": 0.04800000000000004, + "x": 0.3915, + "y": 0.5760000000000001 + } + ], + "type": "bbox" + }, + "bbox_1767865792526": { + "instances": [ + { + "height": 0.37866666666666665, + "id": "bbox_1767865792526_1767866122646_w3rrzly38", + "width": 0.33799999999999997, + "x": 0.0925, + "y": 0.5920000000000001 + } + ], + "type": "bbox" + }, + "point_1767865793374": { + "instances": [ + { + "id": "point_1767865793374_1767866102750_de43dn31y", + "x": 0.4175, + "y": 0.36666666666666664 + } + ], + "type": "point" + }, + "point_1767865793710": { + "instances": [ + { + "id": "point_1767865793710_1767866105990_f3qt925q2", + "x": 0.5155000000000001, + "y": 0.36666666666666664 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达红色方块正上方，后下降，抓取红色方块后上升，向爪夹方向的右前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "", + "frame": 75, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰红色方块。\n为完成抓起红色方块使其放入快递箱中的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，准备抓取红色方块。", + "time": 2.509434751668892 + }, + { + "action_description": "爪夹抬升，向爪夹方向的前方移动，并调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767865792158": { + "instances": [ + { + "height": 0.0693333333333334, + "id": "bbox_1767865792158_1767866083702_4gzlh9g6a", + "width": 0.04499999999999997, + "x": 0.3935, + "y": 0.576 + } + ], + "type": "bbox" + }, + "bbox_1767865792526": { + "instances": [ + { + "height": 0.37733333333333335, + "id": "bbox_1767865792526_1767866097062_1sfkh6hcj", + "width": 0.3390000000000001, + "x": 0.0925, + "y": 0.5920000000000001 + } + ], + "type": "bbox" + }, + "point_1767865793374": { + "instances": [ + { + "id": "point_1767865793374_1767866076558_f4k97qfc3", + "x": 0.3915, + "y": 0.3893333333333333 + } + ], + "type": "point" + }, + "point_1767865793710": { + "instances": [ + { + "id": "point_1767865793710_1767866074174_qnx8qeqb1", + "x": 0.4915, + "y": 0.388 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达红色方块正上方，后下降，抓取红色方块后上升，向爪夹方向的右前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，在水平方向上成功接近红色方块，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 154, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近红色方块，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与红色方块的水平距离缩短。\n为完成抓起红色方块使其放入快递箱中的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，直至红色方块的正上方。", + "time": 5.129906439252336 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降，并调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767865792158": { + "instances": [ + { + "height": 0.0693333333333334, + "id": "bbox_1767865792158_1767866056966_pteryu2xa", + "width": 0.04500000000000002, + "x": 0.3955, + "y": 0.5773333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767865792526": { + "instances": [ + { + "height": 0.37866666666666676, + "id": "bbox_1767865792526_1767866048598_q0e8dfaqy", + "width": 0.338, + "x": 0.0935, + "y": 0.5906666666666667 + } + ], + "type": "bbox" + }, + "point_1767865793374": { + "instances": [ + { + "id": "point_1767865793374_1767866063158_reja09yum", + "x": 0.3785, + "y": 0.5586666666666668 + } + ], + "type": "point" + }, + "point_1767865793710": { + "instances": [ + { + "id": "point_1767865793710_1767866065710_jgnmroday", + "x": 0.4795, + "y": 0.56 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的前方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的右前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动后，爪夹在水平方向上接近红色方块。", + "frame": 175, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近红色方块，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，与红色方块的水平距离缩短。\n为完成抓起红色方块使其放入快递箱中的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的前方移动，直至红色方块的正上方。", + "time": 5.818335441922563 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降，并调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767865792158": { + "instances": [ + { + "height": 0.06800000000000009, + "id": "bbox_1767865792158_1767866033454_qo4s2o8no", + "width": 0.04099999999999997, + "x": 0.3965, + "y": 0.5786666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767865792526": { + "instances": [ + { + "height": 0.37733333333333335, + "id": "bbox_1767865792526_1767866042438_2pi7j2bzv", + "width": 0.338, + "x": 0.0935, + "y": 0.5920000000000001 + } + ], + "type": "bbox" + }, + "point_1767865793374": { + "instances": [ + { + "id": "point_1767865793374_1767866024270_1io06som4", + "x": 0.3795, + "y": 0.596 + } + ], + "type": "point" + }, + "point_1767865793710": { + "instances": [ + { + "id": "point_1767865793710_1767866026862_of80g3fcv", + "x": 0.4755, + "y": 0.616 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取红色方块，后上升，向爪夹方向的右前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动至红色方块正上方爪夹垂直于桌面，方便抓取。", + "frame": 212, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于红色方块的正上方，已接近红色方块，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹处于红色方块的正上方。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹下降，抓取红色方块，后上升，向爪夹方向的右前方移动，直至快递箱的正上方。", + "time": 7.061949124165554 + }, + { + "action_description": "爪夹略微下降抓取红色方块。", + "annotations": { + "bbox_1767865792158": { + "instances": [ + { + "height": 0.06266666666666663, + "id": "bbox_1767865792158_1767866010222_iqbohu42y", + "width": 0.041999999999999996, + "x": 0.41550000000000004, + "y": 0.5773333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767865792526": { + "instances": [ + { + "height": 0.37866666666666665, + "id": "bbox_1767865792526_1767866019654_wpmyoi9uk", + "width": 0.33899999999999997, + "x": 0.0915, + "y": 0.5933333333333334 + } + ], + "type": "bbox" + }, + "point_1767865793374": { + "instances": [ + { + "id": "point_1767865793374_1767866004974_32eovauy9", + "x": 0.41850000000000004, + "y": 0.62 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取红色方块上升，然后向爪夹方向的右前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹合拢，成功抓取红色方块。", + "frame": 269, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到红色方块，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，红色方块已被抓取。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹抓取红色方块上升，然后向爪夹方向的右前方移动，直至快递箱的正上方。", + "time": 8.966666666666667 + }, + { + "action_description": "爪夹抓取红色方块上升。", + "annotations": { + "bbox_1767865792158": { + "instances": [ + { + "height": 0.07599999999999998, + "id": "bbox_1767865792158_1767865997630_il8i9y2am", + "width": 0.051000000000000024, + "x": 0.3815, + "y": 0.24666666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767865792526": { + "instances": [ + { + "height": 0.37733333333333346, + "id": "bbox_1767865792526_1767865975087_ktps0ef2p", + "width": 0.33799999999999997, + "x": 0.0935, + "y": 0.592 + } + ], + "type": "bbox" + }, + "point_1767865793374": { + "instances": [ + { + "id": "point_1767865793374_1767865986438_bstqr4u9t", + "x": 0.3835, + "y": 0.312 + } + ], + "type": "point" + }, + "point_1767865793710": { + "instances": [ + { + "id": "point_1767865793710_1767865989158_zfdb39x59", + "x": 0.4385, + "y": 0.3066666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住红色方块向爪夹方向的右前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹保持合找，抓紧红色方块上升，成功在垂直方向上接近快递箱。", + "frame": 320, + "progress": 50, + "progress_explanation": "当前爪夹已抓住红色方块，在垂直方向上接近快递箱，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取红色方块在垂直方向上接近快递箱。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹抓住红色方块向爪夹方向的右前方移动，直至快递箱的正上方。", + "time": 10.681753234979974 + }, + { + "action_description": "爪夹抓取红色方块向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767865792158": { + "instances": [ + { + "height": 0.088, + "id": "bbox_1767865792158_1767865951582_5oevd0ihz", + "width": 0.07400000000000002, + "x": 0.6425, + "y": 0.13866666666666666 + } + ], + "type": "bbox" + }, + "bbox_1767865792526": { + "instances": [ + { + "height": 0.37600000000000006, + "id": "bbox_1767865792526_1767865967798_3p3n63n91", + "width": 0.341, + "x": 0.0925, + "y": 0.5946666666666667 + } + ], + "type": "bbox" + }, + "point_1767865793374": { + "instances": [ + { + "id": "point_1767865793374_1767865941222_s4c48p8oj", + "x": 0.6665, + "y": 0.22933333333333333 + } + ], + "type": "point" + }, + "point_1767865793710": { + "instances": [ + { + "id": "point_1767865793710_1767865944526_8joih3cpc", + "x": 0.7135, + "y": 0.17866666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住红色方块向爪夹方向的右前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹抓取红色方块向爪夹方向的左后方移动后，在水平方向上远离快递箱。", + "frame": 347, + "progress": 45, + "progress_explanation": "较上一阶段相比，爪夹抓取红色方块在水平方向上远离快递箱，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取红色方块在水平方向上远离接近白色托盘。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹抓住红色方块向爪夹方向的右前方移动，直至快递箱的正上方。", + "time": 11.576799 + }, + { + "action_description": "爪夹抓住红色方块向爪夹方向的右前方移动并下降。", + "annotations": { + "bbox_1767865792158": { + "instances": [ + { + "height": 0.08800000000000002, + "id": "bbox_1767865792158_1767865935446_dgshhsfzu", + "width": 0.05700000000000003, + "x": 0.6165, + "y": 0.76 + } + ], + "type": "bbox" + }, + "bbox_1767865792526": { + "instances": [ + { + "height": 0.37733333333333335, + "id": "bbox_1767865792526_1767865912630_7akgbtbre", + "width": 0.336, + "x": 0.0965, + "y": 0.5946666666666667 + } + ], + "type": "bbox" + }, + "point_1767865793374": { + "instances": [ + { + "id": "point_1767865793374_1767865923670_xln580opn", + "x": 0.6225, + "y": 0.8253333333333334 + } + ], + "type": "point" + }, + "point_1767865793710": { + "instances": [ + { + "id": "point_1767865793710_1767865926222_zvl8dol70", + "x": 0.6725000000000001, + "y": 0.8186666666666668 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取红色方块向爪夹方向的右侧移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹抓取红色方块上升向爪夹方向的右前方移动后，在水平方向上接近快递箱。", + "frame": 408, + "progress": 50, + "progress_explanation": "较上一阶段相比，爪夹抓取红色方块在水平方向上接近快递箱，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取红色方块在水平方向上接近快递箱。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹抓取红色方块向爪夹方向的右侧移动，直至快递箱的正上方。", + "time": 13.590920955941256 + }, + { + "action_description": "爪夹张开，红色方块掉落至盘子上。", + "annotations": { + "bbox_1767865792158": { + "instances": [ + { + "height": 0.07066666666666659, + "id": "bbox_1767865792158_1767865886606_7iehs8jqj", + "width": 0.046, + "x": 0.6214999999999999, + "y": 0.8586666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767865792526": { + "instances": [ + { + "height": 0.37999999999999995, + "id": "bbox_1767865792526_1767865903798_lkkdkbe09", + "width": 0.339, + "x": 0.0935, + "y": 0.5920000000000001 + } + ], + "type": "bbox" + }, + "point_1767865793374": { + "instances": [ + { + "id": "point_1767865793374_1767865875758_2gogo5zxv", + "x": 0.5895, + "y": 0.8413333333333334 + } + ], + "type": "point" + }, + "point_1767865793710": { + "instances": [ + { + "id": "point_1767865793710_1767865878486_i8la094uz", + "x": 0.7055, + "y": 0.8133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的前方移动直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的右前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹张开，红色方块掉落。", + "frame": 431, + "progress": 15, + "progress_explanation": "当前爪夹张开，红色方块掉落，爪夹需要重新抓取，因此进度下降至15%。", + "state_description": "当前状态为爪夹张开，红色方块已掉落至盘子上。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹向爪夹方向的前方移动直至红色方块的正上方。", + "time": 14.368179507343124 + }, + { + "action_description": "爪夹上升向爪夹方向的右后方移动。", + "annotations": { + "bbox_1767865792158": { + "instances": [ + { + "height": 0.06666666666666655, + "id": "bbox_1767865792158_1767865866038_on3spie6h", + "width": 0.04900000000000002, + "x": 0.6205, + "y": 0.8626666666666668 + } + ], + "type": "bbox" + }, + "bbox_1767865792526": { + "instances": [ + { + "height": 0.37599999999999995, + "id": "bbox_1767865792526_1767865834823_61laabmqq", + "width": 0.346, + "x": 0.0915, + "y": 0.5946666666666668 + } + ], + "type": "bbox" + }, + "point_1767865793374": { + "instances": [ + { + "id": "point_1767865793374_1767865823006_p3g8fn3kn", + "x": 0.40449999999999997, + "y": 0.384 + } + ], + "type": "point" + }, + "point_1767865793710": { + "instances": [ + { + "id": "point_1767865793710_1767865825318_qdq638c0t", + "x": 0.5145000000000001, + "y": 0.37466666666666665 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的右前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹上升向爪夹方向的右后方移动，爪夹在水平方向上远离红色方块。", + "frame": 499, + "progress": 10, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上远离红色方块，因此进度下降至15%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上远离红色方块。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹向爪夹方向的左前方移动，直至红色方块的正上方。", + "time": 16.633333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767865792158", + "name": "红色方块" + }, + { + "color": "#FF9800", + "id": "bbox_1767865792526", + "name": "快递箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767865793374", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767865793710", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-175225-bad--red square - express box/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-175225-bad--red square - express box/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..f94d8d96579842c257ac3db5b29cff8613274c08 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-175225-bad--red square - express box/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,492 @@ +{ + "task_description": "抓起红色方块使其放入快递箱中:\n开始移动:0%\n爪夹接近红色方块:20%\n爪夹抓取红色方块:40%\n爪夹抓住红色方块接近快递箱:60%\n爪夹抓住红色方块处于快递箱正上方:80%\n爪夹松开，红色方块放入快递箱中:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的左前方移动，到达红色方块正上方，后下降，抓取红色方块后上升，向爪夹方向的左前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "", + "frame": 63, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰红色方块。\n为完成抓起红色方块使其放入快递箱中的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的左前方移动，准备抓取红色方块。", + "time": 2.1147422680412373, + "annotations": { + "point_1767923206169": { + "type": "point", + "instances": [ + { + "id": "point_1767923206169_1767923500529_vyogarnay", + "x": 0.4495, + "y": 0.37466666666666665 + } + ] + }, + "point_1767923206449": { + "type": "point", + "instances": [ + { + "id": "point_1767923206449_1767923505297_7nejx6f3p", + "x": 0.5415, + "y": 0.3706666666666667 + } + ] + }, + "bbox_1767923204777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923204777_1767923512321_xk01teawf", + "x": 0.5545, + "y": 0.47600000000000003, + "width": 0.04400000000000004, + "height": 0.06799999999999998 + } + ] + }, + "bbox_1767923205113": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923205113_1767923519393_emyvtnmbj", + "x": 0.5685, + "y": 0.192, + "width": 0.36900000000000005, + "height": 0.45866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹抬升，向爪夹方向的左前方略微移动，并调整爪夹角度使其接近垂直于桌面。", + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的左前方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的左前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上成功略微接近红色方块，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 116, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近红色方块，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与红色方块的水平距离略微缩短。\n为完成抓起红色方块使其放入快递箱中的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的左前方移动，直至红色方块的正上方。", + "time": 3.8757731958762887, + "annotations": { + "point_1767923206169": { + "type": "point", + "instances": [ + { + "id": "point_1767923206169_1767923473145_3kkx2d4h5", + "x": 0.4335, + "y": 0.4426666666666667 + } + ] + }, + "point_1767923206449": { + "type": "point", + "instances": [ + { + "id": "point_1767923206449_1767923476249_h0esmclvf", + "x": 0.5205, + "y": 0.4266666666666667 + } + ] + }, + "bbox_1767923204777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923204777_1767923483521_eiwsk4kny", + "x": 0.5525, + "y": 0.47866666666666663, + "width": 0.04500000000000002, + "height": 0.06666666666666667 + } + ] + }, + "bbox_1767923205113": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923205113_1767923489361_2s7lovw5u", + "x": 0.5685, + "y": 0.192, + "width": 0.3709999999999999, + "height": 0.45866666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降，调整爪夹角度使其接近垂直于桌面。", + "correction_plan": "抬升爪夹，向爪夹方向的左侧移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的左前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到目标物品。", + "frame": 174, + "progress": -10, + "progress_explanation": "爪夹在错误地点下降，触碰桌面而不是红色方块，因此进度降低到-10%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹接触桌面。\n为完成抓起红色方块使其放入快递箱中的任务应当:抬升爪夹，向爪夹方向的左侧移动，直至红色方块的正上方。", + "time": 5.802371134020618, + "annotations": { + "point_1767923206169": { + "type": "point", + "instances": [ + { + "id": "point_1767923206169_1767923447225_j2c86s075", + "x": 0.46749999999999997, + "y": 0.5373333333333333 + } + ] + }, + "bbox_1767923204777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923204777_1767923453457_v5u4l537c", + "x": 0.5535, + "y": 0.47600000000000003, + "width": 0.04299999999999997, + "height": 0.06933333333333327 + } + ] + }, + "bbox_1767923205113": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923205113_1767923463825_cbxfwww98", + "x": 0.5694999999999999, + "y": 0.19333333333333333, + "width": 0.37, + "height": 0.45733333333333337 + } + ] + } + } + }, + { + "time": 7.6236082474226805, + "frame": 229, + "progress": 17, + "action_description": "爪夹略微抬升，向爪夹方向的左侧移动。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹右接触红色方块。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹向爪夹方向的左侧略微移动，直至红色方块的正上方。", + "progress_explanation": "当前爪夹向爪夹方向的左侧移动，爪夹右接触红色方块，因此进度提升为17%。", + "error_success_analysis": "爪夹略微抬升，向爪夹方向的左侧移动，爪夹右接触红色方块，爪夹垂直于桌面，方便抓取。", + "correction_plan": "爪夹向爪夹方向的左侧略微移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的左前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "annotations": { + "point_1767923206449": { + "type": "point", + "instances": [ + { + "id": "point_1767923206449_1767923420937_n7g8fgfje", + "x": 0.5805, + "y": 0.5133333333333333 + } + ] + }, + "bbox_1767923204777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923204777_1767923426897_p9alrft93", + "x": 0.5515, + "y": 0.47866666666666663, + "width": 0.04600000000000008, + "height": 0.06533333333333337 + } + ] + }, + "bbox_1767923205113": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923205113_1767923433737_k43e5daau", + "x": 0.5655, + "y": 0.19066666666666668, + "width": 0.37399999999999994, + "height": 0.46133333333333326 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方略微移动，合拢抓取。", + "correction_plan": "爪夹张开并抬起，向爪夹方向的右后方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的左前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后没有及时抬升，进行合拢空抓。", + "frame": 263, + "progress": -20, + "progress_explanation": "当前爪夹合拢，爪夹需要多一次张开爪夹的动作才能接近红色方块，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹沿红色方块边缘已经进行空抓动作。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹张开并抬起，向爪夹方向的右后方移动，直至红色方块的正上方。", + "time": 8.767525773195876, + "annotations": { + "bbox_1767923205113": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923205113_1767923381137_v783k4v4i", + "x": 0.5705, + "y": 0.196, + "width": 0.37300000000000005, + "height": 0.44800000000000006 + } + ] + }, + "point_1767923206169": { + "type": "point", + "instances": [ + { + "id": "point_1767923206169_1767923395809_6rqbc02ex", + "x": 0.5685, + "y": 0.47200000000000003 + } + ] + }, + "point_1767923206449": { + "type": "point", + "instances": [ + { + "id": "point_1767923206449_1767923403497_jlftfvhl6", + "x": 0.5775, + "y": 0.4666666666666667 + } + ] + }, + "bbox_1767923204777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923204777_1767923413322_1t2cunknw", + "x": 0.5275000000000001, + "y": 0.43066666666666664, + "width": 0.04399999999999995, + "height": 0.05866666666666666 + } + ] + } + } + }, + { + "time": 9.685670103092782, + "frame": 291, + "progress": 15, + "action_description": "爪夹张开，爪夹向爪夹方向的右后方略微移动并下降。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近红色方块。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹向爪夹方向的右后方移动，直至红色方块的正上方。", + "progress_explanation": "当前爪夹在水平方向上接近红色方块，因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹方向的右后方略微移动后，爪夹在水平方向上接近红色方块。", + "correction_plan": "爪夹向爪夹方向的右后方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的左前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "annotations": { + "point_1767923206169": { + "type": "point", + "instances": [ + { + "id": "point_1767923206169_1767923337561_2o4nmbn9w", + "x": 0.5015, + "y": 0.48133333333333334 + } + ] + }, + "point_1767923206449": { + "type": "point", + "instances": [ + { + "id": "point_1767923206449_1767923340441_aq1n1bjqt", + "x": 0.6015, + "y": 0.44000000000000006 + } + ] + }, + "bbox_1767923204777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923204777_1767923348729_xm9k0njyy", + "x": 0.5265, + "y": 0.42, + "width": 0.04300000000000006, + "height": 0.06666666666666667 + } + ] + }, + "bbox_1767923205113": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923205113_1767923365801_qul9x02x3", + "x": 0.5765, + "y": 0.192, + "width": 0.3650000000000001, + "height": 0.45333333333333337 + } + ] + } + } + }, + { + "time": 11.446701030927835, + "frame": 343, + "progress": 17, + "action_description": "爪夹向爪夹方向的右后方移动并下降。", + "state_description": "当前状态为爪夹张开，爪夹垂直于桌面，在水平方向上更接近红色方块，爪夹右触碰红色方块。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹向爪夹方向的左侧略微移动，直至红色方块的正上方。", + "progress_explanation": "较上一阶段相比，爪夹在水平方向上更接近红色方块，爪夹右触碰红色方块，因此进度提升为17%。", + "error_success_analysis": "爪夹向爪夹方向的右后方移动并下降，在水平方向上更接近红色方块，爪夹右触碰红色方块。爪夹垂直于桌面，方便抓取红色方块。", + "correction_plan": "爪夹向爪夹方向的左侧略微移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的左前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "annotations": { + "bbox_1767923205113": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923205113_1767923325033_hgwg8d40n", + "x": 0.5755, + "y": 0.19333333333333333, + "width": 0.36499999999999994, + "height": 0.45333333333333337 + } + ] + }, + "point_1767923206169": { + "type": "point", + "instances": [ + { + "id": "point_1767923206169_1767923333513_wnzywawvp", + "x": 0.4715, + "y": 0.48933333333333334 + } + ] + } + } + }, + { + "time": 12.319690721649485, + "frame": 370, + "progress": -20, + "action_description": "爪夹向爪夹方向的右侧移动，略微下降合拢抓取并上升。", + "state_description": "当前状态为爪夹合拢，爪夹沿红色方块已经进行空抓动作。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹张开，爪夹向爪夹方向的左后方移动，直至红色方块的正上方。", + "progress_explanation": "当前爪夹合拢，爪夹需要多一次张开爪夹的动作才能接近红色方块，因此进度下降为-20%。", + "error_success_analysis": "爪夹向爪夹方向的右侧移动，略微下降，在错误地点下降后没有及时抬升，进行合拢空抓。", + "correction_plan": "爪夹张开，爪夹向爪夹方向的左后方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的左前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "annotations": { + "point_1767923206169": { + "type": "point", + "instances": [ + { + "id": "point_1767923206169_1767923286025_qthn2tuof", + "x": 0.47450000000000003, + "y": 0.5093333333333334 + } + ] + }, + "point_1767923206449": { + "type": "point", + "instances": [ + { + "id": "point_1767923206449_1767923288969_xiob3yanh", + "x": 0.4805, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767923204777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923204777_1767923295257_te1kvf7gp", + "x": 0.5105000000000001, + "y": 0.428, + "width": 0.038999999999999965, + "height": 0.06266666666666669 + } + ] + }, + "bbox_1767923205113": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923205113_1767923307161_2sbivjnsy", + "x": 0.5754999999999999, + "y": 0.192, + "width": 0.36500000000000005, + "height": 0.45333333333333325 + } + ] + } + } + }, + { + "time": 14.261340206185565, + "frame": 428, + "progress": 15, + "action_description": "爪夹张开，向爪夹的后方移动。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上接近红色方块。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹向爪夹方向的左前方移动，直至红色方块的正上方。", + "progress_explanation": "当前爪夹张开，爪夹在水平方向上接近红色方块，因此进度提升至15%。", + "error_success_analysis": "爪夹张开，向爪夹的后方移动，在水平方向上接近红色方块。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的左前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "annotations": { + "point_1767923206169": { + "type": "point", + "instances": [ + { + "id": "point_1767923206169_1767923237769_24vnvlevu", + "x": 0.4205, + "y": 0.3893333333333333 + } + ] + }, + "point_1767923206449": { + "type": "point", + "instances": [ + { + "id": "point_1767923206449_1767923240601_5sbcvhdbq", + "x": 0.5285, + "y": 0.38266666666666665 + } + ] + }, + "bbox_1767923204777": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923204777_1767923246873_g54fwsdb1", + "x": 0.5105000000000001, + "y": 0.428, + "width": 0.03799999999999999, + "height": 0.06133333333333333 + } + ] + }, + "bbox_1767923205113": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767923205113_1767923257209_7ekzk4a3a", + "x": 0.5755, + "y": 0.19333333333333336, + "width": 0.3660000000000001, + "height": 0.4546666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767923204777", + "name": "红色方块", + "color": "#4CAF50" + }, + { + "id": "bbox_1767923205113", + "name": "快递箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767923206169", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767923206449", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-175225-bad--red square - express box/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-175225-bad--red square - express box/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..2b98ba5155e49204d2d8a1bffdda550a794b90b6 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-175225-bad--red square - express box/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,784 @@ +{ + "task_description": "抓起红色方块使其放入快递箱中:\n开始移动:0%\n爪夹接近红色方块:20%\n爪夹抓取红色方块:40%\n爪夹抓住红色方块接近快递箱:60%\n爪夹抓住红色方块处于快递箱正上方:80%\n爪夹松开，红色方块放入快递箱中:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达红色方块正上方，后下降，抓取红色方块后上升，向爪夹方向的右后方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "", + "frame": 68, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰红色方块。\n为完成抓起红色方块使其放入快递箱中的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，准备抓取红色方块。", + "time": 2.2648029432098107, + "annotations": { + "point_1767943832606": { + "type": "point", + "instances": [ + { + "id": "point_1767943832606_1767944282334_xnmrgpmdv", + "x": 0.4225555162014455, + "y": 0.3609814362808076 + } + ] + }, + "point_1767943832998": { + "type": "point", + "instances": [ + { + "id": "point_1767943832998_1767944284862_ylx8qgydc", + "x": 0.5225555100979302, + "y": 0.368981435629766 + } + ] + }, + "bbox_1767943819390": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819390_1767944292270_2rtlirtdd", + "x": 0.023555540554471396, + "y": 0.2676481105429598, + "width": 0.3449999789428723, + "height": 0.449333296766496 + } + ] + }, + "bbox_1767943819014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819014_1767944303006_b2k2bdusn", + "x": 0.38355551858181647, + "y": 0.6783147437894903, + "width": 0.046999997131347816, + "height": 0.07199999414062551 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的向右移动回正，抬升并向爪夹方向的前方略微移动。调整爪夹角度使其接近垂直于桌面。 ", + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达红色方块正上方，后下降，抓取红色方块后上升，向爪夹方向的右后方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，在平方向上成功接近红色方块，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 111, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近红色方块，并开始调整夹角度方便抓取，因此进度提升为10%。 ", + "state_description": "当前状态为爪夹张开，与红色方块的水平距离缩短。\n为完成抓起红色方块使其放入快递箱中的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达红色方块正上方。", + "time": 3.6979987509672028, + "annotations": { + "point_1767943832998": { + "type": "point", + "instances": [ + { + "id": "point_1767943832998_1767944252558_8aii6wpa3", + "x": 0.49255551192898483, + "y": 0.33698143823393245 + } + ] + }, + "point_1767943832606": { + "type": "point", + "instances": [ + { + "id": "point_1767943832606_1767944255350_m5tde7dhh", + "x": 0.38355551858181647, + "y": 0.3503147704821964 + } + ] + }, + "bbox_1767943819014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819014_1767944263374_p25nbp7be", + "x": 0.3845555185207813, + "y": 0.6729814108901846, + "width": 0.043999997314453275, + "height": 0.07466666059027828 + } + ] + }, + "bbox_1767943819390": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819390_1767944269254_p2rlitrxh", + "x": 0.02455554049343625, + "y": 0.2676481105429598, + "width": 0.34199997912597774, + "height": 0.45066662999132245 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。调整爪夹角度使其接近垂直于桌面。", + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的右后方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动后，爪夹在水平方向上接近红色方块。", + "frame": 172, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近红色方块，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，与红色方块的水平距离缩短。\n为完成抓起红色方块使其放入快递箱中的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，直至红色方块的正上方。", + "time": 5.745421333477762, + "annotations": { + "point_1767943832998": { + "type": "point", + "instances": [ + { + "id": "point_1767943832998_1767944218910_qpd51sx82", + "x": 0.5485555085110163, + "y": 0.5983147502999063 + } + ] + }, + "point_1767943832606": { + "type": "point", + "instances": [ + { + "id": "point_1767943832606_1767944221302_tx0ijofwe", + "x": 0.43555551540798854, + "y": 0.610314749323344 + } + ] + }, + "bbox_1767943819390": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819390_1767944227198_msl38d8pi", + "x": 0.024555540493436247, + "y": 0.26631477731813336, + "width": 0.3439999790039075, + "height": 0.4546666296658015 + } + ] + }, + "bbox_1767943819014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819014_1767944240134_mw7kxrmda", + "x": 0.3845555185207813, + "y": 0.6756480773398373, + "width": 0.043999997314453275, + "height": 0.07466666059027839 + } + ] + } + } + }, + { + "action_description": "爪夹下降，调整爪夹角度使其接近垂直于桌面。", + "correction_plan": "爪夹略微抬升，向爪夹方向的右侧移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的右后方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降，导致没有触碰到目标物品。", + "frame": 226, + "progress": -10, + "progress_explanation": "爪夹在错误地点下降，触碰海绵而不是红色方块，因此进度降低到-10%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹左右接触海绵。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹略微抬升，向爪夹方向的右侧移动，直至红色方块的正上方。", + "time": 7.519854238320248, + "annotations": { + "point_1767943832606": { + "type": "point", + "instances": [ + { + "id": "point_1767943832606_1767944175094_az7pgert4", + "x": 0.43855551522488306, + "y": 0.7023147418363654 + } + ] + }, + "point_1767943832998": { + "type": "point", + "instances": [ + { + "id": "point_1767943832998_1767944178038_wsjrvem9v", + "x": 0.5415555089382623, + "y": 0.6983147421618862 + } + ] + }, + "bbox_1767943819390": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819390_1767944184862_35nfgquyb", + "x": 0.024555540493436247, + "y": 0.2676481105429597, + "width": 0.3459999788818372, + "height": 0.45066662999132245 + } + ] + }, + "bbox_1767943819014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819014_1767944203182_bi0fb4ogy", + "x": 0.38355551858181647, + "y": 0.6769814105646639, + "width": 0.04499999725341812, + "height": 0.07199999414062551 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取海绵。", + "correction_plan": "爪夹张开并抬升，然后向爪夹方向的右侧移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的右后方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后，没有及时抬升，进行抓取海绵的动作。", + "frame": 255, + "progress": -20, + "progress_explanation": "较上一阶段相比，爪夹需要多一次张开爪夹的动作才能接触红色方块，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹垂直于桌面已经进行抓取海绵的动作，\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹张开并抬升，然后向爪夹方向的右侧移动，直至红色方块的正上方。", + "time": 8.498067249964182, + "annotations": { + "point_1767943832606": { + "type": "point", + "instances": [ + { + "id": "point_1767943832606_1767944142494_tbu4h47zl", + "x": 0.49155551199001996, + "y": 0.6983147421618862 + } + ] + }, + "bbox_1767943819014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819014_1767944153126_0c4osxh2e", + "x": 0.38555551845974617, + "y": 0.6769814105646639, + "width": 0.04199999743652363, + "height": 0.07199999414062551 + } + ] + }, + "bbox_1767943819390": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819390_1767944164366_i7kwqvc69", + "x": 0.024555540493436244, + "y": 0.26898144376778615, + "width": 0.3459999788818372, + "height": 0.44399996386719043 + } + ] + } + } + }, + { + "action_description": "爪夹张开并抬升，爪夹向爪夹方向的右侧略微移动。", + "correction_plan": "爪夹向爪夹方向的右侧移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的右后方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹张开并抬升，爪夹向爪夹方向的右侧略微移动，在水平方向上接近红色方块。", + "frame": 299, + "progress": 17, + "progress_explanation": "当前爪夹张开并抬升，爪夹向爪夹方向的右侧略微移动，在水平方向上接近红色方块，因此进度提升至17%。", + "state_description": "当前状态为爪夹张开，爪夹垂直于桌面，爪夹在水平方向上接近红色方块。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹向爪夹方向的右侧移动，直至红色方块的正上方。", + "time": 9.976761337332917, + "annotations": { + "point_1767943832606": { + "type": "point", + "instances": [ + { + "id": "point_1767943832606_1767944113230_2b768epwz", + "x": 0.4215555162624806, + "y": 0.6383147470446983 + } + ] + }, + "point_1767943832998": { + "type": "point", + "instances": [ + { + "id": "point_1767943832998_1767944115518_scs5z8qs2", + "x": 0.517555510403106, + "y": 0.6423147467191775 + } + ] + }, + "bbox_1767943819390": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819390_1767944122942_z78y78n0b", + "x": 0.024555540493436244, + "y": 0.264981444093307, + "width": 0.34099997918701297, + "height": 0.4546666296658016 + } + ] + }, + "bbox_1767943819014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819014_1767944134262_jzssi04eo", + "x": 0.38355551858181647, + "y": 0.6796480770143167, + "width": 0.043999997314453324, + "height": 0.06666666124131986 + } + ] + } + } + }, + { + "action_description": "爪夹左右晃动后，爪夹下降。", + "correction_plan": "爪夹略微抬升，向爪夹方向的右侧略微移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的右后方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "当前爪夹在错误地点下降，导致没有接触红色方块。", + "frame": 334, + "progress": -10, + "progress_explanation": "当前爪夹在错误地点下降，导致爪夹右接触海绵，没有接触红色方块，因此进度下降至-10%。", + "state_description": "当前状态为爪夹张开，爪夹垂直于桌面，爪夹右接触海绵。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹略微抬升，向爪夹方向的右侧略微移动，直至红色方块的正上方。", + "time": 11.136967467422236, + "annotations": { + "point_1767943832606": { + "type": "point", + "instances": [ + { + "id": "point_1767943832606_1767944086710_l6672rh2m", + "x": 0.4315555156521292, + "y": 0.7049814082860182 + } + ] + }, + "bbox_1767943819014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819014_1767944093174_jud0ihly0", + "x": 0.3845555185207813, + "y": 0.6796480770143167, + "width": 0.04599999719238297, + "height": 0.06799999446614619 + } + ] + }, + "bbox_1767943819390": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819390_1767944099190_iqxwi778s", + "x": 0.023555540554471403, + "y": 0.2663147773181334, + "width": 0.3449999789428723, + "height": 0.4519999632161488 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取海绵。", + "correction_plan": "爪夹张开并抬起，爪夹向爪夹方向的右侧移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的右后方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹在错误地点下降后，没有及时抬升，进行抓取海绵的动作。", + "frame": 350, + "progress": -20, + "progress_explanation": "较上一阶段相比，爪夹需要多一次张开爪夹的动作才能接触红色方块，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹垂直于桌面，已进行抓取海绵的动作。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹张开并抬起，爪夹向爪夹方向的右侧移动，直至红色方块的正上方。", + "time": 11.660197682952711, + "annotations": { + "point_1767943832606": { + "type": "point", + "instances": [ + { + "id": "point_1767943832606_1767944054486_dklybwe9y", + "x": 0.4605555138821097, + "y": 0.6863147431384486 + } + ] + }, + "bbox_1767943819014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819014_1767944063350_yaoxn8ly1", + "x": 0.3845555185207813, + "y": 0.6756480773398376, + "width": 0.043999997314453275, + "height": 0.07466666059027828 + } + ] + }, + "bbox_1767943819390": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819390_1767944076326_l1mtuzega", + "x": 0.024555540493436244, + "y": 0.26631477731813336, + "width": 0.3419999791259778, + "height": 0.4533332964409752 + } + ] + } + } + }, + { + "action_description": "爪夹张开并上升，向爪夹方向的后方移动。", + "correction_plan": "爪夹向爪夹方向的右前方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的右后方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹张开并上升，但爪夹向爪夹方向的后方移动，在水平方向上略微远离红色方块。", + "frame": 393, + "progress": 13, + "progress_explanation": "较上一阶段相比，爪夹张开，但在水平方向上略微远离红色方块，因此进度提升至13%。", + "state_description": "当前状态为爪夹张开，爪夹在水平方向上略微远离红色方块。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹向爪夹方向的右前方移动，直至红色方块的正上方。", + "time": 13.116142630515776, + "annotations": { + "point_1767943832606": { + "type": "point", + "instances": [ + { + "id": "point_1767943832606_1767944026814_0p26ohstj", + "x": 0.4245555160793752, + "y": 0.5489814209813296 + } + ] + }, + "point_1767943832998": { + "type": "point", + "instances": [ + { + "id": "point_1767943832998_1767944030694_5c902f4j0", + "x": 0.5425555088772273, + "y": 0.5463147545316769 + } + ] + }, + "bbox_1767943819014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819014_1767944035942_60y4bt1kf", + "x": 0.37855551888699224, + "y": 0.680981410239143, + "width": 0.041999997436523585, + "height": 0.0679999944661463 + } + ] + }, + "bbox_1767943819390": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819390_1767944044902_v96e9mzqi", + "x": 0.024555540493436247, + "y": 0.264981444093307, + "width": 0.3459999788818372, + "height": 0.45599996289062805 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "爪夹下降，合拢抓取红色方块，后上升，向爪夹方向的右后方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动至红色方块正上方。", + "frame": 473, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于红色方块的正上方，已接近红色方块，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于红色方块的正上方，爪夹右接触海绵。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹下降，合拢抓取红色方块，后上升，向爪夹方向的右后方移动，直至快递箱的正上方。", + "time": 15.755042847973831, + "annotations": { + "point_1767943832606": { + "type": "point", + "instances": [ + { + "id": "point_1767943832606_1767943991478_90gwtgj0l", + "x": 0.3505555205959765, + "y": 0.6729814108901846 + } + ] + }, + "point_1767943832998": { + "type": "point", + "instances": [ + { + "id": "point_1767943832998_1767943993758_6ytrcpbpp", + "x": 0.4335555155300589, + "y": 0.7236480734335877 + } + ] + }, + "bbox_1767943819014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819014_1767944002262_532r2p7ax", + "x": 0.38155551870388676, + "y": 0.680981410239143, + "width": 0.036999997741699354, + "height": 0.0679999944661463 + } + ] + }, + "bbox_1767943819390": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819390_1767944015046_4c9wua18y", + "x": 0.00055554195827991, + "y": 0.25564811151952216, + "width": 0.37599997705078264, + "height": 0.47733329448785045 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢抓取海绵，后上升，向爪夹方向的右后方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹下降，爪夹左接触桌面，爪夹右接触海绵，在垂直方向上更接近红色方块。", + "frame": 495, + "progress": 30, + "progress_explanation": "较上一阶段相比，爪夹左接触桌面，爪夹右接触海绵，在垂直方向上更接近红色方块，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，爪夹左接触桌面，爪夹右接触海绵。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹合拢抓取海绵，后上升，向爪夹方向的右后方移动，直至快递箱的正上方。", + "time": 16.505764461561036, + "annotations": { + "point_1767943832998": { + "type": "point", + "instances": [ + { + "id": "point_1767943832998_1767943950790_1cwqv6uu6", + "x": 0.44055551510281277, + "y": 0.734314739232199 + } + ] + }, + "point_1767943832606": { + "type": "point", + "instances": [ + { + "id": "point_1767943832606_1767943960422_sxsv4drd7", + "x": 0.36455551974148437, + "y": 0.7089814079604974 + } + ] + }, + "bbox_1767943819014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819014_1767943966430_33r1bb03w", + "x": 0.38155551870388676, + "y": 0.6729814108901846, + "width": 0.03999999755859385, + "height": 0.07599999381510472 + } + ] + }, + "bbox_1767943819390": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819390_1767943976878_zsadygq0o", + "x": 0.0025555418362096047, + "y": 0.25031477862021656, + "width": 0.37599997705078264, + "height": 0.4879999602864616 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，红色方块挤出抓取到海绵，后爪夹向爪夹方向的后方略微移动并上升。", + "correction_plan": "爪夹张开并抬升，爪夹向爪夹方向的右前方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的右后方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹合拢，红色方块挤出抓取到海绵。", + "frame": 516, + "progress": -20, + "progress_explanation": "爪夹需要多一次张开爪夹的动作才能接触红色方块，因此进度下降为-20%。", + "state_description": "当前状态为爪夹合拢，爪夹已经抓取到海绵。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹张开并抬升，爪夹向爪夹方向的右前方移动，直至红色方块的正上方。", + "time": 17.188238655731222, + "annotations": { + "point_1767943832606": { + "type": "point", + "instances": [ + { + "id": "point_1767943832606_1767943920357_3cbtifuxk", + "x": 0.406555517178008, + "y": 0.6569814121922679 + } + ] + }, + "point_1767943832998": { + "type": "point", + "instances": [ + { + "id": "point_1767943832998_1767943922750_qi0v4mukk", + "x": 0.4265555159573049, + "y": 0.6663147447660527 + } + ] + }, + "bbox_1767943819014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819014_1767943932302_dkfppy2vg", + "x": 0.35755552016873043, + "y": 0.7089814079604974, + "width": 0.04499999725341817, + "height": 0.05333332899305591 + } + ] + }, + "bbox_1767943819390": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819390_1767943939550_ptubnspck", + "x": 0.0015555418972447582, + "y": 0.24631477894573742, + "width": 0.37699997698974747, + "height": 0.4906666267361144 + } + ] + } + } + }, + { + "action_description": "爪夹抓取海绵上升，向爪夹方向的左后方略微移动，并且爪夹臂把快递箱也带起，向爪夹方向的左后方移动。", + "correction_plan": "爪夹张开，海绵掉落至桌面，爪夹下降将快递箱放置桌面，然后爪夹向爪夹方向的右前方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的右后方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹抓取海绵上升，同时爪夹臂把快递箱也带起，向爪夹方向的左后方移动爪夹抓取海绵悬空在空中，快递箱被爪夹臂带起也悬空在空中。", + "frame": 588, + "progress": -40, + "progress_explanation": "当前爪夹抓取海绵悬空在空中，快递箱被爪夹臂带起也悬空在空中，因此进度下降至-40%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取海绵悬空在空中，快递箱被爪夹臂带起也悬空在空中。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹张开，海绵掉落至桌面，爪夹下降将快递箱放置桌面，然后爪夹向爪夹方向的右前方移动，直至红色方块的正上方。", + "time": 19.599647475132546, + "annotations": { + "point_1767943832998": { + "type": "point", + "instances": [ + { + "id": "point_1767943832998_1767943887854_ifixs0y0v", + "x": 0.49255551192898483, + "y": 0.3196481063111893 + } + ] + }, + "point_1767943832606": { + "type": "point", + "instances": [ + { + "id": "point_1767943832606_1767943890590_8itnfua9c", + "x": 0.4745555130276176, + "y": 0.3169814398615365 + } + ] + }, + "bbox_1767943819390": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819390_1767943899310_b51s7orm7", + "x": 0.15055553280300701, + "y": 0.058314794245215316, + "width": 0.3509999785766615, + "height": 0.5386666228298648 + } + ] + }, + "bbox_1767943819014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819014_1767943914262_of25ac7bv", + "x": 0.35555552029080073, + "y": 0.707648074735671, + "width": 0.04799999707031266, + "height": 0.05599999544270868 + } + ] + } + } + }, + { + "action_description": "爪夹张开，海绵掉落，爪夹向爪夹方向的左方旋转回正，爪夹下降，爪夹臂带着快递箱下降。", + "correction_plan": "爪夹下降将快递箱放置桌面，然后爪夹向爪夹方向的右前方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的右后方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹张开，海绵已掉落至桌面，快递箱被爪夹臂带起仍悬空在空中。", + "frame": 662, + "progress": -25, + "progress_explanation": "当前爪夹张开海绵掉落，快递箱被爪夹臂带起仍悬空在空中，因此进度提升至-25%。", + "state_description": "当前状态为爪夹张开，海绵已掉落至桌面，快递箱被爪夹臂带起仍悬空在空中。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹下降将快递箱放置桌面，然后爪夹向爪夹方向的右前方移动，直至红色方块的正上方。", + "time": 22.066667, + "annotations": { + "point_1767943832998": { + "type": "point", + "instances": [ + { + "id": "point_1767943832998_1767943850374_x9rhfcjyl", + "x": 0.5485555085110163, + "y": 0.4836480929648362 + } + ] + }, + "point_1767943832606": { + "type": "point", + "instances": [ + { + "id": "point_1767943832606_1767943852958_3rw2l42y5", + "x": 0.43655551534695336, + "y": 0.4916480923137946 + } + ] + }, + "bbox_1767943819014": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819014_1767943860694_x6qmlw345", + "x": 0.35555552029080073, + "y": 0.7063147415108446, + "width": 0.04699999713134786, + "height": 0.05866666189236156 + } + ] + }, + "bbox_1767943819390": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943819390_1767943876054_0jqmfytqu", + "x": 0.06055553829617076, + "y": 0.15164811998306316, + "width": 0.33999997924804815, + "height": 0.4546666296658016 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767943819014", + "name": "红色方块", + "color": "#4CAF50" + }, + { + "id": "bbox_1767943819390", + "name": "快递箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767943832606", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767943832998", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-175225-bad--red square - express box/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-175225-bad--red square - express box/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..f305ce9d05de1ca8bebb0f59e2c4e7a5fd966809 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-175225-bad--red square - express box/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,548 @@ +{ + "task_description": "抓起红色方块使其放入快递箱中:\n开始移动:0%\n爪夹接近红色方块:20%\n爪夹抓取红色方块:40%\n爪夹抓住红色方块接近快递箱:60%\n爪夹抓住红色方块处于快递箱正上方:80%\n爪夹松开，红色方块放入快递箱中:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "bbox_1767940247426": { + "instances": [ + { + "height": 0.07199999414062551, + "id": "bbox_1767940247426_1767940629635_7sehj05vc", + "width": 0.048999997009277506, + "x": 0.36455551974148437, + "y": 0.5569814203302881 + } + ], + "type": "bbox" + }, + "bbox_1767940247890": { + "instances": [ + { + "height": 0.3266666400824675, + "id": "bbox_1767940247890_1767940620203_r29ss28zf", + "width": 0.3779999769287124, + "x": 0.5145555105862114, + "y": 0.45031476234417617 + } + ], + "type": "bbox" + }, + "point_1767940264762": { + "instances": [ + { + "id": "point_1767940264762_1767940610546_870qa608u", + "x": 0.4845555124172661, + "y": 0.38631476755250915 + } + ], + "type": "point" + }, + "point_1767940265147": { + "instances": [ + { + "id": "point_1767940265147_1767940613250_osescsu6w", + "x": 0.5815555064968563, + "y": 0.368981435629766 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达红色方块正上方，后下降，抓取红色方块后上升，向爪夹方向的左前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "", + "frame": 86, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰红色方块。\n为完成抓起红色方块使其放入快递箱中的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，准备抓取红色方块。", + "time": 2.856311119704973 + }, + { + "action_description": "爪夹向爪夹方向的向右移动回正，抬升并向爪夹方向的右前方略微移动。调整爪夹角度使其接近垂直于桌面。 ", + "annotations": { + "bbox_1767940247426": { + "instances": [ + { + "height": 0.07066666091579918, + "id": "bbox_1767940247426_1767940600483_znqow26jh", + "width": 0.0479999970703127, + "x": 0.36455551974148437, + "y": 0.5583147535551144 + } + ], + "type": "bbox" + }, + "bbox_1767940247890": { + "instances": [ + { + "height": 0.31999997395833546, + "id": "bbox_1767940247890_1767940588283_xx4d1x22g", + "width": 0.3789999768676773, + "x": 0.5135555106472466, + "y": 0.45431476201865545 + } + ], + "type": "bbox" + }, + "point_1767940264762": { + "instances": [ + { + "id": "point_1767940264762_1767940578298_fwz9fywuh", + "x": 0.406555517178008, + "y": 0.4089814323745579 + } + ], + "type": "point" + }, + "point_1767940265147": { + "instances": [ + { + "id": "point_1767940265147_1767940581898_11xwjblyo", + "x": 0.504555511196563, + "y": 0.41964809817316906 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达红色方块正上方，后下降，抓取红色方块后上升，向爪夹方向的左前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "向爪夹方向的右前方略微移动，在平方向上成功接近红色方块，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 182, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近红色方块，并开始调整夹角度方便抓取，因此进度提升为10%。 ", + "state_description": "当前状态为爪夹张开，与红色方块的水平距离缩短。\n为完成抓起红色方块使其放入快递箱中的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达红色方块正上方。", + "time": 6.079609885958019 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767940247426": { + "instances": [ + { + "height": 0.07199999414062551, + "id": "bbox_1767940247426_1767940556115_vsjh0vgmr", + "width": 0.04699999713134777, + "x": 0.36455551974148437, + "y": 0.5596480867799408 + } + ], + "type": "bbox" + }, + "bbox_1767940247890": { + "instances": [ + { + "height": 0.32133330718316183, + "id": "bbox_1767940247890_1767940566835_39dexmpsd", + "width": 0.3769999769897475, + "x": 0.5155555105251763, + "y": 0.4529814287938291 + } + ], + "type": "bbox" + }, + "point_1767940264762": { + "instances": [ + { + "id": "point_1767940264762_1767940551338_4xx78eqaq", + "x": 0.314555522793242, + "y": 0.4783147600655306 + } + ], + "type": "point" + }, + "point_1767940265147": { + "instances": [ + { + "id": "point_1767940265147_1767940548634_u2iljwz8y", + "x": 0.38155551870388676, + "y": 0.5369814219578921 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的左前方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的左前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动后，爪夹在水平方向上接近红色方块。", + "frame": 219, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近红色方块，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，与红色方块的水平距离缩短。\n为完成抓起红色方块使其放入快递箱中的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的左前方移动，直至红色方块的正上方。", + "time": 7.2933211497940444 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "annotations": { + "bbox_1767940247426": { + "instances": [ + { + "height": 0.07066666091579907, + "id": "bbox_1767940247426_1767940529131_w8oub63x8", + "width": 0.04699999713134786, + "x": 0.3635555198025195, + "y": 0.5596480867799408 + } + ], + "type": "bbox" + }, + "bbox_1767940247890": { + "instances": [ + { + "height": 0.3399999723307314, + "id": "bbox_1767940247890_1767940540211_897ac8ybt", + "width": 0.3759999770507826, + "x": 0.5155555105251763, + "y": 0.43831476332073865 + } + ], + "type": "bbox" + }, + "point_1767940264762": { + "instances": [ + { + "id": "point_1767940264762_1767940520402_t4dztro04", + "x": 0.36055551998562496, + "y": 0.5463147545316769 + } + ], + "type": "point" + }, + "point_1767940265147": { + "instances": [ + { + "id": "point_1767940265147_1767940522874_bip5ntmev", + "x": 0.41255551681179703, + "y": 0.6049814164240385 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取红色方块，后上升，向爪夹方向的左前方移动，直至快递箱的正上方。下降将红色方块放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，后向爪夹方向的左前方移动至红色方块正上方。", + "frame": 247, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于红色方块的正上方，已接近红色方块，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于红色方块的正上方。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹下降，抓取红色方块，后上升，向爪夹方向的左前方移动，直至白色托盘的正上方。", + "time": 8.228475730126718 + }, + { + "action_description": "爪夹下降，合拢抓取红色方块和白色小瓶。", + "annotations": { + "bbox_1767940247426": { + "instances": [ + { + "height": 0.07999999348958392, + "id": "bbox_1767940247426_1767940508075_y41be6692", + "width": 0.05399999670410174, + "x": 0.3615555199245898, + "y": 0.5569814203302881 + } + ], + "type": "bbox" + }, + "bbox_1767940247890": { + "instances": [ + { + "height": 0.32399997363281463, + "id": "bbox_1767940247890_1767940492355_nu0nsbcs6", + "width": 0.3769999769897474, + "x": 0.5145555105862115, + "y": 0.4529814287938291 + } + ], + "type": "bbox" + }, + "point_1767940265147": { + "instances": [ + { + "id": "point_1767940265147_1767940500674_x4xmpdyz8", + "x": 0.39755551772732434, + "y": 0.6143147489978232 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取红色方块和白色小瓶上升，然后向爪夹方向的左前方移动，直至快递箱的正上方。下降将红色方块和白色小瓶放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹合拢，成功抓取红色方块和白色小瓶。", + "frame": 296, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到红色方块和白色小瓶，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，红色方块和白色小瓶已被抓取。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹抓取红色方块和白色小瓶上升，然后向爪夹方向的左前方移动，直至快递箱的正上方。", + "time": 9.879918925182293 + }, + { + "action_description": "爪夹抓取红色方块和白色小瓶上升向爪夹方向的左前方略微移动。", + "annotations": { + "bbox_1767940247426": { + "instances": [ + { + "height": 0.07199999414062545, + "id": "bbox_1767940247426_1767940465323_1x920ap8h", + "width": 0.06199999621582055, + "x": 0.38155551870388676, + "y": 0.44364809622004425 + } + ], + "type": "bbox" + }, + "bbox_1767940247890": { + "instances": [ + { + "height": 0.32666664008246743, + "id": "bbox_1767940247890_1767940479011_k2p1gipgd", + "width": 0.3769999769897475, + "x": 0.5155555105251763, + "y": 0.4503147623441762 + } + ], + "type": "bbox" + }, + "point_1767940265147": { + "instances": [ + { + "id": "point_1767940265147_1767940468274_uzvd604f9", + "x": 0.4305555157131643, + "y": 0.4783147600655306 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取红色方块和白色小瓶向爪夹方向的左侧移动，直至快递箱的正上方。下降将红色方块和白色小瓶放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹保持合找，抓紧红色方块和白色小瓶向爪夹方向的左前略微移动，成功在水平方向上略微接近快递箱。", + "frame": 340, + "progress": 50, + "progress_explanation": "当前爪夹已抓住红色方块和白色小瓶，在水平方向上略微接近快递箱，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取红色方块和白色小瓶在水平方向上略微接近快递箱。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹抓取红色方块和白色小瓶向爪夹方向的左侧移动，直至快递箱的正上方。", + "time": 11.332393060592615 + }, + { + "action_description": "爪夹抓取红色方块和白色小瓶向爪夹方向的左侧移动并上升。", + "annotations": { + "bbox_1767940247426": { + "instances": [ + { + "height": 0.07199999414062545, + "id": "bbox_1767940247426_1767940438643_dmzfdoaqn", + "width": 0.06399999609375025, + "x": 0.39755551772732434, + "y": 0.35298143693184925 + } + ], + "type": "bbox" + }, + "bbox_1767940247890": { + "instances": [ + { + "height": 0.32266664040798837, + "id": "bbox_1767940247890_1767940445763_iqlkjwwqn", + "width": 0.3769999769897476, + "x": 0.5155555105251762, + "y": 0.452981428793829 + } + ], + "type": "bbox" + }, + "point_1767940265147": { + "instances": [ + { + "id": "point_1767940265147_1767940431930_q12738m0t", + "x": 0.4485555146145315, + "y": 0.38898143400216195 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取红色方块和白色小瓶向爪夹方向的左侧移动，直至快递箱的正上方。下降将红色方块和白色小瓶放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹抓取红色方块和白色小瓶上升向爪夹方向的左侧移动后，在水平方向上接近快递箱。", + "frame": 355, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓取红色方块和白色小瓶在水平方向上接近快递箱，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取红色方块和白色小瓶在水平方向上接近快递箱。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹抓取红色方块和白色小瓶向爪夹方向的左侧移动，直至快递箱的正上方。", + "time": 11.849712615670265 + }, + { + "action_description": "爪夹抓取红色方块和白色小瓶向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767940247426": { + "instances": [ + { + "height": 0.08533332638888945, + "id": "bbox_1767940247426_1767940408323_u5v3vzjk5", + "width": 0.06699999591064473, + "x": 0.6505555022854307, + "y": 0.251648111845043 + } + ], + "type": "bbox" + }, + "bbox_1767940247890": { + "instances": [ + { + "height": 0.32799997330729386, + "id": "bbox_1767940247890_1767940419770_mn8fxp31f", + "width": 0.3789999768676771, + "x": 0.5155555105251763, + "y": 0.4489814291193498 + } + ], + "type": "bbox" + }, + "point_1767940264762": { + "instances": [ + { + "id": "point_1767940264762_1767940399026_jvqwth16x", + "x": 0.6125555046047666, + "y": 0.3223147727608421 + } + ], + "type": "point" + }, + "point_1767940265147": { + "instances": [ + { + "id": "point_1767940265147_1767940401818_3ts53prnj", + "x": 0.6985554993557435, + "y": 0.25831477796917496 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住红色方块和白色小瓶下降，将红色方块和白色小瓶放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹抓住红色方块和白色小瓶向爪夹方向的左侧移动至快递箱的正上方。", + "frame": 373, + "progress": 80, + "progress_explanation": "当前爪夹抓住红色方块和白色小瓶处于快递箱的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住红色方块和白色小瓶处于快递箱的正上方。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹抓住红色方块和白色小瓶下降，将红色方块和白色小瓶放入快递箱中，爪夹张开。", + "time": 12.446619794606013 + }, + { + "action_description": "爪夹抓取红色方块和白色小瓶向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767940247426": { + "instances": [ + { + "height": 0.07999999348958386, + "id": "bbox_1767940247426_1767940376794_f9p05qfkb", + "width": 0.06699999591064465, + "x": 0.7565554958157046, + "y": 0.1876481170533759 + } + ], + "type": "bbox" + }, + "bbox_1767940247890": { + "instances": [ + { + "height": 0.3266666400824675, + "id": "bbox_1767940247890_1767940389514_2lrp2ynj8", + "width": 0.3789999768676771, + "x": 0.5145555105862114, + "y": 0.45164809556900265 + } + ], + "type": "bbox" + }, + "point_1767940264762": { + "instances": [ + { + "id": "point_1767940264762_1767940366866_98t6tm3fn", + "x": 0.7445554965481264, + "y": 0.27698144311674455 + } + ], + "type": "point" + }, + "point_1767940265147": { + "instances": [ + { + "id": "point_1767940265147_1767940370090_f4zdnsndc", + "x": 0.8145554922756657, + "y": 0.19964811607681346 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取红色方块和白色小瓶向爪夹方向的右前方移动，直至快递箱的正上方。下降将红色方块和白色小瓶放入快递箱中，爪夹张开。", + "error_success_analysis": "爪夹抓取红色方块和白色小瓶向爪夹方向的左后方移动，在水平方向上远离快递箱。", + "frame": 418, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓取红色方块和白色小瓶在水平方向上远离快递箱，因此进度下降至60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取红色方块和白色小瓶在水平方向上远离快递箱。\n为完成抓起红色方块使其放入快递箱中的任务应当:爪夹抓取红色方块和白色小瓶向爪夹方向的右前方移动，直至快递箱的正上方。", + "time": 13.918990835980864 + }, + { + "action_description": "爪夹张开，红色方块和白色小瓶掉落。", + "annotations": { + "bbox_1767940247890": { + "instances": [ + { + "height": 0.3293333065321203, + "id": "bbox_1767940247890_1767940353858_2lq1lxi3x", + "width": 0.3779999769287123, + "x": 0.5155555105251762, + "y": 0.44898142911934985 + } + ], + "type": "bbox" + }, + "point_1767940264762": { + "instances": [ + { + "id": "point_1767940264762_1767940338786_zdbur3nvp", + "x": 0.7355554970974427, + "y": 0.2889814421401821 + } + ], + "type": "point" + }, + "point_1767940265147": { + "instances": [ + { + "id": "point_1767940265147_1767940341386_w76m27p6v", + "x": 0.8265554915432439, + "y": 0.1889814502782023 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，红色方块掉落至画面外。", + "frame": 449, + "progress": -50, + "progress_explanation": "当前爪夹张开，红色方块掉落至画面外，因此进度提升为-50%。", + "state_description": "当前状态为爪夹张开，红色方块掉落至画面外。\n", + "time": 14.953629946136164 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767940247426", + "name": "红色方块" + }, + { + "color": "#FF9800", + "id": "bbox_1767940247890", + "name": "快递箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767940264762", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767940265147", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..9573c35dd175a7423beb8614800326c569117ced --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,570 @@ +{ + "task_description": "抓起红色方块使其放在白色托盘上:\n开始移动:0%\n爪夹接近红色方块:20%\n爪夹抓取红色方块:40%\n爪夹抓住红色方块接近白色托盘:60%\n爪夹抓住红色方块处于白色托盘正上方:80%\n爪夹松开，红色方块放在白色托盘上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "bbox_1767925701364": { + "instances": [ + { + "height": 0.06799999999999998, + "id": "bbox_1767925701364_1767926152133_pd9esha66", + "width": 0.041000000000000016, + "x": 0.2725, + "y": 0.5920000000000001 + } + ], + "type": "bbox" + }, + "bbox_1767925701732": { + "instances": [ + { + "height": 0.652, + "id": "bbox_1767925701732_1767926137085_s5mchkb5h", + "width": 0.45600000000000007, + "x": 0.48650000000000004, + "y": 0.3466666666666667 + } + ], + "type": "bbox" + }, + "point_1767925702396": { + "instances": [ + { + "id": "point_1767925702396_1767926125076_sikz6fadh", + "x": 0.4765, + "y": 0.38 + } + ], + "type": "point" + }, + "point_1767925702708": { + "instances": [ + { + "id": "point_1767925702708_1767926128148_8mrc2cf07", + "x": 0.5635, + "y": 0.36533333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达红色方块正上方，后下降，抓取红色方块后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰红色方块。\n为完成抓起红色方块使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，准备抓取红色方块。", + "time": 1.0577319587628866 + }, + { + "action_description": "爪夹向爪夹方向的向右移动回正，抬升并向爪夹方向的前方移动。调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767925701364": { + "instances": [ + { + "height": 0.06799999999999998, + "id": "bbox_1767925701364_1767926120413_xo90o4vl7", + "width": 0.039999999999999994, + "x": 0.2725, + "y": 0.5920000000000001 + } + ], + "type": "bbox" + }, + "bbox_1767925701732": { + "instances": [ + { + "height": 0.6519999999999999, + "id": "bbox_1767925701732_1767926108549_tkb6nqles", + "width": 0.4549999999999999, + "x": 0.48550000000000004, + "y": 0.3466666666666667 + } + ], + "type": "bbox" + }, + "point_1767925702396": { + "instances": [ + { + "id": "point_1767925702396_1767926102724_rec1vaw2e", + "x": 0.4175, + "y": 0.34933333333333333 + } + ], + "type": "point" + }, + "point_1767925702708": { + "instances": [ + { + "id": "point_1767925702708_1767926099772_cgcva83ik", + "x": 0.5065000000000001, + "y": 0.348 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达红色方块正上方，后下降，抓取红色方块后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，在平方向上成功接近红色方块，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 94, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近红色方块，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与红色方块的水平距离缩短。\n为完成抓起红色方块使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达红色方块正上方。", + "time": 3.1360824742268045 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767925701364": { + "instances": [ + { + "height": 0.06799999999999998, + "id": "bbox_1767925701364_1767926081973_vfvok0uuh", + "width": 0.041000000000000016, + "x": 0.27149999999999996, + "y": 0.5920000000000001 + } + ], + "type": "bbox" + }, + "bbox_1767925701732": { + "instances": [ + { + "height": 0.652, + "id": "bbox_1767925701732_1767926088037_1zq7iodyn", + "width": 0.45700000000000013, + "x": 0.48649999999999993, + "y": 0.3466666666666667 + } + ], + "type": "bbox" + }, + "point_1767925702396": { + "instances": [ + { + "id": "point_1767925702396_1767926073909_2v46t3bly", + "x": 0.2945, + "y": 0.36933333333333335 + } + ], + "type": "point" + }, + "point_1767925702708": { + "instances": [ + { + "id": "point_1767925702708_1767926076932_jx9dwtvn7", + "x": 0.3835, + "y": 0.4106666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的前方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动后，爪夹在水平方向上接近红色方块。", + "frame": 116, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近红色方块，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，与红色方块的水平距离缩短。\n为完成抓起红色方块使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的前方移动，直至红色方块的正上方。", + "time": 3.853608247422681 + }, + { + "action_description": "爪夹先向爪夹方向的右前方移动，后向爪夹方向的左前方移动，并下降。", + "annotations": { + "bbox_1767925701364": { + "instances": [ + { + "height": 0.06933333333333327, + "id": "bbox_1767925701364_1767926061996_osm8wbwtu", + "width": 0.04300000000000002, + "x": 0.27149999999999996, + "y": 0.5920000000000001 + } + ], + "type": "bbox" + }, + "bbox_1767925701732": { + "instances": [ + { + "height": 0.6506666666666666, + "id": "bbox_1767925701732_1767926069757_rc7k5s7t5", + "width": 0.45999999999999996, + "x": 0.48550000000000004, + "y": 0.3453333333333333 + } + ], + "type": "bbox" + }, + "point_1767925702396": { + "instances": [ + { + "id": "point_1767925702396_1767926052692_yz33l24ca", + "x": 0.2485, + "y": 0.568 + } + ], + "type": "point" + }, + "point_1767925702708": { + "instances": [ + { + "id": "point_1767925702708_1767926054740_vvjtmr74b", + "x": 0.3325, + "y": 0.6133333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取红色方块，后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹先向爪夹方向的右前方移动，后向爪夹方向的左前方移动至红色方块正上方。", + "frame": 134, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于红色方块的正上方，已接近红色方块，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于红色方块的正上方。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹下降，抓取红色方块，后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。", + "time": 4.472164948453608 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1767925701364": { + "instances": [ + { + "height": 0.07333333333333343, + "id": "bbox_1767925701364_1767926042605_0subb6ez3", + "width": 0.04600000000000004, + "x": 0.26949999999999996, + "y": 0.5893333333333334 + } + ], + "type": "bbox" + }, + "bbox_1767925701732": { + "instances": [ + { + "height": 0.6533333333333334, + "id": "bbox_1767925701732_1767926035557_af48r8hu0", + "width": 0.46099999999999997, + "x": 0.48550000000000004, + "y": 0.3453333333333333 + } + ], + "type": "bbox" + }, + "point_1767925702396": { + "instances": [ + { + "id": "point_1767925702396_1767926018260_wwxw7nd5u", + "x": 0.2625, + "y": 0.62 + } + ], + "type": "point" + }, + "point_1767925702708": { + "instances": [ + { + "id": "point_1767925702708_1767926021164_jzva9ipmr", + "x": 0.3505, + "y": 0.6533333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取红色方块，后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹下降，在垂直方向上更接近红色方块。", + "frame": 185, + "progress": 30, + "progress_explanation": "较上一阶段相比，爪夹在红色方块的正上方，\n但在垂直方向上更接近红色方块，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，爪夹在垂直方向上更接近红色方块，在红色方块的正上方.\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹合拢抓取红色方块，后上升，向爪夹方向的左侧移动，直至白色托盘的正上方。", + "time": 6.16701030927835 + }, + { + "action_description": "爪夹合拢，抓取红色方块。", + "annotations": { + "bbox_1767925701364": { + "instances": [ + { + "height": 0.06533333333333337, + "id": "bbox_1767925701364_1767926013581_ez69bd8yn", + "width": 0.050999999999999976, + "x": 0.2765, + "y": 0.5946666666666667 + } + ], + "type": "bbox" + }, + "bbox_1767925701732": { + "instances": [ + { + "height": 0.6506666666666667, + "id": "bbox_1767925701732_1767925980029_4bcn0r0up", + "width": 0.462, + "x": 0.48549999999999993, + "y": 0.3466666666666667 + } + ], + "type": "bbox" + }, + "point_1767925702396": { + "instances": [ + { + "id": "point_1767925702396_1767926005716_8vvbo32ko", + "x": 0.2805, + "y": 0.6253333333333334 + } + ], + "type": "point" + }, + "point_1767925702708": { + "instances": [ + { + "id": "point_1767925702708_1767926002580_nh3a0vkss", + "x": 0.3195, + "y": 0.6506666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取红色方块上升，然后向爪夹方向的左侧移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹合拢，成功抓取红色方块。", + "frame": 238, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到红色方块，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，红色方块已被抓取。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹抓取红色方块上升，然后向爪夹方向的左侧移动，直至白色托盘的正上方。", + "time": 7.923711340206186 + }, + { + "action_description": "爪夹抓取红色方块上升向爪夹方向的左侧略微移动。", + "annotations": { + "bbox_1767925701364": { + "instances": [ + { + "height": 0.09066666666666669, + "id": "bbox_1767925701364_1767925954757_p8cmicdba", + "width": 0.05699999999999998, + "x": 0.2455, + "y": 0.4533333333333333 + } + ], + "type": "bbox" + }, + "bbox_1767925701732": { + "instances": [ + { + "height": 0.6506666666666667, + "id": "bbox_1767925701732_1767925968869_4dhp99o0x", + "width": 0.461, + "x": 0.4845, + "y": 0.3466666666666667 + } + ], + "type": "bbox" + }, + "point_1767925702396": { + "instances": [ + { + "id": "point_1767925702396_1767925947604_kdp7wrzmv", + "x": 0.2515, + "y": 0.48933333333333334 + } + ], + "type": "point" + }, + "point_1767925702708": { + "instances": [ + { + "id": "point_1767925702708_1767925945052_men3e8cot", + "x": 0.3015, + "y": 0.5133333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取红色方块向爪夹方向的左侧移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹保持合找，抓紧红色方块向爪夹方向的左侧略微移动，成功在水平方向上接近白色托盘。", + "frame": 259, + "progress": 50, + "progress_explanation": "当前爪夹已抓住红色方块，在水平方向上略微接近白色托盘，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取红色方块在水平方向上略微接近白色托盘。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹抓取红色方块向爪夹方向的左侧移动，直至白色托盘的正上方。", + "time": 8.628865979381443 + }, + { + "action_description": "爪夹抓取红色方块向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767925701364": { + "instances": [ + { + "height": 0.0733333333333333, + "id": "bbox_1767925701364_1767925921804_5jzer3gbr", + "width": 0.05499999999999998, + "x": 0.6455, + "y": 0.372 + } + ], + "type": "bbox" + }, + "bbox_1767925701732": { + "instances": [ + { + "height": 0.6533333333333334, + "id": "bbox_1767925701732_1767925933029_8lasggb6n", + "width": 0.45700000000000013, + "x": 0.48649999999999993, + "y": 0.3453333333333333 + } + ], + "type": "bbox" + }, + "point_1767925702396": { + "instances": [ + { + "id": "point_1767925702396_1767925914940_n150f9an6", + "x": 0.6565000000000001, + "y": 0.41600000000000004 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取红色方块向爪夹方向的左侧移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹抓取红色方块向爪夹方向的左侧移动后，在水平方向上接近白色托盘。", + "frame": 277, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓取红色方块在水平方向上接近白色托盘，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取红色方块在水平方向上接近白色托盘。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹抓取红色方块向爪夹方向的左侧移动，直至白色托盘的正上方。", + "time": 9.235051546391754 + }, + { + "action_description": "爪夹抓取红色方块向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767925701364": { + "instances": [ + { + "height": 0.08399999999999992, + "id": "bbox_1767925701364_1767925783700_8jxbgor2b", + "width": 0.05600000000000005, + "x": 0.6955, + "y": 0.3440000000000001 + } + ], + "type": "bbox" + }, + "bbox_1767925701732": { + "instances": [ + { + "height": 0.6506666666666667, + "id": "bbox_1767925701732_1767925795925_n1ifpf5sb", + "width": 0.45899999999999996, + "x": 0.4875, + "y": 0.3466666666666667 + } + ], + "type": "bbox" + }, + "point_1767925702396": { + "instances": [ + { + "id": "point_1767925702396_1767925775972_g8mxfk75i", + "x": 0.7075, + "y": 0.39466666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住红色方块下降，将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹抓取红色方块向爪夹方向的左侧移动至白色托盘的正上方。", + "frame": 305, + "progress": 80, + "progress_explanation": "当前爪夹抓住红色方块处于白色托盘的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住红色方块处于白色托盘的正上方。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹抓住红色方块下降，将红色方块放在白色托盘上，爪夹张开。", + "time": 10.162886597938144 + }, + { + "action_description": "爪夹张开，红色方块掉落在白色托盘上。", + "annotations": { + "bbox_1767925701364": { + "instances": [ + { + "height": 0.05999999999999991, + "id": "bbox_1767925701364_1767925754892_p2yme05m5", + "width": 0.041000000000000016, + "x": 0.6355000000000001, + "y": 0.5746666666666668 + } + ], + "type": "bbox" + }, + "bbox_1767925701732": { + "instances": [ + { + "height": 0.6533333333333334, + "id": "bbox_1767925701732_1767925766012_igqbkk0l6", + "width": 0.45899999999999996, + "x": 0.48550000000000004, + "y": 0.3453333333333334 + } + ], + "type": "bbox" + }, + "point_1767925702396": { + "instances": [ + { + "id": "point_1767925702396_1767925745412_kw9zftalz", + "x": 0.6585, + "y": 0.4186666666666667 + } + ], + "type": "point" + }, + "point_1767925702708": { + "instances": [ + { + "id": "point_1767925702708_1767925747780_n0e4k4jfr", + "x": 0.7625, + "y": 0.38 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，红色方块掉落在白色托盘上。", + "frame": 321, + "progress": 100, + "progress_explanation": "爪夹张开，红色方块掉落在白色托盘上，因此进度提升为100%。", + "state_description": "当前状态为爪夹张开，红色方块已掉落在白色托盘上。\n已完成抓起红色方块使其放在白色托盘上的任务。", + "time": 10.707216494845362 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767925701364", + "name": "红色方块" + }, + { + "color": "#FF9800", + "id": "bbox_1767925701732", + "name": "白色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767925702396", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767925702708", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..595c6208b118a37fdeb2feb007435168e64fe62d --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,570 @@ +{ + "task_description": "抓起红色方块使其放在白色托盘上:\n开始移动:0%\n爪夹接近红色方块:20%\n爪夹抓取红色方块:40%\n爪夹抓住红色方块接近白色托盘:60%\n爪夹抓住红色方块处于白色托盘正上方:80%\n爪夹松开，红色方块放在白色托盘上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "bbox_1767927490942": { + "instances": [ + { + "height": 0.06933332769097274, + "id": "bbox_1767927490942_1767928472823_iyaqblmyq", + "width": 0.04599999719238301, + "x": 0.36255551986355466, + "y": 0.5663147529040728 + } + ], + "type": "bbox" + }, + "bbox_1767927491270": { + "instances": [ + { + "height": 0.7373332733289979, + "id": "bbox_1767927491270_1767928490383_qlgfv2ubb", + "width": 0.517999968383791, + "x": 0.4525555143703909, + "y": 0.25564811151952216 + } + ], + "type": "bbox" + }, + "point_1767927491926": { + "instances": [ + { + "id": "point_1767927491926_1767928475927_xn5tvyc2k", + "x": 0.45055551449246123, + "y": 0.38631476755250915 + } + ], + "type": "point" + }, + "point_1767927492182": { + "instances": [ + { + "id": "point_1767927492182_1767928479007_sdxnil26i", + "x": 0.5525555082668757, + "y": 0.3609814362808076 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达红色方块正上方，后下降，抓取红色方块后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "", + "frame": 70, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰红色方块。\n为完成抓起红色方块使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，准备抓取红色方块。", + "time": 2.32119095816443 + }, + { + "action_description": "爪夹向爪夹方向的向右移动回正，抬升并向爪夹方向的前方移动。调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767927490942": { + "instances": [ + { + "height": 0.07066666091579907, + "id": "bbox_1767927490942_1767928462391_2ximgts11", + "width": 0.04199999743652363, + "x": 0.366555519619414, + "y": 0.5649814196792465 + } + ], + "type": "bbox" + }, + "bbox_1767927491270": { + "instances": [ + { + "height": 0.7426666062283035, + "id": "bbox_1767927491270_1767928434791_03kutv57m", + "width": 0.518999968322756, + "x": 0.451555514431426, + "y": 0.25298144506986936 + } + ], + "type": "bbox" + }, + "point_1767927491926": { + "instances": [ + { + "id": "point_1767927491926_1767928451383_dth8f1xrp", + "x": 0.3755555190700977, + "y": 0.3903147672269884 + } + ], + "type": "point" + }, + "point_1767927492182": { + "instances": [ + { + "id": "point_1767927492182_1767928448999_bc3cesm5s", + "x": 0.4765555129055473, + "y": 0.39698143335112035 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达红色方块正上方，后下降，抓取红色方块后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，在平方向上成功接近红色方块，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 117, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近红色方块，并开始调整夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，与红色方块的水平距离缩短。\n为完成抓起红色方块使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的右前方移动，到达红色方块正上方。", + "time": 3.9055207553811138 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767927490942": { + "instances": [ + { + "height": 0.06533332801649354, + "id": "bbox_1767927490942_1767928409607_vf0irfjcy", + "width": 0.04099999749755874, + "x": 0.36455551974148437, + "y": 0.5663147529040728 + } + ], + "type": "bbox" + }, + "bbox_1767927491270": { + "instances": [ + { + "height": 0.7453332726779565, + "id": "bbox_1767927491270_1767928416319_4x8iz7ri9", + "width": 0.5199999682617207, + "x": 0.45055551449246123, + "y": 0.251648111845043 + } + ], + "type": "bbox" + }, + "point_1767927491926": { + "instances": [ + { + "id": "point_1767927491926_1767928399503_0u6pqp8ek", + "x": 0.3255555221218553, + "y": 0.44364809622004425 + } + ], + "type": "point" + }, + "point_1767927492182": { + "instances": [ + { + "id": "point_1767927492182_1767928403727_hew61idwf", + "x": 0.4235555161404103, + "y": 0.4623147613676138 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的前方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动后，爪夹在水平方向上接近红色方块。", + "frame": 125, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近红色方块，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，与红色方块的水平距离缩短。\n为完成抓起红色方块使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的前方移动，直至红色方块的正上方。", + "time": 4.157891873521825 + }, + { + "action_description": "爪夹向爪夹方向的左前方略微移动，并下降。调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767927490942": { + "instances": [ + { + "height": 0.06666666124131998, + "id": "bbox_1767927490942_1767928375551_33otwwx07", + "width": 0.043999997314453275, + "x": 0.3635555198025195, + "y": 0.5663147529040728 + } + ], + "type": "bbox" + }, + "bbox_1767927491270": { + "instances": [ + { + "height": 0.7426666062283035, + "id": "bbox_1767927491270_1767928391455_0uigchmqn", + "width": 0.5169999684448261, + "x": 0.4515555144314261, + "y": 0.2543147782946958 + } + ], + "type": "bbox" + }, + "point_1767927491926": { + "instances": [ + { + "id": "point_1767927491926_1767928367487_nzjtyfgm8", + "x": 0.327555521999785, + "y": 0.5689814193537257 + } + ], + "type": "point" + }, + "point_1767927492182": { + "instances": [ + { + "id": "point_1767927492182_1767928364631_z5m6ixovc", + "x": 0.4235555161404103, + "y": 0.5783147519275105 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取红色方块，后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方略微移动至红色方块正上方。", + "frame": 138, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于红色方块的正上方，已接近红色方块，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于红色方块的正上方。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹下降，抓取红色方块，后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。", + "time": 4.6065516391053105 + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动，并下降。调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767927490942": { + "instances": [ + { + "height": 0.06266666156684077, + "id": "bbox_1767927490942_1767928560407_7o1fchkep", + "width": 0.04799999707031266, + "x": 0.353555520412871, + "y": 0.570314752578552 + } + ], + "type": "bbox" + }, + "bbox_1767927491270": { + "instances": [ + { + "height": 0.7439999394531299, + "id": "bbox_1767927491270_1767928572383_dhj5vrdo4", + "width": 0.5169999684448261, + "x": 0.451555514431426, + "y": 0.2543147782946958 + } + ], + "type": "bbox" + }, + "point_1767927491926": { + "instances": [ + { + "id": "point_1767927491926_1767928358471_hsg7zs1li", + "x": 0.34455552096218744, + "y": 0.6156480822226497 + } + ], + "type": "point" + }, + "point_1767927492182": { + "instances": [ + { + "id": "point_1767927492182_1767928361215_7orjkb59z", + "x": 0.43855551522488306, + "y": 0.6196480818971287 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取红色方块，后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方略微移动，并下降，爪夹左右接触桌面，爪夹垂直于桌面，方便抓取。", + "frame": 163, + "progress": 30, + "progress_explanation": "较上一阶段相比，爪夹左右接触桌面，在垂直方向上更接近红色方块，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，垂直于桌面，爪夹左右接触桌面。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹合拢抓取红色方块，后上升，向爪夹方向的左后方移动，直至白色托盘的正上方。", + "time": 5.433768081899862 + }, + { + "action_description": "爪夹合拢，抓取红色方块。", + "annotations": { + "bbox_1767927490942": { + "instances": [ + { + "height": 0.0639999947916671, + "id": "bbox_1767927490942_1767928584639_3jwunsp46", + "width": 0.04499999725341817, + "x": 0.3675555195583789, + "y": 0.5689814193537257 + } + ], + "type": "bbox" + }, + "bbox_1767927491270": { + "instances": [ + { + "height": 0.7439999394531299, + "id": "bbox_1767927491270_1767928343087_9fr99jeq7", + "width": 0.5169999684448261, + "x": 0.451555514431426, + "y": 0.2543147782946958 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取红色方块上升，然后向爪夹方向的左后方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹合拢，成功抓取红色方块。", + "frame": 206, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到红色方块，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，红色方块已被抓取。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹抓取红色方块上升，然后向爪夹方向的左后方移动，直至白色托盘的正上方。", + "time": 6.863871084697223 + }, + { + "action_description": "爪夹抓取红色方块上升向爪夹方向的左侧略微移动。", + "annotations": { + "bbox_1767927490942": { + "instances": [ + { + "height": 0.07866666026475748, + "id": "bbox_1767927490942_1767928314799_g61gr609a", + "width": 0.048999997009277596, + "x": 0.3525555204739062, + "y": 0.44631476266969705 + } + ], + "type": "bbox" + }, + "bbox_1767927491270": { + "instances": [ + { + "height": 0.7439999394531299, + "id": "bbox_1767927491270_1767928327871_3h8mc0spa", + "width": 0.5149999685668963, + "x": 0.4525555143703909, + "y": 0.2543147782946958 + } + ], + "type": "bbox" + }, + "point_1767927491926": { + "instances": [ + { + "id": "point_1767927491926_1767928307143_8j1kqb00h", + "x": 0.3465555208401171, + "y": 0.49831475843792655 + } + ], + "type": "point" + }, + "point_1767927492182": { + "instances": [ + { + "id": "point_1767927492182_1767928303871_l7c7s5mjr", + "x": 0.39855551766628916, + "y": 0.4956480919882738 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取红色方块向爪夹方向的左后方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹保持合找，抓紧红色方块向爪夹方向的左侧略微移动，成功在水平方向上接近白色托盘。", + "frame": 243, + "progress": 50, + "progress_explanation": "当前爪夹已抓住红色方块，在水平方向上略微接近白色托盘，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取红色方块在水平方向上略微接近白色托盘。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹抓取红色方块向爪夹方向的左后方移动，直至白色托盘的正上方。", + "time": 8.111706057726291 + }, + { + "action_description": "爪夹抓取红色方块向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767927490942": { + "instances": [ + { + "height": 0.07333332736545183, + "id": "bbox_1767927490942_1767928286639_a47ucugzl", + "width": 0.055999996582031475, + "x": 0.648555502407501, + "y": 0.3783147682035508 + } + ], + "type": "bbox" + }, + "bbox_1767927491270": { + "instances": [ + { + "height": 0.7359999401041716, + "id": "bbox_1767927491270_1767928298038_8umqo4lal", + "width": 0.517999968383791, + "x": 0.4525555143703909, + "y": 0.2596481111940014 + } + ], + "type": "bbox" + }, + "point_1767927491926": { + "instances": [ + { + "id": "point_1767927491926_1767928275830_fsrcu261a", + "x": 0.6605555016750791, + "y": 0.43831476332073865 + } + ], + "type": "point" + }, + "point_1767927492182": { + "instances": [ + { + "id": "point_1767927492182_1767928278711_xm5yenf1h", + "x": 0.7015554991726379, + "y": 0.42631476429730114 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取红色方块向爪夹方向的左后方略微移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹抓取红色方块向爪夹方向的左后方移动后，在水平方向上接近白色托盘。", + "frame": 261, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓取红色方块在水平方向上接近白色托盘，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取红色方块在水平方向上接近白色托盘。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹抓取红色方块向爪夹方向的左后方略微移动，直至白色托盘的正上方。", + "time": 8.700572000054617 + }, + { + "action_description": "爪夹抓取红色方块向爪夹方向的左后方略微移动。", + "annotations": { + "bbox_1767927490942": { + "instances": [ + { + "height": 0.07466666059027828, + "id": "bbox_1767927490942_1767928257319_r6ab6e72n", + "width": 0.06699999591064483, + "x": 0.7545554959377748, + "y": 0.3089814405125781 + } + ], + "type": "bbox" + }, + "bbox_1767927491270": { + "instances": [ + { + "height": 0.7133332752821228, + "id": "bbox_1767927491270_1767928242367_ks1mp5hl9", + "width": 0.5189999683227559, + "x": 0.4515555144314261, + "y": 0.26364811086848056 + } + ], + "type": "bbox" + }, + "point_1767927491926": { + "instances": [ + { + "id": "point_1767927491926_1767928246934_tf2ylzaq9", + "x": 0.7805554943508609, + "y": 0.37698143497872433 + } + ], + "type": "point" + }, + "point_1767927492182": { + "instances": [ + { + "id": "point_1767927492182_1767928250535_vp1ufnj77", + "x": 0.8185554920315251, + "y": 0.34764810403254365 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住红色方块下降，将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹抓取红色方块向爪夹方向的左侧移动至白色托盘的正上方。", + "frame": 306, + "progress": 80, + "progress_explanation": "当前爪夹抓住红色方块处于白色托盘的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住红色方块处于白色托盘的正上方。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹抓住红色方块下降，将红色方块放在白色托盘上，爪夹张开。", + "time": 10.200778091224397 + }, + { + "action_description": "爪夹张开，红色方块掉落在白色托盘上。", + "annotations": { + "bbox_1767927490942": { + "instances": [ + { + "height": 0.06266666156684066, + "id": "bbox_1767927490942_1767928208943_0oycylk6b", + "width": 0.036999997741699354, + "x": 0.6045555050930477, + "y": 0.486314759414489 + } + ], + "type": "bbox" + }, + "bbox_1767927491270": { + "instances": [ + { + "height": 0.7359999401041716, + "id": "bbox_1767927491270_1767928218815_uv4rsdltw", + "width": 0.5189999683227559, + "x": 0.4515555144314261, + "y": 0.26098144441882776 + } + ], + "type": "bbox" + }, + "point_1767927491926": { + "instances": [ + { + "id": "point_1767927491926_1767927522374_n81xniswl", + "x": 0.760555495571564, + "y": 0.3929814336766411 + } + ], + "type": "point" + }, + "point_1767927492182": { + "instances": [ + { + "id": "point_1767927492182_1767927525702_sxzho7qtf", + "x": 0.8415554906277165, + "y": 0.33164810533462685 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，红色方块掉落在白色托盘上。", + "frame": 328, + "progress": 100, + "progress_explanation": "爪夹张开，红色方块掉落在白色托盘上，因此进度提升为100%。", + "state_description": "当前状态为爪夹张开，红色方块已掉落在白色托盘上。\n已完成抓起红色方块使其放在白色托盘上的任务。", + "time": 10.943870827972045 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767927490942", + "name": "红色方块" + }, + { + "color": "#FF9800", + "id": "bbox_1767927491270", + "name": "白色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767927491926", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767927492182", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..9a3b30565d06c91a38d8871414502db00b8dfe5c --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,590 @@ +{ + "task_description": "抓起红色方块使其放在白色托盘上:\n开始移动:0%\n爪夹接近红色方块:20%\n爪夹抓取红色方块:40%\n爪夹抓住红色方块接近白色托盘:60%\n爪夹抓住红色方块处于白色托盘正上方:80%\n爪夹松开，红色方块放在白色托盘上:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，准备开始移动。", + "annotations": { + "bbox_1767928605535": { + "instances": [ + { + "height": 0.06933332769097268, + "id": "bbox_1767928605535_1767928648967_94lxqqc5k", + "width": 0.04099999749755874, + "x": 0.6665555013088682, + "y": 0.44898142911934985 + } + ], + "type": "bbox" + }, + "bbox_1767928605927": { + "instances": [ + { + "height": 0.4773332944878505, + "id": "bbox_1767928605927_1767928657807_uujlteot4", + "width": 0.707999956787112, + "x": 0.18355553078884698, + "y": 0.5183147568103225 + } + ], + "type": "bbox" + }, + "point_1767928606855": { + "instances": [ + { + "id": "point_1767928606855_1767928673015_cfo5q5lnq", + "x": 0.4515555144314261, + "y": 0.3716481020794188 + } + ], + "type": "point" + }, + "point_1767928607207": { + "instances": [ + { + "id": "point_1767928607207_1767928675759_7dvhdoanx", + "x": 0.5485555085110163, + "y": 0.3596481030559812 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的左前方移动，到达红色方块正上方，后下降，抓取红色方块后上升，向爪夹方向的右前方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "", + "frame": 71, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹张开，没有移动，没有触碰红色方块。\n为完成抓起红色方块使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的左前方移动，准备抓取红色方块。", + "time": 2.3689877387248726 + }, + { + "action_description": "爪夹向爪夹方向的向右移动回正，爪夹抬升至最高点。调整爪夹角度使其接近垂直于桌面。", + "annotations": { + "bbox_1767928605535": { + "instances": [ + { + "height": 0.061333328342014326, + "id": "bbox_1767928605535_1767928992688_oos9fb9n0", + "width": 0.038999997619629044, + "x": 0.6675555012478331, + "y": 0.4503147623441762 + } + ], + "type": "bbox" + }, + "bbox_1767928605927": { + "instances": [ + { + "height": 0.47599996126302396, + "id": "bbox_1767928605927_1767929001807_4lvrugcue", + "width": 0.7069999568481471, + "x": 0.18355553078884698, + "y": 0.5209814232599753 + } + ], + "type": "bbox" + }, + "point_1767928606855": { + "instances": [ + { + "id": "point_1767928606855_1767928683383_crfpaeyi5", + "x": 0.43455551546902366, + "y": 0.3223147727608421 + } + ], + "type": "point" + }, + "point_1767928607207": { + "instances": [ + { + "id": "point_1767928607207_1767928680063_z4r8nay13", + "x": 0.5375555091824029, + "y": 0.30764810728775166 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的左前方移动，到达红色方块正上方，后下降，抓取红色方块后上升，向爪夹方向的右前方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向右转动回正，爪夹抬升至最高点，爪夹角度使其接近垂直于桌面。", + "frame": 121, + "progress": 5, + "progress_explanation": "当前爪夹抬升至最高点，爪夹开始调整爪夹角度，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，爪夹抬升至最高点。\n为完成抓起红色方块使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的左前方移动，到达红色方块正上方。", + "time": 4.02579172416478 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并下降。爪夹调整爪夹角度使其垂直于桌面。", + "annotations": { + "bbox_1767928605535": { + "instances": [ + { + "height": 0.05733332866753506, + "id": "bbox_1767928605535_1767928952295_nwp0oabgl", + "width": 0.04199999743652363, + "x": 0.6655555013699034, + "y": 0.4529814287938291 + } + ], + "type": "bbox" + }, + "bbox_1767928605927": { + "instances": [ + { + "height": 0.47866662771267676, + "id": "bbox_1767928605927_1767928978224_bz1kx6afc", + "width": 0.7119999565429713, + "x": 0.18255553084988216, + "y": 0.5183147568103226 + } + ], + "type": "bbox" + }, + "point_1767928606855": { + "instances": [ + { + "id": "point_1767928606855_1767928686767_x78qzd957", + "x": 0.5815555064968563, + "y": 0.3743147685290716 + } + ], + "type": "point" + }, + "point_1767928607207": { + "instances": [ + { + "id": "point_1767928607207_1767928689215_l7vasm3ou", + "x": 0.6615555016140441, + "y": 0.33698143823393245 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的前方移动，直至红色方块的正上方，后下降，抓取红色方块后上升，向爪夹方向的右前方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动后，爪夹在水平方向上接近红色方块。", + "frame": 149, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上接近红色方块，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，与红色方块的水平距离缩短。\n为完成抓起红色方块使其放在白色托盘上的任务应当:调整爪夹角度，使其垂自于桌面。爪夹向爪夹方向的前方移动，直至红色方块的正上方。", + "time": 4.979709170327149 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "annotations": { + "bbox_1767928605535": { + "instances": [ + { + "height": 0.06266666156684071, + "id": "bbox_1767928605535_1767928922383_si8g6ykad", + "width": 0.038999997619629044, + "x": 0.6665555013088682, + "y": 0.4503147623441762 + } + ], + "type": "bbox" + }, + "bbox_1767928605927": { + "instances": [ + { + "height": 0.4799999609375032, + "id": "bbox_1767928605927_1767928929551_qglte2tr8", + "width": 0.707999956787112, + "x": 0.18455553072781183, + "y": 0.5183147568103226 + } + ], + "type": "bbox" + }, + "point_1767928606855": { + "instances": [ + { + "id": "point_1767928606855_1767928696879_owuqxtgks", + "x": 0.6705555010647276, + "y": 0.5089814242365377 + } + ], + "type": "point" + }, + "point_1767928607207": { + "instances": [ + { + "id": "point_1767928607207_1767928693103_t1k5v65ry", + "x": 0.7125554985012512, + "y": 0.44098142977039145 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取红色方块，后上升，向爪夹方向的右前方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的前方移动至红色方块正上方。", + "frame": 167, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于红色方块的正上方，已接近红色方块，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，爪夹处于红色方块的正上方。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹下降，抓取红色方块，后上升，向爪夹方向的右前方移动，直至白色托盘的正上方。", + "time": 5.56544795305843 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1767928605535": { + "instances": [ + { + "height": 0.06399999479166703, + "id": "bbox_1767928605535_1767928893295_lv2hvic2r", + "width": 0.03999999755859385, + "x": 0.6675555012478331, + "y": 0.4516480955690027 + } + ], + "type": "bbox" + }, + "bbox_1767928605927": { + "instances": [ + { + "height": 0.4786666277126768, + "id": "bbox_1767928605927_1767928906352_rmdqng5zt", + "width": 0.7059999569091823, + "x": 0.18255553084988213, + "y": 0.5196480900351489 + } + ], + "type": "bbox" + }, + "point_1767928606855": { + "instances": [ + { + "id": "point_1767928606855_1767928706207_v2xgrppnk", + "x": 0.6725555009426574, + "y": 0.5303147558337601 + } + ], + "type": "point" + }, + "point_1767928607207": { + "instances": [ + { + "id": "point_1767928607207_1767928701791_kl3xoph3h", + "x": 0.7125554985012512, + "y": 0.4636480945924403 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取红色方块，后上升，向爪夹方向的右前方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹下降，在垂直方向上更接近红色方块。", + "frame": 198, + "progress": 30, + "progress_explanation": "较上一阶段相比，爪夹在红色方块的正上方，\n但在垂直方向上更接近红色方块，因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，爪夹在垂直方向上更接近红色方块，在红色方块的正上方.\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹合拢抓取红色方块，后上升，向爪夹方向的右前方移动，直至白色托盘的正上方。", + "time": 6.58630697439009 + }, + { + "action_description": "爪夹合拢，抓取红色方块。", + "annotations": { + "bbox_1767928605535": { + "instances": [ + { + "height": 0.06266666156684071, + "id": "bbox_1767928605535_1767928880527_y2khc19a7", + "width": 0.0499999969482424, + "x": 0.6545555020412901, + "y": 0.44898142911934985 + } + ], + "type": "bbox" + }, + "bbox_1767928605927": { + "instances": [ + { + "height": 0.4786666277126768, + "id": "bbox_1767928605927_1767928869087_mcjtlqag1", + "width": 0.7039999570312526, + "x": 0.18355553078884698, + "y": 0.5183147568103225 + } + ], + "type": "bbox" + }, + "point_1767928606855": { + "instances": [ + { + "id": "point_1767928606855_1767928710351_a0wzyv5pn", + "x": 0.6835555002712707, + "y": 0.5116480906861905 + } + ], + "type": "point" + }, + "point_1767928607207": { + "instances": [ + { + "id": "point_1767928607207_1767928713199_i8a9qdixi", + "x": 0.707555498806427, + "y": 0.472981427166225 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取红色方块上升，然后向爪夹方向的右前方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹合拢，成功抓取红色方块。", + "frame": 240, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取到红色方块，因此进度提升至40%。", + "state_description": "当前状态为爪夹合拢，红色方块已被抓取。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹抓取红色方块上升，然后向爪夹方向的右前方移动，直至白色托盘的正上方。", + "time": 8.008815446737485 + }, + { + "action_description": "爪夹抓取红色方块上升向爪夹方向的右前方略微移动。", + "annotations": { + "bbox_1767928605535": { + "instances": [ + { + "height": 0.07642694118845253, + "id": "bbox_1767928605535_1767928841279_7ds1ttmq6", + "width": 0.05880048380212468, + "x": 0.6715555010036925, + "y": 0.2594311282397843 + } + ], + "type": "bbox" + }, + "bbox_1767928605927": { + "instances": [ + { + "height": 0.4773332944878504, + "id": "bbox_1767928605927_1767928855207_g5ullqzp3", + "width": 0.7049999569702174, + "x": 0.18355553078884698, + "y": 0.5196480900351489 + } + ], + "type": "bbox" + }, + "point_1767928606855": { + "instances": [ + { + "id": "point_1767928606855_1767928720895_7rda31zs5", + "x": 0.6889545251596977, + "y": 0.31073821184320927 + } + ], + "type": "point" + }, + "point_1767928607207": { + "instances": [ + { + "id": "point_1767928607207_1767928717535_63ww1fb73", + "x": 0.7300752049973205, + "y": 0.28785807333448665 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取红色方块向爪夹方向的右前方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹保持合找，抓紧红色方块向爪夹方向的右前方略微移动，成功在水平方向上接近白色托盘。", + "frame": 282, + "progress": 50, + "progress_explanation": "当前爪夹已抓住红色方块，在水平方向上略微接近白色托盘，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取红色方块在水平方向上略微接近白色托盘。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹抓取红色方块向爪夹方向的右前方移动，直至白色托盘的正上方。", + "time": 9.401894306665026 + }, + { + "action_description": "爪夹抓取红色方块向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767928605535": { + "instances": [ + { + "height": 0.07535957275508286, + "id": "bbox_1767928605535_1767928816127_ncxm8f0o1", + "width": 0.055999996582031475, + "x": 0.4747920037978294, + "y": 0.4917076019536634 + } + ], + "type": "bbox" + }, + "bbox_1767928605927": { + "instances": [ + { + "height": 0.4799999609375032, + "id": "bbox_1767928605927_1767928823455_87da0plxt", + "width": 0.7049999569702174, + "x": 0.18355553078884698, + "y": 0.5183147568103226 + } + ], + "type": "bbox" + }, + "point_1767928606855": { + "instances": [ + { + "id": "point_1767928606855_1767928801095_1iwhmksvr", + "x": 0.4736713215188007, + "y": 0.5450409309467193 + } + ], + "type": "point" + }, + "point_1767928607207": { + "instances": [ + { + "id": "point_1767928607207_1767928807671_rygobjo6j", + "x": 0.5313117079135278, + "y": 0.5494678779945465 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取红色方块向爪夹方向的前方移动，直至白色托盘的正上方。下降将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹抓取红色方块向爪夹方向的右前方移动后，在水平方向上接近白色托盘。", + "frame": 299, + "progress": 60, + "progress_explanation": "较上一阶段相比，爪夹抓取红色方块在水平方向上接近白色托盘，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取红色方块在水平方向上接近白色托盘。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹抓取红色方块向爪夹方向的前方移动，直至白色托盘的正上方。", + "time": 9.967568481263141 + }, + { + "action_description": "爪夹抓取红色方块向爪夹方向的前方略微移动。", + "annotations": { + "bbox_1767928605535": { + "instances": [ + { + "height": 0.07466666059027828, + "id": "bbox_1767928605535_1767928762575_ekfghdzja", + "width": 0.04399999731445323, + "x": 0.4765555129055473, + "y": 0.5743147522530312 + } + ], + "type": "bbox" + }, + "bbox_1767928605927": { + "instances": [ + { + "height": 0.48133329416232956, + "id": "bbox_1767928605927_1767928782095_p5396c80w", + "width": 0.707999956787112, + "x": 0.1845555307278118, + "y": 0.5156480903606697 + } + ], + "type": "bbox" + }, + "point_1767928606855": { + "instances": [ + { + "id": "point_1767928606855_1767928753191_uh9ezxwmo", + "x": 0.4755555129665824, + "y": 0.6329814141453928 + } + ], + "type": "point" + }, + "point_1767928607207": { + "instances": [ + { + "id": "point_1767928607207_1767928755983_77qqtc79q", + "x": 0.5255555099148248, + "y": 0.6329814141453928 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓住红色方块下降，将红色方块放在白色托盘上，爪夹张开。", + "error_success_analysis": "爪夹抓取红色方块向爪夹方向的前方略微移动至白色托盘的正上方。", + "frame": 320, + "progress": 80, + "progress_explanation": "当前爪夹抓住红色方块处于白色托盘的正上方，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住红色方块处于白色托盘的正上方。\n为完成抓起红色方块使其放在白色托盘上的任务应当:爪夹抓住红色方块下降，将红色方块放在白色托盘上，爪夹张开。", + "time": 10.650278691985006 + }, + { + "action_description": "爪夹张开，红色方块掉落在白色托盘上。", + "annotations": { + "bbox_1767928605535": { + "instances": [ + { + "height": 0.0639999947916671, + "id": "bbox_1767928605535_1767928736215_gsn6geg48", + "width": 0.03799999768066424, + "x": 0.4445555148586721, + "y": 0.7329814060073726 + } + ], + "type": "bbox" + }, + "bbox_1767928605927": { + "instances": [ + { + "height": 0.48133329416232956, + "id": "bbox_1767928605927_1767928743855_yyc9j6ynw", + "width": 0.7059999569091823, + "x": 0.18255553084988213, + "y": 0.5169814235854961 + } + ], + "type": "bbox" + }, + "point_1767928606855": { + "instances": [ + { + "id": "point_1767928606855_1767928726839_80h0p3wdw", + "x": 0.4445555148586721, + "y": 0.6316480809205663 + } + ], + "type": "point" + }, + "point_1767928607207": { + "instances": [ + { + "id": "point_1767928607207_1767928729535_epi6o8pjn", + "x": 0.5625555076565242, + "y": 0.6329814141453928 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，红色方块掉落在白色托盘上。", + "frame": 343, + "progress": 100, + "progress_explanation": "爪夹张开，红色方块掉落在白色托盘上，因此进度提升为100%。", + "state_description": "当前状态为爪夹张开，红色方块已掉落在白色托盘上。\n已完成抓起红色方块使其放在白色托盘上的任务。", + "time": 11.439571174163554 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767928605535", + "name": "红色方块" + }, + { + "color": "#FF9800", + "id": "bbox_1767928605927", + "name": "白色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767928606855", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767928607207", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000010.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..8c4377ccfbd6e1bfb3a133e6e501461f87f2167b --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251125-181707-good-red-square-white-tray/annotations/chunk-000/observation.images.front/episode_000010.json @@ -0,0 +1,343 @@ +{ + "task_description": "爪夹抓取红色方块放在盘子里。\n开始移动:0%\n爪夹向前移动：10%\n在红色方块正上方：20%\n合拢爪夹：50%\n向前移动；60%\n继续向前移动：80%\n松开爪夹：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "" + }, + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1767687053704": { + "instances": [ + { + "height": 0.06799999999999998, + "id": "bbox_1767687053704_1767687330692_k4ocn1ynt", + "width": 0.04399999999999995, + "x": 0.5275000000000001, + "y": 0.44666666666666666 + } + ], + "type": "bbox" + }, + "point_1767687061462": { + "instances": [ + { + "id": "point_1767687061462_1767687324604_egpshb8ox", + "x": 0.4465, + "y": 0.3813333333333333 + } + ], + "type": "point" + }, + "point_1767687067554": { + "instances": [ + { + "id": "point_1767687067554_1767687326535_56ca63ha9", + "x": 0.5475000000000001, + "y": 0.3706666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹前移动。继续向爪夹前方移动。在红色物体正上方。合拢爪夹。开始向爪夹前方移动。继续向爪夹前方移动。红色物体在盘子正上方。松开爪夹。", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于原位。\n为完成爪夹抓取红色方块放在盘子里的任务：爪夹向前移动。", + "time": 1.7475257731958764 + }, + { + "action_description": "爪夹向前移动。", + "annotations": { + "bbox_1767687053704": { + "instances": [ + { + "height": 0.06933333333333333, + "id": "bbox_1767687053704_1767687456102_2agn1wvam", + "width": 0.05, + "x": 0.5245, + "y": 0.4453333333333333 + } + ], + "type": "bbox" + }, + "point_1767687061462": { + "instances": [ + { + "id": "point_1767687061462_1767687442385_v3qddp8of", + "x": 0.4205, + "y": 0.3333333333333333 + } + ], + "type": "point" + }, + "point_1767687067554": { + "instances": [ + { + "id": "point_1767687067554_1767687443983_vy6qwv60w", + "x": 0.5205, + "y": 0.3253333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹前方移动。在红色物体正上方。合拢爪夹。爪夹向前方移动。继续向爪夹前方移动。红色物体在盘子正上方。松开爪夹。", + "error_success_analysis": "爪夹向前移动。与红色方块的距离减小。方便继续向前方移动。", + "frame": 119, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹与红色方块的距离减小。\n因此进度提升至10%。", + "state_description": "爪夹处于张开状态。爪夹与红色方块的距离减小。\n为完成爪夹抓取红色方块放在盘子里的任务：继续向前方移动。", + "time": 3.957835051546392 + }, + { + "action_description": "向前方移动。", + "annotations": { + "bbox_1767687053704": { + "instances": [ + { + "height": 0.06266666666666669, + "id": "bbox_1767687053704_1767687474092_axxxayf0p", + "width": 0.04299999999999997, + "x": 0.5285, + "y": 0.4533333333333333 + } + ], + "type": "bbox" + }, + "point_1767687061462": { + "instances": [ + { + "id": "point_1767687061462_1767687468436_qccvka50r", + "x": 0.49350000000000005, + "y": 0.47733333333333333 + } + ], + "type": "point" + }, + "point_1767687067554": { + "instances": [ + { + "id": "point_1767687067554_1767687470018_mi142vjit", + "x": 0.5895, + "y": 0.45733333333333337 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹。开始向爪夹前方移动。爪夹继续向前方移动。红色物体在盘子正上方。松开爪夹。", + "error_success_analysis": "爪夹在红色物体正上方。方便合拢爪夹。", + "frame": 175, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹在红色物体正上方。\n因此进度提升至20%。", + "state_description": "爪夹处于张开状态。在红色物体正上方。\n为完成爪夹抓取红色方块放在盘子里的任务：合拢爪夹。", + "time": 5.822783505154639 + }, + { + "action_description": "合拢爪夹。", + "annotations": { + "bbox_1767687053704": { + "instances": [ + { + "height": 0.06266666666666669, + "id": "bbox_1767687053704_1767687490790_65z21x0gh", + "width": 0.03600000000000003, + "x": 0.5255, + "y": 0.4533333333333333 + } + ], + "type": "bbox" + }, + "point_1767687061462": { + "instances": [ + { + "id": "point_1767687061462_1767687480380_gyyts9nm1", + "x": 0.5195000000000001, + "y": 0.4986666666666667 + } + ], + "type": "point" + }, + "point_1767687067554": { + "instances": [ + { + "id": "point_1767687067554_1767687486942_mxpco7yge", + "x": 0.5665, + "y": 0.47866666666666663 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹前方移动。爪夹继续向前方移动。红色物体在盘子正上方。松开爪夹。", + "error_success_analysis": "爪夹抓取红色物体。方便爪夹向前方移动。", + "frame": 256, + "progress": 50, + "progress_explanation": "与上一进度相比，红色物体被抓取。因此进度提升至50%。", + "state_description": "爪夹处于合拢状态。红色物体被抓取。\n为完成爪夹抓取红色方块放在盘子里的任务：爪夹向前方移动。\n", + "time": 8.519205298013246 + }, + { + "action_description": "爪夹向前方移动。", + "annotations": { + "bbox_1767687053704": { + "instances": [ + { + "height": 0.08000000000000002, + "id": "bbox_1767687053704_1767687527185_esuwinlx1", + "width": 0.05499999999999998, + "x": 0.5215, + "y": 0.2693333333333333 + } + ], + "type": "bbox" + }, + "point_1767687061462": { + "instances": [ + { + "id": "point_1767687061462_1767687517945_uuixyb3ch", + "x": 0.5225000000000001, + "y": 0.332 + } + ], + "type": "point" + }, + "point_1767687067554": { + "instances": [ + { + "id": "point_1767687067554_1767687519931_oaho51n1c", + "x": 0.5735, + "y": 0.332 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向前方移动。红色物体在盘子正上方。松开爪夹。", + "error_success_analysis": "红色物体向前方移动了。方便爪夹继续向前方移动。", + "frame": 290, + "progress": 60, + "progress_explanation": "与上一进度相比，红色物体向前方移动了。与盘子距离减小。", + "state_description": "爪夹处于合拢状态。红色物体被抓取。\n为完成爪夹抓取红色方块放在盘子里的任务：爪夹继续向前方移动。", + "time": 9.672847682119208 + }, + { + "action_description": "向前方移动。", + "annotations": { + "bbox_1767687053704": { + "instances": [ + { + "height": 0.08933333333333332, + "id": "bbox_1767687053704_1767687081034_4bo0txvoq", + "width": 0.050999999999999976, + "x": 0.5325, + "y": 0.5693333333333334 + } + ], + "type": "bbox" + }, + "point_1767687061462": { + "instances": [ + { + "id": "point_1767687061462_1767687180554_70grj3zi0", + "x": 0.5355000000000001, + "y": 0.6386666666666667 + } + ], + "type": "point" + }, + "point_1767687067554": { + "instances": [ + { + "id": "point_1767687067554_1767687182466_33x3j8b5i", + "x": 0.5785, + "y": 0.636 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹。", + "error_success_analysis": "红色物体向前方移动了。方便松开爪夹。", + "frame": 329, + "progress": 80, + "progress_explanation": "与上一进度相比，红色物体向前方移动了。与盘子距离减小。因此进度提升至80%。", + "state_description": "爪夹处于合拢状态。红色物体被抓取。\n为完成爪夹抓取红色方块放在盘子里的任务：松开爪夹。", + "time": 10.9612 + }, + { + "action_description": "松开爪夹。", + "annotations": { + "bbox_1767687053704": { + "instances": [ + { + "height": 0.06799999999999998, + "id": "bbox_1767687053704_1767687556785_u44zpr7ke", + "width": 0.039999999999999945, + "x": 0.48550000000000004, + "y": 0.7146666666666667 + } + ], + "type": "bbox" + }, + "point_1767687061462": { + "instances": [ + { + "id": "point_1767687061462_1767687550915_fpmlq6ngk", + "x": 0.4875, + "y": 0.6493333333333333 + } + ], + "type": "point" + }, + "point_1767687067554": { + "instances": [ + { + "id": "point_1767687067554_1767687552865_a1opjdtoo", + "x": 0.6025, + "y": 0.6333333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "红色方块在盘子里。已完成爪夹抓取红色方块放在盘子里的任务。", + "frame": 361, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹处于张开状态。红色方块在盘子里。因此进度提升至100%。", + "state_description": "爪夹处于张开状态。\n已完成爪夹抓取红色方块放在盘子里的任务。", + "time": 12.0198 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767687053704", + "name": "红色物体" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767687061462", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767687067554", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-140411-bad-cocket-express-box/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-140411-bad-cocket-express-box/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..a5650f4747103f915efc378c91e7ead3079e5aab --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-140411-bad-cocket-express-box/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,1094 @@ +{ + "task_description": "将插座放入快递箱中:\n开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近快递箱:60%\n爪夹将插座移动至快递箱口:80%\n爪夹松开90%\n插座落入快递箱:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767780369119_k7a75rvsu", + "x": 0.702322021484375, + "y": 0.4065084737141927, + "width": 0.11100000000000003, + "height": 0.12266666666666666 + } + ] + }, + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767834805174_6vfscye5v", + "x": 0.401322021484375, + "y": 0.4321355921427409, + "width": 0.352, + "height": 0.3146666666666667 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767834808462_8q4yq1l8w", + "x": 0.461322021484375, + "y": 0.3708022588094076 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767834811046_4n0fynklv", + "x": 0.559322021484375, + "y": 0.3681355921427409 + } + ] + } + }, + "correction_plan": "爪夹向爪夹的正上方移动，然后向爪夹前方移动，到达快递箱正上方后，向左后方移动。到达插座侧上方后下降，下降一般后向左再次移动，到达插座的正上方，之后垂直下降，抓取插座。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触插座，为完成将插座放入快递箱中的任务应当:使其垂直于桌面。然后向爪夹方向的上方移动，准备抓取插座。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹方向的上方移动，使其垂直桌面。", + "correction_plan": "向爪夹前方移动，到达快递箱正上方后，向左后方移动。到达插座侧上方后下降，下降一般后向左再次移动，到达插座的正上方，之后垂直下降，抓取插座。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向上远离插座。", + "frame": 87, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上虽然插座较远，但是爪夹开始上升，因此进度提升为5%。", + "state_description": "当前爪夹张开，与插座的水平距离变远。为完成将插座放入快递箱中的任务应当:向爪夹的前方移动，直至移动至插座正上方。", + "time": 2.900239180874728, + "annotations": { + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767834834302_dfpob3sj7", + "x": 0.7023220214843751, + "y": 0.40800000000000003, + "width": 0.11300000000000007, + "height": 0.1213333333333333 + } + ] + }, + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767834837094_4josjjdx6", + "x": 0.403322021484375, + "y": 0.436, + "width": 0.35100000000000003, + "height": 0.31200000000000006 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767834842478_oedox2vgh", + "x": 0.573322021484375, + "y": 0.35200000000000004 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767834850798_95j17ysrs", + "x": 0.468322021484375, + "y": 0.356 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动。", + "correction_plan": "向爪夹左后方移动，到达快递箱正上方后，向左后方移动。到达插座侧上方后下降，下降一半后向左再次移动，到达插座的正上方，之后垂直下降，抓取插座。", + "error_success_analysis": "爪夹向爪夹方向的前方移动。", + "frame": 106, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接插座，因此进度提升为10%。", + "state_description": "当前爪夹打开，位于快递箱的正上方，为完成将插座放入快递箱中的任务应当:向左后方移动。", + "time": 3.5319574045860684, + "annotations": { + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767834908678_63tphbd8d", + "x": 0.7013220214843751, + "y": 0.4066666666666667, + "width": 0.11099999999999995, + "height": 0.1226666666666666 + } + ] + }, + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767834913318_lltmk14xa", + "x": 0.40032202148437507, + "y": 0.4346666666666667, + "width": 0.354, + "height": 0.31200000000000006 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767834915766_0bijkikjp", + "x": 0.49732202148437504, + "y": 0.38533333333333336 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767834918614_9ru6grwyn", + "x": 0.614322021484375, + "y": 0.37866666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹向右微动。", + "correction_plan": "继续向爪夹的左后方移动，之后垂直下降爪夹，抓取插座后垂直上升，调整爪夹，向爪夹方向的右前边移动，到达快递箱的正上方后，松开爪夹将插座落入快递箱中。", + "error_success_analysis": "爪夹向爪夹方左后方微动，水平方向上成功略微接近插座。", + "frame": 124, + "progress": 15, + "progress_explanation": "当前爪夹开始向左后移动接近插座，因此进度提升为15%。", + "state_description": "当前爪夹打开，爪夹水平方向接近插座。为完成将插座放入快递箱中的任务应当:继续向左后方移动。", + "time": 4.122919613864419, + "annotations": { + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767834944990_0xsogarlm", + "x": 0.699322021484375, + "y": 0.4, + "width": 0.12500000000000008, + "height": 0.13466666666666663 + } + ] + }, + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767834948718_2jpo4g1rv", + "x": 0.40632202148437513, + "y": 0.436, + "width": 0.3469999999999999, + "height": 0.31066666666666676 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767834950838_qr6m1o8s1", + "x": 0.583322021484375, + "y": 0.38666666666666666 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767834953198_xe599ffdp", + "x": 0.6873220214843749, + "y": 0.35333333333333333 + } + ] + } + } + }, + { + "action_description": "向爪夹方向的左后边移动。", + "correction_plan": "垂直下降爪夹，靠近插座，抓取插座后垂直上升，调整爪夹，向爪夹方向的右前边移动，到达快递箱的正上方后，松开爪夹将插座落入快递箱中。", + "error_success_analysis": "当前爪夹成功调整爪夹角度。并且靠近插座。", + "frame": 144, + "progress": 20, + "progress_explanation": "相比上一阶段，爪夹更为靠近插座。因此进度提升为20%。", + "state_description": "当前爪夹打开，到达插座的侧上方。为完成将插座放入快递箱中的任务应当:下降方便抓取插座。", + "time": 4.8157718592252445, + "annotations": { + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767834976846_krnitefhh", + "x": 0.403322021484375, + "y": 0.4332203369140625, + "width": 0.3490000000000001, + "height": 0.3093333333333333 + } + ] + }, + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767834980142_9n2n67sdz", + "x": 0.703322021484375, + "y": 0.4052203369140625, + "width": 0.11099999999999995, + "height": 0.12400000000000003 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767834982518_wlazowoty", + "x": 0.727322021484375, + "y": 0.32655367024739584 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767834985054_c42h07eef", + "x": 0.789322021484375, + "y": 0.23855367024739585 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "向爪夹方向的左侧微微移动后，在垂直下降爪夹，靠近插座，抓取插座后垂直上升，调整爪夹，向爪夹方向的右前边移动，到达快递箱的正上方后，松开爪夹将插座落入快递箱中。", + "error_success_analysis": "当前爪夹成功下降，并且更加靠近插座。", + "frame": 171, + "progress": 25, + "progress_explanation": "当前爪夹在水平方向于插座距离进一步缩短，因此进度提升为25%。", + "state_description": "当前爪夹张开，爪夹垂直下降。为完成将插座放入快递箱中的任务应当:合拢爪夹抓取插座，然后垂直上升。", + "time": 5.712404176751017, + "annotations": { + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767835028310_v43x6h5kj", + "x": 0.7013220214843751, + "y": 0.4066666666666667, + "width": 0.1129999999999999, + "height": 0.12266666666666672 + } + ] + }, + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767835031574_e18pianqm", + "x": 0.403322021484375, + "y": 0.4346666666666667, + "width": 0.349, + "height": 0.31066666666666676 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767835034166_g0wz98prp", + "x": 0.7093220214843751, + "y": 0.44666666666666666 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767835036342_wed1amzvw", + "x": 0.770322021484375, + "y": 0.36800000000000005 + } + ] + } + } + }, + { + "action_description": "向爪夹方向的左侧微微移动。", + "correction_plan": "垂直下降爪夹，靠近插座，抓取插座后垂直上升，调整爪夹，向爪夹方向的右前边移动，到达快递箱的正上方后，松开爪夹将插座落入快递箱中。", + "error_success_analysis": "爪夹成功向爪夹的左侧移动。", + "frame": 181, + "progress": 30, + "progress_explanation": "当前抓夹已经下降了一半并且向左侧微动，因此进度提升为30%。", + "state_description": "当前爪夹保持打开，处于插座的正上方。为完成将插座放入快递箱中的任务应当:竖直下降。", + "time": 6.018074284998439, + "annotations": { + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767835069342_p3o7jwazm", + "x": 0.403322021484375, + "y": 0.4333333333333334, + "width": 0.34700000000000003, + "height": 0.31199999999999994 + } + ] + }, + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767835072630_pbz4mwwy4", + "x": 0.7013220214843751, + "y": 0.4066666666666667, + "width": 0.11199999999999992, + "height": 0.1239999999999999 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767835086902_65m166yah", + "x": 0.743322021484375, + "y": 0.44000000000000006 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767835090870_qp3pp5ac0", + "x": 0.784322021484375, + "y": 0.35733333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹保持张开，竖直下降。", + "correction_plan": "合拢爪夹，抓取插座后垂直上升，调整爪夹，向爪夹方向的右前边移动，到达快递箱的正上方后，松开爪夹将插座落入快递箱中。", + "error_success_analysis": "爪夹成功竖直下降，并且完全贴近插座。", + "frame": 218, + "progress": 35, + "progress_explanation": "当前抓夹已完全贴近插座，因此进度提升为35%。", + "state_description": "当前爪夹保持张开，爪夹完全贴近插座。为完成将插座放入快递箱中的任务应当:合拢爪夹抓取插座，然后垂直上升。", + "time": 7.28151073242112, + "annotations": { + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767835128575_41s0e9rr5", + "x": 0.7353220214843751, + "y": 0.4225536702473958, + "width": 0.07799999999999985, + "height": 0.10666666666666663 + } + ] + }, + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767835133454_pcgidso65", + "x": 0.402322021484375, + "y": 0.4345536702473958, + "width": 0.35399999999999987, + "height": 0.31066666666666676 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767835186871_4na1mh3t5", + "x": 0.7383220214843751, + "y": 0.49855367024739583 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767835191326_xrk6wcyqw", + "x": 0.787322021484375, + "y": 0.42788700358072923 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹保持合拢，抓取插座垂直上升，向爪夹方向的右前边移动，到达快递箱的正上方后，松开爪夹将插座落入快递箱中。", + "error_success_analysis": "当前爪夹已成功抓取插座。", + "frame": 247, + "progress": 40, + "progress_explanation": "相比上一进度，爪夹已合拢，因此进度提升为40%。", + "state_description": "当前爪夹合拢抓取插座，为完成将插座放入快递箱中的任务应当:爪夹保持和拢，然后垂直上升。", + "time": 8.239277071596378, + "annotations": { + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767835197694_ztdyrsrkn", + "x": 0.773322021484375, + "y": 0.4346666666666667 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767835200374_2xl15mcnn", + "x": 0.737322021484375, + "y": 0.5053333333333333 + } + ] + }, + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767835204750_ipy7f3302", + "x": 0.402322021484375, + "y": 0.4346666666666667, + "width": 0.35100000000000003, + "height": 0.3079999999999999 + } + ] + }, + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767835208054_kjkp26nj2", + "x": 0.707322021484375, + "y": 0.42533333333333334, + "width": 0.10300000000000002, + "height": 0.10800000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，垂直上升。", + "correction_plan": "爪夹保持合拢，向爪夹方向的右前边移动，到达快递箱的正上方后，松开爪夹将插座落入快递箱中。", + "error_success_analysis": "爪夹成功抓取插座上升，悬空在桌面上。", + "frame": 278, + "progress": 45, + "progress_explanation": "当前爪夹和上一进度相比，已抓取垂直抬起爪夹，因此进度提升为45%。", + "state_description": "当前爪夹合拢，爪夹抓取插座垂直上升，垂直悬空于桌面，为完成将插座放入快递箱中的任务应当:爪夹保持合拢上升。", + "time": 9.278555439637616, + "annotations": { + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767835236414_nnn8mgd3k", + "x": 0.6913220214843749, + "y": 0.2946666666666667, + "width": 0.12800000000000003, + "height": 0.11466666666666671 + } + ] + }, + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767835239670_bgfrk0p0x", + "x": 0.40432202148437496, + "y": 0.43333333333333335, + "width": 0.3469999999999999, + "height": 0.312 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767835242174_cogqyetlj", + "x": 0.7383220214843751, + "y": 0.3813333333333333 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767835245206_bxjaxu5eh", + "x": 0.767322021484375, + "y": 0.30400000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，向爪夹方向的右前边移动。", + "correction_plan": "到达快递箱的正上方后，松开爪夹将插座落入快递箱中。", + "error_success_analysis": "抓夹成功向右前方移动，并且稍微接近快递箱。", + "frame": 301, + "progress": 50, + "progress_explanation": "当前抓夹稍微接近快递箱，因此进度提升为55%。", + "state_description": "当前抓夹合并，处于快递箱的侧上方，为完成将插座放入快递箱中的任务应当:继续向右前方移动。", + "time": 10.032541706647924, + "annotations": { + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767835316502_gw1ha7vvi", + "x": 0.40432202148437496, + "y": 0.4345536702473958, + "width": 0.3470000000000001, + "height": 0.3066666666666667 + } + ] + }, + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767835319582_5k1f7n1tf", + "x": 0.6043220214843751, + "y": 0.2412203369140625, + "width": 0.11899999999999995, + "height": 0.10133333333333336 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767835322422_gxzsodp2f", + "x": 0.627322021484375, + "y": 0.31055367024739583 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767835325798_6xrps5qoh", + "x": 0.682322021484375, + "y": 0.24388700358072915 + } + ] + } + } + }, + { + "action_description": "抓夹保持合拢，向爪夹方向的右前方并且稍微向下移动。", + "correction_plan": "松开爪夹将插座落入快递箱中。", + "error_success_analysis": "爪夹成功到达快递箱正上方，并且接近快递箱。", + "frame": 346, + "progress": 55, + "progress_explanation": "相比上一进度，当前爪夹已接近快递箱，因此进度提升为60%。", + "state_description": "当前爪夹合拢，处于快递箱正上方。为完成将插座放入快递箱中的任务应当:下降爪夹使爪夹更加贴近快递箱。", + "time": 11.540514240668545, + "annotations": { + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767835399374_gtiuykqru", + "x": 0.403322021484375, + "y": 0.4346666666666667, + "width": 0.34900000000000003, + "height": 0.3053333333333334 + } + ] + }, + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767835403310_3m4ha4fqd", + "x": 0.508322021484375, + "y": 0.26266666666666666, + "width": 0.11800000000000006, + "height": 0.096 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767835409630_pprqx181b", + "x": 0.604322021484375, + "y": 0.2773333333333333 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767835415254_lywvhnqon", + "x": 0.521322021484375, + "y": 0.2826666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "向爪夹方向的后方移动，直至插座上方，从新抓起插座。", + "error_success_analysis": "爪夹松开，插座并没有落至快递箱中。", + "frame": 371, + "progress": 5, + "progress_explanation": "当前爪夹松开，插座灭有落入快递箱，因此进度下降为5%", + "state_description": "爪夹打开。爪夹停于快递箱正上方。", + "time": 12.376012536544833, + "annotations": { + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767835438846_nzeeygl7k", + "x": 0.4083220214843751, + "y": 0.42266666666666663, + "width": 0.33799999999999997, + "height": 0.30533333333333335 + } + ] + }, + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767835442046_t4ptxo02s", + "x": 0.514322021484375, + "y": 0.2733333333333334, + "width": 0.09000000000000004, + "height": 0.11733333333333332 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767835445222_cuda3un4r", + "x": 0.514322021484375, + "y": 0.32133333333333336 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767835447574_0zp7p6jv2", + "x": 0.612322021484375, + "y": 0.3173333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的后下方移动。", + "correction_plan": "继续向爪夹的后下方移动。", + "error_success_analysis": "爪夹成功向后方移动。", + "frame": 422, + "progress": 10, + "progress_explanation": "当前爪夹向爪夹的后方移动，因此进度上升至10%", + "state_description": "当前爪夹张开，与插座的水平距离变近。为完成将插座放入快递箱中的任务应当:继续向爪夹的后下方移动，直至到达插座的上方，下降从新抓取插座。", + "time": 14.067387135513906, + "annotations": { + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767835500854_zirdq583g", + "x": 0.516322021484375, + "y": 0.27188700358072915, + "width": 0.088, + "height": 0.11466666666666671 + } + ] + }, + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767835504054_w7v6msp9p", + "x": 0.406322021484375, + "y": 0.43588700358072924, + "width": 0.33799999999999997, + "height": 0.304 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767835506990_x81agz65z", + "x": 0.531322021484375, + "y": 0.3078870035807292 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767835509182_gozadb94w", + "x": 0.626322021484375, + "y": 0.28788700358072916 + } + ] + } + } + }, + { + "action_description": "爪夹向后下方移动。", + "correction_plan": "爪夹向爪夹的左侧移动。", + "error_success_analysis": "爪夹成功向下方移动。", + "frame": 443, + "progress": 15, + "progress_explanation": "相比上一进度，此进度已经稍微靠近插座。因此进度提升至15%", + "state_description": "爪夹保持打开，快递箱的侧方。", + "time": 14.76023938087473, + "annotations": { + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767835548062_wxnt7b65m", + "x": 0.4083220214843751, + "y": 0.436, + "width": 0.333, + "height": 0.3093333333333334 + } + ] + }, + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767835551398_1ivabk6pt", + "x": 0.5143220214843751, + "y": 0.27066666666666667, + "width": 0.09099999999999993, + "height": 0.11733333333333337 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767835553702_ut5r4xvww", + "x": 0.503322021484375, + "y": 0.36933333333333335 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767835555870_thajisqwa", + "x": 0.586322021484375, + "y": 0.348 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左边移动。", + "correction_plan": "下降爪夹。抓取插座。", + "error_success_analysis": "爪夹成功向左移动，并到达插座的侧上方。", + "frame": 457, + "progress": 20, + "progress_explanation": "当前爪夹靠近插座，因此进度提升至20%", + "state_description": "当前爪夹打开，处于插座的侧上方。", + "time": 15.228933546854112, + "annotations": { + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767835586686_5ivixrxi7", + "x": 0.514322021484375, + "y": 0.2786666666666667, + "width": 0.10499999999999998, + "height": 0.11333333333333334 + } + ] + }, + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767835590942_9g7znjtis", + "x": 0.40632202148437513, + "y": 0.43733333333333335, + "width": 0.343, + "height": 0.30533333333333323 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767835611614_a2t7cxvxz", + "x": 0.612322021484375, + "y": 0.3426666666666666 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767835614686_6dzoat0nz", + "x": 0.649322021484375, + "y": 0.272 + } + ] + } + } + }, + { + "action_description": "爪夹保持打开向爪夹的下方移动。", + "correction_plan": "爪夹合拢抓取插座。", + "error_success_analysis": "爪夹成功向下方移动贴近插座。", + "frame": 502, + "progress": 25, + "progress_explanation": "对比上一进度，爪夹已贴近插座，因此进度提升至25%", + "state_description": "当前爪夹已贴近插座。", + "time": 16.742366, + "annotations": { + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767835625814_t1mdu4w9i", + "x": 0.602322021484375, + "y": 0.30533333333333335 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767835629142_2rnwo3rhk", + "x": 0.563322021484375, + "y": 0.37333333333333335 + } + ] + }, + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767835634206_zbraleu6h", + "x": 0.4063220214843749, + "y": 0.43600000000000005, + "width": 0.33999999999999997, + "height": 0.30666666666666653 + } + ] + }, + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767835637934_jtbsrpulq", + "x": 0.519322021484375, + "y": 0.28, + "width": 0.10200000000000005, + "height": 0.10933333333333331 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹上升。", + "error_success_analysis": "爪夹成功合拢。", + "frame": 525, + "progress": 30, + "progress_explanation": "当前合拢，因此进度上降为30%", + "state_description": "当前爪夹合拢。", + "time": 17.513266, + "annotations": { + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767835694351_zkopivjj6", + "x": 0.409322021484375, + "y": 0.436, + "width": 0.33599999999999997, + "height": 0.3026666666666667 + } + ] + }, + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767835697646_20lnmenua", + "x": 0.5143220214843749, + "y": 0.2853333333333334, + "width": 0.09200000000000008, + "height": 0.09866666666666658 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767835700830_5l4pyrdxb", + "x": 0.575322021484375, + "y": 0.34933333333333333 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767835703286_pum78da87", + "x": 0.5893220214843751, + "y": 0.3453333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹上升。", + "correction_plan": "", + "error_success_analysis": "爪夹角度问题，没有抓到插座。", + "frame": 593, + "progress": 0, + "progress_explanation": "当前爪夹没有抓取到插座，因此进度向为0%", + "state_description": "当前爪夹打开，没有抓取到插座。", + "time": 19.766667, + "annotations": { + "bbox_1767780342775": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342775_1767835755286_oe4ou32h9", + "x": 0.5113220214843751, + "y": 0.2813333333333333, + "width": 0.09100000000000001, + "height": 0.07733333333333334 + } + ] + }, + "point_1767780343631": { + "type": "point", + "instances": [ + { + "id": "point_1767780343631_1767835760398_qt2ee6d2x", + "x": 0.5703220214843749, + "y": 0.4426666666666667 + } + ] + }, + "point_1767780343787": { + "type": "point", + "instances": [ + { + "id": "point_1767780343787_1767835762414_3t6ic2d6d", + "x": 0.674322021484375, + "y": 0.41466666666666663 + } + ] + }, + "bbox_1767780342967": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767780342967_1767835768789_cesfomamd", + "x": 0.40532202148437496, + "y": 0.4266666666666667, + "width": 0.3440000000000001, + "height": 0.2973333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767780342775", + "name": "插座" + }, + { + "color": "#FF9800", + "id": "bbox_1767780342967", + "name": "快递箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767780343631", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767780343787", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-140411-bad-cocket-express-box/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-140411-bad-cocket-express-box/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..1c40422f8b99cc2b7a87acdc812cf7e0f7841236 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-140411-bad-cocket-express-box/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,850 @@ +{ + "task_description": "抓住药瓶落入快递箱中:\n开始移动:0%\n爪夹靠近药瓶:20%\n爪夹抓取药瓶:40%\n爪夹抓住药瓶接近快递箱:60%\n爪夹将药瓶移动至快递箱口:80%\n爪夹松开90%\n药瓶落入快递箱:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹上升，垂直于桌面。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触插座。", + "time": 0, + "annotations": { + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767842202695_o670ycgbh", + "x": 0.49232202148437504, + "y": 0.6065084737141928, + "width": 0.43500000000000016, + "height": 0.3493333333333332 + } + ] + }, + "point_1767842127959": { + "type": "point", + "instances": [ + { + "id": "point_1767842127959_1767842205879_ihlf4iys3", + "x": 0.453322021484375, + "y": 0.37184180704752606 + } + ] + }, + "point_1767842128127": { + "type": "point", + "instances": [ + { + "id": "point_1767842128127_1767842208743_cf6fqprf6", + "x": 0.552322021484375, + "y": 0.37184180704752606 + } + ] + }, + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767842309959_445xgatsj", + "x": 0.557322021484375, + "y": 0.4185084737141927, + "width": 0.041000000000000016, + "height": 0.09066666666666669 + } + ] + } + } + }, + { + "action_description": "爪夹打开，并且上升。", + "correction_plan": "向爪夹的后方略微移动，然后下降。", + "error_success_analysis": "爪夹成功上升。", + "frame": 108, + "progress": 5, + "progress_explanation": "当前爪夹开始移动。因此进度提升为5%", + "state_description": "当前爪夹张开垂直于桌面。", + "time": 3.608941424078558, + "annotations": { + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767842251559_mrm09ns1h", + "x": 0.4943220214843751, + "y": 0.6051751403808594, + "width": 0.4320000000000001, + "height": 0.34933333333333333 + } + ] + }, + "point_1767842127959": { + "type": "point", + "instances": [ + { + "id": "point_1767842127959_1767842255007_5dswrmqvb", + "x": 0.4713220214843751, + "y": 0.4291751403808594 + } + ] + }, + "point_1767842128127": { + "type": "point", + "instances": [ + { + "id": "point_1767842128127_1767842256991_cqk9v8gou", + "x": 0.571322021484375, + "y": 0.4198418070475261 + } + ] + }, + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767842328855_e97bzovjf", + "x": 0.555322021484375, + "y": 0.4158418070475261, + "width": 0.041999999999999996, + "height": 0.09199999999999993 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的后方略微移动。", + "correction_plan": "爪夹保持张开，并且向下方移动。", + "error_success_analysis": "爪夹成功向后方略微移动。", + "frame": 135, + "progress": 10, + "progress_explanation": "对比上一进度，爪夹略微接近药瓶。因此进度提升为10%", + "state_description": "当前爪夹处于药瓶的侧上方。", + "time": 4.513821129233198, + "annotations": { + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767842361191_sf0hpgjhc", + "x": 0.555322021484375, + "y": 0.4211751403808594, + "width": 0.04399999999999995, + "height": 0.08666666666666666 + } + ] + }, + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767842372744_n93l7xhx3", + "x": 0.4913220214843751, + "y": 0.6038418070475261, + "width": 0.43599999999999994, + "height": 0.352 + } + ] + }, + "point_1767842127959": { + "type": "point", + "instances": [ + { + "id": "point_1767842127959_1767842376143_19q8itrqj", + "x": 0.472322021484375, + "y": 0.4185084737141927 + } + ] + }, + "point_1767842128127": { + "type": "point", + "instances": [ + { + "id": "point_1767842128127_1767842378583_ettygz82d", + "x": 0.568322021484375, + "y": 0.4038418070475261 + } + ] + } + } + }, + { + "action_description": "爪夹保持张开，并且垂直下降。", + "correction_plan": "爪夹合拢，抓取药瓶后上升。", + "error_success_analysis": "爪夹成功向下方移动。", + "frame": 150, + "progress": 20, + "progress_explanation": "相比上一进度，爪夹更接近药瓶。因此进度提升为20%", + "state_description": "当前爪夹打开接近药瓶。", + "time": 4.997463730264125, + "annotations": { + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767842405159_35w6dgq4v", + "x": 0.5553220214843749, + "y": 0.41850847371419275, + "width": 0.04400000000000004, + "height": 0.0879999999999999 + } + ] + }, + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767842410631_833okfm39", + "x": 0.49232202148437504, + "y": 0.603841807047526, + "width": 0.43100000000000005, + "height": 0.34933333333333344 + } + ] + }, + "point_1767842127959": { + "type": "point", + "instances": [ + { + "id": "point_1767842127959_1767842419815_vqyc8z2ly", + "x": 0.460322021484375, + "y": 0.43184180704752606 + } + ] + }, + "point_1767842128127": { + "type": "point", + "instances": [ + { + "id": "point_1767842128127_1767842422887_h36dcj0q1", + "x": 0.557322021484375, + "y": 0.4291751403808594 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹上升，调整抓夹位置。", + "error_success_analysis": "当前爪夹因角度问题，未抓取到药瓶。", + "frame": 180, + "progress": 15, + "progress_explanation": "对比上一进度，当前爪夹合拢，未抓取到药瓶，因此进度下降为15%", + "state_description": "当前爪夹合拢抓取药瓶", + "time": 5.995951680779589, + "annotations": { + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767842487015_nkn4j8tn8", + "x": 0.556322021484375, + "y": 0.4185084737141927, + "width": 0.040000000000000036, + "height": 0.08800000000000002 + } + ] + }, + "point_1767842127959": { + "type": "point", + "instances": [ + { + "id": "point_1767842127959_1767842489591_dlsxibos7", + "x": 0.539322021484375, + "y": 0.44117514038085937 + } + ] + }, + "point_1767842128127": { + "type": "point", + "instances": [ + { + "id": "point_1767842128127_1767842491719_g5sb5lj9k", + "x": 0.5503220214843749, + "y": 0.44117514038085937 + } + ] + }, + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767842497143_9o3vwnpau", + "x": 0.49232202148437504, + "y": 0.6038418070475261, + "width": 0.433, + "height": 0.34933333333333344 + } + ] + } + } + }, + { + "action_description": "爪夹垂直上升。", + "correction_plan": "张开爪夹，向爪夹方向的左后方下降。从新抓取药瓶。", + "error_success_analysis": "爪夹成功上升，但未抓取到药瓶。", + "frame": 205, + "progress": 13, + "progress_explanation": "当前爪夹上升，因此进度下降为13%", + "state_description": "当前爪夹合拢，停于空中。", + "time": 6.838425889027012, + "annotations": { + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767842541543_g0ud8t6a8", + "x": 0.49332202148437504, + "y": 0.6038418070475261, + "width": 0.43000000000000005, + "height": 0.3493333333333332 + } + ] + }, + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767842546311_8r48mia59", + "x": 0.554322021484375, + "y": 0.4171751403808594, + "width": 0.041000000000000016, + "height": 0.08933333333333332 + } + ] + }, + "point_1767842127959": { + "type": "point", + "instances": [ + { + "id": "point_1767842127959_1767842558199_fjdaaqx0d", + "x": 0.5543220214843749, + "y": 0.4171751403808594 + } + ] + }, + "point_1767842128127": { + "type": "point", + "instances": [ + { + "id": "point_1767842128127_1767842562615_6fuws0fgg", + "x": 0.565322021484375, + "y": 0.4131751403808594 + } + ] + } + } + }, + { + "action_description": "抓夹打开，下降爪夹。", + "correction_plan": "继续下降爪夹。靠近药瓶后，爪夹合拢抓取药瓶。", + "error_success_analysis": "爪夹成功打开，并且开始向爪夹的下方移动。", + "frame": 228, + "progress": 20, + "progress_explanation": "对比上一进度，爪夹更加接近药瓶。因此进度提升为20%", + "state_description": "当前爪夹打开，处于药瓶的正上方。", + "time": 7.587291851913609, + "annotations": { + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767842594727_ktykluc7m", + "x": 0.5543220214843749, + "y": 0.41717514038085934, + "width": 0.041000000000000016, + "height": 0.09066666666666674 + } + ] + }, + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767842598895_16f4jmyah", + "x": 0.49232202148437504, + "y": 0.6051751403808594, + "width": 0.43199999999999983, + "height": 0.34666666666666673 + } + ] + }, + "point_1767842127959": { + "type": "point", + "instances": [ + { + "id": "point_1767842127959_1767842602439_vlpxc2u8t", + "x": 0.515322021484375, + "y": 0.4171751403808594 + } + ] + }, + "point_1767842128127": { + "type": "point", + "instances": [ + { + "id": "point_1767842128127_1767842605511_86n1ncork", + "x": 0.610322021484375, + "y": 0.3891751403808594 + } + ] + } + } + }, + { + "action_description": "爪夹保持张开，竖直下降。", + "correction_plan": "合拢爪夹，抓取药瓶后垂直上升。", + "error_success_analysis": "爪夹成功竖直下降，并且完全贴近药瓶。", + "frame": 285, + "progress": 25, + "progress_explanation": "当前抓夹已完全贴近药瓶，因此进度提升为30%。", + "state_description": "当前爪夹保持张开，爪夹完全贴近药瓶。", + "time": 9.506260881810517, + "annotations": { + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767842639487_2j4prk0nl", + "x": 0.553322021484375, + "y": 0.45984180704752603, + "width": 0.041999999999999996, + "height": 0.05333333333333332 + } + ] + }, + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767842650351_64o2rdv15", + "x": 0.49332202148437493, + "y": 0.6065084737141927, + "width": 0.43099999999999994, + "height": 0.3466666666666666 + } + ] + }, + "point_1767842127959": { + "type": "point", + "instances": [ + { + "id": "point_1767842127959_1767842691735_lfgn70n72", + "x": 0.528322021484375, + "y": 0.4771751403808594 + } + ] + }, + "point_1767842128127": { + "type": "point", + "instances": [ + { + "id": "point_1767842128127_1767842694775_cwbxwp7to", + "x": 0.6213220214843751, + "y": 0.43184180704752606 + } + ] + } + } + }, + { + "time": 10.473546083872373, + "frame": 314, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "当前爪夹合拢抓取药瓶。", + "progress_explanation": "相比上一进度，爪夹已合拢，因此进度提升为40%。", + "error_success_analysis": "当前爪夹已成功抓取药瓶。", + "correction_plan": "抓夹保持合拢，抓取药瓶垂直上升。", + "annotations": { + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767842725687_nfsnvonoy", + "x": 0.541322021484375, + "y": 0.47584180704752604, + "width": 0.038000000000000075, + "height": 0.030666666666666665 + } + ] + }, + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767842729735_frc503yiq", + "x": 0.491322021484375, + "y": 0.6065084737141927, + "width": 0.43299999999999994, + "height": 0.34533333333333344 + } + ] + } + } + }, + { + "time": 11.316020292119793, + "frame": 339, + "progress": 45, + "action_description": "爪夹保持合拢，垂直上升。", + "state_description": "当前爪夹合拢，爪夹抓取药瓶垂直上升，垂直悬空于桌面。", + "progress_explanation": "当前爪夹和上一进度相比，已抓取垂直抬起爪夹，因此进度提升为45%。", + "error_success_analysis": "爪夹成功抓取药瓶上升，悬空在桌面上。", + "correction_plan": "爪夹保持合拢，爪夹向爪夹的前方移动。直至快递箱正上方。", + "annotations": { + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767842777335_kx4qq4usg", + "x": 0.491322021484375, + "y": 0.6065084737141927, + "width": 0.43600000000000005, + "height": 0.34666666666666673 + } + ] + }, + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767842782375_tyal0dp82", + "x": 0.599322021484375, + "y": 0.41050847371419275, + "width": 0.04400000000000004, + "height": 0.07466666666666662 + } + ] + }, + "point_1767842127959": { + "type": "point", + "instances": [ + { + "id": "point_1767842127959_1767842786239_gsilhd0io", + "x": 0.595322021484375, + "y": 0.45450847371419273 + } + ] + }, + "point_1767842128127": { + "type": "point", + "instances": [ + { + "id": "point_1767842128127_1767842788847_w1gwwr688", + "x": 0.636322021484375, + "y": 0.4265084737141927 + } + ] + } + } + }, + { + "time": 12.31450824263526, + "frame": 369, + "progress": 55, + "action_description": "爪夹保持合拢，稍微向上抬起，并向前方移动。", + "state_description": "当前抓夹合并，处于快递箱的侧上方。", + "progress_explanation": "当前抓夹稍微接近快递箱，因此进度提升为55%。", + "error_success_analysis": "抓夹成功向前方移动，并且稍微接近快递箱。", + "correction_plan": "继续向爪夹的前方移动，到达快递箱的正上方后，下降松开爪夹将插座落入快递箱中。", + "annotations": { + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767842838983_4n69aywr3", + "x": 0.49232202148437504, + "y": 0.6051751403808594, + "width": 0.42899999999999994, + "height": 0.34933333333333344 + } + ] + }, + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767842842079_fi81pf113", + "x": 0.6093220214843751, + "y": 0.435841807047526, + "width": 0.06599999999999992, + "height": 0.10133333333333336 + } + ] + }, + "point_1767842127959": { + "type": "point", + "instances": [ + { + "id": "point_1767842127959_1767842845015_n7554wh9g", + "x": 0.6133220214843751, + "y": 0.499841807047526 + } + ] + }, + "point_1767842128127": { + "type": "point", + "instances": [ + { + "id": "point_1767842128127_1767842852199_urgxlsh50", + "x": 0.667322021484375, + "y": 0.47584180704752604 + } + ] + } + } + }, + { + "time": 12.999533, + "frame": 390, + "progress": 60, + "action_description": "抓夹保持合拢，向爪夹方向的前方并且稍微向下移动。", + "state_description": "当前爪夹合拢，处于快递箱正上方。", + "progress_explanation": "相比上一进度，当前爪夹已接近快递箱，因此进度提升为60%。", + "error_success_analysis": "爪夹成功到达快递箱正上方。", + "correction_plan": "下降爪夹，松开爪夹将插座落入快递箱中。", + "annotations": { + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767842886783_zbyreplkz", + "x": 0.620322021484375, + "y": 0.6145084737141927, + "width": 0.05899999999999998, + "height": 0.10666666666666665 + } + ] + }, + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767842889976_t9kyu8tcp", + "x": 0.49332202148437504, + "y": 0.6078418070475261, + "width": 0.4309999999999999, + "height": 0.3453333333333333 + } + ] + }, + "point_1767842127959": { + "type": "point", + "instances": [ + { + "id": "point_1767842127959_1767842894575_qkk3jot3i", + "x": 0.619322021484375, + "y": 0.6851751403808595 + } + ] + }, + "point_1767842128127": { + "type": "point", + "instances": [ + { + "id": "point_1767842128127_1767842897255_keohsm4x3", + "x": 0.6793220214843749, + "y": 0.6665084737141928 + } + ] + } + } + }, + { + "time": 13.498933, + "frame": 405, + "progress": 80, + "action_description": "爪夹保持合拢，向爪夹的下方下降爪夹。", + "state_description": "当前爪夹合拢，处于快递箱口。", + "progress_explanation": "当前爪夹已抓住插座移至快递箱口，因此进度提升为80%。", + "error_success_analysis": "当前爪夹合拢，成功抵达快递箱口。", + "correction_plan": "松开爪夹，插座落入快递箱中。", + "annotations": { + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767842944823_zuf6bno3m", + "x": 0.6173220214843751, + "y": 0.6291751403808593, + "width": 0.05800000000000001, + "height": 0.10799999999999994 + } + ] + }, + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767842949047_26lek4uaw", + "x": 0.49332202148437504, + "y": 0.6051751403808594, + "width": 0.4309999999999999, + "height": 0.34933333333333333 + } + ] + }, + "point_1767842127959": { + "type": "point", + "instances": [ + { + "id": "point_1767842127959_1767842952287_2wssd96d2", + "x": 0.615322021484375, + "y": 0.6998418070475261 + } + ] + }, + "point_1767842128127": { + "type": "point", + "instances": [ + { + "id": "point_1767842128127_1767842954751_3kojhzflh", + "x": 0.673322021484375, + "y": 0.6878418070475261 + } + ] + } + } + }, + { + "time": 14.043733, + "frame": 421, + "progress": 90, + "action_description": "爪夹松开。", + "state_description": "当前爪夹松开，处于快递箱口。", + "progress_explanation": "当前爪夹打开，因此进度提升为90%", + "error_success_analysis": "爪夹成功打开。", + "correction_plan": "药瓶落入快递箱后，机械臂向后方移动后停止。", + "annotations": { + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767843038695_eazv9l62m", + "x": 0.491322021484375, + "y": 0.6105084737141927, + "width": 0.429, + "height": 0.34666666666666673 + } + ] + }, + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767843042975_ngw3dekqq", + "x": 0.666322021484375, + "y": 0.8105084737141927, + "width": 0.05599999999999996, + "height": 0.04666666666666662 + } + ] + }, + "point_1767842127959": { + "type": "point", + "instances": [ + { + "id": "point_1767842127959_1767843045719_qn7tm3dia", + "x": 0.5893220214843751, + "y": 0.711841807047526 + } + ] + }, + "point_1767842128127": { + "type": "point", + "instances": [ + { + "id": "point_1767842128127_1767843048295_caq5t0ygg", + "x": 0.7063220214843751, + "y": 0.6825084737141928 + } + ] + } + } + }, + { + "time": 15.133333, + "frame": 454, + "progress": 100, + "action_description": "爪夹向后方移动。", + "state_description": "当前爪夹张开，垂直于桌面。", + "progress_explanation": "当前插座已落入快递箱中，因此进度提升至100%。", + "error_success_analysis": "药瓶成功落入快递箱中，机械臂成功向后方移动后停止。", + "correction_plan": "", + "annotations": { + "bbox_1767842126943": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842126943_1767843083279_rpv4ue0zm", + "x": 0.6013220214843751, + "y": 0.7585084737141927, + "width": 0.075, + "height": 0.07466666666666662 + } + ] + }, + "bbox_1767842127279": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767842127279_1767843087183_afayrg11g", + "x": 0.491322021484375, + "y": 0.6051751403808594, + "width": 0.43299999999999994, + "height": 0.34666666666666673 + } + ] + }, + "point_1767842127959": { + "type": "point", + "instances": [ + { + "id": "point_1767842127959_1767843090351_tahamzkkk", + "x": 0.531322021484375, + "y": 0.443841807047526 + } + ] + }, + "point_1767842128127": { + "type": "point", + "instances": [ + { + "id": "point_1767842128127_1767843092591_r1gc71fsn", + "x": 0.630322021484375, + "y": 0.4171751403808594 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767842126943", + "name": "药瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1767842127279", + "name": "快递箱", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767842127959", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767842128127", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-140411-bad-cocket-express-box/annotations/chunk-000/observation.images.front/episode_000010.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-140411-bad-cocket-express-box/annotations/chunk-000/observation.images.front/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..7c6ce9440061f3d4ee0176370c413d7d8466a3f4 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-140411-bad-cocket-express-box/annotations/chunk-000/observation.images.front/episode_000010.json @@ -0,0 +1,562 @@ +{ + "task_description": "抓取插座使其落入纸盒中：\n开始移动：0%\n爪夹靠近插座：20%\n爪夹抓取插座：40%\n爪夹抓住插座接近纸盒：60%\n爪夹将插座放入纸盒：80%\n爪夹松开，插座落入纸盒中：100%", + "progress_points": [ + { + "action_description": "当前爪夹与桌面水平角度呈60度角，爪夹张开，爪夹静止不动，此时爪夹水平距离与插座较远。", + "annotations": { + "bbox_1766203124943": { + "instances": [ + { + "height": 0.4613333333333333, + "id": "bbox_1766203124943_1766210127771_rm35j5kih", + "width": 0.33899999999999997, + "x": 0.6595, + "y": 0.3506666666666666 + } + ], + "type": "bbox" + }, + "bbox_1766203125071": { + "instances": [ + { + "height": 0.11866666666666663, + "id": "bbox_1766203125071_1766210136003_6i45tvbin", + "width": 0.10999999999999996, + "x": 0.4995, + "y": 0.548 + } + ], + "type": "bbox" + }, + "point_1766203125967": { + "instances": [ + { + "id": "point_1766203125967_1766210147395_2pkyflfm7", + "x": 0.47350000000000003, + "y": 0.384 + } + ], + "type": "point" + }, + "point_1766203126095": { + "instances": [ + { + "id": "point_1766203126095_1766210149419_i002jtysy", + "x": 0.5525, + "y": 0.372 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向前方移动至插座正上方并调整爪夹与桌面的水平角度，使其垂直于桌面，接着爪夹垂直下降靠近插座，爪夹夹取插座竖直上升，最后爪夹夹取插座向爪夹方向右边移动至纸盒正上方，爪夹垂直下降至纸盒中，爪夹松开，使插座落入纸盒中。", + "error_success_analysis": "", + "frame": 98, + "progress": 0, + "progress_explanation": "当前爪夹与桌面水平角度呈60度角，爪夹张开，爪夹静止不动，此时爪夹水平距离与插座较远。因此当前进度为0%。", + "state_description": "当前爪夹与桌面水平角度呈60度角，爪夹张开，爪夹静止不动。\n为完成抓取插座使其落入纸盒中的任务应当：爪夹向爪夹方向前方移动至插座正上方。", + "time": 3.250201655615381 + }, + { + "action_description": "当前爪夹向爪夹方向前方移动并调整爪夹于桌面的水平角度，使爪夹垂直于桌面，此时爪夹与插座水平距离略近。", + "annotations": { + "bbox_1766203124943": { + "instances": [ + { + "height": 0.4613333333333333, + "id": "bbox_1766203124943_1766210106971_ztkpebaau", + "width": 0.3380000000000001, + "x": 0.6615, + "y": 0.3506666666666666 + } + ], + "type": "bbox" + }, + "bbox_1766203125071": { + "instances": [ + { + "height": 0.12000000000000005, + "id": "bbox_1766203125071_1766210085339_004xv32p3", + "width": 0.11100000000000003, + "x": 0.5015, + "y": 0.5466666666666666 + } + ], + "type": "bbox" + }, + "point_1766203125967": { + "instances": [ + { + "id": "point_1766203125967_1766210079251_25p89t08q", + "x": 0.5125, + "y": 0.6333333333333333 + } + ], + "type": "point" + }, + "point_1766203126095": { + "instances": [ + { + "id": "point_1766203126095_1766210076267_ddo0uh63l", + "x": 0.5995, + "y": 0.6146666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹后方移动直至插座正上方，接着爪夹垂直下降靠近插座，爪夹夹取插座竖直上升，最后爪夹夹取插座向爪夹方向右边移动至纸盒正上方，爪夹垂直下降至纸盒中，爪夹松开，使插座落入纸盒中。", + "error_success_analysis": "当前爪夹向爪夹方向移动过多，致使爪夹与插座水平距离略微接近。", + "frame": 155, + "progress": 5, + "progress_explanation": "当前爪夹向爪夹方向前方移动并调整爪夹于桌面的水平角度，使爪夹垂直于桌面，此时爪夹与插座水平距离略近，因此当前进度提升为5%。", + "state_description": "当前爪夹与桌面水平角度呈90度角，此时爪夹与插座水平距离略近。\n为完成抓取插座使其落入纸盒中的任务应当：爪夹张开向爪夹方向后方移动至插座正上方。", + "time": 5.15343180802368 + }, + { + "action_description": "当前爪夹张开垂直于桌面并垂直下降靠近充电器，此时爪夹水平距离接近与插座。", + "annotations": { + "bbox_1766203124943": { + "instances": [ + { + "height": 0.4586666666666668, + "id": "bbox_1766203124943_1766210043243_ka35buuwu", + "width": 0.33899999999999997, + "x": 0.6575, + "y": 0.35200000000000004 + } + ], + "type": "bbox" + }, + "point_1766203126095": { + "instances": [ + { + "id": "point_1766203126095_1766210062795_5rtio1w3j", + "x": 0.5985, + "y": 0.7866666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹后方移动直至插座正上方，接着爪夹垂直下降靠近插座，爪夹夹取插座竖直上升，最后爪夹夹取插座向爪夹方向右边移动至纸盒正上方，爪夹垂直下降至纸盒中，爪夹松开，使插座落入纸盒中。", + "error_success_analysis": "当前爪夹张开垂直于桌面并垂直下降靠近充电器，当前爪夹没有到达插座正上方。", + "frame": 207, + "progress": -10, + "progress_explanation": "当前爪夹张开垂直于桌面并垂直下降靠近充电器，此时爪夹水平距离接近与插座，因此当前进度提升至-10%。", + "state_description": "当前爪夹张开靠近充电器，此时爪夹水平距离接近与插座。\n为完成抓取插座使其落入纸盒中的任务应当：爪夹向爪夹方向后方移动至插座正上方。", + "time": 6.891163686309519 + }, + { + "action_description": "当前爪夹垂直桌面，爪夹收拢抓取充电器，此时爪夹水平距离接近插座。", + "annotations": { + "bbox_1766203124943": { + "instances": [ + { + "height": 0.4613333333333334, + "id": "bbox_1766203124943_1766203451015_sq55fy86r", + "width": 0.33899999999999997, + "x": 0.6575, + "y": 0.35200000000000004 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开并向爪夹后方移动直至插座正上方，接着爪夹垂直下降靠近插座，爪夹夹取插座竖直上升，最后爪夹夹取插座向爪夹方向右边移动至纸盒正上方，爪夹垂直下降至纸盒中，爪夹松开，使插座落入纸盒中。", + "error_success_analysis": "当前爪夹收拢抓取充电器，此时爪夹水平距离接近插座，爪夹抓取错误目标。", + "frame": 263, + "progress": -20, + "progress_explanation": "当前爪夹垂直桌面，爪夹收拢抓取充电器，此时爪夹水平距离接近插座。爪夹抓取的不是插座因此当前进度为-20%。", + "state_description": "当前爪夹抓取充电器，此时爪夹水平距离接近插座。\n为完成抓取插座使其落入纸盒中的任务应当：爪夹松开然后爪夹向爪夹后方移动至插座正上方。", + "time": 8.77370655445251 + }, + { + "action_description": "当前爪夹垂直于桌面，爪夹收拢抓取充电器竖直上升，此时爪夹与插座水平距离略微接近。", + "annotations": { + "bbox_1766203124943": { + "instances": [ + { + "height": 0.4600000000000001, + "id": "bbox_1766203124943_1766203420670_xjk1wfa82", + "width": 0.337, + "x": 0.6595, + "y": 0.35200000000000004 + } + ], + "type": "bbox" + }, + "bbox_1766203125071": { + "instances": [ + { + "height": 0.11600000000000002, + "id": "bbox_1766203125071_1766203407511_5yo4typyx", + "width": 0.11099999999999995, + "x": 0.49850000000000005, + "y": 0.5506666666666666 + } + ], + "type": "bbox" + }, + "point_1766203125967": { + "instances": [ + { + "id": "point_1766203125967_1766203391063_8qudjl45f", + "x": 0.5614999999999999, + "y": 0.532 + } + ], + "type": "point" + }, + "point_1766203126095": { + "instances": [ + { + "id": "point_1766203126095_1766203393471_4svpig40m", + "x": 0.6305, + "y": 0.5253333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开并向爪夹后方移动直至插座正上方，接着爪夹垂直下降靠近插座，爪夹夹取插座竖直上升，最后爪夹夹取插座向爪夹方向右边移动至纸盒正上方，爪夹垂直下降至纸盒中，爪夹松开，使插座落入纸盒中。", + "error_success_analysis": "当前爪夹收拢抓取充电器竖直上升，此时爪夹与插座水平距离略微接近。爪夹抓取错误目标竖直上升。", + "frame": 300, + "progress": -25, + "progress_explanation": "当前爪夹垂直于桌面，爪夹收拢抓取充电器竖直上升，此时爪夹与插座水平距离略微接近。爪夹没有抓取插座因此当前进度为-25%。", + "state_description": "当前爪夹垂直于桌面，爪夹收拢抓取充电器，此时爪夹与插座水平距离略微接近。\n为完成抓取插座使其落入纸盒中的任务应当：爪夹松开后向爪夹方向后方移动至插座正上方。\n", + "time": 9.99425632610566 + }, + { + "action_description": "当前爪夹收拢夹取充电器向爪夹方向右边移动至纸盒正上方，爪夹与桌面水平角度呈60度。", + "annotations": { + "bbox_1766203124943": { + "instances": [ + { + "height": 0.4613333333333333, + "id": "bbox_1766203124943_1766203352383_j58ecpw4l", + "width": 0.3380000000000001, + "x": 0.6585000000000001, + "y": 0.352 + } + ], + "type": "bbox" + }, + "bbox_1766203125071": { + "instances": [ + { + "height": 0.12133333333333324, + "id": "bbox_1766203125071_1766203371855_32l0wfl5i", + "width": 0.11199999999999992, + "x": 0.49750000000000005, + "y": 0.5466666666666667 + } + ], + "type": "bbox" + }, + "point_1766203125967": { + "instances": [ + { + "id": "point_1766203125967_1766203346679_txvnrlvm1", + "x": 0.9545, + "y": 0.15866666666666665 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开并向爪夹左边移动直至插座正上方，接着爪夹垂直下降靠近插座，爪夹夹取插座竖直上升，最后爪夹夹取插座向爪夹方向右边移动至纸盒正上方，爪夹垂直下降至纸盒中，爪夹松开，使插座落入纸盒中。", + "error_success_analysis": "当前爪夹收拢夹取充电器向爪夹方向右边移动至纸盒正上方，爪夹抓取错误目标。", + "frame": 331, + "progress": -30, + "progress_explanation": "当前爪夹收拢夹取充电器向爪夹方向右边移动至纸盒正上方，爪夹与桌面水平角度呈60度。因此当前进度为-30%。", + "state_description": "当前爪夹收拢夹取充电器位于纸盒正上方，爪夹与桌面水平角度呈60度。\n为完成抓取插座使其落入纸盒中的任务应当：爪夹松开后向爪夹方向左边移动至插座正上方。", + "time": 11.02862053937104 + }, + { + "action_description": "当前爪夹收拢夹取充电器垂直下降至纸盒正上方，爪夹与桌面水平角度呈60度。", + "annotations": { + "bbox_1766203124943": { + "instances": [ + { + "height": 0.46533333333333343, + "id": "bbox_1766203124943_1766203319695_4gw2msw0o", + "width": 0.3379999999999999, + "x": 0.6595000000000001, + "y": 0.3493333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766203125071": { + "instances": [ + { + "height": 0.12000000000000005, + "id": "bbox_1766203125071_1766203332367_7g2y78eg2", + "width": 0.11099999999999995, + "x": 0.49850000000000005, + "y": 0.5466666666666666 + } + ], + "type": "bbox" + }, + "point_1766203125967": { + "instances": [ + { + "id": "point_1766203125967_1766203313431_lwfiozhgl", + "x": 0.8935000000000001, + "y": 0.44666666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开后向爪夹左边移动直至插座正上方，接着爪夹垂直下降靠近插座，爪夹夹取插座竖直上升，最后爪夹夹取插座向爪夹方向右边移动至纸盒正上方，爪夹垂直下降至纸盒中，爪夹松开，使插座落入纸盒中。", + "error_success_analysis": "当前爪夹收拢夹取充电器垂直下降至纸盒正上方，爪夹与桌面水平角度呈60度。当前爪夹抓取错误目标。", + "frame": 386, + "progress": -35, + "progress_explanation": "当前爪夹收拢夹取充电器垂直下降至纸盒正上方，爪夹与桌面水平角度呈60度。因此当前进度为-35%。", + "state_description": "当前爪夹收拢夹取充电器位于纸盒正上方，爪夹与桌面水平角度呈60度。\n为完成抓取插座使其落入纸盒中的任务应当：爪夹松开后向爪夹方向左边移动至插座正上方。", + "time": 12.869788838983416 + }, + { + "action_description": "当前爪夹松开使充电器落入纸盒中，此时爪夹与桌面水平角度呈60度，爪夹与插座水平距离较远。", + "annotations": { + "bbox_1766203124943": { + "instances": [ + { + "height": 0.4613333333333334, + "id": "bbox_1766203124943_1766203293927_r89axdlhp", + "width": 0.34199999999999997, + "x": 0.6565, + "y": 0.3493333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766203125071": { + "instances": [ + { + "height": 0.1173333333333332, + "id": "bbox_1766203125071_1766203278359_9uoniwxpz", + "width": 0.10999999999999996, + "x": 0.49850000000000005, + "y": 0.5453333333333334 + } + ], + "type": "bbox" + }, + "point_1766203125967": { + "instances": [ + { + "id": "point_1766203125967_1766203270838_upech4evm", + "x": 0.8755000000000001, + "y": 0.456 + } + ], + "type": "point" + }, + "point_1766203126095": { + "instances": [ + { + "id": "point_1766203126095_1766203273095_r2s9gj51j", + "x": 0.9105000000000001, + "y": 0.36933333333333335 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左边移动直至插座正上方，接着爪夹垂直下降靠近插座，爪夹夹取插座竖直上升，最后爪夹夹取插座向爪夹方向右边移动至纸盒正上方，爪夹垂直下降至纸盒中，爪夹松开，使插座落入纸盒中。", + "error_success_analysis": "当前爪夹松开使充电器落入纸盒中，此时爪夹与插座水平距离较远。", + "frame": 409, + "progress": -40, + "progress_explanation": "当前爪夹松开使充电器落入纸盒中，此时爪夹与桌面水平角度呈60度，爪夹与插座水平距离较远。因此当前进度跌落为-40%。", + "state_description": "当前爪夹松开使充电器落入纸盒中，此时爪夹与桌面水平角度呈60度，爪夹与插座水平距离较远。\n为完成抓取插座使其落入纸盒中的任务应当：爪夹向爪夹方向左边移动至插座正上方。\n", + "time": 13.635218356799797 + }, + { + "action_description": "当前爪夹张开，爪夹向爪夹方向左边移动至插座正上方，并且爪夹调整爪夹与桌面水平角度使其垂直于桌面。", + "annotations": { + "bbox_1766203124943": { + "instances": [ + { + "height": 0.45999999999999996, + "id": "bbox_1766203124943_1766203253247_wxnmq1tck", + "width": 0.3410000000000001, + "x": 0.6585, + "y": 0.35066666666666674 + } + ], + "type": "bbox" + }, + "bbox_1766203125071": { + "instances": [ + { + "height": 0.11733333333333332, + "id": "bbox_1766203125071_1766203241615_cs5jul3x3", + "width": 0.10999999999999996, + "x": 0.4995, + "y": 0.548 + } + ], + "type": "bbox" + }, + "point_1766203125967": { + "instances": [ + { + "id": "point_1766203125967_1766203233959_usx38vbx1", + "x": 0.5155000000000001, + "y": 0.5920000000000001 + } + ], + "type": "point" + }, + "point_1766203126095": { + "instances": [ + { + "id": "point_1766203126095_1766203236423_n61cqybl0", + "x": 0.6025, + "y": 0.568 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近插座，爪夹夹取插座竖直上升，最后爪夹夹取插座向爪夹方向右边移动至纸盒正上方，爪夹垂直下降至纸盒中，爪夹松开，使插座落入纸盒中。", + "error_success_analysis": "当前爪夹向爪夹方向左边移动成功移动至插座正上方，并且爪夹调整爪夹与桌面水平角度使其垂直于桌面。", + "frame": 465, + "progress": 10, + "progress_explanation": "当前爪夹张开，爪夹向爪夹方向左边移动至插座正上方，并且爪夹调整爪夹与桌面水平角度使其垂直于桌面。因此当前进度提升至10%。", + "state_description": "当前爪夹张开位于插座正上方，并且爪夹调整爪夹与桌面水平角度使其垂直于桌面。\n为完成抓取插座使其落入纸盒中的任务应当：爪夹张开垂直下降靠近插座。", + "time": 15.49707394067748 + }, + { + "action_description": "当前爪夹张开，爪夹垂直于桌面，此时爪夹与插座水平距离接近。", + "annotations": { + "bbox_1766203124943": { + "instances": [ + { + "height": 0.46133333333333326, + "id": "bbox_1766203124943_1766203216175_frmahd9mh", + "width": 0.33899999999999986, + "x": 0.6595000000000001, + "y": 0.35066666666666674 + } + ], + "type": "bbox" + }, + "bbox_1766203125071": { + "instances": [ + { + "height": 0.1013333333333333, + "id": "bbox_1766203125071_1766203202119_4x232fwbw", + "width": 0.11099999999999995, + "x": 0.5005000000000001, + "y": 0.5546666666666666 + } + ], + "type": "bbox" + }, + "point_1766203125967": { + "instances": [ + { + "id": "point_1766203125967_1766203196759_p0jrdqf2r", + "x": 0.5035000000000001, + "y": 0.6053333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向顺时针旋转90度后夹取插座，爪夹夹取插座竖直上升，最后爪夹夹取插座向爪夹方向右边移动至纸盒正上方，爪夹垂直下降至纸盒中，爪夹松开，使插座落入纸盒中。", + "error_success_analysis": "当前爪夹张开，此时爪夹成功接近插座。", + "frame": 533, + "progress": 20, + "progress_explanation": "当前爪夹张开，爪夹垂直于桌面，此时爪夹与插座水平距离接近。因此当前进度提升为20%。", + "state_description": "当前爪夹张开，爪夹垂直于桌面，此时爪夹与插座水平距离接近。\n为完成抓取插座使其落入纸盒中的任务应当：爪夹向爪夹方向顺时针旋转90度后夹取插座。", + "time": 17.75198792559601 + }, + { + "action_description": "当前爪夹垂直于插座，爪夹收拢竖直上升。", + "annotations": { + "bbox_1766203124943": { + "instances": [ + { + "height": 0.464, + "id": "bbox_1766203124943_1766203177423_upfm70idf", + "width": 0.3410000000000001, + "x": 0.6585, + "y": 0.35066666666666674 + } + ], + "type": "bbox" + }, + "bbox_1766203125071": { + "instances": [ + { + "height": 0.11333333333333329, + "id": "bbox_1766203125071_1766203162368_gj05mj84f", + "width": 0.11099999999999995, + "x": 0.4995000000000001, + "y": 0.5466666666666667 + } + ], + "type": "bbox" + }, + "point_1766203125967": { + "instances": [ + { + "id": "point_1766203125967_1766203158246_fkxw8qy7h", + "x": 0.5095, + "y": 0.532 + } + ], + "type": "point" + }, + "point_1766203126095": { + "instances": [ + { + "id": "point_1766203126095_1766203156159_fqwv990i0", + "x": 0.5215, + "y": 0.5293333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向顺时针旋转90度后垂直下降，爪夹夹取插座竖直上升，最后爪夹夹取插座向爪夹方向右边移动至纸盒正上方，爪夹垂直下降至纸盒中，爪夹松开，使插座落入纸盒中。", + "error_success_analysis": "爪夹没能成功夹取插座竖直上升。因为插座长度大于左右爪夹之间的距离。", + "frame": 557, + "progress": -10, + "progress_explanation": "当前爪夹垂直于插座，爪夹收拢竖直上升。爪夹没能夹取插座竖直上升，因此当前进度为-10%。", + "state_description": "当前爪夹垂直于插座，爪夹合拢，当前爪夹与插座水平距离较近。\n为完成抓取插座使其落入纸盒中的任务应当：爪夹张开爪夹向爪夹方向顺时针旋转90度后垂直下降靠近插座。", + "time": 18.579479296208312 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766203124943", + "name": "纸盒" + }, + { + "color": "#FF9800", + "id": "bbox_1766203125071", + "name": "插座" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766203125967", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766203126095", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-142516-good-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-142516-good-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..235c483e6f958249a1516dafc79d197eb4cf7454 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-142516-good-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,428 @@ +{ + "task_description": "抓取插座使其落入白色托盘中：\n开始移动：0%\n爪夹靠近插座：20%\n爪夹抓取插座：40%\n爪夹抓住插座接近白色托盘：60%\n爪夹将插座放入白色托盘：80%\n爪夹松开，插座落入白色托盘中：100%", + "progress_points": [ + { + "action_description": "当前爪夹与桌面水平角度呈60度角，爪夹张开，爪夹准备移动，此时爪夹水平距离与插座接近。", + "annotations": { + "bbox_1766215802536": { + "instances": [ + { + "height": 0.13199998925781328, + "id": "bbox_1766215802536_1766216117216_il30fqe27", + "width": 0.10999999328613326, + "x": 0.5171110524224211, + "y": 0.4510184874659435 + } + ], + "type": "bbox" + }, + "bbox_1766215802703": { + "instances": [ + { + "height": 0.539999956054691, + "id": "bbox_1766215802703_1766216132487_tquxcal6n", + "width": 0.4789999707641619, + "x": 0.5191110523003508, + "y": 0.4296851558687211 + } + ], + "type": "bbox" + }, + "point_1766215803712": { + "instances": [ + { + "id": "point_1766215803712_1766216107831_wzczef6hf", + "x": 0.4461110567559169, + "y": 0.37146294177547673 + } + ], + "type": "point" + }, + "point_1766215803871": { + "instances": [ + { + "id": "point_1766215803871_1766216110095_h1nj7i9x1", + "x": 0.5371110512017181, + "y": 0.3830184929997971 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方移动并且调整爪夹与桌面水平角度，使其垂直于桌面，爪夹垂直下降靠近插座，接着爪夹收拢抓取插座竖直上升，然后爪夹收拢抓取插座向爪夹方向右前方移动至白色托盘正上方，最后爪夹垂直下降至托盘中，爪夹松开，使插座落入白色托盘中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前爪夹与桌面水平角度呈60度角，爪夹张开，爪夹静止不动，此时爪夹水平距离与插座接近。", + "state_description": "当前爪夹与桌面水平角度呈60度角，爪夹张开，爪夹静止不动，此时爪夹水平距离与插座接近。\n为完成抓取插座使其落入白色托盘的任务应当：抓夹向抓夹方向右前方移动并且调整爪夹与桌面水平角度，使其垂直于桌面。\n", + "time": 0.013096280809270748 + }, + { + "action_description": "爪夹向爪夹方向右前方移动并且调整爪夹与桌面水平角度，使其垂直于桌面，当前爪夹于插座水平距离接近。", + "annotations": { + "bbox_1766215802536": { + "instances": [ + { + "height": 0.13333332248263977, + "id": "bbox_1766215802536_1766216080895_excluhunb", + "width": 0.10899999334716837, + "x": 0.5171110524224211, + "y": 0.45116662995063234 + } + ], + "type": "bbox" + }, + "bbox_1766215802703": { + "instances": [ + { + "height": 0.5386666228298647, + "id": "bbox_1766215802703_1766216087639_if14ffio3", + "width": 0.477999970825197, + "x": 0.5191110523003508, + "y": 0.42716663190375725 + } + ], + "type": "bbox" + }, + "point_1766215803712": { + "instances": [ + { + "id": "point_1766215803712_1766216073295_558migbtk", + "x": 0.5461110506524016, + "y": 0.5231666240912578 + } + ], + "type": "point" + }, + "point_1766215803871": { + "instances": [ + { + "id": "point_1766215803871_1766216075327_mr037uwop", + "x": 0.6121110466240816, + "y": 0.4724999615478547 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近插座，接着爪夹收拢抓取插座竖直上升，然后爪夹收拢抓取插座向爪夹方向右前方移动至白色托盘正上方，最后爪夹垂直下降至托盘中，爪夹松开，使插座落入白色托盘中。", + "error_success_analysis": "当前爪夹于插座水平距离接近，爪夹向爪夹方向右前方移动并且调整爪夹与桌面水平角度。", + "frame": 130, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向右前方移动并且调整爪夹与桌面水平角度，使其垂直于桌面，当前爪夹于插座水平距离接近。因此当前进度提升至10%。", + "state_description": "爪夹张开垂直于桌面，当前爪夹于插座水平距离接近。\n为完成抓取插座使其落入白色托盘的任务应当：爪夹张开垂直下降靠近插座。", + "time": 4.327116502142366 + }, + { + "action_description": "当前爪夹垂直于桌面，爪夹张开垂直下降靠近插座。", + "annotations": { + "bbox_1766215802536": { + "instances": [ + { + "height": 0.1333333224826397, + "id": "bbox_1766215802536_1766216047871_d2707m74h", + "width": 0.10599999353027378, + "x": 0.5201110522393156, + "y": 0.4496851440685918 + } + ], + "type": "bbox" + }, + "bbox_1766215802703": { + "instances": [ + { + "height": 0.5359999563802117, + "id": "bbox_1766215802703_1766216057816_t3s34oehb", + "width": 0.48099997064209166, + "x": 0.5181110523613859, + "y": 0.43101847892102224 + } + ], + "type": "bbox" + }, + "point_1766215803712": { + "instances": [ + { + "id": "point_1766215803712_1766216039423_dbmb6w431", + "x": 0.5421110508965422, + "y": 0.5616851349540092 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹收拢抓取插座竖直上升，然后爪夹收拢抓取插座向爪夹方向右前方移动至白色托盘正上方，最后爪夹垂直下降至托盘中，爪夹松开，使插座落入白色托盘中。", + "error_success_analysis": "当前爪夹垂直于桌面，爪夹张开垂直下降成功靠近插座。", + "frame": 144, + "progress": 20, + "progress_explanation": "当前爪夹张开垂直下降靠近插座，因此当前进度提升至20%。", + "state_description": "当前爪夹垂直于桌面，爪夹张开并靠近插座。\n为完成抓取插座使其落入白色托盘的任务应当：爪夹收拢抓取插座。", + "time": 4.79859412196019 + }, + { + "action_description": "当前爪夹垂直于桌面，爪夹收拢抓取插座。", + "annotations": { + "bbox_1766215802536": { + "instances": [ + { + "height": 0.12933332280816062, + "id": "bbox_1766215802536_1766216011640_cgcin39u5", + "width": 0.10699999346923868, + "x": 0.5201110522393156, + "y": 0.4496851440685918 + } + ], + "type": "bbox" + }, + "bbox_1766215802703": { + "instances": [ + { + "height": 0.5386666228298647, + "id": "bbox_1766215802703_1766216024695_kcn9mjtr3", + "width": 0.478999970764162, + "x": 0.5191110523003507, + "y": 0.4310184789210222 + } + ], + "type": "bbox" + }, + "point_1766215803712": { + "instances": [ + { + "id": "point_1766215803712_1766216005039_p9idyqfg5", + "x": 0.5591110498589447, + "y": 0.551018469155398 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹收拢抓取插座竖直上升，然后爪夹收拢抓取插座向爪夹方向右前方移动至白色托盘正上方，最后爪夹垂直下降至托盘中，爪夹松开，使插座落入白色托盘中。", + "error_success_analysis": "当前爪夹垂直于桌面并垂直下降接近插座，爪夹收拢成功抓取插座。", + "frame": 158, + "progress": 40, + "progress_explanation": "当前爪夹垂直于桌面，爪夹收拢抓取插座。因此当前进度提升为40%。", + "state_description": "当前爪夹垂直于桌面，爪夹抓取插座。\n为完成抓取插座使其落入白色托盘的任务应当：爪夹收拢抓取插座竖直上升。", + "time": 5.270071741778014 + }, + { + "action_description": "当前爪夹垂直于桌面，爪夹收拢抓取插座竖直上升。", + "annotations": { + "bbox_1766215802536": { + "instances": [ + { + "height": 0.11066665766059103, + "id": "bbox_1766215802536_1766215972288_piiudc4cq", + "width": 0.11899999273681683, + "x": 0.5371110512017181, + "y": 0.3283518206093896 + } + ], + "type": "bbox" + }, + "bbox_1766215802703": { + "instances": [ + { + "height": 0.5386666228298648, + "id": "bbox_1766215802703_1766215983951_k8birvz3h", + "width": 0.4799999707031269, + "x": 0.5191110523003507, + "y": 0.42968514569619576 + } + ], + "type": "bbox" + }, + "point_1766215803712": { + "instances": [ + { + "id": "point_1766215803712_1766215967295_xe6xf66g9", + "x": 0.5791110486382416, + "y": 0.40968514732379985 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹收拢抓取插座向爪夹方向右前方移动至白色托盘正上方，最后爪夹垂直下降至托盘中，爪夹松开，使插座落入白色托盘中。", + "error_success_analysis": "当前爪夹垂直于桌面，爪夹成功收拢抓取插座后竖直上升。", + "frame": 213, + "progress": 50, + "progress_explanation": "当前爪夹垂直于桌面，爪夹收拢抓取插座竖直上升。因此当前进度提升至50%。", + "state_description": "当前爪夹垂直于桌面，爪夹收拢抓取插座。\n为完成抓取插座使其落入白色托盘的任务应当：爪夹抓取插座向爪夹方向右前方移动。", + "time": 7.085260578076639 + }, + { + "action_description": "当前爪夹夹取插座向爪夹方向右边移动，此时爪夹与白色托盘水平距离略微接近。", + "annotations": { + "bbox_1766215802536": { + "instances": [ + { + "height": 0.11199999088541736, + "id": "bbox_1766215802536_1766215950871_wuit1xk5u", + "width": 0.130999992004395, + "x": 0.6001110473565034, + "y": 0.31383330779351337 + } + ], + "type": "bbox" + }, + "bbox_1766215802703": { + "instances": [ + { + "height": 0.5399999560546912, + "id": "bbox_1766215802703_1766215937664_p3bo3q1mg", + "width": 0.4769999708862322, + "x": 0.5201110522393156, + "y": 0.42983329835340994 + } + ], + "type": "bbox" + }, + "point_1766215803712": { + "instances": [ + { + "id": "point_1766215803712_1766215930559_z26s7h0lq", + "x": 0.6471110444878512, + "y": 0.3978333009575764 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹收拢抓取插座向爪夹方向右边移动至白色托盘正上方，最后爪夹垂直下降至托盘中，爪夹松开，使插座落入白色托盘中。", + "error_success_analysis": "当前此时爪夹与白色托盘水平距离略微接近，爪夹夹取插座向爪夹方向成功向右边移动。", + "frame": 220, + "progress": 55, + "progress_explanation": "当前爪夹夹取插座向爪夹方向右边移动，此时爪夹与白色托盘水平距离略微接近。因此当前进度提升至55%。", + "state_description": "当前爪夹夹取插座，此时爪夹与白色托盘水平距离略微接近。\n为完成抓取插座使其落入白色托盘的任务应当：爪夹夹取插座继续向爪夹方向右边移动，直至白色托盘正上方。\n", + "time": 7.344573268976442 + }, + { + "action_description": "当前爪夹夹取插座向爪夹方向移动至白色托盘正上方，此时爪夹与桌面的水平角度呈60度角。", + "annotations": { + "bbox_1766215802536": { + "instances": [ + { + "height": 0.15999998697916762, + "id": "bbox_1766215802536_1766215915488_887ccfog2", + "width": 0.13699999163818405, + "x": 0.78711103594293, + "y": 0.6376851389416393 + } + ], + "type": "bbox" + }, + "bbox_1766215802703": { + "instances": [ + { + "height": 0.5253332905816007, + "id": "bbox_1766215802703_1766215896943_w44d1edwa", + "width": 0.4789999707641618, + "x": 0.518111052361386, + "y": 0.4416851548921586 + } + ], + "type": "bbox" + }, + "point_1766215803712": { + "instances": [ + { + "id": "point_1766215803712_1766215890359_8pwit71wl", + "x": 0.8311110332573831, + "y": 0.7634629098744377 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降至托盘中，爪夹松开，使插座落入白色托盘中。", + "error_success_analysis": "当前爪夹夹取插座向爪夹方向移动至白色托盘正上方，此时爪夹与桌面的水平角度呈60度角。爪夹夹取插座成功接近白色托盘。", + "frame": 263, + "progress": 60, + "progress_explanation": "当前爪夹夹取插座向爪夹方向移动至白色托盘正上方，此时爪夹与桌面的水平角度呈60度角。因此当前进度提升为60%.", + "state_description": "当前爪夹夹取插座位于白色托盘正上方，此时爪夹与桌面的水平角度呈60度角。\n为完成抓取插座使其落入白色托盘的任务应当：爪夹夹取插座垂直下降至白色托盘中。", + "time": 8.782580009420807 + }, + { + "action_description": "当前抓夹放开，插座跌落到白色托盘中，此时爪夹与桌面的水平角度为60度角。", + "annotations": { + "bbox_1766215802536": { + "instances": [ + { + "height": 0.1546666540798622, + "id": "bbox_1766215802536_1766215845495_pxurfzg0w", + "width": 0.1299999920654301, + "x": 0.7271110396050391, + "y": 0.7286480908286059 + } + ], + "type": "bbox" + }, + "bbox_1766215802703": { + "instances": [ + { + "height": 0.5279999570312536, + "id": "bbox_1766215802703_1766215852359_dawdvbtu4", + "width": 0.4799999707031268, + "x": 0.5181110523613859, + "y": 0.4446481139405831 + } + ], + "type": "bbox" + }, + "point_1766215803712": { + "instances": [ + { + "id": "point_1766215803712_1766215840776_uej8r0dua", + "x": 0.8181110340508402, + "y": 0.7806480865968355 + } + ], + "type": "point" + }, + "point_1766215803871": { + "instances": [ + { + "id": "point_1766215803871_1766215838560_dyk7lmd5w", + "x": 0.904111028801817, + "y": 0.7059814260065572 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "当前抓夹放开，插座成功落入到白色托盘中。", + "frame": 272, + "progress": 100, + "progress_explanation": "当前抓夹放开，插座跌落到白色托盘中，此时爪夹与桌面的水平角度为60度角。因此当前进度为100%。", + "state_description": "当前抓夹放开，插座跌落到白色托盘中，此时爪夹与桌面的水平角度为60度角。已完成抓取插座使其落入白色托盘中的任务。", + "time": 9.053679640816055 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766215802536", + "name": "插座" + }, + { + "color": "#FF9800", + "id": "bbox_1766215802703", + "name": "白色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766215803712", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766215803871", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-142516-good-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-142516-good-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..4d9fd417ef371c6d2b888c62ae985cd0e51ded52 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-142516-good-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,748 @@ +{ + "task_description": "将垂直放入白色托盘中:\n开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近托盘:60%\n爪夹抓住插座移动至托盘上方:80%\n爪夹松开90%\n插座落入托盘:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "抓夹向爪夹的左前方移动。", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触插座。", + "time": 0.0832137398148055, + "annotations": { + "bbox_1767859516140": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516140_1767859563756_6vaiao0jw", + "x": 0.7173220214843751, + "y": 0.6474124247233074, + "width": 0.07699999999999996, + "height": 0.1573333333333334 + } + ] + }, + "bbox_1767859516348": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516348_1767859567092_ht97sv9yw", + "x": 0.08332202148437501, + "y": 0.3154124247233073, + "width": 0.44899999999999995, + "height": 0.6546666666666667 + } + ] + }, + "point_1767859517556": { + "type": "point", + "instances": [ + { + "id": "point_1767859517556_1767859569468_b6nvdvsfh", + "x": 0.43832202148437505, + "y": 0.34207909138997394 + } + ] + }, + "point_1767859517716": { + "type": "point", + "instances": [ + { + "id": "point_1767859517716_1767859571444_fciaosrvx", + "x": 0.546322021484375, + "y": 0.3354124247233073 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方移动，使其垂直桌面。", + "correction_plan": "爪夹向前方移动。", + "error_success_analysis": "爪夹向爪夹方向的上方移动。", + "frame": 106, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上虽然插座较远，但是爪夹开始上升，因此进度提升为5%。", + "state_description": "当前爪夹张开，与插座的水平距离变近。", + "time": 3.538712097546764, + "annotations": { + "bbox_1767859516348": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516348_1767859668764_3n4zxonsu", + "x": 0.081322021484375, + "y": 0.31588700612386067, + "width": 0.45499999999999996, + "height": 0.6573333333333334 + } + ] + }, + "bbox_1767859516140": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516140_1767859671988_arwafzfsn", + "x": 0.7173220214843751, + "y": 0.6449943491617839, + "width": 0.07499999999999991, + "height": 0.16000000000000003 + } + ] + }, + "point_1767859517556": { + "type": "point", + "instances": [ + { + "id": "point_1767859517556_1767859674812_oc9l22bff", + "x": 0.45532202148437506, + "y": 0.40766101582845055 + } + ] + }, + "point_1767859517716": { + "type": "point", + "instances": [ + { + "id": "point_1767859517716_1767859678076_gs0gmc5i5", + "x": 0.575322021484375, + "y": 0.4063276824951172 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动。", + "correction_plan": "爪夹向左边移动，并调整角度。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向上成功接近插座。", + "frame": 125, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接插座，并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与插座的水平距离略微缩短。", + "time": 4.179777403732331, + "annotations": { + "bbox_1767859516348": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516348_1767859715780_osbm7scqi", + "x": 0.082322021484375, + "y": 0.3155254211425781, + "width": 0.454, + "height": 0.6626666666666667 + } + ] + }, + "bbox_1767859516140": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516140_1767859719932_3j3ach243", + "x": 0.715322021484375, + "y": 0.6448587544759116, + "width": 0.07899999999999992, + "height": 0.16399999999999995 + } + ] + }, + "point_1767859517556": { + "type": "point", + "instances": [ + { + "id": "point_1767859517556_1767859738020_p7swdqbge", + "x": 0.48132202148437503, + "y": 0.5035254211425781 + } + ] + }, + "point_1767859517716": { + "type": "point", + "instances": [ + { + "id": "point_1767859517716_1767859740596_68v3e79bd", + "x": 0.5963220214843751, + "y": 0.4901920878092448 + } + ] + } + } + }, + { + "action_description": "爪夹向左微动。调整角度。", + "correction_plan": "爪夹垂直下降，靠近插座，抓取插座后垂直上升。", + "error_success_analysis": "爪夹向爪夹方右方微动，水平方向上成功接近插座。", + "frame": 151, + "progress": 15, + "progress_explanation": "当前爪夹开始调整爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹打开，与水平方向呈60度角，使其方便抓取插座。", + "time": 5.039743058371506, + "annotations": { + "bbox_1767859516140": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516140_1767859787516_3z5vd9ajg", + "x": 0.715322021484375, + "y": 0.6474124247233075, + "width": 0.07799999999999993, + "height": 0.15866666666666648 + } + ] + }, + "bbox_1767859516348": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516348_1767859790412_2n2o7763u", + "x": 0.08232202148437501, + "y": 0.318079091389974, + "width": 0.449, + "height": 0.6533333333333332 + } + ] + }, + "point_1767859517556": { + "type": "point", + "instances": [ + { + "id": "point_1767859517556_1767859798980_ax5qcef8b", + "x": 0.670322021484375, + "y": 0.5874124247233073 + } + ] + }, + "point_1767859517716": { + "type": "point", + "instances": [ + { + "id": "point_1767859517716_1767859802156_qimh6gumq", + "x": 0.787322021484375, + "y": 0.5847457580566406 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "继续垂直下降爪夹，靠近插座，抓取插座后垂直上升。", + "error_success_analysis": "当前爪夹成功下降，并且靠近插座。", + "frame": 173, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向于插座距离进一步缩短，因此进度提升为20%。", + "state_description": "当前爪夹张开，爪夹垂直下降。", + "time": 5.77462279960862, + "annotations": { + "bbox_1767859516140": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516140_1767859845092_tu09qi7pn", + "x": 0.7153220214843751, + "y": 0.6447457580566406, + "width": 0.07799999999999993, + "height": 0.16133333333333333 + } + ] + }, + "point_1767859517556": { + "type": "point", + "instances": [ + { + "id": "point_1767859517556_1767859847252_lqv2q0dhy", + "x": 0.703322021484375, + "y": 0.6780790913899739 + } + ] + }, + "point_1767859517716": { + "type": "point", + "instances": [ + { + "id": "point_1767859517716_1767859849332_940f2pbn0", + "x": 0.817322021484375, + "y": 0.7047457580566406 + } + ] + }, + "bbox_1767859516348": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516348_1767859855716_m3hln778m", + "x": 0.082322021484375, + "y": 0.31541242472330727, + "width": 0.45099999999999996, + "height": 0.6626666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢爪夹，抓取插座后垂直上升。", + "error_success_analysis": "当前爪夹成功下降，并且更加靠近插座。", + "frame": 206, + "progress": 30, + "progress_explanation": "当前爪夹在水平方向于插座距离进一步缩短，因此进度提升为30%。", + "state_description": "当前爪夹张开，爪夹垂直下降。", + "time": 6.853488802701404, + "annotations": { + "bbox_1767859516140": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516140_1767859901316_47whpft6r", + "x": 0.7163220214843751, + "y": 0.6488587544759115, + "width": 0.07699999999999996, + "height": 0.1573333333333333 + } + ] + }, + "bbox_1767859516348": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516348_1767859906668_2rp8i8bmu", + "x": 0.083322021484375, + "y": 0.3155254211425781, + "width": 0.45100000000000007, + "height": 0.6613333333333334 + } + ] + }, + "point_1767859517556": { + "type": "point", + "instances": [ + { + "id": "point_1767859517556_1767859909740_6mk851273", + "x": 0.7053220214843751, + "y": 0.7195254211425781 + } + ] + }, + "point_1767859517716": { + "type": "point", + "instances": [ + { + "id": "point_1767859517716_1767859912340_c5qvr0dh9", + "x": 0.800322021484375, + "y": 0.7275254211425781 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹保持合拢，抓取插座垂直上升。", + "error_success_analysis": "当前爪夹已成功抓取插座。", + "frame": 231, + "progress": 40, + "progress_explanation": "相比上一进度，爪夹已合拢，因此进度提升为40%。", + "state_description": "当前爪夹合拢抓取插座。", + "time": 7.713454457340578, + "annotations": { + "bbox_1767859516140": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516140_1767859947028_ug1r92sfx", + "x": 0.7213220214843751, + "y": 0.642079091389974, + "width": 0.07699999999999987, + "height": 0.15599999999999986 + } + ] + }, + "bbox_1767859516348": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516348_1767859951948_olo61akud", + "x": 0.08232202148437501, + "y": 0.3167457580566406, + "width": 0.45099999999999996, + "height": 0.6586666666666667 + } + ] + }, + "point_1767859517556": { + "type": "point", + "instances": [ + { + "id": "point_1767859517556_1767859956308_128xzxa8p", + "x": 0.724322021484375, + "y": 0.718079091389974 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，垂直上升。", + "correction_plan": "向爪夹方向的右前边移动，到达托盘的正上方后，下降松开爪夹将插座落入托盘中。", + "error_success_analysis": "爪夹成功抓取插座上升，悬空在桌面上。", + "frame": 249, + "progress": 45, + "progress_explanation": "当前爪夹和上一进度相比，已抓取垂直抬起爪夹，因此进度提升为45%。", + "state_description": "当前爪夹合拢，垂直悬空于桌面。", + "time": 8.311332, + "annotations": { + "bbox_1767859516348": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516348_1767859997620_bazy469ei", + "x": 0.08132202148437499, + "y": 0.3154124247233073, + "width": 0.4530000000000001, + "height": 0.656 + } + ] + }, + "bbox_1767859516140": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516140_1767860001084_bxerhejrb", + "x": 0.728322021484375, + "y": 0.5634124247233072, + "width": 0.08600000000000012, + "height": 0.16400000000000006 + } + ] + }, + "point_1767859517556": { + "type": "point", + "instances": [ + { + "id": "point_1767859517556_1767860003828_xgxd24gs2", + "x": 0.728322021484375, + "y": 0.6367457580566407 + } + ] + }, + "point_1767859517716": { + "type": "point", + "instances": [ + { + "id": "point_1767859517716_1767860006124_g138wolxx", + "x": 0.807322021484375, + "y": 0.6287457580566406 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，稍微向上抬起，并向右方移动。", + "correction_plan": "爪夹继续向爪夹的右边移动。到达托盘的正上方后，下降松开爪夹将插座落入托盘中。", + "error_success_analysis": "抓夹成功向右方移动，并且稍微接近托盘。", + "frame": 272, + "progress": 50, + "progress_explanation": "当前抓夹稍微接近托盘，因此进度提升为50%。", + "state_description": "当前抓夹合并，处于托盘的侧上方。", + "time": 9.073763765588001, + "annotations": { + "point_1767859517556": { + "type": "point", + "instances": [ + { + "id": "point_1767859517556_1767860044732_1v960tc96", + "x": 0.537322021484375, + "y": 0.5488587544759115 + } + ] + }, + "point_1767859517716": { + "type": "point", + "instances": [ + { + "id": "point_1767859517716_1767860046779_fr59tnx8k", + "x": 0.632322021484375, + "y": 0.5861920878092448 + } + ] + }, + "bbox_1767859516140": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516140_1767860050492_ztqac632q", + "x": 0.519322021484375, + "y": 0.5235254211425782, + "width": 0.11399999999999996, + "height": 0.1773333333333334 + } + ] + }, + "bbox_1767859516348": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516348_1767860054228_rd559rc1y", + "x": 0.081322021484375, + "y": 0.31819208780924485, + "width": 0.45499999999999996, + "height": 0.6706666666666667 + } + ] + } + } + }, + { + "action_description": "抓夹保持合拢，向爪夹方向的右方并且稍微向下移动。", + "correction_plan": "下降爪夹，松开爪夹将插座落入托盘中。", + "error_success_analysis": "爪夹成功到达托盘正上方，并且加接近托盘。", + "frame": 296, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹已接近托盘，因此进度提升为60%。", + "state_description": "当前爪夹合拢，处于托盘正上方。", + "time": 9.8735, + "annotations": { + "bbox_1767859516348": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516348_1767860094196_dbip7cymi", + "x": 0.083322021484375, + "y": 0.3207457580566406, + "width": 0.45100000000000007, + "height": 0.6533333333333334 + } + ] + }, + "bbox_1767859516140": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516140_1767860098204_i30dmfe5t", + "x": 0.220322021484375, + "y": 0.626079091389974, + "width": 0.133, + "height": 0.19199999999999992 + } + ] + }, + "point_1767859517556": { + "type": "point", + "instances": [ + { + "id": "point_1767859517556_1767860101076_z5teib2ek", + "x": 0.250322021484375, + "y": 0.6727457580566406 + } + ] + }, + "point_1767859517716": { + "type": "point", + "instances": [ + { + "id": "point_1767859517716_1767860103195_r57355ab1", + "x": 0.337322021484375, + "y": 0.726079091389974 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，向爪夹的右前方下降爪夹。", + "correction_plan": "松开爪夹，插座落入托盘中。", + "error_success_analysis": "当前爪夹合拢，成功下降抵达托盘上方。", + "frame": 325, + "progress": 80, + "progress_explanation": "当前爪夹已抓住插座下降至托盘上方，因此进度提升为80%。", + "state_description": "当前爪夹合拢，更加接近托盘", + "time": 10.840602292392125, + "annotations": { + "bbox_1767859516348": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516348_1767860132604_50xihokew", + "x": 0.084322021484375, + "y": 0.3194124247233073, + "width": 0.45099999999999996, + "height": 0.656 + } + ] + }, + "bbox_1767859516140": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516140_1767860135332_5hhx1j2k4", + "x": 0.22732202148437503, + "y": 0.6994124247233074, + "width": 0.12199999999999997, + "height": 0.16266666666666652 + } + ] + }, + "point_1767859517556": { + "type": "point", + "instances": [ + { + "id": "point_1767859517556_1767860137324_9m81j9p4v", + "x": 0.253322021484375, + "y": 0.7394124247233073 + } + ] + }, + "point_1767859517716": { + "type": "point", + "instances": [ + { + "id": "point_1767859517716_1767860139852_kfsrq771o", + "x": 0.329322021484375, + "y": 0.7900790913899739 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "插座落入托盘中，机械臂向左后方移动后停止。", + "error_success_analysis": "爪夹成功打开。", + "frame": 370, + "progress": 90, + "progress_explanation": "当前爪夹打开，因此进度提升为90%", + "state_description": "当前爪夹松开，处于托盘上。", + "time": 12.325997514041612, + "annotations": { + "bbox_1767859516140": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516140_1767860250747_94h4gj7e8", + "x": 0.22232202148437502, + "y": 0.7235254211425782, + "width": 0.12899999999999998, + "height": 0.16000000000000003 + } + ] + }, + "bbox_1767859516348": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516348_1767860254252_mfubi90ku", + "x": 0.082322021484375, + "y": 0.31952542114257815, + "width": 0.453, + "height": 0.6626666666666666 + } + ] + }, + "point_1767859517556": { + "type": "point", + "instances": [ + { + "id": "point_1767859517556_1767860257364_ut3sm459p", + "x": 0.226322021484375, + "y": 0.7101920878092448 + } + ] + }, + "point_1767859517716": { + "type": "point", + "instances": [ + { + "id": "point_1767859517716_1767860259692_hqcsjq5hm", + "x": 0.337322021484375, + "y": 0.7875254211425781 + } + ] + } + } + }, + { + "action_description": "插座落入托盘中，机械臂向左后方移动后停止。", + "correction_plan": "", + "error_success_analysis": "插座成功落入托盘中，机械臂成功向后方移动后停止。", + "frame": 455, + "progress": 100, + "progress_explanation": "当前插座已落入托盘中，因此进度提升至100%。", + "state_description": "当前爪夹张开，垂直于桌面。", + "time": 15.166667, + "annotations": { + "bbox_1767859516348": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516348_1767860304732_pucyy5kxv", + "x": 0.083322021484375, + "y": 0.318079091389974, + "width": 0.44800000000000006, + "height": 0.6586666666666667 + } + ] + }, + "bbox_1767859516140": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859516140_1767860310660_0llgq83bk", + "x": 0.22232202148437502, + "y": 0.722079091389974, + "width": 0.12999999999999998, + "height": 0.16000000000000014 + } + ] + }, + "point_1767859517556": { + "type": "point", + "instances": [ + { + "id": "point_1767859517556_1767860313323_iw83qvefm", + "x": 0.453322021484375, + "y": 0.40474575805664065 + } + ] + }, + "point_1767859517716": { + "type": "point", + "instances": [ + { + "id": "point_1767859517716_1767860315411_86j62j79x", + "x": 0.548322021484375, + "y": 0.4074124247233073 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767859516140", + "name": "插座", + "color": "#4CAF50" + }, + { + "id": "bbox_1767859516348", + "name": "托盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767859517556", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767859517716", + "name": "爪夹右 ", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-142516-good-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-142516-good-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..c07095c7df292233c38d68c642b5a1b18be402ab --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-142516-good-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,416 @@ +{ + "task_description": "将插座放入托盘中:\n开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近托盘:60%\n爪夹松开:80%\n插座落入托盘:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "爪夹向爪夹的正上方移动，然后向爪夹前方移动。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触插座。", + "time": 0, + "annotations": { + "bbox_1767860649875": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767860649875_1767863867443_eshg44ki4", + "x": 0.623322021484375, + "y": 0.6033446248372396, + "width": 0.11399999999999996, + "height": 0.13999999999999999 + } + ] + }, + "bbox_1767860650036": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767860650036_1767863880939_ckl1ri64o", + "x": 0.0013220214843749744, + "y": 0.23166101582845053, + "width": 0.662, + "height": 0.7373333333333334 + } + ] + }, + "point_1767860650900": { + "type": "point", + "instances": [ + { + "id": "point_1767860650900_1767863885547_pcm8paiij", + "x": 0.47432202148437497, + "y": 0.3663276824951172 + } + ] + }, + "point_1767860651067": { + "type": "point", + "instances": [ + { + "id": "point_1767860651067_1767863888163_fahhrfsb6", + "x": 0.567322021484375, + "y": 0.3676610158284505 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方移动，使其垂直桌面。", + "correction_plan": "向爪夹前方移动，到达插座的正上方后调整爪夹角度。", + "error_success_analysis": "爪夹向爪夹方向的上方移动。", + "frame": 80, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上虽然插座较远，但是爪夹开始上升，因此进度提升为5%。", + "state_description": "当前爪夹张开，与插座的水平距离变远。", + "time": 2.683114839919509, + "annotations": { + "bbox_1767860649875": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767860649875_1767863952099_u688drtop", + "x": 0.621322021484375, + "y": 0.601242940266927, + "width": 0.11600000000000002, + "height": 0.14666666666666675 + } + ] + }, + "bbox_1767860650036": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767860650036_1767863956179_o0ftzmax6", + "x": 0.00032202148437499023, + "y": 0.23057627360026042, + "width": 0.6620000000000001, + "height": 0.7426666666666667 + } + ] + }, + "point_1767860650900": { + "type": "point", + "instances": [ + { + "id": "point_1767860650900_1767863958827_5vcqlxdbr", + "x": 0.486322021484375, + "y": 0.3879096069335938 + } + ] + }, + "point_1767860651067": { + "type": "point", + "instances": [ + { + "id": "point_1767860651067_1767863961059_6lo7jqhlt", + "x": 0.5853220214843751, + "y": 0.38390960693359377 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动。", + "correction_plan": "到达插座的正上方，之后垂直下降爪夹，抓取插座后垂直上升。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向上成功接近插座。", + "frame": 106, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近插座，并开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与插座的水平距离略微缩短。", + "time": 3.539472252290643, + "annotations": { + "bbox_1767860649875": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767860649875_1767864016171_h2z5860ek", + "x": 0.622322021484375, + "y": 0.6039096069335937, + "width": 0.11500000000000003, + "height": 0.13999999999999999 + } + ] + }, + "bbox_1767860650036": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767860650036_1767864021115_ajgehfdtv", + "x": 0.0003220214843750402, + "y": 0.23057627360026042, + "width": 0.639, + "height": 0.7466666666666667 + } + ] + }, + "point_1767860650900": { + "type": "point", + "instances": [ + { + "id": "point_1767860650900_1767864023323_sj44yhhbf", + "x": 0.547322021484375, + "y": 0.585242940266927 + } + ] + }, + "point_1767860651067": { + "type": "point", + "instances": [ + { + "id": "point_1767860651067_1767864025403_prernxsdw", + "x": 0.644322021484375, + "y": 0.5545762736002604 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左边移动。", + "correction_plan": "垂直下降爪夹，靠近插座，抓取插座后垂直上升。", + "error_success_analysis": "当前爪夹成功向左边移动，并且靠近插座。", + "frame": 120, + "progress": 20, + "progress_explanation": "当前爪夹到达插座的正上方，因此进度提升为20%。", + "state_description": "当前爪夹打开爪夹，处于插座正上方。", + "time": 4.01658566775456, + "annotations": { + "bbox_1767860650036": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767860650036_1767864075067_jb2l60ix8", + "x": 0.0023220214843749894, + "y": 0.22924294026692713, + "width": 0.624, + "height": 0.7426666666666666 + } + ] + }, + "bbox_1767860649875": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767860649875_1767864078267_zyv8nxq6z", + "x": 0.622322021484375, + "y": 0.601242940266927, + "width": 0.11499999999999995, + "height": 0.14533333333333331 + } + ] + }, + "point_1767860650900": { + "type": "point", + "instances": [ + { + "id": "point_1767860650900_1767864096827_dw2y76y6k", + "x": 0.608322021484375, + "y": 0.6385762736002605 + } + ] + }, + "point_1767860651067": { + "type": "point", + "instances": [ + { + "id": "point_1767860651067_1767864098675_4zt6zervm", + "x": 0.688322021484375, + "y": 0.6025762736002603 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "合拢爪夹，抓取插座后垂直上升。", + "error_success_analysis": "当前爪夹成功下降，并且更加靠近插座。", + "frame": 158, + "progress": 25, + "progress_explanation": "当前爪夹在水平方向于插座距离进一步缩短，因此进度提升为25%。", + "state_description": "当前爪夹张开，爪夹垂直下降。", + "time": 5.276654431672086, + "annotations": { + "bbox_1767860650036": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767860650036_1767864145147_syq4owp95", + "x": 0.0003220214843749819, + "y": 0.23190960693359378, + "width": 0.6230000000000001, + "height": 0.7413333333333333 + } + ] + }, + "bbox_1767860649875": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767860649875_1767864149147_6bdubr1fn", + "x": 0.6253220214843751, + "y": 0.6025762736002604, + "width": 0.1089999999999999, + "height": 0.14533333333333331 + } + ] + }, + "point_1767860650900": { + "type": "point", + "instances": [ + { + "id": "point_1767860650900_1767864151147_lu6c9ry55", + "x": 0.6173220214843751, + "y": 0.6772429402669271 + } + ] + }, + "point_1767860651067": { + "type": "point", + "instances": [ + { + "id": "point_1767860651067_1767864153419_eacgljry2", + "x": 0.694322021484375, + "y": 0.6212429402669272 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹保持合拢，抓取插座垂直上升。", + "error_success_analysis": "当前爪夹已成功抓取插座。", + "frame": 190, + "progress": 40, + "progress_explanation": "相比上一进度，爪夹已合拢，因此进度提升为40%。", + "state_description": "当前爪夹合拢抓取插座。", + "time": 6.328750681156622, + "annotations": { + "bbox_1767860649875": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767860649875_1767864196051_dn8ue4uvj", + "x": 0.643322021484375, + "y": 0.5959096069335937, + "width": 0.096, + "height": 0.1400000000000001 + } + ] + }, + "bbox_1767860650036": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767860650036_1767864201899_8qd4d04os", + "x": 0.0013220214843750189, + "y": 0.23190960693359383, + "width": 0.624, + "height": 0.7386666666666666 + } + ] + }, + "point_1767860650900": { + "type": "point", + "instances": [ + { + "id": "point_1767860650900_1767864204427_bbwgnj5rj", + "x": 0.641322021484375, + "y": 0.6825762736002604 + } + ] + }, + "point_1767860651067": { + "type": "point", + "instances": [ + { + "id": "point_1767860651067_1767864206147_ecppavnl7", + "x": 0.7003220214843751, + "y": 0.6185762736002604 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，垂直上升。", + "correction_plan": "爪夹向爪夹大后方移动。", + "error_success_analysis": "爪夹成功抓取插座上升，悬空在桌面上。", + "frame": 216, + "progress": 45, + "progress_explanation": "当前爪夹和上一进度相比，已抓取垂直抬起爪夹，因此进度提升为45%。", + "state_description": "当前爪夹合拢，爪夹抓取插座垂直上升，垂直悬空于桌面。", + "time": 7.209575448166931 + }, + { + "action_description": "爪夹保持合拢，稍微向上抬起，并向后方移动。", + "correction_plan": "爪夹向爪夹的右后方移动，下降松开爪夹将插座落入托盘中。", + "error_success_analysis": "抓夹成功向后方移动，并且稍微接近托盘。", + "frame": 241, + "progress": 55, + "progress_explanation": "当前抓夹稍微接近托盘，因此进度提升为55%。", + "state_description": "当前抓夹合并，处于托盘的侧上方", + "time": 8.041465505898891 + }, + { + "action_description": "抓夹保持合拢，向爪夹方向的右后方移动。", + "correction_plan": "松开爪夹插座落入托盘中。", + "error_success_analysis": "爪夹成功到达托盘正上方，并且接近递箱。", + "frame": 281, + "progress": 60, + "progress_explanation": "相比上一进度，当前爪夹已接近托盘，因此进度提升为60%。", + "state_description": "当前爪夹合拢，处于托盘正上方。", + "time": 9.362702656414355 + }, + { + "action_description": "爪夹松开。", + "correction_plan": "插座落入托盘中，机械臂向后方移动后停止。", + "error_success_analysis": "爪夹成功打开。插座落入托盘。", + "frame": 306, + "progress": 80, + "progress_explanation": "当前爪夹打开，因此进度提升为80%", + "state_description": "当前爪夹松开，处于托盘上方。", + "time": 10.2068263914659 + }, + { + "action_description": "爪夹向后方移动。", + "correction_plan": "", + "error_success_analysis": "插座成功落入托盘中，机械臂成功向后方移动后停止。", + "frame": 356, + "progress": 100, + "progress_explanation": "当前插座已停止移动，因此进度提升至100%。", + "state_description": "当前爪夹张开，垂直于托盘。", + "time": 11.866667 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767860649875", + "name": "插座" + }, + { + "color": "#FF9800", + "id": "bbox_1767860650036", + "name": "托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767860650900", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767860651067", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..b687b56494e0ce85ef386d7175de30b2dc4c0be1 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-171331-mix-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,744 @@ +{ + "task_description": "抓取饮料放入塑料盒里：\n准备开始移动：0%\n爪夹靠近饮料：20%\n爪夹抓取饮料：40%\n爪夹抓紧饮料接近塑料盒：60%\n爪夹将饮料放入塑料盒：80%\n爪夹松开饮料落入塑料盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767758147641": { + "instances": [ + { + "height": 0.292, + "id": "bbox_1767758147641_1767766424744_pirz9dcb4", + "width": 0.16500000000000004, + "x": 0.242375, + "y": 0.44486458333333334 + } + ], + "type": "bbox" + }, + "bbox_1767758152937": { + "instances": [ + { + "height": 0.42666666666666664, + "id": "bbox_1767758152937_1767766420048_lv3jfkia0", + "width": 0.305, + "x": 0.446375, + "y": 0.3101979166666667 + } + ], + "type": "bbox" + }, + "point_1767758159793": { + "instances": [ + { + "id": "point_1767758159793_1767766433712_rq0gt2nn7", + "x": 0.42037500000000005, + "y": 0.37553125 + } + ], + "type": "point" + }, + "point_1767758166624": { + "instances": [ + { + "id": "point_1767758166624_1767766436296_6j242cyi3", + "x": 0.522375, + "y": 0.37686458333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到饮料的正上方。接着落下爪夹靠近饮料，接近饮料后爪夹合拢抓取饮料。抓紧饮料垂直升高爪夹并向爪夹方向的左侧移动，水平到达塑料盒的正上方后将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "当前为初始状态，远离饮料，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离饮料，未开始移动。\n为完成抓取饮料落入塑料盒的任务应当：爪夹向爪夹方向的右前方侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到饮料的正上方。", + "time": 1.7864 + }, + { + "action_description": "爪夹向爪夹方向的正前方移动并调整爪夹", + "annotations": { + "bbox_1767758147641": { + "instances": [ + { + "height": 0.31333333333333335, + "id": "bbox_1767758147641_1767766403320_8ftmfzja7", + "width": 0.164, + "x": 0.240375, + "y": 0.42753125000000003 + } + ], + "type": "bbox" + }, + "bbox_1767758152937": { + "instances": [ + { + "height": 0.4173333333333334, + "id": "bbox_1767758152937_1767766408232_ektl81ict", + "width": 0.324, + "x": 0.434375, + "y": 0.31686458333333334 + } + ], + "type": "bbox" + }, + "point_1767758159793": { + "instances": [ + { + "id": "point_1767758159793_1767766393576_rx6sc79sc", + "x": 0.291375, + "y": 0.29953125 + } + ], + "type": "point" + }, + "point_1767758166624": { + "instances": [ + { + "id": "point_1767758166624_1767766398816_ahndklj36", + "x": 0.389375, + "y": 0.3368645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到饮料的正上方。接着落下爪夹靠近饮料，接近饮料后爪夹合拢抓取饮料。抓紧饮料垂直升高爪夹并向爪夹方向的左侧移动，水平到达塑料盒的正上方后将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "error_success_analysis": "爪夹角度接近于垂直桌面，接近了饮料，方便抓取", + "frame": 114, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹角度接近于垂直桌面，方便抓取。因此进度提升为 10%。", + "state_description": "爪夹张开，爪夹角度接近于垂直桌面，接近了饮料。\n为完成抓取饮料落入塑料盒的任务应当：爪夹向爪夹方向的右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到饮料的正上方。", + "time": 3.805378053737113 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "annotations": { + "bbox_1767758147641": { + "instances": [ + { + "height": 0.3373333333333334, + "id": "bbox_1767758147641_1767766378640_ztij5x08e", + "width": 0.17500000000000004, + "x": 0.236375, + "y": 0.40353125 + } + ], + "type": "bbox" + }, + "bbox_1767758152937": { + "instances": [ + { + "height": 0.4080000000000001, + "id": "bbox_1767758152937_1767766369721_4lvji8scz", + "width": 0.31399999999999995, + "x": 0.441375, + "y": 0.32486458333333335 + } + ], + "type": "bbox" + }, + "point_1767758159793": { + "instances": [ + { + "id": "point_1767758159793_1767766381320_4hariyi9x", + "x": 0.259375, + "y": 0.5101979166666667 + } + ], + "type": "point" + }, + "point_1767758166624": { + "instances": [ + { + "id": "point_1767758166624_1767766384560_o1a49jd0h", + "x": 0.352375, + "y": 0.5421979166666666 + } + ], + "type": "point" + } + }, + "correction_plan": "垂直下降至饮料的正上方，接着落下爪夹靠近饮料，接近饮料后爪夹合拢抓取饮料。抓紧饮料垂直升高爪夹并向爪夹方向的左侧移动，水平到达塑料盒的正上方后将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "error_success_analysis": "爪夹打开垂直于桌面，接近了饮料，方便抓取。", + "frame": 162, + "progress": 15, + "progress_explanation": "爪夹打开垂直于桌面，接近了饮料，因此进度提升为15%", + "state_description": "爪夹打开垂直于桌面，接近了饮料。\n为完成抓取饮料落入塑料盒的任务应当：垂直下降至饮料的正上方，接着落下爪夹靠近饮料", + "time": 5.413333 + }, + { + "action_description": "爪夹垂直下降并调整角度。", + "annotations": { + "bbox_1767758147641": { + "instances": [ + { + "height": 0.32399999999999995, + "id": "bbox_1767758147641_1767766351441_y4f2n6zqt", + "width": 0.09299999999999997, + "x": 0.29737500000000006, + "y": 0.41953125 + } + ], + "type": "bbox" + }, + "bbox_1767758152937": { + "instances": [ + { + "height": 0.43066666666666664, + "id": "bbox_1767758152937_1767766361136_wdg4db7fa", + "width": 0.321, + "x": 0.43637500000000007, + "y": 0.3061979166666667 + } + ], + "type": "bbox" + }, + "point_1767758166624": { + "instances": [ + { + "id": "point_1767758166624_1767766346808_36eh2n9ir", + "x": 0.395375, + "y": 0.57953125 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取饮料。抓紧饮料垂直升高爪夹并向爪夹方向的左侧移动，水平到达塑料盒的正上方后将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "error_success_analysis": "爪夹靠近饮料，处于饮料的正上方，方便抓取", + "frame": 197, + "progress": 20, + "progress_explanation": "爪夹靠近饮料，处于饮料的正上方，方便抓取，因此进度提升为 20%。", + "state_description": "当前爪夹打开，垂直于桌面，处于饮料的正上方。\n为完成抓取饮料落入塑料盒的任务应当：合拢抓取饮料，抓紧饮料垂直升高爪夹并向爪夹方向的左侧移动", + "time": 6.5772 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767758147641": { + "instances": [ + { + "height": 0.31199999999999994, + "id": "bbox_1767758147641_1767766332337_x0s7meizv", + "width": 0.13700000000000007, + "x": 0.24737499999999998, + "y": 0.4421979166666667 + } + ], + "type": "bbox" + }, + "bbox_1767758152937": { + "instances": [ + { + "height": 0.4, + "id": "bbox_1767758152937_1767766323040_10wiylrm0", + "width": 0.31899999999999995, + "x": 0.43637500000000007, + "y": 0.3301979166666667 + } + ], + "type": "bbox" + }, + "point_1767758166624": { + "instances": [ + { + "id": "point_1767758166624_1767766340841_rasleync8", + "x": 0.377375, + "y": 0.58753125 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧饮料垂直升高爪夹并向爪夹方向的左侧移动，直至塑料盒的正上方后将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到饮料。\n", + "frame": 230, + "progress": 40, + "progress_explanation": "爪夹合拢抓取饮料。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取饮料，爪夹角度与桌面接近垂直。\n为完成抓取饮料落入塑料盒的任务应当：抓紧饮料垂直升高爪夹并向爪夹方向的左侧移动，直至塑料盒的正上方。", + "time": 7.659866 + }, + { + "action_description": "爪夹夹紧饮料，垂直升高", + "annotations": { + "bbox_1767758147641": { + "instances": [ + { + "height": 0.24799999999999997, + "id": "bbox_1767758147641_1767766302697_aeu6z37e0", + "width": 0.193, + "x": 0.186375, + "y": 0.20753125000000003 + } + ], + "type": "bbox" + }, + "bbox_1767758152937": { + "instances": [ + { + "height": 0.4106666666666667, + "id": "bbox_1767758152937_1767766309088_coml39ntm", + "width": 0.32200000000000006, + "x": 0.42837499999999995, + "y": 0.31953125 + } + ], + "type": "bbox" + }, + "point_1767758166624": { + "instances": [ + { + "id": "point_1767758166624_1767766297048_6tm712jua", + "x": 0.355375, + "y": 0.3661979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左侧的塑料盒接近，水平到达塑料盒的正上方后将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "error_success_analysis": "爪夹合拢继续夹紧饮料，水平上接近了塑料盒。更加方便接近塑料盒。", + "frame": 257, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧饮料，垂直升高并向爪夹左侧的塑料盒接近。缩短了与塑料盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧饮料，离开桌面。\n为完成抓取饮料落入塑料盒的任务应当：继续向爪夹左侧的塑料盒接近，水平到达塑料盒的正上方后将饮料放入塑料盒。", + "time": 8.553066 + }, + { + "action_description": "爪夹夹紧饮料，向爪夹方向的左侧移动", + "annotations": { + "bbox_1767758147641": { + "instances": [ + { + "height": 0.23466666666666666, + "id": "bbox_1767758147641_1767766287080_0g890pns5", + "width": 0.17700000000000005, + "x": 0.472375, + "y": 0.14086458333333332 + } + ], + "type": "bbox" + }, + "bbox_1767758152937": { + "instances": [ + { + "height": 0.4106666666666667, + "id": "bbox_1767758152937_1767766291481_7han8xss2", + "width": 0.32999999999999996, + "x": 0.422375, + "y": 0.31953125 + } + ], + "type": "bbox" + }, + "point_1767758159793": { + "instances": [ + { + "id": "point_1767758159793_1767766283288_7whz6jro8", + "x": 0.489375, + "y": 0.25686458333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "error_success_analysis": "到了爪夹左侧的塑料盒的正上方，方便饮料落入塑料盒。", + "frame": 299, + "progress": 60, + "progress_explanation": "爪夹夹紧饮料，到了爪夹左侧的塑料盒的正上方，方便饮料落入塑料盒。因此进度提升为 60%。", + "state_description": "爪夹夹紧饮料，爪夹角度接近垂直于桌面，位于塑料盒的正上方。\n为完成抓取饮料落入塑料盒的任务应当：将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "time": 9.972113524871133 + }, + { + "action_description": "爪夹继续向爪夹左侧移动，爪夹打开，饮料掉落桌面。", + "annotations": { + "bbox_1767758147641": { + "instances": [ + { + "height": 0.15200000000000002, + "id": "bbox_1767758147641_1767766262432_a1aox5kkm", + "width": 0.23299999999999993, + "x": 0.7113750000000001, + "y": 0.3448645833333333 + } + ], + "type": "bbox" + }, + "bbox_1767758152937": { + "instances": [ + { + "height": 0.4119999999999999, + "id": "bbox_1767758152937_1767766253401_w4ch3ncf2", + "width": 0.31900000000000006, + "x": 0.426375, + "y": 0.33019791666666676 + } + ], + "type": "bbox" + }, + "point_1767758159793": { + "instances": [ + { + "id": "point_1767758159793_1767766248744_ml0tlz2yj", + "x": 0.6793750000000001, + "y": 0.17953125 + } + ], + "type": "point" + }, + "point_1767758166624": { + "instances": [ + { + "id": "point_1767758166624_1767766245720_f67wolts6", + "x": 0.742375, + "y": 0.11953125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹重新垂直下降直至饮料的正上方，接着落下爪夹靠近饮料，接近饮料后爪夹合拢抓取饮料。抓紧饮料垂直升高爪夹并向爪夹方向的右侧移动，水平到达塑料盒的正上方后将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "error_success_analysis": "爪夹偏离塑料盒的正上方，爪夹打开饮料掉在桌面上。", + "frame": 369, + "progress": 10, + "progress_explanation": "爪夹张开饮料掉在桌面上，因此进度降至为10%", + "state_description": "爪夹打开位于饮料的上方，角度接近于垂直桌面。\n为完成抓取饮料落入塑料盒的任务应当：爪夹重新垂直下降直至饮料的正上方，接着落下爪夹靠近饮料", + "time": 12.288127299097937 + }, + { + "action_description": "爪夹向爪夹方向的右侧移动。", + "annotations": { + "bbox_1767758147641": { + "instances": [ + { + "height": 0.17200000000000001, + "id": "bbox_1767758147641_1767766224393_m6gie5mui", + "width": 0.22600000000000006, + "x": 0.714375, + "y": 0.3288645833333333 + } + ], + "type": "bbox" + }, + "bbox_1767758152937": { + "instances": [ + { + "height": 0.408, + "id": "bbox_1767758152937_1767766230464_lpk5mmryf", + "width": 0.31500000000000006, + "x": 0.42737499999999995, + "y": 0.3341979166666667 + } + ], + "type": "bbox" + }, + "point_1767758159793": { + "instances": [ + { + "id": "point_1767758159793_1767766238713_48yw0pf0h", + "x": 0.5313749999999999, + "y": 0.38886458333333335 + } + ], + "type": "point" + }, + "point_1767758166624": { + "instances": [ + { + "id": "point_1767758166624_1767766241641_8uthkmc81", + "x": 0.627375, + "y": 0.32753125 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，直至饮料的正上方，接着落下爪夹靠近饮料，接近饮料后爪夹合拢抓取饮料。抓紧饮料垂直升高爪夹并向爪夹方向的右侧移动，水平到达塑料盒的正上方后将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "error_success_analysis": "爪夹没有垂直下降而是向爪夹方向的右侧移动，爪夹远离了饮料。", + "frame": 490, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向的右侧移动，处于塑料盒的上方，远离了饮料，因此进度降至为5%。", + "state_description": "爪夹打开，处于塑料盒的上方。\n为完成抓取饮料落入塑料盒的任务应当：爪夹向爪夹方向的左侧移动，直至饮料的正上方，接着落下爪夹靠近饮料", + "time": 16.33417545889175 + }, + { + "action_description": "爪夹向爪夹方向的左侧移动并下降。", + "annotations": { + "bbox_1767758147641": { + "instances": [ + { + "height": 0.17999999999999997, + "id": "bbox_1767758147641_1767766218321_12q9oyfr4", + "width": 0.23099999999999996, + "x": 0.7113750000000001, + "y": 0.32086458333333334 + } + ], + "type": "bbox" + }, + "bbox_1767758152937": { + "instances": [ + { + "height": 0.4213333333333333, + "id": "bbox_1767758152937_1767766214201_sm6mckm6o", + "width": 0.32699999999999996, + "x": 0.42037500000000005, + "y": 0.33286458333333335 + } + ], + "type": "bbox" + }, + "point_1767758159793": { + "instances": [ + { + "id": "point_1767758159793_1767766205433_vi697qzcs", + "x": 0.8313750000000001, + "y": 0.46753125 + } + ], + "type": "point" + }, + "point_1767758166624": { + "instances": [ + { + "id": "point_1767758166624_1767766208313_o2yy5uy0y", + "x": 0.850375, + "y": 0.38619791666666664 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取饮料，抓紧饮料垂直升高爪夹并向爪夹方向的右侧移动，水平到达塑料盒的正上方后将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "error_success_analysis": "爪夹靠近饮料，处于饮料的正上方，方便抓取", + "frame": 550, + "progress": 20, + "progress_explanation": "爪夹靠近饮料，处于饮料的正上方，方便抓取，因此进度提升为 20%。", + "state_description": "爪夹打开，垂直于桌面，处于饮料的正上方。\n为完成抓取饮料落入塑料盒的任务应当：合拢抓取饮料，抓紧饮料垂直升高爪夹并向爪夹方向的右侧移动", + "time": 18.343247648582473 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1767758147641": { + "instances": [ + { + "height": 0.16400000000000006, + "id": "bbox_1767758147641_1767766180936_1gmsi217f", + "width": 0.22599999999999998, + "x": 0.7143750000000001, + "y": 0.3381979166666666 + } + ], + "type": "bbox" + }, + "bbox_1767758152937": { + "instances": [ + { + "height": 0.416, + "id": "bbox_1767758152937_1767766191033_52h284br2", + "width": 0.321, + "x": 0.425375, + "y": 0.33286458333333335 + } + ], + "type": "bbox" + }, + "point_1767758159793": { + "instances": [ + { + "id": "point_1767758159793_1767766175488_bsg9d9enk", + "x": 0.8213750000000001, + "y": 0.4728645833333333 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧饮料垂直升高爪夹并向爪夹方向的右侧移动，直至塑料盒的正上方后将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到饮料。\n", + "frame": 607, + "progress": 40, + "progress_explanation": "爪夹合拢抓取饮料。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到饮料，爪夹角度与桌面接近垂直。\n为完成抓取饮料落入塑料盒的任务应当：抓紧饮料垂直升高爪夹并向爪夹方向的右侧移动，直至塑料盒的正上方。", + "time": 20.24070471662371 + }, + { + "action_description": "爪夹夹紧饮料，垂直升高。", + "annotations": { + "bbox_1767758147641": { + "instances": [ + { + "height": 0.176, + "id": "bbox_1767758147641_1767766162025_195orqens", + "width": 0.29000000000000004, + "x": 0.7073750000000001, + "y": 0.16619791666666667 + } + ], + "type": "bbox" + }, + "bbox_1767758152937": { + "instances": [ + { + "height": 0.42799999999999994, + "id": "bbox_1767758152937_1767766157657_gynzl4uu3", + "width": 0.33099999999999996, + "x": 0.41637500000000005, + "y": 0.31553125000000004 + } + ], + "type": "bbox" + }, + "point_1767758159793": { + "instances": [ + { + "id": "point_1767758159793_1767766165385_g8ugw0t0u", + "x": 0.857375, + "y": 0.30753125000000003 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右侧的塑料盒接近，水平到达塑料盒的正上方后将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "error_success_analysis": "爪夹合拢继续夹紧饮料，水平上接近了塑料盒。更加方便接近塑料盒。", + "frame": 638, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧饮料，垂直升高并向爪夹右侧的塑料盒接近。缩短了与塑料盒的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧饮料，离开桌面。\n为完成抓取饮料落入塑料盒的任务应当：继续向爪夹右侧的塑料盒接近，水平到达塑料盒的正上方后将饮料放入塑料盒。", + "time": 21.273144591881444 + }, + { + "action_description": "爪夹夹紧饮料，向爪夹方向的右侧移动", + "annotations": { + "bbox_1767758147641": { + "instances": [ + { + "height": 0.2813333333333334, + "id": "bbox_1767758147641_1767766144745_1uhuwyygq", + "width": 0.176, + "x": 0.575375, + "y": 0.21419791666666665 + } + ], + "type": "bbox" + }, + "bbox_1767758152937": { + "instances": [ + { + "height": 0.4213333333333333, + "id": "bbox_1767758152937_1767766150169_qtaon9ihv", + "width": 0.357, + "x": 0.389375, + "y": 0.3261979166666667 + } + ], + "type": "bbox" + }, + "point_1767758159793": { + "instances": [ + { + "id": "point_1767758159793_1767766140753_jm4v7fcqg", + "x": 0.619375, + "y": 0.39553125 + } + ], + "type": "point" + } + }, + "correction_plan": "将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "error_success_analysis": "到了爪夹左侧的塑料盆的正上方，方便饮料落入塑料盆。", + "frame": 666, + "progress": 60, + "progress_explanation": "爪夹夹紧饮料，到了爪夹左侧的塑料盆的正上方，方便饮料落入塑料盆。因此进度提升为 60%。", + "state_description": "爪夹夹紧饮料，爪夹角度接近垂直于桌面，位于塑料盒的正上方。\n为完成抓取饮料落入塑料盒的任务应当：将饮料放入塑料盒，松开爪夹，使饮料落入塑料盒。", + "time": 22.193969345489688 + }, + { + "action_description": "爪夹张开，饮料掉落塑料盒里。", + "annotations": { + "bbox_1767758147641": { + "instances": [ + { + "height": 0.2533333333333333, + "id": "bbox_1767758147641_1767766129993_qg60l6o74", + "width": 0.146, + "x": 0.504375, + "y": 0.43286458333333333 + } + ], + "type": "bbox" + }, + "bbox_1767758152937": { + "instances": [ + { + "height": 0.4586666666666667, + "id": "bbox_1767758152937_1767766134192_2of03plri", + "width": 0.35500000000000004, + "x": 0.390375, + "y": 0.3021979166666667 + } + ], + "type": "bbox" + }, + "point_1767758159793": { + "instances": [ + { + "id": "point_1767758159793_1767766117809_4ks1h65ee", + "x": 0.601375, + "y": 0.39953125 + } + ], + "type": "point" + }, + "point_1767758166624": { + "instances": [ + { + "id": "point_1767758166624_1767766124992_gvy6cmmh9", + "x": 0.705375, + "y": 0.3541979166666667 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，饮料落入塑料盒", + "frame": 690, + "progress": 100, + "progress_explanation": "爪夹张开饮料落入塑料盒，任务完成。因此进度提升为100%。", + "state_description": "爪夹张开，饮料掉落塑料盒，角度保持垂直向下于桌面。\n爪夹松开饮料落入塑料盒的任务目标完成。", + "time": 23.006666 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767758147641", + "name": "饮料" + }, + { + "color": "#FF9800", + "id": "bbox_1767758152937", + "name": "塑料盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767758159793", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767758166624", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-174002-mix-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-174002-mix-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..12dbc61a9f9db7c4f89c3b68598f182a844cd574 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-174002-mix-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,672 @@ +{ + "task_description": "抓取药瓶放入白色托盘里：\n准备开始移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹抓紧药瓶接近白色托盘：60%\n爪夹将药瓶放入白色托盘：80%\n爪夹松开药瓶落入白色托盘：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767837770494": { + "instances": [ + { + "height": 0.0866666596137159, + "id": "bbox_1767837770494_1767840512339_hfuinbdx0", + "width": 0.0959999941406254, + "x": 0.6396665869344124, + "y": 0.6246480916627529 + } + ], + "type": "bbox" + }, + "bbox_1767837773550": { + "instances": [ + { + "height": 0.6733332785373309, + "id": "bbox_1767837773550_1767840517628_xqu7juz8m", + "width": 0.41299997479248196, + "x": 0.05366662270101179, + "y": 0.31931478317750794 + } + ], + "type": "bbox" + }, + "point_1767837782734": { + "instances": [ + { + "id": "point_1767837782734_1767840525284_dcxnk0z8v", + "x": 0.41466660066732175, + "y": 0.39931477666709175 + } + ], + "type": "point" + }, + "point_1767837789942": { + "instances": [ + { + "id": "point_1767837789942_1767840527819_9c14krd0y", + "x": 0.5096665948689822, + "y": 0.3739814453953902 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到药瓶的正上方。接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的右侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "", + "frame": 61, + "progress": 0, + "progress_explanation": "当前为初始状态，远离药瓶，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离药瓶，未开始移动。\n为完成抓取药瓶落入白色托盘的任务应当：爪夹向爪夹方向的左前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到药瓶的正上方。", + "time": 2.0329 + }, + { + "action_description": "爪夹向爪夹方向的正前方移动，并调整爪夹垂直于桌面。", + "annotations": { + "bbox_1767837770494": { + "instances": [ + { + "height": 0.09333332573784775, + "id": "bbox_1767837770494_1767840507940_hkbdt6i3w", + "width": 0.08699999468994175, + "x": 0.648666586385096, + "y": 0.6233147584379266 + } + ], + "type": "bbox" + }, + "bbox_1767837773550": { + "instances": [ + { + "height": 0.6773332782118101, + "id": "bbox_1767837773550_1767840496307_29n5u15m5", + "width": 0.4099999749755875, + "x": 0.05766662245687119, + "y": 0.3139814502782023 + } + ], + "type": "bbox" + }, + "point_1767837782734": { + "instances": [ + { + "id": "point_1767837782734_1767840502363_bua0lpsoa", + "x": 0.5486665924886113, + "y": 0.5086481011028564 + } + ], + "type": "point" + }, + "point_1767837789942": { + "instances": [ + { + "id": "point_1767837789942_1767840504651_iyfjvrp8e", + "x": 0.641666586812342, + "y": 0.4659814379084117 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的正前方继续移动并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的右侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "爪夹向爪夹正前方移动，爪夹垂直于桌面，接近了药瓶", + "frame": 137, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹垂直于桌面，接近了药瓶，因此进度提升为 10%。", + "state_description": "爪夹张开，爪夹角度接近于垂直桌面，接近了药瓶。\n为完成抓取药瓶落入白色托盘的任务应当：爪夹向爪夹方向的正前方继续移动并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶。", + "time": 4.579866 + }, + { + "action_description": "爪夹下降并合拢爪夹。", + "annotations": { + "bbox_1767837770494": { + "instances": [ + { + "height": 0.08266665993923669, + "id": "bbox_1767837770494_1767840470660_tc2cz4lk8", + "width": 0.09299999432373082, + "x": 0.642666586751307, + "y": 0.6273147581124057 + } + ], + "type": "bbox" + }, + "bbox_1767837773550": { + "instances": [ + { + "height": 0.6853332775607686, + "id": "bbox_1767837773550_1767840484340_rm1q55ivr", + "width": 0.4209999743042007, + "x": 0.04666662312825785, + "y": 0.3126481170533759 + } + ], + "type": "bbox" + }, + "point_1767837782734": { + "instances": [ + { + "id": "point_1767837782734_1767840473011_lkwab0qtm", + "x": 0.641666586812342, + "y": 0.5966480939413986 + } + ], + "type": "point" + }, + "point_1767837789942": { + "instances": [ + { + "id": "point_1767837789942_1767840479739_o98rlt6ku", + "x": 0.6496665863240608, + "y": 0.5939814274917459 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹重新抬升并打开，向爪夹的正前方调整至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的右侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "爪夹没有到达药瓶的正上方下降并合拢爪夹，爪夹夹空。", + "frame": 198, + "progress": 5, + "progress_explanation": "爪夹没有到达药瓶的正上方下降并合拢爪夹，因此进度降至为5%。", + "state_description": "当前爪夹合拢垂直于桌面。\n为完成抓取药瓶落入白色托盘的任务应当：爪夹重新抬升并打开，向爪夹的正前方调整至药瓶的正上方。", + "time": 6.612766 + }, + { + "action_description": "爪夹抬升并打开爪夹,调整爪夹垂直于桌面。", + "annotations": { + "bbox_1767837770494": { + "instances": [ + { + "height": 0.11599999055989656, + "id": "bbox_1767837770494_1767840465460_6zevbbid1", + "width": 0.09599999414062532, + "x": 0.642666586751307, + "y": 0.6126480926393154 + } + ], + "type": "bbox" + }, + "bbox_1767837773550": { + "instances": [ + { + "height": 0.6813332778862893, + "id": "bbox_1767837773550_1767840447588_duj5tw7p5", + "width": 0.4079999750976578, + "x": 0.05966662233480088, + "y": 0.3139814502782023 + } + ], + "type": "bbox" + }, + "point_1767837782734": { + "instances": [ + { + "id": "point_1767837782734_1767840455075_c5wqte1ck", + "x": 0.6186665882161506, + "y": 0.45664810533462685 + } + ], + "type": "point" + }, + "point_1767837789942": { + "instances": [ + { + "id": "point_1767837789942_1767840461195_lfv8jth2f", + "x": 0.6986665833333384, + "y": 0.38998144409330693 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的正前方继续移动并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的右侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "爪夹重新抬升并打开爪夹，接近了药瓶，方便抓取。", + "frame": 273, + "progress": 10, + "progress_explanation": "爪夹重新抬升并打开爪夹，接近了药瓶。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近于垂直桌面，接近了药瓶。\n为完成抓取药瓶落入白色托盘的任务应当：爪夹向爪夹方向的正前方继续移动并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶。", + "time": 9.113 + }, + { + "action_description": "爪夹向爪夹方向的正前方移动并垂直下降。", + "annotations": { + "bbox_1767837770494": { + "instances": [ + { + "height": 0.10133332508680618, + "id": "bbox_1767837770494_1767840437931_c7qbvjsg1", + "width": 0.07399999548339871, + "x": 0.6636665854695687, + "y": 0.6233147584379266 + } + ], + "type": "bbox" + }, + "bbox_1767837773550": { + "instances": [ + { + "height": 0.6813332778862893, + "id": "bbox_1767837773550_1767840441908_q71gnory2", + "width": 0.425999973999025, + "x": 0.045666623189293015, + "y": 0.3139814502782023 + } + ], + "type": "bbox" + }, + "point_1767837782734": { + "instances": [ + { + "id": "point_1767837782734_1767840431267_r666uu504", + "x": 0.681666584370936, + "y": 0.6913147529040728 + } + ], + "type": "point" + }, + "point_1767837789942": { + "instances": [ + { + "id": "point_1767837789942_1767840434299_433f1lzog", + "x": 0.726666581624354, + "y": 0.611314759414489 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的右侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "爪夹向爪夹方向的正前方移动并垂直下降，靠近了药瓶，方便抓取。", + "frame": 334, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，处于药瓶的正上方。方便抓取，因此进度提升为 20%。", + "state_description": "当前爪夹打开，垂直于桌面，处于药瓶的正上方。\n为完成抓取药瓶落入白色托盘的任务应当：合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的右侧移动", + "time": 11.145336392732512 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1767837770494": { + "instances": [ + { + "height": 0.12133332345920221, + "id": "bbox_1767837770494_1767840411843_3l0yxrxhp", + "width": 0.05899999639892597, + "x": 0.6656665853474985, + "y": 0.5993147603910514 + } + ], + "type": "bbox" + }, + "bbox_1767837773550": { + "instances": [ + { + "height": 0.6853332775607685, + "id": "bbox_1767837773550_1767840421155_yfrz03x0n", + "width": 0.41199997485351714, + "x": 0.05766662245687119, + "y": 0.30464811770441746 + } + ], + "type": "bbox" + }, + "point_1767837782734": { + "instances": [ + { + "id": "point_1767837782734_1767840403884_pf317jop8", + "x": 0.6716665849812875, + "y": 0.5873147613676138 + } + ], + "type": "point" + }, + "point_1767837789942": { + "instances": [ + { + "id": "point_1767837789942_1767840406691_01w8ap9qk", + "x": 0.6796665844930063, + "y": 0.5859814281427874 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹重新抬升并打开，向爪夹的正前方调整至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的右侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "爪夹合拢，爪夹左碰到药瓶，导致爪夹合拢没有抓取到药瓶。", + "frame": 374, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到药瓶，因此进度降至为5%。", + "state_description": "当前爪夹合拢垂直于桌面。\n为完成抓取药瓶落入白色托盘的任务应当：爪夹重新抬升并打开，向爪夹的正前方调整至药瓶的正上方。", + "time": 12.47025041761258 + }, + { + "action_description": "爪夹抬升并打开爪夹，调整爪夹垂直于桌面。", + "annotations": { + "bbox_1767837770494": { + "instances": [ + { + "height": 0.1319999892578134, + "id": "bbox_1767837770494_1767840380971_eskwnhx7h", + "width": 0.057999996459961164, + "x": 0.6686665851643929, + "y": 0.5886480945924402 + } + ], + "type": "bbox" + }, + "bbox_1767837773550": { + "instances": [ + { + "height": 0.6666666124131988, + "id": "bbox_1767837773550_1767840390963_38am95epe", + "width": 0.41099997491455226, + "x": 0.05766662245687119, + "y": 0.32331478285198717 + } + ], + "type": "bbox" + }, + "point_1767837782734": { + "instances": [ + { + "id": "point_1767837782734_1767840383379_vuzoaigy6", + "x": 0.654666586018885, + "y": 0.4886481027304604 + } + ], + "type": "point" + }, + "point_1767837789942": { + "instances": [ + { + "id": "point_1767837789942_1767840386395_n49ue7zxh", + "x": 0.7516665800984753, + "y": 0.4499814392104949 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的正前方继续移动并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的右侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "爪夹重新抬升并打开爪夹，接近了药瓶，方便抓取。", + "frame": 428, + "progress": 10, + "progress_explanation": "爪夹重新抬升并打开爪夹，接近了药瓶。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近于垂直桌面，接近了药瓶。\n为完成抓取药瓶落入白色托盘的任务应当：爪夹向爪夹方向的正前方继续移动并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶。", + "time": 14.253666 + }, + { + "action_description": "爪夹垂直下降。", + "annotations": { + "bbox_1767837770494": { + "instances": [ + { + "height": 0.12266665668402865, + "id": "bbox_1767837770494_1767840375787_15bvraoim", + "width": 0.0479999970703127, + "x": 0.6686665851643929, + "y": 0.5993147603910514 + } + ], + "type": "bbox" + }, + "bbox_1767837773550": { + "instances": [ + { + "height": 0.6799999446614627, + "id": "bbox_1767837773550_1767840353876_0aop1ee00", + "width": 0.4079999750976578, + "x": 0.05766662245687119, + "y": 0.31131478382854944 + } + ], + "type": "bbox" + }, + "point_1767837782734": { + "instances": [ + { + "id": "point_1767837782734_1767840371739_p7o5zg9wj", + "x": 0.62266658797201, + "y": 0.6926480861288993 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的右侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "爪夹向爪夹方向的正前方移动并垂直下降，靠近了药瓶，方便抓取。", + "frame": 467, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，处于药瓶的正上方。方便抓取，因此进度提升为 20%。", + "state_description": "当前爪夹打开，垂直于桌面，处于药瓶的正上方。\n为完成抓取药瓶落入白色托盘的任务应当：合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的右侧移动", + "time": 15.57777603960401 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1767837770494": { + "instances": [ + { + "height": 0.11599999055989668, + "id": "bbox_1767837770494_1767840328243_qw3onu23l", + "width": 0.06199999621582064, + "x": 0.6436665866902717, + "y": 0.6166480923137946 + } + ], + "type": "bbox" + }, + "bbox_1767837773550": { + "instances": [ + { + "height": 0.6693332788628515, + "id": "bbox_1767837773550_1767840337836_n7clouwp7", + "width": 0.41999997436523595, + "x": 0.055666622578941484, + "y": 0.3219814496271607 + } + ], + "type": "bbox" + }, + "point_1767837782734": { + "instances": [ + { + "id": "point_1767837782734_1767840324339_7tsyxur20", + "x": 0.6446665866292366, + "y": 0.6713147545316769 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧药瓶垂直升高爪夹并向爪夹方向的右侧移动，直至白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到药瓶。", + "frame": 499, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到药瓶。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到药瓶，爪夹角度与桌面接近垂直。\n为完成抓取药瓶落入白色托盘的任务应当：抓紧药瓶垂直升高爪夹并向爪夹方向的右侧移动，直至白色托盘的正上方。", + "time": 16.637066 + }, + { + "action_description": "爪夹夹紧药瓶垂直升高。", + "annotations": { + "bbox_1767837770494": { + "instances": [ + { + "height": 0.15866665375434127, + "id": "bbox_1767837770494_1767840315564_dyofbc7jc", + "width": 0.07199999560546902, + "x": 0.5976665894978888, + "y": 0.3219814496271607 + } + ], + "type": "bbox" + }, + "bbox_1767837773550": { + "instances": [ + { + "height": 0.6746666117621573, + "id": "bbox_1767837773550_1767840320051_9hdftu2hl", + "width": 0.4289999738159195, + "x": 0.042666623372398474, + "y": 0.3193147831775079 + } + ], + "type": "bbox" + }, + "point_1767837782734": { + "instances": [ + { + "id": "point_1767837782734_1767840311411_1kxy4i0xx", + "x": 0.5966665895589239, + "y": 0.4206481082643141 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹的右侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "爪夹合拢继续夹紧药瓶，水平上接近了白色托盘。更加方便接近白色托盘。", + "frame": 534, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧药瓶，垂直升高并向爪夹方向的右侧移动，缩短了与白色托盘的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧药瓶，药瓶离开桌面。\n为完成抓取药瓶落入白色托盘的任务应当：继续向爪夹的右侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘。", + "time": 17.8054 + }, + { + "action_description": "爪夹夹紧药瓶向爪夹方向的右侧移动。", + "annotations": { + "bbox_1767837770494": { + "instances": [ + { + "height": 0.13466665570746617, + "id": "bbox_1767837770494_1767840293508_qgu78qozk", + "width": 0.06599999597167994, + "x": 0.3026666075032588, + "y": 0.3859814444188278 + } + ], + "type": "bbox" + }, + "bbox_1767837773550": { + "instances": [ + { + "height": 0.6906666104600739, + "id": "bbox_1767837773550_1767840299796_ru2yo5rtu", + "width": 0.41699997454834137, + "x": 0.054666622639976646, + "y": 0.3073147841540703 + } + ], + "type": "bbox" + }, + "point_1767837782734": { + "instances": [ + { + "id": "point_1767837782734_1767840287331_z6q09zqcd", + "x": 0.31466660677083697, + "y": 0.4419814398615365 + } + ], + "type": "point" + }, + "point_1767837789942": { + "instances": [ + { + "id": "point_1767837789942_1767840289907_11kq99a8u", + "x": 0.3596666040242551, + "y": 0.4579814385594532 + } + ], + "type": "point" + } + }, + "correction_plan": "将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "到了爪夹右侧的白色托盘的正上方，方便药瓶落入白色托盘。", + "frame": 600, + "progress": 60, + "progress_explanation": "爪夹夹紧药瓶，到了爪夹右侧的白色托盘的正上方，方便药瓶落入白色托盘。因此进度提升为 60%。", + "state_description": "爪夹夹紧药瓶，爪夹角度接近垂直于桌面，位于白色托盘的正上方。\n为完成抓取药瓶落入白色托盘的任务应当：将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "time": 19.9861263405686 + }, + { + "action_description": "爪夹张开，药瓶掉落白色托盘。", + "annotations": { + "bbox_1767837770494": { + "instances": [ + { + "height": 0.11066665766059103, + "id": "bbox_1767837770494_1767840273995_y58eita3y", + "width": 0.05899999639892597, + "x": 0.2796666089070673, + "y": 0.5433147649483427 + } + ], + "type": "bbox" + }, + "bbox_1767837773550": { + "instances": [ + { + "height": 0.6759999449869837, + "id": "bbox_1767837773550_1767840278699_bycjjxo6j", + "width": 0.4089999750366225, + "x": 0.05666662251790634, + "y": 0.3126481170533759 + } + ], + "type": "bbox" + }, + "point_1767837782734": { + "instances": [ + { + "id": "point_1767837782734_1767840267900_vievh9vo0", + "x": 0.25266661055501644, + "y": 0.5313147659249051 + } + ], + "type": "point" + }, + "point_1767837789942": { + "instances": [ + { + "id": "point_1767837789942_1767840270491_48669flse", + "x": 0.34966660463460664, + "y": 0.5726480958945235 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，药瓶落入白色托盘", + "frame": 660, + "progress": 100, + "progress_explanation": "爪夹张开药瓶落入白色托盘，任务完成。因此进度提升为100%。", + "state_description": "爪夹张开，药瓶掉落白色托盘，角度保持垂直向下于桌面。\n爪夹松开药瓶落入白色托盘的任务目标完成。", + "time": 22.0114 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767837770494", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767837773550", + "name": "白色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767837782734", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767837789942", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-174002-mix-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-174002-mix-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..35cfa40ebbef0c98bbea5b8dc62d14dec57e84d6 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-174002-mix-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,560 @@ +{ + "task_description": "抓取药瓶放入白色托盘里：\n准备开始移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹抓紧药瓶接近白色托盘：60%\n爪夹将药瓶放入白色托盘：80%\n爪夹松开药瓶落入白色托盘：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到药瓶的正上方。接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "", + "frame": 66, + "progress": 0, + "progress_explanation": "当前为初始状态，远离药瓶，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离药瓶，未开始移动。\n为完成抓取药瓶落入白色托盘的任务应当：爪夹向爪夹方向的右侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到药瓶的正上方。", + "time": 2.1857494401332302, + "annotations": { + "point_1767840593099": { + "type": "point", + "instances": [ + { + "id": "point_1767840593099_1767843005200_qdi4j6y5l", + "x": 0.4986665955403689, + "y": 0.3819814447443486 + } + ] + }, + "point_1767840586939": { + "type": "point", + "instances": [ + { + "id": "point_1767840586939_1767843008552_ugho4i1l0", + "x": 0.3986666016438841, + "y": 0.4006481098919181 + } + ] + }, + "bbox_1767840575811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840575811_1767843011633_brxuiuegk", + "x": 0.1846666147054068, + "y": 0.3953147769926125, + "width": 0.06399999609375025, + "height": 0.11866665700954944 + } + ] + }, + "bbox_1767840580491": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840580491_1767843022473_kt001y1gr", + "x": 0.3556666042683957, + "y": 0.3619814463719526, + "width": 0.6379999610595727, + "height": 0.6333332817925388 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的正前方移动，并调整爪夹垂直于桌面。", + "correction_plan": "爪夹向爪夹方向的右侧继续移动并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘", + "error_success_analysis": "爪夹向爪夹正前方移动，爪夹垂直于桌面，还未接近药瓶", + "frame": 112, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹垂直于桌面，还未接近药瓶，因此进度提升为 10%。", + "state_description": "爪夹张开，爪夹角度接近于垂直桌面，还未接近药瓶。\n为完成抓取药瓶落入白色托盘的任务应当：爪夹向爪夹方向的右侧继续移动并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶。", + "time": 3.734133, + "annotations": { + "bbox_1767840575811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840575811_1767842985177_qacxfnml3", + "x": 0.17666661519368804, + "y": 0.39931477666709175, + "width": 0.07099999566650417, + "height": 0.11866665700954938 + } + ] + }, + "bbox_1767840580491": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840580491_1767842990097_0oyunhk0c", + "x": 0.3766666029866575, + "y": 0.369981445720911, + "width": 0.6189999622192406, + "height": 0.6293332821180597 + } + ] + }, + "point_1767840586939": { + "type": "point", + "instances": [ + { + "id": "point_1767840586939_1767842997649_1a1a18nyf", + "x": 0.38766660231527084, + "y": 0.4153147753650085 + } + ] + }, + "point_1767840593099": { + "type": "point", + "instances": [ + { + "id": "point_1767840593099_1767843000145_niorczu4g", + "x": 0.4916665959676149, + "y": 0.39398144376778615 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降。", + "correction_plan": "爪夹向爪夹方向的右侧移动，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘", + "error_success_analysis": "爪夹垂直下降处于勺子的正上方，爪夹左抵在勺子上，认为爪夹夹取勺子。", + "frame": 167, + "progress": 15, + "progress_explanation": "爪夹垂直下降，爪夹左抵在勺子上，认为爪夹夹取勺子，因此进度提升为15%。", + "state_description": "爪夹打开，爪夹左抵在勺子上。\n为完成抓取药瓶落入白色托盘的任务应当：爪夹向爪夹方向的右侧移动，直至药瓶的正上方。", + "time": 5.5744, + "annotations": { + "bbox_1767840580491": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840580491_1767842957617_73kkqyest", + "x": 0.3726666032307981, + "y": 0.37131477894573733, + "width": 0.6249999618530298, + "height": 0.6253332824435807 + } + ] + }, + "point_1767840586939": { + "type": "point", + "instances": [ + { + "id": "point_1767840586939_1767842974552_8dr20d8qk", + "x": 0.3436666050008176, + "y": 0.4886481027304604 + } + ] + }, + "point_1767840593099": { + "type": "point", + "instances": [ + { + "id": "point_1767840593099_1767842977513_baxui7r8w", + "x": 0.425666599995935, + "y": 0.4766481037070228 + } + ] + }, + "bbox_1767840575811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840575811_1767842981105_h34kk9ngq", + "x": 0.1826666148274771, + "y": 0.39931477666709175, + "width": 0.06199999621582055, + "height": 0.11866665700954938 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹抬升并重新打开，向爪夹方向的右侧移动，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘", + "error_success_analysis": "爪夹左抵在勺子背面，导致爪夹合拢没有抓取到。", + "frame": 200, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到物品，因此进度降至为5%", + "state_description": "爪夹合拢垂直于桌面。\n为完成抓取药瓶落入白色托盘的任务应当：爪夹抬升并重新打开，向爪夹方向的右侧移动，直至药瓶的正上方。", + "time": 6.664266, + "annotations": { + "point_1767840593099": { + "type": "point", + "instances": [ + { + "id": "point_1767840593099_1767842934168_lgdw9qe04", + "x": 0.41166660085042717, + "y": 0.4406481066367101 + } + ] + }, + "point_1767840586939": { + "type": "point", + "instances": [ + { + "id": "point_1767840586939_1767842936384_lp4o58cov", + "x": 0.4016666014607787, + "y": 0.43798144018705726 + } + ] + }, + "bbox_1767840575811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840575811_1767842940265_b5dqyznz8", + "x": 0.18366661476644194, + "y": 0.40731477601605015, + "width": 0.055999996582031475, + "height": 0.11199999088541741 + } + ] + }, + "bbox_1767840580491": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840580491_1767842944185_mr87s3gcp", + "x": 0.37166660329183326, + "y": 0.3819814447443486, + "width": 0.6249999618530296, + "height": 0.6159999498697957 + } + ] + } + } + }, + { + "action_description": "爪夹抬升并重新打开，调整爪夹垂直于桌面。", + "correction_plan": "爪夹向爪夹方向的右侧继续移动并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘", + "error_success_analysis": "爪夹抬升并重新打开，离开错误的物品。", + "frame": 263, + "progress": 10, + "progress_explanation": "爪夹抬升并重新打开，角度接近于垂直桌面，因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近于垂直桌面\n为完成抓取药瓶落入白色托盘的任务应当：爪夹向爪夹方向的右侧继续移动并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶。", + "time": 8.754666, + "annotations": { + "bbox_1767840580491": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840580491_1767842910849_lsf0q65ng", + "x": 0.3816666026814818, + "y": 0.3722036745439718, + "width": 0.6139999625244162, + "height": 0.6213332827691013 + } + ] + }, + "bbox_1767840575811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840575811_1767842923401_llcnmwszz", + "x": 0.1826666148274771, + "y": 0.3944259017394286, + "width": 0.06399999609375025, + "height": 0.117333323784723 + } + ] + }, + "point_1767840586939": { + "type": "point", + "instances": [ + { + "id": "point_1767840586939_1767842926152_dvc4kmf6p", + "x": 0.35366660439046604, + "y": 0.33175924017258784 + } + ] + }, + "point_1767840593099": { + "type": "point", + "instances": [ + { + "id": "point_1767840593099_1767842929065_py0dq07wz", + "x": 0.438666599202478, + "y": 0.3210925743739767 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右侧移动并下降。", + "correction_plan": "合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘", + "error_success_analysis": "爪夹向爪夹方向的右侧移动并垂直下降，靠近了药瓶，方便抓取。", + "frame": 315, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，处于药瓶的正上方。方便抓取，因此进度提升为 20%。", + "state_description": "当前爪夹打开，垂直于桌面，处于药瓶的正上方。\n为完成抓取药瓶落入白色托盘的任务应当：合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动", + "time": 10.49282811021174, + "annotations": { + "point_1767840593099": { + "type": "point", + "instances": [ + { + "id": "point_1767840593099_1767842891656_836v07iz0", + "x": 0.26666660970052425, + "y": 0.4722036664059516 + } + ] + }, + "bbox_1767840575811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840575811_1767842895800_qpogfxvpc", + "x": 0.1866666145833365, + "y": 0.39975923463873414, + "width": 0.052999996765136934, + "height": 0.11466665733507024 + } + ] + }, + "bbox_1767840580491": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840580491_1767842899817_qbnp2glxr", + "x": 0.3746666031087278, + "y": 0.3704259036925534, + "width": 0.6199999621582055, + "height": 0.6146666166449694 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，直至白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到药瓶。", + "frame": 357, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到药瓶，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到药瓶，爪夹角度与桌面接近垂直。\n为完成抓取药瓶落入白色托盘的任务应当：抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，直至白色托盘的正上方。", + "time": 11.8992, + "annotations": { + "point_1767840593099": { + "type": "point", + "instances": [ + { + "id": "point_1767840593099_1767842868969_3orvhyf3n", + "x": 0.24466661104329765, + "y": 0.4895369983286948 + } + ] + }, + "bbox_1767840575811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840575811_1767842872609_sk1pmsvix", + "x": 0.19166661427816073, + "y": 0.4277592323600885, + "width": 0.04599999719238299, + "height": 0.09199999251302149 + } + ] + }, + "bbox_1767840580491": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840580491_1767842877585_4lcb9uv8e", + "x": 0.3766666029866575, + "y": 0.3784259030415118, + "width": 0.6209999620971701, + "height": 0.613333283420143 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高并向爪夹方向的左侧移动。", + "correction_plan": "继续向爪夹的左侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "爪夹合拢夹紧药瓶向爪夹方向的左侧移动，水平上接近了白色托盘。更加方便接近白色托盘。", + "frame": 412, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧药瓶，垂直升高并向爪夹方向的左侧移动，缩短了与白色托盘的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧药瓶，药瓶离开桌面。\n为完成抓取药瓶落入白色托盘的任务应当：继续向爪夹的左侧移动，水平到达白色托盘的正上方后将药瓶放入白色托盘。", + "time": 13.7216, + "annotations": { + "point_1767840586939": { + "type": "point", + "instances": [ + { + "id": "point_1767840586939_1767842840457_7ymwi7p2h", + "x": 0.3626666038411496, + "y": 0.39975923463873414 + } + ] + }, + "point_1767840593099": { + "type": "point", + "instances": [ + { + "id": "point_1767840593099_1767842842985_3bvhcxjvj", + "x": 0.4176666004842162, + "y": 0.389092568840123 + } + ] + }, + "bbox_1767840575811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840575811_1767842846633_co08ul4ht", + "x": 0.35666660420736057, + "y": 0.3184259079243239, + "width": 0.06599999597167994, + "height": 0.13466665570746617 + } + ] + }, + "bbox_1767840580491": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840580491_1767842854753_cengasq2l", + "x": 0.3766666029866575, + "y": 0.3784259030415118, + "width": 0.6229999619750999, + "height": 0.6119999501953165 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧药瓶向爪夹方向的左侧移动。", + "correction_plan": "将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "error_success_analysis": "到了爪夹左侧的白色托盘的正上方，方便药瓶落入白色托盘。", + "frame": 465, + "progress": 60, + "progress_explanation": "爪夹夹紧药瓶，到了爪夹左侧的白色托盘的正上方，方便药瓶落入白色托盘。因此进度提升为 60%。", + "state_description": "爪夹夹紧药瓶，爪夹角度接近垂直于桌面，位于白色托盘的正上方。\n为完成抓取药瓶落入白色托盘的任务应当：将药瓶放入白色托盘，松开爪夹，使药瓶落入白色托盘。", + "time": 15.502862252698115, + "annotations": { + "bbox_1767840580491": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840580491_1767842799897_a17k69fsy", + "x": 0.37966660280355197, + "y": 0.3993147766670919, + "width": 0.6179999622802758, + "height": 0.5893332853732678 + } + ] + }, + "point_1767840586939": { + "type": "point", + "instances": [ + { + "id": "point_1767840586939_1767842814449_r7ky51uuz", + "x": 0.7216665819295298, + "y": 0.6154629168324449 + } + ] + }, + "bbox_1767840575811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840575811_1767842823953_4nbchzyxz", + "x": 0.6966665834554087, + "y": 0.5247962575442499, + "width": 0.08699999468994166, + "height": 0.12399998990885498 + } + ] + } + } + }, + { + "action_description": "爪夹张开，药瓶掉落白色托盘。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，药瓶落入白色托盘", + "frame": 503, + "progress": 100, + "progress_explanation": "爪夹张开药瓶落入白色托盘，任务完成。因此进度提升为100%。", + "state_description": "爪夹张开，药瓶掉落白色托盘，角度保持垂直向下于桌面。\n爪夹松开药瓶落入白色托盘的任务目标完成。", + "time": 16.773790031490613, + "annotations": { + "point_1767840593099": { + "type": "point", + "instances": [ + { + "id": "point_1767840593099_1767842773969_zzchf7tv2", + "x": 0.7566665797932994, + "y": 0.5228703289493547 + } + ] + }, + "point_1767840586939": { + "type": "point", + "instances": [ + { + "id": "point_1767840586939_1767842776865_tswzec5hg", + "x": 0.6676665852254281, + "y": 0.590425885788909 + } + ] + }, + "bbox_1767840575811": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840575811_1767842780945_dwwsggghf", + "x": 0.6596665857137094, + "y": 0.617092550285437, + "width": 0.08199999499511748, + "height": 0.09733332541232707 + } + ] + }, + "bbox_1767840580491": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840580491_1767842785793_t8oimsay6", + "x": 0.3756666030476926, + "y": 0.41975923301113016, + "width": 0.6239999619140647, + "height": 0.5786666195746566 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767840575811", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767840580491", + "name": "白色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767840586939", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767840593099", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-180401-mix-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-180401-mix-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..72becb3d24abe3c5cf2658902aa9c0bdcc272ccf --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-180401-mix-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,764 @@ +{ + "task_description": "抓取药瓶放入锅里：\n准备开始移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹抓紧药瓶接近锅：60%\n爪夹将药瓶放入锅：80%\n爪夹松开药瓶落入锅：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767855682684": { + "instances": [ + { + "height": 0.09999999186197985, + "id": "bbox_1767855682684_1767855721668_zev22eszy", + "width": 0.07699999530029329, + "x": 0.6816665843709359, + "y": 0.382870340342583 + } + ], + "type": "bbox" + }, + "bbox_1767855686884": { + "instances": [ + { + "height": 0.19866665049913326, + "id": "bbox_1767855686884_1767855729316_eiv2o7yb3", + "width": 0.28099998284912214, + "x": 0.3576666041463254, + "y": 0.8010925353114798 + } + ], + "type": "bbox" + }, + "point_1767855691060": { + "instances": [ + { + "id": "point_1767855691060_1767855735508_s7ylq3rp5", + "x": 0.3826666026204466, + "y": 0.38242590271599103 + } + ], + "type": "point" + }, + "point_1767855698052": { + "instances": [ + { + "id": "point_1767855698052_1767855738316_vj034lelh", + "x": 0.48666659627279074, + "y": 0.3797592362663382 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到药瓶的正上方。接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "当前为初始状态，远离药瓶，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离药瓶，未开始移动。\n为完成抓取药瓶落入锅的任务应当：爪夹向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到药瓶的正上方。", + "time": 1.4838014551441023 + }, + { + "action_description": "爪夹向爪夹方向的正前方移动，并调整爪夹接近垂直于桌面。", + "annotations": { + "bbox_1767855682684": { + "instances": [ + { + "height": 0.09333332573784782, + "id": "bbox_1767855682684_1767855753116_d24khv6bw", + "width": 0.08899999456787144, + "x": 0.6726665849202523, + "y": 0.3877592356152966 + } + ], + "type": "bbox" + }, + "bbox_1767855686884": { + "instances": [ + { + "height": 0.1973333172743068, + "id": "bbox_1767855686884_1767855756796_81rcl7h8n", + "width": 0.29099998223877055, + "x": 0.3466666048177121, + "y": 0.7984258688618271 + } + ], + "type": "bbox" + }, + "point_1767855691060": { + "instances": [ + { + "id": "point_1767855691060_1767855748820_cd4fst3xp", + "x": 0.36666660359700903, + "y": 0.44331477308636286 + } + ], + "type": "point" + }, + "point_1767855698052": { + "instances": [ + { + "id": "point_1767855698052_1767855745596_gp7ww6e35", + "x": 0.48866659615072044, + "y": 0.4366481069622309 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到药瓶的正上方。接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹向爪夹正前方移动，爪夹垂直于桌面，接近了药瓶。", + "frame": 103, + "progress": 5, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹接近垂直于桌面，接近了药瓶，因此进度提升为5%。", + "state_description": "爪夹张开，爪夹接近垂直于桌面，还未接近药瓶。\n为完成抓取药瓶落入锅的任务应当：爪夹向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到药瓶的正上方。", + "time": 3.43129272229314 + }, + { + "action_description": "爪夹向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767855682684": { + "instances": [ + { + "height": 0.08933332606336866, + "id": "bbox_1767855682684_1767855769828_6yue1qj0w", + "width": 0.07399999548339871, + "x": 0.6856665841267954, + "y": 0.3953147769926125 + } + ], + "type": "bbox" + }, + "bbox_1767855686884": { + "instances": [ + { + "height": 0.1853333182508693, + "id": "bbox_1767855686884_1767855778844_bmzijweyg", + "width": 0.26199998400879, + "x": 0.36566660365804415, + "y": 0.8073147434639696 + } + ], + "type": "bbox" + }, + "point_1767855691060": { + "instances": [ + { + "id": "point_1767855691060_1767855763212_6y0sj39rz", + "x": 0.5276665937703495, + "y": 0.5113147675525092 + } + ], + "type": "point" + }, + "point_1767855698052": { + "instances": [ + { + "id": "point_1767855698052_1767855766212_wvv59k4ma", + "x": 0.5876665901082403, + "y": 0.47398143725737 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，直至药瓶的正上方。接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹垂直于桌面，缩短了药瓶之间的距离。方便后续抓取药瓶。", + "frame": 149, + "progress": 15, + "progress_explanation": "爪夹角度与桌面垂直，水平上接近了药瓶。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹垂直于桌面。水平上接近了药瓶。\n为完成抓取药瓶落入锅的任务应当：爪夹向爪夹方向的左侧移动，直至药瓶的正上方。", + "time": 4.958799 + }, + { + "action_description": "爪夹下降夹住勺子。", + "annotations": { + "bbox_1767855682684": { + "instances": [ + { + "height": 0.11199999088541741, + "id": "bbox_1767855682684_1767855804108_h5svfivz2", + "width": 0.09199999438476594, + "x": 0.6696665851033579, + "y": 0.37798144506986936 + } + ], + "type": "bbox" + }, + "bbox_1767855686884": { + "instances": [ + { + "height": 0.19866665049913326, + "id": "bbox_1767855686884_1767855793996_yhgvt36uy", + "width": 0.25099998468017676, + "x": 0.36866660347493874, + "y": 0.8033147437894903 + } + ], + "type": "bbox" + }, + "point_1767855691060": { + "instances": [ + { + "id": "point_1767855691060_1767855800476_bsyyzekpx", + "x": 0.537666593159998, + "y": 0.4899814359552868 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹打开松开勺子向上抬升，并向爪夹方向的左侧移动，直至药瓶的正上方。接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹没有移动到药瓶的正上方下降，抓到错误目标。", + "frame": 183, + "progress": 10, + "progress_explanation": "爪夹下降夹到错误目标勺子，因此进度降至为10%。", + "state_description": "爪夹合拢，夹住勺子。\n为完成抓取药瓶落入锅的任务应当：爪夹打开松开勺子向上抬升，并向爪夹方向的左侧移动，直至药瓶的正上方。", + "time": 6.105733 + }, + { + "action_description": "爪夹夹起勺子并打开，勺子掉落桌面。", + "annotations": { + "bbox_1767855682684": { + "instances": [ + { + "height": 0.09866665863715346, + "id": "bbox_1767855682684_1767855809932_7uifkuyrb", + "width": 0.07999999511718778, + "x": 0.6796665844930063, + "y": 0.38864811086848056 + } + ], + "type": "bbox" + }, + "bbox_1767855686884": { + "instances": [ + { + "height": 0.2119999827473972, + "id": "bbox_1767855686884_1767855814171_ggaof69es", + "width": 0.2719999833984385, + "x": 0.36366660378011445, + "y": 0.7913147447660527 + } + ], + "type": "bbox" + }, + "point_1767855691060": { + "instances": [ + { + "id": "point_1767855691060_1767855822316_8wwv6ndfa", + "x": 0.4436665988973023, + "y": 0.369981445720911 + } + ], + "type": "point" + }, + "point_1767855698052": { + "instances": [ + { + "id": "point_1767855698052_1767855825388_uozhawc5b", + "x": 0.536666593221033, + "y": 0.363314779596779 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到药瓶的正上方。接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹夹起勺子并打开，勺子掉落桌面，需重新向药瓶移动。", + "frame": 248, + "progress": 5, + "progress_explanation": "爪夹夹起勺子并打开，勺子掉落桌面，爪夹接近垂直于桌面，因此进度降至为5%。", + "state_description": "爪夹张开，爪夹接近垂直于桌面。\n为完成抓取药瓶落入锅的任务应当：爪夹向爪夹方向的左侧移动，同时调整爪夹的角度使其垂直于桌面，并移动到药瓶的正上方。", + "time": 8.264666 + }, + { + "action_description": "爪夹向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767855682684": { + "instances": [ + { + "height": 0.07866666026475742, + "id": "bbox_1767855682684_1767855839492_rk52m9jif", + "width": 0.0749999954223635, + "x": 0.681666584370936, + "y": 0.40198144311674455 + } + ], + "type": "bbox" + }, + "bbox_1767855686884": { + "instances": [ + { + "height": 0.1853333182508693, + "id": "bbox_1767855686884_1767855843204_7ksuejvk4", + "width": 0.25999998413086034, + "x": 0.36566660365804415, + "y": 0.8099814099136222 + } + ], + "type": "bbox" + }, + "point_1767855691060": { + "instances": [ + { + "id": "point_1767855691060_1767855834436_r4txuwd3j", + "x": 0.7356665810750378, + "y": 0.4006481098919181 + } + ], + "type": "point" + }, + "point_1767855698052": { + "instances": [ + { + "id": "point_1767855698052_1767855831316_vm3t07uk0", + "x": 0.7626665794270886, + "y": 0.30598145092924395 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹左侧微调合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹向爪夹方向的左侧微调，爪夹左位于药瓶的正上方，爪夹靠近药瓶。", + "frame": 313, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的左侧移动，爪夹左位于药瓶的正上方，因此进度提升为20%。", + "state_description": "当前爪夹打开，垂直于桌面，爪夹左处于药瓶的正上方。\n为完成抓取药瓶落入锅的任务应当：向爪夹左侧微调合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动", + "time": 10.423599 + }, + { + "action_description": "爪夹合拢并抬升。", + "annotations": { + "bbox_1767855682684": { + "instances": [ + { + "height": 0.09866665863715346, + "id": "bbox_1767855682684_1767855867220_53nqmwltl", + "width": 0.08499999481201206, + "x": 0.6736665848592172, + "y": 0.38998144409330693 + } + ], + "type": "bbox" + }, + "bbox_1767855686884": { + "instances": [ + { + "height": 0.1959999840494805, + "id": "bbox_1767855686884_1767855855780_xvsg09f9l", + "width": 0.25299998455810646, + "x": 0.37066660335286855, + "y": 0.8006480773398373 + } + ], + "type": "bbox" + }, + "point_1767855691060": { + "instances": [ + { + "id": "point_1767855691060_1767855874132_0ep4g9gnp", + "x": 0.7726665788167371, + "y": 0.16331479587281936 + } + ], + "type": "point" + }, + "point_1767855698052": { + "instances": [ + { + "id": "point_1767855698052_1767855877580_4kygizlom", + "x": 0.7786665784505262, + "y": 0.15664812974868736 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹打开并向下移动，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹左抵住药瓶瓶身，导致爪夹合拢没有夹住药瓶。", + "frame": 367, + "progress": 5, + "progress_explanation": "爪夹合拢没有夹住药瓶直接抬升，因此进度降至为5%。", + "state_description": "爪夹合拢，处于药瓶的上空。\n为完成抓取药瓶落入锅的任务应当：爪夹打开并向下移动，直至药瓶的正上方，接着落下爪夹靠近药瓶", + "time": 12.245199 + }, + { + "action_description": "爪夹打开并下降。", + "annotations": { + "bbox_1767855682684": { + "instances": [ + { + "height": 0.08266665993923669, + "id": "bbox_1767855682684_1767855888988_k7xt10y4y", + "width": 0.0769999953002932, + "x": 0.6926665836995494, + "y": 0.3981296011857421 + } + ], + "type": "bbox" + }, + "bbox_1767855686884": { + "instances": [ + { + "height": 0.20266665017361246, + "id": "bbox_1767855686884_1767855893515_mo8gravvs", + "width": 0.25899998419189546, + "x": 0.3626666038411496, + "y": 0.790129569284703 + } + ], + "type": "bbox" + }, + "point_1767855691060": { + "instances": [ + { + "id": "point_1767855691060_1767855884787_34ozl4cj8", + "x": 0.6896665838826548, + "y": 0.5127962585208123 + } + ], + "type": "point" + }, + "point_1767855698052": { + "instances": [ + { + "id": "point_1767855698052_1767855882316_hfz67ei7d", + "x": 0.7236665818074595, + "y": 0.431462931806402 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹右侧微调合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹打开并下降，爪夹右位于药瓶的正上方，爪夹靠近药瓶。", + "frame": 439, + "progress": 20, + "progress_explanation": "爪夹打开并下降，爪夹右位于药瓶的正上方，因此进度提升为20%。", + "state_description": "当前爪夹打开，垂直于桌面，爪夹右处于药瓶的正上方。\n为完成抓取药瓶落入锅的任务应当：向爪夹右侧微调合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动", + "time": 14.640266 + }, + { + "action_description": "爪夹合拢并抬升。", + "annotations": { + "bbox_1767855682684": { + "instances": [ + { + "height": 0.11999999023437577, + "id": "bbox_1767855682684_1767855903388_1zmf2k26h", + "width": 0.06899999578857444, + "x": 0.6936665836385141, + "y": 0.3539814470229942 + } + ], + "type": "bbox" + }, + "bbox_1767855686884": { + "instances": [ + { + "height": 0.19866665049913326, + "id": "bbox_1767855686884_1767855898867_atp8pp5uy", + "width": 0.25699998431396576, + "x": 0.3626666038411496, + "y": 0.799314744115011 + } + ], + "type": "bbox" + }, + "point_1767855691060": { + "instances": [ + { + "id": "point_1767855691060_1767860593311_rt76djfw7", + "x": 0.7356665810750378, + "y": 0.27842591117953197 + } + ], + "type": "point" + }, + "point_1767855698052": { + "instances": [ + { + "id": "point_1767855698052_1767860596447_yhuy2n74n", + "x": 0.7386665808919323, + "y": 0.2744259115050528 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹打开并向下移动，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅", + "error_success_analysis": "爪夹右抵住药瓶瓶身，导致爪夹合拢没有夹住药瓶。", + "frame": 513, + "progress": 5, + "progress_explanation": "爪夹合拢没有夹住药瓶直接抬升，因此进度降至为5%。", + "state_description": "爪夹合拢，处于药瓶的上空。\n为完成抓取药瓶落入锅的任务应当：爪夹打开并向下移动，直至药瓶的正上方，接着落下爪夹靠近药瓶", + "time": 17.09850822210692 + }, + { + "action_description": "爪夹打开并下降。", + "annotations": { + "bbox_1767855682684": { + "instances": [ + { + "height": 0.10399999153645899, + "id": "bbox_1767855682684_1767855947132_8mylius1n", + "width": 0.06299999615478535, + "x": 0.6916665837605844, + "y": 0.36109257111876863 + } + ], + "type": "bbox" + }, + "bbox_1767855686884": { + "instances": [ + { + "height": 0.18399998502604298, + "id": "bbox_1767855686884_1767855951620_m3wmp1oz2", + "width": 0.2839999826660166, + "x": 0.35166660451253634, + "y": 0.8077592014356119 + } + ], + "type": "bbox" + }, + "point_1767855691060": { + "instances": [ + { + "id": "point_1767855691060_1767855934867_uv87v4cci", + "x": 0.6786665845540414, + "y": 0.4753147704821964 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅", + "error_success_analysis": "爪夹打开并垂直下降，靠近了药瓶，方便抓取。", + "frame": 576, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，处于药瓶的正上方。方便抓取，因此进度提升为 20%。", + "state_description": "当前爪夹打开，垂直于桌面，处于药瓶的正上方。\n为完成抓取药瓶落入锅的任务应当：合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动", + "time": 19.194266 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767855682684": { + "instances": [ + { + "height": 0.08399999316406308, + "id": "bbox_1767855682684_1767855966036_l2d0zfoqu", + "width": 0.06699999591064483, + "x": 0.6626665855306039, + "y": 0.4006481098919181 + } + ], + "type": "bbox" + }, + "bbox_1767855686884": { + "instances": [ + { + "height": 0.1973333172743068, + "id": "bbox_1767855686884_1767855957571_dmjadpcn8", + "width": 0.2549999844360361, + "x": 0.36666660359700903, + "y": 0.8006480773398376 + } + ], + "type": "bbox" + }, + "point_1767855691060": { + "instances": [ + { + "id": "point_1767855691060_1767855961820_nftd3mmwl", + "x": 0.6756665847371469, + "y": 0.4646481046835852 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动，直至锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到药瓶。", + "frame": 605, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到药瓶，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到药瓶，爪夹角度与桌面接近垂直。\n为完成抓取药瓶落入锅的任务应当：抓紧药瓶垂直升高爪夹并向爪夹方向的右前方移动，直至锅的正上方。", + "time": 20.158851641912552 + }, + { + "action_description": "爪夹垂直升高。", + "annotations": { + "bbox_1767855682684": { + "instances": [ + { + "height": 0.12399998990885498, + "id": "bbox_1767855682684_1767855971700_xpoj1me6h", + "width": 0.08199999499511748, + "x": 0.5876665901082403, + "y": 0.27664811998306316 + } + ], + "type": "bbox" + }, + "bbox_1767855686884": { + "instances": [ + { + "height": 0.19866665049913326, + "id": "bbox_1767855686884_1767855979396_l5jskmacl", + "width": 0.2589999841918955, + "x": 0.36566660365804415, + "y": 0.7957592024121743 + } + ], + "type": "bbox" + }, + "point_1767855691060": { + "instances": [ + { + "id": "point_1767855691060_1767855974724_jzta5uq31", + "x": 0.6056665890096076, + "y": 0.37798144506986936 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹方向的右前方移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹合拢夹紧药瓶，水平上接近了锅。更加方便接近锅。", + "frame": 654, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧药瓶，垂直升高缩短了与锅的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧药瓶，药瓶离开桌面。\n为完成抓取药瓶落入锅的任务应当：继续向爪夹方向的右前方移动，水平到达锅的正上方后将药瓶放入锅。", + "time": 21.791733 + }, + { + "action_description": "爪夹夹紧药瓶向爪夹方向的右前方移动，", + "annotations": { + "bbox_1767855682684": { + "instances": [ + { + "height": 0.14133332183159814, + "id": "bbox_1767855682684_1767856003148_cs38w6b18", + "width": 0.07799999523925809, + "x": 0.45166659840902107, + "y": 0.7770925372646047 + } + ], + "type": "bbox" + }, + "bbox_1767855686884": { + "instances": [ + { + "height": 0.23199998111979322, + "id": "bbox_1767855686884_1767855990420_n56qua5x5", + "width": 0.24999998474121185, + "x": 0.3716666032918333, + "y": 0.8002036397132454 + } + ], + "type": "bbox" + }, + "point_1767855691060": { + "instances": [ + { + "id": "point_1767855691060_1767855997532_667q1budg", + "x": 0.4546665982259156, + "y": 0.8597591972038414 + } + ], + "type": "point" + } + }, + "correction_plan": "将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "到了爪夹左侧的锅的正上方，方便药瓶落入锅。", + "frame": 743, + "progress": 60, + "progress_explanation": "爪夹夹紧药瓶，到了爪夹左侧的锅的正上方，方便药瓶落入锅。因此进度提升为 60%。", + "state_description": "爪夹夹紧药瓶，爪夹角度接近垂直于桌面，位于锅的正上方。\n为完成抓取药瓶落入锅的任务应当：将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "time": 24.760266 + }, + { + "action_description": "爪夹张开，药瓶掉落锅", + "annotations": { + "bbox_1767855682684": { + "instances": [ + { + "height": 0.09733332541232696, + "id": "bbox_1767855682684_1767856017084_q116n6ias", + "width": 0.05499999664306663, + "x": 0.3986666016438841, + "y": 0.8975369651255726 + } + ], + "type": "bbox" + }, + "bbox_1767855686884": { + "instances": [ + { + "height": 0.1999999837239597, + "id": "bbox_1767855686884_1767856028092_n87i5xulk", + "width": 0.25999998413086034, + "x": 0.36566660365804415, + "y": 0.8037592017611327 + } + ], + "type": "bbox" + }, + "point_1767855691060": { + "instances": [ + { + "id": "point_1767855691060_1767856034948_oau0i9ruq", + "x": 0.43566659938558355, + "y": 0.8797591955762374 + } + ], + "type": "point" + }, + "point_1767855698052": { + "instances": [ + { + "id": "point_1767855698052_1767856037324_r27arzdlp", + "x": 0.543666592793787, + "y": 0.865092530103147 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，药瓶落入锅", + "frame": 790, + "progress": 100, + "progress_explanation": "爪夹张开药瓶落入锅，任务完成。因此进度提升为100%。", + "state_description": "爪夹张开，药瓶掉落锅，角度保持垂直向下于桌面。\n爪夹松开药瓶落入锅的任务目标完成。", + "time": 26.345733 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767855682684", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767855686884", + "name": "锅" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767855691060", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767855698052", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-180401-mix-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-180401-mix-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..36c694e38f6b196cf97df1b1081bf6f2971b9a92 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251126-180401-mix-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,800 @@ +{ + "task_description": "抓取药瓶放入锅里：\n准备开始移动：0%\n爪夹靠近药瓶：20%\n爪夹抓取药瓶：40%\n爪夹抓紧药瓶接近锅：60%\n爪夹将药瓶放入锅：80%\n爪夹松开药瓶落入锅：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到药瓶的正上方。接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "当前为初始状态，远离药瓶，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离药瓶，未开始移动。\n为完成抓取药瓶落入锅的任务应当：爪夹向爪夹方向的正前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到药瓶的正上方。", + "time": 1.803833, + "annotations": { + "point_1767843138000": { + "type": "point", + "instances": [ + { + "id": "point_1767843138000_1767849030386_d7k7ufsev", + "x": 0.46566659755452894, + "y": 0.3753147786202166 + } + ] + }, + "point_1767843127656": { + "type": "point", + "instances": [ + { + "id": "point_1767843127656_1767849033666_ds592lbrf", + "x": 0.3576666041463254, + "y": 0.3859814444188278 + } + ] + }, + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767849045754_e21w1n7ip", + "x": 0.7186665821126353, + "y": 0.4393147734118837, + "width": 0.24099998529052824, + "height": 0.3306666397569466 + } + ] + }, + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767849050850_eihuufr97", + "x": 0.33366660561116906, + "y": 0.6393147571358433, + "width": 0.06399999609375025, + "height": 0.12933332280816062 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的正前方移动，并调整爪夹垂直于桌面。", + "correction_plan": "爪夹向爪夹的正前方微调并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹向爪夹正前方移动，爪夹垂直于桌面，接近了药瓶", + "frame": 101, + "progress": 10, + "progress_explanation": "爪夹向爪夹正前方移动，爪夹垂直于桌面，接近了药瓶，因此进度提升为 10%。", + "state_description": "爪夹张开，爪夹角度接近于垂直桌面，接近了药瓶。\n为完成抓取药瓶落入锅的任务应当：爪夹向爪夹的正前方微调并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶。", + "time": 3.3583034782832204, + "annotations": { + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767849008299_bdqm2rhe9", + "x": 0.7146665823567759, + "y": 0.4446481063111893, + "width": 0.26099998406982516, + "height": 0.34666663845486334 + } + ] + }, + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767849011658_ex6li0u1u", + "x": 0.3256666060994503, + "y": 0.6473147564848017, + "width": 0.08199999499511748, + "height": 0.117333323784723 + } + ] + }, + "point_1767843127656": { + "type": "point", + "instances": [ + { + "id": "point_1767843127656_1767849014955_tqvuxbanj", + "x": 0.31266660689290726, + "y": 0.5566480971966067 + } + ] + }, + "point_1767843138000": { + "type": "point", + "instances": [ + { + "id": "point_1767843138000_1767849017874_1j6hecgdl", + "x": 0.4316665996297241, + "y": 0.5606480968710859 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右侧移动并下降。", + "correction_plan": "爪夹向爪夹方向的左侧移动，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹向爪夹方向的右侧移动并下降，但是没有到药瓶的正上方。", + "frame": 152, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的右侧移动并下降，更加接近了药瓶，因此进度提升为15%。", + "state_description": "爪夹打开位于药瓶的左侧，接近了药瓶。\n为完成抓取药瓶落入锅的任务应当：爪夹向爪夹方向的左侧移动，直至药瓶的正上方，接着落下爪夹靠近药瓶", + "time": 5.068999, + "annotations": { + "point_1767843138000": { + "type": "point", + "instances": [ + { + "id": "point_1767843138000_1767848989906_jri19j9r3", + "x": 0.3386666053059933, + "y": 0.6834629112985912 + } + ] + }, + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767848992978_q1uytjrez", + "x": 0.3396666052449581, + "y": 0.628796249080709, + "width": 0.052999996765136934, + "height": 0.13066665603298694 + } + ] + }, + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767848996106_c6l3dd1o1", + "x": 0.7116665825398814, + "y": 0.44479626405466605, + "width": 0.2539999844970712, + "height": 0.3306666397569466 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左侧微调", + "correction_plan": "爪夹向爪夹方向的左侧微调，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹向爪夹方向的左侧微调，爪夹右位于药瓶的正上方，爪夹靠近药瓶。", + "frame": 208, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的左侧微调，爪夹右位于药瓶的正上方，因此进度提升为20%。", + "state_description": "爪夹打开，爪夹右触到药瓶。\n为完成抓取药瓶落入锅的任务应当：爪夹向爪夹方向的左侧微调，直至药瓶的正上方，接着落下爪夹靠近药瓶", + "time": 6.936310073763436, + "annotations": { + "point_1767843138000": { + "type": "point", + "instances": [ + { + "id": "point_1767843138000_1767848977570_2dey0uykb", + "x": 0.3616666039021848, + "y": 0.7046480851523369 + } + ] + }, + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767848981282_971lllz5l", + "x": 0.3256666060994503, + "y": 0.6379814239110169, + "width": 0.07999999511718778, + "height": 0.12266665668402865 + } + ] + }, + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767848984555_5e1gbt4ga", + "x": 0.7086665827229869, + "y": 0.4393147734118837, + "width": 0.26999998352050875, + "height": 0.3426666387803842 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹抬升并打开爪夹，向爪夹方向的左侧移动，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹右触碰到药瓶，没有在药瓶的正上方下降，导致爪夹合拢没有抓到药瓶。", + "frame": 239, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓取到药瓶，因此进度降至5%。", + "state_description": "爪夹合拢垂直于桌面。\n为完成抓取药瓶落入锅的任务应当：爪夹抬升并打开爪夹，向爪夹方向的左侧移动，直至药瓶的正上方。", + "time": 7.968833, + "annotations": { + "point_1767843138000": { + "type": "point", + "instances": [ + { + "id": "point_1767843138000_1767848942202_qmvxbtw88", + "x": 0.2866666084798212, + "y": 0.6757592121777984 + } + ] + }, + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767848945546_0pgw94cg0", + "x": 0.36566660365804415, + "y": 0.6424258815571385, + "width": 0.0629999961547854, + "height": 0.12399998990885498 + } + ] + }, + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767848949539_jcr53qosf", + "x": 0.7096665826619517, + "y": 0.4517592304069637, + "width": 0.25899998419189557, + "height": 0.3159999742838563 + } + ] + } + } + }, + { + "action_description": "爪夹抬升向爪夹方向的左侧微调并打开，调整爪夹垂直于桌面。", + "correction_plan": "爪夹向爪夹的正前方微调并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹抬升向爪夹方向的左侧微调并打开，爪夹垂直于桌面，接近了药瓶", + "frame": 311, + "progress": 10, + "progress_explanation": "爪夹抬升向爪夹方向的左侧微调并打开，爪夹垂直于桌面，接近了药瓶，因此进度提升为 10%。", + "state_description": "爪夹张开，爪夹角度接近于垂直桌面，接近了药瓶。\n为完成抓取药瓶落入锅的任务应当：爪夹向爪夹的正前方微调并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶。", + "time": 10.366333, + "annotations": { + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767848888762_xlch4k39l", + "x": 0.7146665823567759, + "y": 0.4313147740629253, + "width": 0.24399998510742274, + "height": 0.35199997135416905 + } + ] + }, + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767848892763_dcvch8d34", + "x": 0.36966660341390356, + "y": 0.6539814226089339, + "width": 0.0599999963378909, + "height": 0.10799999121093815 + } + ] + }, + "point_1767843127656": { + "type": "point", + "instances": [ + { + "id": "point_1767843127656_1767848902131_acwtovckw", + "x": 0.35666660420736057, + "y": 0.597981427166225 + } + ] + }, + "point_1767843138000": { + "type": "point", + "instances": [ + { + "id": "point_1767843138000_1767848927986_djq37pdi7", + "x": 0.4666665974934937, + "y": 0.5806480952434819 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹垂直下降，靠近了药瓶，方便抓取。", + "frame": 334, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，处于药瓶的正上方。方便抓取，因此进度提升为 20%。", + "state_description": "当前爪夹打开，垂直于桌面，处于药瓶的正上方。\n为完成抓取药瓶落入锅的任务应当：合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动", + "time": 11.142666, + "annotations": { + "point_1767843127656": { + "type": "point", + "instances": [ + { + "id": "point_1767843127656_1767848860699_wfb474v56", + "x": 0.38766660231527084, + "y": 0.6766480874309825 + } + ] + }, + "point_1767843138000": { + "type": "point", + "instances": [ + { + "id": "point_1767843138000_1767848864251_co0960rti", + "x": 0.4896665960896852, + "y": 0.6566480890585865 + } + ] + }, + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767848867931_at6cnosam", + "x": 0.366666603597009, + "y": 0.6433147568103226, + "width": 0.0629999961547854, + "height": 0.12399998990885498 + } + ] + }, + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767848875475_bgo62hltn", + "x": 0.720666581990565, + "y": 0.45398143888497405, + "width": 0.23799998547363366, + "height": 0.31999997395833546 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹抬升并打开垂直下降至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹合拢没有抓到药瓶，误把旁边的小铁桶抓住了", + "frame": 359, + "progress": 5, + "progress_explanation": "爪夹合拢没有抓到药瓶，误把旁边的小铁桶抓住了，因此进度降至为5%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直。\n为完成抓取药瓶落入锅的任务应当：爪夹抬升并打开垂直下降至药瓶的正上方，接着落下爪夹靠近药瓶", + "time": 11.97376672792637, + "annotations": { + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767848850787_v69z24bap", + "x": 0.38966660219320054, + "y": 0.6633147551827184, + "width": 0.09799999401855501, + "height": 0.09333332573784787 + } + ] + }, + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767848854235_pu5u65w4n", + "x": 0.7126665824788463, + "y": 0.45398143888497405, + "width": 0.26099998406982505, + "height": 0.31999997395833546 + } + ] + } + } + }, + { + "action_description": "爪夹抬升并把小铁桶夹起。", + "correction_plan": "爪夹打开并向爪夹方向的右前方移动，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹误把小铁桶夹起，但也是爪夹的正确方向应该向上抬升。", + "frame": 407, + "progress": 10, + "progress_explanation": "与上一步相比爪夹抬升重新抓取药瓶，因此进度提升为10%。", + "state_description": "爪夹合拢夹着小铁桶位于半空。\n为完成抓取药瓶落入锅的任务应当：爪夹打开并向爪夹方向的右前方移动，直至药瓶的正上方。", + "time": 13.562999, + "annotations": { + "point_1767843138000": { + "type": "point", + "instances": [ + { + "id": "point_1767843138000_1767848833810_1iaaqcst9", + "x": 0.5186665943196658, + "y": 0.40464810956639735 + } + ] + }, + "point_1767843127656": { + "type": "point", + "instances": [ + { + "id": "point_1767843127656_1767848837754_lxj3imuet", + "x": 0.5096665948689822, + "y": 0.4113147756905293 + } + ] + }, + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767848841411_xb30tzucg", + "x": 0.3816666026814818, + "y": 0.6793147538806353, + "width": 0.11099999322509806, + "height": 0.09199999251302143 + } + ] + }, + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767848844826_s657jxmtm", + "x": 0.7126665824788463, + "y": 0.4446481063111893, + "width": 0.2569999843139657, + "height": 0.325333306857641 + } + ] + } + } + }, + { + "action_description": "爪夹打开，小铁桶掉落桌面。", + "correction_plan": "爪夹向爪夹的右前方微调并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹打开小铁桶掉落桌面，是为了抓取药瓶", + "frame": 431, + "progress": 15, + "progress_explanation": "爪夹打开小铁桶掉落桌面，角度接近于垂直桌面，因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度接近于垂直桌面\n为完成抓取药瓶落入锅的任务应当：爪夹向爪夹的右前方微调并垂直下降，直至药瓶的正上方，接着落下爪夹靠近药瓶。", + "time": 14.362166, + "annotations": { + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767848819827_sgd2v500e", + "x": 0.7236665818074595, + "y": 0.4327962650312285, + "width": 0.23899998541259854, + "height": 0.35066663812934257 + } + ] + }, + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767848823507_h6lzc9wkp", + "x": 0.39266660201009507, + "y": 0.67279624549998, + "width": 0.09899999395751986, + "height": 0.09999999186197985 + } + ] + }, + "point_1767843127656": { + "type": "point", + "instances": [ + { + "id": "point_1767843127656_1767848825883_awfjts679", + "x": 0.471666597188318, + "y": 0.44479626405466605 + } + ] + }, + "point_1767843138000": { + "type": "point", + "instances": [ + { + "id": "point_1767843138000_1767848828987_mia5j3xrb", + "x": 0.5786665906575567, + "y": 0.3821296024878253 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方微调并下降。", + "correction_plan": "合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹向爪夹方向的右侧移动并垂直下降，靠近了药瓶，方便抓取。", + "frame": 469, + "progress": 20, + "progress_explanation": "爪夹角度垂直于桌面，处于药瓶的正上方。方便抓取，因此进度提升为 20%。", + "state_description": "当前爪夹打开，垂直于桌面，处于药瓶的正上方。\n为完成抓取药瓶落入锅的任务应当：合拢抓取药瓶，抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动", + "time": 15.622391874633164, + "annotations": { + "point_1767843127656": { + "type": "point", + "instances": [ + { + "id": "point_1767843127656_1767848799059_7ewj6gh2w", + "x": 0.4026666013997436, + "y": 0.7566480809205663 + } + ] + }, + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767848810202_e6fb8sas5", + "x": 0.4046666012776733, + "y": 0.6821295780737648, + "width": 0.08799999462890655, + "height": 0.08799999283854222 + } + ] + }, + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767848814138_6s51qpkzu", + "x": 0.7156665822957408, + "y": 0.43946293115536045, + "width": 0.2479999848632822, + "height": 0.3319999729817731 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，直至锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到药瓶。", + "frame": 503, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到药瓶，因此进度提升为40%。", + "state_description": "爪夹合拢抓取到药瓶，爪夹角度与桌面接近垂直。\n为完成抓取药瓶落入锅的任务应当：抓紧药瓶垂直升高爪夹并向爪夹方向的左侧移动，直至锅的正上方。", + "time": 16.759666, + "annotations": { + "point_1767843127656": { + "type": "point", + "instances": [ + { + "id": "point_1767843127656_1767848787955_iksrsd45g", + "x": 0.4236666001180053, + "y": 0.741981415447476 + } + ] + }, + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767848790996_vnj69rr5v", + "x": 0.3976666017049193, + "y": 0.6633147551827184, + "width": 0.06699999591064473, + "height": 0.1093333244357647 + } + ] + }, + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767848794683_w35cewsv3", + "x": 0.7226665818684948, + "y": 0.4606481050091061, + "width": 0.23499998565673907, + "height": 0.2999999755859395 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高。", + "correction_plan": "继续向爪夹的左侧移动，水平到达锅的正上方后将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "爪夹合拢夹紧药瓶，水平上接近了锅。更加方便接近锅。", + "frame": 547, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧药瓶，垂直升高缩短了与锅的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧药瓶，药瓶离开桌面。\n为完成抓取药瓶落入锅的任务应当：继续向爪夹的左侧移动，水平到达锅的正上方后将药瓶放入锅。", + "time": 18.220999, + "annotations": { + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767848773202_ujkxl4uao", + "x": 0.713666582417811, + "y": 0.44864810598566846, + "width": 0.2529999845581064, + "height": 0.3159999742838563 + } + ] + }, + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767848777114_uk3qbf4fk", + "x": 0.3556666042683957, + "y": 0.5193147669014676, + "width": 0.10299999371337924, + "height": 0.12533332313368142 + } + ] + }, + "point_1767843127656": { + "type": "point", + "instances": [ + { + "id": "point_1767843127656_1767848779874_wdbb5hxxc", + "x": 0.39466660188802477, + "y": 0.5993147603910514 + } + ] + }, + "point_1767843138000": { + "type": "point", + "instances": [ + { + "id": "point_1767843138000_1767848782722_k390qg8tp", + "x": 0.4556665981648805, + "y": 0.5873147613676138 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧药瓶向爪夹方向的左侧移动。", + "correction_plan": "将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "error_success_analysis": "到了爪夹左侧的锅的正上方，方便药瓶落入锅。", + "frame": 586, + "progress": 60, + "progress_explanation": "爪夹夹紧药瓶，到了爪夹左侧的锅的正上方，方便药瓶落入锅。因此进度提升为 60%。", + "state_description": "爪夹夹紧药瓶，爪夹角度接近垂直于桌面，位于锅的正上方。\n为完成抓取药瓶落入锅的任务应当：将药瓶放入锅，松开爪夹，使药瓶落入锅。", + "time": 19.52995170917077, + "annotations": { + "point_1767843127656": { + "type": "point", + "instances": [ + { + "id": "point_1767843127656_1767848754875_8qzic32bv", + "x": 0.8226665757649794, + "y": 0.584648094917961 + } + ] + }, + "point_1767843138000": { + "type": "point", + "instances": [ + { + "id": "point_1767843138000_1767848757147_me7vo3wg7", + "x": 0.8436665744832412, + "y": 0.5459814313979955 + } + ] + }, + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767848760738_yrg2jin8y", + "x": 0.7516665800984753, + "y": 0.5166481004518148, + "width": 0.10499999359130899, + "height": 0.08666665961371584 + } + ] + }, + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767848768667_bnvmldyl9", + "x": 0.7186665821126353, + "y": 0.42864810761327254, + "width": 0.24399998510742274, + "height": 0.33199997298177303 + } + ] + } + } + }, + { + "action_description": "爪夹张开，药瓶掉落锅", + "correction_plan": "", + "error_success_analysis": "爪夹张开，药瓶落入锅", + "frame": 638, + "progress": 100, + "progress_explanation": "爪夹张开药瓶落入锅，任务完成。因此进度提升为100%。", + "state_description": "爪夹张开，药瓶掉落锅，角度保持垂直向下于桌面。\n爪夹松开药瓶落入锅的任务目标完成。", + "time": 21.257833, + "annotations": { + "point_1767843138000": { + "type": "point", + "instances": [ + { + "id": "point_1767843138000_1767848740819_bzsuhqh92", + "x": 0.838666574788417, + "y": 0.500203664127306 + } + ] + }, + "point_1767843127656": { + "type": "point", + "instances": [ + { + "id": "point_1767843127656_1767848743459_pscch2kg7", + "x": 0.8026665769856824, + "y": 0.5824258864399507 + } + ] + }, + "bbox_1767843118465": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843118465_1767848747123_x0c6mumxl", + "x": 0.8086665766194716, + "y": 0.5370925567958531, + "width": 0.05899999639892588, + "height": 0.11199999088541747 + } + ] + }, + "bbox_1767843123096": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767843123096_1767848750539_crp05jr9b", + "x": 0.7146665823567759, + "y": 0.43975923138352613, + "width": 0.248999984802247, + "height": 0.331999972981773 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767843118465", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767843123096", + "name": "锅" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767843127656", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767843138000", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a35d55eaadf6800108c793ceb7968289e0edeb56 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,494 @@ +{ + "task_description": "抓取插排放入锅里：\n准备开始移动：0%\n爪夹靠近插排：20%\n爪夹抓取插排：40%\n爪夹抓紧插排接近锅：60%\n爪夹将插排放入锅：80%\n爪夹松开插排落入锅：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767838777035": { + "instances": [ + { + "height": 0.13466666666666668, + "id": "bbox_1767838777035_1767838969517_p49tlll78", + "width": 0.11699999999999999, + "x": 0.495, + "y": 0.42577777099609376 + } + ], + "type": "bbox" + }, + "bbox_1767838777163": { + "instances": [ + { + "height": 0.3426666666666666, + "id": "bbox_1767838777163_1767838974069_5fu4rpdd8", + "width": 0.23099999999999996, + "x": 0.195, + "y": 0.3417777709960938 + } + ], + "type": "bbox" + }, + "point_1767838778245": { + "instances": [ + { + "id": "point_1767838778245_1767838976495_tjosh8ewy", + "x": 0.41500000000000004, + "y": 0.3471111043294271 + } + ], + "type": "point" + }, + "point_1767838778371": { + "instances": [ + { + "id": "point_1767838778371_1767838987015_vt7g761bl", + "x": 0.518, + "y": 0.3591111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。接着落下爪夹靠近插排，接近插排后爪夹合拢抓取插排。抓紧插排垂直升高爪夹并向爪夹右方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅里。", + "error_success_analysis": "", + "frame": 67, + "progress": 0, + "progress_explanation": "当前为初始状态，远离插排，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离插排，未开始移动。\n为完成抓取插排使其落入锅的任务应当：爪夹向爪夹左前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。", + "time": 2.219066 + }, + { + "action_description": "爪夹向爪夹左前方移动，调整爪夹角度。", + "annotations": { + "bbox_1767838777035": { + "instances": [ + { + "height": 0.14400000000000002, + "id": "bbox_1767838777035_1767839007043_ytr7bxb6n", + "width": 0.12200000000000007, + "x": 0.492, + "y": 0.41777777099609376 + } + ], + "type": "bbox" + }, + "bbox_1767838777163": { + "instances": [ + { + "height": 0.32933333333333337, + "id": "bbox_1767838777163_1767839002729_mreoidedw", + "width": 0.259, + "x": 0.18, + "y": 0.35377777099609375 + } + ], + "type": "bbox" + }, + "point_1767838778245": { + "instances": [ + { + "id": "point_1767838778245_1767838998003_7059ocppc", + "x": 0.40700000000000003, + "y": 0.2711111043294271 + } + ], + "type": "point" + }, + "point_1767838778371": { + "instances": [ + { + "id": "point_1767838778371_1767838994247_csw06f1ay", + "x": 0.514, + "y": 0.2791111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。接着落下爪夹靠近插排，接近插排后爪夹合拢抓取插排。抓紧插排垂直升高爪夹并向爪夹右方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅里。", + "error_success_analysis": "爪夹的角度与桌面呈 50 度。水平上未接近插排", + "frame": 91, + "progress": 5, + "progress_explanation": "爪夹向爪夹左前方移动，爪夹角度与桌面呈 50 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 50 度。还未接近插排。\n为完成抓取插排使其落入锅里的任务应当：爪夹向爪夹左前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。", + "time": 3.037866 + }, + { + "action_description": "爪夹向爪夹左前方移动\n", + "annotations": { + "bbox_1767838777035": { + "instances": [ + { + "height": 0.14400000000000002, + "id": "bbox_1767838777035_1767839013977_6l1bksj8g", + "width": 0.12399999999999993, + "x": 0.49400000000000005, + "y": 0.4231111043294271 + } + ], + "type": "bbox" + }, + "bbox_1767838777163": { + "instances": [ + { + "height": 0.336, + "id": "bbox_1767838777163_1767839018477_8pnyvf1m0", + "width": 0.26399999999999996, + "x": 0.174, + "y": 0.3484444376627604 + } + ], + "type": "bbox" + }, + "point_1767838778245": { + "instances": [ + { + "id": "point_1767838778245_1767839021119_m8xf1skex", + "x": 0.46399999999999997, + "y": 0.4057777709960938 + } + ], + "type": "point" + }, + "point_1767838778371": { + "instances": [ + { + "id": "point_1767838778371_1767839024377_ypr62gnb9", + "x": 0.546, + "y": 0.3857777709960937 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。接着落下爪夹靠近插排，接近插排后爪夹合拢抓取插排。抓紧插排垂直升高爪夹并向爪夹右方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅里。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了插排之间的距离。方便后续抓取插排。", + "frame": 116, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了插排。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了插排。\n为完成抓取插排使其落入锅里的任务应当：爪夹向爪夹左前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。", + "time": 3.8804 + }, + { + "action_description": "爪夹向爪夹左方移动并垂直向下移动，调整爪夹角度", + "annotations": { + "bbox_1767838777035": { + "instances": [ + { + "height": 0.14666666666666667, + "id": "bbox_1767838777035_1767839037653_bmwhfki7c", + "width": 0.12000000000000002, + "x": 0.49400000000000005, + "y": 0.4204444376627604 + } + ], + "type": "bbox" + }, + "bbox_1767838777163": { + "instances": [ + { + "height": 0.316, + "id": "bbox_1767838777163_1767839034167_yuk6uyup4", + "width": 0.238, + "x": 0.19, + "y": 0.36311110432942706 + } + ], + "type": "bbox" + }, + "point_1767838778245": { + "instances": [ + { + "id": "point_1767838778245_1767839030055_637lohc3h", + "x": 0.5389999999999999, + "y": 0.5244444376627604 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取插排，抓紧插排垂直升高爪夹并向爪夹右方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅里。", + "error_success_analysis": "爪夹垂直向下移动，靠近了插排，方便抓取。\n", + "frame": 146, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了插排。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了插排。准备抓取插排。\n为完成抓取插排使其落入锅里的任务应当：爪夹向爪夹左前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。", + "time": 4.865333 + }, + { + "action_description": "爪夹合拢\n", + "annotations": { + "bbox_1767838777035": { + "instances": [ + { + "height": 0.16533333333333336, + "id": "bbox_1767838777035_1767839042627_knkabxegh", + "width": 0.10800000000000001, + "x": 0.503, + "y": 0.3951111043294271 + } + ], + "type": "bbox" + }, + "bbox_1767838777163": { + "instances": [ + { + "height": 0.3413333333333334, + "id": "bbox_1767838777163_1767839051045_yth8hcmvv", + "width": 0.25500000000000006, + "x": 0.18, + "y": 0.3404444376627604 + } + ], + "type": "bbox" + }, + "point_1767838778245": { + "instances": [ + { + "id": "point_1767838778245_1767839045567_anw7uxhmi", + "x": 0.5469999999999999, + "y": 0.5351111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧插排垂直升高爪夹并向爪夹右方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到插排", + "frame": 172, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到插排。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到插排，爪夹角度与桌面接近垂直。\n为完成抓取插排使其落入锅里的任务应当：爪夹向爪夹前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。", + "time": 5.743466 + }, + { + "action_description": "爪夹夹紧插排，垂直升高，向爪夹右方移动。\n", + "annotations": { + "bbox_1767838777035": { + "instances": [ + { + "height": 0.15866666666666665, + "id": "bbox_1767838777035_1767839059495_xpuelbs0w", + "width": 0.13799999999999998, + "x": 0.504, + "y": 0.2564444376627604 + } + ], + "type": "bbox" + }, + "bbox_1767838777163": { + "instances": [ + { + "height": 0.3440000000000001, + "id": "bbox_1767838777163_1767839055987_fsfsgn3zm", + "width": 0.24, + "x": 0.194, + "y": 0.3431111043294271 + } + ], + "type": "bbox" + }, + "point_1767838778245": { + "instances": [ + { + "id": "point_1767838778245_1767839062851_b9gou8gm6", + "x": 0.5660000000000001, + "y": 0.3857777709960937 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅。\n", + "error_success_analysis": "爪夹合拢继续夹紧插排，水平上接近了锅。更加方便接近锅。", + "frame": 212, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧插排，垂直升高并向爪夹右边的锅接近。缩短了与锅的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧插排，水平上接近了锅。\n为完成抓取插排使其落入锅的任务应当：继续向爪夹右方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅里。", + "time": 7.072533 + }, + { + "action_description": "爪夹夹紧插排，向爪夹右前方移动", + "annotations": { + "bbox_1767838777035": { + "instances": [ + { + "height": 0.12666666666666668, + "id": "bbox_1767838777035_1767839072351_muedg6s6v", + "width": 0.11299999999999999, + "x": 0.387, + "y": 0.29911110432942706 + } + ], + "type": "bbox" + }, + "bbox_1767838777163": { + "instances": [ + { + "height": 0.34266666666666673, + "id": "bbox_1767838777163_1767839077563_kzhs7f52w", + "width": 0.24900000000000003, + "x": 0.187, + "y": 0.3524444376627604 + } + ], + "type": "bbox" + }, + "point_1767838778245": { + "instances": [ + { + "id": "point_1767838778245_1767839067603_bjd8xvloy", + "x": 0.406, + "y": 0.3897777709960938 + } + ], + "type": "point" + } + }, + "correction_plan": "将插排放入锅里，松开爪夹，使插排落入锅。\n", + "error_success_analysis": "爪夹移动到了锅正上方，方便将目标放入锅里。", + "frame": 240, + "progress": 60, + "progress_explanation": "爪夹夹紧插排，到了爪夹右方的锅正上方，方便放入锅里。因此进度提升为 60%。", + "state_description": "爪夹夹紧插排，爪夹角度接近垂直于桌面，位于锅正上方。\n为完成抓取插排使其落入锅的任务应当：继续向爪夹右方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅里。", + "time": 7.986266 + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "annotations": { + "bbox_1767838777035": { + "instances": [ + { + "height": 0.17466666666666666, + "id": "bbox_1767838777035_1767839087093_l5celj6ma", + "width": 0.09700000000000002, + "x": 0.267, + "y": 0.3804444376627604 + } + ], + "type": "bbox" + }, + "bbox_1767838777163": { + "instances": [ + { + "height": 0.3360000000000001, + "id": "bbox_1767838777163_1767839082963_ltccoy6rc", + "width": 0.24799999999999994, + "x": 0.186, + "y": 0.3511111043294271 + } + ], + "type": "bbox" + }, + "point_1767838778245": { + "instances": [ + { + "id": "point_1767838778245_1767839089817_3motuk6ws", + "x": 0.275, + "y": 0.4871111043294271 + } + ], + "type": "point" + }, + "point_1767838778371": { + "instances": [ + { + "id": "point_1767838778371_1767839092427_si8mc543f", + "x": 0.343, + "y": 0.5164444376627605 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使插排落入锅。\n", + "error_success_analysis": "插排放入锅里，方便插排落入锅。", + "frame": 277, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，插排放入锅里。因此进度提升为 80%。", + "state_description": "爪夹夹紧插排，爪夹角度接近垂直于桌面，插排放入锅里。\n为完成抓取插排使其落入锅的任务应当：继续向爪夹右方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅里。", + "time": 9.244133 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1767838777035": { + "instances": [ + { + "height": 0.14933333333333335, + "id": "bbox_1767838777035_1767839104335_yhypecbju", + "width": 0.11800000000000006, + "x": 0.288, + "y": 0.4791111043294271 + } + ], + "type": "bbox" + }, + "bbox_1767838777163": { + "instances": [ + { + "height": 0.3533333333333334, + "id": "bbox_1767838777163_1767839108183_pgd65jp36", + "width": 0.27699999999999997, + "x": 0.166, + "y": 0.3404444376627604 + } + ], + "type": "bbox" + }, + "point_1767838778245": { + "instances": [ + { + "id": "point_1767838778245_1767839099867_4o3gvke1q", + "x": 0.259, + "y": 0.48044443766276046 + } + ], + "type": "point" + }, + "point_1767838778371": { + "instances": [ + { + "id": "point_1767838778371_1767839096837_8xjnzxyl8", + "x": 0.363, + "y": 0.5071111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹张开，插排落入锅。", + "frame": 329, + "progress": 100, + "progress_explanation": "爪夹张开，插排落入锅，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开插排落入锅的任务目标完成。", + "time": 10.9648 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767838777035", + "name": "插排" + }, + { + "color": "#FF9800", + "id": "bbox_1767838777163", + "name": "锅" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767838778245", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767838778371", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..415f029e81c84cc7aa393ee6d7be57a2db46722c --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,290 @@ +{ + "task_description": "爪夹抓取插座放进米饭锅里。\n爪夹开始移动:0%\n爪夹靠近插座:30%\n爪夹夹起插座:50%\n爪夹抓取插座移动至米饭锅里:80%\n爪夹松开，插座落入米饭锅里:100%", + "progress_points": [ + { + "action_description": "爪夹保持状态，暂未移动。", + "correction_plan": "调整爪夹角度使其垂直于桌面，然后爪夹向爪夹方向的前方移动至插座的正上方，抓取插座后抬升至空中，然后向爪夹方向的右侧移动，直至到达米饭锅的正上方，松开爪夹，然后插座落入米饭锅中。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，准备开始移动，没有靠近插座，所以任务进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成爪夹抓取插座放进米饭锅里的任务应当:调整爪夹角度使其垂直于桌面，然后向爪夹方向的前方移动至插座上方，方便抓取插座。", + "time": 1.6029896907216494, + "annotations": { + "bbox_1766556361562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556361562_1766556565518_6kblfsssz", + "x": 0.4845, + "y": 0.6839999999999999, + "width": 0.12399999999999993, + "height": 0.10400000000000004 + } + ] + }, + "bbox_1766556368242": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556368242_1766556570109_knjbm6sgh", + "x": 0.1975, + "y": 0.5306666666666667, + "width": 0.2539999999999999, + "height": 0.33999999999999997 + } + ] + }, + "point_1766556375905": { + "type": "point", + "instances": [ + { + "id": "point_1766556375905_1766556573093_rgtbvlqf3", + "x": 0.43550000000000005, + "y": 0.36533333333333334 + } + ] + }, + "point_1766556382121": { + "type": "point", + "instances": [ + { + "id": "point_1766556382121_1766556576174_4cjq3bxn3", + "x": 0.5315000000000001, + "y": 0.35333333333333333 + } + ] + } + } + }, + { + "action_description": "调整爪夹角度使其垂直于桌面，然后向爪夹方向的前方移动至插座上方。", + "correction_plan": "抓取插座后抬升至空中，然后向爪夹方向的右侧移动，直至到达米饭锅的正上方，松开爪夹，然后插座落入米饭锅中。", + "error_success_analysis": "调整爪夹角度使其垂直于桌面，然后向爪夹方向的前方移动至插座上方，方便抓取插座。", + "frame": 169, + "progress": 30, + "progress_explanation": "目前调整爪夹角度使其垂直于桌面，然后向爪夹方向的前方移动至插座上方，方便抓取插座，所以任务进度提升为30%。", + "state_description": "当前状态为爪夹打开，靠近插座。\n为完成爪夹抓取插座放进米饭锅里的任务应当:爪夹合拢抓取插座后抬升至空中。", + "time": 5.628762886597937, + "annotations": { + "bbox_1766556368242": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556368242_1766556610828_g8kgtes8u", + "x": 0.1995, + "y": 0.5293333333333333, + "width": 0.254, + "height": 0.3413333333333333 + } + ] + }, + "bbox_1766556361562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556361562_1766556617204_b0zrq3jub", + "x": 0.48550000000000004, + "y": 0.6826666666666666, + "width": 0.12399999999999993, + "height": 0.10799999999999994 + } + ] + }, + "point_1766556375905": { + "type": "point", + "instances": [ + { + "id": "point_1766556375905_1766556619932_jeydfavrr", + "x": 0.5445, + "y": 0.7826666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取插座后微微抬起并开始移动。", + "correction_plan": "爪夹抓取插座，向爪夹方向的右侧移动，直至到达米饭锅的正上方，松开爪夹，然后插座落入米饭锅中。", + "error_success_analysis": "插座已被抓取抬升至空中并开始向爪夹方向的右侧移动。", + "frame": 248, + "progress": 50, + "progress_explanation": "目前插座已被抓取抬升至空中并开始向爪夹方向的右侧移动，所以任务进度提升为50%。", + "state_description": "当前状态为爪夹合拢，抓紧插座。\n为完成爪夹抓取插座放进米饭锅里的任务应当:爪夹抓取插座向爪夹方向的右侧移动。", + "time": 8.278453608247423, + "annotations": { + "bbox_1766556368242": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556368242_1766556642916_ixrl0byjr", + "x": 0.20049999999999998, + "y": 0.5293333333333333, + "width": 0.254, + "height": 0.3426666666666666 + } + ] + }, + "bbox_1766556361562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556361562_1766556646067_d4nmcx4ay", + "x": 0.4795, + "y": 0.6586666666666666, + "width": 0.125, + "height": 0.1413333333333334 + } + ] + }, + "point_1766556375905": { + "type": "point", + "instances": [ + { + "id": "point_1766556375905_1766556648603_km4d1budx", + "x": 0.5345, + "y": 0.7613333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹抓取插座抬升后向爪夹方向移动至米饭锅里。", + "correction_plan": "松开爪夹，然后插座落入米饭锅中。", + "error_success_analysis": "爪夹抓取插座向爪夹方向的右侧移动直至到达米饭锅里，方便爪夹松开，插座落入米饭锅里。", + "frame": 348, + "progress": 80, + "progress_explanation": "目前爪夹抓取插座向爪夹方向的右侧移动直至到达米饭锅的正上方位置，所以任务进度提升为80%。", + "state_description": "当前状态为爪夹合拢，抓紧插座靠近米饭锅。\n为完成爪夹抓取插座放进米饭锅里的任务应当:爪夹抓取插座向爪夹方向的右侧移动到米饭锅里。", + "time": 11.61618556701031, + "annotations": { + "bbox_1766556368242": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556368242_1766556674651_6tbczfyxj", + "x": 0.1995, + "y": 0.52, + "width": 0.254, + "height": 0.3533333333333333 + } + ] + }, + "bbox_1766556361562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556361562_1766556678523_eftds7cg4", + "x": 0.2955, + "y": 0.5786666666666667, + "width": 0.098, + "height": 0.16266666666666676 + } + ] + }, + "point_1766556375905": { + "type": "point", + "instances": [ + { + "id": "point_1766556375905_1766556680778_d81v2ckha", + "x": 0.3025, + "y": 0.6733333333333333 + } + ] + }, + "point_1766556382121": { + "type": "point", + "instances": [ + { + "id": "point_1766556382121_1766556683603_62rrlky7v", + "x": 0.3865, + "y": 0.6546666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹松开，插座落入米饭锅中。", + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹在米饭锅里松开，插座成功落入米饭锅中", + "frame": 393, + "progress": 100, + "progress_explanation": "爪夹松开，插座落入米饭锅中，所以进度提升为100%.", + "state_description": "当前状态为爪夹张开，已完成爪夹抓取插座放进米饭锅里的任务。\n为完成爪夹抓取插座放进米饭锅里的任务应当:爪夹松开，插座落入米饭锅中。", + "time": 13.094742268041237, + "annotations": { + "bbox_1766556368242": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556368242_1766556714074_uvv9l3pd8", + "x": 0.1995, + "y": 0.5319999999999999, + "width": 0.25600000000000006, + "height": 0.34000000000000014 + } + ] + }, + "bbox_1766556361562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556361562_1766556717714_8ibkpuyjq", + "x": 0.2565, + "y": 0.64, + "width": 0.137, + "height": 0.13066666666666674 + } + ] + }, + "point_1766556375905": { + "type": "point", + "instances": [ + { + "id": "point_1766556375905_1766556721386_26a5epczn", + "x": 0.2855, + "y": 0.5306666666666666 + } + ] + }, + "point_1766556382121": { + "type": "point", + "instances": [ + { + "id": "point_1766556382121_1766556723833_48dxzg9m4", + "x": 0.4125, + "y": 0.5306666666666666 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766556361562", + "name": "插座", + "color": "#4CAF50" + }, + { + "id": "bbox_1766556368242", + "name": "米饭锅", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766556375905", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766556382121", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..04b1bef9eb0c0438959c867c2e445701cfab277b --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,494 @@ +{ + "task_description": "抓取插排放入锅里：\n准备开始移动：0%\n爪夹靠近插排：20%\n爪夹抓取插排：40%\n爪夹抓紧插排接近锅：60%\n爪夹将插排放入锅：80%\n爪夹松开插排落入锅：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。接着落下爪夹靠近插排，接近插排后爪夹合拢抓取插排。抓紧插排垂直升高爪夹并向爪夹左前方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅里。", + "error_success_analysis": "", + "frame": 50, + "progress": 0, + "progress_explanation": "当前为初始状态，远离插排，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离插排，未开始移动。\n为完成抓取插排使其落入锅的任务应当：爪夹向爪夹右前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。", + "time": 1.654866, + "annotations": { + "bbox_1767840183919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840183919_1767840645753_v9pclhzwm", + "x": 0.312, + "y": 0.4364444376627604, + "width": 0.11900000000000004, + "height": 0.13333333333333328 + } + ] + }, + "bbox_1767840184049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840184049_1767840649457_4yt7fh20c", + "x": 0.46299999999999997, + "y": 0.4497777709960938, + "width": 0.28900000000000003, + "height": 0.3466666666666666 + } + ] + }, + "point_1767840184921": { + "type": "point", + "instances": [ + { + "id": "point_1767840184921_1767840651859_p9v8uaarz", + "x": 0.44299999999999995, + "y": 0.3524444376627604 + } + ] + }, + "point_1767840185041": { + "type": "point", + "instances": [ + { + "id": "point_1767840185041_1767840655173_dlx4in4cp", + "x": 0.527, + "y": 0.3524444376627604 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹右前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。接着落下爪夹靠近插排，接近插排后爪夹合拢抓取插排。抓紧插排垂直升高爪夹并向爪夹左前方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅里。", + "error_success_analysis": "爪夹的角度与桌面呈 50 度。水平上未接近插排", + "frame": 85, + "progress": 5, + "progress_explanation": "爪夹向爪夹右前方移动，爪夹角度与桌面呈 50 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 50 度。还未接近插排。\n为完成抓取插排使其落入锅里的任务应当：爪夹向爪夹右前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。", + "time": 2.8438, + "annotations": { + "point_1767840185041": { + "type": "point", + "instances": [ + { + "id": "point_1767840185041_1767840660181_dn4f872qg", + "x": 0.528, + "y": 0.26044443766276043 + } + ] + }, + "point_1767840184921": { + "type": "point", + "instances": [ + { + "id": "point_1767840184921_1767840662949_4v4v8752l", + "x": 0.43899999999999995, + "y": 0.27644443766276044 + } + ] + }, + "bbox_1767840184049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840184049_1767840667239_lrw104ldn", + "x": 0.483, + "y": 0.48044443766276046, + "width": 0.251, + "height": 0.3186666666666667 + } + ] + }, + "bbox_1767840183919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840183919_1767840670585_4qf9175s2", + "x": 0.30700000000000005, + "y": 0.4364444376627604, + "width": 0.12400000000000003, + "height": 0.13066666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动", + "correction_plan": "爪夹向爪夹右前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。接着落下爪夹靠近插排，接近插排后爪夹合拢抓取插排。抓紧插排垂直升高爪夹并向爪夹左前方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅里。", + "error_success_analysis": "爪夹角度与桌面呈 70 度，缩短了插排之间的距离。方便后续抓取插排。", + "frame": 123, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了插排。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了插排。\n为完成抓取插排使其落入锅里的任务应当：爪夹向爪夹右前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。", + "time": 4.113066, + "annotations": { + "bbox_1767840183919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840183919_1767840675523_d6qjptsxt", + "x": 0.308, + "y": 0.4311111043294271, + "width": 0.12300000000000004, + "height": 0.15200000000000002 + } + ] + }, + "point_1767840185041": { + "type": "point", + "instances": [ + { + "id": "point_1767840185041_1767840678189_bspsuvh1x", + "x": 0.426, + "y": 0.4124444376627604 + } + ] + }, + "point_1767840184921": { + "type": "point", + "instances": [ + { + "id": "point_1767840184921_1767840681651_3lk3lii3j", + "x": 0.36, + "y": 0.40977777099609375 + } + ] + }, + "bbox_1767840184049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840184049_1767840687203_yjbwk7yg7", + "x": 0.46699999999999997, + "y": 0.4551111043294271, + "width": 0.279, + "height": 0.3600000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方移动并垂直向下移动，调整爪夹角度", + "correction_plan": "爪夹合拢抓取插排，抓紧插排垂直升高爪夹并向爪夹左前方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅里。", + "error_success_analysis": "爪夹垂直向下移动，靠近了插排，方便抓取。", + "frame": 178, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了插排。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了插排。准备抓取插排。\n为完成抓取插排使其落入锅里的任务应当：爪夹向爪夹右方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。", + "time": 5.9286, + "annotations": { + "bbox_1767840184049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840184049_1767840691505_npwittqa8", + "x": 0.47800000000000004, + "y": 0.4631111043294271, + "width": 0.25599999999999995, + "height": 0.332 + } + ] + }, + "point_1767840185041": { + "type": "point", + "instances": [ + { + "id": "point_1767840185041_1767840694575_duw5ane9p", + "x": 0.41500000000000004, + "y": 0.46444443766276045 + } + ] + }, + "point_1767840184921": { + "type": "point", + "instances": [ + { + "id": "point_1767840184921_1767840697759_gghwmb151", + "x": 0.374, + "y": 0.5231111043294271 + } + ] + }, + "bbox_1767840183919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840183919_1767840702437_kzbjkq6iw", + "x": 0.304, + "y": 0.4444444376627604, + "width": 0.12999999999999998, + "height": 0.11600000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧插排垂直升高爪夹并向爪夹左前方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到插排", + "frame": 245, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到插排。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到插排，爪夹角度与桌面接近垂直。\n为完成抓取插排使其落入锅里的任务应当：爪夹向爪夹前方的插排移动，同时调整爪夹的角度使其垂直与桌面，并移动到插排的正上方。", + "time": 8.161866, + "annotations": { + "bbox_1767840183919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840183919_1767840707599_omfrzrz5q", + "x": 0.315, + "y": 0.40044443766276044, + "width": 0.11300000000000003, + "height": 0.16533333333333336 + } + ] + }, + "point_1767840184921": { + "type": "point", + "instances": [ + { + "id": "point_1767840184921_1767840710061_e5h5e1ddj", + "x": 0.359, + "y": 0.5351111043294271 + } + ] + }, + "bbox_1767840184049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840184049_1767840714101_vg9m2z01g", + "x": 0.46799999999999997, + "y": 0.47377777099609375, + "width": 0.26800000000000007, + "height": 0.3266666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧插排，垂直升高，向爪夹左前方移动。", + "correction_plan": "继续向爪夹左前方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅。\n", + "error_success_analysis": "爪夹合拢继续夹紧插排，水平上接近了锅。更加方便接近锅。", + "frame": 341, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧插排，垂直升高并向爪夹左前边的锅接近。缩短了与锅的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧插排，水平上接近了锅。\n为完成抓取插排使其落入锅的任务应当：继续向爪夹左前方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅里。", + "time": 11.359133, + "annotations": { + "bbox_1767840184049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840184049_1767840718737_s5j6llcu1", + "x": 0.488, + "y": 0.4666666666666667, + "width": 0.246, + "height": 0.32533333333333336 + } + ] + }, + "bbox_1767840183919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840183919_1767840722941_f6onlo5z9", + "x": 0.278, + "y": 0.37866666666666665, + "width": 0.11799999999999997, + "height": 0.16799999999999998 + } + ] + }, + "point_1767840184921": { + "type": "point", + "instances": [ + { + "id": "point_1767840184921_1767840726653_3zz8lvod8", + "x": 0.323, + "y": 0.516 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧插排，向爪夹左前方移动", + "correction_plan": "将插排放入锅里，松开爪夹，使插排落入锅。", + "error_success_analysis": "爪夹移动到了锅正上方，方便将目标放入锅里。", + "frame": 364, + "progress": 60, + "progress_explanation": "爪夹夹紧插排，到了爪夹左前方的锅正上方，方便放入锅里。因此进度提升为 60%。", + "state_description": "爪夹夹紧插排，爪夹角度接近垂直于桌面，位于锅正上方。\n为完成抓取插排使其落入锅的任务应当：继续向爪夹左前方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅里。", + "time": 12.1464, + "annotations": { + "point_1767840184921": { + "type": "point", + "instances": [ + { + "id": "point_1767840184921_1767840730885_hz2xgp12w", + "x": 0.514, + "y": 0.4684444376627604 + } + ] + }, + "bbox_1767840183919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840183919_1767840734963_i5xsgh44a", + "x": 0.44800000000000006, + "y": 0.3777777709960938, + "width": 0.16699999999999998, + "height": 0.11333333333333329 + } + ] + }, + "bbox_1767840184049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840184049_1767840738769_lf75ka10s", + "x": 0.46699999999999997, + "y": 0.4551111043294271, + "width": 0.2720000000000001, + "height": 0.3440000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使插排落入锅。", + "error_success_analysis": "插排放入锅里，方便插排落入锅。", + "frame": 391, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面，插排放入锅里。因此进度提升为 80%。", + "state_description": "爪夹夹紧插排，爪夹角度接近垂直于桌面，插排放入锅里。\n为完成抓取插排使其落入锅的任务应当：继续向爪夹左前方的锅接近，水平到达锅的正上方后将插排放入锅里，松开爪夹，使插排落入锅里。", + "time": 13.046133, + "annotations": { + "bbox_1767840184049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840184049_1767840747563_jwnetw63j", + "x": 0.475, + "y": 0.4844444376627604, + "width": 0.263, + "height": 0.32133333333333336 + } + ] + }, + "bbox_1767840183919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840183919_1767840750601_hygm9gitt", + "x": 0.532, + "y": 0.5057777709960938, + "width": 0.142, + "height": 0.15199999999999997 + } + ] + }, + "point_1767840184921": { + "type": "point", + "instances": [ + { + "id": "point_1767840184921_1767840753371_m0p5zwd4x", + "x": 0.583, + "y": 0.6311111043294271 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，插排落入锅。", + "frame": 460, + "progress": 100, + "progress_explanation": "爪夹张开，插排落入锅，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开插排落入锅的任务目标完成。", + "time": 15.3276, + "annotations": { + "point_1767840184921": { + "type": "point", + "instances": [ + { + "id": "point_1767840184921_1767840756755_lqhtaftqi", + "x": 0.558, + "y": 0.6284444376627605 + } + ] + }, + "point_1767840185041": { + "type": "point", + "instances": [ + { + "id": "point_1767840185041_1767840762903_gp0ceffs5", + "x": 0.654, + "y": 0.591111104329427 + } + ] + }, + "bbox_1767840183919": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840183919_1767840766833_e5uyzf9v8", + "x": 0.53, + "y": 0.5857777709960937, + "width": 0.133, + "height": 0.1733333333333333 + } + ] + }, + "bbox_1767840184049": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767840184049_1767840771489_cdoq6vnub", + "x": 0.48600000000000004, + "y": 0.4697777709960938, + "width": 0.24900000000000003, + "height": 0.3253333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767840183919", + "name": "插排" + }, + { + "color": "#FF9800", + "id": "bbox_1767840184049", + "name": "锅" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767840184921", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767840185041", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-144853-good-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-144853-good-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..7034db93df4e7f6f4723421caecac72a8d60587f --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-144853-good-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,120 @@ +{ + "task_description": "抓取蓝色方块放入内胆里：\n准备开始移动：0%\n爪夹靠近蓝色方块：20%\n爪夹抓取蓝色方块：40%\n爪夹抓紧蓝色方块接近内胆：60%\n爪夹将蓝色方块放入内胆：80%\n爪夹松开蓝色方块落入内胆：100%", + "progress_points": [ + { + "time": 1.817, + "frame": 55, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离蓝色积木，未开始移动。\n为完成抓取蓝色方块使其落入内胆的任务应当：爪夹向爪夹左前方的蓝色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色积木的正上方。", + "progress_explanation": "当前为初始状态，远离蓝色积木，未开始移动。进度 0%。\n", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左前方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接着落下爪夹靠近蓝色方块，接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹右方的内胆接近，水平到达内胆的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。" + }, + { + "time": 2.944, + "frame": 88, + "progress": 5, + "action_description": "爪夹向爪夹左前方移动，调整爪夹角度。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。还未接近蓝色方块。\n为完成抓取蓝色方块使其落入内胆的任务应当：爪夹向爪夹左前方的蓝色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色积木的正上方。", + "progress_explanation": "爪夹向爪夹左前方移动，爪夹角度与桌面呈 60 度。方便抓取。因此进度提升为 5%。", + "error_success_analysis": "爪夹的角度与桌面呈 60 度。水平上未接近蓝色方块。\n", + "correction_plan": "爪夹向爪夹左前方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接着落下爪夹靠近蓝色方块，接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹右方的内胆接近，水平到达内胆的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。" + }, + { + "time": 4.232, + "frame": 127, + "progress": 15, + "action_description": "爪夹向爪夹左前方移动\n", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了蓝色方块。\n为完成抓取蓝色方块使其落入内胆的任务应当：爪夹向爪夹左前方的蓝色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色积木的正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了蓝色方块。更加方便抓取。因此进度提升为 15%。", + "error_success_analysis": "爪夹角度与桌面接近垂直，水平上接近了蓝色方块。更加方便抓取。因此进度提升为 15%。", + "correction_plan": "爪夹向爪夹左前方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接着落下爪夹靠近蓝色方块，接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹右方的内胆接近，水平到达内胆的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。" + }, + { + "time": 5.5010309278350515, + "frame": 165, + "progress": 20, + "action_description": "爪夹向爪夹左前方移动并垂直向下移动，调整爪夹角度\n", + "state_description": "爪夹角度接近垂直于桌面，靠近了蓝色方块。准备抓取蓝色方块。\n为完成抓取蓝色方块使其落入内胆的任务应当：爪夹合拢抓取蓝色方块，抓紧蓝色方块垂直升高爪夹并向爪夹右方的内胆接近", + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了蓝色方块。方便抓取，因此进度提升为 20%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，靠近了蓝色方块。方便抓取，因此进度提升为 20%。", + "correction_plan": "爪夹合拢抓取蓝色方块，抓紧蓝色方块垂直升高爪夹并向爪夹右方的内胆接近，水平到达内胆的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。" + }, + { + "time": 6.762, + "frame": 203, + "progress": 40, + "action_description": "爪夹合拢\n", + "state_description": "爪夹合拢抓取到蓝色方块，爪夹角度与桌面接近垂直。\n为完成抓取蓝色方块使其落入内胆的任务应当：抓紧蓝色方块垂直升高爪夹并向爪夹右方的内胆接近", + "progress_explanation": "爪夹合拢抓取到蓝色方块。因此进度提升为 40%。", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到蓝色方块。\n", + "correction_plan": "抓紧蓝色方块垂直升高爪夹并向爪夹右方的内胆接近，水平到达内胆的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。\n" + }, + { + "time": 7.7395, + "frame": 232, + "progress": 50, + "action_description": "爪夹夹紧蓝色方块，垂直升高，向爪夹右方移动。\n", + "state_description": "爪夹合拢夹紧蓝色方块，水平上接近了内胆。\n为完成抓取蓝色方块使其落入内胆的任务应当：继续向爪夹右方的内胆接近，水平到达铁盒的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。", + "progress_explanation": "爪夹合拢夹紧蓝色方块，垂直升高并向爪夹右边的内胆接近。缩短了与内胆的距离。因此进度提升为 50%", + "error_success_analysis": "爪夹合拢继续夹紧蓝色方块，水平上接近了内胆。更加方便接近内胆。", + "correction_plan": "继续向爪夹右方的内胆接近，水平到达内胆的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。\n" + }, + { + "time": 8.395, + "frame": 252, + "progress": 60, + "action_description": "爪夹夹紧蓝色方块，向爪夹右方移动", + "state_description": "爪夹夹紧蓝色方块，爪夹角度接近垂直于桌面，位于内胆正上方。\n为完成抓取蓝色方块使其落入内胆的任务应当：将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。", + "progress_explanation": "爪夹夹紧蓝色方块，到了爪夹右方的内胆正上方。因此进度提升为 60%。", + "error_success_analysis": "爪夹移动到了内胆正上方，方便将目标放入内胆。", + "correction_plan": "将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。\n" + }, + { + "time": 9.476, + "frame": 284, + "progress": 80, + "action_description": "爪夹调整角度，垂直向下移动", + "state_description": "爪夹夹紧蓝色方块，爪夹角度接近垂直于桌面，蓝色方放入内胆。\n为完成抓取蓝色方块使其落入内胆的任务应当：松开爪夹，使蓝色方块落入内胆。", + "progress_explanation": "爪夹角度接近垂直于桌面，蓝色方块放入内胆。因此进度提升为 80%。", + "error_success_analysis": "蓝色方块放入内胆，方便蓝色方块落入内胆。", + "correction_plan": "松开爪夹，使蓝色方块落入内胆。\n" + }, + { + "time": 10.603, + "frame": 318, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开蓝色方块落入内胆的任务目标完成。", + "progress_explanation": "爪夹张开，蓝色积木落入内胆，任务完成。因此进度提升为 100%。", + "error_success_analysis": "爪夹张开，蓝色积木落入内胆。", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767943057094", + "name": "内胆", + "color": "#4CAF50" + }, + { + "id": "bbox_1767943057222", + "name": "蓝色方块", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767943058178", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767943058308", + "name": "抓夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-144853-good-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-144853-good-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..770390535cf2badb68efcb9b4e22ec6a0bb35f9b --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-144853-good-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,90 @@ +{ + "task_description": "把蓝色方块夹起来放进电饭煲内胆里\n爪夹准备开始移动：0%\n爪夹靠近蓝色方块：20%\n爪夹夹起蓝色方块：40%\n爪夹移动蓝色方块：60%\n爪夹将蓝色方块放入电饭煲内胆上：80%\n爪夹松开，蓝色方块落入电饭煲内胆内：100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动", + "correction_plan": "调整夹爪角度，向爪夹左方移动至蓝色方块边缘后下降，抓取蓝色方块后竖直上升，向爪夹右前方移动至电饭煲内胆上方，下降放入蓝色方块后松开爪夹", + "error_success_analysis": "", + "frame": 70, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未移动，进度为0", + "state_description": "当前状态为爪夹打开，没有移动，没有接触蓝色方块。\n为完成夹起蓝色方块使其放入电饭煲内胆的任务应当:调整爪夹角度，然后向爪夹方向的左侧移动至蓝色方块边缘，准备抓取蓝色方块。", + "time": 2.3302676273409495 + }, + { + "action_description": "爪夹张开，正在下降靠近至红色方块的边缘", + "correction_plan": "爪夹继续下降，抓取蓝色方块后竖直上升，向爪夹右前方移动至电饭煲内胆上方，下降放入蓝色方块后松开爪夹", + "error_success_analysis": "爪夹成功到达蓝色方块边缘正上方，准备下降抓取", + "frame": 185, + "progress": 20, + "progress_explanation": "爪夹角度调整完毕，正在下降接近红色方块，进度20%", + "state_description": "当前爪夹张开，\n为完成夹起蓝色方块使其放入电饭煲内胆的任务应当:下降并旋转爪夹角度，准确抓取蓝色方块", + "time": 6.166839264248704 + }, + { + "action_description": "爪夹合拢夹住蓝色方块并准备上升", + "correction_plan": "爪夹抓取蓝色方块后继续竖直上升，向爪夹右前方移动至电饭煲内胆上方，下降放入蓝色方块后松开爪夹", + "error_success_analysis": "爪夹旋转至合适角度，向前小幅移动后合拢，成功夹住蓝色方块", + "frame": 276, + "progress": 40, + "progress_explanation": "爪夹成功夹住蓝色方块，进度40%", + "state_description": "当前爪夹合拢夹住蓝色方块，\n为完成夹起蓝色方块使其放入电饭煲内胆的任务应当:\n夹住蓝色方块并上升，然后向爪夹方向的右前方移动至电饭煲内胆上方，然后下降至电饭煲内胆上，随后松开爪夹，蓝色方块落入电饭煲内胆中间。", + "time": 9.194196721243523 + }, + { + "action_description": "爪夹夹住蓝色方块，向爪夹方向的右方移动", + "correction_plan": "继续向爪夹右侧移动至电饭煲内胆上方，下降至电饭煲内胆上，松开爪夹让蓝色方块落入中间", + "error_success_analysis": "爪夹成功夹住蓝色方块并上升，向电饭煲内胆上方移动", + "frame": 364, + "progress": 60, + "progress_explanation": "爪夹夹住蓝色方块，开始向电饭煲内胆上方移动，进度60%", + "state_description": "当前爪夹合拢，在桌面的上方。\n为完成夹起蓝色方块使其放入电饭煲内胆的任务应当:\n向爪夹方向的右侧移动至电饭煲内胆上方，然后下降至电饭煲内胆上，随后松开爪夹，蓝色方块落入电饭煲内胆中间。", + "time": 12.146804611398963 + }, + { + "action_description": "爪夹继续下降，到合适的位置停止", + "correction_plan": "爪夹松开，让蓝色方块落入电饭煲内胆", + "error_success_analysis": "爪夹成功下降至正确位置", + "frame": 448, + "progress": 80, + "progress_explanation": "爪夹已到达正确位置，仅需松开爪夹，进度80%", + "state_description": "当前爪夹合拢，\n为完成夹起蓝色方块使其放入电饭煲内胆的任务应当:\n松开爪夹，蓝色方块落入电饭煲内胆中间。", + "time": 14.949913367875645 + }, + { + "action_description": "爪夹松开，蓝色方块落入电饭煲内胆", + "correction_plan": "任务已完成，爪夹回到待机位置", + "error_success_analysis": "爪夹在正确位置松开，蓝色方块成功放入电饭煲内胆", + "frame": 541, + "progress": 100, + "progress_explanation": "爪夹松开，蓝色方块落入电饭煲内胆，进度100%，任务完成", + "state_description": "当前爪夹松开，蓝色方块落入电饭煲内胆，任务已经完成。", + "time": 18.033333 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766572095106", + "name": "蓝色方块" + }, + { + "color": "#FF9800", + "id": "bbox_1766572122481", + "name": "电饭煲内胆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766572130577", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766572138672", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-150600-mix-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-150600-mix-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..c716c41968c7feec8d53810642fa18c488c6fb17 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-150600-mix-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,600 @@ +{ + "task_description": "抓取蓝色方块放入内胆里：\n准备开始移动：0%\n爪夹靠近蓝色方块：20%\n爪夹抓取蓝色方块：40%\n爪夹抓紧蓝色方块接近内胆：60%\n爪夹将蓝色方块放入内胆：80%\n爪夹松开蓝色方块落入内胆：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹前方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接着落下爪夹靠近蓝色方块，接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹左方的内胆接近，水平到达内胆的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。", + "error_success_analysis": "", + "frame": 69, + "progress": 0, + "progress_explanation": "当前为初始状态，远离蓝色积木，未开始移动。进度 0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离蓝色积木，未开始移动。\n为完成抓取蓝色方块使其落入内胆的任务应当：爪夹向爪夹前方的蓝色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色积木的正上方。", + "time": 2.286066, + "annotations": { + "bbox_1767945623899": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945623899_1767947220491_484qwbb47", + "x": 0.47000000000000003, + "y": 0.5231111043294271, + "width": 0.04500000000000002, + "height": 0.08133333333333338 + } + ] + }, + "bbox_1767945624027": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945624027_1767947223643_9zehsa2x7", + "x": 0.6910000000000001, + "y": 0.3564444376627604, + "width": 0.25500000000000006, + "height": 0.332 + } + ] + }, + "point_1767945624693": { + "type": "point", + "instances": [ + { + "id": "point_1767945624693_1767947225729_m4xzvc8fv", + "x": 0.426, + "y": 0.3897777709960938 + } + ] + }, + "point_1767945624813": { + "type": "point", + "instances": [ + { + "id": "point_1767945624813_1767947228685_gguvxm2y2", + "x": 0.526, + "y": 0.36977777099609377 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动，调整爪夹角度。", + "correction_plan": "爪夹向爪夹前方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接着落下爪夹靠近蓝色方块，接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹左方的内胆接近，水平到达内胆的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆", + "error_success_analysis": "爪夹的角度与桌面呈 60 度。水平上未接近蓝色方块。\n", + "frame": 100, + "progress": 5, + "progress_explanation": "爪夹向爪夹左前方移动，爪夹角度与桌面呈 60 度。方便抓取。因此进度提升为 5%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 60 度。还未接近蓝色方块。\n为完成抓取蓝色方块使其落入内胆的任务应当：爪夹向爪夹前方的蓝色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色积木的正上方。", + "time": 3.342833, + "annotations": { + "point_1767945624813": { + "type": "point", + "instances": [ + { + "id": "point_1767945624813_1767947233059_cwgeg54oi", + "x": 0.548, + "y": 0.3471111043294271 + } + ] + }, + "point_1767945624693": { + "type": "point", + "instances": [ + { + "id": "point_1767945624693_1767947236557_ihtddkw7o", + "x": 0.43899999999999995, + "y": 0.3684444376627604 + } + ] + }, + "bbox_1767945624027": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945624027_1767947241149_kmn3ljukx", + "x": 0.688, + "y": 0.3644444376627604, + "width": 0.271, + "height": 0.3186666666666667 + } + ] + }, + "bbox_1767945623899": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945623899_1767947244661_kujke7yg6", + "x": 0.46299999999999997, + "y": 0.5351111043294271, + "width": 0.05899999999999998, + "height": 0.06799999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动", + "correction_plan": "爪夹向爪夹前方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接着落下爪夹靠近蓝色方块，接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹左方的内胆接近，水平到达内胆的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆", + "error_success_analysis": "爪夹角度与桌面接近垂直，水平上接近了蓝色方块。更加方便抓取。因此进度提升为 15%。", + "frame": 142, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了蓝色方块。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了蓝色方块。\n为完成抓取蓝色方块使其落入内胆的任务应当：爪夹向爪夹前方的蓝色积木移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色积木的正上方。", + "time": 4.7231, + "annotations": { + "bbox_1767945623899": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945623899_1767947249475_u505qt8ow", + "x": 0.466, + "y": 0.5324444376627604, + "width": 0.04900000000000002, + "height": 0.07599999999999998 + } + ] + }, + "point_1767945624813": { + "type": "point", + "instances": [ + { + "id": "point_1767945624813_1767947252053_nwpppmj6o", + "x": 0.5940000000000001, + "y": 0.5284444376627604 + } + ] + }, + "point_1767945624693": { + "type": "point", + "instances": [ + { + "id": "point_1767945624693_1767947254605_zev8ez7gm", + "x": 0.534, + "y": 0.5857777709960937 + } + ] + }, + "bbox_1767945624027": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945624027_1767947259569_maiomkb7i", + "x": 0.6940000000000001, + "y": 0.3591111043294271, + "width": 0.23999999999999994, + "height": 0.3066666666666667 + } + ] + } + } + }, + { + "action_description": "抓夹合拢", + "correction_plan": "抓夹张开后调整角度并移动到蓝色方块的正上方。接着落下爪夹靠近蓝色方块，接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹左方的内胆接近，水平到达内胆的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆", + "error_success_analysis": "抓夹向抓夹方向右侧下降合拢，未夹取到目标物品", + "frame": 239, + "progress": 10, + "progress_explanation": "抓夹下降错误位置未夹取到蓝色方块，因此进度降低为10%", + "state_description": "抓夹合拢但未抓取到蓝色方块", + "time": 7.9581, + "annotations": { + "bbox_1767945624027": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945624027_1767947268507_8nj5t50r1", + "x": 0.6990000000000001, + "y": 0.3671111043294271, + "width": 0.233, + "height": 0.30400000000000005 + } + ] + }, + "point_1767945624813": { + "type": "point", + "instances": [ + { + "id": "point_1767945624813_1767947271973_r5m3cwtgm", + "x": 0.46699999999999997, + "y": 0.6831111043294271 + } + ] + }, + "point_1767945624693": { + "type": "point", + "instances": [ + { + "id": "point_1767945624693_1767947274161_f8dp3ks69", + "x": 0.45899999999999996, + "y": 0.6844444376627604 + } + ] + } + } + }, + { + "action_description": "抓夹向抓夹方向左侧移动", + "correction_plan": "抓夹张开后调整角度并移动到蓝色方块的正上方。接着落下爪夹靠近蓝色方块，接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹左方的内胆接近，水平到达内胆的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆", + "error_success_analysis": "抓夹未向蓝色方块接近，大幅度移动", + "frame": 322, + "progress": 5, + "progress_explanation": "因抓夹大幅度移动，因此进度降低为5%", + "state_description": "抓夹向抓夹方向的左侧大幅度移动", + "time": 10.738866145360824, + "annotations": { + "bbox_1767945623899": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945623899_1767947282875_f708cao1y", + "x": 0.46799999999999997, + "y": 0.5124444376627604, + "width": 0.04800000000000004, + "height": 0.07866666666666665 + } + ] + }, + "bbox_1767945624027": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945624027_1767947287159_mm2l67a9j", + "x": 0.6839999999999999, + "y": 0.3671111043294271, + "width": 0.25, + "height": 0.3 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方移动\n", + "correction_plan": "爪夹继续向爪夹左方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。接着落下爪夹靠近蓝色方块，接近蓝色方块后爪夹合拢抓取蓝色方块。抓紧蓝色方块垂直升高爪夹并向爪夹右前方的铁盒接近，水平到达铁盒的正上方后将蓝色方块插入对应孔洞，松开爪夹，使蓝色方块落入铁盒。", + "error_success_analysis": "爪夹角度与桌面接近垂直，水平上接近了蓝色方块。更加方便抓取。因此进度提升为 15%。", + "frame": 417, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了蓝色方块。更加方便抓取。因此进度提升为 15%。", + "state_description": "爪夹张开，爪夹角度与桌面呈 70 度。水平上接近了蓝色方块。\n为完成抓取蓝色方块使其落入内胆的任务应当：爪夹向爪夹右方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。", + "time": 13.9105, + "annotations": { + "bbox_1767945624027": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945624027_1767947291947_41u4qini5", + "x": 0.6900000000000001, + "y": 0.35777777099609376, + "width": 0.25600000000000006, + "height": 0.30800000000000005 + } + ] + }, + "point_1767945624813": { + "type": "point", + "instances": [ + { + "id": "point_1767945624813_1767947295699_nxktesb8q", + "x": 0.5700000000000001, + "y": 0.46577777099609374 + } + ] + }, + "point_1767945624693": { + "type": "point", + "instances": [ + { + "id": "point_1767945624693_1767947298071_b07ljpath", + "x": 0.487, + "y": 0.4844444376627604 + } + ] + }, + "bbox_1767945623899": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945623899_1767947301715_9q46wfy83", + "x": 0.46399999999999997, + "y": 0.5191111043294271, + "width": 0.05800000000000001, + "height": 0.06800000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动并垂直向下移动，调整爪夹角度\n", + "correction_plan": "爪夹合拢抓取蓝色方块，抓紧蓝色方块垂直升高爪夹并向爪夹左方的内胆接近，水平到达铁盒的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。", + "error_success_analysis": "爪夹垂直向下移动，靠近了蓝色方块，方便抓取。\n", + "frame": 467, + "progress": 20, + "progress_explanation": "爪夹角度接近垂直于桌面，靠近了蓝色方块。方便抓取，因此进度提升为 20%。", + "state_description": "爪夹角度接近垂直于桌面，靠近了蓝色方块。准备抓取蓝色方块。\n为完成抓取蓝色方块使其落入内胆的任务应当：爪夹向爪夹右方的蓝色方块移动，同时调整爪夹的角度使其垂直与桌面，并移动到蓝色方块的正上方。", + "time": 15.563574123711339, + "annotations": { + "bbox_1767945623899": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945623899_1767947305375_uf0j6g896", + "x": 0.46699999999999997, + "y": 0.5137777709960938, + "width": 0.05700000000000003, + "height": 0.07199999999999994 + } + ] + }, + "bbox_1767945624027": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945624027_1767947320495_6of0d2zlc", + "x": 0.7030000000000001, + "y": 0.36311110432942706, + "width": 0.23500000000000004, + "height": 0.2973333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹合拢\n", + "correction_plan": "抓紧蓝色方块垂直升高爪夹并向爪夹左方的内胆接近，水平到达内胆的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。\n", + "error_success_analysis": "爪夹角度接近垂直于桌面，方便爪夹合拢抓取到蓝色方块。\n", + "frame": 492, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到蓝色方块。因此进度提升为 40%。", + "state_description": "爪夹合拢抓取到蓝色方块，爪夹角度与桌面接近垂直。\n为完成抓取蓝色方块使其落入内胆的任务应当：抓紧蓝色方块垂直升高爪夹并向爪夹左方的内胆接近", + "time": 16.390666, + "annotations": { + "bbox_1767945624027": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945624027_1767947325501_qx2d60y4m", + "x": 0.7, + "y": 0.36177777099609376, + "width": 0.23100000000000004, + "height": 0.2946666666666667 + } + ] + }, + "bbox_1767945623899": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945623899_1767947329251_y888v10nd", + "x": 0.45899999999999996, + "y": 0.5071111043294271, + "width": 0.08100000000000004, + "height": 0.08533333333333329 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧蓝色方块，垂直升高，向爪夹左方移动。\n", + "correction_plan": "爪夹合拢继续夹紧蓝色方块，水平上接近了内胆。更加方便接近内胆。", + "error_success_analysis": "爪夹合拢继续夹紧蓝色方块，水平上接近了内胆。更加方便接近内胆。", + "frame": 528, + "progress": 50, + "progress_explanation": "爪夹合拢夹紧蓝色方块，垂直升高并向爪夹左边的内胆接近。缩短了与内胆的距离。因此进度提升为 50%", + "state_description": "爪夹合拢夹紧蓝色方块，水平上接近了内胆。\n为完成抓取蓝色方块使其落入内胆的任务应当：继续向爪夹左方的内胆接近，水平到达内胆的正上方后将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。", + "time": 17.5984, + "annotations": { + "bbox_1767945623899": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945623899_1767947333087_9kegttgbx", + "x": 0.587, + "y": 0.388, + "width": 0.08700000000000001, + "height": 0.1013333333333333 + } + ] + }, + "point_1767945624693": { + "type": "point", + "instances": [ + { + "id": "point_1767945624693_1767947335499_o0701h0mm", + "x": 0.6140000000000001, + "y": 0.456 + } + ] + }, + "bbox_1767945624027": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945624027_1767947339943_t2ybl4l6i", + "x": 0.686, + "y": 0.35733333333333334, + "width": 0.24899999999999994, + "height": 0.31200000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧蓝色方块，向爪夹左方移动", + "correction_plan": "将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。\n", + "error_success_analysis": "爪夹移动到了内胆正上方，方便将目标放入内胆。", + "frame": 548, + "progress": 60, + "progress_explanation": "爪夹夹紧蓝色方块，到了爪夹左方的内胆正上方，方便放入内胆。因此进度提升为 60%。", + "state_description": "爪夹夹紧蓝色方块，爪夹角度接近垂直于桌面，位于内胆正上方。\n为完成抓取蓝色方块使其落入内胆的任务应当：将蓝色方块放入内胆，松开爪夹，使蓝色方块落入内胆。", + "time": 18.266966, + "annotations": { + "bbox_1767945624027": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945624027_1767947344427_0lmghefp5", + "x": 0.683, + "y": 0.35377777099609375, + "width": 0.25600000000000006, + "height": 0.304 + } + ] + }, + "point_1767945624693": { + "type": "point", + "instances": [ + { + "id": "point_1767945624693_1767947347165_y5b6yno79", + "x": 0.792, + "y": 0.3791111043294271 + } + ] + }, + "bbox_1767945623899": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945623899_1767947350795_pqhr4ru65", + "x": 0.764, + "y": 0.3031111043294271, + "width": 0.07599999999999998, + "height": 0.1013333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度，垂直向下移动", + "correction_plan": "松开爪夹，使蓝色方块落入内胆。\n", + "error_success_analysis": "蓝色方块落入内胆。", + "frame": 562, + "progress": 80, + "progress_explanation": "爪夹角度接近垂直于桌面。因此进度提升为 80%。", + "state_description": "爪夹夹紧蓝色方块，爪夹角度接近垂直于桌面。\n为完成抓取蓝色方块使其落入内胆的任务应当：松开爪夹，使蓝色方块落入内胆。", + "time": 18.741433, + "annotations": { + "bbox_1767945623899": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945623899_1767947355137_xr73twh2l", + "x": 0.734, + "y": 0.40977777099609375, + "width": 0.07300000000000004, + "height": 0.08533333333333334 + } + ] + }, + "point_1767945624693": { + "type": "point", + "instances": [ + { + "id": "point_1767945624693_1767947357365_ynbs6xa8q", + "x": 0.76, + "y": 0.4684444376627604 + } + ] + }, + "bbox_1767945624027": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945624027_1767947362185_1tgmamso4", + "x": 0.692, + "y": 0.3644444376627604, + "width": 0.242, + "height": 0.29733333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张开，蓝色积木落入内胆。", + "frame": 602, + "progress": 100, + "progress_explanation": "爪夹张开，蓝色积木落入内胆，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开，角度保持垂直向下于桌面。\n爪夹松开蓝色方块落入内胆的任务目标完成。", + "time": 20.078566, + "annotations": { + "bbox_1767945624027": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945624027_1767947366893_irtsrygje", + "x": 0.6910000000000001, + "y": 0.3524444376627604, + "width": 0.24000000000000005, + "height": 0.3266666666666667 + } + ] + }, + "point_1767945624813": { + "type": "point", + "instances": [ + { + "id": "point_1767945624813_1767947370915_2080h4sxk", + "x": 0.78, + "y": 0.39377777099609373 + } + ] + }, + "point_1767945624693": { + "type": "point", + "instances": [ + { + "id": "point_1767945624693_1767947373949_rd4ng5rdj", + "x": 0.736, + "y": 0.4711111043294271 + } + ] + }, + "bbox_1767945623899": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767945623899_1767947377939_t7lhjuzcc", + "x": 0.718, + "y": 0.4524444376627604, + "width": 0.06200000000000001, + "height": 0.08666666666666671 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767945623899", + "name": "蓝色方块" + }, + { + "color": "#FF9800", + "id": "bbox_1767945624027", + "name": "内胆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767945624693", + "name": "抓夹左" + }, + { + "color": "#F44336", + "id": "point_1767945624813", + "name": "抓夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..c882df71887ed15658bb84a99ee8f1ab42a8bdc3 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,896 @@ +{ + "task_description": "捡起蓝色的正方形，把它放进透明的圆形塑料容器里。\n开始移动：0%\n爪夹靠近蓝色正方形：25%\n爪夹夹紧蓝色正方形：50%\n移动蓝色正方形：75%\n蓝色正方形完全放进透明圆形塑料容器里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪右下的蓝色正方形移动同时调整爪夹角度，当爪夹靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹抓紧蓝色正方形后向爪夹左上方移动，随后爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离蓝色正方形，未开始移动。\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹向爪夹右下的蓝色正方形移动", + "time": 1.1442842376336329, + "annotations": { + "bbox_1767756059305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756059305_1767756104498_8yml144q4", + "x": 0.22512738763128953, + "y": 0.45880438616061725, + "width": 0.0864619868338318, + "height": 0.07613005382699095 + } + ] + }, + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756111937_08nkkqbzg", + "x": 0.2463350447792106, + "y": 0.5494354136846772, + "width": 0.3931573363576124, + "height": 0.40022656869046663 + } + ] + }, + "point_1767756060770": { + "type": "point", + "instances": [ + { + "id": "point_1767756060770_1767756114162_pex52nli8", + "x": 0.4241530931733174, + "y": 0.37542386208012657 + } + ] + }, + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756116753_fwlmc89hj", + "x": 0.5236659459443314, + "y": 0.35149727373450085 + } + ] + } + } + }, + { + "action_description": "爪机向爪夹方向上抬升", + "correction_plan": "爪夹向爪右下的蓝色正方形移动同时调整爪夹角度，当爪夹靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹抓紧蓝色正方形后向爪夹左上方移动，随后爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "error_success_analysis": "爪机向爪夹上方抬升", + "frame": 80, + "progress": 5, + "progress_explanation": "爪夹抬升进度上升为5%\n", + "state_description": "爪夹张开垂直于桌面\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹向爪夹右下移动同时调整角度", + "time": 2.654741275129654, + "annotations": { + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756123233_in887de1y", + "x": 0.5481363195765478, + "y": 0.29131826774123726 + } + ] + }, + "point_1767756060770": { + "type": "point", + "instances": [ + { + "id": "point_1767756060770_1767756125466_pusj0mrpj", + "x": 0.43557260086835176, + "y": 0.3079943858333632 + } + ] + }, + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756129529_fg2f3cpdg", + "x": 0.2169705964205507, + "y": 0.553785702474791, + "width": 0.3996827693262035, + "height": 0.38935084671518216 + } + ] + }, + "bbox_1767756059305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756059305_1767756132457_wbp8v55eo", + "x": 0.2463350447792106, + "y": 0.43197761635160553, + "width": 0.07667383738094516, + "height": 0.10875721975284414 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右下方的青菜移动并调整角度靠近青菜", + "correction_plan": "爪机抬升远离青菜，爪夹向爪右下的蓝色正方形移动同时调整爪夹角度，当爪夹靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹抓紧蓝色正方形后向爪夹左上方移动，随后爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "error_success_analysis": "爪夹向爪夹右下方的青菜移动", + "frame": 121, + "progress": 15, + "progress_explanation": "爪机位于蓝色正当形右边接近蓝色正方形进度上升为15%", + "state_description": "爪夹张开靠近青菜\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹向上抬升远离青菜", + "time": 4.027884036489674, + "annotations": { + "bbox_1767756059305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756059305_1767756136073_xyyr4z506", + "x": 0.2561231942320972, + "y": 0.45010380858038973, + "width": 0.060360254959467466, + "height": 0.0826554870121616 + } + ] + }, + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756140169_pu15zdspf", + "x": 0.22839010411558508, + "y": 0.5276839697341084, + "width": 0.42415314295841994, + "height": 0.4241531570360923 + } + ] + }, + "point_1767756060770": { + "type": "point", + "instances": [ + { + "id": "point_1767756060770_1767756144761_6jnrybjur", + "x": 0.3376911063394856, + "y": 0.5189833921538809 + } + ] + }, + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756146697_9n44cyw8f", + "x": 0.4437293920790906, + "y": 0.5385596917093929 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹紧青菜", + "correction_plan": "爪夹打开向爪夹方抬升，爪夹向爪右下的蓝色正方形移动同时调整爪夹角度，当爪夹靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹抓紧蓝色正方形后向爪夹左上方移动，随后爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "error_success_analysis": "爪夹合拢夹紧青菜", + "frame": 173, + "progress": 10, + "progress_explanation": "爪夹夹紧青菜进度下降为10", + "state_description": "爪夹夹紧青菜\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹张开向上抬升", + "time": 5.767198200879031 + }, + { + "time": 6.9572552607243825, + "frame": 209, + "progress": 5, + "action_description": "爪夹夹紧青菜向爪夹上方抬升", + "state_description": "爪夹夹紧青菜垂直桌面\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹张开向爪夹右下方蓝色正方形移动", + "progress_explanation": "爪夹抬升远离蓝色正方形进度下降为5%", + "error_success_analysis": "爪夹夹紧青菜向上抬升", + "correction_plan": "爪夹张开放下青菜，爪夹向爪右下的蓝色正方形移动同时调整爪夹角度，当爪夹靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹抓紧蓝色正方形后向爪夹左上方移动，随后爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "annotations": { + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756164481_ksk2j1ecb", + "x": 0.22023331290484624, + "y": 0.5262338624073807, + "width": 0.40457684405264677, + "height": 0.411102290665751 + } + ] + }, + "point_1767756060770": { + "type": "point", + "instances": [ + { + "id": "point_1767756060770_1767756166697_i5cd8r2l5", + "x": 0.33442838985519013, + "y": 0.3558475625246146 + } + ] + }, + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756168627_kwfjcsyai", + "x": 0.34911061403452004, + "y": 0.3710735732900128 + } + ] + } + } + }, + { + "time": 8.0367, + "frame": 241, + "progress": -5, + "action_description": "爪夹向爪夹左方移动", + "state_description": "爪机夹紧青菜位于蓝色杯子上方\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹松开向爪夹右边移动到蓝色正方形上方", + "progress_explanation": "爪夹向爪夹左移动远离蓝色正方形进度下降为-5%", + "error_success_analysis": "爪夹向爪夹左移动", + "correction_plan": "爪夹向爪夹右移动，在向爪下的蓝色正方形移动同时调整爪夹角度，当爪夹靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹抓紧蓝色正方形后向爪夹左上方移动，随后爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "annotations": { + "point_1767756060770": { + "type": "point", + "instances": [ + { + "id": "point_1767756060770_1767756174210_7uka9ad3v", + "x": 0.6231787987153453, + "y": 0.24709034277177044 + } + ] + }, + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756177489_fivhvt2qq", + "x": 0.6297042316839364, + "y": 0.19923716608051897 + } + ] + }, + "bbox_1767756059305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756059305_1767756180617_hbkg43tva", + "x": 0.26264862720068827, + "y": 0.4406781939318331, + "width": 0.035889881327250926, + "height": 0.09135606459238914 + } + ] + }, + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756183569_hny2v2ozv", + "x": 0.23817825356847172, + "y": 0.5407348361044497, + "width": 0.3735810374518391, + "height": 0.41327743506080794 + } + ] + } + } + }, + { + "time": 8.595363, + "frame": 258, + "progress": -10, + "action_description": "爪夹向爪夹左移动同时松开爪夹", + "state_description": "爪夹张开青菜落在桌面上\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹向爪夹右移动", + "progress_explanation": "爪夹再次向爪夹左移动远离蓝色正方形进度下降为10%", + "error_success_analysis": "爪夹向爪夹左移动", + "correction_plan": "爪夹向爪夹右移动，在向爪下的蓝色正方形移动同时调整爪夹角度，当爪夹靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹抓紧蓝色正方形后向爪夹左上方移动，随后爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "annotations": { + "point_1767756060770": { + "type": "point", + "instances": [ + { + "id": "point_1767756060770_1767756187777_0qhrxgl07", + "x": 0.6541746053161529, + "y": 0.21953850270436007 + } + ] + }, + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756195122_f469neqcy", + "x": 0.6802763371905172, + "y": 0.1492088449942107 + } + ] + }, + "bbox_1767756059305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756059305_1767756208083_ld0qw79k4", + "x": 0.24144097005276724, + "y": 0.46242963788240193, + "width": 0.0864619868338318, + "height": 0.07830519822204778 + } + ] + }, + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756210962_pycfeu4qj", + "x": 0.22023331290484624, + "y": 0.5581359912649048, + "width": 0.3947886945997602, + "height": 0.3784751247398978 + } + ] + } + } + }, + { + "time": 10.481655014881765, + "frame": 314, + "progress": 5, + "action_description": "爪夹向爪夹右下移动调整爪夹角度靠近桌面", + "state_description": "爪夹张开垂靠近桌面\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹抬升向爪夹右下移动", + "progress_explanation": "住家向爪夹右蓝色正方形移动进度上升为5%", + "error_success_analysis": "爪夹贴近桌面", + "correction_plan": "爪夹向爪夹上抬升在向爪夹右下的蓝色正方形移动同时调整爪夹角度，当爪夹靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹抓紧蓝色正方形后向爪夹左上方移动，随后爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "annotations": { + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756227257_klfd41koj", + "x": 0.26427998544283604, + "y": 0.5479853063579495, + "width": 0.3360597978824405, + "height": 0.40240171308552347 + } + ] + }, + "bbox_1767756059305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756059305_1767756230201_3bhxis4ht", + "x": 0.24144097005276724, + "y": 0.4406781939318331, + "width": 0.0750424791387974, + "height": 0.10223178656767355 + } + ] + }, + "point_1767756060770": { + "type": "point", + "instances": [ + { + "id": "point_1767756060770_1767756232009_trkbeiuvh", + "x": 0.4372039591104996, + "y": 0.46242963788240193 + } + ] + } + } + }, + { + "time": 11.900569201620453, + "frame": 357, + "progress": 10, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢垂直桌面\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹张开向爪夹右下移动靠近蓝色正方形", + "progress_explanation": "爪夹合拢进度上升为10%", + "error_success_analysis": "爪夹合拢", + "correction_plan": "爪机张开，向爪夹右下的蓝色正方形移动同时调整爪夹角度，当爪夹靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹抓紧蓝色正方形后向爪夹左上方移动，随后爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "annotations": { + "point_1767756060770": { + "type": "point", + "instances": [ + { + "id": "point_1767756060770_1767756240513_0vrb6a0v1", + "x": 0.4143649437204308, + "y": 0.4522789529754466 + } + ] + }, + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756242633_ll3ar8pne", + "x": 0.4372039591104996, + "y": 0.4515539159071175 + } + ] + }, + "bbox_1767756059305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756059305_1767756245825_az1aecfmo", + "x": 0.23817825356847172, + "y": 0.4276273275614918, + "width": 0.08809334507597955, + "height": 0.14138438567869743 + } + ] + }, + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756248481_rzseq5yc6", + "x": 0.18271207333544756, + "y": 0.5298591141291653, + "width": 0.4584116660435232, + "height": 0.4132774350608079 + } + ] + } + } + }, + { + "time": 14.5197, + "frame": 436, + "progress": 25, + "action_description": "爪夹张开向爪夹右下移动靠近蓝色正方形", + "state_description": "爪夹张开靠近蓝色正方形\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹合拢爪紧蓝色正方形", + "progress_explanation": "爪夹靠近蓝色正方形进度上升为25%", + "error_success_analysis": "爪夹向爪夹右下移动", + "correction_plan": "爪夹合拢夹紧蓝色正方形，爪夹抓紧蓝色正方形后向爪夹左上方移动，随后爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "annotations": { + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756252787_pvvckw4vs", + "x": 0.2447036865370628, + "y": 0.5262338624073807, + "width": 0.3752123956939869, + "height": 0.411102290665751 + } + ] + }, + "bbox_1767756059305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756059305_1767756255753_t9dfok9qk", + "x": 0.23002146235773288, + "y": 0.4493787715120606, + "width": 0.08809334507597955, + "height": 0.08700577580227531 + } + ] + }, + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756261577_wwzn8h1es", + "x": 0.3376911063394856, + "y": 0.4885313706230845 + } + ] + } + } + }, + { + "time": 16.06576891107918, + "frame": 482, + "progress": 50, + "action_description": "爪夹合拢", + "state_description": "爪夹夹紧蓝色正方形\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪机向爪夹方抬升", + "progress_explanation": "爪夹夹紧蓝色正方形进度上升为50%", + "error_success_analysis": "爪夹合拢", + "correction_plan": "爪夹抓紧蓝色正方形后向爪夹左上方移动，随后爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "annotations": { + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756272178_qtgycyjq3", + "x": 0.32137752391800795, + "y": 0.4914315520864705 + } + ] + }, + "bbox_1767756059305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756059305_1767756275177_1idgjx5w2", + "x": 0.24959776126350608, + "y": 0.45372906030217436, + "width": 0.06688568792805856, + "height": 0.08918092019733224 + } + ] + }, + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756277897_f54flhbv8", + "x": 0.22023331290484624, + "y": 0.5429099804995067, + "width": 0.42741585944271565, + "height": 0.4154525794558648 + } + ] + } + } + }, + { + "time": 17.34736882168186, + "frame": 520, + "progress": 75, + "action_description": "爪机夹紧蓝色正方形向爪夹方抬升并向左移动", + "state_description": "爪夹夹紧蓝色正方形垂直桌面\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹向爪夹前移动至透明圆形塑料容器上方", + "progress_explanation": "爪夹夹紧蓝色正方形移动进度上升为75%", + "error_success_analysis": "爪夹向爪夹方抬升", + "correction_plan": "爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "annotations": { + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756281753_99i84d814", + "x": 0.2137078799362552, + "y": 0.5371095843826651, + "width": 0.3996827693262035, + "height": 0.411102290665751 + } + ] + }, + "point_1767756060770": { + "type": "point", + "instances": [ + { + "id": "point_1767756060770_1767756284913_t831uan2c", + "x": 0.3996827195411009, + "y": 0.4124013167960936 + } + ] + }, + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756287115_z6iylwyat", + "x": 0.4633056909848639, + "y": 0.40587588361092297 + } + ] + }, + "bbox_1767756059305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756059305_1767756289545_m7l1i8meh", + "x": 0.3458478975502245, + "y": 0.329745829783932, + "width": 0.13540273409826487, + "height": 0.16531097402432315 + } + ] + } + } + }, + { + "time": 18.366715, + "frame": 551, + "progress": 10, + "action_description": "爪夹打开蓝色正方形落在桌面上", + "state_description": "爪夹张开蓝色正方形落在桌面上\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹向爪夹方垂直下降靠近蓝色正方形", + "progress_explanation": "爪夹张开蓝色正方形脱离桌面进度下降为10%", + "error_success_analysis": "爪夹张开", + "correction_plan": "爪夹垂直下降靠近蓝色正方形，爪夹合拢夹紧蓝色正方形，爪夹抓紧蓝色正方形后向爪夹上方移动，随后爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "annotations": { + "bbox_1767756059305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756059305_1767756294427_y5w7w033w", + "x": 0.42741580965761294, + "y": 0.4522789529754466, + "width": 0.06362297144376301, + "height": 0.08483063140721843 + } + ] + }, + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756298898_y01u5jvfw", + "x": 0.22186467114699404, + "y": 0.5494354136846772, + "width": 0.4062082022947945, + "height": 0.41762772385092173 + } + ] + }, + "point_1767756060770": { + "type": "point", + "instances": [ + { + "id": "point_1767756060770_1767756300969_w2v7okk9y", + "x": 0.3931572865725098, + "y": 0.423277038771378 + } + ] + }, + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756303201_alt1rsk5e", + "x": 0.5106150800071492, + "y": 0.39717530603069545 + } + ] + } + } + }, + { + "time": 19.269768687585888, + "frame": 578, + "progress": 25, + "action_description": "爪夹向爪夹下方垂直移动靠近蓝色正方形", + "state_description": "爪机张开靠近蓝色正方形\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹合拢", + "progress_explanation": "爪夹靠近蓝色正方形进度上升为25:%", + "error_success_analysis": "爪夹向爪夹下移动", + "correction_plan": "，爪夹合拢夹紧蓝色正方形，爪夹抓紧蓝色正方形后向爪夹上方移动，随后爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "annotations": { + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756306641_0dwi232mz", + "x": 0.5073523635228536, + "y": 0.44792866418533284 + } + ] + }, + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756309497_cz1tpupt6", + "x": 0.2055510887255163, + "y": 0.5059325257835395, + "width": 0.4420980836220455, + "height": 0.4567803229619456 + } + ] + } + } + }, + { + "time": 20.849378, + "frame": 625, + "progress": 50, + "action_description": "爪夹合拢夹紧蓝色正方形", + "state_description": "爪夹夹紧蓝色正方形\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹向爪夹方抬升并向前移动", + "progress_explanation": "爪夹抓紧蓝色正方形进度是上升为50%", + "error_success_analysis": "爪夹合拢", + "correction_plan": "，爪夹抓紧蓝色正方形后向爪夹上方移动，随后爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "annotations": { + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756314473_gvxwochqg", + "x": 0.23165282059988063, + "y": 0.5255088253390515, + "width": 0.42415314295842005, + "height": 0.448079745381718 + } + ] + } + } + }, + { + "time": 22.290682762577934, + "frame": 669, + "progress": 75, + "action_description": "爪夹向爪夹方抬升·", + "state_description": "爪夹夹紧蓝色正方形垂直桌， \n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹向爪夹前移动至透明圆形塑料容器上方", + "progress_explanation": "爪夹抓紧蓝色正方形向上抬升进度上升为75%", + "error_success_analysis": "爪夹向爪夹方抬升", + "correction_plan": "爪夹向爪夹前方移动至透明的圆形塑料容器上方，爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "annotations": { + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756318617_c8oruu1so", + "x": 0.1973942975147775, + "y": 0.4936066964815274, + "width": 0.43394129241130663, + "height": 0.48505720009768505 + } + ] + }, + "point_1767756060770": { + "type": "point", + "instances": [ + { + "id": "point_1767756060770_1767756328186_liuzbxd7m", + "x": 0.4241530931733174, + "y": 0.4124013167960936 + } + ] + }, + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756330153_p8fsfq4hs", + "x": 0.47472519867989826, + "y": 0.3993504504257523 + } + ] + }, + "bbox_1767756059305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756059305_1767756332633_8fqv0afcf", + "x": 0.3605301217295544, + "y": 0.37542386208012657, + "width": 0.1402968088247082, + "height": 0.0957063533825029 + } + ] + } + } + }, + { + "time": 24.02999692696729, + "frame": 721, + "progress": 95, + "action_description": "爪夹向爪夹前移动", + "state_description": "爪夹夹紧蓝色正方形位于透明圆形塑料容器上\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：张开爪夹使蓝色正方形落入透明圆形塑料容器中", + "progress_explanation": "抓紧蓝色正方形位于圆形塑料容器上方进度上升为95%", + "error_success_analysis": "爪夹向爪夹前移动", + "correction_plan": "爪夹张开使蓝色正方形落入透明的圆形塑料容器里", + "annotations": { + "point_1767756060770": { + "type": "point", + "instances": [ + { + "id": "point_1767756060770_1767756336801_d5i6whrzz", + "x": 0.4730938404377505, + "y": 0.6241153601849405 + } + ] + }, + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756339227_8ibyg1af0", + "x": 0.533454095397218, + "y": 0.6146897455363838 + } + ] + }, + "bbox_1767756059305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756059305_1767756341665_e13e4250s", + "x": 0.4437293920790906, + "y": 0.5842377240055874, + "width": 0.10440692749745724, + "height": 0.08700577580227543 + } + ] + }, + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756343913_lja2eilq0", + "x": 0.2120765216941074, + "y": 0.5472602692896203, + "width": 0.4763566067071487, + "height": 0.3958762799003528 + } + ] + } + } + }, + { + "time": 25.311596837569972, + "frame": 759, + "progress": 100, + "action_description": "爪夹打开蓝色正方形落入透明圆形塑料容器中", + "state_description": "爪夹张开蓝色正方形落入透明圆形塑料容器中任务完成", + "progress_explanation": "蓝色正方形完全落入透明圆形塑料容器中任务完成进度为100%", + "error_success_analysis": "爪夹打开", + "correction_plan": "", + "annotations": { + "point_1767756060770": { + "type": "point", + "instances": [ + { + "id": "point_1767756060770_1767756353313_vdf64xjyg", + "x": 0.4633056909848639, + "y": 0.6371662265552818 + } + ] + }, + "point_1767756061393": { + "type": "point", + "instances": [ + { + "id": "point_1767756061393_1767756355329_e1xhk8i5w", + "x": 0.539979528365809, + "y": 0.6168648899314406 + } + ] + }, + "bbox_1767756060057": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756060057_1767756365657_qdhwb9dod", + "x": 0.19576293927262972, + "y": 0.5603111356599617, + "width": 0.43067857592701114, + "height": 0.40240171308552347 + } + ] + }, + "bbox_1767756059305": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756059305_1767756367937_qnbpr2vd6", + "x": 0.4159963019625786, + "y": 0.6603677778325783, + "width": 0.12398322640323042, + "height": 0.10875721975284426 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767756059305", + "name": "蓝色正方形", + "color": "#4CAF50" + }, + { + "id": "bbox_1767756060057", + "name": "透明圆形塑料容器", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767756060770", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767756061393", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..7558b1d7b1738e0908c8e9deb438cd1e5f273129 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,944 @@ +{ + "task_description": "捡起蓝色的正方形，把它放进透明的圆形塑料容器里。\n开始移动：0%\n爪夹靠近蓝色正方形：25%\n爪夹夹紧蓝色正方形：50%\n移动蓝色正方形：75%\n蓝色正方形完全放进透明圆形塑料容器里：100%", + "progress_points": [ + { + "time": 2.560666, + "frame": 77, + "progress": 0, + "action_description": "爪机张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离黄色积木，未开始移动。\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：", + "progress_explanation": "当前为初始状态，未开始移动。因此进度为%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹当抬升并调整爪夹角度使其垂直桌面，爪夹向爪夹右下方蓝色正方形移动并靠近蓝色正方形，爪夹合拢夹紧蓝色正方形，爪夹向爪夹方抬升后向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "annotations": { + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767003516_zz230mp6t", + "x": 0.3466666048177121, + "y": 0.6570925419439663, + "width": 0.0789999951782229, + "height": 0.10266665831163262 + } + ] + }, + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767006725_vrdgxwu6a", + "x": 0.6766665846761117, + "y": 0.32642590218701967, + "width": 0.31699998065185675, + "height": 0.45866662934028085 + } + ] + }, + "point_1767756964922": { + "type": "point", + "instances": [ + { + "id": "point_1767756964922_1767767008547_lrz8kmupo", + "x": 0.4016666014607787, + "y": 0.387759230529034 + } + ] + }, + "point_1767756965104": { + "type": "point", + "instances": [ + { + "id": "point_1767756965104_1767767010740_329xa2fqv", + "x": 0.504666595174158, + "y": 0.3717592318311172 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上抬升调整爪夹角度", + "correction_plan": "爪夹向爪夹右下方蓝色正方形移动并靠近蓝色正方形，爪夹合拢夹紧蓝色正方形，爪夹向爪夹方抬升后向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "", + "frame": 139, + "progress": 5, + "progress_explanation": "爪夹抬升进度上升为5%", + "state_description": "爪夹张开，爪夹垂直桌面\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹向爪夹右下角的蓝色正方形移动", + "time": 4.628283879889255, + "annotations": { + "point_1767756965104": { + "type": "point", + "instances": [ + { + "id": "point_1767756965104_1767767014828_4c399xegt", + "x": 0.5016665953572634, + "y": 0.43827773532896036 + } + ] + }, + "point_1767756964922": { + "type": "point", + "instances": [ + { + "id": "point_1767756964922_1767767016964_u174e3b0e", + "x": 0.38566660243734113, + "y": 0.44761106790274513 + } + ] + }, + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767019828_u8ybryal3", + "x": 0.3416666051228878, + "y": 0.6824258732156678, + "width": 0.08099999505615267, + "height": 0.08399999316406301 + } + ] + }, + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767022851_7l6yksuxo", + "x": 0.6576665858357796, + "y": 0.32109256928771407, + "width": 0.33599997949218874, + "height": 0.46133329578993365 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右下角蓝色正方形移动", + "correction_plan": "爪夹合拢夹紧蓝色正方形，爪夹向爪夹方抬升后向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹向爪夹右下蓝色正方形移动", + "frame": 208, + "progress": 25, + "progress_explanation": "爪夹靠近蓝色正方形进度上升为25%", + "state_description": "爪夹张开爪夹靠近蓝色正方形\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹合拢抓紧蓝色正方形", + "time": 6.934419847988367, + "annotations": { + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767032683_1l6ar8tyd", + "x": 0.6636665854695687, + "y": 0.35175923345872123, + "width": 0.3299999798583997, + "height": 0.49466662641059356 + } + ] + }, + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767034958_747kpwiy5", + "x": 0.3596666040242551, + "y": 0.6784258735411887, + "width": 0.04999999694824235, + "height": 0.09599999218750063 + } + ] + }, + "point_1767756965104": { + "type": "point", + "instances": [ + { + "id": "point_1767756965104_1767767041555_af6bhts8m", + "x": 0.3766666029866575, + "y": 0.6702777164487536 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右移动同时爪夹合拢夹紧青菜", + "correction_plan": "爪夹送开向爪夹方抬升并向爪夹前方移动到蓝色正方形上方，落下爪夹靠近蓝色正方形，爪夹合拢夹紧蓝色正方形，爪夹向爪夹方抬升后向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹向爪夹后移动", + "frame": 245, + "progress": 15, + "progress_explanation": "爪夹向爪夹后移动进度下降为15%", + "state_description": "爪夹张开位于蓝色正方形前方\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹张开向爪夹前方蓝色正方形移动", + "time": 8.168268552825326, + "annotations": { + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767048468_1xm9usfuj", + "x": 0.33166660573323936, + "y": 0.6932406967577559, + "width": 0.0999999938964847, + "height": 0.11599999055989656 + } + ] + }, + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767052124_jlp8wj2mn", + "x": 0.6236665879109748, + "y": 0.36612960887617113, + "width": 0.3679999775390638, + "height": 0.38399996875000253 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧青菜向爪夹左移动", + "correction_plan": "爪夹张开，爪夹向爪夹右方蓝色正方形移动至蓝色正方形上方，垂直落下爪夹靠近蓝色正方形，爪夹合拢夹紧蓝色正方形，爪夹向爪夹方抬升后向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹向爪夹左移动", + "frame": 279, + "progress": -5, + "progress_explanation": "爪夹向爪夹左移动远离爪夹进度下降为-5%", + "state_description": "爪夹合拢夹紧青菜垂直桌面\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹张开向爪夹右下方蓝色正方形移动", + "time": 9.316034789882965, + "annotations": { + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767064091_q67qwrki1", + "x": 0.6576665858357796, + "y": 0.3159073941318853, + "width": 0.34099997918701286, + "height": 0.5066666254340311 + } + ] + }, + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767066437_dgiv4naes", + "x": 0.35466660432943087, + "y": 0.6847962496096802, + "width": 0.07399999548339871, + "height": 0.13333332248263982 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "爪夹向爪夹右方蓝色正方形移动至蓝色正方形上方，垂直落下爪夹靠近蓝色正方形，爪夹合拢夹紧蓝色正方形，爪夹向爪夹方抬升后向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹张开", + "frame": 302, + "progress": -10, + "progress_explanation": "爪夹张开远离蓝色正方形进度下降为10%", + "state_description": "爪夹张开，青菜落入桌面\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹向爪夹右方蓝色正方形上方移动", + "time": 10.062082843970432, + "annotations": { + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767068739_4ajyb93q3", + "x": 0.35666660420736057, + "y": 0.6729443828984063, + "width": 0.0769999953002932, + "height": 0.12399998990885498 + } + ] + }, + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767072892_l8min48yt", + "x": 0.6436665866902718, + "y": 0.3237592357373669, + "width": 0.3529999784545912, + "height": 0.45733329611545437 + } + ] + }, + "point_1767756964922": { + "type": "point", + "instances": [ + { + "id": "point_1767756964922_1767767075251_46ab6yyqt", + "x": 0.5296665936482792, + "y": 0.4970925549647986 + } + ] + }, + "point_1767756965104": { + "type": "point", + "instances": [ + { + "id": "point_1767756965104_1767767077419_3me6bcsgp", + "x": 0.6256665877889045, + "y": 0.43842589307243707 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右下锤子移动并靠近锤子", + "correction_plan": "爪夹向爪夹右移动靠近蓝色正方形，爪夹合拢夹紧蓝色正方形，爪夹向爪夹方抬升后向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹向爪夹右移动", + "frame": 389, + "progress": 20, + "progress_explanation": "爪夹向爪夹移动爪夹左靠近蓝色正方形进度上升为20%·", + "state_description": "爪夹张开靠近锤子\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹向爪夹右移动靠近蓝色正方形", + "time": 12.978283197439527, + "annotations": { + "point_1767756964922": { + "type": "point", + "instances": [ + { + "id": "point_1767756964922_1767767083852_il5v8g7zl", + "x": 0.386666602376306, + "y": 0.7079073622308463 + } + ] + }, + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767086156_n444rr2sf", + "x": 0.3396666052449581, + "y": 0.6767962502607219, + "width": 0.07199999560546902, + "height": 0.13866665538194536 + } + ] + }, + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767089364_tgxiky76d", + "x": 0.6346665872395881, + "y": 0.3114629466582889, + "width": 0.3569999782104505, + "height": 0.489333293511288 + } + ] + } + } + }, + { + "action_description": "爪夹合拢爪夹", + "correction_plan": "爪夹张开向爪夹右移动到蓝色正方形上方，落下爪夹靠近蓝色正方形，爪夹合拢夹紧蓝色正方形，爪夹向爪夹方抬升后向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹合拢", + "frame": 432, + "progress": 15, + "progress_explanation": "爪夹向上抬升远离蓝色正方形进度下降为15%", + "state_description": "爪夹合拢垂直桌面\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹张开向爪夹右移动到蓝色正方形正上方", + "time": 14.409711651876716, + "annotations": { + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767096620_20tdzfvom", + "x": 0.3436666050008176, + "y": 0.6847962496096802, + "width": 0.07499999542236355, + "height": 0.10666665798611182 + } + ] + }, + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767099459_2270xjwqz", + "x": 0.6666665852864633, + "y": 0.3381296111548168, + "width": 0.3249999801635754, + "height": 0.4879999602864616 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方抬升爪夹并向左移动同时爪夹张开", + "correction_plan": "爪夹向爪夹右下蓝色正方形移动，爪夹靠近蓝色正方形，爪夹合拢夹紧蓝色正方形，爪夹向爪夹方抬升后向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹抬升并向爪夹左移动", + "frame": 465, + "progress": 5, + "progress_explanation": "爪夹抬升远离蓝色正方形进度下降为5", + "state_description": "爪夹合拢爪夹垂直桌面\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹张开向爪夹右下蓝色正方形移动", + "time": 15.485278314067767, + "annotations": { + "point_1767756964922": { + "type": "point", + "instances": [ + { + "id": "point_1767756964922_1767767106068_4yfffx4we", + "x": 0.5076665949910525, + "y": 0.39975922955247156 + } + ] + }, + "point_1767756965104": { + "type": "point", + "instances": [ + { + "id": "point_1767756965104_1767767107900_y345vuoj1", + "x": 0.5486665924886113, + "y": 0.3770925647304228 + } + ] + }, + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767110212_z7uha4fk0", + "x": 0.3226666062825557, + "y": 0.6784258735411887, + "width": 0.09399999426269567, + "height": 0.14133332183159814 + } + ] + }, + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767114475_oq8g0fvuf", + "x": 0.6066665889485724, + "y": 0.26775924029465814, + "width": 0.38699997637939604, + "height": 0.5866666189236152 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右下蓝色正方形移动", + "correction_plan": "爪夹合拢夹紧蓝色正方形，爪夹向爪夹方抬升后向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹向爪夹右移动", + "frame": 515, + "progress": 25, + "progress_explanation": "爪夹靠近蓝色正方形进度上升为25%", + "state_description": "爪夹张开靠近蓝色正方形\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：", + "time": 17.178233513727783, + "annotations": { + "point_1767756964922": { + "type": "point", + "instances": [ + { + "id": "point_1767756964922_1767767120259_29rmdj50k", + "x": 0.3236666062215206, + "y": 0.7225740277039365 + } + ] + }, + "point_1767756965104": { + "type": "point", + "instances": [ + { + "id": "point_1767756965104_1767767129076_hcupx3kz7", + "x": 0.43266659956868897, + "y": 0.7209443789921567 + } + ] + }, + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767131763_5swotgoav", + "x": 0.3556666042683957, + "y": 0.7061295812069025, + "width": 0.07099999566650417, + "height": 0.07599999381510472 + } + ] + }, + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767136668_969vl3w2n", + "x": 0.6516665862019905, + "y": 0.33146294503068485, + "width": 0.3419999791259779, + "height": 0.45866662934028085 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹合拢夹紧蓝色正方形，爪夹向爪夹方抬升后向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹合拢", + "frame": 552, + "progress": 20, + "progress_explanation": "爪夹未夹紧蓝色正方形几顿下降为20%", + "state_description": "爪夹合拢在蓝色正方形上方\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹张开，夹紧蓝色正方形", + "time": 18.412082218564745, + "annotations": { + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767140899_fyej8peqs", + "x": 0.3226666062825557, + "y": 0.6932406967577559, + "width": 0.11699999285888718, + "height": 0.13466665570746617 + } + ] + }, + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767143988_me39f7ocf", + "x": 0.641666586812342, + "y": 0.35546294307756, + "width": 0.34699997882080214, + "height": 0.4319999648437529 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方抬升", + "correction_plan": "爪夹张开向爪夹下方蓝色正方形移动，爪夹靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹向爪夹方抬升后向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹向上抬升", + "frame": 579, + "progress": 10, + "progress_explanation": "爪夹抬升远离蓝色正方形进度下降为10%", + "state_description": "爪夹合拢位于蓝色正方形上方\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹张开调整角度向蓝色正方形移动", + "time": 19.288499, + "annotations": { + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767149788_esxnpmbfa", + "x": 0.6256665877889045, + "y": 0.28509257221740136, + "width": 0.372999977233888, + "height": 0.5186666244574687 + } + ] + }, + "point_1767756964922": { + "type": "point", + "instances": [ + { + "id": "point_1767756964922_1767767151947_kyslzdeew", + "x": 0.29366660805257516, + "y": 0.46775922401861786 + } + ] + }, + "point_1767756965104": { + "type": "point", + "instances": [ + { + "id": "point_1767756965104_1767767153597_8lztogzaf", + "x": 0.31166660695394244, + "y": 0.465092557568965 + } + ] + }, + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767155404_g2m4jq9xh", + "x": 0.3486666046956418, + "y": 0.6744258738667095, + "width": 0.12099999261474652, + "height": 0.16399998665364693 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下蓝色正方形移动垂直桌面", + "correction_plan": "爪夹张开向爪夹下方蓝色正方形垂直下降，爪夹靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹向爪夹方抬升后向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹向爪夹左下移动", + "frame": 604, + "progress": 15, + "progress_explanation": "爪夹向爪夹下的蓝色正方形移动进度上升为15%", + "state_description": "爪夹张开垂直蓝色正方形上方\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹垂直向下移动靠近蓝色正方形", + "time": 20.1337315741512, + "annotations": { + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767159484_ov7xkh2f4", + "x": 0.36766660353597386, + "y": 0.6730925406418832, + "width": 0.050999996887207244, + "height": 0.14266665505642456 + } + ] + }, + "point_1767756964922": { + "type": "point", + "instances": [ + { + "id": "point_1767756964922_1767767162124_lgcpfv193", + "x": 0.32866660591634483, + "y": 0.5904258807026465 + } + ] + }, + "point_1767756965104": { + "type": "point", + "instances": [ + { + "id": "point_1767756965104_1767767163996_r80t3xoqu", + "x": 0.44466659883626714, + "y": 0.5864258810281673 + } + ] + }, + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767167571_ackoeyk16", + "x": 0.6446665866292366, + "y": 0.3184259028380613, + "width": 0.3489999786987318, + "height": 0.4866666270616352 + } + ] + } + } + }, + { + "action_description": "爪机向爪夹下垂直下奖", + "correction_plan": "爪夹合拢夹紧蓝色正方形，爪夹向爪夹方抬升后向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹向爪夹下移动", + "frame": 647, + "progress": 25, + "progress_explanation": "爪夹靠近蓝色正方形进度上升为25%", + "state_description": "爪夹靠近蓝色正方形\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹合拢夹紧蓝色正方形", + "time": 21.570833, + "annotations": { + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767183109_wqq71zqvv", + "x": 0.6176665882771857, + "y": 0.32524072670567, + "width": 0.36699997760009906, + "height": 0.46399996223958645 + } + ] + }, + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767185995_xr2q69tpd", + "x": 0.3376666053670284, + "y": 0.7181295802303401, + "width": 0.17599998925781318, + "height": 0.10133332508680629 + } + ] + }, + "point_1767756964922": { + "type": "point", + "instances": [ + { + "id": "point_1767756964922_1767767188748_6usps63h8", + "x": 0.3386666053059933, + "y": 0.7487962444013473 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹紧蓝色正方形", + "correction_plan": "爪夹向爪夹方抬升后爪夹向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹夹紧蓝色正方形", + "frame": 659, + "progress": 50, + "progress_explanation": "爪夹抓紧蓝色正方形移动进度上升为50%", + "state_description": "爪夹夹紧蓝色正方形\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹向爪夹上抬升", + "time": 21.960499, + "annotations": { + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767193579_m27je1zfx", + "x": 0.3396666052449581, + "y": 0.6932406967577559, + "width": 0.14699999102783262, + "height": 0.10666665798611182 + } + ] + }, + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767197339_4927o8sey", + "x": 0.6496665863240608, + "y": 0.36212960920169196, + "width": 0.3389999793090833, + "height": 0.3706666365017386 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧蓝色正方形向爪夹方抬升", + "correction_plan": "爪夹向爪夹左方的透明圆形塑料容器移动，爪夹移动到透明圆形塑料容器上方时爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹向爪夹方抬升", + "frame": 700, + "progress": 75, + "progress_explanation": "爪夹抓紧蓝色正方形移动进度上升为75%", + "state_description": "爪夹抓紧蓝色正方形垂直桌面\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹向爪夹左边的透明圆形塑料容器移动", + "time": 23.32018, + "annotations": { + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767201613_8npuzw51r", + "x": 0.635666587178553, + "y": 0.2969444134973622, + "width": 0.35399997839355607, + "height": 0.47866662771267676 + } + ] + }, + "point_1767756964922": { + "type": "point", + "instances": [ + { + "id": "point_1767756964922_1767767204563_ro9f8td68", + "x": 0.42666659993489986, + "y": 0.4249444030806964 + } + ] + }, + "point_1767756965104": { + "type": "point", + "instances": [ + { + "id": "point_1767756965104_1767767206707_h2ys7oxhk", + "x": 0.4926665959065798, + "y": 0.403611071483474 + } + ] + }, + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767209116_tsyrvcqf9", + "x": 0.4136666007283568, + "y": 0.37827774021177246, + "width": 0.13199999194335987, + "height": 0.17599998567708444 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左移动到透明圆形塑料容器上方", + "correction_plan": "爪夹垂直下降落入透明圆形塑料容器内时，爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹向爪夹左移动", + "frame": 740, + "progress": 85, + "progress_explanation": "爪夹垂直在透明圆形塑料容器上进度上升为85%", + "state_description": "爪夹位于透明圆形塑料容器上面\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹向爪夹下面的透明圆形塑料容器垂直下降", + "time": 24.664493, + "annotations": { + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767215037_og01xfvb2", + "x": 0.7816665782674207, + "y": 0.2517592415967414, + "width": 0.08999999450683624, + "height": 0.09733332541232705 + } + ] + }, + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767218515_zl2cvehc9", + "x": 0.6316665874226935, + "y": 0.24642590869743583, + "width": 0.36099997796630995, + "height": 0.5386666228298647 + } + ] + }, + "point_1767756964922": { + "type": "point", + "instances": [ + { + "id": "point_1767756964922_1767767220436_fah93jf5r", + "x": 0.7956665774129286, + "y": 0.30642590381462376 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下垂直下降", + "correction_plan": "爪夹打开蓝色正方形落入透明圆形塑料容器中", + "error_success_analysis": "爪夹向爪夹垂直下降", + "frame": 771, + "progress": 95, + "progress_explanation": "爪夹夹紧蓝色正方形位于透明圆形塑料容器中季度上升为95%", + "state_description": "爪夹夹紧蓝色正方形位于透明圆形塑料容器内\n为完成抓取蓝色正方形放进透明的圆形塑料容器里的任务应当：爪夹张开蓝色正方形落入透明圆形塑料容器中", + "time": 25.712995, + "annotations": { + "point_1767756964922": { + "type": "point", + "instances": [ + { + "id": "point_1767756964922_1767767224963_cf3vi9xc9", + "x": 0.7886665778401747, + "y": 0.4757592233675762 + } + ] + }, + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767228619_ow3gcq62q", + "x": 0.5966665895589239, + "y": 0.381092564404902, + "width": 0.3959999758300796, + "height": 0.4239999654947945 + } + ] + }, + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767230923_4zd4jgaqi", + "x": 0.7646665793050184, + "y": 0.41975922792486753, + "width": 0.07699999530029329, + "height": 0.14133332183159814 + } + ] + } + } + }, + { + "action_description": "爪夹打开蓝色正方形落入透明圆形塑料容器中", + "correction_plan": "", + "error_success_analysis": "爪夹张开", + "frame": 787, + "progress": 100, + "progress_explanation": "爪夹打开蓝色正方形落入透明圆形塑料容器中任务完成进度为100%", + "state_description": "爪夹打开蓝色正方形落入透明圆形塑料容器中任务完成", + "time": 26.245586786483116, + "annotations": { + "bbox_1767756963745": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963745_1767767236291_oj9kqpk5z", + "x": 0.6626665855306039, + "y": 0.5024258878641041, + "width": 0.09299999432373082, + "height": 0.12933332280816057 + } + ] + }, + "bbox_1767756963905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767756963905_1767767244676_17i5j1vmm", + "x": 0.5796665905965215, + "y": 0.3584258995828532, + "width": 0.4069999751586929, + "height": 0.44799996354166965 + } + ] + }, + "point_1767756964922": { + "type": "point", + "instances": [ + { + "id": "point_1767756964922_1767767246572_e1fmwm6f3", + "x": 0.7736665787557019, + "y": 0.498425888189625 + } + ] + }, + "point_1767756965104": { + "type": "point", + "instances": [ + { + "id": "point_1767756965104_1767767249124_womi0b7uf", + "x": 0.8246665756429092, + "y": 0.41175922857590913 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767756963745", + "name": "蓝色正方形", + "color": "#4CAF50" + }, + { + "id": "bbox_1767756963905", + "name": "透明圆形塑料容器", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767756964922", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767756965104", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-160940-bad-blue square-round container/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-160940-bad-blue square-round container/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..32e09402f42a5c15b24520398d6d69dbff1011ff --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-160940-bad-blue square-round container/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,416 @@ +{ + "task_description": "捡起蓝色的正方形，把它放进透明的圆形塑料容器里。\n开始移动：0%\n爪夹靠近蓝色正方形：25%\n爪夹夹紧蓝色正方形：50%\n移动蓝色正方形：75%\n蓝色正方形完全放进透明圆形塑料容器里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹上方抬升并调整爪夹角度使其垂直桌面，爪夹向爪夹右前方蓝色正方形移动并靠进蓝色正方形，靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹夹紧蓝色正方形向爪夹左边透明右下塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离蓝色正方形，未开始移动\n为抓起起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹上抬升并调整爪夹角度使其垂直桌面", + "time": 1.6066888833733386, + "annotations": { + "bbox_1767851428187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428187_1767851469043_n5ribcph8", + "x": 0.32866660591634483, + "y": 0.47694439884892587, + "width": 0.0629999961547854, + "height": 0.08399999316406313 + } + ] + }, + "bbox_1767851428539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428539_1767851485067_a1e67ph1f", + "x": 0.6646665854085335, + "y": 0.3609444082890293, + "width": 0.3299999798583996, + "height": 0.5253332905816007 + } + ] + }, + "point_1767851429252": { + "type": "point", + "instances": [ + { + "id": "point_1767851429252_1767851487315_t1hgnf75h", + "x": 0.3966666017659545, + "y": 0.38894440601038366 + } + ] + }, + "point_1767851429603": { + "type": "point", + "instances": [ + { + "id": "point_1767851429603_1767851489483_1wrp84l2i", + "x": 0.5016665953572634, + "y": 0.3716110740876405 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上抬升并调整爪夹角度使其垂直桌面", + "correction_plan": "爪夹向爪夹右前方蓝色正方形移动并靠进蓝色正方形，靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹夹紧蓝色正方形向爪夹左边透明右下塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹向上抬升调整爪夹角度", + "frame": 98, + "progress": 5, + "progress_explanation": "爪夹抬升进度上升为5%", + "state_description": "爪夹张开爪夹垂直桌面\n为抓起起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹右下蓝色正方形移动", + "time": 3.2720495610583398, + "annotations": { + "point_1767851429603": { + "type": "point", + "instances": [ + { + "id": "point_1767851429603_1767851497707_em8aj8xgl", + "x": 0.48266659651693133, + "y": 0.32494441121871653 + } + ] + }, + "point_1767851429252": { + "type": "point", + "instances": [ + { + "id": "point_1767851429252_1767851500435_ntzri7jap", + "x": 0.379666602803552, + "y": 0.33294441056767493 + } + ] + }, + "bbox_1767851428187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428187_1767851502491_97rpo33xu", + "x": 0.3196666064656612, + "y": 0.42361106985586994, + "width": 0.06699999591064479, + "height": 0.1359999889322926 + } + ] + }, + "bbox_1767851428539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428539_1767851505443_w3685qa70", + "x": 0.6236665879109748, + "y": 0.3089444125207998, + "width": 0.37099997735595835, + "height": 0.5706666202256983 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前移动同时向桌面下降爪夹靠近桌面", + "correction_plan": "爪夹向爪夹上方抬升并向爪夹右方蓝色正方形移动，靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹夹紧蓝色正方形向爪夹左边透明右下塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹向桌面移动", + "frame": 142, + "progress": 10, + "progress_explanation": "爪夹夹向爪夹下移动靠近桌面进度上升为10%", + "state_description": "爪夹张开爪夹靠近桌面\n为抓起起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹上方抬升并向爪夹右方蓝色正方形移动", + "time": 4.720777955467242, + "annotations": { + "bbox_1767851428539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428539_1767851510059_22maemy1z", + "x": 0.6466665865071664, + "y": 0.3502777424904181, + "width": 0.3519999785156262, + "height": 0.5133332915581631 + } + ] + }, + "bbox_1767851428187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428187_1767851512259_5oili00yx", + "x": 0.3376666053670284, + "y": 0.47961106529857866, + "width": 0.05499999664306663, + "height": 0.08799999283854228 + } + ] + }, + "point_1767851429252": { + "type": "point", + "instances": [ + { + "id": "point_1767851429252_1767851519643_af0fumx8r", + "x": 0.40666660115560294, + "y": 0.5009443968958011 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹向爪夹右蓝色正方形移动。靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹夹紧蓝色正方形向爪夹左边透明右下塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹合拢", + "frame": 167, + "progress": 15, + "progress_explanation": "爪夹合拢位于蓝色正方形左侧进度上升为15%", + "state_description": "爪夹合拢垂直桌面\n为抓起起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹张开向爪夹右方蓝色正方形移动", + "time": 5.556133, + "annotations": { + "bbox_1767851428539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428539_1767851531307_uisdvkc7b", + "x": 0.641666586812342, + "y": 0.33427774379250136, + "width": 0.3549999783325209, + "height": 0.5533332883029551 + } + ] + }, + "bbox_1767851428187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428187_1767851533075_uaz8kgjyd", + "x": 0.3226666062825557, + "y": 0.47161106594962027, + "width": 0.0759999953613284, + "height": 0.13333332248263977 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方蓝色正方形移动靠近蓝色正方形", + "correction_plan": "爪夹张开爪夹向爪夹上抬升，爪夹向爪夹右移动至蓝色正方形上方垂直下降靠近蓝色正方形，爪夹合拢夹紧蓝色正方形，爪夹夹紧蓝色正方形向爪夹左边透明右下塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹向爪夹右蓝色正方形移动", + "frame": 213, + "progress": 25, + "progress_explanation": "爪夹靠近蓝色正方形进度上升为25%", + "state_description": "当前状态为爪夹合拢，爪夹右靠近蓝色正方形\n为抓起起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹张开向爪夹上抬升", + "time": 7.103733071504316, + "annotations": { + "bbox_1767851428187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428187_1767851537251_c141ypitn", + "x": 0.26766660963948913, + "y": 0.47161106594962027, + "width": 0.07499999542236355, + "height": 0.11466665733507017 + } + ] + }, + "bbox_1767851428539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428539_1767851543035_br1cxhcvp", + "x": 0.6686665851643929, + "y": 0.35175923345872123, + "width": 0.3249999801635755, + "height": 0.5213332909071214 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右移动", + "correction_plan": "爪夹张开爪夹向爪夹上抬升，爪夹向爪夹方垂直下降靠近蓝色正方形，爪夹合拢夹紧蓝色正方形，爪夹夹紧蓝色正方形向爪夹左边透明右下塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹向爪夹右移动", + "frame": 251, + "progress": 20, + "progress_explanation": "爪夹在蓝色正方形上进度下降为20", + "state_description": "爪夹合拢位于蓝色正方形和青菜上方\n为抓起起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹上抬升爪夹打开", + "time": 8.366255, + "annotations": { + "bbox_1767851428539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428539_1767851550923_mohheso7o", + "x": 0.6596665857137094, + "y": 0.3824258976297284, + "width": 0.3299999798583997, + "height": 0.4933332931857672 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上抬升并向爪夹左下移动同时调整爪夹角度使其垂直桌面", + "correction_plan": "爪夹张开向爪夹右方蓝色正方形移动，靠近蓝色正方形，爪夹合拢夹紧蓝色正方形，爪夹夹紧蓝色正方形向爪夹左边透明右下塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹向爪夹左移动", + "frame": 301, + "progress": 10, + "progress_explanation": "爪夹向爪夹右移动远离拉瑟正方形进度下降为10%", + "state_description": "爪夹合拢垂直桌面\n为抓起起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹张开向爪夹右方蓝色正方形移动", + "time": 10.021817, + "annotations": { + "bbox_1767851428539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428539_1767851556132_gqmq6ridn", + "x": 0.65566658595785, + "y": 0.3436110763662861, + "width": 0.34299997906494256, + "height": 0.5386666228298647 + } + ] + }, + "bbox_1767851428187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428187_1767851558107_ps1hf4f6r", + "x": 0.13566661769612928, + "y": 0.5089443962447594, + "width": 0.09999999389648476, + "height": 0.0906666592881951 + } + ] + } + } + }, + { + "action_description": "爪夹半张开", + "correction_plan": "爪夹向爪夹右蓝色正方形靠近，爪夹合拢夹紧蓝色正方形，爪夹夹紧蓝色正方形向爪夹左边透明右下塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹打开一半", + "frame": 317, + "progress": 15, + "progress_explanation": "爪夹班长开进度上升为15%", + "state_description": "爪夹半张开\n为抓起起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹右下蓝色正方形移动靠近蓝色正方形", + "time": 10.572333, + "annotations": { + "bbox_1767851428187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428187_1767851562420_5bkw0mvio", + "x": 0.16666661580403955, + "y": 0.48761106464753706, + "width": 0.060999996276855685, + "height": 0.1133333241102438 + } + ] + }, + "bbox_1767851428539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428539_1767851565812_y8y2pikuv", + "x": 0.635666587178553, + "y": 0.32361107799389016, + "width": 0.36299997784423954, + "height": 0.5746666199001775 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右蓝色正方形移动", + "correction_plan": "爪夹合拢夹紧蓝色正方形，爪夹夹紧蓝色正方形向爪夹左边透明右下塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹向爪夹右移动", + "frame": 336, + "progress": 25, + "progress_explanation": "爪夹垂直桌面爪夹右靠近蓝色正方形", + "state_description": "爪夹靠近蓝色正方形住家右接近蓝色正方形\n为抓起起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹合拢", + "time": 11.195844, + "annotations": { + "bbox_1767851428539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428539_1767851571235_nnz0g8i0h", + "x": 0.6726665849202523, + "y": 0.3369444102421541, + "width": 0.3229999802856457, + "height": 0.549333288628476 + } + ] + }, + "bbox_1767851428187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428187_1767851573123_e4jo7fpo0", + "x": 0.15766661635335594, + "y": 0.5102777294695858, + "width": 0.06399999609375022, + "height": 0.08266665993923669 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右移动", + "correction_plan": "爪夹向爪夹右蓝色正方形移动并靠近，爪夹合拢夹紧蓝色正方形，爪夹夹紧蓝色正方形向爪夹左边透明右下塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹向爪夹右移动", + "frame": 370, + "progress": -20, + "progress_explanation": "爪夹张开远离蓝色正方形进度下降为-20\n5", + "state_description": "爪夹张开位于桌子外面，蓝色正方形掉落地上\n为抓起起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹游戏啊蓝色正方形移动靠近蓝色正方形", + "time": 12.33991, + "annotations": { + "bbox_1767851428539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851428539_1767851578675_l8wtrix6i", + "x": 0.6786665845540414, + "y": 0.3316110773428485, + "width": 0.31699998065185664, + "height": 0.5599999544270872 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767851428187", + "name": "蓝色正方形", + "color": "#4CAF50" + }, + { + "id": "bbox_1767851428539", + "name": "透明圆形塑料容器", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767851429252", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767851429603", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-160940-bad-blue square-round container/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-160940-bad-blue square-round container/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..7e02c2677e59c94e564738bb1e2d4a03baa5f1c5 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-160940-bad-blue square-round container/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,690 @@ +{ + "task_description": "拿起蓝色的正方形，放进透明的塑料圆形容器里。\n爪夹靠近蓝色正方形：25%\n爪夹夹紧蓝色正方形：50%\n移动蓝色正方形：75%\n蓝色正方形完全放进透明圆形塑料容器里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹上方抬升并调整爪夹角度使其垂直桌面，爪夹向爪夹右前方蓝色正方形移动并靠进蓝色正方形，靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹夹紧蓝色正方形向爪夹左边透明右下塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离蓝色正方形，未开始移动\n为抓起起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹上抬升并调整爪夹角度使其垂直桌面", + "time": 1.1706747200225063, + "annotations": { + "bbox_1767851589645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851589645_1767851637555_xmvdscw8x", + "x": 0.34266660506185265, + "y": 0.49027773109718986, + "width": 0.05199999682617209, + "height": 0.0813333267144103 + } + ] + }, + "bbox_1767851590021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851590021_1767851640460_amr74hweq", + "x": 0.7526665800374401, + "y": 0.13827775974302087, + "width": 0.24399998510742282, + "height": 0.4466666303168433 + } + ] + }, + "point_1767851590707": { + "type": "point", + "instances": [ + { + "id": "point_1767851590707_1767851642827_vcz3y9lys", + "x": 0.39266660201009507, + "y": 0.38361107311107806 + } + ] + }, + "point_1767851590867": { + "type": "point", + "instances": [ + { + "id": "point_1767851590867_1767851644811_68q6fn9q6", + "x": 0.4946665957845095, + "y": 0.3609444082890293 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上抬升并调整爪夹角度使其垂直桌面", + "correction_plan": "爪夹向爪夹右前方蓝色正方形移动并靠进蓝色正方形，靠近蓝色正方形后爪夹合拢夹紧蓝色正方形，爪夹夹紧蓝色正方形向爪夹左边透明右下塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹向上抬升调整爪夹角度", + "frame": 101, + "progress": 10, + "progress_explanation": "爪夹抬升进度上升为10%", + "state_description": "爪夹张开爪夹垂直桌面\n为抓起起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹右下蓝色正方形移动", + "time": 3.378234688333055, + "annotations": { + "point_1767851590867": { + "type": "point", + "instances": [ + { + "id": "point_1767851590867_1767851648539_fx6ujt6ca", + "x": 0.4686665973714234, + "y": 0.4009444050338212 + } + ] + }, + "point_1767851590707": { + "type": "point", + "instances": [ + { + "id": "point_1767851590707_1767851651467_knv235g0a", + "x": 0.37366660316976297, + "y": 0.4076110711579532 + } + ] + }, + "bbox_1767851590021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851590021_1767851654531_rfghmczab", + "x": 0.7546665799153698, + "y": 0.14094442619267367, + "width": 0.23699998553466886, + "height": 0.44533329709201674 + } + ] + }, + "bbox_1767851589645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851589645_1767851657587_zxyfy6qa0", + "x": 0.3196666064656612, + "y": 0.4809443985234051, + "width": 0.10299999371337928, + "height": 0.10266665831163262 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方蓝色正方形移动靠近蓝色正方形", + "correction_plan": "爪夹合拢夹紧蓝色正方形，爪夹夹紧蓝色正方形向爪夹方抬升并向爪夹左边透明塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹向爪夹右蓝色正方形移动", + "frame": 139, + "progress": 25, + "progress_explanation": "爪夹靠近蓝色正方形进度上升为25%", + "state_description": "当前状态为爪夹张开，爪夹靠近蓝色正方形\n为抓起起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹合拢", + "time": 4.63253012487314, + "annotations": { + "bbox_1767851590021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851590021_1767851663459_y67qeh4fg", + "x": 0.733666581197108, + "y": 0.12494442749475689, + "width": 0.26199998400879, + "height": 0.4986666260850728 + } + ] + }, + "point_1767851590707": { + "type": "point", + "instances": [ + { + "id": "point_1767851590707_1767851665675_ewghmv8cq", + "x": 0.32866660591634483, + "y": 0.5249443949426762 + } + ] + } + } + }, + { + "action_description": "爪夹合拢夹紧蓝色正方形", + "correction_plan": "爪夹夹紧蓝色正方形向爪夹上抬升并向左边透明塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹合拢", + "frame": 172, + "progress": 50, + "progress_explanation": "爪夹夹紧蓝色正方形进度上升为50%", + "state_description": "爪夹抓紧蓝色正方形\n为抓起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹上抬升向爪夹左方透明圆形塑料容器移动", + "time": 5.736310109028414, + "annotations": { + "bbox_1767851590021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851590021_1767851676123_os2de3be1", + "x": 0.7356665810750378, + "y": 0.14094442619267367, + "width": 0.26199998400879004, + "height": 0.48533329383680873 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上抬升并向抓紧啊左透明圆形塑料容器移动", + "correction_plan": "爪夹向爪夹左边透明塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹抬升向爪夹左移动", + "frame": 220, + "progress": 75, + "progress_explanation": "当前进度为爪夹夹紧蓝色正方形移动进度上升为75%", + "state_description": "爪夹夹紧蓝色正方形位于透明圆形塑料容器左上\n为抓起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹左的透明圆形塑料容器移动", + "time": 7.341808267799722, + "annotations": { + "point_1767851590707": { + "type": "point", + "instances": [ + { + "id": "point_1767851590707_1767851681483_toz65umbi", + "x": 0.7216665819295298, + "y": 0.37827774021177246 + } + ] + }, + "bbox_1767851589645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851589645_1767851683387_zjqorbtqt", + "x": 0.7056665829060923, + "y": 0.30494441284632057, + "width": 0.05899999639892606, + "height": 0.11066665766059103 + } + ] + }, + "bbox_1767851590021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851590021_1767851685803_0o2c7kexp", + "x": 0.7636665793660534, + "y": 0.09827776299822893, + "width": 0.2259999862060556, + "height": 0.5786666195746566 + } + ] + } + } + }, + { + "action_description": "爪夹打开", + "correction_plan": "爪夹向爪夹下方蓝色正方形移动靠近蓝色正方形爪夹夹紧蓝色正方形向爪夹上抬升并向左边透明塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹张开蓝色正方形脱落", + "frame": 237, + "progress": 10, + "progress_explanation": "爪夹张开蓝色正方形脱落远离蓝色正方形进度下降为10%", + "state_description": "爪夹张开，蓝色正方形落在桌面上\n为抓起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹下方蓝色正方形移动", + "time": 7.893698259877361, + "annotations": { + "point_1767851590707": { + "type": "point", + "instances": [ + { + "id": "point_1767851590707_1767851692483_de6wriizr", + "x": 0.8376665748494523, + "y": 0.41694440373173797 + } + ] + }, + "point_1767851590867": { + "type": "point", + "instances": [ + { + "id": "point_1767851590867_1767851694339_lk21qiiqn", + "x": 0.897666571187343, + "y": 0.396944405359342 + } + ] + }, + "bbox_1767851589645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851589645_1767851696947_hktgye87r", + "x": 0.642666586751307, + "y": 0.611611054556392, + "width": 0.1019999937744144, + "height": 0.12533332313368142 + } + ] + }, + "bbox_1767851590021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851590021_1767851701324_qv01yqhvm", + "x": 0.7436665805867565, + "y": 0.12627776071958327, + "width": 0.2519999846191415, + "height": 0.48533329383680873 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右下蓝色正方形移动靠近", + "correction_plan": "爪夹合拢夹紧蓝色正方形，爪夹夹紧蓝色正方形向爪夹方抬升并向爪夹左边透明塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹向爪夹右下移动", + "frame": 378, + "progress": 25, + "progress_explanation": "爪夹靠近蓝色正方形进度上升为25%", + "state_description": "爪夹靠近蓝色正方形\n为抓起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹合拢", + "time": 12.609849101268077, + "annotations": { + "point_1767851590707": { + "type": "point", + "instances": [ + { + "id": "point_1767851590707_1767851705483_uamg7n2zd", + "x": 0.6496665863240608, + "y": 0.6304258774474384 + } + ] + }, + "bbox_1767851589645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851589645_1767851707483_bmbn4cz29", + "x": 0.6446665866292366, + "y": 0.5757592152295561, + "width": 0.09099999444580113, + "height": 0.10666665798611182 + } + ] + }, + "bbox_1767851590021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851590021_1767851710643_je0t4mwws", + "x": 0.7696665789998425, + "y": 0.10909258654031685, + "width": 0.21999998657226652, + "height": 0.4679999619140657 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧蓝色正方形向爪夹上抬升并向左边透明塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹合拢", + "frame": 425, + "progress": 50, + "progress_explanation": "爪夹夹紧蓝色正方形进度上升为50%", + "state_description": "爪夹抓紧蓝色正方形\n为抓起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹上抬升向爪夹左方透明圆形塑料容器移动", + "time": 14.165321, + "annotations": { + "bbox_1767851589645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851589645_1767851715403_fsiv5t50s", + "x": 0.6396665869344124, + "y": 0.5849443900598641, + "width": 0.10899999334716837, + "height": 0.08933332606336866 + } + ] + }, + "point_1767851590707": { + "type": "point", + "instances": [ + { + "id": "point_1767851590707_1767851717323_oajx85a61", + "x": 0.6836665842488656, + "y": 0.631611052928788 + } + ] + }, + "bbox_1767851590021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851590021_1767851720300_q58lwy24u", + "x": 0.7896665777791394, + "y": 0.1169444281457985, + "width": 0.20399998754882898, + "height": 0.4679999619140656 + } + ] + } + } + }, + { + "action_description": "爪夹抓紧蓝色正方形向爪夹方抬升", + "correction_plan": "爪夹向爪夹左边透明塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹向爪夹方抬升", + "frame": 464, + "progress": 75, + "progress_explanation": "当前进度为爪夹夹紧蓝色正方形移动进度上升为75%", + "state_description": "爪夹夹紧蓝色正方形位于透明圆形塑料容器左上\n为抓起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹左的透明圆形塑料容器移动", + "time": 15.469642696579472, + "annotations": { + "point_1767851590707": { + "type": "point", + "instances": [ + { + "id": "point_1767851590707_1767851724603_i5qzbiiho", + "x": 0.6266665877278694, + "y": 0.46627773305031467 + } + ] + }, + "point_1767851590867": { + "type": "point", + "instances": [ + { + "id": "point_1767851590867_1767851726619_tl89gjkxn", + "x": 0.6696665851033579, + "y": 0.44627773467791876 + } + ] + }, + "bbox_1767851589645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851589645_1767851729091_6ji6qqu0a", + "x": 0.5856665902303106, + "y": 0.410277737607606, + "width": 0.09799999401855501, + "height": 0.11066665766059103 + } + ] + }, + "bbox_1767851590021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851590021_1767851732443_ymt1p8x2p", + "x": 0.7636665793660534, + "y": 0.14494442586715284, + "width": 0.2309999859008797, + "height": 0.46933329513889205 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前移动同时爪夹打开", + "correction_plan": "爪夹向爪夹下方蓝色正方形移动靠近，爪夹靠近蓝色正方形爪夹合拢。爪夹夹紧蓝色正方形向爪夹上抬升并向左后边透明塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹向爪夹前移动打开爪夹", + "frame": 484, + "progress": 10, + "progress_explanation": "爪夹张开使蓝色正方形脱落远离进度下降为10%", + "state_description": "爪夹张开爪夹角度倾斜蓝色正方形脱落\n为抓起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹下方蓝色正方形移动同时调整爪夹角度", + "time": 16.1398, + "annotations": { + "bbox_1767851590021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851590021_1767851737843_torogiwwq", + "x": 0.7486665802815807, + "y": 0.15161109199128484, + "width": 0.2479999848632822, + "height": 0.4226666322699681 + } + ] + }, + "bbox_1767851589645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851589645_1767851740028_f8z43yna4", + "x": 0.7936665775349988, + "y": 0.6742777161232328, + "width": 0.1019999937744144, + "height": 0.1933333175998276 + } + ] + }, + "point_1767851590707": { + "type": "point", + "instances": [ + { + "id": "point_1767851590707_1767851742083_y0twfin7a", + "x": 0.9096665704549212, + "y": 0.4582777337013563 + } + ] + }, + "point_1767851590867": { + "type": "point", + "instances": [ + { + "id": "point_1767851590867_1767851744187_jpui0mxsd", + "x": 0.976666566365566, + "y": 0.4196110701813908 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右下移动调整抓紧爱角度使爪夹垂直桌面", + "correction_plan": "爪夹向爪夹前方蓝色正方形移动，爪夹靠近蓝色正方形爪夹合拢。爪夹夹紧蓝色正方形向爪夹上抬升并向左后边透明塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹向爪夹右下移动", + "frame": 566, + "progress": 15, + "progress_explanation": "爪夹垂直于蓝色正方形前方进度上升为15", + "state_description": "爪夹张开垂直桌面靠近青菜\n为抓起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹向爪夹前蓝色正方形移动靠近", + "time": 18.8562403752377, + "annotations": { + "point_1767851590707": { + "type": "point", + "instances": [ + { + "id": "point_1767851590707_1767851754763_zk1l6ebcm", + "x": 0.7246665817464244, + "y": 0.7716110415355597 + } + ] + }, + "bbox_1767851589645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851589645_1767851756515_epwzm24pk", + "x": 0.805666576802577, + "y": 0.7769443744348654, + "width": 0.055999996582031565, + "height": 0.10266665831163262 + } + ] + }, + "bbox_1767851590021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851590021_1767851759979_e3wqm2rhw", + "x": 0.7636665793660534, + "y": 0.13827775974302087, + "width": 0.2259999862060556, + "height": 0.4333332980685793 + } + ] + } + } + }, + { + "action_description": "爪夹向蓝色正方形调整爪夹角度", + "correction_plan": "爪夹调整爪夹角度爪夹前方蓝色正方形移动，爪夹靠近蓝色正方形爪夹合拢。爪夹夹紧蓝色正方形向爪夹上抬升并向左后边透明塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹调整爪夹角度", + "frame": 617, + "progress": 20, + "progress_explanation": "爪夹调整爪夹角度接近蓝色正方形进度上升为20%", + "state_description": "爪夹倾斜位于蓝色正方形左上角\n为抓起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹调整爪夹角度向爪夹前方蓝色正方形靠近", + "time": 20.562082168932214, + "annotations": { + "bbox_1767851590021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851590021_1767851764875_bzv7jiq8q", + "x": 0.7446665805257213, + "y": 0.15161109199128484, + "width": 0.2489999848022471, + "height": 0.4239999654947944 + } + ] + }, + "bbox_1767851589645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851589645_1767851767084_m2dqwmrca", + "x": 0.7996665771687879, + "y": 0.7877591979769533, + "width": 0.08899999456787144, + "height": 0.11066665766059103 + } + ] + }, + "point_1767851590707": { + "type": "point", + "instances": [ + { + "id": "point_1767851590707_1767851769155_mzdovzskz", + "x": 0.7676665791219128, + "y": 0.8117591960238285 + } + ] + } + } + }, + { + "action_description": "爪夹调整爪夹角度向蓝色正方形靠近", + "correction_plan": "爪夹合拢，爪夹夹紧蓝色正方形向爪夹上抬升并向左后边透明塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹向爪夹前蓝色正方形移动", + "frame": 673, + "progress": 25, + "progress_explanation": "爪夹靠近蓝色正方形进度上升为25%", + "state_description": "爪夹张开靠近蓝色正方形\n为抓起蓝色正方形放进透明圆形塑料容器里的任务应当：爪夹合拢夹紧蓝色正方形", + "time": 22.44352532374234, + "annotations": { + "point_1767851590707": { + "type": "point", + "instances": [ + { + "id": "point_1767851590707_1767851772579_30a23wquj", + "x": 0.8496665741170304, + "y": 0.8182777044044837 + } + ] + }, + "bbox_1767851589645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851589645_1767851774301_klptm8nw6", + "x": 0.7866665779622449, + "y": 0.7702777083107334, + "width": 0.09299999432373074, + "height": 0.13999998860677168 + } + ] + }, + "bbox_1767851590021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851590021_1767851777411_yp93r8ui1", + "x": 0.7786665784505262, + "y": 0.14494442586715284, + "width": 0.21699998675537185, + "height": 0.4159999661458362 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪机张开向爪夹前蓝色正方形移动靠近，爪夹靠近蓝色正方形爪夹合拢。爪夹夹紧蓝色正方形向爪夹上抬升并向左后边透明塑料容器移动，移动至透明圆形塑料容器上方后向透明圆形塑料容器内移动，移动至透明圆形塑料容器内松开爪夹使蓝色正方形落入透明塑料圆形容器中", + "error_success_analysis": "爪夹合拢", + "frame": 718, + "progress": 20, + "progress_explanation": "爪夹合拢但为夹紧蓝色正方形进度下降为20%", + "state_description": "爪夹合拢爪夹靠近蓝色正方形左上", + "time": 23.943999, + "annotations": { + "bbox_1767851589645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851589645_1767851781901_xo9ev1r65", + "x": 0.7696665789998425, + "y": 0.8009443724817406, + "width": 0.11799999279785194, + "height": 0.08133332671441025 + } + ] + }, + "bbox_1767851590021": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851590021_1767851784451_sj3yfjd6p", + "x": 0.7066665828450571, + "y": 0.15961109134024323, + "width": 0.2919999821777354, + "height": 0.4066666335720513 + } + ] + }, + "point_1767851590707": { + "type": "point", + "instances": [ + { + "id": "point_1767851590707_1767851786227_db3cllu2n", + "x": 0.812666576375331, + "y": 0.8009443724817406 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767851589645", + "name": "蓝色正方形", + "color": "#4CAF50" + }, + { + "id": "bbox_1767851590021", + "name": "透明圆形塑料容器", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767851590707", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767851590867", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-180324-good-mouse-white tray/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-180324-good-mouse-white tray/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..f3e9b11144bf9be4d49c13d80171c441ee8c0600 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-180324-good-mouse-white tray/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,358 @@ +{ + "task_description": "把鼠标品放进白色托盘\n开始移动：0%\n爪夹靠近鼠标：25%\n抓紧鼠标：50%\n移动鼠标：75%\n将鼠标完全放进快递箱:100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前移动并调整爪夹角度，爪夹向爪夹左下方鼠标移动靠近鼠标，爪夹合拢夹紧鼠标，爪夹夹紧鼠标向爪夹上抬升，爪夹向爪夹左方白色托盘移动至白色托盘上方，爪夹打开使鼠标落入白色托盘中", + "error_success_analysis": "", + "frame": 53, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离鼠标，未开始移动\n为完成抓取鼠标放进白色托盘的任务应该：爪夹向爪夹前移动并调整爪夹角度使其垂直桌面", + "time": 1.7788659355670104, + "annotations": { + "bbox_1767861861783": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861861783_1767861890647_jbg14hk07", + "x": 0.4915, + "y": 0.37866666666666665, + "width": 0.203, + "height": 0.3306666666666667 + } + ] + }, + "bbox_1767861862054": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861862054_1767861893463_uz580nepx", + "x": 0.7195, + "y": 0.34933333333333333, + "width": 0.27699999999999997, + "height": 0.6146666666666667 + } + ] + }, + "point_1767861862815": { + "type": "point", + "instances": [ + { + "id": "point_1767861862815_1767861896143_owc5kw5kg", + "x": 0.3975, + "y": 0.38666666666666666 + } + ] + }, + "point_1767861863032": { + "type": "point", + "instances": [ + { + "id": "point_1767861863032_1767861898327_829fjsp8f", + "x": 0.5045, + "y": 0.372 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前移动并调整爪夹角度", + "correction_plan": "爪夹向爪夹左下方鼠标移动靠近鼠标，爪夹合拢夹紧鼠标，爪夹夹紧鼠标向爪夹上抬升，爪夹向爪夹左方白色托盘移动至白色托盘上方，爪夹打开使鼠标落入白色托盘中", + "error_success_analysis": "爪夹向爪夹前移动调整爪夹角度", + "frame": 107, + "progress": 10, + "progress_explanation": "爪夹位于鼠标左上方进度上升为10%", + "state_description": "爪夹张开垂直桌面\n为完成抓取鼠标放进白色托盘的任务应该：爪夹向爪夹左下方鼠标移动靠近鼠标", + "time": 3.5786597056701033, + "annotations": { + "point_1767861863032": { + "type": "point", + "instances": [ + { + "id": "point_1767861863032_1767861901055_zzmrr89jy", + "x": 0.5135, + "y": 0.45066666666666666 + } + ] + }, + "point_1767861862815": { + "type": "point", + "instances": [ + { + "id": "point_1767861862815_1767861903591_nfsp9znoq", + "x": 0.39849999999999997, + "y": 0.48800000000000004 + } + ] + }, + "bbox_1767861862054": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861862054_1767861985863_x2zue10re", + "x": 0.7075, + "y": 0.3453333333333333, + "width": 0.2899999999999999, + "height": 0.5960000000000001 + } + ] + }, + "bbox_1767861861783": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861861783_1767861988127_pbt06rfy7", + "x": 0.5025000000000001, + "y": 0.4653333333333334, + "width": 0.217, + "height": 0.2546666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左下鼠标移动", + "correction_plan": "，爪夹合拢夹紧鼠标，爪夹夹紧鼠标向爪夹上抬升，爪夹向爪夹左方白色托盘移动至白色托盘上方，爪夹打开使鼠标落入白色托盘中", + "error_success_analysis": "爪夹向爪夹左下移动", + "frame": 169, + "progress": 25, + "progress_explanation": "爪夹靠近鼠标进度上升为25%", + "state_description": "爪夹靠近鼠标\n为完成抓取鼠标放进白色托盘的任务应该：爪夹合拢夹紧鼠标", + "time": 5.642479, + "annotations": { + "point_1767861863032": { + "type": "point", + "instances": [ + { + "id": "point_1767861863032_1767861913551_3sug2zopw", + "x": 0.6455, + "y": 0.628 + } + ] + }, + "bbox_1767861862054": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861862054_1767861982111_qzjn49a3u", + "x": 0.7095, + "y": 0.364, + "width": 0.28500000000000003, + "height": 0.5933333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹夹紧鼠标向爪夹上抬升，爪夹向爪夹左方白色托盘移动至白色托盘上方，爪夹打开使鼠标落入白色托盘中", + "error_success_analysis": "爪夹合拢夹紧鼠标", + "frame": 203, + "progress": 50, + "progress_explanation": "爪夹夹紧鼠标进度上升为50%", + "state_description": "爪夹夹紧鼠标\n为完成抓取鼠标放进白色托盘的任务应该：爪夹夹紧鼠标向爪夹上抬升", + "time": 6.762942, + "annotations": { + "bbox_1767861862054": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861862054_1767861965158_drmpkwf0w", + "x": 0.7215, + "y": 0.3373333333333334, + "width": 0.27699999999999997, + "height": 0.6213333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹上抬升", + "correction_plan": "爪夹向爪夹左方白色托盘移动至白色托盘上方，爪夹打开使鼠标落入白色托盘中", + "error_success_analysis": "爪夹夹紧鼠标向爪夹上方抬升", + "frame": 259, + "progress": 75, + "progress_explanation": "爪夹夹紧鼠标移动进度上升为75%", + "state_description": "爪夹夹紧鼠标垂直桌面上\n为完成抓取鼠标放进白色托盘的任务应该：爪夹向爪夹左方白色托盘移动至白色托盘上方", + "time": 8.64319566340206, + "annotations": { + "point_1767861863032": { + "type": "point", + "instances": [ + { + "id": "point_1767861863032_1767861919655_0p08wbuwq", + "x": 0.5565, + "y": 0.35333333333333333 + } + ] + }, + "point_1767861862815": { + "type": "point", + "instances": [ + { + "id": "point_1767861862815_1767861922414_5b5wobfg8", + "x": 0.4625, + "y": 0.37333333333333335 + } + ] + }, + "bbox_1767861862054": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861862054_1767861927527_p97txz10a", + "x": 0.7195, + "y": 0.308, + "width": 0.274, + "height": 0.6799999999999999 + } + ] + }, + "bbox_1767861861783": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861861783_1767861931031_ack7cw70f", + "x": 0.41050000000000003, + "y": 0.21200000000000002, + "width": 0.2, + "height": 0.37733333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左移动至白色托盘上", + "correction_plan": "爪夹打开使鼠标落入白色托盘中", + "error_success_analysis": "爪夹向爪夹右移动", + "frame": 316, + "progress": 90, + "progress_explanation": "爪夹位于白色图片是进度上升为90%", + "state_description": "爪夹夹紧鼠标位于白色托盘上 \n为完成抓取鼠标放进白色托盘的任务应该：爪夹打开使鼠标落入白色托盘中\n", + "time": 10.522451, + "annotations": { + "bbox_1767861861783": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861861783_1767861936823_bp16yuv2x", + "x": 0.7975000000000001, + "y": 0.24533333333333335, + "width": 0.19400000000000003, + "height": 0.36533333333333334 + } + ] + }, + "point_1767861862815": { + "type": "point", + "instances": [ + { + "id": "point_1767861862815_1767861938831_kcvns1g9g", + "x": 0.9685, + "y": 0.47866666666666663 + } + ] + }, + "bbox_1767861862054": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861862054_1767861942303_c6ki6pei3", + "x": 0.6655, + "y": 0.3066666666666667, + "width": 0.328, + "height": 0.6573333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹张卡鼠标落入白色托盘中", + "frame": 348, + "progress": 100, + "progress_explanation": "任务完成进度为100%", + "state_description": "爪夹张开鼠标落入白色托盘完成任务", + "time": 11.610301, + "annotations": { + "point_1767861862815": { + "type": "point", + "instances": [ + { + "id": "point_1767861862815_1767861950327_uql2y7ha6", + "x": 0.9335000000000001, + "y": 0.5186666666666667 + } + ] + }, + "point_1767861863032": { + "type": "point", + "instances": [ + { + "id": "point_1767861863032_1767861952086_9gs7htkb3", + "x": 0.9635, + "y": 0.4346666666666667 + } + ] + }, + "bbox_1767861862054": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861862054_1767861955550_0607aqap6", + "x": 0.7055, + "y": 0.3346666666666667, + "width": 0.285, + "height": 0.6266666666666666 + } + ] + }, + "bbox_1767861861783": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861861783_1767861957398_vzk7717aw", + "x": 0.7695000000000001, + "y": 0.43066666666666664, + "width": 0.092, + "height": 0.25600000000000006 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767861861783", + "name": "鼠标", + "color": "#4CAF50" + }, + { + "id": "bbox_1767861862054", + "name": "白色托盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767861862815", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767861863032", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-184145-bad-mouse-white tray/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-184145-bad-mouse-white tray/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..6cfbae020b5c7284007fb1ec1c0ae0690503458b --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-184145-bad-mouse-white tray/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,406 @@ +{ + "task_description": "拿起鼠标，把它放进白色托盘里\n开始移动：0%\n爪夹靠近鼠标：25%\n抓紧鼠标：50%\n移动鼠标：75%\n将鼠标完全放进白色托盘:100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹前移动调整爪夹角度，爪夹向爪夹右移动至鼠标上，爪夹向爪夹下鼠标移动靠近鼠标，爪夹合拢，爪夹夹紧鼠标向爪夹方抬升，爪夹向爪夹左移动至白色to上，爪夹打开使鼠标落入白色托盘", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离鼠标，未开始移动\n为完成抓取鼠标放进白色托盘的任务应该：爪夹向爪夹前移动调整爪夹角度", + "time": 1.0251997150429817, + "annotations": { + "point_1768033482973": { + "type": "point", + "instances": [ + { + "id": "point_1768033482973_1768033627461_cqb5t5gki", + "x": 0.5136665946248417, + "y": 0.3636110747386821 + } + ] + }, + "point_1768033482814": { + "type": "point", + "instances": [ + { + "id": "point_1768033482814_1768033629029_z4nut58pq", + "x": 0.45866659798177495, + "y": 0.3916110724600364 + } + ] + }, + "bbox_1768033482173": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033482173_1768033632381_kr9lqm0h2", + "x": 0.23366661171468434, + "y": 0.4009444050338212, + "width": 0.71999995605469, + "height": 0.5599999544270869 + } + ] + }, + "bbox_1768033481797": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033481797_1768033634037_yzmnr0r3s", + "x": 0.17666661519368804, + "y": 0.31827774509458456, + "width": 0.18499998870849677, + "height": 0.3719999697265649 + } + ] + } + } + }, + { + "time": 2.583333, + "frame": 77, + "progress": 0, + "action_description": "爪夹向爪夹方抬升", + "state_description": "爪夹张开位于鼠标右上方\n为完成抓取鼠标放进白色托盘的任务应该：爪夹向爪夹右方移动至鼠标上方", + "progress_explanation": "爪夹向爪夹上移动进度上升为5%", + "error_success_analysis": "爪夹向爪夹上方抬升", + "correction_plan": "爪夹向爪夹右移动至鼠标上，爪夹向爪夹下鼠标移动靠近鼠标，爪夹合拢，爪夹夹紧鼠标向爪夹方抬升，爪夹向爪夹左移动至白色to上，爪夹打开使鼠标落入白色托盘", + "annotations": { + "bbox_1768033481797": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033481797_1768033616206_zqiwibknn", + "x": 0.18366661476644194, + "y": 0.37427774053729324, + "width": 0.18499998870849677, + "height": 0.2826666436631964 + } + ] + }, + "bbox_1768033482173": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033482173_1768033619533_07xtgczdg", + "x": 0.2826666087239619, + "y": 0.3529444089400709, + "width": 0.674999958801272, + "height": 0.5986666179470527 + } + ] + }, + "point_1768033482814": { + "type": "point", + "instances": [ + { + "id": "point_1768033482814_1768033621573_i9d2zh8pe", + "x": 0.43566659938558355, + "y": 0.30627774607114694 + } + ] + }, + "point_1768033482973": { + "type": "point", + "instances": [ + { + "id": "point_1768033482973_1768033623749_ptjnscq3j", + "x": 0.5026665952962283, + "y": 0.2876110809235774 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹下移动调整爪夹角度", + "correction_plan": "爪夹向爪夹方抬升，爪夹向爪夹右移动至鼠标上，爪夹向爪夹下鼠标移动靠近鼠标，爪夹合拢，爪夹夹紧鼠标向爪夹方抬升，爪夹向爪夹左移动至白色to上，爪夹打开使鼠标落入白色托盘", + "error_success_analysis": "爪夹闲爪夹下移动调整角度爪夹垂直贴近桌面", + "frame": 129, + "progress": 10, + "progress_explanation": "爪夹张卡推进桌面进度上升为10%", + "state_description": "爪夹张开垂直桌面\n为完成抓取鼠标放进白色托盘的任务应该：爪夹向爪夹上抬升", + "time": 4.289804385913439, + "annotations": { + "point_1768033482814": { + "type": "point", + "instances": [ + { + "id": "point_1768033482814_1768033594397_ixbrew0ox", + "x": 0.386666602376306, + "y": 0.36761107441316127 + } + ] + }, + "point_1768033482973": { + "type": "point", + "instances": [ + { + "id": "point_1768033482973_1768033596470_gs7wa8fef", + "x": 0.4766665968831423, + "y": 0.3369444102421541 + } + ] + }, + "bbox_1768033482173": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033482173_1768033600661_yj3shhezo", + "x": 0.27466660921224306, + "y": 0.3609444082890293, + "width": 0.6679999592285181, + "height": 0.593333285047747 + } + ] + }, + "bbox_1768033481797": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033481797_1768033604422_r3hky8fnk", + "x": 0.163666615987145, + "y": 0.3582777418393765, + "width": 0.22299998638916102, + "height": 0.32399997363281463 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左下移动并爪夹合拢", + "correction_plan": "爪夹向爪夹右移动至鼠标上，爪夹向爪夹下鼠标移动靠近鼠标，爪夹合拢，爪夹夹紧鼠标向爪夹方抬升，爪夹向爪夹左移动至白色to上，爪夹打开使鼠标落入白色托盘", + "error_success_analysis": "爪夹向爪夹左移动", + "frame": 184, + "progress": -5, + "progress_explanation": "爪夹在白色托盘前进度下降为-5%", + "state_description": "爪夹张开位于白色托盘前\n为完成抓取鼠标放进白色托盘应该：爪夹爪夹向爪夹右移动至鼠标上", + "time": 6.144376, + "annotations": { + "bbox_1768033481797": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033481797_1768033585717_fqfwhxoo0", + "x": 0.1846666147054068, + "y": 0.33294441056767493, + "width": 0.17899998907470768, + "height": 0.3279999733072938 + } + ] + }, + "bbox_1768033482173": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033482173_1768033588405_lciz91xe5", + "x": 0.25766661024984067, + "y": 0.37027774086281406, + "width": 0.7169999562377956, + "height": 0.5946666182725734 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左上移动并打开爪夹", + "correction_plan": "爪夹向爪夹右移动至鼠标上，爪夹向爪夹下鼠标移动靠近鼠标，爪夹合拢，爪夹夹紧鼠标向爪夹方抬升，爪夹向爪夹左移动至白色to上，爪夹打开使鼠标落入白色托盘", + "error_success_analysis": "爪夹向爪夹左移动", + "frame": 238, + "progress": -20, + "progress_explanation": "爪夹位于桌面右上角远离鼠标进度下降为-20%", + "state_description": "爪夹张开位于桌子右上\n为完成抓取鼠标放进白色托盘的任务应该：爪夹向爪夹右移动至鼠标上", + "time": 7.935337, + "annotations": { + "bbox_1768033482173": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033482173_1768033555173_ca8xdb6w6", + "x": 0.23766661147054374, + "y": 0.3529444089400709, + "width": 0.7409999547729519, + "height": 0.6146666166449694 + } + ] + }, + "bbox_1768033481797": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033481797_1768033557197_esojbx61o", + "x": 0.1596666162312856, + "y": 0.36761107441316127, + "width": 0.28699998248291114, + "height": 0.3226666404079882 + } + ] + }, + "point_1768033482814": { + "type": "point", + "instances": [ + { + "id": "point_1768033482814_1768033573614_cxg0msxe9", + "x": 0.7816665782674207, + "y": 0.15294442521611123 + } + ] + }, + "point_1768033482973": { + "type": "point", + "instances": [ + { + "id": "point_1768033482973_1768033575773_nd8dkirfy", + "x": 0.792666577596034, + "y": 0.1129444284713193 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右下鼠标移动", + "correction_plan": "爪夹向爪夹右上移动至鼠标上方，爪夹向爪夹下鼠标移动靠近鼠标，爪夹合拢，爪夹夹紧鼠标向爪夹方抬升，爪夹向爪夹左移动至白色to上，爪夹打开使鼠标落入白色托盘", + "error_success_analysis": "爪夹向爪夹右下鼠标移动", + "frame": 311, + "progress": 20, + "progress_explanation": "爪夹左靠近鼠标进度上升为20%", + "state_description": "爪夹张开爪夹垂直桌面\n为完成抓取鼠标放进白色托盘的任务应该：爪夹向爪夹右上移动至鼠标上方", + "time": 10.372278351640501, + "annotations": { + "point_1768033482814": { + "type": "point", + "instances": [ + { + "id": "point_1768033482814_1768033541173_covjdzay9", + "x": 0.3556666042683957, + "y": 0.38361107311107806 + } + ] + }, + "bbox_1768033481797": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033481797_1768033543230_k3hkpwn8p", + "x": 0.15866661629232076, + "y": 0.33561107701732773, + "width": 0.22299998638916102, + "height": 0.3439999720052106 + } + ] + }, + "bbox_1768033482173": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033482173_1768033547045_9mfiatt8y", + "x": 0.22166661244710614, + "y": 0.2876110809235774, + "width": 0.7369999550170926, + "height": 0.670666612087678 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开爪夹向爪夹右上移动至鼠标上方，爪夹向爪夹下鼠标移动靠近鼠标，爪夹合拢，爪夹夹紧鼠标向爪夹方抬升，爪夹向爪夹左移动至白色to上，爪夹打开使鼠标落入白色托盘", + "error_success_analysis": "爪夹合拢", + "frame": 376, + "progress": 15, + "progress_explanation": "爪夹合拢位于鼠标右进度下降为15%", + "state_description": "爪夹合拢位于鼠标右边\n为完成抓取鼠标放进白色托盘的任务应该：爪夹张开", + "time": 12.52004458247633, + "annotations": { + "bbox_1768033482173": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033482173_1768033534791_mzl8qwksp", + "x": 0.22766661208089523, + "y": 0.32761107766836933, + "width": 0.7289999555053738, + "height": 0.6333332817925389 + } + ] + }, + "bbox_1768033481797": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033481797_1768033536910_7gpq8tm6s", + "x": 0.17466661531575833, + "y": 0.32361107799389016, + "width": 0.22099998651123126, + "height": 0.31466664105902986 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右移动并抬升", + "correction_plan": "爪夹向爪夹右下鼠标移动靠近鼠标，靠近鼠标爪夹合拢，爪夹夹紧鼠标向爪夹方抬升，爪夹向爪夹左移动至白色to上，爪夹打开使鼠标落入白色托盘", + "error_success_analysis": "爪夹向爪夹右移动并抬升将鼠标推落地面", + "frame": 438, + "progress": -20, + "progress_explanation": "鼠标掉落地面爪夹远离鼠标进度下降为-20%", + "state_description": "爪夹张开位于桌子左边缘鼠标掉落地面\n为完成抓取鼠标放进白色托盘的任务应该：爪夹向爪夹右下鼠标移动", + "time": 14.584413, + "annotations": { + "bbox_1768033482173": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768033482173_1768033513446_bfzn7tmwv", + "x": 0.21266661299642253, + "y": 0.3153147885892913, + "width": 0.7599999536132841, + "height": 0.6493332804904557 + } + ] + }, + "point_1768033482973": { + "type": "point", + "instances": [ + { + "id": "point_1768033482973_1768033521517_vea1y0t32", + "x": 0.03466662386067969, + "y": 0.4262777363055228 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768033481797", + "name": "鼠标", + "color": "#4CAF50" + }, + { + "id": "bbox_1768033482173", + "name": "白色托盘", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768033482814", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768033482973", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-184145-bad-mouse-white tray/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-184145-bad-mouse-white tray/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..7625c0791a23fcc78560cef74937e97e27679792 --- /dev/null +++ b/annotation_files_raw/0109/project-1/ARX-data/human-data-1128/20251127-184145-bad-mouse-white tray/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,422 @@ +{ + "task_description": "拿起鼠标，把它放到白色托盘里。\n爪夹未开始移动0%\n爪夹开始向鼠标移动20%\n爪夹靠近鼠标40%\n爪夹夹取鼠标60%\n爪夹夹取鼠标并移动80%\n鼠标被成功放到白色托盘里100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹上方移动至一定区域，随后爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。爪夹夹取鼠标，随后爪夹向爪夹上方移动白色托盘说平高的位置，然后抓夹向爪夹左方移动至托盘上方，张开爪夹使鼠标落入白色托盘中 ", + "error_success_analysis": "", + "frame": 73, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离鼠标，未开始移动。\n为了完成拿起鼠标，把它放到白色托盘里的任务：爪夹向爪夹上方移动至一定区域，随后爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。", + "time": 2.4412, + "annotations": { + "bbox_1767858023451": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858023451_1767860311041_toi1d77h4", + "x": 0.1465863453815261, + "y": 0.5488621151271753, + "width": 0.19076305220883535, + "height": 0.25702811244979906 + } + ] + }, + "bbox_1767858024009": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858024009_1767860325657_nfqba5pcy", + "x": 0.4257028112449799, + "y": 0.5167336010709506, + "width": 0.5742971887550203, + "height": 0.44444444444444425 + } + ] + }, + "point_1767858039731": { + "type": "point", + "instances": [ + { + "id": "point_1767858039731_1767860337827_o6f0344ih", + "x": 0.40763052208835343, + "y": 0.3614457831325301 + } + ] + }, + "point_1767858039895": { + "type": "point", + "instances": [ + { + "id": "point_1767858039895_1767860340372_uv78n3hmr", + "x": 0.5180722891566265, + "y": 0.31860776439089694 + } + ] + } + } + }, + { + "action_description": "爪夹张开，爪夹向爪夹上方移动", + "correction_plan": "爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。爪夹夹取鼠标，随后爪夹向爪夹上方移动白色托盘说平高的位置，然后抓夹向爪夹左方移动至托盘上方，张开爪夹使鼠标落入白色托盘中 ", + "error_success_analysis": "爪夹上升远离了鼠标", + "frame": 115, + "progress": -5, + "progress_explanation": "爪夹上升远离了鼠标因此进度降为-5%", + "state_description": "爪夹呈张开状态\n为了完成拿起鼠标，把它放到白色托盘里的任务：爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。爪夹夹取鼠标", + "time": 3.829333, + "annotations": { + "point_1767858039895": { + "type": "point", + "instances": [ + { + "id": "point_1767858039895_1767860431701_dhg919lyf", + "x": 0.5180722891566265, + "y": 0.214190093708166 + } + ] + }, + "point_1767858039731": { + "type": "point", + "instances": [ + { + "id": "point_1767858039731_1767860434040_v8i2scive", + "x": 0.40160642570281124, + "y": 0.2784471218206158 + } + ] + }, + "bbox_1767858024009": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858024009_1767860438665_curllyhqh", + "x": 0.42771084337349397, + "y": 0.5140562248995983, + "width": 0.572289156626506, + "height": 0.4390896921017403 + } + ] + }, + "bbox_1767858023451": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858023451_1767860449441_mhjd58e00", + "x": 0.14859437751004018, + "y": 0.5435073627844712, + "width": 0.18072289156626503, + "height": 0.2704149933065595 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。爪夹向爪夹前上方移动", + "correction_plan": "爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。爪夹夹取鼠标，随后爪夹向爪夹上方移动白色托盘说平高的位置，然后抓夹向爪夹左方移动至托盘上方，张开爪夹使鼠标落入白色托盘中 ", + "error_success_analysis": "爪夹向爪夹前上方移动远离了鼠标", + "frame": 140, + "progress": -10, + "progress_explanation": "爪夹向爪夹前上方移动因此进度降为-10%", + "state_description": "当前状态为爪夹呈合拢状态\n为了完成拿起鼠标，把它放到白色托盘里的任务：爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。爪夹夹取鼠标，随后爪夹向爪夹上方移动白色托盘说平高的位置", + "time": 4.678966, + "annotations": { + "bbox_1767858023451": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858023451_1767860529253_xr3i6lme6", + "x": 0.14056224899598393, + "y": 0.5435073627844712, + "width": 0.19277108433734938, + "height": 0.2623828647925033 + } + ] + }, + "bbox_1767858024009": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858024009_1767860538402_nnvgriqzw", + "x": 0.40562248995983935, + "y": 0.5274431057563588, + "width": 0.5903614457831325, + "height": 0.431057563587684 + } + ] + }, + "point_1767858039731": { + "type": "point", + "instances": [ + { + "id": "point_1767858039731_1767860550904_b7w87bqff", + "x": 0.3353413654618474, + "y": 0.3962516733601071 + } + ] + }, + "point_1767858039895": { + "type": "point", + "instances": [ + { + "id": "point_1767858039895_1767860553199_pmnpjg2iz", + "x": 0.47991967871485947, + "y": 0.3641231593038822 + } + ] + } + } + }, + { + "action_description": "爪夹张开，爪夹向爪夹上方旋转\n为了完成拿起鼠标，把它放到白色托盘里的任务：爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。爪夹夹取鼠标，随后爪夹向爪夹上方移动白色托盘说平高的位置", + "correction_plan": "爪夹口旋转回朝下，爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。爪夹夹取鼠标，随后爪夹向爪夹上方移动白色托盘说平高的位置，然后抓夹向爪夹左方移动至托盘上方，张开爪夹使鼠标落入白色托盘中 ", + "error_success_analysis": "爪夹口朝上", + "frame": 177, + "progress": -15, + "progress_explanation": "爪夹口朝上因此进度降为-15%", + "state_description": "爪夹呈张开状态，爪夹口朝上\n为了完成拿起鼠标，把它放到白色托盘里的任务：爪夹口继续朝下，爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。爪夹夹取鼠标，随后爪夹向爪夹上方移动白色托盘说平高的位置", + "time": 5.9066240961538465, + "annotations": { + "point_1767858039895": { + "type": "point", + "instances": [ + { + "id": "point_1767858039895_1767860558363_e24uco17b", + "x": 0.5301204819277109, + "y": 0.2597054886211513 + } + ] + }, + "point_1767858039731": { + "type": "point", + "instances": [ + { + "id": "point_1767858039731_1767860562268_gojvdd7vx", + "x": 0.321285140562249, + "y": 0.30522088353413657 + } + ] + }, + "bbox_1767858023451": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858023451_1767860569236_wbxzcvwz4", + "x": 0.13855421686746988, + "y": 0.5488621151271753, + "width": 0.1927710843373494, + "height": 0.2597054886211513 + } + ] + }, + "bbox_1767858024009": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858024009_1767860575256_rfgb91a9e", + "x": 0.4277108433734941, + "y": 0.5167336010709503, + "width": 0.5742971887550199, + "height": 0.44979919678714864 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "爪夹张开，爪夹口旋转回朝下爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。爪夹夹取鼠标，随后爪夹向爪夹上方移动白色托盘说平高的位置，然后抓夹向爪夹左方移动至托盘上方，张开爪夹使鼠标落入白色托盘中 ", + "error_success_analysis": "爪夹合拢。远离鼠标", + "frame": 209, + "progress": -20, + "progress_explanation": "爪夹合拢，远离鼠标因此进度降为-20%", + "state_description": "当前状态为爪夹合拢\n为了完成拿起鼠标，把它放到白色托盘里的任务：爪夹张开，爪夹口旋转回朝下爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。爪夹夹取鼠标随后爪夹向爪夹上方移动白色托盘说平高的位置", + "time": 6.954985948717948, + "annotations": { + "point_1767858039731": { + "type": "point", + "instances": [ + { + "id": "point_1767858039731_1767860588035_r3do4bq7p", + "x": 0.49598393574297195, + "y": 0.2757697456492637 + } + ] + }, + "point_1767858039895": { + "type": "point", + "instances": [ + { + "id": "point_1767858039895_1767860590744_xck2obg0r", + "x": 0.5200803212851406, + "y": 0.2597054886211513 + } + ] + }, + "bbox_1767858023451": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858023451_1767860595948_ekddjoisw", + "x": 0.15060240963855423, + "y": 0.5515394912985274, + "width": 0.1827309236947791, + "height": 0.25435073627844706 + } + ] + }, + "bbox_1767858024009": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858024009_1767860600085_y9hpiw38z", + "x": 0.42771084337349397, + "y": 0.5194109772423026, + "width": 0.5702811244979917, + "height": 0.43641231593038826 + } + ] + } + } + }, + { + "action_description": "爪夹半张开，扎加向爪夹左下方向移动", + "correction_plan": "爪夹张开，爪夹口旋转回朝下爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。爪夹夹取鼠标随后爪夹向爪夹上方移动白色托盘说平高的位置，然后抓夹向爪夹左方移动至托盘上方，张开爪夹使鼠标落入白色托盘中", + "error_success_analysis": "爪夹向爪夹左下方向移动远离鼠标", + "frame": 231, + "progress": -30, + "progress_explanation": "爪夹向爪夹左下方向移动远离鼠标因此进度降为30%", + "state_description": "当前状态为爪夹呈半张开状态。\n为了完成拿起鼠标，把它放到白色托盘里的任务：爪夹张开，爪夹口旋转回朝下爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。爪夹夹取鼠标随后爪夹向爪夹上方移动白色托盘说平高的位置，然后抓夹向爪夹左方移动至托盘上方，张开爪夹使鼠标落入白色托盘中 ", + "time": 7.696510185897436, + "annotations": { + "bbox_1767858024009": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858024009_1767860620939_312sjjwrx", + "x": 0.42971887550200794, + "y": 0.5087014725568942, + "width": 0.5642570281124498, + "height": 0.4471218206157966 + } + ] + }, + "point_1767858039731": { + "type": "point", + "instances": [ + { + "id": "point_1767858039731_1767860636052_7noaivo31", + "x": 0.5461847389558233, + "y": 0.27309236947791166 + } + ] + }, + "point_1767858039895": { + "type": "point", + "instances": [ + { + "id": "point_1767858039895_1767860638101_0he3uiib2", + "x": 0.6224899598393574, + "y": 0.26506024096385544 + } + ] + }, + "bbox_1767858023451": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858023451_1767860645002_pk34tfyr9", + "x": 0.142570281124498, + "y": 0.5488621151271753, + "width": 0.18875502008032127, + "height": 0.2597054886211513 + } + ] + } + } + }, + { + "action_description": "爪夹半合拢，爪夹向爪夹左下方移动", + "correction_plan": "爪夹张开，爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。爪夹夹取鼠标随后爪夹向爪夹上方移动白色托盘说平高的位置，然后抓夹向爪夹左方移动至托盘上方，张开爪夹使鼠标落入白色托盘中", + "error_success_analysis": "爪夹位于托盘的上方远离鼠标", + "frame": 262, + "progress": -40, + "progress_explanation": "爪夹位于托盘的上方远离鼠标因此进度降为40%", + "state_description": "爪夹呈半张开状态，位于托盘的上方\n为了完成拿起鼠标，把它放到白色托盘里的任务：爪夹张开，爪夹向爪夹右下方移动至鼠标上方，爪夹合拢。爪夹夹取鼠标随后爪夹向爪夹上方移动白色托盘说平高的位置，然后抓夹向爪夹左方移动至托盘上方，张开爪夹使鼠标落入白色托盘中 ", + "time": 8.719302237179486, + "annotations": { + "bbox_1767858023451": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858023451_1767860660171_9tm6oibp7", + "x": 0.142570281124498, + "y": 0.5435073627844711, + "width": 0.18875502008032127, + "height": 0.2650602409638555 + } + ] + }, + "bbox_1767858024009": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767858024009_1767860672941_zqm4oxdvu", + "x": 0.431726907630522, + "y": 0.5087014725568942, + "width": 0.5642570281124499, + "height": 0.4658634538152611 + } + ] + }, + "point_1767858039731": { + "type": "point", + "instances": [ + { + "id": "point_1767858039731_1767860689522_t9jla2ku6", + "x": 0.7530120481927711, + "y": 0.6265060240963856 + } + ] + }, + "point_1767858039895": { + "type": "point", + "instances": [ + { + "id": "point_1767858039895_1767860691488_k7pemu2fi", + "x": 0.7730923694779117, + "y": 0.5863453815261044 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767858023451", + "name": "鼠标" + }, + { + "color": "#FF9800", + "id": "bbox_1767858024009", + "name": "白色托盘" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767858039731", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767858039895", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000027.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000027.json new file mode 100644 index 0000000000000000000000000000000000000000..c4f5e98467e29fbe069d68f819ebae779aa99eca --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000027.json @@ -0,0 +1,576 @@ +{ + "task_description": "抓取麻将8条使其位于红色纸巾上。\n爪夹开始移动:0%\n爪夹靠近麻将8条:20%\n爪夹抓取麻将8条:40%\n爪夹抓住麻将8条接近红色纸巾:60%\n爪夹抓住麻将8条到达红色纸巾上:80%\n爪夹松开，麻将8条下落：100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1767678528165": { + "instances": [ + { + "height": 0.062200956937799035, + "id": "bbox_1767678528165_1767679491673_6h6bq2e5a", + "width": 0.043062200956937836, + "x": 0.5239234449760766, + "y": 0.4521531100478469 + } + ], + "type": "bbox" + }, + "bbox_1767679025803": { + "instances": [ + { + "height": 0.17703349282296657, + "id": "bbox_1767679025803_1767679498881_9bvnfky1j", + "width": 0.3468899521531101, + "x": 0.16985645933014354, + "y": 0.6100478468899521 + } + ], + "type": "bbox" + }, + "point_1767679023915": { + "instances": [ + { + "id": "point_1767679023915_1767679521649_ll0hkobr6", + "x": 0.4617224880382775, + "y": 0.13397129186602869 + } + ], + "type": "point" + }, + "point_1767679040684": { + "instances": [ + { + "id": "point_1767679040684_1767679525137_alip6v4js", + "x": 0.5454545454545454, + "y": 0.13157894736842105 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将8条的正上方后下降，合拢爪夹抓取麻将8条后垂直上升，向爪夹方向的左前方移动，直至麻将8条位于红色纸巾正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触麻将8条。\n为完成麻将8条使其位于红色纸巾上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取麻将8条。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 0 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1767678528165": { + "instances": [ + { + "height": 0.06600103126611352, + "id": "bbox_1767678528165_1767681324193_9aik3jquu", + "width": 0.04600071876123065, + "x": 0.521281582524727, + "y": 0.4513117392459257 + } + ], + "type": "bbox" + }, + "bbox_1767679025803": { + "instances": [ + { + "height": 0.1740027187924813, + "id": "bbox_1767679025803_1767681305505_r9dbje9zp", + "width": 0.3450053907092298, + "x": 0.17127611368927642, + "y": 0.6123142549102328 + } + ], + "type": "bbox" + }, + "point_1767679023915": { + "instances": [ + { + "id": "point_1767679023915_1767681295785_4jkvkws24", + "x": 0.5572821450335161, + "y": 0.20430787981062207 + } + ], + "type": "point" + }, + "point_1767679040684": { + "instances": [ + { + "id": "point_1767679040684_1767681287609_ubrhwgsco", + "x": 0.639283426303536, + "y": 0.20730792668635448 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将8条的正上方后下降，合拢爪夹抓取麻将8条后垂直上升，向爪夹方向的左前方移动，直至麻将8条位于红色纸巾正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向右下方移动，距离抓取麻将8条距离更近。", + "frame": 52, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将8条，因此进度提升为10%。", + "state_description": "当前爪夹张开，与麻将8条的水平距离略微缩短。\n为完成抓取麻将8条使其位于红色纸巾上的任务应当:继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将8条，爪夹抬高并竖直上升。", + "time": 1.7228 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度，使其垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1767678528165": { + "instances": [ + { + "height": 0.06600103126611352, + "id": "bbox_1767678528165_1767681208633_94eek5jwz", + "width": 0.04700073438647478, + "x": 0.5192815512742387, + "y": 0.4513117392459257 + } + ], + "type": "bbox" + }, + "bbox_1767679025803": { + "instances": [ + { + "height": 0.17900279691870188, + "id": "bbox_1767679025803_1767681259082_ae7amnzrj", + "width": 0.3480054375849623, + "x": 0.1712761136892764, + "y": 0.6103142236597446 + } + ], + "type": "bbox" + }, + "point_1767679023915": { + "instances": [ + { + "id": "point_1767679023915_1767681242634_c9jo9g7xm", + "x": 0.5432819262800982, + "y": 0.33430991109236086 + } + ], + "type": "point" + }, + "point_1767679040684": { + "instances": [ + { + "id": "point_1767679040684_1767681277009_o9hbxjslq", + "x": 0.5812825200393756, + "y": 0.36131033297395276 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，到达麻将8条的正上方后下降，合拢爪夹抓取麻将8条后垂直上升，向爪夹方向的左前方移动，直至麻将8条位于红色纸巾正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近麻将8条，并使爪夹角度垂直于桌面，方便抓取麻将8条。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 104, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将8条并调整完爪夹角度方便抓取，因此进度提升为15%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，与麻将8条的水平距离进一步缩短。\n为完成抓取麻将8条使其位于红色纸巾上的任务应当:继续旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将8条。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 3.4579767571093774 + }, + { + "action_description": "爪夹向爪夹的右侧移动到麻将8条的正上方。", + "annotations": { + "bbox_1767678528165": { + "instances": [ + { + "height": 0.0645933014354067, + "id": "bbox_1767678528165_1767681693984_u0s6ofs6c", + "width": 0.047846889952153165, + "x": 0.5191387559808612, + "y": 0.44976076555023925 + } + ], + "type": "bbox" + }, + "bbox_1767679025803": { + "instances": [ + { + "height": 0.17464114832535874, + "id": "bbox_1767679025803_1767681703287_yl52c1k93", + "width": 0.34449760765550236, + "x": 0.16985645933014354, + "y": 0.6076555023923446 + } + ], + "type": "bbox" + }, + "point_1767679040684": { + "instances": [ + { + "id": "point_1767679040684_1767680980985_u2wadwt33", + "x": 0.5560640732265446, + "y": 0.4187643020594966 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取麻将8条后垂直上升，向爪夹方向的左前方移动，直至麻将8条位于红色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了麻将8条的正上方，方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 128, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于麻将8条正上方，已接近麻将8条，因此进度提升为20%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到麻将8条的正上方。\n为完成抓取麻将8条使其位于红色纸巾上的任务应当:向下合拢爪夹抓取麻将8条后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到红色纸巾正上方。\t", + "time": 4.261916461916462 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取麻将8条。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1767678528165": { + "instances": [ + { + "height": 0.054919908466819226, + "id": "bbox_1767678528165_1767680988297_psx4m95e1", + "width": 0.04576659038901608, + "x": 0.5240274599542334, + "y": 0.4576659038901602 + } + ], + "type": "bbox" + }, + "bbox_1767679025803": { + "instances": [ + { + "height": 0.18077803203661336, + "id": "bbox_1767679025803_1767680993953_7sdsb6wy4", + "width": 0.3455377574370709, + "x": 0.1693363844393593, + "y": 0.608695652173913 + } + ], + "type": "bbox" + }, + "point_1767679040684": { + "instances": [ + { + "id": "point_1767679040684_1767681007961_v6grxf0zn", + "x": 0.5446224256292906, + "y": 0.4782608695652174 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将8条后垂直上升，向爪夹方向的左前方移动，直至麻将8条位于红色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了麻将8条。", + "frame": 162, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到麻将8条，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到麻将8条。\n为完成抓取麻将8条使其位于红色纸巾上的任务应当:抓取麻将8条后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到红色纸巾正上方。", + "time": 5.392628992628993 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将8条后抬高爪夹。", + "annotations": { + "bbox_1767678528165": { + "instances": [ + { + "height": 0.061784897025171696, + "id": "bbox_1767678528165_1767679714494_13hddd8ev", + "width": 0.04805491990846675, + "x": 0.5217391304347826, + "y": 0.42562929061784893 + } + ], + "type": "bbox" + }, + "bbox_1767679025803": { + "instances": [ + { + "height": 0.17391304347826092, + "id": "bbox_1767679025803_1767679719134_tpjg3xdog", + "width": 0.3432494279176202, + "x": 0.16933638443935925, + "y": 0.608695652173913 + } + ], + "type": "bbox" + }, + "point_1767679040684": { + "instances": [ + { + "id": "point_1767679040684_1767679727533_6jkaix0ko", + "x": 0.5491990846681922, + "y": 0.45080091533180777 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将8条，爪夹向爪夹方向的左前方移动，直至麻将8条位于红色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到麻将8条，爪夹向上方抬升靠近红色纸巾。", + "frame": 190, + "progress": 45, + "progress_explanation": "当前爪夹已抓住麻将8条，且爪夹与麻将的高度略微抬升了，所以进度提升为45%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高了。\n为完成抓取麻将8条向红色纸巾靠近的任务应当：爪夹向爪夹的左前方移动，直至移动到红色纸巾正上方后松开爪夹，使麻将8条下落。", + "time": 6.349385749385749 + }, + { + "action_description": "爪夹抓住麻将8条，爪夹向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767678528165": { + "instances": [ + { + "height": 0.06407322654462248, + "id": "bbox_1767678528165_1767680934328_5o49vcbl2", + "width": 0.048054919908466866, + "x": 0.5034324942791762, + "y": 0.44393592677345534 + } + ], + "type": "bbox" + }, + "bbox_1767679025803": { + "instances": [ + { + "height": 0.17620137299771155, + "id": "bbox_1767679025803_1767680285755_8gfaaxohn", + "width": 0.34782608695652173, + "x": 0.16933638443935928, + "y": 0.6109839816933639 + } + ], + "type": "bbox" + }, + "point_1767679040684": { + "instances": [ + { + "id": "point_1767679040684_1767680938288_kbun76xft", + "x": 0.5286041189931351, + "y": 0.4668192219679634 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将8条，继续向爪夹方向的左前方移动，直至麻将8条位于红色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将8条，并且在向着红色纸巾方向移动。", + "frame": 240, + "progress": 50, + "progress_explanation": "当前爪夹已抓住麻将8条，与上一进度相比，在水平方向上逐渐接近红色纸巾，因此进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将8条位于红色纸巾的右上方。\n为完成抓取麻将8条使其位于红色纸巾上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到红色纸巾正上方后松开爪夹，使麻将8条下落。", + "time": 7.990812576206327 + }, + { + "action_description": "爪夹夹紧麻将8条，继续向爪夹方向的左下方移动。", + "annotations": { + "bbox_1767678528165": { + "instances": [ + { + "height": 0.08099832473581146, + "id": "bbox_1767678528165_1767681147654_klapia0mp", + "width": 0.06230640364293188, + "x": 0.43614482550052336, + "y": 0.46833351618853203 + } + ], + "type": "bbox" + }, + "bbox_1767679025803": { + "instances": [ + { + "height": 0.17757325038235608, + "id": "bbox_1767679025803_1767681153918_sjj0jv356", + "width": 0.3551465007647119, + "x": 0.16511196965376956, + "y": 0.6090893471817466 + } + ], + "type": "bbox" + }, + "point_1767679040684": { + "instances": [ + { + "id": "point_1767679040684_1767681177782_y3fge596j", + "x": 0.46106738695769606, + "y": 0.506283781170909 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将8条，继续向爪夹方向的左下方移动，直至麻将8条位于红色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将8条，并且进一步向着红色纸巾的方向移动。", + "frame": 269, + "progress": 60, + "progress_explanation": "当前爪夹已抓住麻将8条，与上一进度相比，在水平方向上逐渐接近红色纸巾，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，抓住麻将8条位于红色纸巾的右上方。\n为完成抓取麻将8条使其位于红色纸巾上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到红色纸巾正上方后松开爪夹，使麻将8条下落。", + "time": 8.95872235872236 + }, + { + "action_description": "爪夹保持合拢，抓紧麻将8条向爪夹方向的左侧移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1767678528165": { + "instances": [ + { + "height": 0.07780320366132708, + "id": "bbox_1767678528165_1767681314526_yj3slxk00", + "width": 0.06636155606407321, + "x": 0.33867276887871856, + "y": 0.5011441647597255 + } + ], + "type": "bbox" + }, + "bbox_1767679025803": { + "instances": [ + { + "height": 0.16933638443935925, + "id": "bbox_1767679025803_1767681322167_tt3b9qimp", + "width": 0.3501144164759725, + "x": 0.16475972540045766, + "y": 0.6109839816933639 + } + ], + "type": "bbox" + }, + "point_1767679040684": { + "instances": [ + { + "id": "point_1767679040684_1767681307959_nl022p7ma", + "x": 0.3524027459954233, + "y": 0.5354691075514874 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使麻将8条下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了红色纸巾的正上方。", + "frame": 302, + "progress": 80, + "progress_explanation": "当前爪夹已抓住麻将8条，并移动到了红色纸巾正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，此时麻将8条处于红色纸巾方向的正上方。\n为完成抓取麻将8条使其位于红色纸巾上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使麻将8条下落。", + "time": 10.059500095934869 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767678528165": { + "instances": [ + { + "height": 0.07372294764674146, + "id": "bbox_1767678528165_1767681928348_156u1lrt7", + "width": 0.057360118264109694, + "x": 0.32036613272311215, + "y": 0.5600628048595365 + } + ], + "type": "bbox" + }, + "bbox_1767679025803": { + "instances": [ + { + "height": 0.1784897025171625, + "id": "bbox_1767679025803_1767681933724_r1nvupkmn", + "width": 0.34553775743707094, + "x": 0.16933638443935925, + "y": 0.608695652173913 + } + ], + "type": "bbox" + }, + "point_1767679040684": { + "instances": [ + { + "id": "point_1767679040684_1767681942980_t4mwtsat5", + "x": 0.3295194508009153, + "y": 0.6018306636155606 + } + ], + "type": "point" + } + }, + "correction_plan": "麻将8条落入红色纸巾中。", + "error_success_analysis": "爪夹张开使麻将8条位于红色纸巾的上方，成功完成任务。", + "frame": 324, + "progress": 100, + "progress_explanation": "当前麻将8条位于红色纸巾的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，麻将8条下降了一定距离。抓取麻将8条使其位于红色纸巾上的目标任务完成。", + "time": 10.789625102897885 + }, + { + "action_description": "爪夹保持打开状态，未开始移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1767678528165": { + "instances": [ + { + "height": 0.06407322654462237, + "id": "bbox_1767678528165_1767681956828_3emgglcow", + "width": 0.0480549199084668, + "x": 0.5194508009153318, + "y": 0.4530892448512586 + } + ], + "type": "bbox" + }, + "bbox_1767679025803": { + "instances": [ + { + "height": 0.16933638443935925, + "id": "bbox_1767679025803_1767681967453_r8u8c7dso", + "width": 0.33409610983981697, + "x": 0.1510297482837528, + "y": 0.597254004576659 + } + ], + "type": "bbox" + }, + "point_1767679023915": { + "instances": [ + { + "id": "point_1767679023915_1767681983396_ifeadkd1v", + "x": 0.5995423340961099, + "y": 0.10983981693363845 + } + ], + "type": "point" + }, + "point_1767679040684": { + "instances": [ + { + "id": "point_1767679040684_1767681988604_fse2o87hg", + "x": 0.6384439359267734, + "y": 0.12356979405034325 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将8条的正上方后下降，合拢爪夹抓取麻将8条后垂直上升，向爪夹方向的左前方移动，直至麻将8条位于红色纸巾正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹又重新回到初始状态，麻将8条也位于原点。", + "frame": 338, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取麻将8条，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，处于初始状态，没有接触麻将8条。\n为完成抓取麻将8条使其位于红色纸巾上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取麻将8条。", + "time": 11.2572 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767678528165", + "name": "麻将8条" + }, + { + "color": "#FF9800", + "id": "bbox_1767679025803", + "name": "红色纸巾" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767679023915", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767679040684", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000087.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000087.json new file mode 100644 index 0000000000000000000000000000000000000000..5c3005004a879278c604ca79ccfa9ede7ac40067 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000087.json @@ -0,0 +1,583 @@ +{ + "task_description": "抓取麻将2条使其位于灰色纸巾上。\n爪夹开始移动:0%\n爪夹靠近麻将2条:20%\n爪夹抓取麻将2条:40%\n爪夹抓住麻将2条接近灰色纸巾:60%\n爪夹抓住麻将2条到达灰色纸巾上:80%\n爪夹松开，麻将2条下落：100%\n\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767678721409": { + "instances": [ + { + "height": 0.06178489702517164, + "id": "bbox_1767678721409_1767679039568_l9h1zr7wc", + "width": 0.0480549199084668, + "x": 0.6475972540045767, + "y": 0.448512585812357 + } + ], + "type": "bbox" + }, + "bbox_1767678721824": { + "instances": [ + { + "height": 0.26315789473684215, + "id": "bbox_1767678721824_1767679049447_8t8ch6751", + "width": 0.41647597254004576, + "x": 0.2906178489702517, + "y": 0.551487414187643 + } + ], + "type": "bbox" + }, + "point_1767678722721": { + "instances": [ + { + "id": "point_1767678722721_1767679068359_cs9ye0rwm", + "x": 0.46224256292906174, + "y": 0.13501144164759726 + } + ], + "type": "point" + }, + "point_1767678722937": { + "instances": [ + { + "id": "point_1767678722937_1767679071928_2r81bx2t2", + "x": 0.5423340961098398, + "y": 0.13272311212814644 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将2条的正上方后下降，合拢爪夹抓取麻将2条后垂直上升，向爪夹方向的左前方移动，直至麻将2条位于灰色纸巾正上方。", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触麻将2条。\n为完成抓取麻将2条使其位于灰色纸巾上的任务应当:爪夹向爪夹的右前方移动并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，准备抓取麻将2条。", + "time": 0.05896805896805897 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。\t", + "annotations": { + "bbox_1767678721409": { + "instances": [ + { + "height": 0.07093821510297478, + "id": "bbox_1767678721409_1767679085800_amwh3myff", + "width": 0.05034324942791765, + "x": 0.6475972540045767, + "y": 0.4462242562929062 + } + ], + "type": "bbox" + }, + "bbox_1767678721824": { + "instances": [ + { + "height": 0.25400457665903897, + "id": "bbox_1767678721824_1767679094208_z1etd7iqk", + "width": 0.4279176201372996, + "x": 0.2860411899313501, + "y": 0.5560640732265446 + } + ], + "type": "bbox" + }, + "point_1767678722721": { + "instances": [ + { + "id": "point_1767678722721_1767679113848_ww8lpgfwh", + "x": 0.5446224256292906, + "y": 0.1716247139588101 + } + ], + "type": "point" + }, + "point_1767678722937": { + "instances": [ + { + "id": "point_1767678722937_1767679119032_93mlrkjzi", + "x": 0.620137299771167, + "y": 0.17391304347826086 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将2条的正上方后下降，合拢爪夹抓取麻将2条后垂直上升，向爪夹方向的左前方移动，直至麻将2条位于灰色纸巾正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向右下方移动，距离抓取麻将2条距离更近。", + "frame": 36, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将2条，因此进度提升为10%。", + "state_description": "当前爪夹张开，与麻将2条的水平距离略微缩短。\n为完成抓取麻将2条使其位于灰色纸巾上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将2条，爪夹抬高并竖直上升。", + "time": 1.2 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度。\t", + "annotations": { + "bbox_1767678721409": { + "instances": [ + { + "height": 0.06407322654462243, + "id": "bbox_1767678721409_1767679130575_04ng4qi1t", + "width": 0.0480549199084668, + "x": 0.6498855835240275, + "y": 0.448512585812357 + } + ], + "type": "bbox" + }, + "bbox_1767678721824": { + "instances": [ + { + "height": 0.2608695652173913, + "id": "bbox_1767678721824_1767679137479_6t7vxj07l", + "width": 0.4279176201372998, + "x": 0.2860411899313501, + "y": 0.551487414187643 + } + ], + "type": "bbox" + }, + "point_1767678722721": { + "instances": [ + { + "id": "point_1767678722721_1767679144839_kbd56l00b", + "x": 0.6224256292906178, + "y": 0.2860411899313501 + } + ], + "type": "point" + }, + "point_1767678722937": { + "instances": [ + { + "id": "point_1767678722937_1767679148311_zfyt6t0uj", + "x": 0.6842105263157895, + "y": 0.30663615560640733 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的下方移动，到达麻将2条的正上方后下降，合拢爪夹抓取麻将2条后垂直上升，向爪夹方向的左前方移动，直至麻将2条位于灰色纸巾正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近麻将2条，并使爪夹角度垂直于桌面，方便抓取麻将2条。", + "frame": 92, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将2条并调整完爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与麻将2条的水平距离进一步缩短。\n为完成抓取麻将2条使其位于灰色纸巾上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将2条。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 3.0663390663390664 + }, + { + "action_description": "爪夹向爪夹的右侧移动到麻将2条的正上方。", + "annotations": { + "bbox_1767678721409": { + "instances": [ + { + "height": 0.06407322654462243, + "id": "bbox_1767678721409_1767679162607_adt636v1o", + "width": 0.04576659038901596, + "x": 0.6498855835240275, + "y": 0.45080091533180777 + } + ], + "type": "bbox" + }, + "bbox_1767678721824": { + "instances": [ + { + "height": 0.25858123569794056, + "id": "bbox_1767678721824_1767679167999_56hqqzgif", + "width": 0.4302059496567505, + "x": 0.28146453089244855, + "y": 0.5537757437070938 + } + ], + "type": "bbox" + }, + "point_1767678722937": { + "instances": [ + { + "id": "point_1767678722937_1767679155135_t9362qdkr", + "x": 0.6796338672768879, + "y": 0.44164759725400454 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取麻将2条后垂直上升，向爪夹方向的左前方移动，直至麻将2条位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了麻将2条的正上方，方便爪夹抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 140, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于麻将2条正上方，已接近麻将2条，因此进度提升为20%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到麻将2条的正上方。\n为完成抓取麻将2条使其位于灰色纸巾上的任务应当:向下合拢爪夹抓取麻将2条后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到灰色纸巾正上方。\t", + "time": 4.658476658476658 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取麻将2条。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1767678721409": { + "instances": [ + { + "height": 0.06178489702517158, + "id": "bbox_1767678721409_1767679206791_p5brapreg", + "width": 0.04576659038901596, + "x": 0.6521739130434784, + "y": 0.4530892448512586 + } + ], + "type": "bbox" + }, + "bbox_1767678721824": { + "instances": [ + { + "height": 0.24713958810068645, + "id": "bbox_1767678721824_1767679189824_pgxio8922", + "width": 0.43249427917620137, + "x": 0.27688787185354696, + "y": 0.5560640732265446 + } + ], + "type": "bbox" + }, + "point_1767678722937": { + "instances": [ + { + "id": "point_1767678722937_1767679201631_r2gwvgqkz", + "x": 0.6796338672768879, + "y": 0.5011441647597255 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将2条后垂直上升，向爪夹方向的左前方移动，直至麻将2条位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了麻将2条。", + "frame": 179, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到麻将2条，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到麻将2条。\n为完成抓取麻将2条使其位于灰色纸巾上的任务应当:抓取麻将2条后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到灰色纸巾正上方。", + "time": 5.981250057041645 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将2条后抬高爪夹。", + "annotations": { + "bbox_1767678721409": { + "instances": [ + { + "height": 0.06636155606407321, + "id": "bbox_1767678721409_1767679221719_vsgresk1o", + "width": 0.0480549199084668, + "x": 0.6704805491990846, + "y": 0.4210526315789474 + } + ], + "type": "bbox" + }, + "bbox_1767678721824": { + "instances": [ + { + "height": 0.2562929061784897, + "id": "bbox_1767678721824_1767679233800_wdx1rl5m2", + "width": 0.43249427917620137, + "x": 0.28146453089244855, + "y": 0.551487414187643 + } + ], + "type": "bbox" + }, + "point_1767678722937": { + "instances": [ + { + "id": "point_1767678722937_1767679227127_jc43arakx", + "x": 0.7070938215102974, + "y": 0.44164759725400454 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将2条，爪夹向爪夹方向的左前方移动，直至麻将2条位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到麻将2条，爪夹向上方抬升靠近灰色纸巾。", + "frame": 208, + "progress": 45, + "progress_explanation": "当前爪夹已抓住麻将2条，且爪夹与麻将2条的高度略微抬升了，所以进度提升为45%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取麻将2条使其位于灰色纸巾上的任务应当：爪夹向爪夹的左前方移动，直至移动到灰色纸巾正上方后松开爪夹，使麻将2条下落。", + "time": 6.930000066089631 + }, + { + "action_description": "爪夹抓住麻将2条，爪夹向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767678721409": { + "instances": [ + { + "height": 0.07551487414187642, + "id": "bbox_1767678721409_1767679250142_tap88hl5a", + "width": 0.054919908466819226, + "x": 0.5903890160183066, + "y": 0.4164759725400458 + } + ], + "type": "bbox" + }, + "bbox_1767678721824": { + "instances": [ + { + "height": 0.2608695652173913, + "id": "bbox_1767678721824_1767679260750_f569ifmxr", + "width": 0.437070938215103, + "x": 0.27917620137299776, + "y": 0.5537757437070938 + } + ], + "type": "bbox" + }, + "point_1767678722937": { + "instances": [ + { + "id": "point_1767678722937_1767679254855_3is6e1inu", + "x": 0.6270022883295194, + "y": 0.437070938215103 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将2条，继续向爪夹方向的左前方移动，直至麻将2条位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将2条，并且在向着灰色纸巾方向移动。", + "frame": 262, + "progress": 50, + "progress_explanation": "当前爪夹已抓住麻将2条，与上一进度相比，在水平方向上逐渐接近灰色纸巾，因此进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，抓住麻将2条位于灰色纸巾的右上方。\n为完成抓取麻将2条使其位于灰色纸巾上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到灰色纸巾正上方后松开爪夹，使麻将2条下落。", + "time": 8.74500008339882 + }, + { + "action_description": "爪夹夹紧麻将2条，继续向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767678721409": { + "instances": [ + { + "height": 0.08099832473581141, + "id": "bbox_1767678721409_1767680821920_k42iq7qih", + "width": 0.05607576327863869, + "x": 0.5545269924220939, + "y": 0.4485264596384544 + } + ], + "type": "bbox" + }, + "bbox_1767678721824": { + "instances": [ + { + "height": 0.261686895300314, + "id": "bbox_1767678721824_1767680827120_eoash9ow3", + "width": 0.43614482550052336, + "x": 0.27726349621104696, + "y": 0.5544473458314385 + }, + { + "height": 0.018691921092879583, + "id": "bbox_1767678721824_1767680830264_wjofocf9l", + "width": 0.01869192109287955, + "x": 0.2523409347538742, + "y": 0.5232941440099727 + } + ], + "type": "bbox" + }, + "point_1767678722937": { + "instances": [ + { + "id": "point_1767678722937_1767680843912_3jp269vuv", + "x": 0.5856801942435599, + "y": 0.47033370091348053 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将2条，继续向爪夹方向的左前方移动，直至麻将2条位于灰色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将2条，并且进一步向着灰色纸巾的方向移动。", + "frame": 293, + "progress": 60, + "progress_explanation": "当前爪夹已抓住麻将2条，与上一进度相比，在水平方向上逐渐接近灰色纸巾，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将2条位于灰色纸巾的右上方。\n为完成抓取麻将2条使其位于灰色纸巾上的任务应当：爪夹继续向爪夹的左下方移动，直至移动到灰色纸巾正上方后松开爪夹，使麻将2条下落。", + "time": 9.776250093233585 + }, + { + "action_description": "爪夹保持合拢，抓紧麻将2条向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767678721409": { + "instances": [ + { + "height": 0.06991858197164239, + "id": "bbox_1767678721409_1767679296462_9a2wdovmh", + "width": 0.043092975932292, + "x": 0.5100484195807425, + "y": 0.5194508009153318 + } + ], + "type": "bbox" + }, + "bbox_1767678721824": { + "instances": [ + { + "height": 0.2585812356979405, + "id": "bbox_1767678721824_1767679277854_selyivjfr", + "width": 0.4347826086956522, + "x": 0.2791762013729977, + "y": 0.551487414187643 + } + ], + "type": "bbox" + }, + "point_1767678722937": { + "instances": [ + { + "id": "point_1767678722937_1767679290782_p0z97ae4q", + "x": 0.5102974828375286, + "y": 0.5469107551487414 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使麻将2条下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了灰色纸巾的正上方。", + "frame": 317, + "progress": 80, + "progress_explanation": "当前爪夹已抓住麻将2条，并移动到了灰色纸巾正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住麻将2条处于灰色纸巾方向的正上方。\n为完成抓取麻将2条使其位于灰色纸巾上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使麻将2条下落。", + "time": 10.56000010070801 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767678721409": { + "instances": [ + { + "height": 0.060765263893839364, + "id": "bbox_1767678721409_1767679308798_nvf4b44l0", + "width": 0.058669576843024984, + "x": 0.47451120118901163, + "y": 0.5512947717190063 + } + ], + "type": "bbox" + }, + "bbox_1767678721824": { + "instances": [ + { + "height": 0.2494279176201373, + "id": "bbox_1767678721824_1767679313542_t2vja1b9r", + "width": 0.4279176201372997, + "x": 0.28375286041189934, + "y": 0.5560640732265446 + } + ], + "type": "bbox" + }, + "point_1767678722937": { + "instances": [ + { + "id": "point_1767678722937_1767679318231_x7qnk16ll", + "x": 0.5011441647597255, + "y": 0.5743707093821511 + } + ], + "type": "point" + } + }, + "correction_plan": "麻将2条位于灰色纸巾上方完成了目标任务。", + "error_success_analysis": "爪夹张开使麻将2条位于灰色纸巾的上方，成功完成任务。", + "frame": 335, + "progress": 100, + "progress_explanation": "当前麻将2条位于灰色纸巾的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，麻将2条下降了一定距离，抓取麻将2条使其位于灰色纸巾上的目标任务完成。", + "time": 11.17875010660887 + }, + { + "action_description": "爪夹保持打开状态，重新回到初始状态。\t", + "annotations": { + "bbox_1767678721409": { + "instances": [ + { + "height": 0.068649885583524, + "id": "bbox_1767678721409_1767679357303_unf2k90p8", + "width": 0.04805491990846692, + "x": 0.6475972540045766, + "y": 0.4462242562929062 + } + ], + "type": "bbox" + }, + "bbox_1767678721824": { + "instances": [ + { + "height": 0.2608695652173913, + "id": "bbox_1767678721824_1767679337614_z9x3hplcx", + "width": 0.4233409610983982, + "x": 0.28146453089244855, + "y": 0.5446224256292906 + } + ], + "type": "bbox" + }, + "point_1767678722721": { + "instances": [ + { + "id": "point_1767678722721_1767679330798_fx1pucuk9", + "x": 0.5652173913043478, + "y": 0.2082379862700229 + } + ], + "type": "point" + }, + "point_1767678722937": { + "instances": [ + { + "id": "point_1767678722937_1767679326990_limx9715a", + "x": 0.608695652173913, + "y": 0.2196796338672769 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将2条的正上方后下降，合拢爪夹抓取麻将2条后垂直上升，向爪夹方向的左前方移动，直至麻将2条位于灰色纸巾的正上方。", + "error_success_analysis": "爪夹又重新回到初始状态，麻将2条也位于原点。", + "frame": 344, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取麻将2条，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，回到初始状态，没有接触麻将2条。\n为完成抓取麻将2条使其位于灰色纸巾上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取麻将2条。", + "time": 11.472 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767678721409", + "name": "麻将2条" + }, + { + "color": "#FF9800", + "id": "bbox_1767678721824", + "name": "灰色纸巾" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767678722721", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767678722937", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000109.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000109.json new file mode 100644 index 0000000000000000000000000000000000000000..3f64b57f94ca9f812368c300a971c8fdd633f227 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000109.json @@ -0,0 +1,678 @@ +{ + "task_description": "抓取麻将4条位于棕色垫子上。\n爪夹开始移动:0%\n爪夹靠近麻将4条:20%\n爪夹抓取麻将4条:40%\n爪夹抓住麻将4条接近棕色垫子:60%\n爪夹抓住麻将4条到达棕色垫子上:80%\n爪夹松开，麻将4条下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767678557292": { + "instances": [ + { + "height": 0.06699999999999999, + "id": "bbox_1767678557292_1767678807826_8gx79k18d", + "width": 0.04400000000000001, + "x": 0.457375, + "y": 0.44842187499999997 + } + ], + "type": "bbox" + }, + "bbox_1767678557724": { + "instances": [ + { + "height": 0.22900000000000004, + "id": "bbox_1767678557724_1767678827875_66uzkhega", + "width": 0.3410000000000001, + "x": 0.5033749999999999, + "y": 0.5726718749999999 + } + ], + "type": "bbox" + }, + "point_1767678607020": { + "instances": [ + { + "id": "point_1767678607020_1767678839474_zvel9qr5r", + "x": 0.465375, + "y": 0.129921875 + } + ], + "type": "point" + }, + "point_1767678607396": { + "instances": [ + { + "id": "point_1767678607396_1767678844115_y0m7onifo", + "x": 0.544375, + "y": 0.134171875 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向左下方移动，调整爪夹角度，使其垂直于桌面。爪夹到达麻将4条的正上方后下降，合拢爪夹抓取麻将4条后垂直上升，向爪夹方向的右前方移动，直至麻将4条位于棕色垫子的正上方。", + "error_success_analysis": "", + "frame": 3, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触麻将4条。\n为完成抓取麻将4条位于棕色垫子上的任务应当:爪夹向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。准备抓取麻将4条。", + "time": 0.10405180120321825 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767678557292": { + "instances": [ + { + "height": 0.06699999999999999, + "id": "bbox_1767678557292_1767678856850_p94zntkss", + "width": 0.04499999999999999, + "x": 0.457375, + "y": 0.44792187499999997 + } + ], + "type": "bbox" + }, + "bbox_1767678557724": { + "instances": [ + { + "height": 0.23500000000000015, + "id": "bbox_1767678557724_1767678863818_dpo5n2rnl", + "width": 0.34, + "x": 0.504375, + "y": 0.5699218749999999 + } + ], + "type": "bbox" + }, + "point_1767678607020": { + "instances": [ + { + "id": "point_1767678607020_1767678872866_emfsgab8y", + "x": 0.510375, + "y": 0.14842187499999998 + } + ], + "type": "point" + }, + "point_1767678607396": { + "instances": [ + { + "id": "point_1767678607396_1767678879698_j6yxpzu6n", + "x": 0.5853749999999999, + "y": 0.14867187499999998 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。到达麻将4条的正上方后下降，合拢爪夹抓取麻将4条后垂直上升，向爪夹方向的右前方移动，直至麻将4条位于棕色垫子的正上方。", + "error_success_analysis": "爪夹向右下方移动，距离抓取麻将4条的距离更近。", + "frame": 42, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将4条，因此进度提升为10%。", + "state_description": "当前爪夹张开，与麻将4条的距离略微缩短。\n为完成抓取麻将4条位于棕色垫子上的任务应当:爪夹向爪夹方向的左下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将4条，爪夹抬高并竖直上升向棕色垫子靠近。", + "time": 1.3908 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767678557292": { + "instances": [ + { + "height": 0.061000000000000006, + "id": "bbox_1767678557292_1767678896322_w6a9b6631", + "width": 0.04799999999999998, + "x": 0.45637500000000003, + "y": 0.45092187499999997 + } + ], + "type": "bbox" + }, + "bbox_1767678557724": { + "instances": [ + { + "height": 0.23099999999999998, + "id": "bbox_1767678557724_1767678906090_6qwjzp2b5", + "width": 0.338, + "x": 0.506375, + "y": 0.570921875 + } + ], + "type": "bbox" + }, + "point_1767678607020": { + "instances": [ + { + "id": "point_1767678607020_1767678910394_r5sioa4dx", + "x": 0.5697648307422586, + "y": 0.24216198783849427 + } + ], + "type": "point" + }, + "point_1767678607396": { + "instances": [ + { + "id": "point_1767678607396_1767678914794_chotgrxff", + "x": 0.6446348871615056, + "y": 0.24528204425774142 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，调整爪夹角度，使其垂直于桌面。到达麻将4条的正上方后下降，合拢爪夹抓取麻将4条后垂直上升，向爪夹方向的右前方移动，直至麻将4条位于棕色垫子的正上方。", + "error_success_analysis": "爪夹向右前方移动，距离抓取麻将4条距离更近，方便抓取麻将4条。", + "frame": 78, + "progress": 14, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将4条，因此进度提升为14%。", + "state_description": "当前爪夹张开，爪夹位于麻将4条的右上方。\n为完成抓取麻将4条位于棕色垫子上的任务应当:爪夹向爪夹方向的左下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将4条，爪夹抬高并竖直上升向棕色垫子靠近。", + "time": 2.6001250247967245 + }, + { + "action_description": "爪夹向爪夹方向的左下方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767678557292": { + "instances": [ + { + "height": 0.06699999999999999, + "id": "bbox_1767678557292_1767678938834_9okj59ac1", + "width": 0.04299999999999997, + "x": 0.4583749999999999, + "y": 0.448671875 + } + ], + "type": "bbox" + }, + "bbox_1767678557724": { + "instances": [ + { + "height": 0.23399999999999987, + "id": "bbox_1767678557724_1767678932378_rjfyzdru6", + "width": 0.35, + "x": 0.503375, + "y": 0.573671875 + } + ], + "type": "bbox" + }, + "point_1767678607020": { + "instances": [ + { + "id": "point_1767678607020_1767678925690_mkkzucg33", + "x": 0.521375, + "y": 0.309421875 + } + ], + "type": "point" + }, + "point_1767678607396": { + "instances": [ + { + "id": "point_1767678607396_1767678920554_ogimpurgz", + "x": 0.572375, + "y": 0.33167187499999995 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。到达麻将4条的正上方后下降，合拢爪夹抓取麻将4条后垂直上升，向爪夹方向的右前方移动，直至麻将4条位于棕色垫子的正上方。", + "error_success_analysis": "爪夹向爪夹方向的左下方旋转，水平方向上更加接近了麻将4条，并使爪夹角度垂直于桌面，方便抓取。", + "frame": 118, + "progress": 16, + "progress_explanation": "当前爪夹与麻将4条的距离进一步缩短，方便抓取麻将4条，因此进度提升为16%。", + "state_description": "当前爪夹张开，爪夹与桌面呈60度角，爪夹位于麻将4条的右上方。\n为完成抓取麻将4条位于棕色垫子上的任务应当:爪夹向爪夹方向的左下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将4条，爪夹抬高并竖直上升向棕色垫子靠近。", + "time": 3.9421250375950336 + }, + { + "action_description": "爪夹向爪夹的左侧移动到麻将4条的正上方。", + "annotations": { + "bbox_1767678557292": { + "instances": [ + { + "height": 0.06199999999999998, + "id": "bbox_1767678557292_1767678998786_nw2qksmzz", + "width": 0.04499999999999999, + "x": 0.457375, + "y": 0.449671875 + } + ], + "type": "bbox" + }, + "bbox_1767678557724": { + "instances": [ + { + "height": 0.23500000000000001, + "id": "bbox_1767678557724_1767678970155_1l4jeuhnj", + "width": 0.34400000000000014, + "x": 0.502375, + "y": 0.5704218749999999 + } + ], + "type": "bbox" + }, + "point_1767678607396": { + "instances": [ + { + "id": "point_1767678607396_1767679007330_mtzi4d85k", + "x": 0.479375, + "y": 0.435421875 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取麻将4条后垂直上升，向爪夹方向的右前方移动，直至麻将4条位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，并且已经移动到了麻将4条的正上方，方便抓取。", + "frame": 162, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于麻将4条正上方，已接近麻将4条，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到麻将4条的正上方。\n为完成抓取麻将4条位于棕色垫子上的任务应当:向下合拢爪夹抓取麻将4条后垂直抬起爪夹，然后向爪夹的右前方移动，直至移动到棕色垫子的正上方。", + "time": 5.3878934569015575 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取麻将4条。", + "annotations": { + "bbox_1767678557292": { + "instances": [ + { + "height": 0.061000000000000006, + "id": "bbox_1767678557292_1767679019778_lrrgd0r38", + "width": 0.045999999999999965, + "x": 0.45637500000000003, + "y": 0.45092187499999997 + } + ], + "type": "bbox" + }, + "bbox_1767678557724": { + "instances": [ + { + "height": 0.22999999999999995, + "id": "bbox_1767678557724_1767679024466_6wqw7huud", + "width": 0.3399999999999999, + "x": 0.505375, + "y": 0.572921875 + } + ], + "type": "bbox" + }, + "point_1767678607396": { + "instances": [ + { + "id": "point_1767678607396_1767679045050_jj4r0hunz", + "x": 0.474375, + "y": 0.459921875 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将4条后垂直上升，向爪夹方向的右前方移动，直至麻将4条位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了麻将4条。", + "frame": 180, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到麻将4条，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到麻将4条。\n为完成抓取麻将4条位于棕色垫子上的任务应当:抓取麻将4条后垂直抬起爪夹，然后向爪夹的右前方移动，直至移动到棕色垫子的正上方。", + "time": 5.990734682848585 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将4条后抬高爪夹。", + "annotations": { + "bbox_1767678557292": { + "instances": [ + { + "height": 0.06800000000000003, + "id": "bbox_1767678557292_1767679069121_z2gls1q2u", + "width": 0.04900000000000002, + "x": 0.45933331298828123, + "y": 0.42066667175292966 + } + ], + "type": "bbox" + }, + "bbox_1767678557724": { + "instances": [ + { + "height": 0.228, + "id": "bbox_1767678557724_1767679077641_6vuu1q3no", + "width": 0.34400000000000003, + "x": 0.5013333129882812, + "y": 0.5726666717529297 + } + ], + "type": "bbox" + }, + "point_1767678607396": { + "instances": [ + { + "id": "point_1767678607396_1767679062506_grdfbsdwp", + "x": 0.47733331298828124, + "y": 0.44533334350585935 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将4条，爪夹向爪夹方向的右前方移动，直至麻将4条位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到麻将4条，爪夹向上方抬升靠近棕色垫子。", + "frame": 219, + "progress": 45, + "progress_explanation": "当前爪夹已抓取麻将4条，且爪夹与麻将的高度略微抬升了，所以进度提升为45%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取麻将4条位于棕色垫子上的任务应当：爪夹向爪夹的右前方移动，直至移动到棕色垫子的正上方后松开爪夹，使麻将4条下落。", + "time": 7.290611076296862 + }, + { + "action_description": "爪夹夹紧麻将4条，爪夹向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767678557292": { + "instances": [ + { + "height": 0.06499999999999997, + "id": "bbox_1767678557292_1767679120321_lut1g2n03", + "width": 0.054000000000000034, + "x": 0.5053333129882812, + "y": 0.4476666717529297 + } + ], + "type": "bbox" + }, + "bbox_1767678557724": { + "instances": [ + { + "height": 0.23399999999999999, + "id": "bbox_1767678557724_1767679095105_gf75px7dm", + "width": 0.3449999999999999, + "x": 0.5033333129882813, + "y": 0.5733333435058594 + } + ], + "type": "bbox" + }, + "point_1767678607396": { + "instances": [ + { + "id": "point_1767678607396_1767679113969_bi8l4d7d4", + "x": 0.5243333129882812, + "y": 0.4756666717529297 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将4条，继续向爪夹方向的右前方移动，直至麻将4条位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将4条，并且在向着棕色垫子的方向移动。", + "frame": 257, + "progress": 50, + "progress_explanation": "当前爪夹已抓住麻将4条，与上一进度相比，在水平方向上逐渐接近棕色垫子，因此进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将4条位于棕色垫子的左上方。\n为完成抓取麻将4条位于棕色垫子上的任务应当：爪夹继续向爪夹方向的右前方移动，直至移动到棕色垫子正上方后松开爪夹，使麻将4条下落。", + "time": 8.572972972972973 + }, + { + "action_description": "爪夹夹紧麻将4条，继续向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767678557292": { + "instances": [ + { + "height": 0.06699999999999999, + "id": "bbox_1767678557292_1767679131113_qixmjo9k7", + "width": 0.051999999999999956, + "x": 0.5403333129882812, + "y": 0.4783333435058594 + } + ], + "type": "bbox" + }, + "bbox_1767678557724": { + "instances": [ + { + "height": 0.228, + "id": "bbox_1767678557724_1767679135345_9cb82qd2g", + "width": 0.33999999999999997, + "x": 0.5053333129882812, + "y": 0.5726666717529297 + } + ], + "type": "bbox" + }, + "point_1767678607396": { + "instances": [ + { + "id": "point_1767678607396_1767679146154_6uzpzvkr9", + "x": 0.5643333129882813, + "y": 0.5046666717529297 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将4条，继续向爪夹方向的右下方移动，直至麻将4条位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹继续夹紧麻将4条，并且进一步向着棕色垫子的方向移动。", + "frame": 279, + "progress": 56, + "progress_explanation": "当前爪夹已抓住麻将4条，与上一进度相比，在水平方向上逐渐接近棕色垫子，因此进度提升为56%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将4条位于棕色垫子的左上方。\n为完成抓取麻将4条位于棕色垫子上应当：爪夹继续向爪夹的右下方移动，直至移动到棕色垫子的正上方后松开爪夹，使麻将4条下落。", + "time": 9.28752263724639 + }, + { + "action_description": "爪夹夹紧麻将4条，继续向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767678557292": { + "instances": [ + { + "height": 0.07299999999999993, + "id": "bbox_1767678557292_1767679218393_fd41q240h", + "width": 0.053, + "x": 0.6034284895713282, + "y": 0.5200211554380512 + } + ], + "type": "bbox" + }, + "bbox_1767678557724": { + "instances": [ + { + "height": 0.23099999999999998, + "id": "bbox_1767678557724_1767679204577_5r83yk9oc", + "width": 0.341, + "x": 0.5063333129882811, + "y": 0.5716666717529296 + } + ], + "type": "bbox" + }, + "point_1767678607396": { + "instances": [ + { + "id": "point_1767678607396_1767679195929_cxpa5uok9", + "x": 0.644719522201085, + "y": 0.5540105853484202 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将4条，继续向爪夹方向的右下方移动，直至麻将4条位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "当前爪夹已抓住麻将4条，与上一进度相比，在水平方向上逐渐接近棕色垫子，因此进度提升为60%。", + "frame": 313, + "progress": 60, + "progress_explanation": "爪夹已经抓取到麻将4条，并且进一步向着棕色垫子方向移动。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将4条位于棕色垫子的左上方。\n为完成抓取麻将4条位于棕色垫子上的任务应当：爪夹继续向爪夹的右下方移动，直至移动到棕色垫子的正上方后松开爪夹，使麻将4条下落。", + "time": 10.436688724207912 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将4条向爪夹方向的右侧移动。", + "annotations": { + "bbox_1767678557292": { + "instances": [ + { + "height": 0.07253972418738203, + "id": "bbox_1767678557292_1767679733369_vy8a67rks", + "width": 0.051814088705272945, + "x": 0.6563117375587734, + "y": 0.5485336866949048 + } + ], + "type": "bbox" + }, + "bbox_1767678557724": { + "instances": [ + { + "height": 0.22900000000000004, + "id": "bbox_1767678557724_1767679259832_0cna2ucq4", + "width": 0.3419999999999999, + "x": 0.5053333129882812, + "y": 0.5766666717529297 + } + ], + "type": "bbox" + }, + "point_1767678607396": { + "instances": [ + { + "id": "point_1767678607396_1767679253824_zwzmh4umn", + "x": 0.6934526011706943, + "y": 0.5814828715059028 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使麻将4条下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的右方移动，并且正确移动到了棕色垫子的正上方。", + "frame": 335, + "progress": 80, + "progress_explanation": "当前爪夹已抓住麻将4条，并移动到了棕色垫子的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，此时麻将4条处于棕色垫子的正上方。\n为完成抓取麻将4条位于棕色垫子上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使麻将4条下落。", + "time": 11.15781253544425 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767678557292": { + "instances": [ + { + "height": 0.07200000000000001, + "id": "bbox_1767678557292_1767679292560_n92zuxd69", + "width": 0.05499999999999995, + "x": 0.6493333129882812, + "y": 0.5526666717529296 + } + ], + "type": "bbox" + }, + "bbox_1767678557724": { + "instances": [ + { + "height": 0.23299999999999996, + "id": "bbox_1767678557724_1767679307808_r21akqlff", + "width": 0.341, + "x": 0.5043333129882812, + "y": 0.5706666717529297 + } + ], + "type": "bbox" + }, + "point_1767678607396": { + "instances": [ + { + "id": "point_1767678607396_1767679301656_e80ma0qtr", + "x": 0.6913333129882812, + "y": 0.5866666717529296 + } + ], + "type": "point" + } + }, + "correction_plan": "麻将4条位于棕色垫子上成功完成了目标任务。", + "error_success_analysis": "爪夹张开使麻将4条位于棕色垫子的上方，成功完成任务。", + "frame": 343, + "progress": 100, + "progress_explanation": "当前麻将4条位于棕色垫子的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，麻将4条下降了一定距离。抓取麻将4条位于棕色垫子上的目标任务完成。", + "time": 11.446759889585184 + }, + { + "action_description": "爪夹保持打开状态，回到初始状态。", + "annotations": { + "bbox_1767678557292": { + "instances": [ + { + "height": 0.06499999999999997, + "id": "bbox_1767678557292_1767679338920_25uzgq26x", + "width": 0.04400000000000001, + "x": 0.45933331298828123, + "y": 0.4476666717529297 + } + ], + "type": "bbox" + }, + "bbox_1767678557724": { + "instances": [ + { + "height": 0.22699999999999995, + "id": "bbox_1767678557724_1767679325784_jl5usira2", + "width": 0.33699999999999997, + "x": 0.4923333129882812, + "y": 0.5633333320617676 + } + ], + "type": "bbox" + }, + "point_1767678607020": { + "instances": [ + { + "id": "point_1767678607020_1767679346311_107v0ictp", + "x": 0.5763333129882812, + "y": 0.2646666717529297 + } + ], + "type": "point" + }, + "point_1767678607396": { + "instances": [ + { + "id": "point_1767678607396_1767679342736_c04zms9e2", + "x": 0.6203333129882812, + "y": 0.2806666717529297 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达麻将4条的正上方后下降，合拢爪夹抓取麻将4条后垂直上升，向爪夹方向的右前方移动，直至麻将4条位于棕色垫子的正上方。", + "error_success_analysis": "爪夹又重新回到初始状态，麻将4条也位于原点。", + "frame": 350, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取麻将4条，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，移动到初始状态，没有接触麻将4条。\n为完成抓取麻将4条向棕色垫子靠近的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取麻将4条。", + "time": 11.658625111185312 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767678557292", + "name": "麻将4条" + }, + { + "color": "#FF9800", + "id": "bbox_1767678557724", + "name": "棕色垫子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767678607020", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767678607396", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000117.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000117.json new file mode 100644 index 0000000000000000000000000000000000000000..12698948a1662f334826f3b5ea3f3297b34f6819 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000117.json @@ -0,0 +1,632 @@ +{ + "task_description": "抓取麻将2条位于棕色垫子上。\n爪夹开始移动:0%\n爪夹靠近麻将2条:20%\n爪夹抓取麻将2条:40%\n爪夹抓住麻将2条接近棕色垫子:60%\n爪夹抓住麻将2条到达棕色垫子上:80%\n爪夹松开，麻将2条下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767680399432": { + "instances": [ + { + "height": 0.06300098439038108, + "id": "bbox_1767680399432_1767680570087_hxs79q9he", + "width": 0.04500070313598646, + "x": 0.542281910654854, + "y": 0.4667807309489211 + } + ], + "type": "bbox" + }, + "bbox_1767680399687": { + "instances": [ + { + "height": 0.22900357818090905, + "id": "bbox_1767680399687_1767680575846_lddf80xw2", + "width": 0.33800528133252083, + "x": 0.35827903560993146, + "y": 0.5697823403490679 + } + ], + "type": "bbox" + }, + "point_1767680400687": { + "instances": [ + { + "id": "point_1767680400687_1767680587679_gl3hbdvm8", + "x": 0.4612806450100783, + "y": 0.13277551211737684 + } + ], + "type": "point" + }, + "point_1767680400911": { + "instances": [ + { + "id": "point_1767680400911_1767680591350_7xmxp028g", + "x": 0.5432819262800982, + "y": 0.13077548086688853 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右下方移动，调整爪夹角度，使其垂直于桌面。爪夹到达麻将2条的正上方后下降，合拢爪夹抓取麻将2条后垂直上升，向爪夹方向的左前方移动，直至麻将2条位于棕色垫子的正上方。", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触麻将2条。\n为完成抓取麻将2条位于棕色垫子上的任务应当:爪夹向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。准备抓取麻将2条。", + "time": 0.0756 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767680399432": { + "instances": [ + { + "height": 0.06400100001562521, + "id": "bbox_1767680399432_1767680605086_9js8qb83c", + "width": 0.047000734386474716, + "x": 0.5402818794043658, + "y": 0.465780715323677 + } + ], + "type": "bbox" + }, + "bbox_1767680399687": { + "instances": [ + { + "height": 0.2330036406818857, + "id": "bbox_1767680399687_1767680613127_kaghijwrg", + "width": 0.339005296957765, + "x": 0.3592790512351755, + "y": 0.5677823090985796 + } + ], + "type": "bbox" + }, + "point_1767680400687": { + "instances": [ + { + "id": "point_1767680400687_1767680624311_cfjqawlag", + "x": 0.5282816919014359, + "y": 0.14577571524555072 + } + ], + "type": "point" + }, + "point_1767680400911": { + "instances": [ + { + "id": "point_1767680400911_1767680629151_va1vssu1r", + "x": 0.6082829419209675, + "y": 0.14877576212128316 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。到达麻将2条的正上方后下降，合拢爪夹抓取麻将2条后垂直上升，向爪夹方向的右前方移动，直至麻将2条位于棕色垫子的正上方。", + "error_success_analysis": "爪夹向右下方移动，距离抓取麻将2条距离更近。", + "frame": 32, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将2条，因此进度提升为10%。", + "state_description": "当前爪夹张开，与麻将2条的距离略微缩短。\n为完成抓取麻将2条位于棕色垫子上的任务应当:爪夹向爪夹方向的左下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将2条，爪夹抬高并竖直上升向棕色垫子靠近。", + "time": 1.0766250102674961 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767680399432": { + "instances": [ + { + "height": 0.06300098439038108, + "id": "bbox_1767680399432_1767680638887_sqjpvw43x", + "width": 0.04500070313598646, + "x": 0.542281910654854, + "y": 0.465780715323677 + } + ], + "type": "bbox" + }, + "bbox_1767680399687": { + "instances": [ + { + "height": 0.22600353130517672, + "id": "bbox_1767680399687_1767680643911_9ecgmsveg", + "width": 0.339005296957765, + "x": 0.3592790512351755, + "y": 0.5717823715995564 + } + ], + "type": "bbox" + }, + "point_1767680400687": { + "instances": [ + { + "id": "point_1767680400687_1767680651319_w2p0xmga6", + "x": 0.5552821137830278, + "y": 0.24077719964374442 + } + ], + "type": "point" + }, + "point_1767680400911": { + "instances": [ + { + "id": "point_1767680400911_1767680658975_uqhb2kn4z", + "x": 0.639283426303536, + "y": 0.24377724651947688 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。到达麻将2条的正上方后下降，合拢爪夹抓取麻将2条后垂直上升，向爪夹方向的左前方移动，直至麻将2条位于棕色垫子的正上方。", + "error_success_analysis": "爪夹向右下方移动，距离抓取麻将2条距离更近。", + "frame": 71, + "progress": 15, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将2条，因此进度提升为10%。", + "state_description": "当前爪夹张开，爪夹位于麻将2条的右上方。\n为完成抓取麻将2条位于棕色垫子上的任务应当:爪夹向爪夹方向的左下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将2条，爪夹抬高并竖直上升向棕色垫子靠近。", + "time": 2.3760000226593023 + }, + { + "action_description": "爪夹向爪夹方向的左下方移动，爪夹高度降低。", + "annotations": { + "bbox_1767680399432": { + "instances": [ + { + "height": 0.06300098439038108, + "id": "bbox_1767680399432_1767680684102_h7kllhcva", + "width": 0.048000750011718905, + "x": 0.5402818794043658, + "y": 0.4667807309489211 + } + ], + "type": "bbox" + }, + "bbox_1767680399687": { + "instances": [ + { + "height": 0.2310036094313973, + "id": "bbox_1767680399687_1767680690350_g9fxef57q", + "width": 0.33900529695776493, + "x": 0.3592790512351756, + "y": 0.5687823247238238 + } + ], + "type": "bbox" + }, + "point_1767680400687": { + "instances": [ + { + "id": "point_1767680400687_1767680670582_8x7410hzc", + "x": 0.5522820669072954, + "y": 0.31977843403803186 + } + ], + "type": "point" + }, + "point_1767680400911": { + "instances": [ + { + "id": "point_1767680400911_1767680667239_iscqca2yg", + "x": 0.6092829575462116, + "y": 0.33977874654291473 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。到达麻将2条的正上方后下降，合拢爪夹抓取麻将2条后垂直上升，向爪夹方向的左前方移动，直至麻将2条位于棕色垫子的正上方。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上更加接近了麻将2条，并使爪夹角度垂直于桌面，方便抓取。", + "frame": 102, + "progress": 17, + "progress_explanation": "当前爪夹与麻将2条的距离进一步缩短，方便抓取麻将2条，因此进度提升为17%。", + "state_description": "当前爪夹张开，爪夹与桌面呈60度角，爪夹位于麻将2条的右上方。\n为完成抓取麻将2条位于棕色垫子上的任务应当:爪夹向爪夹方向的左下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将2条，爪夹抬高并竖直上升向棕色垫子靠近。", + "time": 3.4155000325727465 + }, + { + "action_description": "爪夹向爪夹方向的左下方移动，爪夹高度继续下降。", + "annotations": { + "bbox_1767680399432": { + "instances": [ + { + "height": 0.06600103126611352, + "id": "bbox_1767680399432_1767680720918_jbig3geae", + "width": 0.048000750011718905, + "x": 0.5402818794043658, + "y": 0.465780715323677 + } + ], + "type": "bbox" + }, + "bbox_1767680399687": { + "instances": [ + { + "height": 0.23100360943139744, + "id": "bbox_1767680399687_1767680707942_r1ktv4ych", + "width": 0.33800528133252083, + "x": 0.36127908248566387, + "y": 0.5677823090985796 + } + ], + "type": "bbox" + }, + "point_1767680400687": { + "instances": [ + { + "id": "point_1767680400687_1767680727438_hpccnw7xr", + "x": 0.5787435663892998, + "y": 0.4352038800342818 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。到达麻将2条的正上方后下降，合拢爪夹抓取麻将2条后垂直上升，向爪夹方向的左前方移动，直至麻将2条位于棕色垫子的正上方。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上更加接近了麻将2条，并使爪夹角度垂直于桌面，方便抓取。", + "frame": 144, + "progress": 19, + "progress_explanation": "当前爪夹与麻将2条的距离进一步缩短，方便抓取麻将2条，因此进度提升为19%。", + "state_description": "当前爪夹张开，爪夹位于麻将2条的右上方，爪夹与麻将的距离更近。\n为完成抓取麻将2条位于棕色垫子上的任务应当:继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将2条，爪夹抬高并竖直上升向棕色垫子靠近，爪夹位于棕色垫子正上方后松开爪夹。", + "time": 4.789125045672655 + }, + { + "action_description": "爪夹向爪夹的左侧移动到麻将2条的正上方。", + "annotations": { + "bbox_1767680399432": { + "instances": [ + { + "height": 0.05800090626416037, + "id": "bbox_1767680399432_1767680755430_ut98ret0f", + "width": 0.04600071876123065, + "x": 0.542281910654854, + "y": 0.4717808090751418 + } + ], + "type": "bbox" + }, + "bbox_1767680399687": { + "instances": [ + { + "height": 0.23100360943139744, + "id": "bbox_1767680399687_1767680740461_poxl04dcm", + "width": 0.339005296957765, + "x": 0.36227909811090797, + "y": 0.5687823247238237 + } + ], + "type": "bbox" + }, + "point_1767680400687": { + "instances": [ + { + "id": "point_1767680400687_1767680733398_s5azf9ugn", + "x": 0.5662822856607135, + "y": 0.5177815278363724 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取麻将2条后垂直上升，向爪夹方向的左前方移动，直至麻将2条位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，并且已经移动到了麻将2条的正上方，方便抓取。", + "frame": 173, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于麻将2条正上方，已接近麻将2条，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到麻将2条的正上方。\n为完成抓取麻将2条位于棕色垫子上的任务应当:向下合拢爪夹抓取麻将2条后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到棕色垫子的正上方。", + "time": 5.767422680412372 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取麻将4条。", + "annotations": { + "bbox_1767680399432": { + "instances": [ + { + "height": 0.06700104689135765, + "id": "bbox_1767680399432_1767680765006_y9iksee3b", + "width": 0.047000734386474716, + "x": 0.5432819262800981, + "y": 0.4397802465663527 + } + ], + "type": "bbox" + }, + "bbox_1767680399687": { + "instances": [ + { + "height": 0.23000359380615323, + "id": "bbox_1767680399687_1767680770294_e2s61dhkk", + "width": 0.3390052969577651, + "x": 0.3602790668604197, + "y": 0.5697823403490679 + } + ], + "type": "bbox" + }, + "point_1767680400687": { + "instances": [ + { + "id": "point_1767680400687_1767680782510_rrdj2wo3m", + "x": 0.5692823325364459, + "y": 0.4527806371974561 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将2条后垂直上升，向爪夹方向的左前方移动，直至麻将2条位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了麻将2条。", + "frame": 207, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到麻将2条，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到麻将2条。\n为完成抓取麻将2条位于棕色垫子上的任务应当:抓取麻将2条后垂直抬起爪夹，然后向爪夹的右前方移动，直至移动到棕色垫子的正上方。", + "time": 6.903092783505155 + }, + { + "action_description": "爪夹抓住麻将4条，爪夹向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767680399432": { + "instances": [ + { + "height": 0.07000109376709016, + "id": "bbox_1767680399432_1767680793246_elc6tb26m", + "width": 0.051000796887451356, + "x": 0.5652044408615385, + "y": 0.4592042550401413 + } + ], + "type": "bbox" + }, + "bbox_1767680399687": { + "instances": [ + { + "height": 0.23100360943139744, + "id": "bbox_1767680399687_1767680799078_t3gum842s", + "width": 0.34200534383349734, + "x": 0.35727901998468725, + "y": 0.5687823247238238 + } + ], + "type": "bbox" + }, + "point_1767680400687": { + "instances": [ + { + "id": "point_1767680400687_1767680786830_6f3zxjdlx", + "x": 0.5954354562316911, + "y": 0.4768587163752935 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将2条，继续向爪夹方向的右前方移动，直至麻将2条位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将2条，并且在向着棕色垫子的方向移动。", + "frame": 226, + "progress": 50, + "progress_explanation": "当前爪夹已抓住麻将2条，与上一进度相比，在水平方向上逐渐接近棕色垫子，因此进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，抓住麻将2条位于棕色垫子的右上方。\n为完抓取麻将2条位于棕色垫子上的任务应当：爪夹继续向爪夹方向的右前方移动，直至移动到棕色垫子正上方后松开爪夹，使麻将2条下落。", + "time": 7.536375071872474 + }, + { + "action_description": "爪夹保持合拢，爪夹夹紧麻将2条，继续向爪夹方向的左前方移动，直至麻将2条位于棕色垫子的正上方后松开爪夹。", + "annotations": { + "bbox_1767680399432": { + "instances": [ + { + "height": 0.0747676843715182, + "id": "bbox_1767680399432_1767678414749_dg00ipu5f", + "width": 0.056075763278638745, + "x": 0.5264891107827746, + "y": 0.4963713978278514 + } + ], + "type": "bbox" + }, + "bbox_1767680399687": { + "instances": [ + { + "height": 0.22741837329670128, + "id": "bbox_1767680399687_1767678418829_5t48vikj5", + "width": 0.33333925948968574, + "x": 0.36760778149329815, + "y": 0.5685901848138409 + } + ], + "type": "bbox" + }, + "point_1767680400687": { + "instances": [ + { + "id": "point_1767680400687_1767678426845_rfrrlflj8", + "x": 0.5545269924220939, + "y": 0.521860382081642 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将2条，继续向爪夹方向的右下方移动，直至麻将2条位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "当前爪夹已抓住麻将2条，与上一进度相比，在水平方向上逐渐接近棕色垫子，因此进度提升为60%。", + "frame": 258, + "progress": 60, + "progress_explanation": "爪夹已经抓取到麻将2条，并且进一步向着麻将2条方向移动。", + "state_description": "当前爪夹合拢，垂直于桌面，抓取麻将2条位于棕色垫子的左上方。\n为完成抓取麻将2条位于棕色垫子上的任务应当：爪夹继续向爪夹的右下方移动，直至移动到棕色垫子的正上方后松开爪夹，使麻将2条下落。", + "time": 8.613000082139969 + }, + { + "action_description": "爪夹保持合拢，抓紧麻将4条向爪夹方向的右侧移动。", + "annotations": { + "bbox_1767680399432": { + "instances": [ + { + "height": 0.06900107814184603, + "id": "bbox_1767680399432_1767680837830_m8fd9ncxg", + "width": 0.06000093751464863, + "x": 0.5062813481460648, + "y": 0.5347817934655229 + } + ], + "type": "bbox" + }, + "bbox_1767680399687": { + "instances": [ + { + "height": 0.22900357818090905, + "id": "bbox_1767680399687_1767680820141_ynwxzk2b3", + "width": 0.3360052500820325, + "x": 0.36227909811090797, + "y": 0.5707823559743121 + } + ], + "type": "bbox" + }, + "point_1767680400687": { + "instances": [ + { + "id": "point_1767680400687_1767680831279_5gz0y0fxt", + "x": 0.536281816903389, + "y": 0.5647822622228472 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使麻将4条下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了棕色垫子的正上方。", + "frame": 283, + "progress": 80, + "progress_explanation": "当前爪夹已抓住麻将2条，并移动到了棕色垫子的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，夹紧麻将2条处于棕色垫子的正上方。\n为完成抓取麻将4条位于棕色垫子上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使麻将2条下落。", + "time": 9.444161492183914 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767680399432": { + "instances": [ + { + "height": 0.07100110939233417, + "id": "bbox_1767680399432_1767680847574_doyjcc84e", + "width": 0.054000843763183856, + "x": 0.5002812543945999, + "y": 0.5687823247238238 + } + ], + "type": "bbox" + }, + "bbox_1767680399687": { + "instances": [ + { + "height": 0.2310036094313973, + "id": "bbox_1767680399687_1767680860206_0iqqslvgp", + "width": 0.3400053125830091, + "x": 0.3592790512351756, + "y": 0.5717823715995564 + } + ], + "type": "bbox" + }, + "point_1767680400687": { + "instances": [ + { + "id": "point_1767680400687_1767680878510_z2hp5383x", + "x": 0.5272816762761918, + "y": 0.5857825903529742 + } + ], + "type": "point" + } + }, + "correction_plan": "麻将2条位于棕色垫子上方完成了目标任务。", + "error_success_analysis": "爪夹张开使麻将2条位于棕色垫子的上方，成功完成任务。", + "frame": 303, + "progress": 100, + "progress_explanation": "当前麻将2条位于棕色垫子的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，麻将2条下降了一定距离。抓取麻将2条位于棕色垫子上的目标任务完成。", + "time": 10.11216506801324 + }, + { + "action_description": "爪夹保持打开状态，回到初始状态。", + "annotations": { + "bbox_1767680399432": { + "instances": [ + { + "height": 0.06400100001562521, + "id": "bbox_1767680399432_1767680909485_46oq2ofmr", + "width": 0.048000750011718905, + "x": 0.5402818794043658, + "y": 0.465780715323677 + } + ], + "type": "bbox" + }, + "bbox_1767680399687": { + "instances": [ + { + "height": 0.23700370318286232, + "id": "bbox_1767680399687_1767680898982_c63xoqf24", + "width": 0.34500539070922986, + "x": 0.3632791137361522, + "y": 0.5767824497257769 + } + ], + "type": "bbox" + }, + "point_1767680400687": { + "instances": [ + { + "id": "point_1767680400687_1767680888798_dmctacnql", + "x": 0.5152814887732621, + "y": 0.15477585587274803 + } + ], + "type": "point" + }, + "point_1767680400911": { + "instances": [ + { + "id": "point_1767680400911_1767680892670_9pz6qslq5", + "x": 0.5462819731558306, + "y": 0.1627759808747012 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达麻将2条的正上方后下降，合拢爪夹抓取麻将2条后垂直上升，向爪夹方向的左前方移动，直至麻将2条位于棕色垫子的正上方。", + "error_success_analysis": "爪夹又重新回到初始状态，麻将2条也位于原点。", + "frame": 307, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取麻将2条，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，处于初始状态，没有接触麻将2条。\n为完成抓取麻将2条向灰色纸巾靠近的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，重新准备抓取麻将2条。", + "time": 10.2168 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767680399432", + "name": "麻将2条" + }, + { + "color": "#FF9800", + "id": "bbox_1767680399687", + "name": "棕色垫子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767680400687", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767680400911", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000192.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000192.json new file mode 100644 index 0000000000000000000000000000000000000000..bf855a756a8a8ff12b560cc79b08bbabeb4cd7b7 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000192.json @@ -0,0 +1,722 @@ +{ + "task_description": "抓取麻将3饼位于红色纸巾上。\n爪夹开始移动:0%\n爪夹靠近麻将3饼:20%\n爪夹抓取麻将3饼:40%\n爪夹抓住麻将3饼接近红色纸巾:60%\n爪夹抓住麻将3饼到达红色纸巾上:80%\n爪夹松开，麻将3饼下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767679255930": { + "instances": [ + { + "height": 0.06200096876513701, + "id": "bbox_1767679255930_1767679428986_q99vliipp", + "width": 0.04500070313598646, + "x": 0.279277801215644, + "y": 0.44778043406928236 + } + ], + "type": "bbox" + }, + "bbox_1767679256266": { + "instances": [ + { + "height": 0.17300270316723712, + "id": "bbox_1767679256266_1767679438153_uzly1q3ap", + "width": 0.3410053282082533, + "x": 0.36627916061188454, + "y": 0.6407834497414022 + } + ], + "type": "bbox" + }, + "point_1767679273563": { + "instances": [ + { + "id": "point_1767679273563_1767679461547_8ojl4j723", + "x": 0.4622806606353224, + "y": 0.13277551211737684 + } + ], + "type": "point" + }, + "point_1767679273858": { + "instances": [ + { + "id": "point_1767679273858_1767679465138_2c1dtvqlb", + "x": 0.5432819262800982, + "y": 0.13077548086688853 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向左下方移动，调整爪夹角度，使其垂直于桌面。爪夹到达麻将3饼的正上方后下降，合拢爪夹抓取麻将3饼后垂直上升，向爪夹方向的右前方移动，直至麻将3饼位于棕色垫子的正上方。", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触麻将3饼。\n为完成抓取麻将3饼位于红色纸巾上的任务应当:爪夹向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。准备抓取麻将3饼。", + "time": 0.1487544999879195 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，向靠近麻将3饼的方向移动。", + "annotations": { + "bbox_1767679256266": { + "instances": [ + { + "height": 0.17500273441772526, + "id": "bbox_1767679256266_1767679486074_kx15llcwi", + "width": 0.34000531258300914, + "x": 0.36527914498664044, + "y": 0.639783434116158 + } + ], + "type": "bbox" + }, + "point_1767679273563": { + "instances": [ + { + "id": "point_1767679273563_1767679480026_hnsvy0m5w", + "x": 0.41727995749933594, + "y": 0.147775746496039 + } + ], + "type": "point" + }, + "point_1767679273858": { + "instances": [ + { + "id": "point_1767679273858_1767679474825_p2ecsb6u6", + "x": 0.49728120751886745, + "y": 0.14877576212128316 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。到达麻将3饼的正上方后下降，合拢爪夹抓取麻将3饼后垂直上升，向爪夹方向的右前方移动，直至麻将3饼位于红色纸巾的正上方。", + "error_success_analysis": "爪夹向左前方移动，距离抓取麻将3饼距离更近。", + "frame": 16, + "progress": 5, + "progress_explanation": "当前爪夹更加靠近了麻将3饼，因此进度提升为5%。", + "state_description": "当前爪夹张开，与麻将3饼的距离略微缩短。\n为完成抓取麻将3饼位于棕色垫子上的任务应当:爪夹向爪夹方向的左下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将3饼，爪夹抬高并竖直上升向红色纸巾靠近。", + "time": 0.5280000050354005 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767679255930": { + "instances": [ + { + "height": 0.06400100001562527, + "id": "bbox_1767679255930_1767679522898_b14oa0s8g", + "width": 0.05300082813793961, + "x": 0.2732777074641792, + "y": 0.44728042625666026 + } + ], + "type": "bbox" + }, + "bbox_1767679256266": { + "instances": [ + { + "height": 0.1740027187924812, + "id": "bbox_1767679256266_1767679550497_kb8xt37xy", + "width": 0.3380052813325208, + "x": 0.3632791137361522, + "y": 0.639283426303536 + } + ], + "type": "bbox" + }, + "point_1767679273563": { + "instances": [ + { + "id": "point_1767679273563_1767679513442_vvbc9sgoj", + "x": 0.3752793012390819, + "y": 0.1912764261941593 + } + ], + "type": "point" + }, + "point_1767679273858": { + "instances": [ + { + "id": "point_1767679273858_1767679516834_9sr5vdpt8", + "x": 0.4462804106314161, + "y": 0.20027656682135658 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。到达麻将3饼的正上方后下降，合拢爪夹抓取麻将3饼后垂直上升，向爪夹方向的右前方移动，直至麻将3饼位于红色纸巾的正上方。", + "error_success_analysis": "爪夹向左下方移动，距离抓取麻将3饼距离更近。", + "frame": 50, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将3饼，因此进度提升为10%。", + "state_description": "当前爪夹张开，与麻3饼的距离略微缩短。\n为完成抓取麻将3饼位于红色纸巾上的任务应当:爪夹向爪夹方向的左下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将3饼，爪夹抬高并竖直上升向红色纸巾靠近。", + "time": 1.672000015945435 + }, + { + "action_description": "爪夹向爪夹方向的左下方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767679255930": { + "instances": [ + { + "height": 0.06300098439038114, + "id": "bbox_1767679255930_1767679581801_qim1krxe5", + "width": 0.05000078126220722, + "x": 0.2762777543399116, + "y": 0.44578040281879405 + } + ], + "type": "bbox" + }, + "bbox_1767679256266": { + "instances": [ + { + "height": 0.17100267191674873, + "id": "bbox_1767679256266_1767679590393_69n5p604c", + "width": 0.3420053438334974, + "x": 0.3632791137361522, + "y": 0.6407834497414022 + } + ], + "type": "bbox" + }, + "point_1767679273563": { + "instances": [ + { + "id": "point_1767679273563_1767679569145_ieihhjl9b", + "x": 0.3472788637322458, + "y": 0.2557774340224066 + } + ], + "type": "point" + }, + "point_1767679273858": { + "instances": [ + { + "id": "point_1767679273858_1767679573177_sbudwn7pr", + "x": 0.3992796762449414, + "y": 0.2717776840263129 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。到达麻将3饼的正上方后下降，合拢爪夹抓取麻将3饼后垂直上升，向爪夹方向的右前方移动，直至麻将3饼位于红色纸巾的正上方。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上更加接近了麻将3饼，并使爪夹角度垂直于桌面，方便抓取。", + "frame": 78, + "progress": 14, + "progress_explanation": "当前爪夹与麻将3饼的距离进一步缩短，方便抓取麻将3饼，因此进度提升为14%。", + "state_description": "当前爪夹张开，爪夹位于麻将3饼的右上方。\n为完成抓取麻将3饼位于红色纸巾上的任务应当:爪夹向爪夹方向的左下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将3饼，爪夹抬高并竖直上升向红色纸巾靠近。", + "time": 2.6112 + }, + { + "action_description": "爪夹向爪夹方向的左下方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767679255930": { + "instances": [ + { + "height": 0.06500101564086945, + "id": "bbox_1767679255930_1767679621786_kk56je90a", + "width": 0.04900076563696303, + "x": 0.2762777543399116, + "y": 0.44678041844403815 + } + ], + "type": "bbox" + }, + "bbox_1767679256266": { + "instances": [ + { + "height": 0.17600275004296945, + "id": "bbox_1767679256266_1767679641497_mlkpblrrr", + "width": 0.3440053750839859, + "x": 0.3632791137361521, + "y": 0.6407834497414022 + } + ], + "type": "bbox" + }, + "point_1767679273563": { + "instances": [ + { + "id": "point_1767679273563_1767679608922_kxihu3rj5", + "x": 0.32927858247785124, + "y": 0.30377818403412554 + } + ], + "type": "point" + }, + "point_1767679273858": { + "instances": [ + { + "id": "point_1767679273858_1767679616802_nuvvpal1d", + "x": 0.36227909811090797, + "y": 0.3247785121642526 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。到达麻将4条的正上方后下降，合拢爪夹抓取麻将3饼后垂直上升，向爪夹方向的右前方移动，直至麻将3饼位于红色纸巾的正上方。", + "error_success_analysis": "爪夹向爪夹方向的左下方旋转，水平方向上更加接近了麻将3饼，并使爪夹角度垂直于桌面，方便抓取。", + "frame": 99, + "progress": 16, + "progress_explanation": "当前爪夹与麻将3饼的距离进一步缩短，方便抓取麻将3饼，因此进度提升为16%。", + "state_description": "当前爪夹张开，爪夹与桌面呈60度角，爪夹位于麻将3饼的右上方。\n为完成抓取麻将3饼位于红色纸巾上的任务应当:爪夹向爪夹方向的左下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将3饼，爪夹抬高并竖直上升向红色纸巾靠近。", + "time": 3.315586266882505 + }, + { + "action_description": "爪夹向爪夹的左侧移动到麻将3饼的正上方。", + "annotations": { + "bbox_1767679255930": { + "instances": [ + { + "height": 0.06600103126611352, + "id": "bbox_1767679255930_1767679680794_zxyc4md39", + "width": 0.04900076563696312, + "x": 0.2772777699651557, + "y": 0.4447803871935499 + } + ], + "type": "bbox" + }, + "bbox_1767679256266": { + "instances": [ + { + "height": 0.1690026406662606, + "id": "bbox_1767679256266_1767679661633_j7eoocow6", + "width": 0.34000531258300903, + "x": 0.3632791137361522, + "y": 0.6437834966171345 + } + ], + "type": "bbox" + }, + "point_1767679273563": { + "instances": [ + { + "id": "point_1767679273563_1767679673233_xq0u4mg6w", + "x": 0.2942780355943062, + "y": 0.42678010593915533 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取麻将3饼后垂直上升，向爪夹方向的左前方移动，直至麻将3饼位于红色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，并且已经移动到了麻将3饼的正上方，方便抓取。", + "frame": 139, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于麻将3饼正上方，已接近麻将3饼，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到麻将3饼的正上方。\n为完成抓取麻将4饼位于红色纸巾上的任务应当:向下合拢爪夹抓取麻将3饼后垂直抬起爪夹，然后向爪夹的右前方移动，直至移动到红色纸巾的正上方。", + "time": 4.635099503088583 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取麻将3饼。", + "annotations": { + "bbox_1767679255930": { + "instances": [ + { + "height": 0.06300098439038114, + "id": "bbox_1767679255930_1767679694441_bh9yckzmd", + "width": 0.04700073438647478, + "x": 0.2772777699651557, + "y": 0.44578040281879405 + } + ], + "type": "bbox" + }, + "bbox_1767679256266": { + "instances": [ + { + "height": 0.17600275004296945, + "id": "bbox_1767679256266_1767679704665_dfqk2y9s3", + "width": 0.3380052813325209, + "x": 0.3672791762371287, + "y": 0.6407834497414022 + } + ], + "type": "bbox" + }, + "point_1767679273563": { + "instances": [ + { + "id": "point_1767679273563_1767679719697_0tmeb4bh8", + "x": 0.2822778480913764, + "y": 0.4777809028266067 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将3饼后垂直上升，向爪夹方向的右前方移动，直至麻将3饼位于红色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了麻将3饼。", + "frame": 161, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到麻将3饼，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到麻将3饼。\n为完成抓取麻将3饼位于红色纸巾上的任务应当:抓取麻将3饼后垂直抬起爪夹，然后向爪夹的右前方移动，直至移动到红色纸巾的正上方。", + "time": 5.368000051193238 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将3饼后抬高爪夹。", + "annotations": { + "bbox_1767679255930": { + "instances": [ + { + "height": 0.06600103126611359, + "id": "bbox_1767679255930_1767679732857_ufmcdnumz", + "width": 0.048000750011718905, + "x": 0.279277801215644, + "y": 0.41877998093720215 + } + ], + "type": "bbox" + }, + "bbox_1767679256266": { + "instances": [ + { + "height": 0.173002703167237, + "id": "bbox_1767679256266_1767679739032_7o7x85h78", + "width": 0.3370052657072767, + "x": 0.36727917623712875, + "y": 0.6407834497414022 + } + ], + "type": "bbox" + }, + "point_1767679273563": { + "instances": [ + { + "id": "point_1767679273563_1767679724433_px2j9sqx1", + "x": 0.2872779262175972, + "y": 0.44178034031781743 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将3饼，爪夹向爪夹方向的右前方移动，直至麻将3饼位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到麻将3饼，爪夹向上方抬升靠近红色纸巾。", + "frame": 209, + "progress": 45, + "progress_explanation": "当前爪夹已抓取麻将3饼，且爪夹与麻将的高度略微抬升了，所以进度提升为45%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取麻将3饼位于红色纸巾上的任务应当：爪夹向爪夹的右前方移动，直至移动到红色纸巾的正上方后松开爪夹，使麻将3饼下落。", + "time": 6.9632 + }, + { + "action_description": "爪夹夹紧麻将3饼，爪夹向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767679255930": { + "instances": [ + { + "height": 0.07100110939233423, + "id": "bbox_1767679255930_1767679777528_q9h3uarx1", + "width": 0.05000078126220722, + "x": 0.30727823872248006, + "y": 0.44878044969452646 + } + ], + "type": "bbox" + }, + "bbox_1767679256266": { + "instances": [ + { + "height": 0.17100267191674873, + "id": "bbox_1767679256266_1767679758121_m76qhfwtw", + "width": 0.34100532820825336, + "x": 0.36527914498664044, + "y": 0.6407834497414022 + } + ], + "type": "bbox" + }, + "point_1767679273563": { + "instances": [ + { + "id": "point_1767679273563_1767679795073_8tm0ojuef", + "x": 0.3112783012234566, + "y": 0.4727808247003859 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将3饼，继续向爪夹方向的右前方移动，直至麻将3饼位于红色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将3饼，并且在向着红色纸巾的方向移动。", + "frame": 244, + "progress": 50, + "progress_explanation": "当前爪夹已抓住麻将4条，与上一进度相比，在水平方向上逐渐接近红色纸巾，因此进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将3饼位于红色纸巾的左上方。\n为完抓取麻将3饼位于红色纸巾上的任务应当：爪夹继续向爪夹方向的右前方移动，直至移动到棕色垫子正上方后松开爪夹，使麻将3饼下落。", + "time": 8.14000007762909 + }, + { + "action_description": "爪夹夹紧麻将3饼，继续向爪夹方向的右下方移动。", + "annotations": { + "bbox_1767679255930": { + "instances": [ + { + "height": 0.06900107814184592, + "id": "bbox_1767679255930_1767679809729_bwk4muhzj", + "width": 0.05500085938842799, + "x": 0.3472788637322458, + "y": 0.47878091845185083 + } + ], + "type": "bbox" + }, + "bbox_1767679256266": { + "instances": [ + { + "height": 0.1720026875419928, + "id": "bbox_1767679256266_1767679822001_d1nw8t74t", + "width": 0.34200534383349734, + "x": 0.3652791449866405, + "y": 0.6417834653666464 + } + ], + "type": "bbox" + }, + "point_1767679273563": { + "instances": [ + { + "id": "point_1767679273563_1767679803505_l84vz1m4x", + "x": 0.36227909811090797, + "y": 0.5087813872091752 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将3饼，继续向爪夹方向的右下方移动，直至麻将3饼位于红色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将3饼，并且进一步向着麻将3饼方向移动。", + "frame": 275, + "progress": 60, + "progress_explanation": "当前爪夹已抓住麻将3饼，与上一进度相比，在水平方向上逐渐接近红色纸巾，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将3饼位于红色纸巾的左上方。\n为完成抓取麻将3饼位于红色纸巾上应当：爪夹继续向爪夹的右下方移动，直至移动到红色纸巾的正上方后松开爪夹，使麻将3饼下落。", + "time": 9.15184275184275 + }, + { + "action_description": "爪夹夹紧麻将3饼，继续向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767679255930": { + "instances": [ + { + "height": 0.07000109376709016, + "id": "bbox_1767679255930_1767679858897_pjv6y74ju", + "width": 0.059000921889404506, + "x": 0.41127986374787107, + "y": 0.5227816059625932 + } + ], + "type": "bbox" + }, + "bbox_1767679256266": { + "instances": [ + { + "height": 0.17000265629150466, + "id": "bbox_1767679256266_1767679837833_mkqu58272", + "width": 0.33900529695776505, + "x": 0.36627916061188454, + "y": 0.6417834653666463 + } + ], + "type": "bbox" + }, + "point_1767679273563": { + "instances": [ + { + "id": "point_1767679273563_1767679847977_r173zx096", + "x": 0.4342802231284864, + "y": 0.5587821684713823 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将3饼，继续向爪夹方向的右下方移动，直至麻将3饼位于红色纸巾的正上方后松开爪夹。", + "error_success_analysis": "当前爪夹已抓住麻将3饼，与上一进度相比，在水平方向上逐渐接近红色纸巾，因此进度提升为70%。", + "frame": 308, + "progress": 70, + "progress_explanation": "爪夹已经抓取到麻将3饼，并且进一步向着麻将3饼方向移动。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将3饼位于红色纸巾的左上方。\n为完成抓取麻将3饼位于红色纸巾上的任务应当：爪夹继续向爪夹的右下方移动，直至移动到红色纸巾的正上方后松开爪夹，使麻将3饼下落。", + "time": 10.252579852579853 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将3饼向爪夹方向的右侧移动。", + "annotations": { + "bbox_1767679255930": { + "instances": [ + { + "height": 0.07600118751855499, + "id": "bbox_1767679255930_1767679872665_3v9l6xzxw", + "width": 0.059000921889404506, + "x": 0.5042813168955765, + "y": 0.5857825903529742 + } + ], + "type": "bbox" + }, + "bbox_1767679256266": { + "instances": [ + { + "height": 0.17300270316723712, + "id": "bbox_1767679256266_1767679880665_2cbx7us8n", + "width": 0.3380052813325208, + "x": 0.36527914498664044, + "y": 0.6407834497414021 + } + ], + "type": "bbox" + }, + "point_1767679273563": { + "instances": [ + { + "id": "point_1767679273563_1767679888977_r53p7t0dg", + "x": 0.5392818637791216, + "y": 0.6337833403646933 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使麻将3饼下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的右方移动，并且麻将3饼正确移动到了红色纸巾的正上方。", + "frame": 348, + "progress": 80, + "progress_explanation": "当前爪夹已抓住麻将3饼，并移动到了红色纸巾的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，此时麻将3饼处于红色纸巾的正上方。\n为完成抓取麻将3饼位于红色纸巾上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使麻将3饼下落。", + "time": 11.613278066619847 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767679255930": { + "instances": [ + { + "height": 0.0710011093923343, + "id": "bbox_1767679255930_1767679917617_uadx7tr8p", + "width": 0.057000890638916245, + "x": 0.5102814106470414, + "y": 0.6017828403568806 + } + ], + "type": "bbox" + }, + "bbox_1767679256266": { + "instances": [ + { + "height": 0.17300270316723712, + "id": "bbox_1767679256266_1767679896729_i2irckflx", + "width": 0.34000531258300914, + "x": 0.36527914498664044, + "y": 0.6407834497414021 + } + ], + "type": "bbox" + }, + "point_1767679273563": { + "instances": [ + { + "id": "point_1767679273563_1767679908881_i0qa0ndzy", + "x": 0.5432819262800982, + "y": 0.6437834966171346 + } + ], + "type": "point" + } + }, + "correction_plan": "麻将3饼位于红色纸巾上的完成了目标任务。", + "error_success_analysis": "爪夹张开使麻将3饼位于红色纸巾的上方，成功完成任务。", + "frame": 363, + "progress": 100, + "progress_explanation": "当前麻将3饼位于红色纸巾的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，麻将3饼下降了一定距离。抓取麻将3饼位于红色纸巾上的目标任务完成。", + "time": 12.10354442001498 + }, + { + "action_description": "爪夹保持打开状态，回到初始状态。", + "annotations": { + "bbox_1767679255930": { + "instances": [ + { + "height": 0.06300098439038108, + "id": "bbox_1767679255930_1767679928426_iahdots87", + "width": 0.05000078126220722, + "x": 0.2762777543399116, + "y": 0.4462804106314161 + } + ], + "type": "bbox" + }, + "bbox_1767679256266": { + "instances": [ + { + "height": 0.16200253128955153, + "id": "bbox_1767679256266_1767679934969_nvnn6k3s9", + "width": 0.34000531258300903, + "x": 0.3522789418584666, + "y": 0.6392834263035359 + } + ], + "type": "bbox" + }, + "point_1767679273563": { + "instances": [ + { + "id": "point_1767679273563_1767679946033_4ngz081pr", + "x": 0.5102814106470414, + "y": 0.1442756918076845 + } + ], + "type": "point" + }, + "point_1767679273858": { + "instances": [ + { + "id": "point_1767679273858_1767679949674_ykggct9mh", + "x": 0.542281910654854, + "y": 0.1442756918076845 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达麻将3饼的正上方后下降，合拢爪夹抓取麻将3饼后垂直上升，向爪夹方向的左前方移动，直至麻将3饼位于红色纸巾的正上方。", + "error_success_analysis": "爪夹又重新回到初始状态，麻将3饼也位于原点。", + "frame": 367, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取麻将3饼，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，移动到初始状态，没有接触麻将3饼。\n为完成抓取麻将3饼向红色纸巾靠近的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取麻将3饼。", + "time": 12.2368 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767679255930", + "name": "麻将3饼" + }, + { + "color": "#FF9800", + "id": "bbox_1767679256266", + "name": "红色纸巾" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767679273563", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767679273858", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000203.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000203.json new file mode 100644 index 0000000000000000000000000000000000000000..27c84ded5d184e1bf90872ed6a93197244afee5b --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000203.json @@ -0,0 +1,688 @@ +{ + "task_description": "抓取麻将7万位于棕色垫子上。\n爪夹开始移动:0%\n爪夹靠近麻将7万:20%\n爪夹抓取麻将7万:40%\n爪夹抓住麻将7万接近棕色垫子:60%\n爪夹抓住麻将7万到达棕色垫子上:80%\n爪夹松开，麻将7万下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767679366337": { + "instances": [ + { + "height": 0.06407322654462248, + "id": "bbox_1767679366337_1767679419768_ouwol93wv", + "width": 0.04576659038901602, + "x": 0.4462242562929062, + "y": 0.4759725400457666 + } + ], + "type": "bbox" + }, + "bbox_1767679366601": { + "instances": [ + { + "height": 0.2410196987253766, + "id": "bbox_1767679366601_1767679438887_r0vvljkc2", + "width": 0.3511008111239861, + "x": 0.20509849362688298, + "y": 0.5925067534728509 + } + ], + "type": "bbox" + }, + "point_1767679367505": { + "instances": [ + { + "id": "point_1767679367505_1767679450359_wtsbrrqvw", + "x": 0.4658169177288529, + "y": 0.1324835785018196 + } + ], + "type": "point" + }, + "point_1767679367728": { + "instances": [ + { + "id": "point_1767679367728_1767679461520_xsxxeq4m7", + "x": 0.5434530706836617, + "y": 0.1336423270533839 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右下方移动，调整爪夹角度，使其垂直于桌面。爪夹到达麻将7万的正上方后下降，合拢爪夹抓取麻将7万后垂直上升，向爪夹方向的左前方移动，直至麻将7万位于棕色垫子的正上方。", + "error_success_analysis": "", + "frame": 3, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触麻将7万。\n为完成抓取麻将7万位于棕色垫子上的任务应当:爪夹向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。准备抓取麻将7万。", + "time": 0.1123404313674177 + }, + { + "action_description": "爪夹向爪夹方向的左前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767679366337": { + "instances": [ + { + "height": 0.06141367323290847, + "id": "bbox_1767679366337_1767679519992_7lrlryjhr", + "width": 0.04750869061413674, + "x": 0.4461181923522596, + "y": 0.4777906557085341 + } + ], + "type": "bbox" + }, + "bbox_1767679366601": { + "instances": [ + { + "height": 0.24226486218937518, + "id": "bbox_1767679366601_1767679502991_rhln3jyuo", + "width": 0.35115842106560896, + "x": 0.2073583807883887, + "y": 0.5920340949369284 + } + ], + "type": "bbox" + }, + "point_1767679367505": { + "instances": [ + { + "id": "point_1767679367505_1767679530904_lzthpfucy", + "x": 0.39997460128333046, + "y": 0.2018021494425848 + } + ], + "type": "point" + }, + "point_1767679367728": { + "instances": [ + { + "id": "point_1767679367728_1767679534969_11dokovei", + "x": 0.47608692176661144, + "y": 0.19880210256685238 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。到达麻将7万的正上方后下降，合拢爪夹抓取麻将7万后垂直上升，向爪夹方向的左前方移动，直至麻将7万位于棕色垫子的正上方。", + "error_success_analysis": "爪夹向左下方移动，距离抓取麻将7万距离更近。", + "frame": 34, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将7万，因此进度提升为10%", + "state_description": "当前爪夹张开，与麻将7万的距离略微缩短。\n为完成抓取麻将7万位于棕色垫子上的任务应当:爪夹向爪夹方向的右下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将7万，爪夹抬高并竖直上升向棕色垫子靠近。", + "time": 1.123404313674177 + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767679366337": { + "instances": [ + { + "height": 0.06488991888760141, + "id": "bbox_1767679366337_1767679656112_7f4nzfhpz", + "width": 0.04750869061413674, + "x": 0.4449594438006953, + "y": 0.4743144100538411 + } + ], + "type": "bbox" + }, + "bbox_1767679366601": { + "instances": [ + { + "height": 0.24797219003476237, + "id": "bbox_1767679366601_1767679631279_gw3o773z0", + "width": 0.3453070683661646, + "x": 0.2085747392815759, + "y": 0.5890305166587079 + } + ], + "type": "bbox" + }, + "point_1767679367505": { + "instances": [ + { + "id": "point_1767679367505_1767679621687_zyhck7ke1", + "x": 0.31981460023174973, + "y": 0.242564699740979 + } + ], + "type": "point" + }, + "point_1767679367728": { + "instances": [ + { + "id": "point_1767679367728_1767679618512_48jjvpbco", + "x": 0.4009269988412515, + "y": 0.24565469293163386 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右下方移动，调整爪夹角度，使其垂直于桌面。到达麻将7万的正上方后下降，合拢爪夹抓取麻将7万后垂直上升，向爪夹方向的左前方移动，直至麻将7万位于棕色垫子的正上方。", + "error_success_analysis": "爪夹继续向左移动，距离麻将7万的距离边远，不方便抓取麻将7万。", + "frame": 71, + "progress": 7, + "progress_explanation": "当前爪夹下降了一定高度，但爪夹与麻将7万的水平距离变得更远，因此进度下降为7%。", + "state_description": "当前爪夹张开，爪夹位于麻将4条的左上方，爪夹距离麻将7万更远。\n为完成抓取麻将4条位于棕色垫子上的任务应当:爪夹向爪夹方向的左下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将7万，爪夹抬高并竖直上升向棕色垫子靠近。", + "time": 2.3731916126366985 + }, + { + "action_description": "爪夹向爪夹方向的左下方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767679366337": { + "instances": [ + { + "height": 0.06141367323290847, + "id": "bbox_1767679366337_1767679667495_3mws56u1p", + "width": 0.046349942062572445, + "x": 0.4461181923522596, + "y": 0.47779064686798417 + } + ], + "type": "bbox" + }, + "bbox_1767679366601": { + "instances": [ + { + "height": 0.24449594438006947, + "id": "bbox_1767679366601_1767679674488_yf34s1fx1", + "width": 0.34878331402085744, + "x": 0.2074159907300116, + "y": 0.5913480049212867 + } + ], + "type": "bbox" + }, + "point_1767679367505": { + "instances": [ + { + "id": "point_1767679367505_1767679682871_3u4eou5o2", + "x": 0.34530706836616454, + "y": 0.31208960399428776 + } + ], + "type": "point" + }, + "point_1767679367728": { + "instances": [ + { + "id": "point_1767679367728_1767679687550_76oxidne7", + "x": 0.40787949015063735, + "y": 0.3294708322677524 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。到达麻将7万的正上方后下降，合拢爪夹抓取麻将7万后垂直上升，向爪夹方向的左前方移动，直至麻将7万位于棕色垫子的正上方。", + "error_success_analysis": "爪夹向爪夹方向的左下方旋转，水平方向上更加接近了麻将7万，并使爪夹角度垂直于桌面，方便抓取。", + "frame": 101, + "progress": 15, + "progress_explanation": "当前爪夹与麻将7万的距离缩短，方便抓取麻将7万，因此进度提升为15%。", + "state_description": "当前爪夹张开，爪夹的角度发生了变化，爪夹位于麻将7万的左上方。\n为完成抓取麻将7万位于棕色垫子上的任务应当:爪夹向爪夹方向的左下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将7万，爪夹抬高并竖直上升向棕色垫子靠近。", + "time": 3.353921984520859 + }, + { + "action_description": "爪夹继续向爪夹方向的左下方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767679366337": { + "instances": [ + { + "height": 0.06488991888760141, + "id": "bbox_1767679366337_1767679718047_j3lal5waq", + "width": 0.04750869061413674, + "x": 0.4461181923522596, + "y": 0.47663189831641983 + } + ], + "type": "bbox" + }, + "bbox_1767679366601": { + "instances": [ + { + "height": 0.2468134414831982, + "id": "bbox_1767679366601_1767679702559_hxueovrm2", + "width": 0.3499420625724217, + "x": 0.2074159907300116, + "y": 0.5925067534728509 + } + ], + "type": "bbox" + }, + "point_1767679367505": { + "instances": [ + { + "id": "point_1767679367505_1767679696207_f70uam0uq", + "x": 0.40903823870220163, + "y": 0.3723445286756319 + } + ], + "type": "point" + }, + "point_1767679367728": { + "instances": [ + { + "id": "point_1767679367728_1767679693319_5g9uwrxzc", + "x": 0.440324449594438, + "y": 0.40363073956786827 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左下方移动，调整爪夹角度，使其垂直于桌面。到达麻将7万的正上方后下降，合拢爪夹抓取麻将7万后垂直上升，向爪夹方向的左前方移动，直至麻将7万位于棕色垫子的正上方。", + "error_success_analysis": "爪夹向爪夹方向的左下方旋转，爪夹更加接近了麻将7万，方便抓取麻将7万。", + "frame": 131, + "progress": 17, + "progress_explanation": "当前爪夹与麻将7万的距离进一步缩短，方便抓取麻将7万，因此进度提升为17%。", + "state_description": "当前爪夹张开，爪夹与桌面呈60度角，爪夹位于麻将7万的右上方。\n为完成抓取麻将7万位于棕色垫子上的任务应当:爪夹向爪夹方向的左下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将7万，爪夹抬高并竖直上升向棕色垫子靠近。", + "time": 4.373069548878027 + }, + { + "action_description": "爪夹向爪夹的左侧移动到麻将4条的正上方。", + "annotations": { + "bbox_1767679366337": { + "instances": [ + { + "height": 0.059096176129779764, + "id": "bbox_1767679366337_1767679727230_1f23tmlbj", + "width": 0.04519119351100815, + "x": 0.44727694090382386, + "y": 0.47779064686798417 + } + ], + "type": "bbox" + }, + "bbox_1767679366601": { + "instances": [ + { + "height": 0.24449594438006958, + "id": "bbox_1767679366601_1767679731927_x0jj08p66", + "width": 0.35110081112398606, + "x": 0.20625724217844732, + "y": 0.5936655020244151 + } + ], + "type": "bbox" + }, + "point_1767679367728": { + "instances": [ + { + "id": "point_1767679367728_1767679744455_sdig7evq1", + "x": 0.46581691772885286, + "y": 0.4627269156976481 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取麻将7万后垂直上升，向爪夹方向的左前方移动，直至麻将7万位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，并且已经移动到了麻将7万的正上方，方便抓取。", + "frame": 160, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于麻将7万正上方，已接近麻将7万，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到麻将7万的正上方。\n为完成抓取麻将7万位于棕色垫子上的任务应当:向下合拢爪夹抓取麻将7万后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到棕色垫子的正上方。", + "time": 5.347411147889536 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取麻将7万。", + "annotations": { + "bbox_1767679366337": { + "instances": [ + { + "height": 0.06373117033603706, + "id": "bbox_1767679366337_1767679775230_z7roxtgyj", + "width": 0.04750869061413674, + "x": 0.4461181923522596, + "y": 0.47779064686798417 + } + ], + "type": "bbox" + }, + "bbox_1767679366601": { + "instances": [ + { + "height": 0.24217844727694088, + "id": "bbox_1767679366601_1767679759415_ln270m3pb", + "width": 0.34762456546929316, + "x": 0.2062572421784473, + "y": 0.5913480049212866 + } + ], + "type": "bbox" + }, + "point_1767679367728": { + "instances": [ + { + "id": "point_1767679367728_1767679751030_e7gmh0wk8", + "x": 0.4646581691772885, + "y": 0.5195055947242994 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将7万后垂直上升，向爪夹方向的左前方移动，直至麻将7万位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了麻将7万。", + "frame": 185, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到麻将7万，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到麻将7万。\n为完成抓取麻将7万位于棕色垫子上的任务应当:抓取麻将7万后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到棕色垫子的正上方。", + "time": 6.163859962792046 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将7万后抬高爪夹。", + "annotations": { + "bbox_1767679366337": { + "instances": [ + { + "height": 0.06836616454229431, + "id": "bbox_1767679366337_1767679783758_qspa3shvg", + "width": 0.04982618771726533, + "x": 0.43800695249130944, + "y": 0.45577442438826227 + } + ], + "type": "bbox" + }, + "bbox_1767679366601": { + "instances": [ + { + "height": 0.2433371958285053, + "id": "bbox_1767679366601_1767679789487_qe4kfd8y8", + "width": 0.34530706836616454, + "x": 0.20973348783314022, + "y": 0.5925067534728509 + } + ], + "type": "bbox" + }, + "point_1767679367728": { + "instances": [ + { + "id": "point_1767679367728_1767679802302_mpmj2pv4t", + "x": 0.4600231749710313, + "y": 0.48706063528049864 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将7万，爪夹向爪夹方向的左前方移动，直至麻将7万位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到麻将7万，爪夹向上方抬升靠近棕色垫子。", + "frame": 227, + "progress": 50, + "progress_explanation": "当前爪夹已抓取麻将7万，且爪夹与麻将的高度略微抬升了，所以进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取麻将7万位于棕色垫子上的任务应当：爪夹向爪夹的左前方移动，直至移动到棕色垫子的正上方后松开爪夹，使麻将7万下落。", + "time": 7.561719297397859 + }, + { + "action_description": "爪夹夹紧麻将7万，爪夹向爪夹方向的前方略微移动。", + "annotations": { + "bbox_1767679366337": { + "instances": [ + { + "height": 0.06952491309385861, + "id": "bbox_1767679366337_1767679818182_0xcu1mlij", + "width": 0.05330243337195828, + "x": 0.4449594438006953, + "y": 0.4407106932179262 + } + ], + "type": "bbox" + }, + "bbox_1767679366601": { + "instances": [ + { + "height": 0.2433371958285052, + "id": "bbox_1767679366601_1767679825022_762wfv2w3", + "width": 0.3499420625724218, + "x": 0.2062572421784473, + "y": 0.5901892563697223 + } + ], + "type": "bbox" + }, + "point_1767679367728": { + "instances": [ + { + "id": "point_1767679367728_1767679809534_s6yyz60x7", + "x": 0.4681344148319815, + "y": 0.47663189831641983 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将7万，继续向爪夹方向的左前方移动，直至麻将7万位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将7万，并且在向着棕色垫子的方向移动。", + "frame": 264, + "progress": 60, + "progress_explanation": "当前爪夹已抓住麻将7万，与上一进度相比，在水平方向上逐渐接近棕色垫子，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将7万位于棕色垫子的左上方。\n为完成抓取麻将7万位于棕色垫子上的任务应当：爪夹继续向爪夹方向的左前方移动，直至移动到棕色垫子正上方后松开爪夹，使麻将7万下落。", + "time": 8.796 + }, + { + "action_description": "爪夹夹紧麻将7万，继续向爪夹方向的左下方移动。", + "annotations": { + "bbox_1767679366337": { + "instances": [ + { + "height": 0.07763615295480886, + "id": "bbox_1767679366337_1767679854967_5rbcq20zw", + "width": 0.05909617612977982, + "x": 0.41019698725376597, + "y": 0.5206643432758636 + } + ], + "type": "bbox" + }, + "bbox_1767679366601": { + "instances": [ + { + "height": 0.23870220162224812, + "id": "bbox_1767679366601_1767679838567_stb49abfd", + "width": 0.3464658169177289, + "x": 0.2074159907300116, + "y": 0.5948242505759794 + } + ], + "type": "bbox" + }, + "point_1767679367728": { + "instances": [ + { + "id": "point_1767679367728_1767679847592_xch76t9us", + "x": 0.43105446118192353, + "y": 0.5612205425806145 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将7万，继续向爪夹方向的左下方移动，直至麻将7万位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹继续夹紧麻将7万，并且进一步向着棕色垫子的方向移动。", + "frame": 306, + "progress": 70, + "progress_explanation": "当前爪夹已抓住麻将7万，与上一进度相比，在水平方向上逐渐接近棕色垫子，因此进度提升为70%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将7万位于棕色电子的右上方。\n为完成抓取麻将7万位于棕色垫子上的任务应当：爪夹继续向爪夹的左下方移动，直至移动到棕色垫子的正上方后松开爪夹，使麻将7万下落。", + "time": 10.212 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将7万向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767679366337": { + "instances": [ + { + "height": 0.0730011587485515, + "id": "bbox_1767679366337_1767679872967_n66ef0pa7", + "width": 0.06025492468134418, + "x": 0.3592120509849363, + "y": 0.5670142853384361 + } + ], + "type": "bbox" + }, + "bbox_1767679366601": { + "instances": [ + { + "height": 0.2433371958285052, + "id": "bbox_1767679366601_1767679881254_vbwsrirn1", + "width": 0.34530706836616454, + "x": 0.2085747392815759, + "y": 0.5948242505759797 + } + ], + "type": "bbox" + }, + "point_1767679367728": { + "instances": [ + { + "id": "point_1767679367728_1767679893662_tpggl6erz", + "x": 0.373117033603708, + "y": 0.6110467302978798 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使麻将7万下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了棕色垫子的正上方。", + "frame": 326, + "progress": 80, + "progress_explanation": "当前爪夹已抓住麻将4条，并移动到了棕色垫子的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，此时麻将7万处于棕色垫子的正上方。\n为完成抓取麻将7万位于棕色垫子上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使麻将7万下落。", + "time": 10.864625866776198 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767679366337": { + "instances": [ + { + "height": 0.06952491309385861, + "id": "bbox_1767679366337_1767679928270_d6heu2wf3", + "width": 0.06257242178447277, + "x": 0.3499420625724218, + "y": 0.5890305166587079 + } + ], + "type": "bbox" + }, + "bbox_1767679366601": { + "instances": [ + { + "height": 0.2410196987253766, + "id": "bbox_1767679366601_1767679911062_6hb3ef5nw", + "width": 0.35457705677867907, + "x": 0.20162224797218997, + "y": 0.593665510864965 + } + ], + "type": "bbox" + }, + "point_1767679367728": { + "instances": [ + { + "id": "point_1767679367728_1767679904838_624i9pvmz", + "x": 0.36616454229432216, + "y": 0.6210892236384705 + } + ], + "type": "point" + } + }, + "correction_plan": "麻将7万位于棕色垫子上成功完成了目标任务。", + "error_success_analysis": "爪夹张开使麻将7万位于棕色垫子的上方，成功完成任务。", + "frame": 339, + "progress": 100, + "progress_explanation": "当前麻将7万位于棕色垫子的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，麻将7万下降了一定距离。抓取麻将7万位于棕色垫子上的目标任务完成。", + "time": 11.309961583995747 + }, + { + "action_description": "爪夹保持打开状态，回到初始状态。", + "annotations": { + "bbox_1767679366337": { + "instances": [ + { + "height": 0.06373117033603706, + "id": "bbox_1767679366337_1767679937246_egem3x3mo", + "width": 0.046349942062572445, + "x": 0.44727694090382386, + "y": 0.47779064686798417 + } + ], + "type": "bbox" + }, + "bbox_1767679366601": { + "instances": [ + { + "height": 0.2340672074159908, + "id": "bbox_1767679366601_1767679945486_7l81e0xi7", + "width": 0.3418308227114716, + "x": 0.2340672074159907, + "y": 0.5809192679572078 + } + ], + "type": "bbox" + }, + "point_1767679367505": { + "instances": [ + { + "id": "point_1767679367505_1767679956094_9rbey4423", + "x": 0.4171494785631518, + "y": 0.16608728649718463 + } + ], + "type": "point" + }, + "point_1767679367728": { + "instances": [ + { + "id": "point_1767679367728_1767679960142_8tcaq7x8l", + "x": 0.4461181923522596, + "y": 0.16840478360031325 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将7万的正上方后下降，合拢爪夹抓取麻将7万后垂直上升，向爪夹方向的左前方移动，直至麻将7万位于棕色垫子的正上方。", + "error_success_analysis": "爪夹又重新回到初始状态，麻将7万也位于原点。", + "frame": 343, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取麻将7万，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，移动到初始状态，没有接触麻将7万。\n为完成抓取麻将7万向棕色垫子靠近的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取麻将7万。", + "time": 11.44275392377491 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767679366337", + "name": "麻将7万" + }, + { + "color": "#FF9800", + "id": "bbox_1767679366601", + "name": "棕色垫子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767679367505", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767679367728", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000228.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000228.json new file mode 100644 index 0000000000000000000000000000000000000000..f5a88a4dc871968721b343c3aa3cb9a50cdc3791 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000228.json @@ -0,0 +1,768 @@ +{ + "task_description": "抓取麻将5筒使其位于灰色纸巾上。\n爪夹开始移动:0%\n爪夹靠近麻将5筒:20%\n爪夹抓取麻将5筒:40%\n爪夹抓住麻将5筒接近灰色纸巾:60%\n爪夹抓住麻将5筒到达灰色纸巾上:80%\n爪夹松开，麻将5筒下落：100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767769037468": { + "instances": [ + { + "height": 0.06299999999999996, + "id": "bbox_1767769037468_1767769265303_xodxao42f", + "width": 0.04300000000000009, + "x": 0.6513749999999999, + "y": 0.4778984375 + } + ], + "type": "bbox" + }, + "bbox_1767769037724": { + "instances": [ + { + "height": 0.27699999999999986, + "id": "bbox_1767769037724_1767769271847_0r68hhqix", + "width": 0.45199999999999996, + "x": 0.23737500000000003, + "y": 0.5898984375 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769291407_h4606m83b", + "x": 0.462375, + "y": 0.1368984375 + } + ], + "type": "point" + }, + "point_1767769038708": { + "instances": [ + { + "id": "point_1767769038708_1767769295743_jv4z4k4hs", + "x": 0.5423749999999999, + "y": 0.1368984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将5筒的正上方后下降，合拢爪夹抓取麻将5筒后垂直上升，向爪夹方向的左前方移动，直至麻将5筒位于灰色纸巾正上方。", + "error_success_analysis": "", + "frame": 6, + "progress": 0, + "progress_explanation": "", + "state_description": "当前状态为爪夹打开，没有移动，没有接触麻将5筒。\n为完成抓取麻将5筒使其位于灰色纸巾上的任务应当:爪夹向爪夹方向的右下方移动并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取麻将5筒。", + "time": 0.207 + }, + { + "action_description": "爪夹向爪夹方向的左前方微调，并降低爪夹高度。\t", + "annotations": { + "bbox_1767769037468": { + "instances": [ + { + "height": 0.06100096876513703, + "id": "bbox_1767769037468_1767769345571_aiwelilor", + "width": 0.046000640635009776, + "x": 0.6492836606821982, + "y": 0.47878091845185083 + } + ], + "type": "bbox" + }, + "bbox_1767769037724": { + "instances": [ + { + "height": 0.2819999999999999, + "id": "bbox_1767769037724_1767769360835_vj3gfl97g", + "width": 0.44599999999999995, + "x": 0.24033331298828123, + "y": 0.5893333320617676 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769371947_ptg0f2su2", + "x": 0.4553333129882812, + "y": 0.16533333206176756 + } + ], + "type": "point" + }, + "point_1767769038708": { + "instances": [ + { + "id": "point_1767769038708_1767769375507_wnnpud9mi", + "x": 0.5363333129882812, + "y": 0.16533333206176756 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将5筒的正上方后下降，合拢爪夹抓取麻将5筒后垂直上升，向爪夹方向的左前方移动，直至麻将5筒位于灰色纸巾正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向左前方移动，距离抓取麻将5筒距离更近。", + "frame": 23, + "progress": 5, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将5筒，因此进度提升为5%", + "state_description": "当前爪夹张开，与麻将5筒的水平距离略微缩短。\n为完成抓取麻将5筒使其位于灰色纸巾上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将5筒，爪夹抬高并竖直上升。", + "time": 0.7738167145860011 + }, + { + "action_description": "爪夹向爪夹方向的下方移动，并调整爪夹角度。\t", + "annotations": { + "bbox_1767769037468": { + "instances": [ + { + "height": 0.06300000000000001, + "id": "bbox_1767769037468_1767769410520_3all0mb6g", + "width": 0.045999999999999965, + "x": 0.650375, + "y": 0.4771484375 + } + ], + "type": "bbox" + }, + "bbox_1767769037724": { + "instances": [ + { + "height": 0.279, + "id": "bbox_1767769037724_1767769415296_wioqughkx", + "width": 0.452, + "x": 0.23737499999999997, + "y": 0.5901484374999999 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769421904_zngxan0zn", + "x": 0.49437499999999995, + "y": 0.2171484375 + } + ], + "type": "point" + }, + "point_1767769038708": { + "instances": [ + { + "id": "point_1767769038708_1767769426224_inflkrck9", + "x": 0.565375, + "y": 0.2271484375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的下方移动，到达麻将5筒的正上方后下降，合拢爪夹抓取麻将5筒后垂直上升，向爪夹方向的右前方移动，直至麻将5筒位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近麻将5筒，并使爪夹角度垂直于桌面，方便抓取麻将5筒。", + "frame": 43, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将5筒并调整完爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与麻将5筒的水平距离进一步缩短。\n为完成抓取麻将5筒使其位于灰色纸巾上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将2条。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 1.4384877313043651 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并旋转调整爪夹角度。\t", + "annotations": { + "bbox_1767769037468": { + "instances": [ + { + "height": 0.06500000000000003, + "id": "bbox_1767769037468_1767769438160_y72fslp33", + "width": 0.04300000000000009, + "x": 0.6513749999999999, + "y": 0.4778984375 + } + ], + "type": "bbox" + }, + "bbox_1767769037724": { + "instances": [ + { + "height": 0.276, + "id": "bbox_1767769037724_1767769443720_jrhp7bzej", + "width": 0.45, + "x": 0.23737499999999997, + "y": 0.5908984375 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769457396_v6zv1iucr", + "x": 0.5463749999999999, + "y": 0.2768984375 + } + ], + "type": "point" + }, + "point_1767769038708": { + "instances": [ + { + "id": "point_1767769038708_1767769460724_nziu16uc4", + "x": 0.6013749999999999, + "y": 0.2988984375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的下方移动，到达麻将5筒的正上方后下降，合拢爪夹抓取麻将5筒后垂直上升，向爪夹方向的左前方移动，直至麻将5筒位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近麻将5筒，并使爪夹角度垂直于桌面，方便抓取麻将5筒。", + "frame": 68, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将5筒并调整完爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与麻将5筒的水平距离进一步缩短。\n为完成抓取麻将5筒使其位于灰色纸巾上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将5筒。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 2.273007901111743 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并旋转调整爪夹角度。", + "annotations": { + "bbox_1767769037468": { + "instances": [ + { + "height": 0.06399999999999993, + "id": "bbox_1767769037468_1767769471844_ueloqy3jr", + "width": 0.04299999999999997, + "x": 0.6523749999999999, + "y": 0.4768984375 + } + ], + "type": "bbox" + }, + "bbox_1767769037724": { + "instances": [ + { + "height": 0.27699999999999997, + "id": "bbox_1767769037724_1767769482459_r1mczo0pt", + "width": 0.4509999999999999, + "x": 0.23437499999999997, + "y": 0.5888984374999999 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769491820_iaqtcuo0z", + "x": 0.590375, + "y": 0.3308984375 + } + ], + "type": "point" + }, + "point_1767769038708": { + "instances": [ + { + "id": "point_1767769038708_1767769495179_k3muimed4", + "x": 0.631375, + "y": 0.35889843749999994 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的下方移动，到达麻将5筒的正上方后下降，合拢爪夹抓取麻将5筒后垂直上升，向爪夹方向的左前方移动，直至麻将5筒位于灰色纸巾正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近麻将5筒，并使爪夹角度垂直于桌面，方便抓取麻将5筒。", + "frame": 93, + "progress": 17, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将5筒并调整完爪夹角度方便抓取，因此进度提升为17%。", + "state_description": "当前爪夹张开，爪夹角度与桌面呈60度，爪夹与麻将5筒的水平距离进一步缩短。\n为完成抓取麻将5筒使其位于灰色纸巾上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将5筒。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 3.089870115573775 + }, + { + "action_description": "爪夹向爪夹的右侧移动到麻将5筒的正上方。", + "annotations": { + "bbox_1767769037468": { + "instances": [ + { + "height": 0.06599999999999996, + "id": "bbox_1767769037468_1767769506080_bw6fjsupy", + "width": 0.04800000000000004, + "x": 0.6493749999999999, + "y": 0.4758984375 + } + ], + "type": "bbox" + }, + "bbox_1767769037724": { + "instances": [ + { + "height": 0.276, + "id": "bbox_1767769037724_1767769516177_e624pt5wl", + "width": 0.45199999999999985, + "x": 0.237375, + "y": 0.5898984375 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769530407_nhcmshcje", + "x": 0.681375, + "y": 0.4708984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取麻将5筒后垂直上升，向爪夹方向的左前方移动，直至麻将5筒位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了麻将5筒的正上方，方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 141, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于麻将5筒正上方，已接近麻将5筒，因此进度提升为20%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到麻将5筒的正上方。\n为完成抓取麻将5筒使其位于灰色纸巾上的任务应当:向下合拢爪夹抓取麻将5筒后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到灰色纸巾正上方。\t", + "time": 4.705836670270404 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取麻将5筒。", + "annotations": { + "bbox_1767769037468": { + "instances": [ + { + "height": 0.05999999999999996, + "id": "bbox_1767769037468_1767769541111_tivtgnzj2", + "width": 0.04400000000000001, + "x": 0.6523749999999999, + "y": 0.4818984375 + } + ], + "type": "bbox" + }, + "bbox_1767769037724": { + "instances": [ + { + "height": 0.27800000000000014, + "id": "bbox_1767769037724_1767769547623_bdkuxavv3", + "width": 0.45099999999999996, + "x": 0.23637499999999997, + "y": 0.5918984374999999 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769557815_shouxu9gf", + "x": 0.687375, + "y": 0.5138984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将5筒后垂直上升，向爪夹方向的左前方移动，直至麻将5筒位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了麻将5筒。", + "frame": 187, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到麻将5筒，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到麻将5筒。\n为完成抓取麻将5筒使其位于灰色纸巾上的任务应当:抓取麻将5筒后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到灰色纸巾正上方。", + "time": 6.2215 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将5筒后抬高爪夹。", + "annotations": { + "bbox_1767769037468": { + "instances": [ + { + "height": 0.064, + "id": "bbox_1767769037468_1767769566043_y2lb84lcl", + "width": 0.04499999999999993, + "x": 0.650375, + "y": 0.45389843750000003 + } + ], + "type": "bbox" + }, + "bbox_1767769037724": { + "instances": [ + { + "height": 0.27600000000000013, + "id": "bbox_1767769037724_1767769569899_089h4fzlo", + "width": 0.45899999999999996, + "x": 0.23137499999999997, + "y": 0.5898984375 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769579403_nwgfmgtzz", + "x": 0.684375, + "y": 0.48089843749999994 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将5筒，爪夹向爪夹方向的左前方移动，直至麻将5筒位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到麻将5筒，爪夹向上方抬升靠近灰色纸巾。", + "frame": 198, + "progress": 45, + "progress_explanation": "当前爪夹已抓住麻将5筒，且爪夹与麻将的高度略微抬升了，所以进度提升为45%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取麻将5筒使其位于灰色纸巾上的任务应当：爪夹向爪夹的左前方移动，直至移动到灰色纸巾正上方后松开爪夹，使麻将5筒下落。", + "time": 6.600999 + }, + { + "action_description": "爪夹抓住麻将5筒，爪夹向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767769037724": { + "instances": [ + { + "height": 0.28099999999999986, + "id": "bbox_1767769037724_1767769588843_uihzcatvi", + "width": 0.45399999999999996, + "x": 0.233375, + "y": 0.5898984375 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769584754_cp4dz6gku", + "x": 0.6493749999999999, + "y": 0.5038984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将5筒，继续向爪夹方向的左前方移动，直至麻将5筒位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将5筒，并且在向着灰色纸巾方向移动。", + "frame": 221, + "progress": 50, + "progress_explanation": "当前爪夹已抓住麻将5筒，与上一进度相比，在水平方向上逐渐接近灰色纸巾，因此进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，抓住麻将5筒位于灰色纸巾的右上方。\n为完成抓取麻将5筒使其位于灰色纸巾上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到灰色纸巾正上方后松开爪夹，使麻将5筒下落。", + "time": 7.353342675590133 + }, + { + "action_description": "爪夹夹紧麻将5筒，继续向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767769037468": { + "instances": [ + { + "height": 0.06600000000000002, + "id": "bbox_1767769037468_1767769612114_ra9vecfq2", + "width": 0.05100000000000004, + "x": 0.580375, + "y": 0.4928984375 + } + ], + "type": "bbox" + }, + "bbox_1767769037724": { + "instances": [ + { + "height": 0.27500000000000013, + "id": "bbox_1767769037724_1767769619834_dpf8q4735", + "width": 0.446, + "x": 0.24037499999999998, + "y": 0.5908984374999999 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769629302_b2u5dlmd9", + "x": 0.612375, + "y": 0.5268984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将5筒，继续向爪夹方向的左前方移动，直至麻将5筒位于灰色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将5筒，并且进一步向着灰色纸巾的方向移动。", + "frame": 240, + "progress": 56, + "progress_explanation": "当前爪夹已抓住麻将5筒，与上一进度相比，在水平方向上逐渐接近灰色纸巾，因此进度提升为56%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将5筒位于灰色纸巾的右上方。\n为完成抓取麻将5筒使其位于灰色纸巾上的任务应当：爪夹继续向爪夹的左下方移动，直至移动到灰色纸巾正上方后松开爪夹，使麻将5筒下落。", + "time": 8.007023195876288 + }, + { + "action_description": "爪夹夹紧麻将5筒，继续向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767769037468": { + "instances": [ + { + "height": 0.06999999999999999, + "id": "bbox_1767769037468_1767769661198_stgtpfsqt", + "width": 0.053, + "x": 0.541375, + "y": 0.5158984375 + } + ], + "type": "bbox" + }, + "bbox_1767769037724": { + "instances": [ + { + "height": 0.27500000000000013, + "id": "bbox_1767769037724_1767769644093_nnw5y2glf", + "width": 0.457, + "x": 0.233375, + "y": 0.5888984374999998 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769636454_ezkvz20es", + "x": 0.5693750000000001, + "y": 0.5528984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将5筒，继续向爪夹方向的左前方移动，直至麻将5筒位于灰色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将5筒，并且进一步向着灰色纸巾的方向移动。", + "frame": 263, + "progress": 60, + "progress_explanation": "当前爪夹已抓住麻将5筒，与上一进度相比，在水平方向上逐渐接近灰色纸巾，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将5筒位于灰色纸巾的右上方，距离更近。\n为完成抓取麻将5筒使其位于灰色纸巾上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到灰色纸巾正上方后松开爪夹，使麻将5筒下落。", + "time": 8.772389868353132 + }, + { + "action_description": "爪夹夹紧麻将5筒，继续向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767769037468": { + "instances": [ + { + "height": 0.07200000000000001, + "id": "bbox_1767769037468_1767769678853_6lez3g1jb", + "width": 0.05599999999999993, + "x": 0.495375, + "y": 0.5418984375 + } + ], + "type": "bbox" + }, + "bbox_1767769037724": { + "instances": [ + { + "height": 0.2740000000000001, + "id": "bbox_1767769037724_1767769686449_f6jqeuy74", + "width": 0.445, + "x": 0.241375, + "y": 0.5898984374999999 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769696745_gxr0c51h9", + "x": 0.517375, + "y": 0.5868984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将5筒，继续向爪夹方向的左前方移动，直至麻将5筒位于灰色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将5筒，并且进一步向着灰色纸巾的方向移动。", + "frame": 288, + "progress": 70, + "progress_explanation": "当前爪夹已抓住麻将5筒，与上一进度相比，在水平方向上逐渐接近灰色纸巾，因此进度提升为70%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将5筒位于灰色纸巾的右上方，距离更近。\n为完成抓取麻将5筒使其位于灰色纸巾上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到灰色纸巾正上方后松开爪夹，使麻将5筒下落。", + "time": 9.595682989690722 + }, + { + "action_description": "爪夹保持合拢，继续夹紧麻将5筒向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767769037468": { + "instances": [ + { + "height": 0.07000000000000005, + "id": "bbox_1767769037468_1767769709666_lf0ha3fwg", + "width": 0.061000000000000006, + "x": 0.440375, + "y": 0.5788984374999999 + } + ], + "type": "bbox" + }, + "bbox_1767769037724": { + "instances": [ + { + "height": 0.276, + "id": "bbox_1767769037724_1767769715241_evqzdiuez", + "width": 0.45200000000000007, + "x": 0.23637499999999997, + "y": 0.5908984374999999 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769703698_prpc6gzfn", + "x": 0.46437500000000004, + "y": 0.6268984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使麻将5筒下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了灰色纸巾的正上方。", + "frame": 310, + "progress": 80, + "progress_explanation": "当前爪夹已抓住麻将5筒，并移动到了灰色纸巾正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住麻将5筒处于红色纸巾方向的正上方。\n为完成抓取麻将5筒使其位于灰色纸巾上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使麻将5筒下落。", + "time": 10.317324926140019 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767769037468": { + "instances": [ + { + "height": 0.07200000000000001, + "id": "bbox_1767769037468_1767769733874_i6mpkwi4p", + "width": 0.06199999999999998, + "x": 0.434375, + "y": 0.6088984375000001 + } + ], + "type": "bbox" + }, + "bbox_1767769037724": { + "instances": [ + { + "height": 0.2740000000000001, + "id": "bbox_1767769037724_1767769740722_5qy08wep9", + "width": 0.44800000000000006, + "x": 0.23637499999999997, + "y": 0.5898984374999999 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769755229_7em4ua5ge", + "x": 0.45237499999999997, + "y": 0.6338984375 + } + ], + "type": "point" + } + }, + "correction_plan": "麻将5筒位于灰色纸巾上方完成了目标任务。", + "error_success_analysis": "爪夹张开使麻将5筒位于灰色纸巾的上方，成功完成任务。", + "frame": 325, + "progress": 100, + "progress_explanation": "当前麻将5筒位于灰色纸巾的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，麻将5筒下降了一定距离，抓取麻将5筒使其位于灰色纸巾上的目标任务完成。", + "time": 10.8445 + }, + { + "action_description": "爪夹保持打开状态，重新回到初始状态。", + "annotations": { + "bbox_1767769037468": { + "instances": [ + { + "height": 0.06499999999999997, + "id": "bbox_1767769037468_1767769772333_tjnpu22p3", + "width": 0.051000000000000156, + "x": 0.6463749999999998, + "y": 0.4768984375 + } + ], + "type": "bbox" + }, + "bbox_1767769037724": { + "instances": [ + { + "height": 0.31099999999999994, + "id": "bbox_1767769037724_1767769790093_1at9ry6lr", + "width": 0.447, + "x": 0.237375, + "y": 0.5788984374999999 + } + ], + "type": "bbox" + }, + "point_1767769038540": { + "instances": [ + { + "id": "point_1767769038540_1767769761781_xx1zu4n9z", + "x": 0.521375, + "y": 0.1038984375 + } + ], + "type": "point" + }, + "point_1767769038708": { + "instances": [ + { + "id": "point_1767769038708_1767769764525_ega5mzvfz", + "x": 0.551375, + "y": 0.1138984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将5筒的正上方后下降，合拢爪夹抓取麻将5筒后垂直上升，向爪夹方向的左前方移动，直至麻将5筒位于灰色纸巾正上方。", + "error_success_analysis": "爪夹又重新回到初始状态，麻将5筒也位于原点。", + "frame": 328, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取麻将5筒，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，回到初始状态，没有接触麻将5筒。\n为完成抓取麻将5筒使其位于灰色纸巾上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取麻将5筒。", + "time": 10.936499 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767769037468", + "name": "麻将5筒" + }, + { + "color": "#FF9800", + "id": "bbox_1767769037724", + "name": "灰色纸巾" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767769038540", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767769038708", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000249.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000249.json new file mode 100644 index 0000000000000000000000000000000000000000..a9e844899384a82a9ca847398b5b8eb1c39b7172 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000249.json @@ -0,0 +1,576 @@ +{ + "task_description": "抓取麻将9筒使其位于红色纸巾上。\n爪夹开始移动:0%\n爪夹靠近麻将9筒:20%\n爪夹抓取麻将9筒:40%\n爪夹抓住麻将9筒接近红色纸巾:60%\n爪夹抓住麻将9筒到达红色纸巾上:80%\n爪夹松开，麻将9筒下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1767773140506": { + "instances": [ + { + "height": 0.061000000000000006, + "id": "bbox_1767773140506_1767773191523_tmeahessq", + "width": 0.04500000000000005, + "x": 0.576375, + "y": 0.4596484375 + } + ], + "type": "bbox" + }, + "bbox_1767773140737": { + "instances": [ + { + "height": 0.21399999999999994, + "id": "bbox_1767773140737_1767773198419_4gsfrdaua", + "width": 0.3149999999999999, + "x": 0.21237500000000004, + "y": 0.6116484375 + } + ], + "type": "bbox" + }, + "point_1767773141514": { + "instances": [ + { + "id": "point_1767773141514_1767773207899_0dhyw76lj", + "x": 0.462375, + "y": 0.1303984375 + } + ], + "type": "point" + }, + "point_1767773141714": { + "instances": [ + { + "id": "point_1767773141714_1767773212427_ar9yr8wsk", + "x": 0.5423749999999999, + "y": 0.1343984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将9筒的正上方后下降，合拢爪夹抓取麻将9筒后垂直上升，向爪夹方向的左前方移动，直至麻将9筒位于红色纸巾正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触麻将9筒。\n为完成麻将9筒使其位于红色纸巾上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取麻将9筒。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 0.03489808326435149 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1767773140506": { + "instances": [ + { + "height": 0.06599999999999996, + "id": "bbox_1767773140506_1767773244948_wdrbkrcs7", + "width": 0.045999999999999965, + "x": 0.575375, + "y": 0.45539843750000003 + } + ], + "type": "bbox" + }, + "bbox_1767773140737": { + "instances": [ + { + "height": 0.21400000000000005, + "id": "bbox_1767773140737_1767773230627_k8mcxsrlg", + "width": 0.319, + "x": 0.20837499999999995, + "y": 0.6103984375 + } + ], + "type": "bbox" + }, + "point_1767773141514": { + "instances": [ + { + "id": "point_1767773141514_1767773223123_oe0g5nx7b", + "x": 0.509375, + "y": 0.1753984375 + } + ], + "type": "point" + }, + "point_1767773141714": { + "instances": [ + { + "id": "point_1767773141714_1767773217731_bu5lqtekq", + "x": 0.586375, + "y": 0.1763984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将9筒的正上方后下降，合拢爪夹抓取麻将9筒后垂直上升，向爪夹方向的左前方移动，直至麻将9筒位于红色纸巾正上方。\t", + "error_success_analysis": "爪夹向右下方移动，距离抓取麻将9筒距离更近。", + "frame": 30, + "progress": 5, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将9筒，因此进度提升为5%。", + "state_description": "当前爪夹张开，与麻将9筒的水平距离略微缩短。\n为完成抓取麻将9筒使其位于红色纸巾上的任务应当:继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将9筒，爪夹抬高并竖直上升。", + "time": 0.9945747422680412 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度，使其垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1767773140506": { + "instances": [ + { + "height": 0.06500000000000003, + "id": "bbox_1767773140506_1767773252612_0vr2asonj", + "width": 0.04400000000000001, + "x": 0.577375, + "y": 0.4543984375 + } + ], + "type": "bbox" + }, + "bbox_1767773140737": { + "instances": [ + { + "height": 0.21699999999999994, + "id": "bbox_1767773140737_1767773258771_9d9hpqjoo", + "width": 0.319, + "x": 0.21037499999999998, + "y": 0.6093984375 + } + ], + "type": "bbox" + }, + "point_1767773141514": { + "instances": [ + { + "id": "point_1767773141514_1767773269396_lmvt376e1", + "x": 0.549375, + "y": 0.2913984375 + } + ], + "type": "point" + }, + "point_1767773141714": { + "instances": [ + { + "id": "point_1767773141714_1767773272532_7ncv2ze42", + "x": 0.600375, + "y": 0.3143984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，到达麻将9筒的正上方后下降，合拢爪夹抓取麻将9筒后垂直上升，向爪夹方向的左前方移动，直至麻将9筒位于红色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近麻将9筒，并使爪夹角度垂直于桌面，方便抓取麻将9筒。\t\t", + "frame": 75, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将9筒并调整爪夹角度方便抓取，因此进度提升为10%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，与麻将9筒的水平距离缩短。\n为完成抓取麻将9筒使其位于红色纸巾上的任务应当:继续旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将9筒。\t", + "time": 2.486 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动，并调整爪夹角度，使其垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1767773140506": { + "instances": [ + { + "height": 0.064, + "id": "bbox_1767773140506_1767773300444_n6vui6zkx", + "width": 0.04700000000000001, + "x": 0.575375, + "y": 0.4563984375 + } + ], + "type": "bbox" + }, + "bbox_1767773140737": { + "instances": [ + { + "height": 0.22099999999999997, + "id": "bbox_1767773140737_1767773287668_pfj7rikn6", + "width": 0.31799999999999995, + "x": 0.20937499999999998, + "y": 0.6073984375 + } + ], + "type": "bbox" + }, + "point_1767773141514": { + "instances": [ + { + "id": "point_1767773141514_1767773282460_ps6ljx51c", + "x": 0.576375, + "y": 0.35439843749999994 + } + ], + "type": "point" + }, + "point_1767773141714": { + "instances": [ + { + "id": "point_1767773141714_1767773279251_i4da0twy0", + "x": 0.597375, + "y": 0.38639843749999997 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，到达麻将9筒的正上方后下降，合拢爪夹抓取麻将9筒后垂直上升，向爪夹方向的左前方移动，直至麻将9筒位于红色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近麻将9筒，并使爪夹角度垂直于桌面，方便抓取麻将9筒。\t", + "frame": 99, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将9筒并调整爪夹角度方便抓取，因此进度提升为15%。\t", + "state_description": "当前爪夹张开，与麻将9筒的水平距离进一步缩短。\n为完成抓取麻将9筒使其位于红色纸巾上的任务应当:继续旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将9筒。", + "time": 3.2978688684812156 + }, + { + "action_description": "爪夹向爪夹的右侧移动到麻将9筒的正上方。", + "annotations": { + "bbox_1767773140506": { + "instances": [ + { + "height": 0.06499999999999997, + "id": "bbox_1767773140506_1767773307860_gvexyg8bw", + "width": 0.04300000000000009, + "x": 0.576375, + "y": 0.4563984375 + } + ], + "type": "bbox" + }, + "bbox_1767773140737": { + "instances": [ + { + "height": 0.2150000000000001, + "id": "bbox_1767773140737_1767773314293_kkywjp8w2", + "width": 0.319, + "x": 0.21037499999999998, + "y": 0.6093984374999999 + } + ], + "type": "bbox" + }, + "point_1767773141514": { + "instances": [ + { + "id": "point_1767773141514_1767774149392_u44p5by1g", + "x": 0.6017699115044248, + "y": 0.4489675538729777 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取麻将9筒后垂直上升，向爪夹方向的左前方移动，直至麻将9筒位于红色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了麻将9筒的正上方，方便抓取。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "frame": 126, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于麻将9筒正上方，已接近麻将9筒，因此进度提升为20%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到麻将9筒的正上方。\n为完成抓取麻将9筒使其位于红色纸巾上的任务应当:向下合拢爪夹抓取麻将9筒后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到红色纸巾正上方。\t", + "time": 4.1923 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取麻将9筒。\t", + "annotations": { + "bbox_1767773140506": { + "instances": [ + { + "height": 0.05399999999999997, + "id": "bbox_1767773140506_1767773339333_wwtso9lp8", + "width": 0.04500000000000005, + "x": 0.577375, + "y": 0.4663984375 + } + ], + "type": "bbox" + }, + "bbox_1767773140737": { + "instances": [ + { + "height": 0.219, + "id": "bbox_1767773140737_1767773327669_lws42yksl", + "width": 0.315, + "x": 0.212375, + "y": 0.6093984374999999 + } + ], + "type": "bbox" + }, + "point_1767773141514": { + "instances": [ + { + "id": "point_1767773141514_1767773345686_lboo4l241", + "x": 0.605375, + "y": 0.5013984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将9筒后垂直上升，向爪夹方向的左前方移动，直至麻将9筒位于红色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了麻将9筒。", + "frame": 166, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到麻将9筒，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到麻将9筒。\n为完成抓取麻将9筒使其位于红色纸巾上的任务应当:抓取麻将9筒后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到红色纸巾正上方。", + "time": 5.526224226804124 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将9筒后抬高爪夹。", + "annotations": { + "bbox_1767773140506": { + "instances": [ + { + "height": 0.06499999999999997, + "id": "bbox_1767773140506_1767773379214_afyhissen", + "width": 0.05, + "x": 0.5393749999999999, + "y": 0.4333984375 + } + ], + "type": "bbox" + }, + "bbox_1767773140737": { + "instances": [ + { + "height": 0.21300000000000002, + "id": "bbox_1767773140737_1767773363101_hd9bp8d24", + "width": 0.31799999999999995, + "x": 0.20937499999999998, + "y": 0.6093984374999999 + } + ], + "type": "bbox" + }, + "point_1767773141514": { + "instances": [ + { + "id": "point_1767773141514_1767773357541_xpg705nj9", + "x": 0.5663750000000001, + "y": 0.4683984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将9筒，爪夹向爪夹方向的左前方移动，直至麻将9筒位于红色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到麻将9筒，爪夹向上方抬升靠近红色纸巾。", + "frame": 197, + "progress": 45, + "progress_explanation": "当前爪夹已抓住麻将9筒，且爪夹与麻将的高度略微抬升了，所以进度提升为45%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高了。\n为完成抓取麻将9筒向红色纸巾靠近的任务应当：爪夹向爪夹的左前方移动，直至移动到红色纸巾正上方后松开爪夹，使麻将9筒下落。", + "time": 6.5653 + }, + { + "action_description": "爪夹抓住麻将9筒，爪夹向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767773140506": { + "instances": [ + { + "height": 0.06799999999999998, + "id": "bbox_1767773140506_1767773386318_zlirzvkim", + "width": 0.04799999999999998, + "x": 0.482375, + "y": 0.4003984375 + } + ], + "type": "bbox" + }, + "bbox_1767773140737": { + "instances": [ + { + "height": 0.222, + "id": "bbox_1767773140737_1767773393574_gt8l1ma0k", + "width": 0.31799999999999995, + "x": 0.209375, + "y": 0.6073984375 + } + ], + "type": "bbox" + }, + "point_1767773141514": { + "instances": [ + { + "id": "point_1767773141514_1767773403846_jpmtp3otn", + "x": 0.504375, + "y": 0.4363984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将9筒，继续向爪夹方向的左前方移动，直至麻将9筒位于红色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将9筒，并且在向着红色纸巾方向移动。", + "frame": 74, + "progress": 60, + "progress_explanation": "当前爪夹已抓住麻将9筒，与上一进度相比，在水平方向上更接近红色纸巾，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将9筒位于红色纸巾的右上方。\n为完成抓取麻将9筒使其位于红色纸巾上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到红色纸巾正上方后松开爪夹，使麻将9筒下落。", + "time": 7.466666666666667 + }, + { + "action_description": "爪夹夹紧麻将9筒，继续向爪夹方向的左下方移动。", + "annotations": { + "bbox_1767773140506": { + "instances": [ + { + "height": 0.06500000000000003, + "id": "bbox_1767773140506_1767773446719_npg11364w", + "width": 0.055000000000000014, + "x": 0.37137499999999996, + "y": 0.4276484375 + } + ], + "type": "bbox" + }, + "bbox_1767773140737": { + "instances": [ + { + "height": 0.2150000000000001, + "id": "bbox_1767773140737_1767773431631_6vywr0m9d", + "width": 0.31999999999999995, + "x": 0.209375, + "y": 0.6103984374999999 + } + ], + "type": "bbox" + }, + "point_1767773141514": { + "instances": [ + { + "id": "point_1767773141514_1767773426158_tnl5yeqoh", + "x": 0.389375, + "y": 0.4563984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将9筒，继续向爪夹方向的左下方移动，直至麻将9筒位于红色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将9筒，并且进一步向着红色纸巾的方向移动。", + "frame": 275, + "progress": 70, + "progress_explanation": "当前爪夹已抓住麻将9筒，与上一进度相比，在水平方向上更接近红色纸巾，因此进度提升为70%。", + "state_description": "当前爪夹合拢，垂直于桌面，抓住麻将9筒位于红色纸巾的右上方。\n为完成抓取麻将9筒使其位于红色纸巾上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到红色纸巾正上方后松开爪夹，使麻将9筒下落。", + "time": 9.1643 + }, + { + "action_description": "爪夹保持合拢，抓紧麻将9筒向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767773140506": { + "instances": [ + { + "height": 0.07400000000000002, + "id": "bbox_1767773140506_1767773494920_umd507kzo", + "width": 0.05999999999999996, + "x": 0.320375, + "y": 0.4931484375 + } + ], + "type": "bbox" + }, + "bbox_1767773140737": { + "instances": [ + { + "height": 0.21700000000000005, + "id": "bbox_1767773140737_1767773503432_isjdb0wg2", + "width": 0.314, + "x": 0.21337499999999995, + "y": 0.6103984375 + } + ], + "type": "bbox" + }, + "point_1767773141514": { + "instances": [ + { + "id": "point_1767773141514_1767773512880_6vrfugao8", + "x": 0.330375, + "y": 0.5263984374999999 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使麻将9筒下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了红色纸巾的正上方。", + "frame": 312, + "progress": 80, + "progress_explanation": "当前爪夹已抓住麻将9筒，并移动到了红色纸巾的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，此时麻将9筒处于红色纸巾方向的正上方。\n为完成抓取麻将9筒使其位于红色纸巾上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使麻将9筒下落。", + "time": 10.399628812776744 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767773140506": { + "instances": [ + { + "height": 0.0650000000000001, + "id": "bbox_1767773140506_1767773559129_53f0nl7qu", + "width": 0.05600000000000005, + "x": 0.344375, + "y": 0.5783984375 + } + ], + "type": "bbox" + }, + "bbox_1767773140737": { + "instances": [ + { + "height": 0.22099999999999997, + "id": "bbox_1767773140737_1767773543696_rtshoh4tz", + "width": 0.322, + "x": 0.209375, + "y": 0.6073984375 + } + ], + "type": "bbox" + }, + "point_1767773141514": { + "instances": [ + { + "id": "point_1767773141514_1767773537520_de0qysqrs", + "x": 0.354375, + "y": 0.6233984375 + } + ], + "type": "point" + } + }, + "correction_plan": "麻将9筒落入红色纸巾中。", + "error_success_analysis": "爪夹张开使麻将9筒位于红色纸巾的上方，成功完成任务。", + "frame": 337, + "progress": 100, + "progress_explanation": "当前麻将9筒位于红色纸巾的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，麻将9筒下降了一定距离。抓取麻将9筒使其位于红色纸巾上的目标任务完成。", + "time": 11.24612113402062 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767773140506", + "name": "麻将9筒" + }, + { + "color": "#FF9800", + "id": "bbox_1767773140737", + "name": "红色纸巾" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767773141514", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767773141714", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000284.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000284.json new file mode 100644 index 0000000000000000000000000000000000000000..d488c9f8c698d3aba0f98da93503fc740b8c755f --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000284.json @@ -0,0 +1,744 @@ +{ + "task_description": "抓取麻将1万使其位于花色纸巾上。\n爪夹开始移动:0%\n爪夹靠近麻将1万:20%\n爪夹抓取麻将1万:40%\n爪夹抓住麻将1万接近花色纸巾:60%\n爪夹抓住麻将1万到达花色纸巾上:80%\n爪夹松开，麻将1万下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767775395153": { + "instances": [ + { + "height": 0.060000000000000026, + "id": "bbox_1767775395153_1767775549950_igcfdpbh3", + "width": 0.04499999999999993, + "x": 0.609375, + "y": 0.4608984375 + } + ], + "type": "bbox" + }, + "bbox_1767775395468": { + "instances": [ + { + "height": 0.17099998956298895, + "id": "bbox_1767775395468_1767776504170_1nvj3pvgf", + "width": 0.3039999814453137, + "x": 0.2991110657280843, + "y": 0.5981527497465362 + } + ], + "type": "bbox" + }, + "point_1767775396564": { + "instances": [ + { + "id": "point_1767775396564_1767776511466_14eza3yh9", + "x": 0.4621110557793545, + "y": 0.13215277818891732 + } + ], + "type": "point" + }, + "point_1767775396868": { + "instances": [ + { + "id": "point_1767775396868_1767776514858_m7w8qsohk", + "x": 0.5421110508965423, + "y": 0.13015277831098765 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将1万的正上方后下降，合拢爪夹抓取麻将1万后垂直上升，向爪夹方向的左前方移动，直至麻将1万位于花色纸巾正上方。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触麻将1万。\n为完成抓取麻将1万使其位于花色纸巾上的任务应当:爪夹向爪夹的右前方移动并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，准备抓取麻将1万。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767775395153": { + "instances": [ + { + "height": 0.06199999621582055, + "id": "bbox_1767775395153_1767776524179_xuza3lgi1", + "width": 0.04199999743652363, + "x": 0.6101110467461519, + "y": 0.45948608645714806 + } + ], + "type": "bbox" + }, + "bbox_1767775395468": { + "instances": [ + { + "height": 0.16999998962402404, + "id": "bbox_1767775395468_1767776533019_88h0fexpn", + "width": 0.30799998120117306, + "x": 0.29511106597222503, + "y": 0.6014860777901564 + } + ], + "type": "bbox" + }, + "point_1767775396564": { + "instances": [ + { + "id": "point_1767775396564_1767776541834_zukjpdryv", + "x": 0.5341110513848235, + "y": 0.15059721218278732 + } + ], + "type": "point" + }, + "point_1767775396868": { + "instances": [ + { + "id": "point_1767775396868_1767776546139_lxi646i3o", + "x": 0.6061110469902925, + "y": 0.1515972121217522 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将1万的正上方后下降，合拢爪夹抓取麻将1万后垂直上升，向爪夹方向的左前方移动，直至麻将1万位于花色纸巾正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向右前方移动，距离抓取麻将1万距离更近。", + "frame": 35, + "progress": 10, + "progress_explanation": "当前爪夹向右前方移动了一定距离，更加靠近了麻将1万，因此进度提升为10%。", + "state_description": "当前爪夹张开，与麻将1万的水平距离略微缩短。\n为完成抓取麻将1万使其位于花色纸巾上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将1万，爪夹抬高并竖直上升。", + "time": 1.171820862960289 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767775395153": { + "instances": [ + { + "height": 0.058999996398925995, + "id": "bbox_1767775395153_1767776554659_i6a3xo0a3", + "width": 0.0429999973754884, + "x": 0.6101110467461519, + "y": 0.4604860863961129 + } + ], + "type": "bbox" + }, + "bbox_1767775395468": { + "instances": [ + { + "height": 0.16699998980712938, + "id": "bbox_1767775395468_1767776561347_04qyg0qif", + "width": 0.3079999812011731, + "x": 0.29411106603326004, + "y": 0.6014860777901564 + } + ], + "type": "bbox" + }, + "point_1767775396564": { + "instances": [ + { + "id": "point_1767775396564_1767776568690_4dqfw0abr", + "x": 0.6711110430230076, + "y": 0.18259721022966247 + } + ], + "type": "point" + }, + "point_1767775396868": { + "instances": [ + { + "id": "point_1767775396868_1767776572963_bovx2ye0v", + "x": 0.747111038384336, + "y": 0.1843749963760378 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达麻将1万的正上方后下降，合拢爪夹抓取麻将1万后垂直上升，向爪夹方向的左前方移动，直至麻将1万位于花色纸巾正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向右前方移动，距离抓取麻将1万距离更远。", + "frame": 93, + "progress": 8, + "progress_explanation": "当前爪夹继续向右前方移动，偏离了麻将1万，因此进度下降为8%。", + "state_description": "当前爪夹张开，与麻将1万的水平距离增加。\n为完成抓取麻将1万使其位于花色纸巾上的任务应当:爪夹向爪夹方向的左前方移动并继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将1万，爪夹抬高并竖直上升。", + "time": 3.0926188117615787 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并调整爪夹角度。", + "annotations": { + "bbox_1767775395153": { + "instances": [ + { + "height": 0.05999999633789089, + "id": "bbox_1767775395153_1767776581819_m55y7atdw", + "width": 0.04099999749755874, + "x": 0.6101110467461519, + "y": 0.4614860863350777 + } + ], + "type": "bbox" + }, + "bbox_1767775395468": { + "instances": [ + { + "height": 0.16999998962402404, + "id": "bbox_1767775395468_1767776587274_705jkw4ss", + "width": 0.30699998126220823, + "x": 0.295111065972225, + "y": 0.6004860778511916 + } + ], + "type": "bbox" + }, + "point_1767775396564": { + "instances": [ + { + "id": "point_1767775396564_1767776599883_nw1hju3gt", + "x": 0.649111044365781, + "y": 0.2734860978096864 + } + ], + "type": "point" + }, + "point_1767775396868": { + "instances": [ + { + "id": "point_1767775396868_1767776603187_erw69tbxj", + "x": 0.72111103997125, + "y": 0.2884860968941591 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的下方移动，到达麻将1万的正上方后下降，合拢爪夹抓取麻将1万后垂直上升，向爪夹方向的左前方移动，直至麻将1万位于花色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近麻将1万，并使爪夹角度垂直于桌面，方便抓取麻将1万。", + "frame": 133, + "progress": 14, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将1万并调整完爪夹角度方便抓取，因此进度提升为14%。", + "state_description": "当前爪夹张开，与麻将1万的水平距离进一步缩短。\n为完成抓取麻将1万使其位于花色纸巾上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将1万。", + "time": 4.440824465407538 + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动，并调整爪夹角度。", + "annotations": { + "bbox_1767775395153": { + "instances": [ + { + "height": 0.06099999627685572, + "id": "bbox_1767775395153_1767776613563_l5l9i85jn", + "width": 0.04399999731445329, + "x": 0.6091110468071871, + "y": 0.4614860863350777 + } + ], + "type": "bbox" + }, + "bbox_1767775395468": { + "instances": [ + { + "height": 0.16799998974609429, + "id": "bbox_1767775395468_1767776622266_xlqg47xus", + "width": 0.31199998095703246, + "x": 0.29111106621636557, + "y": 0.5984860779732618 + } + ], + "type": "bbox" + }, + "point_1767775396564": { + "instances": [ + { + "id": "point_1767775396564_1767776636379_w4h6dm0q6", + "x": 0.6391110449761325, + "y": 0.3094860956124209 + } + ], + "type": "point" + }, + "point_1767775396868": { + "instances": [ + { + "id": "point_1767775396868_1767776639642_hffaevdzw", + "x": 0.6981110413750585, + "y": 0.33148609426964754 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的下方移动，到达麻将1万的正上方后下降，合拢爪夹抓取麻将1万后垂直上升，向爪夹方向的左前方移动，直至麻将1万位于花色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹继续向爪夹方向的左前方移动，水平方向上成功接近麻将1万，并使爪夹角度垂直于桌面，方便抓取麻将1万。", + "frame": 50, + "progress": 16, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将1万并调整完爪夹角度方便抓取，因此进度提升为16%。", + "state_description": "当前爪夹张开，爪夹的角度发生倾斜，与麻将1万的水平距离进一步缩短。\n为完成抓取麻将1万使其位于花色纸巾上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将1万。", + "time": 5 + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动，并调整爪夹角度。", + "annotations": { + "bbox_1767775395153": { + "instances": [ + { + "height": 0.06399999609375027, + "id": "bbox_1767775395153_1767776657035_wtnxzdfbf", + "width": 0.04199999743652363, + "x": 0.6101110467461519, + "y": 0.4584860865181832 + } + ], + "type": "bbox" + }, + "bbox_1767775395468": { + "instances": [ + { + "height": 0.1659999898681646, + "id": "bbox_1767775395468_1767776665794_c3kz6ihrn", + "width": 0.3039999814453136, + "x": 0.2971110658501547, + "y": 0.6004860778511916 + } + ], + "type": "bbox" + }, + "point_1767775396564": { + "instances": [ + { + "id": "point_1767775396564_1767776649827_v5wjqlhet", + "x": 0.6331110453423434, + "y": 0.3624860923775578 + } + ], + "type": "point" + }, + "point_1767775396868": { + "instances": [ + { + "id": "point_1767775396868_1767776646179_qwcvi1ywu", + "x": 0.661111043633359, + "y": 0.39748609024132747 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的下方移动，到达麻将1万的正上方后下降，合拢爪夹抓取麻将1万后垂直上升，向爪夹方向的左前方移动，直至麻将1万位于花色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹继续向爪夹方向的左前方移动，水平方向上成功接近麻将1万，方便抓取麻将1万。", + "frame": 174, + "progress": 18, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将1万并调整完爪夹角度方便抓取，因此进度提升为18%。", + "state_description": "当前爪夹张开，爪夹的角度发生倾斜，与麻将1万的水平距离进一步缩短。\n为完成抓取麻将1万使其位于花色纸巾上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将1万。", + "time": 5.800507 + }, + { + "action_description": "爪夹向爪夹的左侧移动到麻将1万的正上方。", + "annotations": { + "bbox_1767775395153": { + "instances": [ + { + "height": 0.06299999615478544, + "id": "bbox_1767775395153_1767776691043_8m583qtmw", + "width": 0.0429999973754884, + "x": 0.6101110467461519, + "y": 0.4584860865181832 + } + ], + "type": "bbox" + }, + "bbox_1767775395468": { + "instances": [ + { + "height": 0.16899998968505917, + "id": "bbox_1767775395468_1767776681787_o9jpwl2f1", + "width": 0.3059999813232433, + "x": 0.29711106585015473, + "y": 0.5984860779732618 + } + ], + "type": "bbox" + }, + "point_1767775396564": { + "instances": [ + { + "id": "point_1767775396564_1767776697219_5f7novqb7", + "x": 0.6371110450982028, + "y": 0.45748608657921835 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取麻将1万后垂直上升，向爪夹方向的左前方移动，直至麻将1万位于花色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了麻将1万的正上方，方便爪夹抓取。\t", + "frame": 201, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于麻将1万正上方，已接近麻将1万，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到麻将1万的正上方。\n为完成抓取麻将1万使其位于花色纸巾上的任务应当:向下合拢爪夹抓取麻将1万后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到花色纸巾正上方。\t", + "time": 6.6924 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取麻将1万。\t", + "annotations": { + "bbox_1767775395153": { + "instances": [ + { + "height": 0.06199999621582055, + "id": "bbox_1767775395153_1767776706987_o4rynirqz", + "width": 0.04399999731445329, + "x": 0.6091110468071871, + "y": 0.45948608645714806 + } + ], + "type": "bbox" + }, + "bbox_1767775395468": { + "instances": [ + { + "height": 0.16899998968505928, + "id": "bbox_1767775395468_1767776715427_5aku3to6w", + "width": 0.3089999811401378, + "x": 0.29511106597222503, + "y": 0.597486078034297 + } + ], + "type": "bbox" + }, + "point_1767775396564": { + "instances": [ + { + "id": "point_1767775396564_1767776725891_vnuc86na0", + "x": 0.6311110454644137, + "y": 0.5034860837716013 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将1万后垂直上升，向爪夹方向的左前方移动，直至麻将1万位于花色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了麻将1万。", + "frame": 72, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到麻将1万，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到麻将1万。\n为完成抓取麻将1万使其位于花色纸巾上的任务应当:抓取麻将1万后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到花色纸巾正上方。", + "time": 7.2 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将1万后抬高爪夹。", + "annotations": { + "bbox_1767775395153": { + "instances": [ + { + "height": 0.06599999597167994, + "id": "bbox_1767775395153_1767776769779_0oqn6h8k8", + "width": 0.04199999743652363, + "x": 0.6121110466240816, + "y": 0.43093054620785237 + } + ], + "type": "bbox" + }, + "bbox_1767775395468": { + "instances": [ + { + "height": 0.1729999894409186, + "id": "bbox_1767775395468_1767776756900_mir0hg9ev", + "width": 0.30999998107910276, + "x": 0.29311106609429527, + "y": 0.5979305360149819 + } + ], + "type": "bbox" + }, + "point_1767775396564": { + "instances": [ + { + "id": "point_1767775396564_1767776749787_oys29gu5d", + "x": 0.6321110454033786, + "y": 0.46593054407162204 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将1万，爪夹向爪夹方向的左前方移动，直至麻将1万位于花色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到麻将1万，爪夹向上方抬升靠近花色纸巾。", + "frame": 255, + "progress": 50, + "progress_explanation": "当前爪夹已抓住麻将1万，且爪夹与麻将的高度略微抬升了，所以进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取麻将1万使其位于花色纸巾上的任务应当：爪夹向爪夹的左前方移动，直至移动到花色纸巾正上方后松开爪夹，使麻将1万下落。", + "time": 8.493057515689337 + }, + { + "action_description": "爪夹抓住麻将1万，爪夹向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767775395153": { + "instances": [ + { + "height": 0.07299999554443387, + "id": "bbox_1767775395153_1767776778163_l60cov1j1", + "width": 0.0499999969482424, + "x": 0.5381110511406829, + "y": 0.4394860876778511 + } + ], + "type": "bbox" + }, + "bbox_1767775395468": { + "instances": [ + { + "height": 0.16999998962402418, + "id": "bbox_1767775395468_1767776783724_vqh2vlmhd", + "width": 0.30899998114013794, + "x": 0.2941110660332601, + "y": 0.596486078095332 + } + ], + "type": "bbox" + }, + "point_1767775396564": { + "instances": [ + { + "id": "point_1767775396564_1767776786452_mkenhinaf", + "x": 0.5601110497979095, + "y": 0.4714860857247262 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将1万，继续向爪夹方向的左前方移动，直至麻将1万位于花色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将1万，并且在向着花色纸巾方向移动。", + "frame": 296, + "progress": 60, + "progress_explanation": "当前爪夹已抓住麻将1万，与上一进度相比，在水平方向上逐渐接近花色纸巾，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，抓住麻将1万位于花色纸巾的右上方。\n为完成抓取麻将1万使其位于灰色纸巾上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到花色纸巾正上方后松开爪夹，使麻将1万下落。", + "time": 9.8736 + }, + { + "action_description": "爪夹夹紧麻将1万，继续向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767775395153": { + "instances": [ + { + "height": 0.07199999560546905, + "id": "bbox_1767775395153_1767776796179_ozaaijywa", + "width": 0.05299999676513689, + "x": 0.4931110538872648, + "y": 0.48748608474816374 + } + ], + "type": "bbox" + }, + "bbox_1767775395468": { + "instances": [ + { + "height": 0.17099998956298895, + "id": "bbox_1767775395468_1767776801012_xp2r1p1b9", + "width": 0.3049999813842785, + "x": 0.2961110659111898, + "y": 0.6004860778511916 + } + ], + "type": "bbox" + }, + "point_1767775396564": { + "instances": [ + { + "id": "point_1767775396564_1767776791323_30h10vgcm", + "x": 0.5161110524834562, + "y": 0.5264860823677928 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将1万，继续向爪夹方向的左前方移动，直至麻将1万位于花色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将1万，并且进一步向着花色纸巾的方向移动。", + "frame": 334, + "progress": 70, + "progress_explanation": "当前爪夹已抓住麻将1万，与上一进度相比，在水平方向上逐渐接近花色纸巾，因此进度提升为70%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将1万位于花色纸巾的右上方。\n为完成抓取麻将1万使其位于花色纸巾上的任务应当：爪夹继续向爪夹的左下方移动，直至移动到花色纸巾正上方后松开爪夹，使麻将1万下落。", + "time": 11.119449103006634 + }, + { + "action_description": "爪夹保持合拢，抓紧麻将1万向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767775395153": { + "instances": [ + { + "height": 0.07699999530029326, + "id": "bbox_1767775395153_1767776817379_j70vuvi5f", + "width": 0.05999999633789083, + "x": 0.4431110569390224, + "y": 0.5334860819405467 + } + ], + "type": "bbox" + }, + "bbox_1767775395468": { + "instances": [ + { + "height": 0.16899998968505928, + "id": "bbox_1767775395468_1767776823435_nwg2wev4b", + "width": 0.30799998120117306, + "x": 0.29511106597222503, + "y": 0.6004860778511916 + } + ], + "type": "bbox" + }, + "point_1767775396564": { + "instances": [ + { + "id": "point_1767775396564_1767776831299_j8zgos3xy", + "x": 0.46911105535210845, + "y": 0.577486079255 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使麻将1万下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了花色纸巾的正上方。", + "frame": 360, + "progress": 80, + "progress_explanation": "当前爪夹已抓住麻将1万，并移动到了花色纸巾正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住麻将1万处于花色纸巾方向的正上方。\n为完成抓取麻将1万使其位于花色纸巾上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使麻将1万下落。", + "time": 11.993401784995168 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767775395153": { + "instances": [ + { + "height": 0.07299999554443382, + "id": "bbox_1767775395153_1767776882387_n1au1eid7", + "width": 0.05799999645996111, + "x": 0.4321110576104091, + "y": 0.5490416535008756 + } + ], + "type": "bbox" + }, + "bbox_1767775395468": { + "instances": [ + { + "height": 0.17299998944091874, + "id": "bbox_1767775395468_1767776867875_vzki38yny", + "width": 0.3059999813232433, + "x": 0.29611106591118985, + "y": 0.5970416505711883 + } + ], + "type": "bbox" + }, + "point_1767775396564": { + "instances": [ + { + "id": "point_1767775396564_1767776858651_dnubznlgz", + "x": 0.4561110561455654, + "y": 0.5893749945449832 + } + ], + "type": "point" + } + }, + "correction_plan": "麻将1万位于花色纸巾上方完成了目标任务。", + "error_success_analysis": "爪夹张开使麻将1万位于花色纸巾的上方，成功完成任务。", + "frame": 373, + "progress": 100, + "progress_explanation": "当前麻将1万位于花色纸巾的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，麻将1万下降了一定距离，抓取麻将1万使其位于花色纸巾上的目标任务完成。", + "time": 12.42886570252094 + }, + { + "action_description": "爪夹保持打开状态，重新回到初始状态。", + "annotations": { + "bbox_1767775395153": { + "instances": [ + { + "height": 0.06399999609375027, + "id": "bbox_1767775395153_1767776891515_cgg04fh46", + "width": 0.04499999725341818, + "x": 0.6091110468071871, + "y": 0.4584860865181832 + } + ], + "type": "bbox" + }, + "bbox_1767775395468": { + "instances": [ + { + "height": 0.1719999895019536, + "id": "bbox_1767775395468_1767776901667_gusqa7skf", + "width": 0.307999981201173, + "x": 0.31511106475152195, + "y": 0.5974860780342971 + } + ], + "type": "bbox" + }, + "point_1767775396564": { + "instances": [ + { + "id": "point_1767775396564_1767776916963_0kwz09fs8", + "x": 0.5781110486992769, + "y": 0.17359721077897883 + } + ], + "type": "point" + }, + "point_1767775396868": { + "instances": [ + { + "id": "point_1767775396868_1767776920331_xk317pdpo", + "x": 0.6171110463189058, + "y": 0.18659720998552184 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将1万的正上方后下降，合拢爪夹抓取麻将1万后垂直上升，向爪夹方向的左前方移动，直至麻将1万位于花色纸巾的正上方。", + "error_success_analysis": "爪夹又重新回到初始状态，麻将1万也位于原点。", + "frame": 380, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取麻将1万，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，回到初始状态，没有接触麻将1万。\n为完成抓取麻将1万使其位于花色纸巾上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取麻将1万。", + "time": 12.671999 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767775395153", + "name": "麻将1万" + }, + { + "color": "#FF9800", + "id": "bbox_1767775395468", + "name": "花色纸巾" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767775396564", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767775396868", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000348.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000348.json new file mode 100644 index 0000000000000000000000000000000000000000..93b710b4d2f892a1d9f785d21ff0768604495104 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000348.json @@ -0,0 +1,734 @@ +{ + "task_description": "抓取麻将3万使其位于花色纸巾上。\n爪夹开始移动:0%\n爪夹靠近麻将3万:20%\n爪夹抓取麻将3万:40%\n爪夹抓住麻将3万接近花色纸巾:60%\n爪夹抓住麻将3万到达花色纸巾上:80%\n爪夹松开，麻将3万下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767834623168": { + "instances": [ + { + "height": 0.06499999999999997, + "id": "bbox_1767834623168_1767834676097_enhmfhoyr", + "width": 0.04600000000000003, + "x": 0.48333331298828125, + "y": 0.47933332824707026 + } + ], + "type": "bbox" + }, + "bbox_1767834623457": { + "instances": [ + { + "height": 0.175, + "id": "bbox_1767834623457_1767834685233_m4x7y9b8z", + "width": 0.31899999999999995, + "x": 0.3253333129882812, + "y": 0.6223333282470702 + } + ], + "type": "bbox" + }, + "point_1767834624313": { + "instances": [ + { + "id": "point_1767834624313_1767834698632_ecsuxsl85", + "x": 0.46533331298828123, + "y": 0.1313333282470703 + } + ], + "type": "point" + }, + "point_1767834624505": { + "instances": [ + { + "id": "point_1767834624505_1767834703600_jtelp5i32", + "x": 0.5443333129882811, + "y": 0.1323333282470703 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达麻将3万的正上方后下降，合拢爪夹抓取麻将3万后垂直上升，向爪夹方向的左前方移动，直至麻将3万位于花色纸巾正上方。", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触麻将3万。\n为完成抓取麻将3万使其位于花色纸巾上的任务应当:爪夹向爪夹的左前方移动并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，准备抓取麻将3万。", + "time": 0.1313223320205852 + }, + { + "action_description": "爪夹向爪夹方向的左前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767834623168": { + "instances": [ + { + "height": 0.06299999999999996, + "id": "bbox_1767834623168_1767834744176_47yrijib9", + "width": 0.04800000000000004, + "x": 0.4813333129882812, + "y": 0.479 + } + ], + "type": "bbox" + }, + "bbox_1767834623457": { + "instances": [ + { + "height": 0.181, + "id": "bbox_1767834623457_1767834729336_8yygpj617", + "width": 0.318, + "x": 0.3253333129882812, + "y": 0.621 + } + ], + "type": "bbox" + }, + "point_1767834624313": { + "instances": [ + { + "id": "point_1767834624313_1767834723457_s64tpi5vc", + "x": 0.41933331298828125, + "y": 0.147 + } + ], + "type": "point" + }, + "point_1767834624505": { + "instances": [ + { + "id": "point_1767834624505_1767834719273_v41nna1cu", + "x": 0.49633331298828126, + "y": 0.147 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将3万的正上方后下降，合拢爪夹抓取麻将3万后垂直上升，向爪夹方向的左前方移动，直至麻将3万位于花色纸巾正上方。", + "error_success_analysis": "爪夹向左前方移动，距离抓取麻将3万距离更近。", + "frame": 18, + "progress": 10, + "progress_explanation": "当前爪夹向左前方移动了一定距离，更加靠近了麻将1万，因此进度提升为10%。", + "state_description": "当前爪夹张开，与麻将3万的水平距离略微缩短。\n为完成抓取麻将3万使其位于花色纸巾上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将3万，爪夹抬高并竖直上升。", + "time": 0.610716457126151 + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767834623168": { + "instances": [ + { + "height": 0.05899999999999998, + "id": "bbox_1767834623168_1767834756208_furh5x5g9", + "width": 0.04400000000000001, + "x": 0.4843333129882812, + "y": 0.4799999999999999 + } + ], + "type": "bbox" + }, + "bbox_1767834623457": { + "instances": [ + { + "height": 0.17600000000000005, + "id": "bbox_1767834623457_1767834763928_yk1qzd0vf", + "width": 0.31599999999999995, + "x": 0.3283333129882812, + "y": 0.6229999999999999 + } + ], + "type": "bbox" + }, + "point_1767834624313": { + "instances": [ + { + "id": "point_1767834624313_1767834776192_ql5v5m898", + "x": 0.3723333129882812, + "y": 0.20400000000000001 + } + ], + "type": "point" + }, + "point_1767834624505": { + "instances": [ + { + "id": "point_1767834624505_1767834780720_isi3f8m4a", + "x": 0.4513333129882813, + "y": 0.20299999999999999 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将3万的正上方后下降，合拢爪夹抓取麻将3万后垂直上升，向爪夹方向的左前方移动，直至麻将3万位于花色纸巾正上方。", + "error_success_analysis": "爪夹向右前方移动，距离抓取麻将3万距离更远。", + "frame": 51, + "progress": 8, + "progress_explanation": "当前爪夹继续向左前方移动，偏离了麻将3万，因此进度下降为8%。", + "state_description": "当前爪夹张开，与麻将3万的水平距离增加。\n为完成抓取麻将3万使其位于花色纸巾上的任务应当:爪夹向爪夹方向的右前方移动并继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将3万，爪夹抬高并竖直上升。", + "time": 1.7047076667706993 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度。", + "annotations": { + "bbox_1767834623168": { + "instances": [ + { + "height": 0.064, + "id": "bbox_1767834623168_1767834828559_0ji1gnbrj", + "width": 0.04400000000000001, + "x": 0.48333331298828125, + "y": 0.47866666412353515 + } + ], + "type": "bbox" + }, + "bbox_1767834623457": { + "instances": [ + { + "height": 0.17999999999999997, + "id": "bbox_1767834623457_1767834814424_jqxmxraei", + "width": 0.319, + "x": 0.3243333129882812, + "y": 0.6206666641235351 + } + ], + "type": "bbox" + }, + "point_1767834624313": { + "instances": [ + { + "id": "point_1767834624313_1767834808080_9xop6eg1p", + "x": 0.3933333129882813, + "y": 0.2686666641235352 + } + ], + "type": "point" + }, + "point_1767834624505": { + "instances": [ + { + "id": "point_1767834624505_1767834803752_g8ui5a582", + "x": 0.46333331298828123, + "y": 0.28466666412353514 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的下方移动，到达麻将3万的正上方后下降，合拢爪夹抓取麻将3万后垂直上升，向爪夹方向的左前方移动，直至麻将3万位于花色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近麻将3万，并使爪夹角度垂直于桌面，方便抓取麻将3万。", + "frame": 79, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将3万并调整完爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与麻将3万的水平距离进一步缩短。\n为完成抓取麻将3万使其位于花色纸巾上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将3万。", + "time": 2.6250169451212146 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动，并调整爪夹角度。", + "annotations": { + "bbox_1767834623168": { + "instances": [ + { + "height": 0.06199999999999998, + "id": "bbox_1767834623168_1767834837664_4td0jjsk2", + "width": 0.04600000000000003, + "x": 0.48333331298828125, + "y": 0.4799999999999999 + } + ], + "type": "bbox" + }, + "bbox_1767834623457": { + "instances": [ + { + "height": 0.17499999999999988, + "id": "bbox_1767834623457_1767834846016_dwmwna1rt", + "width": 0.31799999999999995, + "x": 0.3263333129882812, + "y": 0.623 + } + ], + "type": "bbox" + }, + "point_1767834624313": { + "instances": [ + { + "id": "point_1767834624313_1767834859392_x36z4w0xf", + "x": 0.4453333129882812, + "y": 0.339 + } + ], + "type": "point" + }, + "point_1767834624505": { + "instances": [ + { + "id": "point_1767834624505_1767834867183_hlxam7o99", + "x": 0.48333331298828125, + "y": 0.369 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的下方移动，到达麻将3万的正上方后下降，合拢爪夹抓取麻将3万后垂直上升，向爪夹方向的左前方移动，直至麻将3万位于花色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹继续向爪夹方向的右前方移动，水平方向上成功接近麻将3万，并使爪夹角度垂直于桌面，方便抓取麻将3万。", + "frame": 108, + "progress": 18, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将3万并调整完爪夹角度方便抓取，因此进度提升为18%。", + "state_description": "当前爪夹张开，爪夹的角度发生倾斜，与麻将3万的水平距离进一步缩短。\n为完成抓取麻将3万使其位于花色纸巾上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将3万。", + "time": 3.6035736461521424 + }, + { + "action_description": "爪夹向爪夹的右前方移动到麻将3万的正上方。", + "annotations": { + "bbox_1767834623168": { + "instances": [ + { + "height": 0.06500000000000003, + "id": "bbox_1767834623168_1767834895295_hgtjc5kr8", + "width": 0.04499999999999999, + "x": 0.48333331298828125, + "y": 0.479 + } + ], + "type": "bbox" + }, + "bbox_1767834623457": { + "instances": [ + { + "height": 0.17700000000000007, + "id": "bbox_1767834623457_1767834902127_wsujc497s", + "width": 0.317, + "x": 0.32733331298828117, + "y": 0.6229999999999999 + } + ], + "type": "bbox" + }, + "point_1767834624505": { + "instances": [ + { + "id": "point_1767834624505_1767834883847_uz2m6w0up", + "x": 0.5043333129882812, + "y": 0.464 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，然后合拢爪夹抓取麻将3万后垂直上升，向爪夹方向的左前方移动，直至麻将3万位于花色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，并且已经移动到了麻将3万的正上方，方便爪夹抓取。\t", + "frame": 146, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于麻将3万正上方，已接近麻将3万，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到麻将3万的正上方。\n为完成抓取麻将3万使其位于花色纸巾上的任务应当:向下合拢爪夹抓取麻将3万后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到花色纸巾正上方。\t", + "time": 4.86171797604905 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取麻将3万。", + "annotations": { + "bbox_1767834623168": { + "instances": [ + { + "height": 0.05599999999999993, + "id": "bbox_1767834623168_1767834952871_lopyujlev", + "width": 0.04499999999999999, + "x": 0.48333331298828125, + "y": 0.486 + } + ], + "type": "bbox" + }, + "bbox_1767834623457": { + "instances": [ + { + "height": 0.17500000000000013, + "id": "bbox_1767834623457_1767834926959_r1hu1w0cs", + "width": 0.318, + "x": 0.3253333129882812, + "y": 0.624 + } + ], + "type": "bbox" + }, + "point_1767834624505": { + "instances": [ + { + "id": "point_1767834624505_1767834946951_dlni73izz", + "x": 0.5033333129882812, + "y": 0.511 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将3万后垂直上升，向爪夹方向的左前方移动，直至麻将3万位于花色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了麻将3万。", + "frame": 165, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到麻将3万，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到麻将3万。\n为完成抓取麻将3万使其位于花色纸巾上的任务应当:抓取麻将3万后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到花色纸巾正上方。", + "time": 5.5144 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将3万后抬高爪夹。", + "annotations": { + "bbox_1767834623168": { + "instances": [ + { + "height": 0.06799999999999998, + "id": "bbox_1767834623168_1767835064615_tdu3avb04", + "width": 0.04600000000000003, + "x": 0.48333331298828125, + "y": 0.4506666641235351 + } + ], + "type": "bbox" + }, + "bbox_1767834623457": { + "instances": [ + { + "height": 0.17399999999999996, + "id": "bbox_1767834623457_1767835070311_8wv3phexm", + "width": 0.314, + "x": 0.32733331298828117, + "y": 0.6246666641235351 + } + ], + "type": "bbox" + }, + "point_1767834624505": { + "instances": [ + { + "id": "point_1767834624505_1767835081263_k03euxnxk", + "x": 0.5053333129882812, + "y": 0.48666666412353515 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将3万，爪夹向爪夹方向的左前方移动，直至麻将3万位于花色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到麻将3万，爪夹向上方抬升靠近花色纸巾。", + "frame": 206, + "progress": 50, + "progress_explanation": "当前爪夹已抓住麻将3万，且爪夹与麻将的高度略微抬升了，所以进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取麻将3万使其位于花色纸巾上的任务应当：爪夹向爪夹的左前方移动，直至移动到花色纸巾正上方后松开爪夹，使麻将3万下落。", + "time": 6.8591 + }, + { + "action_description": "爪夹抓住麻将1万，爪夹向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767834623168": { + "instances": [ + { + "height": 0.064, + "id": "bbox_1767834623168_1767835091854_yzpnx60ti", + "width": 0.05200000000000002, + "x": 0.5293333129882812, + "y": 0.476 + } + ], + "type": "bbox" + }, + "bbox_1767834623457": { + "instances": [ + { + "height": 0.17699999999999996, + "id": "bbox_1767834623457_1767835100215_le8kmu7j8", + "width": 0.317, + "x": 0.3263333129882813, + "y": 0.622 + } + ], + "type": "bbox" + }, + "point_1767834624505": { + "instances": [ + { + "id": "point_1767834624505_1767835086470_ncld4yay2", + "x": 0.5523333129882813, + "y": 0.512 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将3万，继续向爪夹方向的左前方移动，直至麻将3万位于花色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将3万，并且在向着花色纸巾方向移动。", + "frame": 234, + "progress": 60, + "progress_explanation": "当前爪夹已抓住麻将3万，与上一进度相比，在水平方向上逐渐接近花色纸巾，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，抓住麻将3万位于花色纸巾的右上方。\n为完成抓取麻将3万使其位于灰色纸巾上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到花色纸巾正上方后松开爪夹，使麻将3万下落。", + "time": 7.8083 + }, + { + "action_description": "爪夹夹紧麻将1万，向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767834623168": { + "instances": [ + { + "height": 0.07400000000000002, + "id": "bbox_1767834623168_1767835127254_lvny703ns", + "width": 0.054000000000000034, + "x": 0.47533331298828124, + "y": 0.486 + } + ], + "type": "bbox" + }, + "bbox_1767834623457": { + "instances": [ + { + "height": 0.1810000000000001, + "id": "bbox_1767834623457_1767835115318_7mj1jyrp1", + "width": 0.3149999999999999, + "x": 0.32833331298828133, + "y": 0.6229999999999999 + } + ], + "type": "bbox" + }, + "point_1767834624505": { + "instances": [ + { + "id": "point_1767834624505_1767835130782_ht6qltwqd", + "x": 0.49933331298828126, + "y": 0.528 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将3万，继续向爪夹方向的左前方移动，直至麻将3万位于花色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将3万，并且进一步向着花色纸巾的方向移动。", + "frame": 268, + "progress": 65, + "progress_explanation": "当前爪夹已抓住麻将3万，与上一进度相比，在水平方向上逐渐接近花色纸巾，因此进度提升为65%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将3万位于花色纸巾的右上方。\n为完成抓取麻将3万使其位于花色纸巾上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到花色纸巾正上方后松开爪夹，使麻将3万下落。", + "time": 8.9496 + }, + { + "action_description": "爪夹夹紧麻将3万，向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767834623168": { + "instances": [ + { + "height": 0.07400000000000002, + "id": "bbox_1767834623168_1767835144046_xinw5b7ic", + "width": 0.05600000000000005, + "x": 0.4873333129882812, + "y": 0.508 + } + ], + "type": "bbox" + }, + "bbox_1767834623457": { + "instances": [ + { + "height": 0.178, + "id": "bbox_1767834623457_1767835149358_r5qhln1aw", + "width": 0.31999999999999995, + "x": 0.3243333129882812, + "y": 0.621 + } + ], + "type": "bbox" + }, + "point_1767834624505": { + "instances": [ + { + "id": "point_1767834624505_1767835137022_89r50d7a2", + "x": 0.5123333129882812, + "y": 0.55 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将3万，继续向爪夹方向的左前方移动，直至麻将3万位于花色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将3万，并且进一步向着花色纸巾的方向移动。", + "frame": 287, + "progress": 70, + "progress_explanation": "当前爪夹已抓住麻将3万，与上一进度相比，在水平方向上逐渐接近花色纸巾，因此进度提升为70%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将3万位于花色纸巾的右上方。\n为完成抓取麻将3万使其位于花色纸巾上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到花色纸巾正上方后松开爪夹，使麻将3万下落。", + "time": 9.5711 + }, + { + "action_description": "爪夹保持合拢，抓紧麻将3万向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767834623168": { + "instances": [ + { + "height": 0.07700000000000008, + "id": "bbox_1767834623168_1767835201813_gcu596tkh", + "width": 0.061000000000000006, + "x": 0.46033331298828123, + "y": 0.5696666641235351 + } + ], + "type": "bbox" + }, + "bbox_1767834623457": { + "instances": [ + { + "height": 0.17699999999999996, + "id": "bbox_1767834623457_1767835184069_3mgfxnva4", + "width": 0.31500000000000006, + "x": 0.3283333129882812, + "y": 0.6216666641235352 + } + ], + "type": "bbox" + }, + "point_1767834624505": { + "instances": [ + { + "id": "point_1767834624505_1767835215966_cpxct315x", + "x": 0.4893333129882812, + "y": 0.6206666641235351 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使麻将3万下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了花色纸巾的正上方。", + "frame": 306, + "progress": 80, + "progress_explanation": "当前爪夹已抓住麻将3万，并移动到了花色纸巾正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住麻将3万处于花色纸巾方向的正上方。\n为完成抓取麻将3万使其位于花色纸巾上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使麻将3万下落。", + "time": 10.2152 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767834623168": { + "instances": [ + { + "height": 0.07600000000000004, + "id": "bbox_1767834623168_1767835232301_q4n3wzfny", + "width": 0.05599999999999999, + "x": 0.46433331298828123, + "y": 0.587 + } + ], + "type": "bbox" + }, + "bbox_1767834623457": { + "instances": [ + { + "height": 0.17999999999999997, + "id": "bbox_1767834623457_1767835244078_eryvdxe9h", + "width": 0.319, + "x": 0.3263333129882812, + "y": 0.624 + } + ], + "type": "bbox" + }, + "point_1767834624505": { + "instances": [ + { + "id": "point_1767834624505_1767835224869_5klhmj34e", + "x": 0.4893333129882812, + "y": 0.624 + } + ], + "type": "point" + } + }, + "correction_plan": "麻将3万位于花色纸巾上方完成了目标任务。", + "error_success_analysis": "爪夹张开使麻将3万位于花色纸巾的上方，成功完成任务。", + "frame": 321, + "progress": 100, + "progress_explanation": "当前麻将3万位于花色纸巾的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，麻将3万下降了一定距离，抓取麻将3万使其位于花色纸巾上的目标任务完成。", + "time": 10.698109728626372 + }, + { + "action_description": "爪夹保持打开状态，重新回到初始状态。", + "annotations": { + "bbox_1767834623168": { + "instances": [ + { + "height": 0.06600000000000002, + "id": "bbox_1767834623168_1767835285453_yxhlo4dg2", + "width": 0.04400000000000001, + "x": 0.48333331298828125, + "y": 0.4773333282470703 + } + ], + "type": "bbox" + }, + "bbox_1767834623457": { + "instances": [ + { + "height": 0.1930000000000001, + "id": "bbox_1767834623457_1767835268149_95po9jmkp", + "width": 0.324, + "x": 0.3403333129882812, + "y": 0.6233333282470702 + } + ], + "type": "bbox" + }, + "point_1767834624313": { + "instances": [ + { + "id": "point_1767834624313_1767835292733_jfjzt553h", + "x": 0.47233331298828124, + "y": 0.1693333282470703 + } + ], + "type": "point" + }, + "point_1767834624505": { + "instances": [ + { + "id": "point_1767834624505_1767835289269_aun1su10w", + "x": 0.5013333129882812, + "y": 0.17633332824707032 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将3万的正上方后下降，合拢爪夹抓取麻将3万后垂直上升，向爪夹方向的左前方移动，直至麻将3万位于花色纸巾的正上方。", + "error_success_analysis": "爪夹又重新回到初始状态，麻将3万也位于原点。", + "frame": 322, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取麻将3万，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，回到初始状态，没有接触麻将3万。\n为完成抓取麻将3万使其位于花色纸巾上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取麻将3万。", + "time": 10.7237 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767834623168", + "name": "麻将3万" + }, + { + "color": "#FF9800", + "id": "bbox_1767834623457", + "name": "花色纸巾" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767834624313", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767834624505", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000353.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000353.json new file mode 100644 index 0000000000000000000000000000000000000000..1c1ac251b77838f72f654c5b7cd5a6b0ecf27b09 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000353.json @@ -0,0 +1,586 @@ +{ + "task_description": "抓取麻将5万使其位于棕色纸巾上。\n爪夹开始移动:0%\n爪夹靠近麻将5万:20%\n爪夹抓取麻将5万:40%\n爪夹抓住麻将5万接近棕色纸巾:60%\n爪夹抓住麻将5万到达棕色纸巾上:80%\n爪夹松开，麻将5万下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767837396459": { + "instances": [ + { + "height": 0.06600000000000002, + "id": "bbox_1767837396459_1767837465747_ch1ehx44b", + "width": 0.04700000000000006, + "x": 0.5223749999999999, + "y": 0.4741484375 + } + ], + "type": "bbox" + }, + "bbox_1767837396723": { + "instances": [ + { + "height": 0.26100000000000007, + "id": "bbox_1767837396723_1767837477835_dnr8crsxb", + "width": 0.397, + "x": 0.37437499999999996, + "y": 0.5471484375 + } + ], + "type": "bbox" + }, + "point_1767837397579": { + "instances": [ + { + "id": "point_1767837397579_1767837493075_561b5o2sz", + "x": 0.466375, + "y": 0.1371484375 + } + ], + "type": "point" + }, + "point_1767837397787": { + "instances": [ + { + "id": "point_1767837397787_1767837496315_nolh90thd", + "x": 0.5463749999999999, + "y": 0.13914843749999997 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右前方移动，调整爪夹角度，使其垂直于桌面。爪夹到达麻将5万的正上方后下降，合拢爪夹抓取麻将5万后垂直上升，向爪夹方向的左前方移动，直至麻将5万位于棕色纸巾的正上方。", + "error_success_analysis": "", + "frame": 6, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触麻将5万。\n为完成抓取麻将5万位于棕色纸巾上的任务应当:爪夹向爪夹方向的右下方移动，调整爪夹角度，使其垂直于桌面。准备抓取麻将5万。", + "time": 0.18576030927835052 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767837396459": { + "instances": [ + { + "height": 0.06199999999999992, + "id": "bbox_1767837396459_1767837530675_ymkb5j2y2", + "width": 0.04499999999999999, + "x": 0.5243749999999999, + "y": 0.47664843749999997 + } + ], + "type": "bbox" + }, + "bbox_1767837396723": { + "instances": [ + { + "height": 0.2599999999999999, + "id": "bbox_1767837396723_1767837518467_lqluayx8d", + "width": 0.4029999999999999, + "x": 0.36937499999999995, + "y": 0.5476484375 + } + ], + "type": "bbox" + }, + "point_1767837397579": { + "instances": [ + { + "id": "point_1767837397579_1767837508755_hvgmvha5h", + "x": 0.48037499999999994, + "y": 0.1626484375 + } + ], + "type": "point" + }, + "point_1767837397787": { + "instances": [ + { + "id": "point_1767837397787_1767837504299_dbfwkt5wb", + "x": 0.561375, + "y": 0.1646484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，调整爪夹角度，使其垂直于桌面。到达麻将5万的正上方后下降，合拢爪夹抓取麻将5万后垂直上升，向爪夹方向的左前方移动，直至麻将5万位于棕色纸巾的正上方。", + "error_success_analysis": "爪夹向右前方移动，距离抓取麻将5万距离更近。", + "frame": 23, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将5万，因此进度提升为10%。", + "state_description": "当前爪夹张开，与麻将5万的距离略微缩短。\n为完成抓取麻将5万位于棕色纸巾上的任务应当:爪夹向爪夹方向的右前方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将5万，爪夹抬高并竖直上升向棕色纸巾靠近。", + "time": 0.7695885380173477 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767837396459": { + "instances": [ + { + "height": 0.06500000000000003, + "id": "bbox_1767837396459_1767837544147_81fxybyhu", + "width": 0.04500000000000005, + "x": 0.5243749999999999, + "y": 0.4756484375 + } + ], + "type": "bbox" + }, + "bbox_1767837396723": { + "instances": [ + { + "height": 0.26399999999999996, + "id": "bbox_1767837396723_1767837549403_t96goq0ir", + "width": 0.39999999999999997, + "x": 0.374375, + "y": 0.5456484375 + } + ], + "type": "bbox" + }, + "point_1767837397579": { + "instances": [ + { + "id": "point_1767837397579_1767837562963_llcnkbza8", + "x": 0.492375, + "y": 0.2276484375 + } + ], + "type": "point" + }, + "point_1767837397787": { + "instances": [ + { + "id": "point_1767837397787_1767837566179_aipzshlv1", + "x": 0.5613750000000001, + "y": 0.2356484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，调整爪夹角度，使其垂直于桌面。到达麻将5万的正上方后下降，合拢爪夹抓取麻将5万后垂直上升，向爪夹方向的左前方移动，直至麻将5万位于棕色纸巾的正上方。", + "error_success_analysis": "爪夹向右前方移动且爪夹角度发生了变化，，距离抓取麻将5万距离更近，方便抓取麻将5万。", + "frame": 45, + "progress": 15, + "progress_explanation": "当前爪夹下降了一定高度且爪夹与桌面呈30度夹角，更加靠近了麻将5万，因此进度提升为15%。", + "state_description": "当前爪夹张开，爪夹位于麻将5万的左上方。\n为完成抓取麻将5万位于棕色纸巾上的任务应当:爪夹向爪夹方向的右前方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将5万，爪夹抬高并竖直上升向棕色纸巾靠近。", + "time": 1.499265463917526 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767837396459": { + "instances": [ + { + "height": 0.06600000000000007, + "id": "bbox_1767837396459_1767837602419_rdiwsi3ge", + "width": 0.04500000000000005, + "x": 0.5243749999999999, + "y": 0.47464843749999996 + } + ], + "type": "bbox" + }, + "bbox_1767837396723": { + "instances": [ + { + "height": 0.26199999999999996, + "id": "bbox_1767837396723_1767837584883_ubx48kq06", + "width": 0.404, + "x": 0.37037499999999995, + "y": 0.5456484375 + } + ], + "type": "bbox" + }, + "point_1767837397579": { + "instances": [ + { + "id": "point_1767837397579_1767837574115_213co123k", + "x": 0.510375, + "y": 0.3026484375 + } + ], + "type": "point" + }, + "point_1767837397787": { + "instances": [ + { + "id": "point_1767837397787_1767837571403_e77cl2dbi", + "x": 0.555375, + "y": 0.32764843749999994 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的右前方移动，调整爪夹角度，使其垂直于桌面。到达麻将5万的正上方后下降，合拢爪夹抓取麻将5万后垂直上升，向爪夹方向的左前方移动，直至麻将5万位于棕色纸巾的正上方。", + "error_success_analysis": "爪夹向爪夹方向的左下方旋转，水平方向上更加接近了麻将5万，并使爪夹角度垂直于桌面，方便抓取。", + "frame": 73, + "progress": 17, + "progress_explanation": "当前爪夹与麻将5万的距离进一步缩短，方便抓取麻将5万，因此进度提升为17%。", + "state_description": "当前爪夹张开，爪夹与桌面呈60度角，爪夹位于麻将5万的左上方。\n为完成抓取麻将5万位于棕色纸巾上的任务应当:爪夹向爪夹方向的左下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将5万，爪夹抬高并竖直上升向棕色纸巾靠近。", + "time": 2.4473290004590593 + }, + { + "action_description": "爪夹向爪夹的右侧移动到麻将5万的正上方。", + "annotations": { + "bbox_1767837396459": { + "instances": [ + { + "height": 0.06600000000000007, + "id": "bbox_1767837396459_1767837613228_kzo73wqjl", + "width": 0.04799999999999998, + "x": 0.5213749999999999, + "y": 0.47464843749999996 + } + ], + "type": "bbox" + }, + "bbox_1767837396723": { + "instances": [ + { + "height": 0.26399999999999996, + "id": "bbox_1767837396723_1767837632419_pkd7ueafk", + "width": 0.39500000000000013, + "x": 0.37237499999999996, + "y": 0.5456484375 + } + ], + "type": "bbox" + }, + "point_1767837397787": { + "instances": [ + { + "id": "point_1767837397787_1767837640739_qstjtv4bx", + "x": 0.5473750000000001, + "y": 0.45264843749999994 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取麻将5万后垂直上升，向爪夹方向的左前方移动，直至麻将5万位于棕色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，并且已经移动到了麻将5万的正上方，方便抓取。", + "frame": 116, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于麻将5万正上方，已接近麻将5万，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到麻将5万的正上方。\n为完成抓取麻将5万位于棕色纸巾上的任务应当:向下合拢爪夹抓取麻将5万后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到棕色纸巾的正上方。", + "time": 3.857822164948454 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取麻将5万。", + "annotations": { + "bbox_1767837396459": { + "instances": [ + { + "height": 0.060000000000000026, + "id": "bbox_1767837396459_1767837687852_tly0a5oy5", + "width": 0.04400000000000007, + "x": 0.5253749999999999, + "y": 0.47964843749999997 + } + ], + "type": "bbox" + }, + "bbox_1767837396723": { + "instances": [ + { + "height": 0.26099999999999995, + "id": "bbox_1767837396723_1767837655396_g5kz5efz0", + "width": 0.4030000000000001, + "x": 0.37237499999999996, + "y": 0.5466484375 + } + ], + "type": "bbox" + }, + "point_1767837397787": { + "instances": [ + { + "id": "point_1767837397787_1767837681332_zmyhe4aqv", + "x": 0.5453749999999999, + "y": 0.5196484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将5万后垂直上升，向爪夹方向的左前方移动，直至麻将5万位于棕色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了麻将5万。", + "frame": 142, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到麻将5万，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到麻将5万。\n为完成抓取麻将5万位于棕色纸巾上的任务应当:抓取麻将5万后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到棕色纸巾的正上方。", + "time": 4.739884020618557 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将5万后抬高爪夹。", + "annotations": { + "bbox_1767837396459": { + "instances": [ + { + "height": 0.06499999999999997, + "id": "bbox_1767837396459_1767837696108_d9a8qyvn7", + "width": 0.04600000000000003, + "x": 0.520375, + "y": 0.4516484375 + } + ], + "type": "bbox" + }, + "bbox_1767837396723": { + "instances": [ + { + "height": 0.2599999999999999, + "id": "bbox_1767837396723_1767837704004_jxe3msbvr", + "width": 0.398, + "x": 0.37437499999999996, + "y": 0.5476484375 + } + ], + "type": "bbox" + }, + "point_1767837397787": { + "instances": [ + { + "id": "point_1767837397787_1767837715996_csmufgxsn", + "x": 0.544375, + "y": 0.4856484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将5万，爪夹向爪夹方向的左前方移动，直至麻将5万位于棕色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到麻将5万，爪夹向上方抬升靠近棕色纸巾。", + "frame": 180, + "progress": 50, + "progress_explanation": "当前爪夹已抓取麻将5万，且爪夹与麻将的高度略微抬升了，所以进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取麻将5万位于棕色纸巾上的任务应当：爪夹向爪夹的左前方移动，直至移动到棕色纸巾的正上方后松开爪夹，使麻将5万下落。", + "time": 6.004138780835488 + }, + { + "action_description": "爪夹夹紧麻将5万，继续向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767837396459": { + "instances": [ + { + "height": 0.07399999999999997, + "id": "bbox_1767837396459_1767837745468_zdklrod05", + "width": 0.050999999999999976, + "x": 0.501375, + "y": 0.48664843750000003 + } + ], + "type": "bbox" + }, + "bbox_1767837396723": { + "instances": [ + { + "height": 0.2629999999999999, + "id": "bbox_1767837396723_1767837727284_adhg0dj1h", + "width": 0.405, + "x": 0.36937499999999995, + "y": 0.5436484375 + } + ], + "type": "bbox" + }, + "point_1767837397787": { + "instances": [ + { + "id": "point_1767837397787_1767837721364_frnfvrtwg", + "x": 0.5253749999999999, + "y": 0.5296484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将5万，继续向爪夹方向的右下方移动，直至麻将5万位于棕色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹继续夹紧麻将5万，并且进一步向着棕色纸巾的方向移动。", + "frame": 209, + "progress": 60, + "progress_explanation": "当前爪夹已抓住麻将5万，与上一进度相比，在水平方向上逐渐接近棕色纸巾，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将5万位于棕色垫子的左上方。\n为完成抓取麻将5万位于棕色纸巾上应当：爪夹继续向爪夹的右下方移动，直至移动到棕色纸巾的正上方后松开爪夹，使麻将5万下落。", + "time": 6.964947104595459 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将5万向爪夹方向的右侧移动。", + "annotations": { + "bbox_1767837396459": { + "instances": [ + { + "height": 0.07100000000000002, + "id": "bbox_1767837396459_1767837754724_z68dy0y9l", + "width": 0.05499999999999995, + "x": 0.5273749999999999, + "y": 0.5316484375 + } + ], + "type": "bbox" + }, + "bbox_1767837396723": { + "instances": [ + { + "height": 0.2599999999999999, + "id": "bbox_1767837396723_1767837761603_mq3zkwref", + "width": 0.40099999999999997, + "x": 0.370375, + "y": 0.5466484375 + } + ], + "type": "bbox" + }, + "point_1767837397787": { + "instances": [ + { + "id": "point_1767837397787_1767837777460_gsnd2foyp", + "x": 0.557375, + "y": 0.5716484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使麻将5万下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的右方移动，并且正确移动到了棕色纸巾的正上方。", + "frame": 243, + "progress": 80, + "progress_explanation": "当前爪夹已抓住麻将5万，并移动到了棕色纸巾的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，此时麻将4条处于棕色纸巾的正上方。\n为完成抓取麻将5万位于棕色纸巾上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使麻将纸巾下落。", + "time": 8.10514175257732 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767837396459": { + "instances": [ + { + "height": 0.07200000000000001, + "id": "bbox_1767837396459_1767837815907_j9h79nk3a", + "width": 0.05399999999999997, + "x": 0.5253749999999999, + "y": 0.5568984374999999 + } + ], + "type": "bbox" + }, + "bbox_1767837396723": { + "instances": [ + { + "height": 0.2599999999999999, + "id": "bbox_1767837396723_1767837792651_f1pb13myl", + "width": 0.399, + "x": 0.37237499999999996, + "y": 0.5468984375 + } + ], + "type": "bbox" + }, + "point_1767837397787": { + "instances": [ + { + "id": "point_1767837397787_1767837784164_351es6vci", + "x": 0.552375, + "y": 0.5838984375 + } + ], + "type": "point" + } + }, + "correction_plan": "麻将5万位于棕色纸巾上成功完成了目标任务。", + "error_success_analysis": "爪夹张开使麻将5万位于棕色纸巾的上方，成功完成任务。", + "frame": 259, + "progress": 100, + "progress_explanation": "当前麻将5万位于棕色纸巾的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，麻将5万下降了一定距离。抓取麻将5万位于棕色纸巾上的目标任务完成。", + "time": 8.642048969072166 + }, + { + "action_description": "爪夹保持打开状态，回到初始状态。", + "annotations": { + "bbox_1767837396459": { + "instances": [ + { + "height": 0.06300000000000001, + "id": "bbox_1767837396459_1767837822988_bjamsdb36", + "width": 0.04799999999999998, + "x": 0.5223749999999999, + "y": 0.47664843749999997 + } + ], + "type": "bbox" + }, + "bbox_1767837396723": { + "instances": [ + { + "height": 0.2469999999999999, + "id": "bbox_1767837396723_1767837828411_jo1m8dpwd", + "width": 0.402, + "x": 0.354375, + "y": 0.5626484375 + } + ], + "type": "bbox" + }, + "point_1767837397579": { + "instances": [ + { + "id": "point_1767837397579_1767837863444_ynp3fj75l", + "x": 0.5253749999999999, + "y": 0.1706484375 + } + ], + "type": "point" + }, + "point_1767837397787": { + "instances": [ + { + "id": "point_1767837397787_1767837869299_86iik0c9q", + "x": 0.555375, + "y": 0.17664843749999998 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将5万的正上方后下降，合拢爪夹抓取麻将5万后垂直上升，向爪夹方向的左前方移动，直至麻将5万位于棕色纸巾的正上方。", + "error_success_analysis": "爪夹又重新回到初始状态，麻将5万也位于原点。", + "frame": 263, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取麻将5万，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，移动到初始状态，没有接触麻将5万。\n为完成抓取麻将5万向棕色纸巾靠近的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取麻将5万。", + "time": 8.776275773195877 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767837396459", + "name": "麻将5万" + }, + { + "color": "#FF9800", + "id": "bbox_1767837396723", + "name": "棕色纸巾" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767837397579", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767837397787", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000375.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000375.json new file mode 100644 index 0000000000000000000000000000000000000000..5c48c2fcaa9d730660f776a092a3e49bfb9d018a --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000375.json @@ -0,0 +1,586 @@ +{ + "task_description": "抓取麻将7筒使其位于棕色垫子上。\n爪夹开始移动:0%\n爪夹靠近麻将7筒:20%\n爪夹抓取麻将7筒:40%\n爪夹抓住麻将7筒接近棕色垫子:60%\n爪夹抓住麻将7筒到达棕色垫子上:80%\n爪夹松开，麻将7筒下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767839881666": { + "instances": [ + { + "height": 0.061000000000000006, + "id": "bbox_1767839881666_1767840262681_lzjpoudwq", + "width": 0.04299999999999997, + "x": 0.5913749999999999, + "y": 0.4506484375 + } + ], + "type": "bbox" + }, + "bbox_1767839881882": { + "instances": [ + { + "height": 0.228, + "id": "bbox_1767839881882_1767840279498_c7f2p5tc5", + "width": 0.33499999999999996, + "x": 0.31937499999999996, + "y": 0.5696484374999999 + } + ], + "type": "bbox" + }, + "point_1767839882770": { + "instances": [ + { + "id": "point_1767839882770_1767840286802_ssulebko1", + "x": 0.46437500000000004, + "y": 0.1306484375 + } + ], + "type": "point" + }, + "point_1767839882978": { + "instances": [ + { + "id": "point_1767839882978_1767840290458_d3aso1q2p", + "x": 0.544375, + "y": 0.1326484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向右下方移动，调整爪夹角度，使其垂直于桌面。爪夹到达麻将7筒的正上方后下降，合拢爪夹抓取麻将7筒后垂直上升，向爪夹方向的左前方移动，直至麻将7筒位于棕色垫子的正上方。", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触麻将7筒。\n为完成抓取麻将7筒使其位于棕色垫子上的任务应当:爪夹向爪夹方向的右下方移动，调整爪夹角度，使其垂直于桌面。准备抓取麻将7筒。", + "time": 0.1455016228144354 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767839881666": { + "instances": [ + { + "height": 0.064, + "id": "bbox_1767839881666_1767840307889_4b511tq0b", + "width": 0.04400000000000001, + "x": 0.592375, + "y": 0.4476484375 + } + ], + "type": "bbox" + }, + "bbox_1767839881882": { + "instances": [ + { + "height": 0.22699999999999995, + "id": "bbox_1767839881882_1767840323537_8a582d2t0", + "width": 0.333, + "x": 0.31937499999999996, + "y": 0.5686484375 + } + ], + "type": "bbox" + }, + "point_1767839882770": { + "instances": [ + { + "id": "point_1767839882770_1767840299650_fjuve1s1b", + "x": 0.502375, + "y": 0.21764843749999999 + } + ], + "type": "point" + }, + "point_1767839882978": { + "instances": [ + { + "id": "point_1767839882978_1767840296738_2wos4osr0", + "x": 0.589375, + "y": 0.21664843749999999 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右下方移动，调整爪夹角度，使其垂直于桌面。到达麻将7筒的正上方后下降，合拢爪夹抓取麻将7筒后垂直上升，向爪夹方向的左前方移动，直至麻将7筒位于棕色垫子的正上方。", + "error_success_analysis": "爪夹向右下方移动，距离抓取麻将7筒的距离更近。", + "frame": 44, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将7筒，因此进度提升为10%。", + "state_description": "当前爪夹张开，与麻将7筒的距离略微缩短。\n为完成抓取麻将7筒使其位于棕色垫子上的任务应当:爪夹向爪夹方向的右下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将7筒，爪夹抬高并竖直上升向棕色垫子靠近。", + "time": 1.4605 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767839881666": { + "instances": [ + { + "height": 0.06499999999999997, + "id": "bbox_1767839881666_1767840378329_a0tqp3ljk", + "width": 0.04299999999999997, + "x": 0.592375, + "y": 0.4476484375 + } + ], + "type": "bbox" + }, + "bbox_1767839881882": { + "instances": [ + { + "height": 0.22900000000000004, + "id": "bbox_1767839881882_1767840361169_6667yv7pw", + "width": 0.33599999999999997, + "x": 0.315375, + "y": 0.5676484375 + } + ], + "type": "bbox" + }, + "point_1767839882770": { + "instances": [ + { + "id": "point_1767839882770_1767840381569_xsh9hgxms", + "x": 0.5463749999999999, + "y": 0.27664843749999996 + } + ], + "type": "point" + }, + "point_1767839882978": { + "instances": [ + { + "id": "point_1767839882978_1767840388097_vx1uo2329", + "x": 0.622375, + "y": 0.2896484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，调整爪夹角度，使其垂直于桌面。到达麻将7筒的正上方后下降，合拢爪夹抓取麻将7筒后垂直上升，向爪夹方向的左前方移动，直至麻将7筒位于棕色垫子的正上方。", + "error_success_analysis": "爪夹向右前方移动，距离抓取麻将7筒距离更近，方便抓取麻将7筒。", + "frame": 73, + "progress": 15, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将7筒，因此进度提升为15%。", + "state_description": "当前爪夹张开，爪夹位于麻将7筒的右上方。\n为完成抓取麻将7筒使其位于棕色垫子上的任务应当:爪夹向爪夹方向的右下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将7筒，爪夹抬高并竖直上升向棕色垫子靠近。", + "time": 2.446713917525773 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767839881666": { + "instances": [ + { + "height": 0.06300000000000001, + "id": "bbox_1767839881666_1767840417520_kfgosh2sp", + "width": 0.041000000000000016, + "x": 0.595375, + "y": 0.44964843749999994 + } + ], + "type": "bbox" + }, + "bbox_1767839881882": { + "instances": [ + { + "height": 0.22700000000000006, + "id": "bbox_1767839881882_1767840402368_ckloo16m0", + "width": 0.33599999999999997, + "x": 0.316375, + "y": 0.5696484374999999 + } + ], + "type": "bbox" + }, + "point_1767839882770": { + "instances": [ + { + "id": "point_1767839882770_1767840395816_hua4lwiy9", + "x": 0.571375, + "y": 0.3256484375 + } + ], + "type": "point" + }, + "point_1767839882978": { + "instances": [ + { + "id": "point_1767839882978_1767840393368_agfg3u3ja", + "x": 0.621375, + "y": 0.3476484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的右下方移动，调整爪夹角度，使其垂直于桌面。到达麻将7筒的正上方后下降，合拢爪夹抓取麻将7筒后垂直上升，向爪夹方向的左前方移动，直至麻将7筒位于棕色垫子的正上方。", + "error_success_analysis": "爪夹向爪夹方向的右下方旋转，水平方向上更加接近了麻将7筒，并使爪夹角度垂直于桌面，方便抓取。", + "frame": 99, + "progress": 16, + "progress_explanation": "当前爪夹与麻将7筒的距离进一步缩短，方便抓取麻将7筒，因此进度提升为16%。", + "state_description": "当前爪夹张开，爪夹与桌面呈60度角，爪夹位于麻将7筒的左上方。\n为完成抓取麻将7筒使其位于棕色垫子上的任务应当:爪夹向爪夹方向的右下方移动，继续调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将7筒，爪夹抬高并竖直上升向棕色垫子靠近。", + "time": 3.3121778350515463 + }, + { + "action_description": "爪夹向爪夹的右侧移动到麻将7筒的正上方。", + "annotations": { + "bbox_1767839881666": { + "instances": [ + { + "height": 0.06200000000000004, + "id": "bbox_1767839881666_1767840426904_xkljo84ej", + "width": 0.04299999999999997, + "x": 0.594375, + "y": 0.44964843749999994 + } + ], + "type": "bbox" + }, + "bbox_1767839881882": { + "instances": [ + { + "height": 0.22699999999999995, + "id": "bbox_1767839881882_1767840434632_djsqnisxz", + "width": 0.33799999999999997, + "x": 0.314375, + "y": 0.5686484375 + } + ], + "type": "bbox" + }, + "point_1767839882978": { + "instances": [ + { + "id": "point_1767839882978_1767840449193_npb7c7nu0", + "x": 0.619375, + "y": 0.4316484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取麻将7筒后垂直上升，向爪夹方向的左前方移动，直至麻将7筒位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，并且已经移动到了麻将7筒的正上方，方便抓取。", + "frame": 141, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于麻将7筒正上方，已接近麻将7筒，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到麻将7筒的正上方。\n为完成抓取麻将7筒使其位于棕色垫子上的任务应当:向下合拢爪夹抓取麻将7筒后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到棕色垫子的正上方。", + "time": 4.6992912371134015 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取麻将7筒。", + "annotations": { + "bbox_1767839881666": { + "instances": [ + { + "height": 0.06199999999999998, + "id": "bbox_1767839881666_1767840466561_r4v4r117w", + "width": 0.04199999999999993, + "x": 0.594375, + "y": 0.4506484375 + } + ], + "type": "bbox" + }, + "bbox_1767839881882": { + "instances": [ + { + "height": 0.22899999999999993, + "id": "bbox_1767839881882_1767840472729_s2cg2lrqv", + "width": 0.33599999999999997, + "x": 0.317375, + "y": 0.5676484375000002 + } + ], + "type": "bbox" + }, + "point_1767839882978": { + "instances": [ + { + "id": "point_1767839882978_1767840460545_3ye37hw2b", + "x": 0.6173749999999999, + "y": 0.4876484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将7筒后垂直上升，向爪夹方向的左前方移动，直至麻将7筒位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了麻将7筒。", + "frame": 166, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到麻将7筒，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到麻将7筒。\n为完成抓取麻将7筒位于棕色垫子上的任务应当:抓取麻将7筒后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到棕色垫子的正上方。", + "time": 5.529188144329897 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将7筒后抬高爪夹。", + "annotations": { + "bbox_1767839881666": { + "instances": [ + { + "height": 0.064, + "id": "bbox_1767839881666_1767840504368_yk26xt9sn", + "width": 0.04299999999999997, + "x": 0.597375, + "y": 0.42064843749999997 + } + ], + "type": "bbox" + }, + "bbox_1767839881882": { + "instances": [ + { + "height": 0.22599999999999992, + "id": "bbox_1767839881882_1767840490689_htqbj50dp", + "width": 0.33799999999999997, + "x": 0.315375, + "y": 0.5696484374999999 + } + ], + "type": "bbox" + }, + "point_1767839882978": { + "instances": [ + { + "id": "point_1767839882978_1767840508145_dbbbsm6jl", + "x": 0.619375, + "y": 0.45564843749999995 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将7筒，爪夹向爪夹方向的左前方移动，直至麻将7筒位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到麻将7筒，爪夹向上方抬升靠近棕色垫子。", + "frame": 204, + "progress": 50, + "progress_explanation": "当前爪夹已抓取麻将7筒，且爪夹与麻将的高度略微抬升了，所以进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取麻将7筒位于棕色垫子上的任务应当：爪夹向爪夹的左前方移动，直至移动到棕色垫子的正上方后松开爪夹，使麻将7筒下落。", + "time": 6.784999 + }, + { + "action_description": "爪夹夹紧麻将7筒，爪夹向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767839881666": { + "instances": [ + { + "height": 0.06700000000000005, + "id": "bbox_1767839881666_1767840534984_o2ekoko5h", + "width": 0.04800000000000004, + "x": 0.574375, + "y": 0.45564843749999995 + } + ], + "type": "bbox" + }, + "bbox_1767839881882": { + "instances": [ + { + "height": 0.22399999999999995, + "id": "bbox_1767839881882_1767840522224_ex48akase", + "width": 0.33599999999999997, + "x": 0.316375, + "y": 0.5706484374999999 + } + ], + "type": "bbox" + }, + "point_1767839882978": { + "instances": [ + { + "id": "point_1767839882978_1767840515065_wzzd5pykq", + "x": 0.599375, + "y": 0.4916484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将7筒，继续向爪夹方向的左前方移动，直至麻将7筒位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将7筒，并且在向着棕色垫子的方向移动。", + "frame": 245, + "progress": 60, + "progress_explanation": "当前爪夹已抓住麻将7筒，与上一进度相比，在水平方向上逐渐接近棕色垫子，因此进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将7筒位于棕色垫子的左上方。\n为完成抓取麻将7筒位于棕色垫子上的任务应当：爪夹继续向爪夹方向的左前方移动，直至移动到棕色垫子的正上方后松开爪夹，使麻将7筒下落。", + "time": 8.168622144620324 + }, + { + "action_description": "爪夹夹紧麻将7筒，继续向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767839881666": { + "instances": [ + { + "height": 0.07200000000000006, + "id": "bbox_1767839881666_1767840545352_8zbdzzrxm", + "width": 0.05100000000000004, + "x": 0.5143749999999999, + "y": 0.4996484375 + } + ], + "type": "bbox" + }, + "bbox_1767839881882": { + "instances": [ + { + "height": 0.22700000000000006, + "id": "bbox_1767839881882_1767840552560_c4d1zumhe", + "width": 0.33499999999999996, + "x": 0.317375, + "y": 0.5686484374999999 + } + ], + "type": "bbox" + }, + "point_1767839882978": { + "instances": [ + { + "id": "point_1767839882978_1767840558944_71neftbto", + "x": 0.5403749999999999, + "y": 0.5376484374999999 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将7筒，继续向爪夹方向的左下方移动，直至麻将7筒位于棕色垫子的正上方后松开爪夹。", + "error_success_analysis": "当前爪夹已抓住麻将7筒，与上一进度相比，在水平方向上逐渐接近棕色垫子，因此进度提升为70%。", + "frame": 283, + "progress": 70, + "progress_explanation": "爪夹已经抓取到麻将7筒，并且进一步向着棕色垫子的方向移动。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将7筒位于棕色垫子的左上方。\n为完成抓取麻将7筒位于棕色垫子上的任务应当：爪夹继续向爪夹的左下方移动，直至移动到棕色垫子的正上方后松开爪夹，使麻将7筒下落。", + "time": 9.441559278350516 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将7筒向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767839881666": { + "instances": [ + { + "height": 0.07200000000000001, + "id": "bbox_1767839881666_1767840589553_bgc2wnz3m", + "width": 0.05899999999999998, + "x": 0.4653749999999999, + "y": 0.5356484375 + } + ], + "type": "bbox" + }, + "bbox_1767839881882": { + "instances": [ + { + "height": 0.22600000000000003, + "id": "bbox_1767839881882_1767840570385_twpayjol6", + "width": 0.336, + "x": 0.31637499999999996, + "y": 0.5706484374999999 + } + ], + "type": "bbox" + }, + "point_1767839882978": { + "instances": [ + { + "id": "point_1767839882978_1767840563848_ete6vytdx", + "x": 0.48937499999999995, + "y": 0.5746484374999999 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使麻将7筒下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了棕色垫子的正上方。", + "frame": 306, + "progress": 80, + "progress_explanation": "当前爪夹已抓住麻将7筒，并移动到了棕色垫子的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，此时麻将7筒处于棕色垫子的正上方。\n为完成抓取麻将7筒位于棕色垫子上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使麻将7筒下落。", + "time": 10.200322164948453 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767839881666": { + "instances": [ + { + "height": 0.06700000000000005, + "id": "bbox_1767839881666_1767840597352_3hfagjotb", + "width": 0.05899999999999998, + "x": 0.4553750000000001, + "y": 0.5706484374999999 + } + ], + "type": "bbox" + }, + "bbox_1767839881882": { + "instances": [ + { + "height": 0.23599999999999993, + "id": "bbox_1767839881882_1767840605433_9m1jfj4o1", + "width": 0.3440000000000001, + "x": 0.29737499999999994, + "y": 0.5786484375 + } + ], + "type": "bbox" + }, + "point_1767839882978": { + "instances": [ + { + "id": "point_1767839882978_1767840620569_mmw7b5q2i", + "x": 0.47637499999999994, + "y": 0.5946484375 + } + ], + "type": "point" + } + }, + "correction_plan": "麻将4条位于棕色垫子上成功完成了目标任务。", + "error_success_analysis": "爪夹张开使麻将7筒位于棕色垫子的上方，成功完成任务。", + "frame": 326, + "progress": 100, + "progress_explanation": "当前麻将7筒位于棕色垫子的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，麻将7筒下降了一定距离。抓取麻将7筒位于棕色垫子上的目标任务完成。", + "time": 10.864239690721648 + }, + { + "action_description": "爪夹保持打开状态，回到初始状态。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达麻将7筒的正上方后下降，合拢爪夹抓取麻将7筒后垂直上升，向爪夹方向的左前方移动，直至麻将7筒位于棕色垫子的正上方。", + "error_success_analysis": "爪夹又重新回到初始状态，麻将7筒也位于原点。", + "frame": 329, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取麻将7筒，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，移动到初始状态，没有接触麻将7筒。\n为完成抓取麻将7筒向棕色垫子靠近的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取麻将7筒。", + "time": 10.971 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767839881666", + "name": "麻将7筒" + }, + { + "color": "#FF9800", + "id": "bbox_1767839881882", + "name": "棕色垫子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767839882770", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767839882978", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000426.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000426.json new file mode 100644 index 0000000000000000000000000000000000000000..b28ae9bb49d1f7d6e04819a36987e959dbeab742 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000426.json @@ -0,0 +1,688 @@ +{ + "task_description": "抓取麻将6条使其位于灰色纸巾上。\n爪夹开始移动:0%\n爪夹靠近麻将6条:20%\n爪夹抓取麻将6条:40%\n爪夹抓住麻将6条接近灰色纸巾:60%\n爪夹抓住麻将6条到达灰色纸巾上:80%\n爪夹松开，麻将6条下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767842840552": { + "instances": [ + { + "height": 0.06699999999999999, + "id": "bbox_1767842840552_1767842913960_20rcdm2up", + "width": 0.04300000000000003, + "x": 0.526375, + "y": 0.4758984375 + } + ], + "type": "bbox" + }, + "bbox_1767842840928": { + "instances": [ + { + "height": 0.269, + "id": "bbox_1767842840928_1767842919952_p9iss7nxj", + "width": 0.43599999999999994, + "x": 0.34537500000000004, + "y": 0.5678984375 + } + ], + "type": "bbox" + }, + "point_1767842841896": { + "instances": [ + { + "id": "point_1767842841896_1767842936520_x61gtwgyt", + "x": 0.46437500000000004, + "y": 0.1318984375 + } + ], + "type": "point" + }, + "point_1767842842092": { + "instances": [ + { + "id": "point_1767842842092_1767842941720_ergxi43id", + "x": 0.5423749999999999, + "y": 0.1318984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将6条的正上方后下降，合拢爪夹抓取麻将6条后垂直上升，向爪夹方向的左前方移动，直至麻将6条位于灰色纸巾正上方。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触麻将2条。\n为完成抓取麻将6条使其位于灰色纸巾上的任务应当:爪夹向爪夹的右前方移动并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，准备抓取麻将6条。", + "time": 0.002846972222893361 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767842840552": { + "instances": [ + { + "height": 0.06800000000000003, + "id": "bbox_1767842840552_1767842988312_r4iavqcg0", + "width": 0.04399999999999995, + "x": 0.526375, + "y": 0.4753984375 + } + ], + "type": "bbox" + }, + "bbox_1767842840928": { + "instances": [ + { + "height": 0.269, + "id": "bbox_1767842840928_1767842964096_uy0dexadz", + "width": 0.438, + "x": 0.343375, + "y": 0.5703984375 + } + ], + "type": "bbox" + }, + "point_1767842841896": { + "instances": [ + { + "id": "point_1767842841896_1767842957648_emwsiwp4w", + "x": 0.49737499999999996, + "y": 0.1903984375 + } + ], + "type": "point" + }, + "point_1767842842092": { + "instances": [ + { + "id": "point_1767842842092_1767842953832_mfsq7c019", + "x": 0.579375, + "y": 0.19139843750000002 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将6条的正上方后下降，合拢爪夹抓取麻将6条后垂直上升，向爪夹方向的左前方移动，直至麻将6条位于灰色纸巾正上方。\t", + "error_success_analysis": "爪夹向右下方移动，距离抓取麻将6条距离更近。", + "frame": 29, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将6条，因此进度提升为10%。", + "state_description": "当前爪夹张开，与麻将6条的水平距离略微缩短。\n为完成抓取麻将6条使其位于灰色纸巾上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将6条，爪夹抬高并竖直上升。", + "time": 0.9513588096976526 + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767842840552": { + "instances": [ + { + "height": 0.06600000000000007, + "id": "bbox_1767842840552_1767842998928_dnrmbtm2s", + "width": 0.04499999999999999, + "x": 0.526375, + "y": 0.47439843749999994 + } + ], + "type": "bbox" + }, + "bbox_1767842840928": { + "instances": [ + { + "height": 0.26499999999999996, + "id": "bbox_1767842840928_1767843003967_e11ddom6j", + "width": 0.434, + "x": 0.346375, + "y": 0.5673984375 + } + ], + "type": "bbox" + }, + "point_1767842841896": { + "instances": [ + { + "id": "point_1767842841896_1767843016551_8fgv8e6sw", + "x": 0.455375, + "y": 0.24639843749999998 + } + ], + "type": "point" + }, + "point_1767842842092": { + "instances": [ + { + "id": "point_1767842842092_1767843019079_9nqsbv9ct", + "x": 0.537375, + "y": 0.2513984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将6条的正上方后下降，合拢爪夹抓取麻将6条后垂直上升，向爪夹方向的左前方移动，直至麻将6条位于灰色纸巾正上方。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "error_success_analysis": "爪夹向左前方移动，距离抓取麻将6条距离更远。", + "frame": 60, + "progress": 8, + "progress_explanation": "当前爪夹左前方移动，偏离了麻将6条，因此进度下降为8%。", + "state_description": "当前爪夹张开，与麻将6条的水平距离增加。\n为完成抓取麻将6条使其位于灰色纸巾上的任务应当:爪夹向爪夹方向的右前方移动并继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将6条，爪夹抬高并竖直上升。", + "time": 2.011889941819626 + }, + { + "action_description": "爪夹向爪夹方向的右前移动，并调整爪夹角度。\t", + "annotations": { + "bbox_1767842840552": { + "instances": [ + { + "height": 0.06200000000000004, + "id": "bbox_1767842840552_1767843048183_i7s6hxk22", + "width": 0.04600000000000003, + "x": 0.5253749999999999, + "y": 0.4783984375 + } + ], + "type": "bbox" + }, + "bbox_1767842840928": { + "instances": [ + { + "height": 0.2599999999999999, + "id": "bbox_1767842840928_1767843034758_izqdg004m", + "width": 0.43599999999999994, + "x": 0.343375, + "y": 0.5693984375000001 + } + ], + "type": "bbox" + }, + "point_1767842841896": { + "instances": [ + { + "id": "point_1767842841896_1767843029094_m4sjuyzjd", + "x": 0.48937499999999995, + "y": 0.31839843749999996 + } + ], + "type": "point" + }, + "point_1767842842092": { + "instances": [ + { + "id": "point_1767842842092_1767843025919_1hyw6hz54", + "x": 0.5433749999999999, + "y": 0.3353984375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的下方移动，到达麻将6条的正上方后下降，合拢爪夹抓取麻将6条后垂直上升，向爪夹方向的左前方移动，直至麻将6条位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近麻将6条，并使爪夹角度垂直于桌面，方便抓取麻将6条。", + "frame": 87, + "progress": 16, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将6条并调整完爪夹角度方便抓取，因此进度提升为16%。", + "state_description": "当前爪夹张开，与麻将6条的水平距离进一步缩短。\n为完成抓取麻将6条使其位于灰色纸巾上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将6条。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 2.9008645672748092 + }, + { + "action_description": "爪夹继续向爪夹方向的右前移动，并旋转调整爪夹角度。\t", + "annotations": { + "bbox_1767842840552": { + "instances": [ + { + "height": 0.06800000000000003, + "id": "bbox_1767842840552_1767843058095_z54yabz3y", + "width": 0.04700000000000001, + "x": 0.5243749999999999, + "y": 0.47439843749999994 + } + ], + "type": "bbox" + }, + "bbox_1767842840928": { + "instances": [ + { + "height": 0.266, + "id": "bbox_1767842840928_1767843068806_kg5jft2ed", + "width": 0.43700000000000006, + "x": 0.34337499999999993, + "y": 0.5663984375 + } + ], + "type": "bbox" + }, + "point_1767842841896": { + "instances": [ + { + "id": "point_1767842841896_1767843078688_wfr48yxhs", + "x": 0.5163749999999999, + "y": 0.3633984375 + } + ], + "type": "point" + }, + "point_1767842842092": { + "instances": [ + { + "id": "point_1767842842092_1767843082479_9cxv5o1mp", + "x": 0.5453749999999999, + "y": 0.3963984375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的下方移动，到达麻将6条的正上方后下降，合拢爪夹抓取麻将6条后垂直上升，向爪夹方向的左前方移动，直至麻将6条位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹继续向爪夹方向的右下方移动，水平方向上成功接近麻将6条，并使爪夹角度垂直于桌面，方便抓取麻将6条。", + "frame": 104, + "progress": 17, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将6条并调整完爪夹角度方便抓取，因此进度提升为17%。", + "state_description": "当前爪夹张开，与麻将6条的水平距离进一步缩短。\n为完成抓取麻将6条使其位于灰色纸巾上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将6条。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 3.4623222254570307 + }, + { + "action_description": "爪夹向爪夹的右侧移动到麻将6条的正上方。", + "annotations": { + "bbox_1767842840552": { + "instances": [ + { + "height": 0.064, + "id": "bbox_1767842840552_1767843106559_bsopfvb2l", + "width": 0.04600000000000003, + "x": 0.526375, + "y": 0.4753984375 + } + ], + "type": "bbox" + }, + "bbox_1767842840928": { + "instances": [ + { + "height": 0.263, + "id": "bbox_1767842840928_1767843094536_oi54wly1m", + "width": 0.441, + "x": 0.340375, + "y": 0.5683984374999999 + } + ], + "type": "bbox" + }, + "point_1767842842092": { + "instances": [ + { + "id": "point_1767842842092_1767843088959_onivq8dlb", + "x": 0.5503750000000001, + "y": 0.4543984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取麻将6条后垂直上升，向爪夹方向的左前方移动，直至麻将6条位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了麻将6条的正上方，方便爪夹抓取。", + "frame": 130, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于麻将6条正上方，已接近麻将2条，因此进度提升为20%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到麻将6条的正上方。\n为完成抓取麻将6条使其位于灰色纸巾上的任务应当:向下合拢爪夹抓取麻将6条后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到灰色纸巾正上方。\t", + "time": 4.345863402061855 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取麻将6条。\t", + "annotations": { + "bbox_1767842840552": { + "instances": [ + { + "height": 0.06400000000000006, + "id": "bbox_1767842840552_1767843117143_rtmjy789y", + "width": 0.04600000000000003, + "x": 0.5253749999999999, + "y": 0.47939843749999994 + } + ], + "type": "bbox" + }, + "bbox_1767842840928": { + "instances": [ + { + "height": 0.26699999999999996, + "id": "bbox_1767842840928_1767843122416_2abnn1kc0", + "width": 0.43599999999999994, + "x": 0.34437500000000004, + "y": 0.5693984375000001 + } + ], + "type": "bbox" + }, + "point_1767842842092": { + "instances": [ + { + "id": "point_1767842842092_1767843138479_nksgsgs9m", + "x": 0.549375, + "y": 0.5203984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将6条后垂直上升，向爪夹方向的左前方移动，直至麻将6条位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了麻将6条。", + "frame": 158, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到麻将6条，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到麻将6条。\n为完成抓取麻将6条使其位于灰色纸巾上的任务应当:抓取麻将6条后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到灰色纸巾正上方。", + "time": 5.282976804123711 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将6条后抬高爪夹。", + "annotations": { + "bbox_1767842840552": { + "instances": [ + { + "height": 0.06600000000000002, + "id": "bbox_1767842840552_1767843149527_zcc4js3xo", + "width": 0.04700000000000001, + "x": 0.5273749999999999, + "y": 0.44939843749999997 + } + ], + "type": "bbox" + }, + "bbox_1767842840928": { + "instances": [ + { + "height": 0.26700000000000007, + "id": "bbox_1767842840928_1767843157111_wxmggh373", + "width": 0.43599999999999994, + "x": 0.343375, + "y": 0.5693984375 + } + ], + "type": "bbox" + }, + "point_1767842842092": { + "instances": [ + { + "id": "point_1767842842092_1767843144391_xevg582bb", + "x": 0.5503750000000001, + "y": 0.4843984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将6条，爪夹向爪夹方向的左前方移动，直至麻将6条位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到麻将6条，爪夹向上方抬升靠近灰色纸巾。", + "frame": 194, + "progress": 50, + "progress_explanation": "当前爪夹已抓住麻将6条，且爪夹与麻将的高度略微抬升了，所以进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取麻将6条使其位于灰色纸巾上的任务应当：爪夹向爪夹的左前方移动，直至移动到灰色纸巾正上方后松开爪夹，使麻将6条下落。", + "time": 6.46856491660425 + }, + { + "action_description": "爪夹抓住麻将6条，爪夹向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767842840552": { + "instances": [ + { + "height": 0.07099999999999997, + "id": "bbox_1767842840552_1767843194438_67va3uiag", + "width": 0.05100000000000004, + "x": 0.5243749999999999, + "y": 0.47939843749999994 + } + ], + "type": "bbox" + }, + "bbox_1767842840928": { + "instances": [ + { + "height": 0.26799999999999985, + "id": "bbox_1767842840928_1767843179350_m48cdts42", + "width": 0.439, + "x": 0.341375, + "y": 0.5683984375000001 + } + ], + "type": "bbox" + }, + "point_1767842842092": { + "instances": [ + { + "id": "point_1767842842092_1767843198558_d586pprg2", + "x": 0.549375, + "y": 0.5153984374999999 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将6条，继续向爪夹方向的左前方移动，直至麻将6条位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将6条，并且在向着灰色纸巾方向移动。", + "frame": 220, + "progress": 60, + "progress_explanation": "当前爪夹已抓住麻将6条，与上一进度相比，在水平方向上逐渐接近灰色纸巾，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，抓住麻将6条位于灰色纸巾的右上方。\n为完成抓取麻将6条使其位于灰色纸巾上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到灰色纸巾正上方后松开爪夹，使麻将6条下落。", + "time": 7.344626288659795 + }, + { + "action_description": "", + "annotations": { + "bbox_1767842840552": { + "instances": [ + { + "height": 0.07099999999999997, + "id": "bbox_1767842840552_1767843325685_6bmk9cc0i", + "width": 0.05499999999999995, + "x": 0.5243749999999999, + "y": 0.5353984374999999 + } + ], + "type": "bbox" + }, + "bbox_1767842840928": { + "instances": [ + { + "height": 0.272, + "id": "bbox_1767842840928_1767843333637_v0dfnwxol", + "width": 0.444, + "x": 0.337375, + "y": 0.5633984375 + } + ], + "type": "bbox" + }, + "point_1767842842092": { + "instances": [ + { + "id": "point_1767842842092_1767843320485_u4gtizgvq", + "x": 0.552375, + "y": 0.5803984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹已经抓取到麻将6条，并且进一步向着灰色纸巾的方向移动。", + "error_success_analysis": "当前爪夹已抓住麻将6条，与上一进度相比，在水平方向上逐渐接近灰色纸巾，因此进度提升为70%。", + "frame": 259, + "progress": 70, + "progress_explanation": "当前爪夹合拢，垂直于桌面，此时麻将6条位于灰色纸巾的右上方。\n为完成抓取麻将6条使其位于灰色纸巾上的任务应当：爪夹继续向爪夹的左下方移动，直至移动到灰色纸巾正上方后松开爪夹，使麻将6条下落。", + "state_description": "爪夹夹紧麻将6条，继续向爪夹方向的左前方移动。", + "time": 8.624613471521343 + }, + { + "action_description": "爪夹保持合拢，抓紧麻将6条向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767842840552": { + "instances": [ + { + "height": 0.07200000000000001, + "id": "bbox_1767842840552_1767843472670_mudj63hwd", + "width": 0.05600000000000005, + "x": 0.5253749999999999, + "y": 0.5599994699483776 + } + ], + "type": "bbox" + }, + "bbox_1767842840928": { + "instances": [ + { + "height": 0.27200000000000013, + "id": "bbox_1767842840928_1767843455661_3vzv7y6zy", + "width": 0.43699999999999994, + "x": 0.34337500000000004, + "y": 0.5666484374999999 + } + ], + "type": "bbox" + }, + "point_1767842842092": { + "instances": [ + { + "id": "point_1767842842092_1767843477437_o61js3sx1", + "x": 0.551375, + "y": 0.6096484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使麻将6条下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了灰色纸巾的正上方。", + "frame": 274, + "progress": 80, + "progress_explanation": "当前爪夹已抓住麻将6条，并移动到了灰色纸巾正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住麻将6条处于灰色纸巾方向的正上方。\n为完成抓取麻将6条使其位于灰色纸巾上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使麻将6条下落。", + "time": 9.123686945461095 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767842840552": { + "instances": [ + { + "height": 0.07227138643067856, + "id": "bbox_1767842840552_1767844802270_bc052kpy6", + "width": 0.05457227138643071, + "x": 0.523598820058997, + "y": 0.5787610529446672 + } + ], + "type": "bbox" + }, + "bbox_1767842840928": { + "instances": [ + { + "height": 0.26253687315634205, + "id": "bbox_1767842840928_1767844806126_u7bej03rs", + "width": 0.4277286135693215, + "x": 0.35250737463126847, + "y": 0.5699114954225434 + } + ], + "type": "bbox" + }, + "point_1767842842092": { + "instances": [ + { + "id": "point_1767842842092_1767844818190_acdyw4rao", + "x": 0.5530973451327433, + "y": 0.6082595780184136 + } + ], + "type": "point" + } + }, + "correction_plan": "麻将2条位于灰色纸巾上完成了目标任务。", + "error_success_analysis": "爪夹张开使麻将6条位于灰色纸巾的上，成功完成任务。", + "frame": 282, + "progress": 100, + "progress_explanation": "当前麻将6条位于灰色纸巾的上，因此进度提升为100%。", + "state_description": "当前爪夹张开，麻将6条下降了一定距离，抓取麻将6条使其位于灰色纸巾上的目标任务完成。", + "time": 9.404415774552206 + }, + { + "action_description": "爪夹保持打开状态，重新回到初始状态。", + "annotations": { + "bbox_1767842840552": { + "instances": [ + { + "height": 0.06299999999999996, + "id": "bbox_1767842840552_1767843511101_e98s289bs", + "width": 0.04300000000000003, + "x": 0.526375, + "y": 0.4783984375 + } + ], + "type": "bbox" + }, + "bbox_1767842840928": { + "instances": [ + { + "height": 0.27799999999999997, + "id": "bbox_1767842840928_1767843517725_bmykjixe4", + "width": 0.42199999999999993, + "x": 0.360375, + "y": 0.5493984375000001 + } + ], + "type": "bbox" + }, + "point_1767842841896": { + "instances": [ + { + "id": "point_1767842841896_1767843503469_lnklbl3ln", + "x": 0.5303749999999999, + "y": 0.1433984375 + } + ], + "type": "point" + }, + "point_1767842842092": { + "instances": [ + { + "id": "point_1767842842092_1767843491709_suxhdxsdn", + "x": 0.562375, + "y": 0.15039843749999998 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将6条的正上方后下降，合拢爪夹抓取麻将6条后垂直上升，向爪夹方向的左前方移动，直至麻将6条位于灰色纸巾的正上方。", + "error_success_analysis": "爪夹又重新回到初始状态，麻将6条也位于原点。", + "frame": 288, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取麻将6条，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，回到初始状态，没有接触麻将6条。\n为完成抓取麻将6条使其位于灰色纸巾上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取麻将6条。", + "time": 9.593698453608246 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767842840552", + "name": "麻将6条" + }, + { + "color": "#FF9800", + "id": "bbox_1767842840928", + "name": "灰色纸巾" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767842841896", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767842842092", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000475.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000475.json new file mode 100644 index 0000000000000000000000000000000000000000..14c045230357a472ac5e70b529f11df9e1fe2341 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000475.json @@ -0,0 +1,616 @@ +{ + "task_description": "抓取麻将1筒使其位于灰色纸巾上。\n爪夹开始移动:0%\n爪夹靠近麻将1筒:20%\n爪夹抓取麻将1筒:40%\n爪夹抓住麻将1筒接近灰色纸巾:60%\n爪夹抓住麻将1筒到达灰色纸巾上:80%\n爪夹松开，麻将1筒下落：100%", + "progress_points": [ + { + "action_description": "\t\t\t\t\t\t\t\t\t\t\t\t", + "annotations": { + "bbox_1767851652986": { + "instances": [ + { + "height": 0.069, + "id": "bbox_1767851652986_1767851695562_7mi4s5qza", + "width": 0.05, + "x": 0.404375, + "y": 0.4828984375 + } + ], + "type": "bbox" + }, + "bbox_1767851653273": { + "instances": [ + { + "height": 0.27999999999999997, + "id": "bbox_1767851653273_1767851705258_8725r2xb0", + "width": 0.45199999999999996, + "x": 0.07437500000000001, + "y": 0.5658984375 + } + ], + "type": "bbox" + }, + "point_1767851654218": { + "instances": [ + { + "id": "point_1767851654218_1767851719546_qdgbsbv1t", + "x": 0.462375, + "y": 0.1328984375 + } + ], + "type": "point" + }, + "point_1767851654426": { + "instances": [ + { + "id": "point_1767851654426_1767851723874_11attu4ca", + "x": 0.5453749999999999, + "y": 0.1328984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将1筒的正上方后下降，合拢爪夹抓取麻将1筒后垂直上升，向爪夹方向的左前方移动，直至麻将1筒位于灰色纸巾正上方。", + "error_success_analysis": "", + "frame": 6, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触麻将1筒。\n为完成抓取麻将1筒使其位于灰色纸巾上的任务应当:爪夹向爪夹的右前方移动并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，准备抓取麻将1筒。", + "time": 0.19208807493134247 + }, + { + "action_description": "爪夹向爪夹方向的左前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767851652986": { + "instances": [ + { + "height": 0.06489675516224185, + "id": "bbox_1767851652986_1767852944339_g83vm0259", + "width": 0.04867256637168141, + "x": 0.4026548672566372, + "y": 0.4843657839614733 + } + ], + "type": "bbox" + }, + "bbox_1767851653273": { + "instances": [ + { + "height": 0.2787610619469026, + "id": "bbox_1767851653273_1767852949243_51tgudj9x", + "width": 0.44247787610619466, + "x": 0.07669616519174041, + "y": 0.566961654167963 + } + ], + "type": "bbox" + }, + "point_1767851654218": { + "instances": [ + { + "id": "point_1767851654218_1767852936435_27z93lt5v", + "x": 0.35398230088495575, + "y": 0.1731563444334497 + } + ], + "type": "point" + }, + "point_1767851654426": { + "instances": [ + { + "id": "point_1767851654426_1767852930731_h1ditofpa", + "x": 0.4351032448377581, + "y": 0.17610619694082436 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将1筒的正上方后下降，合拢爪夹抓取麻将1筒后垂直上升，向爪夹方向的左前方移动，直至麻将1筒位于灰色纸巾正上方。", + "error_success_analysis": "爪夹向右下方移动，距离抓取麻将1筒距离更近。", + "frame": 45, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将1筒，因此进度提升为10%。", + "state_description": "当前爪夹张开，与麻将1筒的水平距离略微缩短。\n为完成抓取麻将1筒使其位于灰色纸巾上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将1筒，爪夹抬高并竖直上升。", + "time": 1.4882642765567238 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767851652986": { + "instances": [ + { + "height": 0.06699999999999999, + "id": "bbox_1767851652986_1767851806161_txlgrum88", + "width": 0.050999999999999976, + "x": 0.401375, + "y": 0.4843984375 + } + ], + "type": "bbox" + }, + "bbox_1767851653273": { + "instances": [ + { + "height": 0.27500000000000013, + "id": "bbox_1767851653273_1767851816217_htwvkbn8f", + "width": 0.4479999999999999, + "x": 0.07837500000000001, + "y": 0.5683984374999999 + } + ], + "type": "bbox" + }, + "point_1767851654218": { + "instances": [ + { + "id": "point_1767851654218_1767851824305_ynb8axeei", + "x": 0.346375, + "y": 0.24839843749999999 + } + ], + "type": "point" + }, + "point_1767851654426": { + "instances": [ + { + "id": "point_1767851654426_1767851828337_mk5ql6frr", + "x": 0.43537499999999996, + "y": 0.2493984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将1筒的正上方后下降，合拢爪夹抓取麻将1筒后垂直上升，向爪夹方向的左前方移动，直至麻将1筒位于灰色纸巾的正上方。", + "error_success_analysis": "爪夹向右下方移动，距离抓取麻将1筒距离更近。", + "frame": 75, + "progress": 14, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将1筒，因此进度提升为10%。", + "state_description": "当前爪夹张开，与麻将1筒的水平距离略微缩短。\n为完成抓取麻将1筒使其位于灰色纸巾上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将1筒，爪夹抬高并竖直上升。", + "time": 2.5076030927835053 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并降低爪夹高度。", + "annotations": { + "bbox_1767851652986": { + "instances": [ + { + "height": 0.06599999999999996, + "id": "bbox_1767851652986_1767851858392_tal5h60mm", + "width": 0.050999999999999976, + "x": 0.401375, + "y": 0.4843984375 + } + ], + "type": "bbox" + }, + "bbox_1767851653273": { + "instances": [ + { + "height": 0.27500000000000013, + "id": "bbox_1767851653273_1767851869432_g0vdol05d", + "width": 0.4489999999999999, + "x": 0.07637500000000001, + "y": 0.5683984374999999 + } + ], + "type": "bbox" + }, + "point_1767851654218": { + "instances": [ + { + "id": "point_1767851654218_1767851840129_wauuiw778", + "x": 0.31937499999999996, + "y": 0.30939843749999996 + } + ], + "type": "point" + }, + "point_1767851654426": { + "instances": [ + { + "id": "point_1767851654426_1767851835985_zpeh8r5q7", + "x": 0.407375, + "y": 0.3113984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将1筒的正上方后下降，合拢爪夹抓取麻将1筒后垂直上升，向爪夹方向的左前方移动，直至麻将1筒位于灰色纸巾的正上方。", + "error_success_analysis": "爪夹向右下方移动，距离抓取麻将1筒距离更近。", + "frame": 107, + "progress": 16, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了麻将1筒，因此进度提升为10%。", + "state_description": "当前爪夹张开，与麻将1筒的水平距离略微缩短。\n为完成抓取麻将1筒使其位于灰色纸巾上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取麻将1筒，爪夹抬高并竖直上升。", + "time": 3.551520618556701 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度。\t", + "annotations": { + "bbox_1767851652986": { + "instances": [ + { + "height": 0.06400000000000006, + "id": "bbox_1767851652986_1767851931200_95faazgxg", + "width": 0.04799999999999998, + "x": 0.404375, + "y": 0.48539843749999995 + } + ], + "type": "bbox" + }, + "bbox_1767851653273": { + "instances": [ + { + "height": 0.279, + "id": "bbox_1767851653273_1767851894201_hyns7rnjn", + "width": 0.45099999999999996, + "x": 0.07537499999999998, + "y": 0.5683984374999999 + } + ], + "type": "bbox" + }, + "point_1767851654218": { + "instances": [ + { + "id": "point_1767851654218_1767851905641_pyv29az0s", + "x": 0.360375, + "y": 0.3643984375 + } + ], + "type": "point" + }, + "point_1767851654426": { + "instances": [ + { + "id": "point_1767851654426_1767851914801_mffbl27wa", + "x": 0.41937499999999994, + "y": 0.38539843749999997 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的下方移动，到达麻将1筒的正上方后下降，合拢爪夹抓取麻将1筒后垂直上升，向爪夹方向的左前方移动，直至麻将1筒位于灰色纸巾的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近麻将1筒，并使爪夹角度垂直于桌面，方便抓取麻将1筒。", + "frame": 46, + "progress": 17, + "progress_explanation": "当前爪夹在水平方向上进一步接近麻将1筒并调整完爪夹角度方便抓取，因此进度提升为17%。", + "state_description": "当前爪夹张开，与麻将1筒的水平距离进一步缩短。\n为完成抓取麻将1筒使其位于灰色纸巾上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取麻将1筒。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "time": 4.666666666666667 + }, + { + "action_description": "爪夹向爪夹的右侧移动到麻将1筒的正上方。", + "annotations": { + "bbox_1767851652986": { + "instances": [ + { + "height": 0.06699999999999993, + "id": "bbox_1767851652986_1767851954200_90f2xpaaw", + "width": 0.045999999999999965, + "x": 0.406375, + "y": 0.4833984375 + } + ], + "type": "bbox" + }, + "bbox_1767851653273": { + "instances": [ + { + "height": 0.275, + "id": "bbox_1767851653273_1767851965952_1h0faq05m", + "width": 0.45099999999999996, + "x": 0.07537500000000001, + "y": 0.5683984375000001 + } + ], + "type": "bbox" + }, + "point_1767851654426": { + "instances": [ + { + "id": "point_1767851654426_1767851982128_r95way41v", + "x": 0.421375, + "y": 0.4643984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取麻将1筒后垂直上升，向爪夹方向的左前方移动，直至麻将1筒位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了麻将1筒的正上方，方便爪夹抓取。", + "frame": 185, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于麻将1筒正上方，已接近麻将1筒，因此进度提升为20%。\t", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到麻将1筒的正上方。\n为完成抓取麻将1筒使其位于灰色纸巾上的任务应当:向下合拢爪夹抓取麻将1筒后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到灰色纸巾正上方。\t", + "time": 6.1550257731958755 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取麻将1筒。", + "annotations": { + "bbox_1767851652986": { + "instances": [ + { + "height": 0.06199999999999998, + "id": "bbox_1767851652986_1767851993160_jho1itf6d", + "width": 0.04600000000000003, + "x": 0.405375, + "y": 0.48839843749999995 + } + ], + "type": "bbox" + }, + "bbox_1767851653273": { + "instances": [ + { + "height": 0.28900000000000003, + "id": "bbox_1767851653273_1767852008495_pry8zpcbc", + "width": 0.4509999999999999, + "x": 0.07537499999999998, + "y": 0.5673984374999999 + } + ], + "type": "bbox" + }, + "point_1767851654426": { + "instances": [ + { + "id": "point_1767851654426_1767851988775_2w0m0om14", + "x": 0.42537499999999995, + "y": 0.5303984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将1筒后垂直上升，向爪夹方向的左前方移动，直至麻将1筒位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了麻将1筒。", + "frame": 212, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到麻将1筒，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到麻将1筒。\n为完成抓取麻将1筒使其位于灰色纸巾上的任务应当:抓取麻将1筒后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到灰色纸巾正上方。", + "time": 7.063799 + }, + { + "action_description": "爪夹保持合拢，夹紧麻将1筒后抬高爪夹。", + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将1筒，爪夹向爪夹方向的左前方移动，直至麻将1筒位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到麻将1筒，爪夹向上方抬升靠近灰色纸巾。", + "frame": 251, + "progress": 50, + "progress_explanation": "当前爪夹已抓住麻将1筒，且爪夹与麻将的高度略微抬升了，所以进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取麻将1筒使其位于灰色纸巾上的任务应当：爪夹向爪夹的左前方移动，直至移动到灰色纸巾正上方后松开爪夹，使麻将1筒下落。", + "time": 8.368634020618556 + }, + { + "action_description": "爪夹抓住麻将1筒，爪夹向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767851652986": { + "instances": [ + { + "height": 0.06500000000000003, + "id": "bbox_1767851652986_1767852098992_xwu2ak26q", + "width": 0.05800000000000001, + "x": 0.37737499999999996, + "y": 0.4693984375 + } + ], + "type": "bbox" + }, + "bbox_1767851653273": { + "instances": [ + { + "height": 0.2770000000000001, + "id": "bbox_1767851653273_1767852078328_z6m921lpp", + "width": 0.4479999999999999, + "x": 0.077375, + "y": 0.5663984375 + } + ], + "type": "bbox" + }, + "point_1767851654426": { + "instances": [ + { + "id": "point_1767851654426_1767852071368_urie4i7eg", + "x": 0.401375, + "y": 0.5043984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将1筒，继续向爪夹方向的左前方移动，直至麻将1筒位于灰色纸巾正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将1筒，并且在向着灰色纸巾方向移动。", + "frame": 276, + "progress": 60, + "progress_explanation": "当前爪夹已抓住麻将1筒，与上一进度相比，在水平方向上逐渐接近灰色纸巾，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，抓住麻将1筒位于灰色纸巾的右上方。\n为完成抓取麻将1筒使其位于灰色纸巾上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到灰色纸巾正上方后松开爪夹，使麻将1筒下落。", + "time": 9.211 + }, + { + "action_description": "爪夹夹紧麻将1筒，继续向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767851652986": { + "instances": [ + { + "height": 0.07399999999999997, + "id": "bbox_1767851652986_1767852106512_ku9ptch4a", + "width": 0.05399999999999997, + "x": 0.342375, + "y": 0.4893984375 + } + ], + "type": "bbox" + }, + "bbox_1767851653273": { + "instances": [ + { + "height": 0.27399999999999997, + "id": "bbox_1767851653273_1767852119168_a4adbfeo1", + "width": 0.44999999999999996, + "x": 0.07437500000000001, + "y": 0.5703984375000001 + } + ], + "type": "bbox" + }, + "point_1767851654426": { + "instances": [ + { + "id": "point_1767851654426_1767852129383_mclzze6wy", + "x": 0.35537499999999994, + "y": 0.5283984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧麻将1筒，继续向爪夹方向的左前方移动，直至麻将1筒位于花色纸巾的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到麻将1筒，并且进一步向着灰色纸巾的方向移动。", + "frame": 294, + "progress": 70, + "progress_explanation": "当前爪夹已抓住麻将1筒，与上一进度相比，在水平方向上逐渐接近灰色纸巾，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时麻将1筒位于灰色纸巾的右上方。\n为完成抓取麻将1筒使其位于灰色纸巾上的任务应当：爪夹继续向爪夹的左下方移动，直至移动到灰色纸巾正上方后松开爪夹，使麻将1筒下落。", + "time": 9.815025773195876 + }, + { + "action_description": "爪夹保持合拢，抓紧麻将1筒向爪夹方向的左侧移动。", + "correction_plan": "爪夹下降到一定高度后松开爪夹，使麻将1筒下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了灰色纸巾的正上方。", + "frame": 326, + "progress": 80, + "progress_explanation": "当前爪夹已抓住麻将1筒，并移动到了灰色纸巾正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住麻将1筒处于灰色纸巾方向的正上方。\n为完成抓取麻将1筒使其位于灰色纸巾上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使麻将1筒下落。", + "time": 10.870199 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767851652986": { + "instances": [ + { + "height": 0.075, + "id": "bbox_1767851652986_1767852149023_zn2ni26ic", + "width": 0.060000000000000026, + "x": 0.296375, + "y": 0.5733984375 + } + ], + "type": "bbox" + }, + "bbox_1767851653273": { + "instances": [ + { + "height": 0.27799999999999986, + "id": "bbox_1767851653273_1767852155679_g3yr6480r", + "width": 0.448, + "x": 0.07637500000000001, + "y": 0.5683984375000001 + } + ], + "type": "bbox" + }, + "point_1767851654426": { + "instances": [ + { + "id": "point_1767851654426_1767852136663_li75px3xe", + "x": 0.30537499999999995, + "y": 0.6113984375 + } + ], + "type": "point" + } + }, + "correction_plan": "麻将1筒位于灰色纸巾上方完成了目标任务。", + "error_success_analysis": "爪夹张开使麻将1筒位于灰色纸巾的上方，成功完成任务。", + "frame": 346, + "progress": 100, + "progress_explanation": "当前麻将1筒位于灰色纸巾的上，因此进度提升为100%。", + "state_description": "当前爪夹张开，麻将1筒下降了一定距离，抓取麻将1筒使其位于灰色纸巾上的目标任务完成。", + "time": 11.5255412371134 + }, + { + "action_description": "爪夹保持打开状态，重新回到初始状态。", + "annotations": { + "bbox_1767851652986": { + "instances": [ + { + "height": 0.06899999999999995, + "id": "bbox_1767851652986_1767852237015_2no2jif0s", + "width": 0.04900000000000002, + "x": 0.402375, + "y": 0.4813984375 + } + ], + "type": "bbox" + }, + "bbox_1767851653273": { + "instances": [ + { + "height": 0.26700000000000007, + "id": "bbox_1767851653273_1767852219455_rmt7bi1uu", + "width": 0.44299999999999995, + "x": 0.062375, + "y": 0.5693984375 + } + ], + "type": "bbox" + }, + "point_1767851654218": { + "instances": [ + { + "id": "point_1767851654218_1767852240846_ttrqrgufu", + "x": 0.39237500000000003, + "y": 0.1663984375 + } + ], + "type": "point" + }, + "point_1767851654426": { + "instances": [ + { + "id": "point_1767851654426_1767852247102_i4lve146g", + "x": 0.421375, + "y": 0.1693984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达麻将1筒的正上方后下降，合拢爪夹抓取麻将1筒后垂直上升，向爪夹方向的左前方移动，直至麻将1筒位于灰色纸巾的正上方。", + "error_success_analysis": "爪夹又重新回到初始状态，麻将1筒也位于原点。", + "frame": 350, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取麻将1筒，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，回到初始状态，没有接触麻将1筒。\n为完成抓取麻将1筒使其位于灰色纸巾上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取麻将1筒。", + "time": 11.651314432989691 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767851652986", + "name": "麻将1筒" + }, + { + "color": "#FF9800", + "id": "bbox_1767851653273", + "name": "灰色纸巾" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767851654218", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767851654426", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000514.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000514.json new file mode 100644 index 0000000000000000000000000000000000000000..b77ac346b54112c3656b57a937223ee2e5650fe3 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000514.json @@ -0,0 +1,622 @@ +{ + "task_description": "抓取幻视使其位于礼品盒上。\n爪夹开始移动：0%\n爪夹靠近幻视：20%\n爪夹抓取幻视：40%\n爪夹抓住幻视靠近礼品盒：60%\n爪夹抓住幻视位于礼品盒上：80%\n爪夹松开，幻视下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767855129111": { + "instances": [ + { + "height": 0.15099999999999997, + "id": "bbox_1767855129111_1767855190606_7mn44rmo3", + "width": 0.08799999999999995, + "x": 0.292375, + "y": 0.3526484375 + } + ], + "type": "bbox" + }, + "bbox_1767855129390": { + "instances": [ + { + "height": 0.20900000000000005, + "id": "bbox_1767855129390_1767855211502_jwi8gfzv3", + "width": 0.18899999999999995, + "x": 0.653375, + "y": 0.4276484375 + } + ], + "type": "bbox" + }, + "point_1767855141742": { + "instances": [ + { + "id": "point_1767855141742_1767855220630_kr2v24auc", + "x": 0.461375, + "y": 0.1296484375 + } + ], + "type": "point" + }, + "point_1767855141926": { + "instances": [ + { + "id": "point_1767855141926_1767855224310_0qrtk0gzd", + "x": 0.5453749999999999, + "y": 0.1316484375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达幻视的正上方后下降，合拢爪夹抓取幻视后垂直上升，向爪夹方向的左前方移动，直至幻视位于礼品盒的正上方。", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触幻视。\n为完成抓取幻视使其位于礼品盒上的任务应当:爪夹向爪夹的左前方移动并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，准备抓取幻视。", + "time": 0.14157868032569043 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767855129111": { + "instances": [ + { + "height": 0.15200000000000002, + "id": "bbox_1767855129111_1767855240310_s8f67ehwp", + "width": 0.08799999999999995, + "x": 0.292375, + "y": 0.35264843749999997 + } + ], + "type": "bbox" + }, + "bbox_1767855129390": { + "instances": [ + { + "height": 0.21399999999999988, + "id": "bbox_1767855129390_1767855252870_7v83ldgc1", + "width": 0.1870000000000001, + "x": 0.6573749999999999, + "y": 0.42664843750000003 + } + ], + "type": "bbox" + }, + "point_1767855141742": { + "instances": [ + { + "id": "point_1767855141742_1767855269046_2wr2i3q0r", + "x": 0.442375, + "y": 0.1656484375 + } + ], + "type": "point" + }, + "point_1767855141926": { + "instances": [ + { + "id": "point_1767855141926_1767855288118_37ocq9ewy", + "x": 0.526375, + "y": 0.1676484375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达幻视的正上方后下降，合拢爪夹抓取幻视后垂直上升，向爪夹方向的右前方移动，直至幻视位于礼品盒的正上方。", + "error_success_analysis": "爪夹向左下方移动，距离抓取幻视距离更近。", + "frame": 13, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了幻视，因此进度提升为10%。", + "state_description": "当前爪夹张开，与幻视的水平距离略微缩短。\n为完成抓取幻视使其位于礼品盒上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取幻视，爪夹抬高并竖直上升。", + "time": 1.3333333333333333 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并调整爪夹角度。\t", + "annotations": { + "bbox_1767855129111": { + "instances": [ + { + "height": 0.14900000000000002, + "id": "bbox_1767855129111_1767855344733_u6y52pak9", + "width": 0.09299999999999997, + "x": 0.289375, + "y": 0.35164843749999997 + } + ], + "type": "bbox" + }, + "bbox_1767855129390": { + "instances": [ + { + "height": 0.211, + "id": "bbox_1767855129390_1767855328974_bwhg787jj", + "width": 0.191, + "x": 0.6543749999999999, + "y": 0.4266484374999999 + } + ], + "type": "bbox" + }, + "point_1767855141742": { + "instances": [ + { + "id": "point_1767855141742_1767855322389_r1uaikb4j", + "x": 0.33137500000000003, + "y": 0.2616484375 + } + ], + "type": "point" + }, + "point_1767855141926": { + "instances": [ + { + "id": "point_1767855141926_1767855319101_s5jnoqjc1", + "x": 0.399375, + "y": 0.2466484375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，到达幻视的正上方后下降，合拢爪夹抓取幻视后垂直上升，向爪夹方向的右前方移动，直至幻视位于礼品盒的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上成功接近幻视，并使爪夹角度垂直于桌面，方便抓取幻视。", + "frame": 31, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近幻视并调整完爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与幻视的水平距离进一步缩短。\n为完成抓取幻视使其位于礼品盒上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取幻视。\t", + "time": 3.1333333333333333 + }, + { + "action_description": "爪夹向爪夹的左侧移动到幻视的正上方。", + "annotations": { + "bbox_1767855129111": { + "instances": [ + { + "height": 0.147, + "id": "bbox_1767855129111_1767855361693_yr5v5gwwt", + "width": 0.083, + "x": 0.296375, + "y": 0.35514843749999997 + } + ], + "type": "bbox" + }, + "bbox_1767855129390": { + "instances": [ + { + "height": 0.21300000000000002, + "id": "bbox_1767855129390_1767855373462_54twz5s71", + "width": 0.18500000000000003, + "x": 0.657375, + "y": 0.42414843750000003 + } + ], + "type": "bbox" + }, + "point_1767855141926": { + "instances": [ + { + "id": "point_1767855141926_1767855399645_z7kc9nv74", + "x": 0.325375, + "y": 0.3431484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取幻视后垂直上升，向爪夹方向的右前方移动，直至幻视位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了幻视的正上方，方便爪夹抓取。", + "frame": 142, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于幻视正上方，已接近幻视，因此进度提升为20%。\t", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到幻视的正上方。\n为完成抓取幻视使其位于礼品盒上的任务应当:向下合拢爪夹抓取幻视后垂直抬起爪夹，然后向爪夹的右前方移动，直至移动到礼品盒的正上方。\t", + "time": 4.746829896907217 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取幻视。", + "annotations": { + "bbox_1767855129111": { + "instances": [ + { + "height": 0.13399999999999998, + "id": "bbox_1767855129111_1767855420685_1a1wqgeji", + "width": 0.09100000000000001, + "x": 0.290375, + "y": 0.3688984375 + } + ], + "type": "bbox" + }, + "bbox_1767855129390": { + "instances": [ + { + "height": 0.21299999999999997, + "id": "bbox_1767855129390_1767855430365_uckuaswca", + "width": 0.18899999999999995, + "x": 0.656375, + "y": 0.4258984375 + } + ], + "type": "bbox" + }, + "point_1767855141926": { + "instances": [ + { + "id": "point_1767855141926_1767855408445_waiv52biu", + "x": 0.33137500000000003, + "y": 0.38089843749999996 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧幻视后垂直上升，向爪夹方向的左前方移动，直至幻视位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了幻视。", + "frame": 188, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到幻视，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到幻视。\n为完成抓取幻视使其位于礼品盒上的任务应当:抓取幻视后垂直抬起爪夹，然后向爪夹的右前方移动，直至移动到礼品盒的正上方。", + "time": 6.250718790016672 + }, + { + "action_description": "爪夹保持合拢，夹紧幻视后抬高爪夹。", + "annotations": { + "bbox_1767855129111": { + "instances": [ + { + "height": 0.13399999999999998, + "id": "bbox_1767855129111_1767855484812_6kf4vz2hn", + "width": 0.09000000000000004, + "x": 0.291375, + "y": 0.3456484375 + } + ], + "type": "bbox" + }, + "bbox_1767855129390": { + "instances": [ + { + "height": 0.20999999999999996, + "id": "bbox_1767855129390_1767855469780_w0cdqw3w1", + "width": 0.18800000000000003, + "x": 0.656375, + "y": 0.4276484375 + } + ], + "type": "bbox" + }, + "point_1767855141926": { + "instances": [ + { + "id": "point_1767855141926_1767855442933_0i4ya9j8f", + "x": 0.330375, + "y": 0.3596484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧幻视，爪夹向爪夹方向的右前方移动，直至幻视位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到幻视，爪夹向上方抬升靠近礼品盒。", + "frame": 68, + "progress": 45, + "progress_explanation": "当前爪夹已抓住幻视，且爪夹与幻视的高度略微抬升了，所以进度提升为45%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取幻视使其位于礼品盒上的任务应当：爪夹向爪夹的右前方移动，直至移动到礼品盒的正上方后松开爪夹，使幻视下落。", + "time": 6.8 + }, + { + "action_description": "爪夹抓住幻视，爪夹向爪夹方向的正上方移动。", + "annotations": { + "bbox_1767855129111": { + "instances": [ + { + "height": 0.16699999999999998, + "id": "bbox_1767855129111_1767855500268_inu7i4yez", + "width": 0.1, + "x": 0.276375, + "y": 0.1063984375 + } + ], + "type": "bbox" + }, + "bbox_1767855129390": { + "instances": [ + { + "height": 0.212, + "id": "bbox_1767855129390_1767855506756_2dz2m7qdc", + "width": 0.18499999999999991, + "x": 0.656375, + "y": 0.4273984375 + } + ], + "type": "bbox" + }, + "point_1767855141926": { + "instances": [ + { + "id": "point_1767855141926_1767855516220_lw5l2x7gb", + "x": 0.32137499999999997, + "y": 0.1163984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧幻视，向爪夹方向的右前方移动，直至幻视位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹夹紧幻视竖直上升，爪夹更容易将幻视放在礼品盒上。", + "frame": 98, + "progress": 60, + "progress_explanation": "当前幻视的高度上升，与礼品盒的距离缩短，更方便爪夹将幻视放在礼品盒上，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时幻视位于礼品盒的右上方。\n为完成抓取幻视使其位于礼品盒上的任务应当：爪夹继续向爪夹的右前方移动，直至移动到礼品盒正上方后松开爪夹，使幻视下落。", + "time": 9.8 + }, + { + "action_description": "爪夹夹紧幻视，向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767855129111": { + "instances": [ + { + "height": 0.175, + "id": "bbox_1767855129111_1767855536732_8p68lpccs", + "width": 0.106, + "x": 0.315375, + "y": 0.1563984375 + } + ], + "type": "bbox" + }, + "bbox_1767855129390": { + "instances": [ + { + "height": 0.211, + "id": "bbox_1767855129390_1767855547900_fpmukf3m5", + "width": 0.18699999999999997, + "x": 0.6583749999999999, + "y": 0.4283984375 + } + ], + "type": "bbox" + }, + "point_1767855141926": { + "instances": [ + { + "id": "point_1767855141926_1767855527164_iejzolt41", + "x": 0.367375, + "y": 0.1643984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧幻视，继续向爪夹方向的右前方移动，直至幻视位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到幻视，并且进一步向着礼品盒的方向移动。", + "frame": 331, + "progress": 65, + "progress_explanation": "当前爪夹已夹紧幻视，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为65%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时幻视位于礼品盒的左上方。\n为完成抓取幻视使其位于礼品盒上的任务应当：爪夹继续向爪夹的右前方移动，直至移动到礼品盒的正上方后松开爪夹，使幻视下落。", + "time": 11.04220122898999 + }, + { + "action_description": "爪夹夹紧幻视，继续向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767855129111": { + "instances": [ + { + "height": 0.17600000000000002, + "id": "bbox_1767855129111_1767855579980_39ccx7jlb", + "width": 0.10299999999999994, + "x": 0.433375, + "y": 0.20089843749999997 + } + ], + "type": "bbox" + }, + "bbox_1767855129390": { + "instances": [ + { + "height": 0.20900000000000005, + "id": "bbox_1767855129390_1767855565332_4ofrat0n8", + "width": 0.18900000000000006, + "x": 0.6553749999999999, + "y": 0.42789843749999995 + } + ], + "type": "bbox" + }, + "point_1767855141926": { + "instances": [ + { + "id": "point_1767855141926_1767855574108_s6meent4b", + "x": 0.49137499999999995, + "y": 0.21789843750000001 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧幻视，继续向爪夹方向的右前方移动，直至幻视位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到幻视，并且进一步向着礼品盒的方向移动。", + "frame": 373, + "progress": 70, + "progress_explanation": "当前爪夹已夹紧幻视，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为70%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时幻视位于礼品盒的左上方。\n为完成抓取幻视使其位于礼品盒上的任务应当：爪夹继续向爪夹的右前方移动，直至移动到礼品盒的正上方后松开爪夹，使幻视下落。", + "time": 12.44786082474227 + }, + { + "action_description": "爪夹保持合拢，抓紧幻视向爪夹方向的右侧移动。", + "annotations": { + "bbox_1767855129111": { + "instances": [ + { + "height": 0.177, + "id": "bbox_1767855129111_1767855607388_mdc4u19dm", + "width": 0.10400000000000015, + "x": 0.6903749999999998, + "y": 0.3106484375 + } + ], + "type": "bbox" + }, + "bbox_1767855129390": { + "instances": [ + { + "height": 0.20799999999999988, + "id": "bbox_1767855129390_1767855622252_5ev2df7b5", + "width": 0.18800000000000003, + "x": 0.657375, + "y": 0.4286484375 + } + ], + "type": "bbox" + }, + "point_1767855141926": { + "instances": [ + { + "id": "point_1767855141926_1767855636643_7m0f8qk4r", + "x": 0.7613749999999999, + "y": 0.3406484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使幻视下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的右方移动，并且正确移动到了礼品盒的正上方。", + "frame": 462, + "progress": 80, + "progress_explanation": "当前爪夹已抓住幻视，并移动到了礼品盒的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住幻视处于礼品盒方向的正上方。\n为完成抓取幻视使其位于礼品盒上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使幻视下落。", + "time": 15.4084793814433 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767855129111": { + "instances": [ + { + "height": 0.17700000000000002, + "id": "bbox_1767855129111_1767855666259_pav0vzkdt", + "width": 0.11099999999999995, + "x": 0.6943750000000001, + "y": 0.3171484375 + } + ], + "type": "bbox" + }, + "bbox_1767855129390": { + "instances": [ + { + "height": 0.212, + "id": "bbox_1767855129390_1767855652155_k6euqh7k5", + "width": 0.18899999999999995, + "x": 0.656375, + "y": 0.4261484375 + } + ], + "type": "bbox" + }, + "point_1767855141926": { + "instances": [ + { + "id": "point_1767855141926_1767855643611_hby42pi75", + "x": 0.769375, + "y": 0.33914843749999996 + } + ], + "type": "point" + } + }, + "correction_plan": "幻视位于礼品盒的上方完成了目标任务。", + "error_success_analysis": "爪夹张开使幻视位于礼品盒的上方，成功完成任务。", + "frame": 474, + "progress": 100, + "progress_explanation": "当前幻视位于礼品盒的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，幻视下降了一定距离，抓取幻视使其位于幻视上的目标任务完成。", + "time": 15.799458793399214 + }, + { + "action_description": "爪夹保持打开状态，重新回到初始状态。\t", + "annotations": { + "bbox_1767855129111": { + "instances": [ + { + "height": 0.15100235941186585, + "id": "bbox_1767855129111_1767856325880_co03w4wwj", + "width": 0.0860013437709964, + "x": 0.3042781918467476, + "y": 0.3512789262332224 + } + ], + "type": "bbox" + }, + "bbox_1767855129390": { + "instances": [ + { + "height": 0.22500351567993254, + "id": "bbox_1767855129390_1767856309240_cqrcgmcq8", + "width": 0.19700307817309634, + "x": 0.49728120751886756, + "y": 0.47428084813825216 + } + ], + "type": "bbox" + }, + "point_1767855141742": { + "instances": [ + { + "id": "point_1767855141742_1767856339616_83kw97sfa", + "x": 0.653283645056954, + "y": 0.2072766761980656 + } + ], + "type": "point" + }, + "point_1767855141926": { + "instances": [ + { + "id": "point_1767855141926_1767856342800_4kkgt1ou0", + "x": 0.6692838950608604, + "y": 0.20327661369708902 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达幻视的正上方后下降，合拢爪夹抓取幻视后垂直上升，向爪夹方向的右前方移动，直至幻视位于礼品盒的正上方。", + "error_success_analysis": "爪夹又重新回到初始状态，幻视也位于原点。", + "frame": 476, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取幻视，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，回到初始状态，没有接触幻视。\n为完成抓取幻视使其位于灰色纸巾上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取幻视。", + "time": 15.850796105245356 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767855129111", + "name": "幻视" + }, + { + "color": "#FF9800", + "id": "bbox_1767855129390", + "name": "礼品盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767855141742", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767855141926", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000529.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000529.json new file mode 100644 index 0000000000000000000000000000000000000000..ab6c60ca013082967a369a255ac775a742343022 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000529.json @@ -0,0 +1,734 @@ +{ + "task_description": "抓取钢铁侠使其位于礼品盒上。\n爪夹开始移动：0%\n爪夹靠近钢铁侠：20%\n爪夹抓取钢铁侠：40%\n爪夹抓住钢铁侠靠近礼品盒：60%\n爪夹抓住钢铁侠位于礼品盒上：80%\n爪夹松开，钢铁侠下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767858910018": { + "instances": [ + { + "height": 0.13, + "id": "bbox_1767858910018_1767858950809_yh43csxw6", + "width": 0.0930000000000001, + "x": 0.691375, + "y": 0.5276484375 + } + ], + "type": "bbox" + }, + "bbox_1767858910218": { + "instances": [ + { + "height": 0.194, + "id": "bbox_1767858910218_1767858966081_8gitpn3t7", + "width": 0.17200000000000007, + "x": 0.37537499999999996, + "y": 0.3866484375 + } + ], + "type": "bbox" + }, + "point_1767858911161": { + "instances": [ + { + "id": "point_1767858911161_1767858977801_9at5b54ez", + "x": 0.462375, + "y": 0.1276484375 + } + ], + "type": "point" + }, + "point_1767858911370": { + "instances": [ + { + "id": "point_1767858911370_1767858982552_httm65mbl", + "x": 0.544375, + "y": 0.1316484375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达钢铁侠的正上方后下降，合拢爪夹抓取钢铁侠后垂直上升，向爪夹方向的左前方移动，直至钢铁侠位于礼品盒的正上方。", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触钢铁侠。\n为完成抓取钢铁侠使其位于礼品盒上的任务应当:爪夹向爪夹的右前方移动并调整爪夹角度，使其垂直于桌面，准备抓取钢铁侠。", + "time": 0.11708762886597938 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767858910018": { + "instances": [ + { + "height": 0.13300000000000006, + "id": "bbox_1767858910018_1767859029544_hrys1meqc", + "width": 0.09500000000000004, + "x": 0.689375, + "y": 0.5263984374999999 + } + ], + "type": "bbox" + }, + "bbox_1767858910218": { + "instances": [ + { + "height": 0.19399999999999995, + "id": "bbox_1767858910218_1767859003664_4ci61lrx7", + "width": 0.17299999999999993, + "x": 0.37637500000000007, + "y": 0.3863984375000001 + } + ], + "type": "bbox" + }, + "point_1767858911161": { + "instances": [ + { + "id": "point_1767858911161_1767858991721_ijht3j4ye", + "x": 0.49737499999999996, + "y": 0.1903984375 + } + ], + "type": "point" + }, + "point_1767858911370": { + "instances": [ + { + "id": "point_1767858911370_1767858988656_zz56atydi", + "x": 0.582375, + "y": 0.1903984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达钢铁侠的正上方后下降，合拢爪夹抓取钢铁侠后垂直上升，向爪夹方向的左前方移动，直至钢铁侠位于礼品盒的正上方。", + "error_success_analysis": "爪夹向右下方移动，距离抓取钢铁侠的距离更近。", + "frame": 38, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了钢铁侠，因此进度提升为10%。", + "state_description": "当前爪夹张开，与钢铁侠的水平距离略微缩短。\n为完成抓取钢铁侠使其位于礼品盒上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取钢铁侠，爪夹抬高并竖直上升。", + "time": 1.260180412371134 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767858910018": { + "instances": [ + { + "height": 0.13199999999999998, + "id": "bbox_1767858910018_1767859047144_l7688v6h9", + "width": 0.09900000000000007, + "x": 0.688375, + "y": 0.5273984374999999 + } + ], + "type": "bbox" + }, + "bbox_1767858910218": { + "instances": [ + { + "height": 0.19700000000000006, + "id": "bbox_1767858910218_1767859060712_owlzvdx4a", + "width": 0.171, + "x": 0.376375, + "y": 0.3853984375 + } + ], + "type": "bbox" + }, + "point_1767858911161": { + "instances": [ + { + "id": "point_1767858911161_1767859073896_mkjo0zzr8", + "x": 0.5003749999999999, + "y": 0.2693984375 + } + ], + "type": "point" + }, + "point_1767858911370": { + "instances": [ + { + "id": "point_1767858911370_1767859077080_5ynqmcd3e", + "x": 0.5853749999999999, + "y": 0.26739843750000003 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达钢铁侠的正上方后下降，合拢爪夹抓取钢铁侠后垂直上升，向爪夹方向的左后方移动，直至钢铁侠位于礼品盒的正上方。", + "error_success_analysis": "爪夹继续向右下方移动，距离抓取钢铁侠的距离更近。", + "frame": 79, + "progress": 14, + "progress_explanation": "当前爪夹又下降了一定高度，更加靠近了钢铁侠，因此进度提升为14%。", + "state_description": "当前爪夹张开，与钢铁侠的水平距离进一步缩短。\n为完成抓取钢铁侠使其位于礼品盒上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取钢铁侠，爪夹抬高并竖直上升。", + "time": 2.625541237113402 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动，并调整爪夹角度。\t", + "annotations": { + "bbox_1767858910018": { + "instances": [ + { + "height": 0.13399999999999992, + "id": "bbox_1767858910018_1767859100792_uvbimgrhy", + "width": 0.09299999999999997, + "x": 0.6913750000000001, + "y": 0.5273984374999999 + } + ], + "type": "bbox" + }, + "bbox_1767858910218": { + "instances": [ + { + "height": 0.199, + "id": "bbox_1767858910218_1767859115408_s2d65sl3r", + "width": 0.17300000000000004, + "x": 0.37437499999999996, + "y": 0.38439843749999997 + } + ], + "type": "bbox" + }, + "point_1767858911161": { + "instances": [ + { + "id": "point_1767858911161_1767859093544_hb0ca7k98", + "x": 0.6043749999999999, + "y": 0.3613984375 + } + ], + "type": "point" + }, + "point_1767858911370": { + "instances": [ + { + "id": "point_1767858911370_1767859090632_99sfva6y8", + "x": 0.662375, + "y": 0.3393984375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达钢铁侠的正上方后下降，合拢爪夹抓取钢铁侠后垂直上升，向爪夹方向的左前方移动，直至钢铁侠位于礼品盒的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上成功接近钢铁侠，并使爪夹角度垂直于桌面，方便抓取钢铁侠。", + "frame": 117, + "progress": 16, + "progress_explanation": "当前爪夹在水平方向上进一步接近钢铁侠并调整完爪夹角度方便抓取，因此进度提升为16%。", + "state_description": "当前爪夹张开，与钢铁侠的水平距离进一步缩短。\n为完成抓取钢铁侠使其位于礼品盒上的任务应当:爪夹继续向爪夹方向的右下方移动，下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取钢铁侠。", + "time": 3.8938123656043873 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动，并调整爪夹角度。\t", + "annotations": { + "bbox_1767858910018": { + "instances": [ + { + "height": 0.13700000000000004, + "id": "bbox_1767858910018_1767859147007_qx84kkto5", + "width": 0.09399999999999989, + "x": 0.6913750000000001, + "y": 0.5263984374999999 + } + ], + "type": "bbox" + }, + "bbox_1767858910218": { + "instances": [ + { + "height": 0.1969999999999999, + "id": "bbox_1767858910218_1767859130951_cr5hesvrt", + "width": 0.171, + "x": 0.376375, + "y": 0.38539843749999997 + } + ], + "type": "bbox" + }, + "point_1767858911161": { + "instances": [ + { + "id": "point_1767858911161_1767859162767_r154p6tpz", + "x": 0.689375, + "y": 0.4313984375 + } + ], + "type": "point" + }, + "point_1767858911370": { + "instances": [ + { + "id": "point_1767858911370_1767859166383_zvpc0qcuj", + "x": 0.709375, + "y": 0.3953984375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达钢铁侠的正上方后下降，合拢爪夹抓取钢铁侠后垂直上升，向爪夹方向的左后方移动，直至钢铁侠位于礼品盒的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近钢铁侠，并使爪夹角度垂直于桌面，方便抓取钢铁侠。", + "frame": 144, + "progress": 18, + "progress_explanation": "当前爪夹在水平方向上进一步接近钢铁侠并调整完爪夹角度方便抓取，因此进度提升为18%。", + "state_description": "当前爪夹张开，与钢铁侠的水平距离进一步缩短。\n为完成抓取钢铁侠使其位于礼品盒上的任务应当:爪夹继续向爪夹方向的右下方移动，下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取钢铁侠。", + "time": 4.798709802121337 + }, + { + "action_description": "爪夹向爪夹的右侧移动到钢铁侠的正上方。", + "annotations": { + "bbox_1767858910018": { + "instances": [ + { + "height": 0.133, + "id": "bbox_1767858910018_1767859183800_jx7mozc77", + "width": 0.09699999999999989, + "x": 0.6893750000000001, + "y": 0.5283984375 + } + ], + "type": "bbox" + }, + "bbox_1767858910218": { + "instances": [ + { + "height": 0.20100000000000004, + "id": "bbox_1767858910218_1767859200856_t9t4s3h0i", + "width": 0.17300000000000004, + "x": 0.37437499999999996, + "y": 0.38539843749999997 + } + ], + "type": "bbox" + }, + "point_1767858911161": { + "instances": [ + { + "id": "point_1767858911161_1767859176895_mp06faitd", + "x": 0.7513749999999999, + "y": 0.4863984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取钢铁侠后垂直上升，向爪夹方向的左前方移动，直至钢铁侠位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了钢铁侠的正上方，方便爪夹抓取。", + "frame": 164, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于钢铁侠正上方，已接近钢铁侠，因此进度提升为20%。\t", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到钢铁侠的正上方。\n为完成抓取钢铁侠使其位于礼品盒上的任务应当:向下合拢爪夹抓取钢铁侠后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到礼品盒的正上方。", + "time": 5.4516 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取钢铁侠。", + "annotations": { + "bbox_1767858910018": { + "instances": [ + { + "height": 0.11999999999999993, + "id": "bbox_1767858910018_1767859236568_3nikcu4je", + "width": 0.09499999999999993, + "x": 0.690375, + "y": 0.5393984374999999 + } + ], + "type": "bbox" + }, + "bbox_1767858910218": { + "instances": [ + { + "height": 0.19699999999999995, + "id": "bbox_1767858910218_1767859221704_d3ythkzq4", + "width": 0.17200000000000001, + "x": 0.37437499999999996, + "y": 0.38439843749999997 + } + ], + "type": "bbox" + }, + "point_1767858911161": { + "instances": [ + { + "id": "point_1767858911161_1767859250271_lb3qnurak", + "x": 0.747375, + "y": 0.5693984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧共同学习后垂直上升，向爪夹方向的左前方移动，直至钢铁侠位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了钢铁侠。", + "frame": 215, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到钢铁侠，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到钢铁侠。\n为完成抓取钢铁侠使其位于礼品盒上的任务应当:抓取钢铁侠后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到礼品盒的正上方。", + "time": 7.1820360824742275 + }, + { + "action_description": "爪夹保持合拢，夹紧钢铁侠后抬高爪夹。", + "annotations": { + "bbox_1767858910018": { + "instances": [ + { + "height": 0.13399999999999992, + "id": "bbox_1767858910018_1767859278399_ttfl2s1kj", + "width": 0.09800000000000005, + "x": 0.6843749999999998, + "y": 0.4913984375 + } + ], + "type": "bbox" + }, + "bbox_1767858910218": { + "instances": [ + { + "height": 0.19499999999999998, + "id": "bbox_1767858910218_1767859262311_1qtwpbgb7", + "width": 0.1710000000000001, + "x": 0.37637499999999996, + "y": 0.38439843749999997 + } + ], + "type": "bbox" + }, + "point_1767858911161": { + "instances": [ + { + "id": "point_1767858911161_1767859255039_txwio7qab", + "x": 0.747375, + "y": 0.5393984374999999 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧钢铁侠，爪夹向爪夹方向的右前方移动，直至钢铁侠位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到钢铁侠，爪夹向上方抬升靠近礼品盒。", + "frame": 239, + "progress": 45, + "progress_explanation": "当前爪夹已抓住钢铁侠，且爪夹与钢铁侠的高度略微抬升了，所以进度提升为45%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取钢铁侠使其位于礼品盒上的任务应当：爪夹向爪夹的右前方移动，直至移动到礼品盒的正上方后松开爪夹，使钢铁侠下落。", + "time": 7.957913133119106 + }, + { + "action_description": "爪夹抓住钢铁侠，爪夹向爪夹方向的正上方移动。", + "annotations": { + "bbox_1767858910018": { + "instances": [ + { + "height": 0.14600000000000002, + "id": "bbox_1767858910018_1767859336895_9i0owxqlb", + "width": 0.10199999999999995, + "x": 0.708375, + "y": 0.30939843749999996 + } + ], + "type": "bbox" + }, + "bbox_1767858910218": { + "instances": [ + { + "height": 0.19499999999999992, + "id": "bbox_1767858910218_1767859324535_jmh5ukffq", + "width": 0.16899999999999996, + "x": 0.377375, + "y": 0.38639843749999997 + } + ], + "type": "bbox" + }, + "point_1767858911161": { + "instances": [ + { + "id": "point_1767858911161_1767859319215_5r5aabfux", + "x": 0.771375, + "y": 0.3483984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧钢铁侠，向爪夹方向的左前方移动，直至钢铁侠位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹夹紧钢铁侠竖直上升，爪夹更容易将钢铁侠放在礼品盒上。", + "frame": 303, + "progress": 60, + "progress_explanation": "当前钢铁侠的高度上升，与礼品盒的距离缩短，更方便爪夹将钢铁侠放在礼品盒上，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时钢铁侠位于礼品盒的右上方。\n为完成抓取钢铁侠使其位于礼品盒上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到礼品盒正上方后松开爪夹，使钢铁侠下落。", + "time": 10.103273195876287 + }, + { + "action_description": "爪夹夹紧钢铁侠，向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767858910018": { + "instances": [ + { + "height": 0.13999999999999999, + "id": "bbox_1767858910018_1767859353871_li1yiql0o", + "width": 0.10099999999999992, + "x": 0.623375, + "y": 0.2413984375 + } + ], + "type": "bbox" + }, + "bbox_1767858910218": { + "instances": [ + { + "height": 0.1969999999999999, + "id": "bbox_1767858910218_1767859370167_ygockgd8r", + "width": 0.17399999999999996, + "x": 0.375375, + "y": 0.38639843749999997 + } + ], + "type": "bbox" + }, + "point_1767858911161": { + "instances": [ + { + "id": "point_1767858911161_1767859382207_enzjs1b2i", + "x": 0.680375, + "y": 0.26439843749999997 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧钢铁侠，继续向爪夹方向的左后方移动，直至钢铁侠位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到钢铁侠，并且进一步向着礼品盒的方向移动。", + "frame": 347, + "progress": 70, + "progress_explanation": "当前爪夹已夹紧钢铁侠，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为70%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时钢铁侠位于礼品盒的右上方。\n为完成抓取钢铁侠使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使钢铁侠下落。", + "time": 11.5808 + }, + { + "action_description": "爪夹夹紧钢铁侠，继续向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767858910018": { + "instances": [ + { + "height": 0.136, + "id": "bbox_1767858910018_1767859409158_4erk7z2pq", + "width": 0.10199999999999995, + "x": 0.5303749999999999, + "y": 0.2553984375 + } + ], + "type": "bbox" + }, + "bbox_1767858910218": { + "instances": [ + { + "height": 0.19599999999999998, + "id": "bbox_1767858910218_1767859395031_mmsmrkmcs", + "width": 0.17199999999999996, + "x": 0.377375, + "y": 0.3873984375 + } + ], + "type": "bbox" + }, + "point_1767858911161": { + "instances": [ + { + "id": "point_1767858911161_1767859387639_02tj1narr", + "x": 0.584375, + "y": 0.2813984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧钢铁侠，继续向爪夹方向的左后方移动，直至钢铁侠位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到钢铁侠，并且进一步向着礼品盒的方向移动。", + "frame": 372, + "progress": 75, + "progress_explanation": "当前爪夹已夹紧钢铁侠，与上一进度相比，在水平方向上更加接近礼品盒，因此进度提升为75%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时钢铁侠位于礼品盒的左上方。\n为完成抓取幻视使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使钢铁侠下落。", + "time": 12.413217333870296 + }, + { + "action_description": "爪夹保持合拢，抓紧钢铁侠向爪夹方向的右侧移动。", + "annotations": { + "bbox_1767858910018": { + "instances": [ + { + "height": 0.125, + "id": "bbox_1767858910018_1767859423862_fg9lviijg", + "width": 0.08799999999999995, + "x": 0.437375, + "y": 0.27439843750000004 + } + ], + "type": "bbox" + }, + "bbox_1767858910218": { + "instances": [ + { + "height": 0.19500000000000003, + "id": "bbox_1767858910218_1767859434413_15j9t4mly", + "width": 0.17399999999999996, + "x": 0.375375, + "y": 0.38539843749999997 + } + ], + "type": "bbox" + }, + "point_1767858911161": { + "instances": [ + { + "id": "point_1767858911161_1767859448478_sm2blzvl3", + "x": 0.476375, + "y": 0.29639843749999994 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使钢铁侠下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了礼品盒的正上方。", + "frame": 423, + "progress": 80, + "progress_explanation": "当前爪夹已抓住钢铁侠，并移动到了礼品盒的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住钢铁侠处于礼品盒方向的正上方。\n为完成抓取钢铁侠使其位于礼品盒上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使钢铁侠下落。", + "time": 14.088221649484536 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767858910018": { + "instances": [ + { + "height": 0.128, + "id": "bbox_1767858910018_1767859462853_3x14fn6g6", + "width": 0.08499999999999996, + "x": 0.429375, + "y": 0.2763984375 + } + ], + "type": "bbox" + }, + "bbox_1767858910218": { + "instances": [ + { + "height": 0.19699999999999995, + "id": "bbox_1767858910218_1767859470773_dd2568i8r", + "width": 0.173, + "x": 0.376375, + "y": 0.38439843749999997 + } + ], + "type": "bbox" + }, + "point_1767858911161": { + "instances": [ + { + "id": "point_1767858911161_1767859454006_qols8qw0i", + "x": 0.46437500000000004, + "y": 0.2993984375 + } + ], + "type": "point" + } + }, + "correction_plan": "钢铁侠位于礼品盒的上方完成了目标任务。", + "error_success_analysis": "爪夹张开使钢铁侠位于礼品盒的上方，成功完成任务。", + "frame": 441, + "progress": 100, + "progress_explanation": "当前幻视位于礼品盒的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，钢铁侠下降了一定距离，抓取钢铁侠使其位于礼品盒上的目标任务完成。", + "time": 14.691520618556702 + }, + { + "action_description": "爪夹保持打开状态，重新回到初始状态。\t", + "annotations": { + "bbox_1767858910018": { + "instances": [ + { + "height": 0.11499999999999998, + "id": "bbox_1767858910018_1767859500230_gezdaiady", + "width": 0.08000000000000007, + "x": 0.6673749999999999, + "y": 0.39639843750000003 + } + ], + "type": "bbox" + }, + "bbox_1767858910218": { + "instances": [ + { + "height": 0.206, + "id": "bbox_1767858910218_1767859487701_0shdhgll3", + "width": 0.20299999999999999, + "x": 0.21637499999999996, + "y": 0.41039843749999994 + } + ], + "type": "bbox" + }, + "point_1767858911161": { + "instances": [ + { + "id": "point_1767858911161_1767859509693_ttm2gjlr4", + "x": 0.465375, + "y": 0.1283984375 + } + ], + "type": "point" + }, + "point_1767858911370": { + "instances": [ + { + "id": "point_1767858911370_1767859517653_lxwj9sp9p", + "x": 0.544375, + "y": 0.1303984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达钢铁侠的正上方后下降，合拢爪夹抓取钢铁侠后垂直上升，向爪夹方向的左后方移动，直至钢铁侠位于礼品盒的正上方。", + "error_success_analysis": "爪夹又重新回到初始状态，钢铁侠也位于原点。", + "frame": 447, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取钢铁侠，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，回到初始状态，没有接触钢铁侠。\n为完成抓取钢铁侠使其位于礼品盒上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取钢铁侠。", + "time": 14.8918 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767858910018", + "name": "钢铁侠" + }, + { + "color": "#FF9800", + "id": "bbox_1767858910218", + "name": "礼品盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767858911161", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767858911370", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000567.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000567.json new file mode 100644 index 0000000000000000000000000000000000000000..906b3e6f868e2da09a7d3ae2ebd97991a277a88d --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000567.json @@ -0,0 +1,724 @@ +{ + "task_description": "抓取山治使其位于礼品盒上。\n爪夹开始移动：0%\n爪夹靠近山治：20%\n爪夹抓取山治：40%\n爪夹抓住山治靠近礼品盒：60%\n爪夹抓住山治位于礼品盒上：80%\n爪夹松开，山治下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767862455741": { + "instances": [ + { + "height": 0.171, + "id": "bbox_1767862455741_1767862542300_d8z75jnby", + "width": 0.1759999999999999, + "x": 0.6753750000000001, + "y": 0.4983984375 + } + ], + "type": "bbox" + }, + "bbox_1767862455933": { + "instances": [ + { + "height": 0.18200000000000002, + "id": "bbox_1767862455933_1767862560956_45if6pr40", + "width": 0.18299999999999997, + "x": 0.252375, + "y": 0.34939843749999994 + } + ], + "type": "bbox" + }, + "point_1767862456869": { + "instances": [ + { + "id": "point_1767862456869_1767862570261_8wumakvx8", + "x": 0.462375, + "y": 0.1323984375 + } + ], + "type": "point" + }, + "point_1767862457093": { + "instances": [ + { + "id": "point_1767862457093_1767862574069_jo5ezqxco", + "x": 0.5413749999999999, + "y": 0.1353984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达山治的正上方后下降，合拢爪夹抓取山治后垂直上升，向爪夹方向的左后方移动，直至山治位于礼品盒的正上方。", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触山治。\n为完成抓取山治使其位于礼品盒上的任务应当:爪夹向爪夹的右前方移动并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的正下方移动，准备抓取山治。", + "time": 0.07996526029921068 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767862455741": { + "instances": [ + { + "height": 0.17200000000000001, + "id": "bbox_1767862455741_1767862613349_n4hrrnstm", + "width": 0.17200000000000001, + "x": 0.677375, + "y": 0.4988984375 + } + ], + "type": "bbox" + }, + "bbox_1767862455933": { + "instances": [ + { + "height": 0.186, + "id": "bbox_1767862455933_1767862596484_rgyggojsi", + "width": 0.17900000000000002, + "x": 0.25537499999999996, + "y": 0.3458984375 + } + ], + "type": "bbox" + }, + "point_1767862456869": { + "instances": [ + { + "id": "point_1767862456869_1767862588973_36y0g8zfe", + "x": 0.47537499999999994, + "y": 0.1778984375 + } + ], + "type": "point" + }, + "point_1767862457093": { + "instances": [ + { + "id": "point_1767862457093_1767862585733_pvc9it906", + "x": 0.5603750000000001, + "y": 0.1778984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达山治的正上方后下降，合拢爪夹抓取山治后垂直上升，向爪夹方向的左后方移动，直至山治位于礼品盒的正上方。", + "error_success_analysis": "爪夹向右下方移动，距离抓取山治的距离更近。", + "frame": 30, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了山治，因此进度提升为10%。", + "state_description": "当前爪夹张开，与山治的水平距离略微缩短。\n为完成抓取山治使其位于礼品盒上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取山治，爪夹抬高并竖直上升。", + "time": 1.0054468607383882 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度。\t", + "annotations": { + "bbox_1767862455741": { + "instances": [ + { + "height": 0.16999999999999998, + "id": "bbox_1767862455741_1767862636428_5229s3o6s", + "width": 0.17300000000000015, + "x": 0.6773749999999998, + "y": 0.49814843750000004 + } + ], + "type": "bbox" + }, + "bbox_1767862455933": { + "instances": [ + { + "height": 0.18500000000000008, + "id": "bbox_1767862455933_1767862661004_gysy11h9z", + "width": 0.18000000000000002, + "x": 0.25437499999999996, + "y": 0.34714843749999996 + } + ], + "type": "bbox" + }, + "point_1767862456869": { + "instances": [ + { + "id": "point_1767862456869_1767862670196_ihxiza8rk", + "x": 0.6263749999999999, + "y": 0.2971484375 + } + ], + "type": "point" + }, + "point_1767862457093": { + "instances": [ + { + "id": "point_1767862457093_1767862674836_bx4z0qzn3", + "x": 0.705375, + "y": 0.28414843749999996 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达山治的正上方后下降，合拢爪夹抓取山治后垂直上升，向爪夹方向的左后方移动，直至山治位于礼品盒的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近山治，并使爪夹角度垂直于桌面，方便抓取山治。", + "frame": 98, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近山治并调整完爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与山治的水平距离进一步缩短。\n为完成抓取山治使其位于礼品盒上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取山治。", + "time": 3.2526975766508004 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动，并旋转调整爪夹角度。\t", + "annotations": { + "bbox_1767862455741": { + "instances": [ + { + "height": 0.17299999999999988, + "id": "bbox_1767862455741_1767862706468_efc577bo7", + "width": 0.17399999999999996, + "x": 0.6753750000000001, + "y": 0.4976484375 + } + ], + "type": "bbox" + }, + "bbox_1767862455933": { + "instances": [ + { + "height": 0.18800000000000003, + "id": "bbox_1767862455933_1767862691588_6rluvp2t8", + "width": 0.183, + "x": 0.251375, + "y": 0.34764843749999996 + } + ], + "type": "bbox" + }, + "point_1767862456869": { + "instances": [ + { + "id": "point_1767862456869_1767862685548_23ztebxc2", + "x": 0.700375, + "y": 0.3816484375 + } + ], + "type": "point" + }, + "point_1767862457093": { + "instances": [ + { + "id": "point_1767862457093_1767862682084_sdzr3m1zs", + "x": 0.737375, + "y": 0.3476484375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达山治的正上方后下降，合拢爪夹抓取山治后垂直上升，向爪夹方向的左后方移动，直至幻视位于礼品盒的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹继续向爪夹方向的右下方移动，水平方向上成功接近山治，并使爪夹角度垂直于桌面，方便抓取山治。", + "frame": 123, + "progress": 18, + "progress_explanation": "当前爪夹在水平方向上进一步接近山治并调整完爪夹角度方便抓取，因此进度提升为18%。", + "state_description": "当前爪夹张开，与山治的水平距离进一步缩短。\n为完成抓取山治使其位于礼品盒上的任务应当:继续下降爪夹高度并调整爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取山治。", + "time": 4.105574681348418 + }, + { + "action_description": "爪夹向爪夹的右侧移动到山治的正上方。", + "annotations": { + "bbox_1767862455741": { + "instances": [ + { + "height": 0.16999999999999998, + "id": "bbox_1767862455741_1767862727388_zw5kwubbn", + "width": 0.17200000000000001, + "x": 0.677375, + "y": 0.4978984375 + } + ], + "type": "bbox" + }, + "bbox_1767862455933": { + "instances": [ + { + "height": 0.184, + "id": "bbox_1767862455933_1767862738820_61849j3s5", + "width": 0.18, + "x": 0.252375, + "y": 0.3488984375 + } + ], + "type": "bbox" + }, + "point_1767862456869": { + "instances": [ + { + "id": "point_1767862456869_1767862757932_no11bzc1g", + "x": 0.7673749999999999, + "y": 0.4608984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取山治后垂直上升，向爪夹方向的左后方移动，直至山治位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了山治的正上方，方便爪夹抓取。", + "frame": 148, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于山治正上方，已接近山治，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到山治的正上方。\n为完成抓取山治使其位于礼品盒上的任务应当:向下合拢爪夹抓取山治后垂直抬起爪夹，然后向爪夹的左后方移动，直至移动到礼品盒的正上方。", + "time": 4.931881256694612 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取山治。", + "annotations": { + "bbox_1767862455741": { + "instances": [ + { + "height": 0.16200000000000003, + "id": "bbox_1767862455741_1767862775588_p59qd84wk", + "width": 0.1710000000000001, + "x": 0.679375, + "y": 0.5056484375 + } + ], + "type": "bbox" + }, + "bbox_1767862455933": { + "instances": [ + { + "height": 0.18499999999999997, + "id": "bbox_1767862455933_1767862783739_dmdp1zkv5", + "width": 0.18299999999999997, + "x": 0.252375, + "y": 0.34964843749999996 + } + ], + "type": "bbox" + }, + "point_1767862456869": { + "instances": [ + { + "id": "point_1767862456869_1767862767027_kdadhdg8w", + "x": 0.7613749999999999, + "y": 0.5466484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧山治后垂直上升，向爪夹方向的左后方移动，直至山治位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了山治。", + "frame": 203, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到山治，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到山治。\n为完成抓取山治使其位于礼品盒上的任务应当:抓取山治后垂直抬起爪夹，然后向爪夹的左后方移动，直至移动到礼品盒的正上方。", + "time": 6.760940721649484 + }, + { + "action_description": "爪夹保持合拢，夹紧山治后抬高爪夹。", + "annotations": { + "bbox_1767862455741": { + "instances": [ + { + "height": 0.16999999999999993, + "id": "bbox_1767862455741_1767862813291_iko11aaym", + "width": 0.17400000000000007, + "x": 0.685375, + "y": 0.4208984375 + } + ], + "type": "bbox" + }, + "bbox_1767862455933": { + "instances": [ + { + "height": 0.18500000000000003, + "id": "bbox_1767862455933_1767862802155_rmfy81818", + "width": 0.18599999999999997, + "x": 0.25037499999999996, + "y": 0.35089843749999994 + } + ], + "type": "bbox" + }, + "point_1767862456869": { + "instances": [ + { + "id": "point_1767862456869_1767862817891_i6urdbtgy", + "x": 0.766375, + "y": 0.4658984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧山治，爪夹向爪夹方向的左后方移动，直至山治位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到山治，爪夹向上方缓慢抬升。", + "frame": 81, + "progress": 50, + "progress_explanation": "当前爪夹已抓住山治，且爪夹与山治的高度略微抬升了，所以进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取山治使其位于礼品盒上的任务应当：爪夹继续抬高，与机械臂保持水平后向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使山治下落。", + "time": 8.133333333333333 + }, + { + "action_description": "爪夹抓住山治，爪夹继续向爪夹方向的正上方移动。", + "annotations": { + "bbox_1767862455741": { + "instances": [ + { + "height": 0.18999999999999997, + "id": "bbox_1767862455741_1767862853227_awm63vljm", + "width": 0.1990000000000001, + "x": 0.7103749999999999, + "y": 0.2056484375 + } + ], + "type": "bbox" + }, + "bbox_1767862455933": { + "instances": [ + { + "height": 0.18599999999999994, + "id": "bbox_1767862455933_1767862834595_2vu3bvjzk", + "width": 0.18300000000000002, + "x": 0.25137499999999996, + "y": 0.3466484375 + } + ], + "type": "bbox" + }, + "point_1767862456869": { + "instances": [ + { + "id": "point_1767862456869_1767862828571_c2ovv338z", + "x": 0.805375, + "y": 0.2366484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧山治，向爪夹方向的左后方移动，直至山治位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹夹紧山治竖直上升，爪夹更容易将山治放在礼品盒上。", + "frame": 305, + "progress": 55, + "progress_explanation": "当前山治的高度上升，与礼品盒的距离缩短，更方便爪夹将山治放在礼品盒上，因此进度提升为55%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时山治位于礼品盒的左上方。\n为完成抓取山治使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒正上方后松开爪夹，使山治下落。", + "time": 10.17241054386431 + }, + { + "action_description": "爪夹夹紧山治，向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767862455741": { + "instances": [ + { + "height": 0.17399999999999996, + "id": "bbox_1767862455741_1767862869083_wfiixsujb", + "width": 0.181, + "x": 0.6013749999999999, + "y": 0.2348984375 + } + ], + "type": "bbox" + }, + "bbox_1767862455933": { + "instances": [ + { + "height": 0.19299999999999998, + "id": "bbox_1767862455933_1767862880666_u8e81b5wq", + "width": 0.18599999999999997, + "x": 0.249375, + "y": 0.3458984375 + } + ], + "type": "bbox" + }, + "point_1767862456869": { + "instances": [ + { + "id": "point_1767862456869_1767862894530_emnboo37l", + "x": 0.687375, + "y": 0.26289843749999997 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧山治，继续向爪夹方向的左后方移动，直至山治位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到山治，并且进一步向着礼品盒的方向移动。", + "frame": 353, + "progress": 60, + "progress_explanation": "当前爪夹已夹紧山治，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时山治位于礼品盒的右上方。\n为完成抓取山治使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使山治下落。", + "time": 11.751160184879913 + }, + { + "action_description": "爪夹夹紧山治，继续向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767862455741": { + "instances": [ + { + "height": 0.16799999999999998, + "id": "bbox_1767862455741_1767862922273_tpxzmb4h9", + "width": 0.169, + "x": 0.481375, + "y": 0.24089843749999998 + } + ], + "type": "bbox" + }, + "bbox_1767862455933": { + "instances": [ + { + "height": 0.186, + "id": "bbox_1767862455933_1767862909602_2faisiqjw", + "width": 0.18500000000000003, + "x": 0.24937499999999999, + "y": 0.3468984375 + } + ], + "type": "bbox" + }, + "point_1767862456869": { + "instances": [ + { + "id": "point_1767862456869_1767862902482_i0hqywvar", + "x": 0.561375, + "y": 0.2768984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧山治，继续向爪夹方向的左后方移动，直至山治位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到山治，并且进一步向着礼品盒的方向移动。", + "frame": 393, + "progress": 65, + "progress_explanation": "当前爪夹已夹紧山治，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为65%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时山治位于礼品盒的右上方。\n为完成抓取山治使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使山治下落。", + "time": 13.106368841962839 + }, + { + "action_description": "爪夹夹紧山治，继续向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767862455741": { + "instances": [ + { + "height": 0.175, + "id": "bbox_1767862455741_1767862934746_tasn8lus5", + "width": 0.16800000000000004, + "x": 0.341375, + "y": 0.24414843749999998 + } + ], + "type": "bbox" + }, + "bbox_1767862455933": { + "instances": [ + { + "height": 0.186, + "id": "bbox_1767862455933_1767862945171_8kob1rv4y", + "width": 0.183, + "x": 0.24937499999999999, + "y": 0.3481484375 + } + ], + "type": "bbox" + }, + "point_1767862456869": { + "instances": [ + { + "id": "point_1767862456869_1767862959834_8ax03q8jf", + "x": 0.415375, + "y": 0.2806484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧山治，继续向爪夹方向的左后方移动，直至山治位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到山治，并且进一步向着礼品盒的方向移动。", + "frame": 444, + "progress": 70, + "progress_explanation": "当前爪夹已夹紧山治，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为70%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时山治位于礼品盒的右上方。\n为完成抓取山治使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使山治下落。", + "time": 14.806713917525771 + }, + { + "action_description": "爪夹保持合拢，抓紧山治向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767862455741": { + "instances": [ + { + "height": 0.15999999999999998, + "id": "bbox_1767862455741_1767862982394_665tc3pkg", + "width": 0.15099999999999997, + "x": 0.286375, + "y": 0.2316484375 + } + ], + "type": "bbox" + }, + "bbox_1767862455933": { + "instances": [ + { + "height": 0.184, + "id": "bbox_1767862455933_1767862989474_7d7j95zg2", + "width": 0.182, + "x": 0.252375, + "y": 0.34864843749999996 + } + ], + "type": "bbox" + }, + "point_1767862456869": { + "instances": [ + { + "id": "point_1767862456869_1767862967435_x4evkhhsh", + "x": 0.351375, + "y": 0.2646484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使山治下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了礼品盒的正上方。", + "frame": 495, + "progress": 80, + "progress_explanation": "当前爪夹已抓住山治，并移动到了礼品盒的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住山治处于礼品盒方向的正上方。\n为完成抓取山治使其位于礼品盒上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使山治下落。", + "time": 16.5016413378756 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767862455741": { + "instances": [ + { + "height": 0.15899999999999997, + "id": "bbox_1767862455741_1767863029178_zq45fknmv", + "width": 0.145, + "x": 0.27537500000000004, + "y": 0.2318984375 + } + ], + "type": "bbox" + }, + "bbox_1767862455933": { + "instances": [ + { + "height": 0.189, + "id": "bbox_1767862455933_1767863011506_mtp31ndwq", + "width": 0.17700000000000002, + "x": 0.25537499999999996, + "y": 0.34689843750000005 + } + ], + "type": "bbox" + }, + "point_1767862456869": { + "instances": [ + { + "id": "point_1767862456869_1767863033794_qojn1744c", + "x": 0.335375, + "y": 0.26289843749999997 + } + ], + "type": "point" + } + }, + "correction_plan": "山治位于礼品盒上的目标任务完成了。", + "error_success_analysis": "爪夹张开使山治位于礼品盒的上方，成功完成任务。", + "frame": 511, + "progress": 100, + "progress_explanation": "当前山治位于礼品盒的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，山治下降了一定距离，抓取山治使其位于礼品盒上的目标任务完成。", + "time": 17.021146907216494 + }, + { + "action_description": "爪夹保持打开状态，重新回到初始状态。\t", + "annotations": { + "bbox_1767862455741": { + "instances": [ + { + "height": 0.16800000000000004, + "id": "bbox_1767862455741_1767863092097_hwk72wfu6", + "width": 0.17200000000000013, + "x": 0.672375, + "y": 0.4941484375 + } + ], + "type": "bbox" + }, + "bbox_1767862455933": { + "instances": [ + { + "height": 0.18800000000000003, + "id": "bbox_1767862455933_1767863077217_twdla0nd2", + "width": 0.15900000000000006, + "x": 0.38537499999999997, + "y": 0.3801484375 + } + ], + "type": "bbox" + }, + "point_1767862456869": { + "instances": [ + { + "id": "point_1767862456869_1767863064857_hrmdefykc", + "x": 0.48037499999999994, + "y": 0.1421484375 + } + ], + "type": "point" + }, + "point_1767862457093": { + "instances": [ + { + "id": "point_1767862457093_1767863068273_4tlkxjd5s", + "x": 0.5163749999999999, + "y": 0.13914843749999997 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达山治的正上方后下降，合拢爪夹抓取山治后垂直上升，向爪夹方向的左后方移动，直至山治位于礼品盒的正上方后松开爪夹，山治下落。", + "error_success_analysis": "爪夹又重新回到初始状态，山治也位于原点。", + "frame": 518, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取山治，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，回到初始状态，没有接触山治。\n为完成抓取山治使其位于礼品盒上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取山治。", + "time": 17.2735 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767862455741", + "name": "山治" + }, + { + "color": "#FF9800", + "id": "bbox_1767862455933", + "name": "礼品盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767862456869", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767862457093", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000570.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000570.json new file mode 100644 index 0000000000000000000000000000000000000000..e06efd6b6092c0e4c80da0cd4453a9211cae626b --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000570.json @@ -0,0 +1,668 @@ +{ + "task_description": "抓取山治使其位于礼品盒上。\n爪夹开始移动：0%\n爪夹靠近纳米：20%\n爪夹抓取纳米：40%\n爪夹抓住纳米靠近礼品盒：60%\n爪夹抓住纳米位于礼品盒上：80%\n爪夹松开，纳米下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767866120856": { + "instances": [ + { + "height": 0.1350021562836919, + "id": "bbox_1767866120856_1767866292296_mv0gtu320", + "width": 0.12000189065454142, + "x": 0.273277691838935, + "y": 0.3742792387381053 + } + ], + "type": "bbox" + }, + "bbox_1767866121072": { + "instances": [ + { + "height": 0.23200000000000004, + "id": "bbox_1767866121072_1767866307599_0y5xpltwz", + "width": 0.225, + "x": 0.6243333129882812, + "y": 0.47366666412353514 + } + ], + "type": "bbox" + }, + "point_1767866121840": { + "instances": [ + { + "id": "point_1767866121840_1767866318982_k80azghbb", + "x": 0.46433331298828123, + "y": 0.12966666412353517 + } + ], + "type": "point" + }, + "point_1767866122096": { + "instances": [ + { + "id": "point_1767866122096_1767866322223_9v2os8zcz", + "x": 0.5413333129882811, + "y": 0.13066666412353514 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达纳米的正上方后下降，合拢爪夹抓取纳米后垂直上升，向爪夹方向的右前方移动，直至纳米位于礼品盒的正上方。", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触纳米。\n为完成抓取纳米使其位于礼品盒上的任务应当:爪夹向爪夹的左前方移动并调整爪夹角度，使其垂直于桌面。然后爪夹竖直下落，准备抓取纳米。", + "time": 0.07936891444586726 + }, + { + "action_description": "爪夹向爪夹方向的左前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767866120856": { + "instances": [ + { + "height": 0.13199999999999998, + "id": "bbox_1767866120856_1767866339159_7u8mk0wp2", + "width": 0.11599999999999995, + "x": 0.2733333129882813, + "y": 0.37466666412353516 + } + ], + "type": "bbox" + }, + "bbox_1767866121072": { + "instances": [ + { + "height": 0.233, + "id": "bbox_1767866121072_1767866345758_sgouyroot", + "width": 0.22900000000000004, + "x": 0.6243333129882812, + "y": 0.46966666412353514 + } + ], + "type": "bbox" + }, + "point_1767866121840": { + "instances": [ + { + "id": "point_1767866121840_1767866358087_vhahe2j0n", + "x": 0.4233333129882812, + "y": 0.19366666412353514 + } + ], + "type": "point" + }, + "point_1767866122096": { + "instances": [ + { + "id": "point_1767866122096_1767866361662_cqhbfptq8", + "x": 0.49933331298828126, + "y": 0.18966666412353514 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达纳米的正上方后下降，合拢爪夹抓取纳米后垂直上升，向爪夹方向的右前方移动，直至纳米位于礼品盒的正上方。", + "error_success_analysis": "爪夹向左下方移动，距离抓取纳米的距离更近，更加方便抓取纳米。", + "frame": 27, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，爪夹距离纳米的距离缩短，因此进度提升为10%。", + "state_description": "当前爪夹张开，与纳米的水平距离略微缩短。\n为完成抓取纳米使其位于礼品盒上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取纳米，爪夹抬高并竖直上升。", + "time": 0.9017911781584631 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并旋转和调整爪夹角度。\t", + "annotations": { + "bbox_1767866120856": { + "instances": [ + { + "height": 0.13700000000000004, + "id": "bbox_1767866120856_1767866380975_ulcy6t1lx", + "width": 0.11699999999999999, + "x": 0.27533331298828123, + "y": 0.3736666641235351 + } + ], + "type": "bbox" + }, + "bbox_1767866121072": { + "instances": [ + { + "height": 0.22900000000000004, + "id": "bbox_1767866121072_1767866387631_sgu7lc6cj", + "width": 0.23099999999999998, + "x": 0.6203333129882812, + "y": 0.47366666412353514 + } + ], + "type": "bbox" + }, + "point_1767866121840": { + "instances": [ + { + "id": "point_1767866121840_1767866374263_ttgupz6cj", + "x": 0.36133331298828125, + "y": 0.27266666412353513 + } + ], + "type": "point" + }, + "point_1767866122096": { + "instances": [ + { + "id": "point_1767866122096_1767866370423_jyb8l0zib", + "x": 0.41433340673974606, + "y": 0.2456666172478027 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，到达纳米的正上方后下降，合拢爪夹抓取纳米后垂直上升，向爪夹方向的右前方移动，直至纳米位于礼品盒的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上成功接近纳米，并使爪夹角度垂直于桌面，方便抓取纳米。", + "frame": 65, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近纳米并调整完爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与纳米的水平距离进一步缩短。\n为完成抓取纳米使其位于礼品盒上的任务应当:爪夹继续向爪夹方向的左前方移动并下降爪夹高度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取纳米。", + "time": 2.1714159156619712 + }, + { + "action_description": "爪夹向爪夹的左侧移动到纳米的正上方。", + "annotations": { + "bbox_1767866120856": { + "instances": [ + { + "height": 0.13699999999999998, + "id": "bbox_1767866120856_1767866416303_1593yaztd", + "width": 0.11900000000000001, + "x": 0.27533331298828123, + "y": 0.374 + } + ], + "type": "bbox" + }, + "bbox_1767866121072": { + "instances": [ + { + "height": 0.23099999999999993, + "id": "bbox_1767866121072_1767866403711_i2kive275", + "width": 0.23399999999999999, + "x": 0.6193333129882812, + "y": 0.47100000000000003 + } + ], + "type": "bbox" + }, + "point_1767866121840": { + "instances": [ + { + "id": "point_1767866121840_1767866457022_tzgdinkbw", + "x": 0.3173333129882812, + "y": 0.331 + } + ], + "type": "point" + }, + "point_1767866122096": { + "instances": [ + { + "id": "point_1767866122096_1767866453430_vn1y2ho5l", + "x": 0.3323333129882812, + "y": 0.302 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取纳米后垂直上升，向爪夹方向的右前方移动，直至纳米位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了纳米的正上方，方便爪夹抓取。", + "frame": 99, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于纳米正上方，已接近纳米，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到纳米的正上方。\n为完成抓取纳米使其位于礼品盒上的任务应当:向下合拢爪夹抓取纳米后垂直抬起爪夹，然后向爪夹的右前方移动，直至移动到礼品盒的正上方。", + "time": 3.3019329896907217 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取纳米。", + "annotations": { + "bbox_1767866120856": { + "instances": [ + { + "height": 0.125, + "id": "bbox_1767866120856_1767866472390_s52439ngy", + "width": 0.12100000000000002, + "x": 0.27533331298828123, + "y": 0.386 + } + ], + "type": "bbox" + }, + "bbox_1767866121072": { + "instances": [ + { + "height": 0.23500000000000001, + "id": "bbox_1767866121072_1767866478222_79ijeojoc", + "width": 0.2249999999999999, + "x": 0.6253333129882813, + "y": 0.46799999999999997 + } + ], + "type": "bbox" + }, + "point_1767866121840": { + "instances": [ + { + "id": "point_1767866121840_1767866467759_9jzbp6k6f", + "x": 0.3273333129882812, + "y": 0.40599999999999997 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧纳米后垂直上升，向爪夹方向的右前方移动，直至纳米位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了纳米。", + "frame": 137, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到纳米，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到纳米。\n为完成抓取纳米使其位于礼品盒上的任务应当:抓取纳米后垂直抬起爪夹，然后向爪夹的右前方移动，直至移动到礼品盒的正上方。", + "time": 4.551211340206185 + }, + { + "action_description": "爪夹保持合拢，夹紧纳米后抬高爪夹。", + "annotations": { + "bbox_1767866120856": { + "instances": [ + { + "height": 0.125, + "id": "bbox_1767866120856_1767866500502_lpwhxqdqn", + "width": 0.11600000000000002, + "x": 0.27533331298828123, + "y": 0.34566666412353514 + } + ], + "type": "bbox" + }, + "bbox_1767866121072": { + "instances": [ + { + "height": 0.22899999999999998, + "id": "bbox_1767866121072_1767866495222_dtdicidd8", + "width": 0.228, + "x": 0.6233333129882812, + "y": 0.47266666412353514 + } + ], + "type": "bbox" + }, + "point_1767866122096": { + "instances": [ + { + "id": "point_1767866122096_1767919874501_mc5gh9nls", + "x": 0.32203392051456575, + "y": 0.35867042213365263 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧纳米，爪夹向爪夹方向的右前方移动，直至纳米位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到纳米，爪夹向上方缓慢抬升。", + "frame": 177, + "progress": 45, + "progress_explanation": "当前爪夹已抓住纳米，且爪夹与纳米的高度略微抬升了，所以进度提升为45%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取纳米使其位于礼品盒上的任务应当：爪夹继续抬高，与机械臂保持水平后向爪夹的右前方移动，直至移动到礼品盒的正上方后松开爪夹，使纳米下落。", + "time": 5.8841874374839716 + }, + { + "action_description": "爪夹抓住纳米，夹紧纳米后继续抬高爪夹。", + "annotations": { + "bbox_1767866120856": { + "instances": [ + { + "height": 0.14454277286135694, + "id": "bbox_1767866120856_1767920381786_z7c7lux60", + "width": 0.11799410029498526, + "x": 0.25958702064896755, + "y": 0.22861356932153393 + } + ], + "type": "bbox" + }, + "bbox_1767866121072": { + "instances": [ + { + "height": 0.23451327433628322, + "id": "bbox_1767866121072_1767920389202_iynfyyaih", + "width": 0.22861356932153393, + "x": 0.6238938053097345, + "y": 0.4690265486725663 + } + ], + "type": "bbox" + }, + "point_1767866122096": { + "instances": [ + { + "id": "point_1767866122096_1767920375226_w9d8oequk", + "x": 0.31710914454277284, + "y": 0.24188790560471976 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧纳米，向爪夹方向的右前方移动，直至纳米位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹夹紧纳米竖直上升，爪夹更容易将纳米放在礼品盒上。", + "frame": 224, + "progress": 50, + "progress_explanation": "当前纳米的高度上升，更方便爪夹将纳米放在礼品盒上，因此进度提升为50%", + "state_description": "当前爪夹合拢，垂直于桌面，此时纳米位于礼品盒的左上方。\n为完成抓取纳米使其位于礼品盒上的任务应当：爪夹继续向爪夹的右前方移动，直至移动到礼品盒正上方后松开爪夹，使纳米下落。", + "time": 7.462321999261283 + }, + { + "action_description": "爪夹抓住纳米，爪夹向爪夹方向的正上方移动。", + "annotations": { + "bbox_1767866120856": { + "instances": [ + { + "height": 0.1489675516224189, + "id": "bbox_1767866120856_1767920415555_olxbd8hov", + "width": 0.12684365781710916, + "x": 0.24336283185840704, + "y": 0.11769911391896834 + } + ], + "type": "bbox" + }, + "bbox_1767866121072": { + "instances": [ + { + "height": 0.23008849557522115, + "id": "bbox_1767866121072_1767920410242_rpiiftzod", + "width": 0.22566371681415934, + "x": 0.6253687315634218, + "y": 0.4716814148039241 + } + ], + "type": "bbox" + }, + "point_1767866122096": { + "instances": [ + { + "id": "point_1767866122096_1767920430354_bk93ak4un", + "x": 0.3023598820058997, + "y": 0.12507374518740494 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧纳米，向爪夹方向的右前方移动，直至纳米位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹夹紧纳米竖直上升，爪夹更容易将纳米放在礼品盒上。", + "frame": 250, + "progress": 55, + "progress_explanation": "当前山治的高度上升，更方便爪夹将纳米放在礼品盒上，因此进度提升为55%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时纳米位于礼品盒的左上方。\n为完成抓取纳米使其位于礼品盒上的任务应当：爪夹继续向爪夹的右前方移动，直至移动到礼品盒正上方后松开爪夹，使纳米下落。", + "time": 8.319023618511821 + }, + { + "action_description": "爪夹夹紧纳米，向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767866120856": { + "instances": [ + { + "height": 0.1533923303834808, + "id": "bbox_1767866120856_1767920498650_44m6q9s4d", + "width": 0.12979351032448375, + "x": 0.336283185840708, + "y": 0.14336283298368652 + } + ], + "type": "bbox" + }, + "bbox_1767866121072": { + "instances": [ + { + "height": 0.2330383480825959, + "id": "bbox_1767866121072_1767920505066_p1ikotj5b", + "width": 0.2300884955752212, + "x": 0.6194690265486726, + "y": 0.4722713875559579 + } + ], + "type": "bbox" + }, + "point_1767866122096": { + "instances": [ + { + "id": "point_1767866122096_1767920492098_7wxj8uvnm", + "x": 0.3997050147492625, + "y": 0.15073746425212306 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧纳米，继续向爪夹方向的右前方移动，直至纳米位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到纳米，并且进一步向着礼品盒的方向移动。", + "frame": 96, + "progress": 60, + "progress_explanation": "当前爪夹已夹紧纳米，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时纳米位于礼品盒的左上方。\n为完成抓取纳米使其位于礼品盒上的任务应当：爪夹继续向爪夹的右前方移动，直至移动到礼品盒的正上方后松开爪夹，使纳米下落。", + "time": 9.666666666666666 + }, + { + "action_description": "爪夹夹紧纳米，继续向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767866120856": { + "instances": [ + { + "height": 0.15486725663716816, + "id": "bbox_1767866120856_1767920541474_4zbgci5z7", + "width": 0.1342182890855457, + "x": 0.43067846607669613, + "y": 0.20560472201457064 + } + ], + "type": "bbox" + }, + "bbox_1767866121072": { + "instances": [ + { + "height": 0.23598820058997044, + "id": "bbox_1767866121072_1767920526490_qcmg8undg", + "width": 0.23156342182890863, + "x": 0.6179941002949852, + "y": 0.4710914476782875 + } + ], + "type": "bbox" + }, + "point_1767866122096": { + "instances": [ + { + "id": "point_1767866122096_1767920546850_mridchcmv", + "x": 0.4985250737463127, + "y": 0.22182891080513115 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧纳米，继续向爪夹方向的右前方移动，直至纳米位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到纳米，并且进一步向着礼品盒的方向移动。", + "frame": 333, + "progress": 70, + "progress_explanation": "当前爪夹已夹紧纳米，与上一进度相比，在水平方向上更加接近礼品盒，因此进度提升为70%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时纳米位于礼品盒的左上方。\n为完成抓取纳米使其位于礼品盒上的任务应当：爪夹继续向爪夹的右前方移动，直至移动到礼品盒的正上方后松开爪夹，使纳米下落。", + "time": 11.092031491349097 + }, + { + "action_description": "爪夹夹紧纳米，继续向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767866120856": { + "instances": [ + { + "height": 0.15044247787610618, + "id": "bbox_1767866120856_1767920560850_g1pa8e42p", + "width": 0.11799410029498532, + "x": 0.5471976401179941, + "y": 0.29056047197640117 + } + ], + "type": "bbox" + }, + "bbox_1767866121072": { + "instances": [ + { + "height": 0.2404129793510325, + "id": "bbox_1767866121072_1767920568026_i156u644y", + "width": 0.2271386430678465, + "x": 0.6253687315634219, + "y": 0.4646017699115044 + } + ], + "type": "bbox" + }, + "point_1767866122096": { + "instances": [ + { + "id": "point_1767866122096_1767920554546_4r7ke1yg2", + "x": 0.6150442477876106, + "y": 0.29351032448377584 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧纳米，继续向爪夹方向的右前方移动，直至纳米位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到纳米，并且进一步向着礼品盒的方向移动。", + "frame": 378, + "progress": 75, + "progress_explanation": "当前爪夹已夹紧纳米，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为75%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时吗纳米位于礼品盒的左上方。\n为完成抓取纳米使其位于礼品盒上的任务应当：爪夹继续向爪夹的右前方移动，直至移动到礼品盒的正上方后松开爪夹，使纳米下落。", + "time": 12.5998 + }, + { + "action_description": "爪夹保持合拢，抓紧纳米向爪夹方向的右侧移动。", + "annotations": { + "bbox_1767866120856": { + "instances": [ + { + "height": 0.17994100294985252, + "id": "bbox_1767866120856_1767920611297_kuo8nyrh0", + "width": 0.14159292035398227, + "x": 0.6548672566371682, + "y": 0.3421828908554572 + } + ], + "type": "bbox" + }, + "bbox_1767866121072": { + "instances": [ + { + "height": 0.22861356932153398, + "id": "bbox_1767866121072_1767920590002_te6gsr23o", + "width": 0.2286135693215338, + "x": 0.6209439528023599, + "y": 0.47197640117994094 + } + ], + "type": "bbox" + }, + "point_1767866121840": { + "instances": [ + { + "id": "point_1767866121840_1767920603258_nnt4iaugf", + "x": 0.7330383480825958, + "y": 0.37315634218289084 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使纳米下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的右方移动，并且正确移动到了礼品盒的正上方。", + "frame": 418, + "progress": 80, + "progress_explanation": "当前爪夹已抓住纳米，并移动到了礼品盒的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住纳米处于礼品盒方向的正上方。\n为完成抓取山治使其位于礼品盒上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使纳米下落。", + "time": 13.9284 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767866120856": { + "instances": [ + { + "height": 0.17994100294985257, + "id": "bbox_1767866120856_1767920621537_evsogf9qv", + "width": 0.15339233038348088, + "x": 0.6740412979351031, + "y": 0.364601776663181 + } + ], + "type": "bbox" + }, + "bbox_1767866121072": { + "instances": [ + { + "height": 0.23156342182890863, + "id": "bbox_1767866121072_1767920630385_n5ix22n1s", + "width": 0.2300884955752212, + "x": 0.6224188790560472, + "y": 0.47079646692866767 + } + ], + "type": "bbox" + }, + "point_1767866121840": { + "instances": [ + { + "id": "point_1767866121840_1767920640969_cki6r6zty", + "x": 0.752212389380531, + "y": 0.39705015424430196 + } + ], + "type": "point" + } + }, + "correction_plan": "纳米位于礼品盒上的目标任务完成了。", + "error_success_analysis": "爪夹张开使纳米位于礼品盒的上方，成功完成任务。", + "frame": 438, + "progress": 100, + "progress_explanation": "当前纳米位于礼品盒的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，纳米下降了一定距离，抓取纳米使其位于礼品盒上的目标任务完成。", + "time": 14.6 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767866120856", + "name": "纳米" + }, + { + "color": "#FF9800", + "id": "bbox_1767866121072", + "name": "礼品盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767866121840", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767866122096", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000573.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000573.json new file mode 100644 index 0000000000000000000000000000000000000000..ce354c5f3ee6d4d8eff47062460ccf6eab26d34d --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000573.json @@ -0,0 +1,734 @@ +{ + "task_description": "抓取唐老鸭使其位于礼品盒上。\n爪夹开始移动：0%\n爪夹靠近唐老鸭：20%\n爪夹抓取唐老鸭：40%\n爪夹抓住唐老鸭靠近礼品盒：60%\n爪夹抓住唐老鸭位于礼品盒上：80%\n爪夹松开，唐老鸭下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达唐老鸭的正上方后下降，合拢爪夹抓取唐老鸭后垂直上升，向爪夹方向的右后方移动，直至唐老鸭位于礼品盒的正上方。", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触唐老鸭。\n为完成抓取唐老鸭使其位于礼品盒上的任务应当:爪夹向爪夹的左前方移动并调整爪夹角度，使其垂直于桌面。然后爪夹竖直下落，准备抓取唐老鸭。", + "time": 0.052304557571657515, + "annotations": { + "bbox_1767919811658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811658_1767919881594_8kekjz58b", + "x": 0.20711107134331838, + "y": 0.48248608505333945, + "width": 0.1799999890136725, + "height": 0.16399998999023502 + } + ] + }, + "bbox_1767919811874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811874_1767919896761_u39xsk1xi", + "x": 0.5041110532158781, + "y": 0.3814860912178899, + "width": 0.15999999023437556, + "height": 0.18699998858642655 + } + ] + }, + "point_1767919812738": { + "type": "point", + "instances": [ + { + "id": "point_1767919812738_1767919907185_4k0xpvo8p", + "x": 0.46411105565728417, + "y": 0.13148610647667808 + } + ] + }, + "point_1767919812954": { + "type": "point", + "instances": [ + { + "id": "point_1767919812954_1767919912249_8ob92lzac", + "x": 0.5431110508355071, + "y": 0.13248610641564293 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达唐老鸭的正上方后下降，合拢爪夹抓取唐老鸭后垂直上升，向爪夹方向的右后方移动，直至纳米位于礼品盒的正上方。", + "error_success_analysis": "爪夹向左下方移动，距离抓取唐老鸭的距离更近，更加方便抓取唐老鸭。", + "frame": 28, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，爪夹距离唐老鸭的距离缩短，因此进度提升为10%。", + "state_description": "当前爪夹张开，与唐老鸭的水平距离略微缩短。\n为完成抓取唐老鸭使其位于礼品盒上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取唐老鸭，爪夹抬高并竖直上升。", + "time": 0.9470994708739037, + "annotations": { + "bbox_1767919811658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811658_1767919927641_b95hhennq", + "x": 0.20911107122124808, + "y": 0.483819420848424, + "width": 0.1789999890747077, + "height": 0.16399998999023488 + } + ] + }, + "bbox_1767919811874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811874_1767919944289_msui7uo3g", + "x": 0.5021110533379484, + "y": 0.38281942701297444, + "width": 0.16299999005127025, + "height": 0.18299998883056698 + } + ] + }, + "point_1767919812738": { + "type": "point", + "instances": [ + { + "id": "point_1767919812738_1767919963177_76qxkjb6l", + "x": 0.4121110588311121, + "y": 0.16381944037967283 + } + ] + }, + "point_1767919812954": { + "type": "point", + "instances": [ + { + "id": "point_1767919812954_1767919967177_10220tu0m", + "x": 0.4961110537041593, + "y": 0.16381944037967283 + } + ] + } + } + }, + { + "time": 2.289291840827273, + "frame": 69, + "progress": 13, + "action_description": "爪夹向爪夹方向的左前方移动，并旋转和调整爪夹角度。\t", + "state_description": "当前爪夹张开，与唐老鸭的水平距离进一步缩短。\n为完成抓取唐老鸭使其位于礼品盒上的任务应当:爪夹继续向爪夹方向的左前方移动并下降爪夹高度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取唐老鸭。", + "progress_explanation": "当前爪夹角度发生变化更方便抓取唐老鸭，因此进度提升为13%。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上成功接近唐老鸭，并使爪夹角度垂直于桌面，方便抓取唐老鸭。", + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，到达唐老鸭的正上方后下降，合拢爪夹抓取唐老鸭后垂直上升，向爪夹方向的右后方移动，直至唐老鸭位于礼品盒的正上方后松开爪夹。", + "annotations": { + "point_1767919812954": { + "type": "point", + "instances": [ + { + "id": "point_1767919812954_1767919976736_xyidbymmj", + "x": 0.5071110530327726, + "y": 0.25881943458133333 + } + ] + }, + "point_1767919812738": { + "type": "point", + "instances": [ + { + "id": "point_1767919812738_1767919980977_1hd7t0e31", + "x": 0.4211110582817958, + "y": 0.26181943439822786 + } + ] + }, + "bbox_1767919811874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811874_1767919991001_89id12o41", + "x": 0.5011110533989835, + "y": 0.3818194270740095, + "width": 0.16199999011230534, + "height": 0.18499998870849677 + } + ] + }, + "bbox_1767919811658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811658_1767920011096_4ml549f1b", + "x": 0.20811107128228323, + "y": 0.483819420848424, + "width": 0.17899998907470768, + "height": 0.1649999899291999 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并旋转和调整爪夹角度。\t", + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，到达唐老鸭的正上方后下降，合拢爪夹抓取唐老鸭后垂直上升，向爪夹方向的右后方移动，直至唐老鸭位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上成功接近唐老鸭，并使爪夹角度垂直于桌面，方便抓取唐老鸭。", + "frame": 107, + "progress": 16, + "progress_explanation": "当前爪夹在水平方向上进一步接近唐老鸭并调整完爪夹角度方便抓取，因此进度提升为16%。", + "state_description": "当前爪夹张开，与唐老鸭的水平距离进一步缩短。\n为完成抓取唐老鸭使其位于礼品盒上的任务应当:爪夹继续向爪夹方向的左前方移动并下降爪夹高度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取唐老鸭。", + "time": 3.5515918078072275, + "annotations": { + "bbox_1767919811658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811658_1767920028656_motn4c28v", + "x": 0.21011107116021294, + "y": 0.4850416421483372, + "width": 0.17699998919677798, + "height": 0.16099999017334052 + } + ] + }, + "bbox_1767919811874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811874_1767920034792_67am4r6tg", + "x": 0.5011110533989835, + "y": 0.38204164843495797, + "width": 0.16599998986816467, + "height": 0.18599998864746178 + } + ] + }, + "point_1767919812738": { + "type": "point", + "instances": [ + { + "id": "point_1767919812738_1767920047801_henle4sxi", + "x": 0.35211106249322127, + "y": 0.3650416494725556 + } + ] + }, + "point_1767919812954": { + "type": "point", + "instances": [ + { + "id": "point_1767919812954_1767920050345_9nid6i6ey", + "x": 0.40811105907525275, + "y": 0.3350416513036102 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并旋转和调整爪夹角度。\t", + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，到达唐老鸭的正上方后下降，合拢爪夹抓取唐老鸭后垂直上升，向爪夹方向的右后方移动，直至唐老鸭位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上成功接近唐老鸭，并使爪夹角度垂直于桌面，方便抓取唐老鸭。", + "frame": 127, + "progress": 18, + "progress_explanation": "当前爪夹在水平方向上进一步接近唐老鸭并调整完爪夹角度方便抓取，因此进度提升为18%。", + "state_description": "当前爪夹张开，与唐老鸭的水平距离进一步缩短。\n为完成抓取唐老鸭使其位于礼品盒上的任务应当:爪夹继续向爪夹方向的左前方移动并下降爪夹高度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取唐老鸭。", + "time": 4.222687992783912, + "annotations": { + "point_1767919812954": { + "type": "point", + "instances": [ + { + "id": "point_1767919812954_1767920060201_bief0zkrl", + "x": 0.3541110623711509, + "y": 0.38181942707400957 + } + ] + }, + "point_1767919812738": { + "type": "point", + "instances": [ + { + "id": "point_1767919812738_1767920063689_46xdf5qum", + "x": 0.3191110645073813, + "y": 0.41981942475467376 + } + ] + }, + "bbox_1767919811874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811874_1767920073929_jp584lhlf", + "x": 0.5011110533989835, + "y": 0.37981942719607986, + "width": 0.1659999898681646, + "height": 0.18699998858642644 + } + ] + }, + "bbox_1767919811658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811658_1767920087793_fu81vz4rq", + "x": 0.20911107122124808, + "y": 0.4848194207873888, + "width": 0.17799998913574283, + "height": 0.16499998992919984 + } + ] + } + } + }, + { + "time": 5.239, + "frame": 157, + "progress": 20, + "action_description": "爪夹向爪夹的左侧移动到唐老鸭的正上方。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到唐老鸭的正上方。\n为完成抓取唐老鸭使其位于礼品盒上的任务应当:向下合拢爪夹抓取纳米后垂直抬起爪夹，然后向爪夹的右后方移动，直至移动到礼品盒的正上方。", + "progress_explanation": "当前爪夹已悬空于唐老鸭正上方，已接近唐老鸭，因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了唐老鸭的正上方，方便爪夹抓取。", + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取唐老鸭后垂直上升，向爪夹方向的右后方移动，直至唐老鸭位于礼品盒的正上方后松开爪夹。", + "annotations": { + "bbox_1767919811658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811658_1767920109113_zxbrw91ta", + "x": 0.20811107128228323, + "y": 0.48437497806549207, + "width": 0.18099998895263741, + "height": 0.16199999011230534 + } + ] + }, + "bbox_1767919811874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811874_1767920121977_9oqf42fkk", + "x": 0.5001110534600187, + "y": 0.3833749842300424, + "width": 0.16599998986816472, + "height": 0.18499998870849682 + } + ] + }, + "point_1767919812738": { + "type": "point", + "instances": [ + { + "id": "point_1767919812738_1767920138761_8gmpsksw9", + "x": 0.282111066765682, + "y": 0.504374976844789 + } + ] + } + } + }, + { + "time": 6.411739834255477, + "frame": 192, + "progress": 40, + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取唐老鸭。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到唐老鸭。\n为完成抓取唐老鸭使其位于礼品盒上的任务应当:抓取唐老鸭后垂直抬起爪夹，然后向爪夹的右后方移动，直至移动到礼品盒的正上方。", + "progress_explanation": "当前爪夹已经抓取到唐老鸭，因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了唐老鸭。", + "correction_plan": "爪夹保持合拢，爪夹夹紧唐老鸭后垂直上升，向爪夹方向的右后方移动，直至唐老鸭位于礼品盒的正上方后松开爪夹。", + "annotations": { + "point_1767919812738": { + "type": "point", + "instances": [ + { + "id": "point_1767919812738_1767920511327_kp7qopi7f", + "x": 0.28711106646050616, + "y": 0.5454860812081249 + } + ] + }, + "bbox_1767919811658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811658_1767920519944_00kbyn4qy", + "x": 0.2051110714653887, + "y": 0.5014860838936717, + "width": 0.18499998870849677, + "height": 0.14699999102783265 + } + ] + }, + "bbox_1767919811874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811874_1767920532623_mivhpv8kp", + "x": 0.5011110533989835, + "y": 0.37948609133996025, + "width": 0.16699998980712963, + "height": 0.1889999884643561 + } + ] + } + } + }, + { + "time": 7.945673971345044, + "frame": 238, + "progress": 45, + "action_description": "爪夹保持合拢，夹紧唐老鸭后抬高爪夹。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取唐老鸭使其位于礼品盒上的任务应当：爪夹继续抬高，与机械臂保持水平后向爪夹的右后方移动，直至移动到礼品盒的正上方后松开爪夹，使唐老鸭下落。", + "progress_explanation": "当前爪夹已抓住唐老鸭，且爪夹与唐老鸭的高度略微抬升了，所以进度提升为45%。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到唐老鸭，爪夹向上方缓慢抬升。", + "correction_plan": "爪夹保持合拢，爪夹夹紧唐老鸭，爪夹向爪夹方向的右后方移动，直至唐老鸭位于礼品盒的正上方后松开爪夹。", + "annotations": { + "bbox_1767919811874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811874_1767920567439_a38tjolsp", + "x": 0.5031110532769133, + "y": 0.38193053393978676, + "width": 0.16299999005127017, + "height": 0.18599998864746164 + } + ] + }, + "bbox_1767919811658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811658_1767920596167_avztx9cyp", + "x": 0.20011107177056445, + "y": 0.4089305322918376, + "width": 0.17899998907470774, + "height": 0.17199998950195378 + } + ] + }, + "point_1767919812738": { + "type": "point", + "instances": [ + { + "id": "point_1767919812738_1767920611439_s48gru82b", + "x": 0.27111106743706864, + "y": 0.4569305293621503 + } + ] + } + } + }, + { + "action_description": "爪夹抓住唐老鸭，爪夹向爪夹方向的正上方移动。", + "correction_plan": "爪夹保持合拢，爪夹夹紧唐老鸭，向爪夹方向的右后方移动，直至唐老鸭位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹夹紧唐老鸭竖直上升，爪夹更容易将唐老鸭放在礼品盒上。", + "frame": 293, + "progress": 50, + "progress_explanation": "当前唐老鸭的高度上升，更方便爪夹将唐老鸭放在礼品盒上，因此进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时唐老鸭位于礼品盒的左上方。\n为完成抓取唐老鸭使其位于礼品盒上的任务应当：爪夹继续向爪夹的右后方移动，直至移动到礼品盒正上方后松开爪夹，使唐老鸭下落。", + "time": 9.783199239733584, + "annotations": { + "point_1767919812738": { + "type": "point", + "instances": [ + { + "id": "point_1767919812738_1767920617695_a1emu7gts", + "x": 0.25611106835259595, + "y": 0.2834860971993349 + } + ] + }, + "bbox_1767919811658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811658_1767920626575_is8xw8en8", + "x": 0.16711107378472448, + "y": 0.25148609915245973, + "width": 0.2059999874267586, + "height": 0.18499998870849677 + } + ] + }, + "bbox_1767919811874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811874_1767920635214_kfwqyr8o4", + "x": 0.5031110532769133, + "y": 0.3804860912789251, + "width": 0.16299999005127017, + "height": 0.1859999886474616 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧唐老鸭，向爪夹方向的右后方移动。", + "correction_plan": "爪夹保持合拢，爪夹夹紧唐老鸭，继续向爪夹方向的右后方移动，直至唐老鸭位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到唐老鸭，并且进一步向着礼品盒的方向移动。", + "frame": 318, + "progress": 55, + "progress_explanation": "当前爪夹已夹紧唐老鸭，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为55%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时唐老鸭位于礼品盒的左上方。\n为完成抓取唐老鸭使其位于礼品盒上的任务应当：爪夹继续向爪夹的右后方移动，直至移动到礼品盒的正上方后松开爪夹，使唐老鸭下落。", + "time": 10.598101750062417, + "annotations": { + "bbox_1767919811874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811874_1767920724070_a0j4nxa7o", + "x": 0.5031110532769133, + "y": 0.38148609121788996, + "width": 0.16299999005127017, + "height": 0.1849999887084967 + } + ] + }, + "bbox_1767919811658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811658_1767920736630_twol7xkeo", + "x": 0.17811107311333782, + "y": 0.19748610244835801, + "width": 0.20199998767089916, + "height": 0.18899998846435614 + } + ] + }, + "point_1767919812738": { + "type": "point", + "instances": [ + { + "id": "point_1767919812738_1767920754167_enck1ce2r", + "x": 0.26711106768120924, + "y": 0.24037499295806927 + } + ] + } + } + }, + { + "time": 12.275842212504129, + "frame": 368, + "progress": 60, + "action_description": "爪夹夹紧唐老鸭，继续向爪夹方向的右后方移动。", + "state_description": "当前爪夹合拢，垂直于桌面，此时唐老鸭位于礼品盒的左上方。\n为完成抓取唐老鸭使其位于礼品盒上的任务应当：爪夹继续向爪夹的右后方移动，直至移动到礼品盒的正上方后松开爪夹，使唐老鸭下落。", + "progress_explanation": "当前爪夹已夹紧唐老鸭，与上一进度相比，在水平方向上更加接近礼品盒，因此进度提升为60%。", + "error_success_analysis": "爪夹已经抓取到唐老鸭，并且进一步向着礼品盒的方向移动。", + "correction_plan": "爪夹保持合拢，爪夹夹紧唐老鸭，继续向爪夹方向的右后方移动，直至唐老鸭位于礼品盒的正上方后松开爪夹。", + "annotations": { + "point_1767919812738": { + "type": "point", + "instances": [ + { + "id": "point_1767919812738_1767920840838_hrgsh825q", + "x": 0.39311105999078, + "y": 0.23393054297298932 + } + ] + }, + "bbox_1767919811658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811658_1767920851270_e7yk1b8jq", + "x": 0.30911106511773284, + "y": 0.19593054529232512, + "width": 0.17999998901367256, + "height": 0.1749999893188483 + } + ] + }, + "bbox_1767919811874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811874_1767920869558_8uip7uxmr", + "x": 0.5021110533379484, + "y": 0.3809305340008219, + "width": 0.16199999011230523, + "height": 0.18399998876953194 + } + ] + } + } + }, + { + "time": 14.415, + "frame": 432, + "progress": 80, + "action_description": "爪夹保持合拢，抓紧唐老鸭向爪夹方向的右侧移动。", + "state_description": "当前爪夹合找，垂直于桌面，抓住唐老鸭处于礼品盒方向的正上方。\n为完成抓取山治使其位于礼品盒上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使唐老鸭下落。", + "progress_explanation": "当前爪夹已抓住唐老鸭，并移动到了礼品盒的正上方，因此进度提升为80%。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的右方移动，并且正确移动到了礼品盒的正上方。", + "correction_plan": "爪夹下降到一定高度后松开爪夹，使唐老鸭下落。", + "annotations": { + "bbox_1767919811874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811874_1767920887502_93czxmxan", + "x": 0.5011110533989835, + "y": 0.3809305340008219, + "width": 0.16299999005127025, + "height": 0.1849999887084967 + } + ] + }, + "bbox_1767919811658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811658_1767920898333_succwz4zy", + "x": 0.49311105388726484, + "y": 0.2609305413250402, + "width": 0.17099998956298884, + "height": 0.14699999102783265 + } + ] + }, + "point_1767919812738": { + "type": "point", + "instances": [ + { + "id": "point_1767919812738_1767920909197_utrhn26qa", + "x": 0.5821110484551362, + "y": 0.2869305397381262 + } + ] + } + } + }, + { + "time": 14.960226952410864, + "frame": 449, + "progress": 100, + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "state_description": "当前爪夹张开，唐老鸭下降了一定距离，抓取唐老鸭使其位于礼品盒上的目标任务完成。", + "progress_explanation": "当前唐老鸭位于礼品盒的上方，因此进度提升为100%。", + "error_success_analysis": "爪夹张开使唐老鸭位于礼品盒的上方，成功完成任务。", + "correction_plan": "唐老鸭位于礼品盒上的目标任务完成了。", + "annotations": { + "point_1767919812738": { + "type": "point", + "instances": [ + { + "id": "point_1767919812738_1767920917389_722w0vtj0", + "x": 0.5831110483941011, + "y": 0.29493053924984497 + } + ] + }, + "bbox_1767919811658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811658_1767920923501_flcdmzt7m", + "x": 0.49711105364312413, + "y": 0.27693054034847775, + "width": 0.16299999005127017, + "height": 0.15999999023437564 + } + ] + }, + "bbox_1767919811874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811874_1767920974173_8evs3aox3", + "x": 0.5031110532769133, + "y": 0.3829305338787516, + "width": 0.16299999005127017, + "height": 0.18199998889160227 + } + ] + } + } + }, + { + "time": 15.19816584962411, + "frame": 456, + "progress": 0, + "action_description": "爪夹保持打开状态，重新回到初始状态。\t", + "state_description": "当前状态为爪夹打开，回到初始状态，没有接触唐老鸭。\n为完成抓取唐老鸭使其位于礼品盒上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取唐老鸭。", + "progress_explanation": "当前爪夹重新回到初始状态，没有夹取唐老鸭，因此进度下降为0%。", + "error_success_analysis": "爪夹又重新回到初始状态，唐老鸭也位于原点。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右后方移动，到达唐老鸭的正上方后下降，合拢爪夹抓取唐老鸭后垂直上升，向爪夹方向的右后方移动，直至唐老鸭位于礼品盒的正上方后松开爪夹，唐老鸭下落。", + "annotations": { + "bbox_1767919811874": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811874_1767921071325_gsvdl1vsk", + "x": 0.5021110533379484, + "y": 0.41315276103803955, + "width": 0.17499998931884822, + "height": 0.20799998730468813 + } + ] + }, + "bbox_1767919811658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767919811658_1767921093053_ejgfl2o44", + "x": 0.26711106768120924, + "y": 0.35915276433393767, + "width": 0.1519999907226568, + "height": 0.1429999912719732 + } + ] + }, + "point_1767919812738": { + "type": "point", + "instances": [ + { + "id": "point_1767919812738_1767921099933_tfmsg30bg", + "x": 0.5191110523003508, + "y": 0.19926387333594522 + } + ] + }, + "point_1767919812954": { + "type": "point", + "instances": [ + { + "id": "point_1767919812954_1767921104349_xkv73qv24", + "x": 0.5671110493706635, + "y": 0.19826387339698037 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767919811658", + "name": "唐老鸭", + "color": "#4CAF50" + }, + { + "id": "bbox_1767919811874", + "name": "礼品盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767919812738", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767919812954", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000592.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000592.json new file mode 100644 index 0000000000000000000000000000000000000000..0f4b118720c88c75a3e74b950cd2fbcb11f0e1da --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000592.json @@ -0,0 +1,714 @@ +{ + "task_description": "抓取冥王星放进礼品盒里。\n爪夹开始移动：0%\n爪夹靠近冥王星：20%\n爪夹抓取冥王星：40%\n爪夹抓住冥王星靠近礼品盒：60%\n爪夹抓住冥王星位于礼品盒上：80%\n爪夹松开，冥王星下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767926656440": { + "instances": [ + { + "height": 0.10699999999999997, + "id": "bbox_1767926656440_1767926858431_90ml0llot", + "width": 0.07900000000000003, + "x": 0.663375, + "y": 0.3956484375 + } + ], + "type": "bbox" + }, + "bbox_1767926656623": { + "instances": [ + { + "height": 0.22499999999999995, + "id": "bbox_1767926656623_1767926872342_8rv5tmb1e", + "width": 0.21699999999999997, + "x": 0.18837500000000001, + "y": 0.4576484375 + } + ], + "type": "bbox" + }, + "point_1767926658007": { + "instances": [ + { + "id": "point_1767926658007_1767926905134_07cv1xi7t", + "x": 0.465375, + "y": 0.1306484375 + } + ], + "type": "point" + }, + "point_1767926658559": { + "instances": [ + { + "id": "point_1767926658559_1767926907918_c92l0b1n9", + "x": 0.5453749999999999, + "y": 0.1316484375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达山治的正上方后下降，合拢爪夹抓取冥王星后垂直上升，然后向爪夹方向的左前方移动，直至冥王星位于礼品盒的正上方。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触冥王星。\n为完成抓取冥王星使其位于礼品盒上的任务应当:爪夹向爪夹的右前方移动并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的正下方移动，准备抓取冥王星。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767926656440": { + "instances": [ + { + "height": 0.10799999999999994, + "id": "bbox_1767926656440_1767927210798_wzv0mxjxp", + "width": 0.07800000000000011, + "x": 0.6633749999999999, + "y": 0.39339843750000003 + } + ], + "type": "bbox" + }, + "bbox_1767926656623": { + "instances": [ + { + "height": 0.22199999999999995, + "id": "bbox_1767926656623_1767927181726_cl4pbwbdc", + "width": 0.21700000000000008, + "x": 0.189375, + "y": 0.46039843750000004 + } + ], + "type": "bbox" + }, + "point_1767926658007": { + "instances": [ + { + "id": "point_1767926658007_1767927172878_7dsy4c16x", + "x": 0.541375, + "y": 0.1903984375 + } + ], + "type": "point" + }, + "point_1767926658559": { + "instances": [ + { + "id": "point_1767926658559_1767927148846_jtomds9ew", + "x": 0.6173749999999999, + "y": 0.1943984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达冥王星的正上方后下降，合拢爪夹抓取冥王星后垂直上升，向爪夹方向的左前方移动，直至冥王星位于礼品盒的正上方。", + "error_success_analysis": "爪夹向右下方移动，距离抓取冥王星的距离更近。", + "frame": 11, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了冥王星，因此进度提升为10%。", + "state_description": "当前爪夹张开，与冥王星的水平距离略微缩短。\n为完成抓取冥王星使其位于礼品盒上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取冥王星，爪夹抬高并竖直上升。", + "time": 1.1333333333333333 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并旋转和调整爪夹角度。\t", + "annotations": { + "bbox_1767926656440": { + "instances": [ + { + "height": 0.10799999999999994, + "id": "bbox_1767926656440_1767927226606_dfpetxnnb", + "width": 0.07500000000000012, + "x": 0.6653749999999998, + "y": 0.39539843750000003 + } + ], + "type": "bbox" + }, + "bbox_1767926656623": { + "instances": [ + { + "height": 0.22600000000000003, + "id": "bbox_1767926656623_1767927245142_doy44di2w", + "width": 0.21700000000000003, + "x": 0.189375, + "y": 0.4573984375 + } + ], + "type": "bbox" + }, + "point_1767926658007": { + "instances": [ + { + "id": "point_1767926658007_1767927256405_bl7ujli2w", + "x": 0.647375, + "y": 0.23939843749999998 + } + ], + "type": "point" + }, + "point_1767926658559": { + "instances": [ + { + "id": "point_1767926658559_1767927259622_z7mup0sqs", + "x": 0.708375, + "y": 0.2263984375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达冥王星的正上方后下降，合拢爪夹抓取冥王星后垂直上升，向爪夹方向的左前方移动，直至冥王星位于礼品盒的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近冥王星，并使爪夹角度垂直于桌面，方便抓取冥王星。", + "frame": 91, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近冥王星并调整完爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与冥王星的水平距离进一步缩短。\n为完成抓取冥王星使其位于礼品盒上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取冥王星。", + "time": 3.035689837074263 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动，并旋转和调整爪夹角度。\t", + "annotations": { + "bbox_1767926656440": { + "instances": [ + { + "height": 0.10500000000000001, + "id": "bbox_1767926656440_1767927289861_zf1rri6ld", + "width": 0.07600000000000004, + "x": 0.6663749999999999, + "y": 0.3953984375 + } + ], + "type": "bbox" + }, + "bbox_1767926656623": { + "instances": [ + { + "height": 0.22599999999999992, + "id": "bbox_1767926656623_1767927304822_63n418t8m", + "width": 0.218, + "x": 0.18737499999999996, + "y": 0.4583984375 + } + ], + "type": "bbox" + }, + "point_1767926658007": { + "instances": [ + { + "id": "point_1767926658007_1767927280574_7ao4jgcda", + "x": 0.6943750000000001, + "y": 0.3283984375 + } + ], + "type": "point" + }, + "point_1767926658559": { + "instances": [ + { + "id": "point_1767926658559_1767927276797_8110zszxj", + "x": 0.711375, + "y": 0.2993984375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达冥王星的正上方后下降，合拢爪夹抓取冥王星后垂直上升，向爪夹方向的左前方移动，直至冥王星位于礼品盒的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近冥王星，并使爪夹角度垂直于桌面，方便抓取冥王星。", + "frame": 123, + "progress": 18, + "progress_explanation": "当前爪夹在水平方向上进一步接近冥王星并调整完爪夹角度方便抓取，因此进度提升为18%。", + "state_description": "当前爪夹张开，与冥王星的水平距离进一步缩短。\n为完成抓取冥王星使其位于礼品盒上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取冥王星。", + "time": 4.102126288659794 + }, + { + "action_description": "爪夹向爪夹的右侧移动到冥王星的正上方。", + "annotations": { + "bbox_1767926656440": { + "instances": [ + { + "height": 0.10399999999999997, + "id": "bbox_1767926656440_1767927332349_du7r993df", + "width": 0.07899999999999992, + "x": 0.663375, + "y": 0.39839843750000004 + } + ], + "type": "bbox" + }, + "bbox_1767926656623": { + "instances": [ + { + "height": 0.22499999999999995, + "id": "bbox_1767926656623_1767927320581_a7tak932q", + "width": 0.217, + "x": 0.18937500000000002, + "y": 0.4593984375 + } + ], + "type": "bbox" + }, + "point_1767926658007": { + "instances": [ + { + "id": "point_1767926658007_1767927349213_tr2uf66sn", + "x": 0.719375, + "y": 0.39139843750000003 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取冥王星后垂直上升，向爪夹方向的左后方移动，直至冥王星位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了冥王星的正上方，方便爪夹抓取。", + "frame": 150, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于冥王星的正上方，已接近冥王星，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到冥王星的正上方。\n为完成抓取冥王星使其位于礼品盒上的任务应当:向下合拢爪夹抓取冥王星后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到礼品盒的正上方。", + "time": 5.005 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取冥王星。", + "annotations": { + "bbox_1767926656440": { + "instances": [ + { + "height": 0.089, + "id": "bbox_1767926656440_1767927364853_jpm2issnz", + "width": 0.07600000000000004, + "x": 0.6643749999999999, + "y": 0.4143984375 + } + ], + "type": "bbox" + }, + "bbox_1767926656623": { + "instances": [ + { + "height": 0.22199999999999995, + "id": "bbox_1767926656623_1767927375069_csm5ncdxk", + "width": 0.21799999999999997, + "x": 0.18737499999999999, + "y": 0.4593984375 + } + ], + "type": "bbox" + }, + "point_1767926658007": { + "instances": [ + { + "id": "point_1767926658007_1767927357653_2jqzn30kr", + "x": 0.715375, + "y": 0.4313984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧冥王星后垂直上升，向爪夹方向的左前方移动，直至冥王星位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了冥王星。", + "frame": 202, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到冥王星，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到冥王星。\n为完成抓取冥王星使其位于礼品盒上的任务应当:抓取冥王星后垂直抬起爪夹，然后向爪夹的左前方移动，直至移动到礼品盒的正上方。", + "time": 6.72 + }, + { + "action_description": "爪夹保持合拢，夹紧山治后抬高爪夹。", + "annotations": { + "bbox_1767926656440": { + "instances": [ + { + "height": 0.092, + "id": "bbox_1767926656440_1767927416916_mq8srpjfs", + "width": 0.08200000000000003, + "x": 0.662375, + "y": 0.3633984375 + } + ], + "type": "bbox" + }, + "bbox_1767926656623": { + "instances": [ + { + "height": 0.22299999999999998, + "id": "bbox_1767926656623_1767927407532_f9no71h37", + "width": 0.21700000000000003, + "x": 0.18637499999999999, + "y": 0.46039843750000004 + } + ], + "type": "bbox" + }, + "point_1767926658007": { + "instances": [ + { + "id": "point_1767926658007_1767927424556_fp4ll91xq", + "x": 0.716375, + "y": 0.3833984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧冥王星，爪夹向爪夹方向的左前方移动，直至冥王星位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到冥王星，爪夹向上方缓慢抬升。", + "frame": 224, + "progress": 45, + "progress_explanation": "当前爪夹已抓住冥王星，且爪夹与冥王星的高度略微抬升了，所以进度提升为45%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取冥王星使其位于礼品盒上的任务应当：爪夹继续抬高，然后向爪夹的左前方移动，直至移动到礼品盒的正上方后松开爪夹，使冥王星下落。", + "time": 7.475085543603012 + }, + { + "action_description": "爪夹保持合拢，夹紧山治后继续抬高爪夹。", + "annotations": { + "bbox_1767926656440": { + "instances": [ + { + "height": 0.11299999999999996, + "id": "bbox_1767926656440_1767927440109_g5xckgye8", + "width": 0.08999999999999998, + "x": 0.6723750000000001, + "y": 0.2303984375 + } + ], + "type": "bbox" + }, + "bbox_1767926656623": { + "instances": [ + { + "height": 0.22199999999999995, + "id": "bbox_1767926656623_1767927446037_2vo32z1w4", + "width": 0.21599999999999994, + "x": 0.18937500000000002, + "y": 0.4593984375 + } + ], + "type": "bbox" + }, + "point_1767926658007": { + "instances": [ + { + "id": "point_1767926658007_1767927433789_v3hhzzgtj", + "x": 0.7293749999999999, + "y": 0.2553984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧冥王星，爪夹向爪夹方向的左前方移动，直至冥王星位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到冥王星，爪夹向上方缓慢抬升。", + "frame": 276, + "progress": 50, + "progress_explanation": "当前爪夹已抓住冥王星，且爪夹与冥王星的高度略微抬升了，所以进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度继续抬高。\n为完成抓取冥王星使其位于礼品盒上的任务应当：爪夹继续抬高，然后向爪夹的左前方移动，直至移动到礼品盒的正上方后松开爪夹，使冥王星下落。", + "time": 9.187404866027205 + }, + { + "action_description": "爪夹抓住冥王星，爪夹向爪夹方向的左前方略微移动。", + "annotations": { + "bbox_1767926656440": { + "instances": [ + { + "height": 0.12000000000000002, + "id": "bbox_1767926656440_1767927479773_pd24s2s5t", + "width": 0.1, + "x": 0.637375, + "y": 0.1713984375 + } + ], + "type": "bbox" + }, + "bbox_1767926656623": { + "instances": [ + { + "height": 0.22, + "id": "bbox_1767926656623_1767927461397_1u3kwiw1e", + "width": 0.21700000000000003, + "x": 0.189375, + "y": 0.46039843750000004 + } + ], + "type": "bbox" + }, + "point_1767926658007": { + "instances": [ + { + "id": "point_1767926658007_1767927483485_5yhftzekg", + "x": 0.696375, + "y": 0.1943984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧冥王星，向爪夹方向的左前方移动，直至冥王星位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹夹紧山治竖直上升后向左前方略微移动，向礼品盒靠近。", + "frame": 317, + "progress": 60, + "progress_explanation": "当前山治的高度上升，与礼品盒的距离缩短，更方便爪夹将山治放在礼品盒上，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时冥王星位于礼品盒的左上方。\n为完成抓取山治使其位于礼品盒上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到礼品盒正上方后松开爪夹，使冥王星下落。", + "time": 10.560137089994765 + }, + { + "action_description": "爪夹抓住冥王星，爪夹向爪夹方向的右前方略微移动。", + "annotations": { + "bbox_1767926656440": { + "instances": [ + { + "height": 0.11700000000000002, + "id": "bbox_1767926656440_1767927497253_3sm8v9d0h", + "width": 0.10400000000000004, + "x": 0.630375, + "y": 0.2183984375 + } + ], + "type": "bbox" + }, + "bbox_1767926656623": { + "instances": [ + { + "height": 0.225, + "id": "bbox_1767926656623_1767927503885_tctbsx60h", + "width": 0.216, + "x": 0.18637499999999999, + "y": 0.4583984375 + } + ], + "type": "bbox" + }, + "point_1767926658007": { + "instances": [ + { + "id": "point_1767926658007_1767927492349_wslxf87fu", + "x": 0.696375, + "y": 0.2403984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧冥王星，向爪夹方向的左前方移动，直至冥王星位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向右前方略微移动，在水平距离上远离了礼品盒。", + "frame": 350, + "progress": 58, + "progress_explanation": "当前爪夹向右前方移动偏离了原本应向左前方礼品盒靠近的方向，因此进度下降为55%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时冥王星位于礼品盒的左上方。\n为完成抓取山治使其位于礼品盒上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到礼品盒正上方后松开爪夹，使冥王星下落。", + "time": 11.67387210081846 + }, + { + "action_description": "爪夹夹紧山治，向爪夹方向的左前方移动。", + "annotations": { + "bbox_1767926656440": { + "instances": [ + { + "height": 0.12900000000000003, + "id": "bbox_1767926656440_1767927697796_nsjyq6vp7", + "width": 0.10500000000000001, + "x": 0.504375, + "y": 0.2793984375 + } + ], + "type": "bbox" + }, + "bbox_1767926656623": { + "instances": [ + { + "height": 0.2239999999999999, + "id": "bbox_1767926656623_1767927709876_x3a1n2osl", + "width": 0.21399999999999997, + "x": 0.18837500000000001, + "y": 0.46039843750000004 + } + ], + "type": "bbox" + }, + "point_1767926658007": { + "instances": [ + { + "id": "point_1767926658007_1767927727525_59tx5u4d9", + "x": 0.565375, + "y": 0.3083984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧冥王星，继续向爪夹方向的左前方移动，直至冥王星位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到冥王星，并且进一步向着礼品盒的方向移动。", + "frame": 407, + "progress": 70, + "progress_explanation": "当前爪夹已夹紧冥王星，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为70%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时冥王星位于礼品盒的右上方。\n为完成抓取冥王星使其位于礼品盒上的任务应当：爪夹继续向爪夹的左前方移动，直至移动到礼品盒的正上方后松开爪夹，使冥王星下落。", + "time": 13.565471746784416 + }, + { + "action_description": "爪夹保持合拢，抓紧冥王星向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767926656440": { + "instances": [ + { + "height": 0.12900000000000003, + "id": "bbox_1767926656440_1767927742387_6kcwdizln", + "width": 0.09599999999999996, + "x": 0.251375, + "y": 0.3343984375 + } + ], + "type": "bbox" + }, + "bbox_1767926656623": { + "instances": [ + { + "height": 0.22299999999999998, + "id": "bbox_1767926656623_1767927752771_v0ty0onpl", + "width": 0.217, + "x": 0.188375, + "y": 0.4583984374999999 + } + ], + "type": "bbox" + }, + "point_1767926658007": { + "instances": [ + { + "id": "point_1767926658007_1767927735107_dk38shkmc", + "x": 0.290375, + "y": 0.3693984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使冥王星下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了礼品盒的正上方。", + "frame": 492, + "progress": 80, + "progress_explanation": "当前爪夹已抓住冥王星，并移动到了礼品盒的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住冥王星处于礼品盒方向的正上方。\n为完成抓取冥王星使其位于礼品盒上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使冥王星落入礼品盒中。", + "time": 16.3975 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767926656440": { + "instances": [ + { + "height": 0.11599999999999995, + "id": "bbox_1767926656440_1767927786308_xucdoa1sg", + "width": 0.092, + "x": 0.264375, + "y": 0.43439843749999996 + } + ], + "type": "bbox" + }, + "bbox_1767926656623": { + "instances": [ + { + "height": 0.22299999999999998, + "id": "bbox_1767926656623_1767927771819_rf4zytb4x", + "width": 0.21699999999999997, + "x": 0.18837500000000001, + "y": 0.46039843750000004 + } + ], + "type": "bbox" + } + }, + "correction_plan": "冥王星放进礼品盒的任务完成了。", + "error_success_analysis": "爪夹张开使冥王星落入礼品盒中，成功完成目标任务。", + "frame": 503, + "progress": 100, + "progress_explanation": "当前冥王星落入礼品盒中，因此进度提升为100%。", + "state_description": "当前爪夹张开，冥王星下降了一定距离，抓取冥王星放进礼品盒的目标任务完成。", + "time": 16.7825 + }, + { + "action_description": "爪夹保持打开状态，重新回到初始状态。", + "annotations": { + "bbox_1767926656440": { + "instances": [ + { + "height": 0.10499999999999995, + "id": "bbox_1767926656440_1767927803140_rkvt49sdt", + "width": 0.07899999999999997, + "x": 0.298375, + "y": 0.39639843750000003 + } + ], + "type": "bbox" + }, + "bbox_1767926656623": { + "instances": [ + { + "height": 0.21900000000000006, + "id": "bbox_1767926656623_1767927817436_h1yip9oce", + "width": 0.19700000000000006, + "x": 0.49737499999999996, + "y": 0.4583984374999999 + } + ], + "type": "bbox" + }, + "point_1767926658007": { + "instances": [ + { + "id": "point_1767926658007_1767927830372_44luciv6g", + "x": 0.465375, + "y": 0.1303984375 + } + ], + "type": "point" + }, + "point_1767926658559": { + "instances": [ + { + "id": "point_1767926658559_1767927833532_arrnfyhpj", + "x": 0.5423749999999999, + "y": 0.1313984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，到达冥王星的正上方后下降，合拢爪夹抓取冥王星后垂直上升，然后向爪夹方向的右前方移动，直至冥王星位于礼品盒的正上方后松开爪夹，冥王星落入礼品盒中。", + "error_success_analysis": "爪夹又重新回到初始状态，冥王星位于礼品盒的左方，要重新抓取冥王星。", + "frame": 507, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取冥王星，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，回到初始状态，没有接触冥王星，冥王星在礼品盒的左边。\n为完成抓取冥王星使其位于礼品盒上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，准备抓取冥王星。", + "time": 16.88928255326745 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767926656440", + "name": "冥王星" + }, + { + "color": "#FF9800", + "id": "bbox_1767926656623", + "name": "礼品盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767926658007", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767926658559", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000593.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000593.json new file mode 100644 index 0000000000000000000000000000000000000000..8b57a58ad6780c59bffc967be6d10c7f18f5afac --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000593.json @@ -0,0 +1,734 @@ +{ + "task_description": "抓取路飞使其位于礼品盒上。\n爪夹开始移动：0%\n爪夹靠近路飞：20%\n爪夹抓取路飞：40%\n爪夹抓住路飞靠近礼品盒：60%\n爪夹抓住路飞位于礼品盒上：80%\n爪夹松开，路飞下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767930979968": { + "instances": [ + { + "height": 0.161, + "id": "bbox_1767930979968_1767931100823_cqu3uwcth", + "width": 0.11600000000000002, + "x": 0.686375, + "y": 0.5006484375 + } + ], + "type": "bbox" + }, + "bbox_1767930980312": { + "instances": [ + { + "height": 0.192, + "id": "bbox_1767930980312_1767931082823_lm50wq4pn", + "width": 0.16099999999999995, + "x": 0.36837500000000006, + "y": 0.3756484375 + } + ], + "type": "bbox" + }, + "point_1767930981160": { + "instances": [ + { + "id": "point_1767930981160_1767931075727_2ez1f2rom", + "x": 0.465375, + "y": 0.1316484375 + } + ], + "type": "point" + }, + "point_1767930981359": { + "instances": [ + { + "id": "point_1767930981359_1767931072079_xijuc2zhb", + "x": 0.544375, + "y": 0.1326484375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达路飞的正上方后下降，合拢爪夹抓取路飞后垂直上升，向爪夹方向的左后方移动，直至路飞位于礼品盒的正上方。", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触路飞。\n为完成抓取路飞使其位于礼品盒上的任务应当:爪夹向爪夹的右前方移动并调整爪夹角度，使其垂直于桌面。爪夹向爪夹的正下方移动，准备抓取山治。", + "time": 0.023672680412371132 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767930979968": { + "instances": [ + { + "height": 0.16199999999999998, + "id": "bbox_1767930979968_1767931119279_brnjkvv6q", + "width": 0.11400000000000017, + "x": 0.6863749999999998, + "y": 0.49964843750000004 + } + ], + "type": "bbox" + }, + "bbox_1767930980312": { + "instances": [ + { + "height": 0.19000000000000003, + "id": "bbox_1767930980312_1767931134295_cuokdoyto", + "width": 0.16399999999999995, + "x": 0.364375, + "y": 0.3756484375 + } + ], + "type": "bbox" + }, + "point_1767930981160": { + "instances": [ + { + "id": "point_1767930981160_1767931144383_mexrn4x0o", + "x": 0.459375, + "y": 0.2396484375 + } + ], + "type": "point" + }, + "point_1767930981359": { + "instances": [ + { + "id": "point_1767930981359_1767931147215_5bnnbrheb", + "x": 0.5463749999999999, + "y": 0.2426484375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达路飞的正上方后下降，合拢爪夹抓取路飞后垂直上升，向爪夹方向的左后方移动，直至路飞位于礼品盒的正上方。", + "error_success_analysis": "爪夹向右下方移动，距离抓取路飞的距离更近。", + "frame": 63, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了路飞，因此进度提升为10%。", + "state_description": "当前爪夹张开，与路飞的水平距离略微缩短。\n为完成抓取路飞使其位于礼品盒上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取路飞，爪夹抬高并竖直上升。", + "time": 2.106150852478656 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并旋转和调整爪夹角度。\t", + "annotations": { + "bbox_1767930979968": { + "instances": [ + { + "height": 0.1579999999999999, + "id": "bbox_1767930979968_1767931172783_w52a1e4ba", + "width": 0.1129999999999999, + "x": 0.6883750000000001, + "y": 0.5013984375 + } + ], + "type": "bbox" + }, + "bbox_1767930980312": { + "instances": [ + { + "height": 0.191, + "id": "bbox_1767930980312_1767931164567_q2umg8dn1", + "width": 0.16499999999999998, + "x": 0.364375, + "y": 0.3743984375 + } + ], + "type": "bbox" + }, + "point_1767930981160": { + "instances": [ + { + "id": "point_1767930981160_1767931157192_zgwj1npcn", + "x": 0.554375, + "y": 0.32139843749999997 + } + ], + "type": "point" + }, + "point_1767930981359": { + "instances": [ + { + "id": "point_1767930981359_1767931154575_rdqybmuix", + "x": 0.650375, + "y": 0.3243984375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达路飞的正上方后下降，合拢爪夹抓取路飞后垂直上升，向爪夹方向的左后方移动，直至路飞位于礼品盒的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近路飞，并使爪夹角度垂直于桌面，方便抓取路飞。", + "frame": 106, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近路飞并调整完爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与路飞的水平距离进一步缩短。\n为完成抓取路飞使其位于礼品盒上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取路飞。", + "time": 3.535837628865979 + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动，并调整爪夹角度。\t", + "annotations": { + "bbox_1767930979968": { + "instances": [ + { + "height": 0.16399999999999995, + "id": "bbox_1767930979968_1767937405359_4u0mnz5t7", + "width": 0.11900000000000001, + "x": 0.686375, + "y": 0.4988984375 + } + ], + "type": "bbox" + }, + "bbox_1767930980312": { + "instances": [ + { + "height": 0.19200000000000006, + "id": "bbox_1767930980312_1767937419671_i1eiwn0ro", + "width": 0.161, + "x": 0.36637499999999995, + "y": 0.37589843749999996 + } + ], + "type": "bbox" + }, + "point_1767930981160": { + "instances": [ + { + "id": "point_1767930981160_1767937430815_adr1wnxe3", + "x": 0.699375, + "y": 0.4058984375 + } + ], + "type": "point" + }, + "point_1767930981359": { + "instances": [ + { + "id": "point_1767930981359_1767937434303_2wxkk04oy", + "x": 0.755375, + "y": 0.3758984375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达路飞的正上方后下降，合拢爪夹抓取路飞后垂直上升，向爪夹方向的左后方移动，直至路飞位于礼品盒的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近路飞，并使爪夹角度垂直于桌面，方便抓取路飞。", + "frame": 155, + "progress": 18, + "progress_explanation": "当前爪夹在水平方向上进一步接近路飞并调整完爪夹角度方便抓取，因此进度提升为18%。", + "state_description": "当前爪夹张开，与路飞的水平距离进一步缩短。\n为完成抓取路飞使其位于礼品盒上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取路飞。", + "time": 5.156340206185567 + }, + { + "action_description": "爪夹向爪夹的右侧移动到山治的正上方。", + "annotations": { + "bbox_1767930979968": { + "instances": [ + { + "height": 0.163, + "id": "bbox_1767930979968_1767937501111_7shlv4jiu", + "width": 0.1159999999999999, + "x": 0.6853750000000001, + "y": 0.49789843749999996 + } + ], + "type": "bbox" + }, + "bbox_1767930980312": { + "instances": [ + { + "height": 0.186, + "id": "bbox_1767930980312_1767937513439_5p64orzhu", + "width": 0.164, + "x": 0.367375, + "y": 0.3768984374999999 + } + ], + "type": "bbox" + }, + "point_1767930981160": { + "instances": [ + { + "id": "point_1767930981160_1767937494480_y798gffvd", + "x": 0.747375, + "y": 0.43089843749999995 + } + ], + "type": "point" + }, + "point_1767930981359": { + "instances": [ + { + "id": "point_1767930981359_1767937490896_kbce6qag6", + "x": 0.766375, + "y": 0.4758984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取路飞后垂直上升，向爪夹方向的左后方移动，直至路飞位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了路飞的正上方，方便爪夹抓取。", + "frame": 182, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于路飞正上方，已接近路飞，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到路飞的正上方。\n为完成抓取路飞使其位于礼品盒上的任务应当:向下合拢爪夹抓取路飞后垂直抬起爪夹，然后向爪夹的左后方移动，直至移动到礼品盒的正上方。", + "time": 6.081787431443137 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取路飞。", + "annotations": { + "bbox_1767930979968": { + "instances": [ + { + "height": 0.15899999999999997, + "id": "bbox_1767930979968_1767937563439_7ywiipbws", + "width": 0.11399999999999993, + "x": 0.687375, + "y": 0.5013984375 + } + ], + "type": "bbox" + }, + "bbox_1767930980312": { + "instances": [ + { + "height": 0.19200000000000006, + "id": "bbox_1767930980312_1767937552231_nubokvgzw", + "width": 0.164, + "x": 0.365375, + "y": 0.37339843749999996 + } + ], + "type": "bbox" + }, + "point_1767930981160": { + "instances": [ + { + "id": "point_1767930981160_1767937578559_nt6874vvs", + "x": 0.752375, + "y": 0.5543984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧路飞后垂直上升，向爪夹方向的左后方移动，直至路飞位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了路飞。", + "frame": 236, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到路飞，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到路飞。\n为完成抓取路飞使其位于礼品盒上的任务应当:抓取路飞后垂直抬起爪夹，然后向爪夹的左后方移动，直至移动到礼品盒的正上方。", + "time": 7.857177835051547 + }, + { + "action_description": "爪夹保持合拢，夹紧路飞后抬高爪夹。", + "annotations": { + "bbox_1767930979968": { + "instances": [ + { + "height": 0.1510000000000001, + "id": "bbox_1767930979968_1767937612495_mh0uzlhiw", + "width": 0.11400000000000006, + "x": 0.6873749999999998, + "y": 0.4346484375 + } + ], + "type": "bbox" + }, + "bbox_1767930980312": { + "instances": [ + { + "height": 0.192, + "id": "bbox_1767930980312_1767937598663_td56vxhb0", + "width": 0.15999999999999998, + "x": 0.367375, + "y": 0.3746484375 + } + ], + "type": "bbox" + }, + "point_1767930981160": { + "instances": [ + { + "id": "point_1767930981160_1767937588503_d2hpowkhz", + "x": 0.759375, + "y": 0.47964843749999997 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧路飞，爪夹向爪夹方向的左后方移动，直至路飞位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到路飞，爪夹向上方缓慢抬升。", + "frame": 270, + "progress": 45, + "progress_explanation": "当前爪夹已抓住路飞，且爪夹与路飞的高度略微抬升了，所以进度提升为45%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取路飞使其位于礼品盒上的任务应当：爪夹继续抬高，然后向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使路飞下落。", + "time": 8.984599 + }, + { + "action_description": "爪夹保持合拢，夹紧路飞后继续抬高爪夹。", + "annotations": { + "bbox_1767930979968": { + "instances": [ + { + "height": 0.16499999999999998, + "id": "bbox_1767930979968_1767937650606_447chy040", + "width": 0.12200000000000001, + "x": 0.697375, + "y": 0.3381484375 + } + ], + "type": "bbox" + }, + "bbox_1767930980312": { + "instances": [ + { + "height": 0.19300000000000003, + "id": "bbox_1767930980312_1767937658606_v7na52m5o", + "width": 0.16200000000000003, + "x": 0.36637499999999995, + "y": 0.3751484375 + } + ], + "type": "bbox" + }, + "point_1767930981160": { + "instances": [ + { + "id": "point_1767930981160_1767937671838_8irn7i1kl", + "x": 0.7743749999999999, + "y": 0.3841484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧路飞后继续抬高爪夹，爪夹向爪夹方向的左后方移动，直至路飞位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到路飞，爪夹向上方缓慢抬升。", + "frame": 299, + "progress": 50, + "progress_explanation": "当前爪夹已抓住路飞，且爪夹与路飞的高度略微抬升了，所以进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度继续抬高。\n为完成抓取路飞使其位于礼品盒上的任务应当：爪夹继续抬高，然后向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使路飞下落。", + "time": 9.953983377816925 + }, + { + "action_description": "爪夹保持合拢，夹紧路飞后继续抬高爪夹。", + "annotations": { + "bbox_1767930979968": { + "instances": [ + { + "height": 0.168, + "id": "bbox_1767930979968_1767937727662_0u05zll1q", + "width": 0.12699999999999995, + "x": 0.7043750000000001, + "y": 0.21539843750000004 + } + ], + "type": "bbox" + }, + "bbox_1767930980312": { + "instances": [ + { + "height": 0.18800000000000003, + "id": "bbox_1767930980312_1767937691278_ii5huxekn", + "width": 0.16599999999999995, + "x": 0.364375, + "y": 0.3773984375 + } + ], + "type": "bbox" + }, + "point_1767930981160": { + "instances": [ + { + "id": "point_1767930981160_1767937683670_4lybxhvv9", + "x": 0.7893749999999999, + "y": 0.2423984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹向爪夹方向的左后方移动，直至路飞位于礼品盒的正上方后松开爪夹，路飞下落。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到路飞，爪夹向上方缓慢抬升。", + "frame": 333, + "progress": 60, + "progress_explanation": "当前爪夹已抓住路飞，且爪夹与路飞的高度略微抬升了，所以进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度继续抬高。\n为完成抓取路飞使其位于礼品盒上的任务应当：爪夹继续抬高，然后向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使路飞下落。", + "time": 11.111095360824741 + }, + { + "action_description": "爪夹夹紧路飞，向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767930979968": { + "instances": [ + { + "height": 0.164, + "id": "bbox_1767930979968_1767937744423_0safgdldl", + "width": 0.125, + "x": 0.6013749999999999, + "y": 0.2366484375 + } + ], + "type": "bbox" + }, + "bbox_1767930980312": { + "instances": [ + { + "height": 0.199, + "id": "bbox_1767930980312_1767937754903_7s9r4fhnd", + "width": 0.161, + "x": 0.368375, + "y": 0.3756484375 + } + ], + "type": "bbox" + }, + "point_1767930981160": { + "instances": [ + { + "id": "point_1767930981160_1767937762807_c49o6nwz4", + "x": 0.6673749999999999, + "y": 0.2616484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧路飞，继续向爪夹方向的左后方移动，直至路飞位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到路飞，并且进一步向着礼品盒的方向移动。", + "frame": 372, + "progress": 65, + "progress_explanation": "当前爪夹已夹紧路飞，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为65%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时路飞位于礼品盒的右上方。\n为完成抓取路飞使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使路飞下落。", + "time": 12.403797939714874 + }, + { + "action_description": "爪夹夹紧路飞，继续向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767930979968": { + "instances": [ + { + "height": 0.16099999999999995, + "id": "bbox_1767930979968_1767937777055_r0ok5nujl", + "width": 0.11299999999999996, + "x": 0.49137499999999995, + "y": 0.24889843749999999 + } + ], + "type": "bbox" + }, + "bbox_1767930980312": { + "instances": [ + { + "height": 0.192, + "id": "bbox_1767930980312_1767937795270_lwhb594oh", + "width": 0.16299999999999995, + "x": 0.364375, + "y": 0.3758984375 + } + ], + "type": "bbox" + }, + "point_1767930981160": { + "instances": [ + { + "id": "point_1767930981160_1767937771447_csb7waqwt", + "x": 0.544375, + "y": 0.27589843750000004 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧路飞，继续向爪夹方向的左后方移动，直至路飞位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到路飞，并且进一步向着礼品盒的方向移动。", + "frame": 420, + "progress": 70, + "progress_explanation": "当前爪夹已夹紧路飞，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为70%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时路飞位于礼品盒的右上方。\n为完成抓取路飞使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使路飞下落。", + "time": 13.983713063857545 + }, + { + "action_description": "爪夹保持合拢，抓紧路飞向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767930979968": { + "instances": [ + { + "height": 0.13699999999999998, + "id": "bbox_1767930979968_1767937829398_eu0p5s95p", + "width": 0.10700000000000003, + "x": 0.397375, + "y": 0.2733984375 + } + ], + "type": "bbox" + }, + "bbox_1767930980312": { + "instances": [ + { + "height": 0.191, + "id": "bbox_1767930980312_1767937807678_u5i90zbyd", + "width": 0.16299999999999995, + "x": 0.364375, + "y": 0.3743984375 + } + ], + "type": "bbox" + }, + "point_1767930981160": { + "instances": [ + { + "id": "point_1767930981160_1767937820462_elmlcvgpa", + "x": 0.442375, + "y": 0.2893984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使路飞下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了礼品盒的正上方。", + "frame": 468, + "progress": 80, + "progress_explanation": "当前爪夹已抓住路飞，并移动到了礼品盒的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住路飞处于礼品盒方向的正上方。\n为完成抓取路飞使其位于礼品盒上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使路飞下落。", + "time": 15.601972343698405 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767930979968": { + "instances": [ + { + "height": 0.155, + "id": "bbox_1767930979968_1767937840110_brqn2cyv7", + "width": 0.11000000000000003, + "x": 0.399375, + "y": 0.28214843749999996 + } + ], + "type": "bbox" + }, + "bbox_1767930980312": { + "instances": [ + { + "height": 0.19000000000000003, + "id": "bbox_1767930980312_1767937861213_af9j81nc3", + "width": 0.163, + "x": 0.36437499999999995, + "y": 0.3751484375 + } + ], + "type": "bbox" + }, + "point_1767930981160": { + "instances": [ + { + "id": "point_1767930981160_1767937878423_ml750plre", + "x": 0.44437499999999996, + "y": 0.28914843749999997 + } + ], + "type": "point" + } + }, + "correction_plan": "路飞位于礼品盒上的目标任务完成了。", + "error_success_analysis": "爪夹张开使路飞位于礼品盒的上方，成功完成任务。", + "frame": 479, + "progress": 100, + "progress_explanation": "当前路飞位于礼品盒的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，路飞下降了一定距离，抓取路飞使其位于礼品盒上的目标任务完成。", + "time": 15.963498353024555 + }, + { + "action_description": "爪夹保持打开状态，重新回到初始状态。", + "annotations": { + "bbox_1767930979968": { + "instances": [ + { + "height": 0.16000000000000003, + "id": "bbox_1767930979968_1767931030479_n08gue67z", + "width": 0.11, + "x": 0.23637499999999997, + "y": 0.4858984375 + } + ], + "type": "bbox" + }, + "bbox_1767930980312": { + "instances": [ + { + "height": 0.18899999999999995, + "id": "bbox_1767930980312_1767931038767_h4gm7thvk", + "width": 0.184, + "x": 0.646375, + "y": 0.37989843749999996 + } + ], + "type": "bbox" + }, + "point_1767930981160": { + "instances": [ + { + "id": "point_1767930981160_1767931055815_2rspu20tz", + "x": 0.45037499999999997, + "y": 0.21689843749999999 + } + ], + "type": "point" + }, + "point_1767930981359": { + "instances": [ + { + "id": "point_1767930981359_1767931058983_kbvvtb0h0", + "x": 0.48337499999999994, + "y": 0.21589843749999998 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达路飞的正上方后下降，合拢爪夹抓取山治后垂直上升，向爪夹方向的右后方移动，直至山治位于礼品盒的正上方后松开爪夹，路飞下落。", + "error_success_analysis": "爪夹又重新回到初始状态，路飞位于礼品盒的左边。", + "frame": 486, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取路飞，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，回到初始状态，没有接触路飞。\n为完成抓取路飞使其位于礼品盒上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取路飞。", + "time": 16.189961340206185 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767930979968", + "name": "路飞" + }, + { + "color": "#FF9800", + "id": "bbox_1767930980312", + "name": "礼品盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767930981160", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767930981359", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000594.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000594.json new file mode 100644 index 0000000000000000000000000000000000000000..30387bb8ee5d8b90b5811bbee9cd146327d0ec59 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000594.json @@ -0,0 +1,724 @@ +{ + "task_description": "抓取蝙蝠侠手办使其位于礼品盒上。\n爪夹开始移动：0%\n爪夹靠近蝙蝠侠手办：20%\n爪夹抓取蝙蝠侠手办：40%\n爪夹抓住蝙蝠侠手办靠近礼品盒：60%\n爪夹抓住蝙蝠侠手办位于礼品盒上：80%\n爪夹松开，蝙蝠侠手办下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达蝙蝠侠手办的正上方后下降，合拢爪夹抓取山治后垂直上升，向爪夹方向的左后方移动，直至蝙蝠侠手办位于礼品盒的正上方。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触蝙蝠侠手办。\n为完成抓取蝙蝠侠手办使其位于礼品盒上的任务应当:爪夹向爪夹的右前方移动并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的正下方移动，准备抓取蝙蝠侠手办。", + "time": 0, + "annotations": { + "bbox_1767939996702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996702_1767940294437_zupy3kidm", + "x": 0.6961110414971289, + "y": 0.5011527480375519, + "width": 0.11499999298095745, + "height": 0.1539999906005864 + } + ] + }, + "bbox_1767939996902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996902_1767940306845_n3h4l583q", + "x": 0.24011106932915832, + "y": 0.3491527573148952, + "width": 0.16099999017334046, + "height": 0.1789999890747077 + } + ] + }, + "point_1767939997741": { + "type": "point", + "instances": [ + { + "id": "point_1767939997741_1767940317365_73mdbwsqk", + "x": 0.46711105547417875, + "y": 0.13215277055952326 + } + ] + }, + "point_1767939997950": { + "type": "point", + "instances": [ + { + "id": "point_1767939997950_1767940321229_qr1jc6nzo", + "x": 0.544111050774472, + "y": 0.1301527706815936 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达蝙蝠侠手办的正上方后下降，合拢爪夹抓取蝙蝠侠手办后垂直上升，向爪夹方向的左后方移动，直至蝙蝠侠手办位于礼品盒的正上方。", + "error_success_analysis": "爪夹向右下方移动，距离抓取蝙蝠侠手办的距离更近。", + "frame": 8, + "progress": 6, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了蝙蝠侠手办，因此进度提升为6%。", + "state_description": "当前爪夹张开，与蝙蝠侠手办的水平距离略微缩短。\n为完成抓取蝙蝠侠手办使其位于礼品盒上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取蝙蝠侠手办，爪夹抬高并竖直上升。", + "time": 0.8666666666666667, + "annotations": { + "point_1767939997950": { + "type": "point", + "instances": [ + { + "id": "point_1767939997950_1767940335484_l44lx61st", + "x": 0.5941110477227144, + "y": 0.15937499790191664 + } + ] + }, + "point_1767939997741": { + "type": "point", + "instances": [ + { + "id": "point_1767939997741_1767940339644_uxpebptky", + "x": 0.5141110526055266, + "y": 0.15837499796295176 + } + ] + }, + "bbox_1767939996702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996702_1767940347940_pwnxw80dj", + "x": 0.695111041558164, + "y": 0.5003749770889296, + "width": 0.11599999291992233, + "height": 0.15599999047851618 + } + ] + }, + "bbox_1767939996902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996902_1767940361348_k8ukd3mso", + "x": 0.23711106951226382, + "y": 0.3503749862442025, + "width": 0.16199999011230531, + "height": 0.176999989196778 + } + ] + } + } + }, + { + "time": 2.6845273342953564, + "frame": 81, + "progress": 10, + "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度。", + "state_description": "当前爪夹张开，与蝙蝠侠手办的水平距离进一步缩短。\n为完成抓取蝙蝠侠手办使其位于礼品盒上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取蝙蝠侠手办。", + "progress_explanation": "当前爪夹在水平方向上进一步接近蝙蝠侠手办并调整完爪夹角度方便抓取，因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近蝙蝠侠手办，并使爪夹角度垂直于桌面，方便抓取蝙蝠侠手办。", + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达蝙蝠侠手办的正上方后下降，合拢爪夹抓取蝙蝠侠手办后垂直上升，向爪夹方向的左后方移动，直至蝙蝠侠手办位于礼品盒的正上方后松开爪夹。\t", + "annotations": { + "bbox_1767939996902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996902_1767940379644_aw96v73ec", + "x": 0.23911106939019353, + "y": 0.3480416505101532, + "width": 0.16199999011230526, + "height": 0.1789999890747077 + } + ] + }, + "bbox_1767939996702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996702_1767940391556_xd2h2nc00", + "x": 0.6961110414971289, + "y": 0.5030416410497046, + "width": 0.11299999310302766, + "height": 0.15299999066162162 + } + ] + }, + "point_1767939997741": { + "type": "point", + "instances": [ + { + "id": "point_1767939997741_1767940401581_e28cxd923", + "x": 0.5731110490044525, + "y": 0.25804165600331685 + } + ] + }, + "point_1767939997950": { + "type": "point", + "instances": [ + { + "id": "point_1767939997950_1767940404461_vdl67qnfb", + "x": 0.6501110443047458, + "y": 0.24504165679677387 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动，并调整爪夹角度。", + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达蝙蝠侠手办的正上方后下降，合拢爪夹抓取蝙蝠侠手办后垂直上升，向爪夹方向的左后方移动，直至蝙蝠侠手办位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近蝙蝠侠手办，并使爪夹角度垂直于桌面，方便抓取蝙蝠侠手办。", + "frame": 116, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近蝙蝠侠手办并调整完爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与蝙蝠侠手办的水平距离进一步缩短。\n为完成抓取蝙蝠侠手办使其位于礼品盒上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取蝙蝠侠手办。", + "time": 3.8536011983860448, + "annotations": { + "point_1767939997950": { + "type": "point", + "instances": [ + { + "id": "point_1767939997950_1767940411444_egp4372sw", + "x": 0.7061110408867772, + "y": 0.328486094452753 + } + ] + }, + "point_1767939997741": { + "type": "point", + "instances": [ + { + "id": "point_1767939997741_1767940414564_2r8rstbku", + "x": 0.6681110432061131, + "y": 0.35848609262169845 + } + ] + }, + "bbox_1767939996702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996702_1767940423244_bl1itzrnx", + "x": 0.6971110414360936, + "y": 0.5024860838326365, + "width": 0.11299999310302779, + "height": 0.15299999066162168 + } + ] + }, + "bbox_1767939996902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996902_1767940435580_srhg3vq8l", + "x": 0.24011106932915835, + "y": 0.3474860932930851, + "width": 0.15899999029541076, + "height": 0.17999998901367256 + } + ] + } + } + }, + { + "time": 5.322301558831501, + "frame": 160, + "progress": 20, + "action_description": "爪夹向爪夹的右侧移动到蝙蝠侠手办的正上方。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到蝙蝠侠手办的正上方。\n为完成抓取蝙蝠侠手办使其位于礼品盒上的任务应当:向下合拢爪夹抓取蝙蝠侠手办后垂直抬起爪夹，然后向爪夹的左后方移动，直至移动到礼品盒的正上方。", + "progress_explanation": "当前爪夹已悬空于蝙蝠侠手办的正上方，已接近蝙蝠侠手办，因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了蝙蝠侠手办的的正上方，方便爪夹抓取。", + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取蝙蝠侠手办后垂直上升，向爪夹方向的左后方移动，直至蝙蝠侠手办位于礼品盒的正上方后松开爪夹。", + "annotations": { + "bbox_1767939996902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996902_1767940457660_5pz3me0rd", + "x": 0.2411110692681232, + "y": 0.3503749862442025, + "width": 0.15799999035644594, + "height": 0.17399998937988345 + } + ] + }, + "bbox_1767939996702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996702_1767940466397_da55nsutf", + "x": 0.6921110417412694, + "y": 0.5023749769668594, + "width": 0.11899999273681688, + "height": 0.15599999047851612 + } + ] + }, + "point_1767939997950": { + "type": "point", + "instances": [ + { + "id": "point_1767939997950_1767940476397_wii12ghu1", + "x": 0.7731110367974221, + "y": 0.478374978431703 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取蝙蝠侠手办。", + "correction_plan": "爪夹保持合拢，爪夹夹紧蝙蝠侠手办后垂直上升，向爪夹方向的左后方移动，直至蝙蝠侠手办位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了蝙蝠侠手办。", + "frame": 72, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到蝙蝠侠手办，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到蝙蝠侠手办。\n为完成抓取蝙蝠侠手办使其位于礼品盒上的任务应当:抓取蝙蝠侠手办后垂直抬起爪夹，然后向爪夹的左后方移动，直至移动到礼品盒的正上方。", + "time": 7.266666666666667, + "annotations": { + "point_1767939997950": { + "type": "point", + "instances": [ + { + "id": "point_1767939997950_1767940487044_irn6gdhwi", + "x": 0.7561110378350197, + "y": 0.5354860818184765 + } + ] + }, + "bbox_1767939996702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996702_1767940494204_6nfbmvjqs", + "x": 0.6961110414971289, + "y": 0.4884860846871286, + "width": 0.1119999931640629, + "height": 0.1609999901733404 + } + ] + }, + "bbox_1767939996902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996902_1767940501332_q0s8qmg3q", + "x": 0.2411110692681232, + "y": 0.3504860931099796, + "width": 0.15899999029541076, + "height": 0.17699998919677806 + } + ] + } + } + }, + { + "time": 8.180099, + "frame": 245, + "progress": 45, + "action_description": "爪夹保持合拢，夹紧蝙蝠侠手办后抬高爪夹。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取蝙蝠侠手办使其位于礼品盒上的任务应当：爪夹继续抬高，然后向爪夹方向的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使蝙蝠侠手办下落。", + "progress_explanation": "当前爪夹已抓住蝙蝠侠手办，且爪夹与蝙蝠侠手办的高度略微抬升了，所以进度提升为45%。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到蝙蝠侠手办，爪夹向上方缓慢抬升。", + "correction_plan": "爪夹保持合拢，爪夹夹紧蝙蝠侠手办，爪夹向爪夹方向的左后方移动，直至蝙蝠侠手办位于礼品盒的正上方后松开爪夹。", + "annotations": { + "bbox_1767939996902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996902_1767940523108_4rvozht4t", + "x": 0.24011106932915835, + "y": 0.3481527650053244, + "width": 0.16199999011230526, + "height": 0.17699998919677806 + } + ] + }, + "bbox_1767939996702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996702_1767940528868_7gctsss41", + "x": 0.7041110410088476, + "y": 0.4301527600004419, + "width": 0.11399999304199256, + "height": 0.15899999029541068 + } + ] + }, + "point_1767939997741": { + "type": "point", + "instances": [ + { + "id": "point_1767939997741_1767940536396_8y2km4yhi", + "x": 0.7661110372246681, + "y": 0.46315275798628186 + } + ] + } + } + }, + { + "time": 10.284053823943538, + "frame": 309, + "progress": 50, + "action_description": "爪夹抓住蝙蝠侠手办，爪夹向爪夹方向的正上方移动。", + "state_description": "当前爪夹合拢，垂直于桌面，此时蝙蝠侠手办位于礼品盒的左上方。\n为完成抓取蝙蝠侠手办使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒正上方后松开爪夹，使蝙蝠侠手办下落。", + "progress_explanation": "当前蝙蝠侠手办的高度上升，与礼品盒的距离缩短，更方便爪夹将蝙蝠侠手办放在礼品盒上，因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧山治竖直上升，爪夹更容易将蝙蝠侠手办放在礼品盒上。", + "correction_plan": "爪夹保持合拢，爪夹夹紧蝙蝠侠手办，向爪夹方向的左后方移动，直至山治位于礼品盒的正上方后松开爪夹。", + "annotations": { + "point_1767939997741": { + "type": "point", + "instances": [ + { + "id": "point_1767939997741_1767940545980_67he3nzym", + "x": 0.8021110350274027, + "y": 0.23726387864600348 + } + ] + }, + "bbox_1767939996702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996702_1767940552763_gx3p86emy", + "x": 0.727111039605039, + "y": 0.21026388029395263, + "width": 0.1299999920654302, + "height": 0.18099998895263741 + } + ] + }, + "bbox_1767939996902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996902_1767940566092_mcwpwzo14", + "x": 0.23811106945122865, + "y": 0.3462638719931718, + "width": 0.16199999011230531, + "height": 0.17999998901367256 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧蝙蝠侠手办，向爪夹方向的左后方移动。", + "correction_plan": "爪夹保持合拢，爪夹夹紧蝙蝠侠手办，继续向爪夹方向的左后方移动，直至山治位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到蝙蝠侠手办，并且进一步向着礼品盒的方向移动。", + "frame": 367, + "progress": 57, + "progress_explanation": "当前爪夹已夹紧蝙蝠侠手办，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为57%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时蝙蝠侠手办位于礼品盒的右上方。\n为完成抓取蝙蝠侠手办使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使蝙蝠侠手办下落。", + "time": 12.229623813090432, + "annotations": { + "point_1767939997741": { + "type": "point", + "instances": [ + { + "id": "point_1767939997741_1767940610819_t7vzp6cfw", + "x": 0.6771110426567968, + "y": 0.36381942817264235 + } + ] + }, + "bbox_1767939996702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996702_1767940615547_jbd6enyrc", + "x": 0.6151110464409761, + "y": 0.34081942957645084, + "width": 0.12299999249267633, + "height": 0.16599998986816467 + } + ] + }, + "bbox_1767939996902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996902_1767940627635_wqm0qva81", + "x": 0.23911106939019353, + "y": 0.3478194291492047, + "width": 0.16199999011230526, + "height": 0.1789999890747077 + } + ] + } + } + }, + { + "time": 14.210439971973232, + "frame": 426, + "progress": 60, + "action_description": "爪夹夹紧蝙蝠侠手办，继续向爪夹方向的左后方移动。", + "state_description": "当前爪夹合拢，垂直于桌面，此时蝙蝠侠手办位于礼品盒的右上方。\n为完成抓取蝙蝠侠手办使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使蝙蝠侠手办下落。", + "progress_explanation": "当前爪夹已夹紧蝙蝠侠手办，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为60%。", + "error_success_analysis": "爪夹已经抓取到蝙蝠侠手办，并且进一步向着礼品盒的方向移动。", + "correction_plan": "爪夹保持合拢，爪夹夹紧蝙蝠侠手办，继续向爪夹方向的左后方移动，直至蝙蝠侠手办位于礼品盒的正上方后松开爪夹。", + "annotations": { + "bbox_1767939996902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996902_1767940649243_yc5bfg7p4", + "x": 0.24011106932915835, + "y": 0.3488194290881696, + "width": 0.16099999017334043, + "height": 0.176999989196778 + } + ] + }, + "bbox_1767939996702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996702_1767940660683_wakfjwd92", + "x": 0.4471110566948818, + "y": 0.2948194323840678, + "width": 0.11499999298095738, + "height": 0.15399999060058653 + } + ] + }, + "point_1767939997741": { + "type": "point", + "instances": [ + { + "id": "point_1767939997741_1767940669644_fa6oiphar", + "x": 0.5021110533379484, + "y": 0.3138194312243999 + } + ] + } + } + }, + { + "time": 15.66505116256242, + "frame": 470, + "progress": 70, + "action_description": "爪夹夹紧蝙蝠侠手办，继续向爪夹方向的左后方移动。", + "state_description": "当前爪夹合拢，垂直于桌面，此时蝙蝠侠手办位于礼品盒的右上方。\n为完成抓取蝙蝠侠手办使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使蝙蝠侠手办下落。", + "progress_explanation": "当前爪夹已夹紧蝙蝠侠手办，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为70%。", + "error_success_analysis": "爪夹已经抓取到蝙蝠侠手办，并且进一步向着礼品盒的方向移动。", + "correction_plan": "爪夹保持合拢，爪夹夹紧蝙蝠侠手办，继续向爪夹方向的左后方移动，直至蝙蝠侠手办位于礼品盒的正上方后松开爪夹。", + "annotations": { + "point_1767939997741": { + "type": "point", + "instances": [ + { + "id": "point_1767939997741_1767940678571_jubocncrw", + "x": 0.40611106432427585, + "y": 0.28459721297624435 + } + ] + }, + "bbox_1767939996702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996702_1767940687867_0hlv446sv", + "x": 0.3601110671318929, + "y": 0.26559721450212315, + "width": 0.10299999371337928, + "height": 0.15099999078369197 + } + ] + }, + "bbox_1767939996902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996902_1767940696987_lauexsbhk", + "x": 0.23811106945122865, + "y": 0.350597207605151, + "width": 0.16299999005127014, + "height": 0.17699998919677792 + } + ] + } + } + }, + { + "time": 17.0007, + "frame": 510, + "progress": 80, + "action_description": "爪夹保持合拢，抓紧蝙蝠侠手办向爪夹方向的左侧移动。", + "state_description": "当前爪夹合找，垂直于桌面，抓住蝙蝠侠手办处于礼品盒方向的正上方。\n为完成抓取蝙蝠侠手办使其位于礼品盒上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使山治下落。", + "progress_explanation": "当前爪夹已抓住蝙蝠侠手办，并移动到了礼品盒的正上方，因此进度提升为80%。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了礼品盒的正上方。", + "correction_plan": "爪夹下降到一定高度后松开爪夹，使蝙蝠侠手办下落。", + "annotations": { + "bbox_1767939996702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996702_1767942442940_0b4zpqmo0", + "x": 0.27533331298828123, + "y": 0.247, + "width": 0.10400000000000004, + "height": 0.14299999999999996 + } + ] + }, + "bbox_1767939996902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996902_1767942450078_6t33gefki", + "x": 0.24233331298828126, + "y": 0.3503333435058594, + "width": 0.159, + "height": 0.175 + } + ] + }, + "point_1767939997741": { + "type": "point", + "instances": [ + { + "id": "point_1767939997741_1767942458677_wdyco9m9p", + "x": 0.32133331298828127, + "y": 0.26333334350585935 + } + ] + } + } + }, + { + "time": 17.759174873902627, + "frame": 533, + "progress": 100, + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "state_description": "当前爪夹张开，蝙蝠侠手办下降了一定距离，抓取蝙蝠侠手办使其位于礼品盒上的目标任务完成。", + "progress_explanation": "当前蝙蝠侠手办位于礼品盒的上方，因此进度提升为100%。", + "error_success_analysis": "爪夹张开使蝙蝠侠手办位于礼品盒的上方，成功完成任务。", + "correction_plan": "蝙蝠侠手办位于礼品盒上的目标任务完成了。", + "annotations": { + "bbox_1767939996702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996702_1767940740987_7bhgbqjj7", + "x": 0.26711106768120924, + "y": 0.2679305421795323, + "width": 0.10399999371337927, + "height": 0.14199999121093798 + } + ] + }, + "bbox_1767939996902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996902_1767940759683_055xndeso", + "x": 0.23911106939019347, + "y": 0.3499305358929116, + "width": 0.1609999901733405, + "height": 0.1779999891357429 + } + ] + }, + "point_1767939997741": { + "type": "point", + "instances": [ + { + "id": "point_1767939997741_1767942465589_wdlkfd8dj", + "x": 0.31333331298828127, + "y": 0.26133334350585935 + } + ] + } + } + }, + { + "time": 17.8242, + "frame": 535, + "progress": 0, + "action_description": "爪夹保持打开状态，重新回到初始状态。", + "state_description": "当前状态为爪夹打开，没有接触蝙蝠侠手办，蝙蝠侠手办位于礼品盒的左方。\n为完成抓取蝙蝠侠手办使其位于礼品盒上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取蝙蝠侠手办。", + "progress_explanation": "爪夹重新回到初始状态，没有夹取蝙蝠侠手办，因此进度下降为0%。", + "error_success_analysis": "爪夹又重新回到初始状态，蝙蝠侠手办位于礼品盒的左方。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达蝙蝠侠手办的正上方后下降，合拢爪夹抓取蝙蝠侠手办后垂直上升，向爪夹方向的右前方移动，直至蝙蝠侠手办位于礼品盒的正上方后松开爪夹，蝙蝠侠手办下落。", + "annotations": { + "bbox_1767939996902": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996902_1767940777531_vyxibd4gy", + "x": 0.6441110446709568, + "y": 0.4229305314373455, + "width": 0.1869999885864265, + "height": 0.21499998687744218 + } + ] + }, + "bbox_1767939996702": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767939996702_1767940794475_xhou00zv7", + "x": 0.28311106670464675, + "y": 0.3709305346111734, + "width": 0.0959999941406254, + "height": 0.13699999163818408 + } + ] + }, + "point_1767939997741": { + "type": "point", + "instances": [ + { + "id": "point_1767939997741_1767940804299_2n13j7hky", + "x": 0.3541110623711509, + "y": 0.22193054370541115 + } + ] + }, + "point_1767939997950": { + "type": "point", + "instances": [ + { + "id": "point_1767939997950_1767940808546_87root2kn", + "x": 0.3881110602959558, + "y": 0.21993054382748145 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767939996702", + "name": "蝙蝠侠手办", + "color": "#4CAF50" + }, + { + "id": "bbox_1767939996902", + "name": "礼品盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767939997741", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767939997950", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000596.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000596.json new file mode 100644 index 0000000000000000000000000000000000000000..09458186a82ee5a1c73b6f5eed5cbfeb725a2c70 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000596.json @@ -0,0 +1,612 @@ +{ + "task_description": "抓取手办杰西使其位于礼品盒上。\n爪夹开始移动：0%\n爪夹靠近手办杰西：20%\n爪夹抓取手办杰西：40%\n爪夹抓住手办杰西靠近礼品盒：60%\n爪夹抓住手办杰西位于礼品盒上：80%\n爪夹松开，手办杰西下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达山治的正上方后下降，合拢爪夹抓取手办杰西后垂直上升，向爪夹方向的右后方移动，直至手办杰西位于礼品盒的正上方。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触手办杰西。\n为完成抓取手办杰西使其位于礼品盒上的任务应当:爪夹向爪夹的左前方移动并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的正下方移动，准备抓取手办杰西。", + "time": 0, + "annotations": { + "bbox_1767943167602": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167602_1767943293408_jstr9oebt", + "x": 0.6783750000000001, + "y": 0.3331484375, + "width": 0.09100000000000001, + "height": 0.17099999999999996 + } + ] + }, + "bbox_1767943167905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167905_1767943303233_anhzsqx58", + "x": 0.20037500000000003, + "y": 0.41914843749999997, + "width": 0.18199999999999997, + "height": 0.204 + } + ] + }, + "point_1767943168769": { + "type": "point", + "instances": [ + { + "id": "point_1767943168769_1767943310169_nt8rqro29", + "x": 0.462375, + "y": 0.1301484375 + } + ] + }, + "point_1767943168986": { + "type": "point", + "instances": [ + { + "id": "point_1767943168986_1767943313737_rdq4osdeh", + "x": 0.544375, + "y": 0.1321484375 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方微调，并降低爪夹高度。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左后方移动，到达手办杰西的正上方后下降，合拢爪夹抓取手办杰西后垂直上升，向爪夹方向的右前方移动，直至手办杰西位于礼品盒的正上方。", + "error_success_analysis": "爪夹向左后方移动，距离抓取手办杰西的距离更近。", + "frame": 18, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了手办杰西，因此进度提升为10%。", + "state_description": "当前爪夹张开，与手办杰西的水平距离略微缩短。\n为完成抓取手办杰西使其位于礼品盒上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取手办杰西，爪夹抬高并竖直上升。", + "time": 1.8, + "annotations": { + "point_1767943168986": { + "type": "point", + "instances": [ + { + "id": "point_1767943168986_1767943324473_t2ad48rw2", + "x": 0.619375, + "y": 0.15414843749999999 + } + ] + }, + "point_1767943168769": { + "type": "point", + "instances": [ + { + "id": "point_1767943168769_1767943328146_ka6wgpag2", + "x": 0.5463749999999999, + "y": 0.15014843749999998 + } + ] + }, + "bbox_1767943167905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167905_1767943338145_8fop6ou72", + "x": 0.201375, + "y": 0.42014843749999997, + "width": 0.18199999999999997, + "height": 0.20199999999999996 + } + ] + }, + "bbox_1767943167602": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167602_1767943358505_iprrwo7zx", + "x": 0.6763750000000001, + "y": 0.3331484375, + "width": 0.09399999999999989, + "height": 0.17099999999999996 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左后方移动，并调整爪夹角度。", + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左后方移动，到达手办杰西的正上方后下降，合拢爪夹抓取山治后垂直上升，向爪夹方向的右前方移动，直至手办杰西位于礼品盒的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的左后方移动，水平方向上成功接近手办杰西，并使爪夹角度垂直于桌面，方便抓取手办杰西。", + "frame": 107, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近手办杰西并调整完爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与手办杰西的水平距离进一步缩短。\n为完成抓取手办杰西使其位于礼品盒上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取手办杰西。", + "time": 3.5510401314358884, + "annotations": { + "bbox_1767943167602": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167602_1767943379977_jsfotrrss", + "x": 0.6773749999999998, + "y": 0.3351484375, + "width": 0.0930000000000001, + "height": 0.16899999999999996 + } + ] + }, + "bbox_1767943167905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167905_1767943396817_649nzzam4", + "x": 0.201375, + "y": 0.4211484375, + "width": 0.18099999999999994, + "height": 0.20500000000000002 + } + ] + }, + "point_1767943168769": { + "type": "point", + "instances": [ + { + "id": "point_1767943168769_1767943424185_ejb9ahmpo", + "x": 0.6453749999999999, + "y": 0.20314843749999997 + } + ] + }, + "point_1767943168986": { + "type": "point", + "instances": [ + { + "id": "point_1767943168986_1767943428641_m6m9iyjco", + "x": 0.705375, + "y": 0.1951484375 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的左后方移动，并调整爪夹角度。", + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左后方移动，到达手办杰西的正上方后下降，合拢爪夹抓取山治后垂直上升，向爪夹方向的右前方移动，直至手办杰西位于礼品盒的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的左后方移动，水平方向上成功接近手办杰西，并使爪夹角度垂直于桌面，方便抓取手办杰西。", + "frame": 142, + "progress": 18, + "progress_explanation": "爪夹向爪夹方向的左后方移动，水平方向上成功接近手办杰西，并使爪夹角度垂直于桌面，方便抓取手办杰西。", + "state_description": "当前爪夹张开，与手办杰西的水平距离进一步缩短。\n为完成抓取手办杰西使其位于礼品盒上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取手办杰西。", + "time": 4.721283432796153, + "annotations": { + "point_1767943168769": { + "type": "point", + "instances": [ + { + "id": "point_1767943168769_1767943439177_ajpkddz8t", + "x": 0.711375, + "y": 0.28714843749999996 + } + ] + }, + "bbox_1767943167905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167905_1767943448961_6inllhldh", + "x": 0.199375, + "y": 0.41714843749999997, + "width": 0.185, + "height": 0.20700000000000002 + } + ] + }, + "bbox_1767943167602": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167602_1767943463169_cbjls4o2r", + "x": 0.675375, + "y": 0.3321484375, + "width": 0.09600000000000009, + "height": 0.175 + } + ] + } + } + }, + { + "time": 5.3492, + "frame": 160, + "progress": 20, + "action_description": "爪夹向爪夹的左侧移动到手办杰西的正上方。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到手办杰西的正上方。\n为完成抓取手办杰西使其位于礼品盒上的任务应当:向下合拢爪夹抓取手办杰西后垂直抬起爪夹，然后向爪夹的右前方移动，直至移动到礼品盒的正上方。", + "progress_explanation": "当前爪夹已悬空于手办杰西的正上方，已接近手办杰西，因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了手办杰西的正上方，方便爪夹抓取。", + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取手办杰西后垂直上升，向爪夹方向的右前方移动，直至山治位于礼品盒的正上方后松开爪夹。", + "annotations": { + "bbox_1767943167602": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167602_1767943485425_hq88bmoic", + "x": 0.674375, + "y": 0.3346484375, + "width": 0.09599999999999996, + "height": 0.16799999999999998 + } + ] + }, + "bbox_1767943167905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167905_1767943492521_pfg298kg5", + "x": 0.202375, + "y": 0.42064843749999997, + "width": 0.18, + "height": 0.20199999999999996 + } + ] + }, + "point_1767943168769": { + "type": "point", + "instances": [ + { + "id": "point_1767943168769_1767943504042_s683x9bg1", + "x": 0.740375, + "y": 0.33264843749999995 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取手办杰西。", + "correction_plan": "爪夹保持合拢，爪夹夹紧手办杰西后垂直上升，向爪夹方向的右前方移动，直至手办杰西位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了手办杰西。", + "frame": 208, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到手办杰西，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到手办杰西。\n为完成抓取手办杰西使其位于礼品盒上的任务应当:抓取手办杰西后垂直抬起爪夹，然后向爪夹的右前方移动，直至移动到礼品盒的正上方。", + "time": 6.922113402061854, + "annotations": { + "point_1767943168769": { + "type": "point", + "instances": [ + { + "id": "point_1767943168769_1767943512521_9dwpkupqi", + "x": 0.771375, + "y": 0.36839843749999995 + } + ] + }, + "bbox_1767943167905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167905_1767943526865_ch3vmypkq", + "x": 0.201375, + "y": 0.4193984375, + "width": 0.181, + "height": 0.202 + } + ] + }, + "bbox_1767943167602": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167602_1767943534337_27fvqkx08", + "x": 0.683375, + "y": 0.3453984375, + "width": 0.08800000000000002, + "height": 0.169 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，夹紧手办杰西后抬高爪夹。", + "correction_plan": "爪夹保持合拢，爪夹夹紧手办杰西，爪夹向爪夹方向的右前方移动，直至手办杰西位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到手办杰西，爪夹向上方缓慢抬升。", + "frame": 80, + "progress": 45, + "progress_explanation": "当前爪夹已抓住手办杰西，且爪夹与手办杰西的高度略微抬升了，所以进度提升为45%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取手办杰西使其位于礼品盒上的任务应当：爪夹继续抬高，然后向爪夹方向的右前方移动，直至移动到礼品盒的正上方后松开爪夹，使手办杰西下落。", + "time": 8.066666666666666, + "annotations": { + "bbox_1767943167602": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167602_1767943550169_aspz0ywx8", + "x": 0.699375, + "y": 0.28264843749999996, + "width": 0.08299999999999995, + "height": 0.18700000000000003 + } + ] + }, + "bbox_1767943167905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167905_1767943564696_tozfh6iuz", + "x": 0.201375, + "y": 0.4196484375, + "width": 0.181, + "height": 0.202 + } + ] + }, + "point_1767943168769": { + "type": "point", + "instances": [ + { + "id": "point_1767943168769_1767943573184_9ae4d3shg", + "x": 0.7793749999999999, + "y": 0.29764843750000003 + } + ] + } + } + }, + { + "time": 10.4748, + "frame": 314, + "progress": 50, + "action_description": "爪夹抓住手办杰西，爪夹继续向爪夹方向的正上方移动。", + "state_description": "当前爪夹合拢，垂直于桌面，此时手办杰西位于礼品盒的右上方。\n为完成抓取手办杰西使其位于礼品盒上的任务应当：爪夹继续向爪夹的右前方移动，直至移动到礼品盒正上方后松开爪夹，使手办杰西下落。", + "progress_explanation": "当前手办杰西的高度上升，与礼品盒的距离缩短，更方便爪夹将手办杰西放在礼品盒上，因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧手办杰西竖直上升，爪夹更容易将手办杰西放在礼品盒上。", + "correction_plan": "爪夹保持合拢，爪夹夹紧手办杰西，向爪夹方向的右前方移动，直至手办杰西位于礼品盒的正上方后松开爪夹。", + "annotations": { + "point_1767943168769": { + "type": "point", + "instances": [ + { + "id": "point_1767943168769_1767943584968_hio5nlheb", + "x": 0.805375, + "y": 0.08314843749999999 + } + ] + }, + "bbox_1767943167602": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167602_1767943593768_qtguyaklq", + "x": 0.724375, + "y": 0.0591484375, + "width": 0.11600000000000002, + "height": 0.22499999999999998 + } + ] + }, + "bbox_1767943167905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167905_1767943609369_f8unlw1um", + "x": 0.202375, + "y": 0.4211484375, + "width": 0.18, + "height": 0.202 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧手办杰西，向爪夹方向的右前方移动。", + "correction_plan": "爪夹保持合拢，爪夹夹紧手办杰西，继续向爪夹方向的右前方移动，直至手办杰西位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到手办杰西，并且进一步向着礼品盒的方向移动。", + "frame": 345, + "progress": 57, + "progress_explanation": "当前爪夹已夹紧手办杰西，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为57%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时手办杰西位于礼品盒的右上方。\n为完成抓取手办杰西使其位于礼品盒上的任务应当：爪夹继续向爪夹的右前方移动，直至移动到礼品盒的正上方后松开爪夹，使手办杰西下落。", + "time": 11.494509813396471, + "annotations": { + "bbox_1767943167905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167905_1767943631386_c26iyl1q0", + "x": 0.200375, + "y": 0.4196484375, + "width": 0.182, + "height": 0.20599999999999993 + } + ] + }, + "bbox_1767943167602": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167602_1767943651016_f64wd7iiq", + "x": 0.6723750000000001, + "y": 0.08564843749999998, + "width": 0.11199999999999997, + "height": 0.21600000000000003 + } + ] + }, + "point_1767943168769": { + "type": "point", + "instances": [ + { + "id": "point_1767943168769_1767943672857_2m9d7u7yt", + "x": 0.747375, + "y": 0.1066484375 + } + ] + } + } + }, + { + "time": 13.926237113402061, + "frame": 418, + "progress": 60, + "action_description": "爪夹夹紧山治，继续向爪夹方向的右前方移动。", + "state_description": "当前爪夹合拢，垂直于桌面，此时手办杰西位于礼品盒的右上方。\n为完成抓取手办杰西使其位于礼品盒上的任务应当：爪夹继续向爪夹的右前方移动，直至移动到礼品盒的正上方后松开爪夹，使手办杰西下落。", + "progress_explanation": "当前爪夹已夹紧手办杰西，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为60%。", + "error_success_analysis": "爪夹已经抓取到手办杰西，并且进一步向着礼品盒的方向移动。", + "correction_plan": "爪夹保持合拢，爪夹夹紧手办杰西，继续向爪夹方向的右前方移动，直至手办杰西位于礼品盒的正上方后松开爪夹。", + "annotations": { + "point_1767943168769": { + "type": "point", + "instances": [ + { + "id": "point_1767943168769_1767943679848_c1k7zfxeq", + "x": 0.534375, + "y": 0.1491484375 + } + ] + }, + "bbox_1767943167905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167905_1767943689984_27wuo1045", + "x": 0.200375, + "y": 0.42014843749999997, + "width": 0.182, + "height": 0.20299999999999999 + } + ] + }, + "bbox_1767943167602": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167602_1767943713240_o9yxi00pw", + "x": 0.4643749999999999, + "y": 0.12814843750000002, + "width": 0.128, + "height": 0.21199999999999994 + } + ] + } + } + }, + { + "time": 15.4628, + "frame": 464, + "progress": 80, + "action_description": "爪夹保持合拢，抓紧山治向爪夹方向的右侧移动。", + "state_description": "当前爪夹合找，垂直于桌面，抓住手办杰西处于礼品盒方向的正上方。\n为完成抓取手办杰西使其位于礼品盒上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使手办杰西下落。", + "progress_explanation": "当前爪夹已抓住手办杰西，并移动到了礼品盒的正上方，因此进度提升为80%。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的右方移动，并且正确移动到了礼品盒的正上方。", + "correction_plan": "爪夹下降到一定高度后松开爪夹，使手办杰西下落。", + "annotations": { + "bbox_1767943167602": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167602_1767943741767_h7pktg3yh", + "x": 0.349375, + "y": 0.2021484375, + "width": 0.12700000000000003, + "height": 0.22400000000000003 + } + ] + }, + "bbox_1767943167905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167905_1767943753328_4xroubmgs", + "x": 0.20337499999999997, + "y": 0.4221484374999999, + "width": 0.18100000000000002, + "height": 0.2 + } + ] + }, + "point_1767943168769": { + "type": "point", + "instances": [ + { + "id": "point_1767943168769_1767943762032_2qblz8f6y", + "x": 0.41937499999999994, + "y": 0.2241484375 + } + ] + } + } + }, + { + "time": 17.008838097078932, + "frame": 510, + "progress": 100, + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "state_description": "当前爪夹张开，手办杰西下降了一定距离，抓取手办杰西使其位于礼品盒上的目标任务完成。", + "progress_explanation": "当前手办杰西位于礼品盒的上方，因此进度提升为100%。", + "error_success_analysis": "爪夹张开使手办杰西位于礼品盒的上方，成功完成任务。", + "correction_plan": "手办杰西位于礼品盒上的目标任务完成了。", + "annotations": { + "point_1767943168769": { + "type": "point", + "instances": [ + { + "id": "point_1767943168769_1767943781864_mjb10sqva", + "x": 0.289375, + "y": 0.3076484375 + } + ] + }, + "bbox_1767943167602": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167602_1767943788512_cehq18a1r", + "x": 0.21737499999999998, + "y": 0.28464843749999996, + "width": 0.134, + "height": 0.22 + } + ] + }, + "bbox_1767943167905": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943167905_1767943793431_lncagma9o", + "x": 0.201375, + "y": 0.42064843749999997, + "width": 0.183, + "height": 0.20500000000000007 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767943167602", + "name": "手办杰西", + "color": "#4CAF50" + }, + { + "id": "bbox_1767943167905", + "name": "礼品盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767943168769", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767943168986", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000695.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000695.json new file mode 100644 index 0000000000000000000000000000000000000000..1992f385825c610dad461027e9fedbb0ca70e818 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000695.json @@ -0,0 +1,668 @@ +{ + "task_description": "抓取手办艾斯使其位于礼品盒上。\n爪夹开始移动：0%\n爪夹靠近手办艾斯：20%\n爪夹抓取手办艾斯：40%\n爪夹抓住手办艾斯靠近礼品盒：60%\n爪夹抓住手办艾斯位于礼品盒上：80%\n爪夹松开，手办艾斯下落：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1767947281331": { + "instances": [ + { + "height": 0.13599999169921925, + "id": "bbox_1767947281331_1767947444778_2edjtl9r5", + "width": 0.08499999481201197, + "x": 0.3051110653618735, + "y": 0.3723749849014292 + } + ], + "type": "bbox" + }, + "bbox_1767947281547": { + "instances": [ + { + "height": 0.21299998699951253, + "id": "bbox_1767947281547_1767947457826_y1jgi4efl", + "width": 0.215999986816407, + "x": 0.6511110442437107, + "y": 0.4613749794693005 + } + ], + "type": "bbox" + }, + "point_1767947282371": { + "instances": [ + { + "id": "point_1767947282371_1767947472722_6vv17ijje", + "x": 0.46611105553521387, + "y": 0.13237499954986573 + } + ], + "type": "point" + }, + "point_1767947282563": { + "instances": [ + { + "id": "point_1767947282563_1767947476810_yg1uolj71", + "x": 0.5431110508355071, + "y": 0.13437499942779543 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达手办艾斯的正上方后下降，合拢爪夹抓取手办艾斯后垂直上升，向爪夹方向的左后方移动，直至手办艾斯位于礼品盒的正上方。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触手办艾斯。\n为完成抓取手办艾斯使其位于礼品盒上的任务应当:爪夹向爪夹的右前方移动并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的正下方移动，准备抓取手办艾斯。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并降低爪夹高度。", + "annotations": { + "bbox_1767947281331": { + "instances": [ + { + "height": 0.13199999194335993, + "id": "bbox_1767947281331_1767947513986_42kg1u111", + "width": 0.08399999487304714, + "x": 0.30711106523980314, + "y": 0.3739305344280679 + } + ], + "type": "bbox" + }, + "bbox_1767947281547": { + "instances": [ + { + "height": 0.21199998706054762, + "id": "bbox_1767947281547_1767947497402_a8bi18efo", + "width": 0.21699998675537177, + "x": 0.6511110442437108, + "y": 0.46193052905697457 + } + ], + "type": "bbox" + }, + "point_1767947282371": { + "instances": [ + { + "id": "point_1767947282371_1767947489490_dcu7urqw3", + "x": 0.4131110587700769, + "y": 0.19393054541439542 + } + ], + "type": "point" + }, + "point_1767947282563": { + "instances": [ + { + "id": "point_1767947282563_1767947485842_cbse7pbp5", + "x": 0.4931110538872648, + "y": 0.19393054541439542 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达手办艾斯的正上方后下降，合拢爪夹抓取山治后垂直上升，向爪夹方向的左后方移动，直至手办艾斯位于礼品盒的正上方。", + "error_success_analysis": "爪夹向右下方移动，距离抓取手办艾斯的距离更近。", + "frame": 34, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了手办艾斯，因此进度提升为10%。", + "state_description": "当前爪夹张开，与手办艾斯的水平距离略微缩短。\n为完成抓取手办艾斯使其位于礼品盒上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取手办艾斯，爪夹抬高并竖直上升。", + "time": 1.1363110643328753 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度。", + "annotations": { + "bbox_1767947281331": { + "instances": [ + { + "height": 0.1299999920654302, + "id": "bbox_1767947281331_1767947529298_f3abscff9", + "width": 0.08599999475097686, + "x": 0.30511106536187343, + "y": 0.3757083129450492 + } + ], + "type": "bbox" + }, + "bbox_1767947281547": { + "instances": [ + { + "height": 0.21399998693847735, + "id": "bbox_1767947281547_1767947541585_xg4a7rfjk", + "width": 0.2189999866333017, + "x": 0.6501110443047458, + "y": 0.4607083077570613 + } + ], + "type": "bbox" + }, + "point_1767947282371": { + "instances": [ + { + "id": "point_1767947282371_1767947551809_93wvoazm1", + "x": 0.34911106267632674, + "y": 0.3027083174006154 + } + ], + "type": "point" + }, + "point_1767947282563": { + "instances": [ + { + "id": "point_1767947282563_1767947555161_v0r0vhue5", + "x": 0.3821110606621667, + "y": 0.27470831910959964 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达手办艾斯的正上方后下降，合拢爪夹抓取手办艾斯后垂直上升，向爪夹方向的左后方移动，直至手办艾斯位于礼品盒的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，水平方向上成功接近手办艾斯，并使爪夹角度垂直于桌面，方便抓取手办艾斯。", + "frame": 82, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上进一步接近手办艾斯并调整完爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与手办艾斯的水平距离进一步缩短。\n为完成抓取手办艾斯使其位于礼品盒上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取手办艾斯。", + "time": 2.721820980740577 + }, + { + "action_description": "爪夹向爪夹的右侧移动到手办艾斯的正上方。", + "annotations": { + "bbox_1767947281331": { + "instances": [ + { + "height": 0.13199999194335993, + "id": "bbox_1767947281331_1767947591841_eoofnn3g8", + "width": 0.0839999948730472, + "x": 0.30611106530083826, + "y": 0.3754860915841008 + } + ], + "type": "bbox" + }, + "bbox_1767947281547": { + "instances": [ + { + "height": 0.21499998687744212, + "id": "bbox_1767947281547_1767947577657_bw0bm4qlx", + "width": 0.21299998699951245, + "x": 0.6521110441826755, + "y": 0.4604860863961129 + } + ], + "type": "bbox" + }, + "point_1767947282563": { + "instances": [ + { + "id": "point_1767947282563_1767947572073_dlwqwu763", + "x": 0.32811106395806494, + "y": 0.3404860937203312 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取手办艾斯后垂直上升，向爪夹方向的左后方移动，直至手办艾斯位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了手办艾斯的正上方，方便爪夹抓取。", + "frame": 107, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于手办艾斯正上方，已接近手办艾斯，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到手办艾斯的正上方。\n为完成抓取手办艾斯使其位于礼品盒上的任务应当:向下合拢爪夹抓取手办艾斯后垂直抬起爪夹，然后向爪夹的左后方移动，直至移动到礼品盒的正上方。", + "time": 3.581156271321011 + }, + { + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取手办艾斯。", + "annotations": { + "bbox_1767947281331": { + "instances": [ + { + "height": 0.12699999224853567, + "id": "bbox_1767947281331_1767947606754_hoyb3pt1q", + "width": 0.07699999530029326, + "x": 0.31111106499566255, + "y": 0.3792638699790118 + } + ], + "type": "bbox" + }, + "bbox_1767947281547": { + "instances": [ + { + "height": 0.21199998706054768, + "id": "bbox_1767947281547_1767947613714_oqnq8wiwd", + "width": 0.215999986816407, + "x": 0.6501110443047458, + "y": 0.463263864852059 + } + ], + "type": "bbox" + }, + "point_1767947282563": { + "instances": [ + { + "id": "point_1767947282563_1767947625953_udvbjr9wg", + "x": 0.3401110632256431, + "y": 0.404263868453133 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧山治后垂直上升，向爪夹方向的左后方移动，直至手办艾斯位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了手办艾斯。", + "frame": 161, + "progress": 40, + "progress_explanation": "当前爪夹已经抓取到手办艾斯，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到手办艾斯。\n为完成抓取手办艾斯使其位于礼品盒上的任务应当:抓取山治后垂直抬起爪夹，然后向爪夹的左后方移动，直至移动到礼品盒的正上方。", + "time": 5.354867499920245 + }, + { + "action_description": "爪夹保持合拢，夹紧手办艾斯后抬高爪夹。", + "annotations": { + "bbox_1767947281331": { + "instances": [ + { + "height": 0.12499999237060594, + "id": "bbox_1767947281331_1767947642457_iinm7f7eo", + "width": 0.08499999481201202, + "x": 0.3041110654229086, + "y": 0.34126387229834765 + } + ], + "type": "bbox" + }, + "bbox_1767947281547": { + "instances": [ + { + "height": 0.21299998699951253, + "id": "bbox_1767947281547_1767947650089_5d1znnshc", + "width": 0.21499998687744223, + "x": 0.6531110441216403, + "y": 0.4622638649130942 + } + ], + "type": "bbox" + }, + "point_1767947282563": { + "instances": [ + { + "id": "point_1767947282563_1767947637241_ylaol4zkj", + "x": 0.3371110634087486, + "y": 0.36026387113867975 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧手办艾斯，爪夹向爪夹方向的左后方移动，直至手办艾斯位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到手办艾斯，爪夹向上方缓慢抬升。", + "frame": 60, + "progress": 45, + "progress_explanation": "当前爪夹已抓住手办艾斯，且爪夹与手办艾斯的高度略微抬升了，所以进度提升为45%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取手办艾斯使其位于礼品盒上的任务应当：爪夹继续抬高，然后后向爪夹方向的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使手办艾斯下落。", + "time": 6.066666666666666 + }, + { + "action_description": "爪夹抓住山治，爪夹继续向爪夹方向的正上方移动。", + "annotations": { + "bbox_1767947281331": { + "instances": [ + { + "height": 0.14999999084472712, + "id": "bbox_1767947281331_1767947686321_x52zf40g9", + "width": 0.08999999450683631, + "x": 0.29011106627740074, + "y": 0.10693053546566555 + } + ], + "type": "bbox" + }, + "bbox_1767947281547": { + "instances": [ + { + "height": 0.2139999869384773, + "id": "bbox_1767947281547_1767947675097_iu5yx3tv9", + "width": 0.21999998657226646, + "x": 0.6471110444878512, + "y": 0.45981942231326767 + } + ], + "type": "bbox" + }, + "point_1767947282563": { + "instances": [ + { + "id": "point_1767947282563_1767947708881_g9kndfcdz", + "x": 0.32711106401910006, + "y": 0.12993053406185703 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧手办艾斯，向爪夹方向的左后方移动，直至手办艾斯位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹夹紧手办艾斯竖直上升，爪夹更容易将手办艾斯放在礼品盒上。", + "frame": 256, + "progress": 50, + "progress_explanation": "当前手办艾斯的高度上升，与礼品盒的距离缩短，更方便爪夹将手办艾斯放在礼品盒上，因此进度提升为50%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时手办艾斯位于礼品盒的左上方。\n为完成抓取手办艾斯使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒正上方后松开爪夹，使山治下落。", + "time": 8.534764207048603 + }, + { + "action_description": "爪夹抓住山治，爪夹继续向爪夹方向的正上方移动。", + "annotations": { + "bbox_1767947281331": { + "instances": [ + { + "height": 0.14899999090576227, + "id": "bbox_1767947281331_1767947736537_kgm3m0ngx", + "width": 0.09199999438476597, + "x": 0.38011106078423695, + "y": 0.15626387596045677 + } + ], + "type": "bbox" + }, + "bbox_1767947281547": { + "instances": [ + { + "height": 0.21499998687744212, + "id": "bbox_1767947281547_1767947724961_acuvbp758", + "width": 0.21299998699951245, + "x": 0.6541110440606052, + "y": 0.46215275804731704 + } + ], + "type": "bbox" + }, + "point_1767947282563": { + "instances": [ + { + "id": "point_1767947282563_1767947717136_owbalkp6h", + "x": 0.4181110584649012, + "y": 0.17626387473975372 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧手办艾斯，向爪夹方向的左后方移动，直至手办艾斯位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹夹紧手办艾斯竖直上升，爪夹更容易将手办艾斯放在礼品盒上。", + "frame": 297, + "progress": 60, + "progress_explanation": "当前手办艾斯的高度上升，与礼品盒的距离缩短，更方便爪夹将手办艾斯放在礼品盒上，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时手办艾斯位于礼品盒的左上方。\n为完成抓取手办艾斯使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒正上方后松开爪夹，使山治下落。", + "time": 9.884959292776372 + }, + { + "action_description": "爪夹夹紧手办艾斯，向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767947281331": { + "instances": [ + { + "height": 0.14199999133300834, + "id": "bbox_1767947281331_1767947755505_ndqo5khy3", + "width": 0.08999999450683636, + "x": 0.4441110568779872, + "y": 0.20604165917714481 + } + ], + "type": "bbox" + }, + "bbox_1767947281547": { + "instances": [ + { + "height": 0.21499998687744223, + "id": "bbox_1767947281547_1767947767976_di0j9o3eh", + "width": 0.21399998693847735, + "x": 0.6531110441216403, + "y": 0.46104164361318095 + } + ], + "type": "bbox" + }, + "point_1767947282563": { + "instances": [ + { + "id": "point_1767947282563_1767947747826_zolfcws7c", + "x": 0.48711105425347573, + "y": 0.2181527576811061 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧手办艾斯，继续向爪夹方向的左后方移动，直至手办艾斯位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到手办艾斯，并且进一步向着礼品盒的方向移动。", + "frame": 329, + "progress": 70, + "progress_explanation": "当前爪夹已夹紧手办艾斯，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为70%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时手办艾斯位于礼品盒的右上方。\n为完成抓取手办艾斯使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使手办艾斯下落。", + "time": 10.967181805482845 + }, + { + "action_description": "爪夹夹紧手办艾斯，继续向爪夹方向的左后方移动。", + "annotations": { + "bbox_1767947281331": { + "instances": [ + { + "height": 0.13799999157714898, + "id": "bbox_1767947281331_1767947795344_y9oafl52z", + "width": 0.08799999462890658, + "x": 0.5401110510186126, + "y": 0.26304165569814114 + } + ], + "type": "bbox" + }, + "bbox_1767947281547": { + "instances": [ + { + "height": 0.21299998699951253, + "id": "bbox_1767947281547_1767947781617_8qn3iixwl", + "width": 0.21499998687744223, + "x": 0.6531110441216403, + "y": 0.4620416435521458 + } + ], + "type": "bbox" + }, + "point_1767947282563": { + "instances": [ + { + "id": "point_1767947282563_1767947799641_fcrix0pmc", + "x": 0.5831110483941011, + "y": 0.2720416551488247 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢，爪夹夹紧手办艾斯，继续向爪夹方向的左后方移动，直至手办艾斯位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹已经抓取到手办艾斯，并且进一步向着礼品盒的方向移动。", + "frame": 364, + "progress": 75, + "progress_explanation": "爪夹已经抓取到手办艾斯，并且进一步向着礼品盒的方向移动。", + "state_description": "当前爪夹合拢，垂直于桌面，此时手办艾斯位于礼品盒的右上方。\n为完成抓取手办艾斯使其位于礼品盒上的任务应当：爪夹继续向爪夹的左后方移动，直至移动到礼品盒的正上方后松开爪夹，使手办艾斯下落。", + "time": 12.149656032286968 + }, + { + "action_description": "爪夹保持合拢，抓紧山治向爪夹方向的左侧移动。", + "annotations": { + "bbox_1767947281331": { + "instances": [ + { + "height": 0.15299999066162168, + "id": "bbox_1767947281331_1767947831385_m5wgdz56z", + "width": 0.0999999938964848, + "x": 0.6971110414360936, + "y": 0.34526387968360106 + } + ], + "type": "bbox" + }, + "bbox_1767947281547": { + "instances": [ + { + "height": 0.21199998706054768, + "id": "bbox_1767947281547_1767947820529_vuj290rvs", + "width": 0.21399998693847724, + "x": 0.6531110441216404, + "y": 0.46226387254248824 + } + ], + "type": "bbox" + }, + "point_1767947282563": { + "instances": [ + { + "id": "point_1767947282563_1767947813672_4vhjgmcbt", + "x": 0.75411103795709, + "y": 0.36126387870703863 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降到一定高度后松开爪夹，使手办艾斯下落。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左方移动，并且正确移动到了礼品盒的正上方。", + "frame": 425, + "progress": 80, + "progress_explanation": "当前爪夹已抓住手办艾斯，并移动到了礼品盒的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住手办艾斯处于礼品盒方向的正上方。\n为完成抓取手办艾斯使其位于礼品盒上的任务应当：爪夹继续合拢，下降一定高度后松开爪夹，使手办艾斯下落。", + "time": 14.16305809414264 + }, + { + "action_description": "爪夹向爪夹下方移动后松开爪夹。", + "annotations": { + "bbox_1767947281331": { + "instances": [ + { + "height": 0.16699998980712957, + "id": "bbox_1767947281331_1767947845776_j28o3awmd", + "width": 0.10699999346923868, + "x": 0.715111040337461, + "y": 0.35604165002187194 + } + ], + "type": "bbox" + }, + "bbox_1767947281547": { + "instances": [ + { + "height": 0.2139999869384774, + "id": "bbox_1767947281547_1767947856456_ugndr7eog", + "width": 0.21699998675537177, + "x": 0.6511110442437108, + "y": 0.4620416435521458 + } + ], + "type": "bbox" + }, + "point_1767947282563": { + "instances": [ + { + "id": "point_1767947282563_1767947867960_rnt6xcysc", + "x": 0.7811110363091409, + "y": 0.37904164861806344 + } + ], + "type": "point" + } + }, + "correction_plan": "手办艾斯位于礼品盒上的目标任务完成了。", + "error_success_analysis": "爪夹张开使手办艾斯位于礼品盒的上方，成功完成任务。", + "frame": 449, + "progress": 100, + "progress_explanation": "当前手办艾斯位于礼品盒的上方，因此进度提升为100%。", + "state_description": "当前爪夹张开，手办艾斯下降了一定距离，抓取手办艾斯使其位于礼品盒上的目标任务完成。", + "time": 14.958475143056642 + }, + { + "action_description": "爪夹保持打开状态，重新回到初始状态。", + "annotations": { + "bbox_1767947281331": { + "instances": [ + { + "height": 0.13099999200439505, + "id": "bbox_1767947281331_1767947903777_p6md24ugm", + "width": 0.08399999487304714, + "x": 0.3141110648125571, + "y": 0.36304164959462587 + } + ], + "type": "bbox" + }, + "bbox_1767947281547": { + "instances": [ + { + "height": 0.23699998553466878, + "id": "bbox_1767947281547_1767947885280_8fc8i1le9", + "width": 0.20199998767089913, + "x": 0.6261110457695895, + "y": 0.4560416439183567 + } + ], + "type": "bbox" + }, + "point_1767947282371": { + "instances": [ + { + "id": "point_1767947282371_1767947878537_np7c1vb0u", + "x": 0.7391110388726172, + "y": 0.35904164983876646 + } + ], + "type": "point" + }, + "point_1767947282563": { + "instances": [ + { + "id": "point_1767947282563_1767947874751_2qq7xcfeu", + "x": 0.7841110361260354, + "y": 0.34404165075429377 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达手办艾斯的正上方后下降，合拢爪夹抓取山治后垂直上升，向爪夹方向的左后方移动，直至手办艾斯位于礼品盒的正上方后松开爪夹，手办艾斯下落。", + "error_success_analysis": "爪夹又重新回到初始状态，手办艾斯也位于原点。", + "frame": 456, + "progress": 0, + "progress_explanation": "爪夹重新回到初始状态，没有夹取山治，因此进度下降为0%。", + "state_description": "当前状态为爪夹打开，回到初始状态，没有接触手办艾斯。\n为完成抓取手办艾斯使其位于礼品盒上的任务应当:调整爪夹角度，使其垂直于桌面。然后向爪夹方向的前方移动，准备抓取手办艾斯。", + "time": 15.21414523006194 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767947281331", + "name": "手办艾斯" + }, + { + "color": "#FF9800", + "id": "bbox_1767947281547", + "name": "礼品盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767947282371", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767947282563", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000697.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000697.json new file mode 100644 index 0000000000000000000000000000000000000000..e98ebd2b8d9f7e07441c292043293907b875ef1e --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000697.json @@ -0,0 +1,530 @@ +{ + "task_description": "抓取蜘蛛侠使其位于礼品盒上。\n爪夹开始移动：0%\n爪夹靠近蜘蛛侠：20%\n爪夹抓取蜘蛛侠：40%\n爪夹抓住蜘蛛侠上升：60%\n爪夹抓住蜘蛛侠靠近礼品盒：60%\n爪夹抓住蜘蛛侠位于礼品盒上：100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达蜘蛛侠的正上方后下降，合拢爪夹抓取蜘蛛侠后垂直上升，向爪夹方向的右后方移动，直至蜘蛛侠位于礼品盒的正上方。", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触蜘蛛侠。\n为完成抓取蜘蛛侠使其位于礼品盒上的任务应当:爪夹向爪夹的左前方移动并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的正下方移动，准备抓取蜘蛛侠。", + "time": 0.06955289108100868, + "annotations": { + "bbox_1767949687498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687498_1767949726633_kh3euohz9", + "x": 0.2111110710991778, + "y": 0.4169305318035564, + "width": 0.1799999890136725, + "height": 0.23099998590087983 + } + ] + }, + "bbox_1767949687705": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687705_1767949732178_ct708i7b0", + "x": 0.5091110529107022, + "y": 0.3829305338787516, + "width": 0.1629999900512701, + "height": 0.18799998852539138 + } + ] + }, + "point_1767949688449": { + "type": "point", + "instances": [ + { + "id": "point_1767949688449_1767949740273_rdhhpvxws", + "x": 0.46611105553521387, + "y": 0.1310416561253872 + } + ] + }, + "point_1767949688657": { + "type": "point", + "instances": [ + { + "id": "point_1767949688657_1767949743921_kxcl03u00", + "x": 0.5431110508355071, + "y": 0.13304165600331688 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方微调，并降低爪夹高度。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达蜘蛛侠的正上方后下降，合拢爪夹抓取蜘蛛侠后垂直上升，向爪夹方向的右后方移动，直至蜘蛛侠位于礼品盒的正上方。", + "error_success_analysis": "爪夹向左下方移动，距离抓取蜘蛛侠的距离更近。", + "frame": 28, + "progress": 10, + "progress_explanation": "当前爪夹下降了一定高度，更加靠近了蜘蛛侠，因此进度提升为10%。", + "state_description": "当前爪夹张开，与蜘蛛侠的水平距离略微缩短。\n为完成抓取蜘蛛侠使其位于礼品盒上的任务应当:继续下降爪夹高度并调整爪夹角度直到垂直于桌面，合拢爪夹抓取蜘蛛侠，爪夹抬高并竖直上升。", + "time": 0.9404806713313043, + "annotations": { + "point_1767949688657": { + "type": "point", + "instances": [ + { + "id": "point_1767949688657_1767949751258_eny0cz1n7", + "x": 0.4921110539482999, + "y": 0.17304165356191079 + } + ] + }, + "point_1767949688449": { + "type": "point", + "instances": [ + { + "id": "point_1767949688449_1767949755072_adua72083", + "x": 0.4131110587700769, + "y": 0.1750416534398405 + } + ] + }, + "bbox_1767949687705": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687705_1767949762489_jvz83n63d", + "x": 0.5101110528496672, + "y": 0.3849305337566813, + "width": 0.1629999900512701, + "height": 0.18699998858642644 + } + ] + }, + "bbox_1767949687498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687498_1767949775753_68qpw6jyh", + "x": 0.21411107091607234, + "y": 0.41993053162045096, + "width": 0.1799999890136725, + "height": 0.23099998590087978 + } + ] + } + } + }, + { + "time": 2.2572, + "frame": 68, + "progress": 15, + "action_description": "", + "state_description": "", + "progress_explanation": "", + "error_success_analysis": "", + "correction_plan": "", + "annotations": { + "bbox_1767949687498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687498_1767949788785_0vvf4bjik", + "x": 0.21511107085503717, + "y": 0.41893053168148603, + "width": 0.17799998913574286, + "height": 0.23199998583984474 + } + ] + }, + "bbox_1767949687705": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687705_1767949799673_gef4wp1s5", + "x": 0.5091110529107024, + "y": 0.3859305336956461, + "width": 0.16299999005127017, + "height": 0.18599998864746173 + } + ] + }, + "point_1767949688449": { + "type": "point", + "instances": [ + { + "id": "point_1767949688449_1767949810361_960w8wfx8", + "x": 0.3541110623711509, + "y": 0.25593054163021595 + } + ] + }, + "point_1767949688657": { + "type": "point", + "instances": [ + { + "id": "point_1767949688657_1767949816049_54et68rqn", + "x": 0.42011105834283086, + "y": 0.23593054285091902 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并调整爪夹角度。\t", + "correction_plan": "继续下降爪夹高度并调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，到达蜘蛛侠的正上方后下降，合拢爪夹抓取蜘蛛侠后垂直上升，向爪夹方向的右后方移动，直至蜘蛛侠位于礼品盒的正上方后松开爪夹。\t", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，水平方向上成功接近蜘蛛侠，并使爪夹角度垂直于桌面，方便抓取蜘蛛侠。", + "frame": 32, + "progress": 18, + "progress_explanation": "当前爪夹在水平方向上进一步接近蜘蛛侠并调整完爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，与蜘蛛侠的水平距离进一步缩短。\n为完成抓取蜘蛛侠使其位于礼品盒上的任务应当:继续下降爪夹高度并旋转爪夹的角度，使爪夹调整角度与桌面呈垂直状态，向下合拢爪夹抓取蜘蛛侠。", + "time": 3.2666666666666666, + "annotations": { + "point_1767949688657": { + "type": "point", + "instances": [ + { + "id": "point_1767949688657_1767949821697_t8m6klpzm", + "x": 0.35011106261529157, + "y": 0.29015276854536326 + } + ] + }, + "point_1767949688449": { + "type": "point", + "instances": [ + { + "id": "point_1767949688449_1767949824785_mp0opv5m4", + "x": 0.308111065178768, + "y": 0.32715276628706264 + } + ] + }, + "bbox_1767949687498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687498_1767949831072_3nendhg8i", + "x": 0.21211107103814264, + "y": 0.42215276048872313, + "width": 0.1809999889526374, + "height": 0.2259999862060555 + } + ] + }, + "bbox_1767949687705": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687705_1767949836105_sbzy8zzrf", + "x": 0.5101110528496672, + "y": 0.38415276280805893, + "width": 0.16199999011230523, + "height": 0.18799998852539132 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左侧移动到蜘蛛侠的正上方。", + "correction_plan": "爪夹向爪夹方向的下方移动，然后合拢爪夹抓取蜘蛛侠后垂直上升，向爪夹方向的左后方移动，直至蜘蛛侠位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了蜘蛛侠的正上方，方便爪夹抓取。", + "frame": 127, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于蜘蛛侠正上方，已接近蜘蛛侠，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到蜘蛛侠的正上方。\n为完成抓取蜘蛛侠使其位于礼品盒上的任务应当:向下合拢爪夹抓取蜘蛛侠后垂直抬起爪夹，然后向爪夹的右后方移动，直至移动到礼品盒的正上方。", + "time": 4.235647152625094, + "annotations": { + "bbox_1767949687705": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687705_1767949851817_qiaczs88t", + "x": 0.5101110528496672, + "y": 0.38426387730323014, + "width": 0.1619999901123053, + "height": 0.18699998858642644 + } + ] + }, + "bbox_1767949687498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687498_1767949862057_ddetxdime", + "x": 0.21511107085503717, + "y": 0.42126387504492946, + "width": 0.18099998895263741, + "height": 0.22999998596191495 + } + ] + }, + "point_1767949688657": { + "type": "point", + "instances": [ + { + "id": "point_1767949688657_1767949872465_m7n25m8e6", + "x": 0.27411106725396317, + "y": 0.40126387626563254 + } + ] + } + } + }, + { + "time": 5.860799, + "frame": 176, + "progress": 40, + "action_description": "爪夹向爪夹的下方移动，合拢爪夹抓取蜘蛛侠。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到蜘蛛侠。\n为完成抓取蜘蛛侠使其位于礼品盒上的任务应当:抓取蜘蛛侠后垂直抬起爪夹，然后向爪夹的右后方移动，直至移动到礼品盒的正上方。", + "progress_explanation": "当前爪夹已经抓取到蜘蛛侠，因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹的下方移动成功抓取到了蜘蛛侠。", + "correction_plan": "爪夹保持合拢，爪夹夹紧蜘蛛侠后垂直上升，向爪夹方向的右后方移动，直至蜘蛛侠位于礼品盒的正上方后松开爪夹。", + "annotations": { + "point_1767949688657": { + "type": "point", + "instances": [ + { + "id": "point_1767949688657_1767949877713_1yc6rzsge", + "x": 0.29111106621636557, + "y": 0.4651527578642115 + } + ] + }, + "bbox_1767949687705": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687705_1767949931080_0wvul3ibf", + "x": 0.5121110527275968, + "y": 0.38315276286909405, + "width": 0.16099999017334046, + "height": 0.18699998858642644 + } + ] + }, + "bbox_1767949687498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687498_1767949941400_ztcua3yia", + "x": 0.21311107097710746, + "y": 0.43615275963423095, + "width": 0.1809999889526374, + "height": 0.2109999871215828 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，夹紧蜘蛛侠后抬高爪夹。", + "correction_plan": "爪夹保持合拢，爪夹夹紧蜘蛛侠，爪夹向爪夹方向的右后方移动，直至蜘蛛侠位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹保持合拢，且爪夹已经抓取到蜘蛛侠，爪夹向上方缓慢抬升。", + "frame": 203, + "progress": 45, + "progress_explanation": "当前爪夹已抓住蜘蛛侠，且爪夹与蜘蛛侠的高度略微抬升了，所以进度提升为45%。", + "state_description": "当前爪夹合拢，垂直于桌面，爪夹高度略微抬高。\n为完成抓取蜘蛛侠使其位于礼品盒上的任务应当：爪夹继续抬高，与机械臂保持水平后向爪夹的右后方移动，直至移动到礼品盒的正上方后松开爪夹，使蜘蛛侠下落。", + "time": 6.7814430221085695, + "annotations": { + "bbox_1767949687498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687498_1767949950472_xbluijr6i", + "x": 0.20711107134331835, + "y": 0.38693053363461094, + "width": 0.18399998876953194, + "height": 0.21599998681640706 + } + ] + }, + "bbox_1767949687705": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687705_1767949964496_iqdcg8e7x", + "x": 0.511111052788632, + "y": 0.3859305336956461, + "width": 0.1609999901733404, + "height": 0.1869999885864265 + } + ] + }, + "point_1767949688657": { + "type": "point", + "instances": [ + { + "id": "point_1767949688657_1767949973240_9g57wscj1", + "x": 0.288111066399471, + "y": 0.412930532047697 + } + ] + } + } + }, + { + "action_description": "爪夹抓住蜘蛛侠，爪夹继续向爪夹方向的正上方移动。", + "correction_plan": "爪夹保持合拢，爪夹夹紧蜘蛛侠，向爪夹方向的右后方移动，直至蜘蛛侠位于礼品盒的正上方后松开爪夹。", + "error_success_analysis": "爪夹夹紧蜘蛛侠竖直上升，爪夹更容易将蜘蛛侠放在礼品盒上。", + "frame": 261, + "progress": 60, + "progress_explanation": "当前蜘蛛侠的高度上升，与礼品盒的距离缩短，更方便爪夹将蜘蛛侠放在礼品盒上，因此进度提升为60%。", + "state_description": "当前爪夹合拢，垂直于桌面，此时蜘蛛侠位于礼品盒的左上方。\n为完成抓取蜘蛛侠使其位于礼品盒上的任务应当：爪夹继续向爪夹的右后方移动，直至移动到礼品盒正上方后松开爪夹，使山治下落。", + "time": 8.713814156129187, + "annotations": { + "point_1767949688657": { + "type": "point", + "instances": [ + { + "id": "point_1767949688657_1767949977256_u06s5nouj", + "x": 0.2641110678643147, + "y": 0.22804165783437147 + } + ] + }, + "bbox_1767949687705": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687705_1767949986711_lzb93b6z5", + "x": 0.511111052788632, + "y": 0.3870416481297822, + "width": 0.16399998999023496, + "height": 0.1849999887084967 + } + ] + }, + "bbox_1767949687498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687498_1767949997320_dw8gfwml5", + "x": 0.18111107293023235, + "y": 0.18415275975630127, + "width": 0.20099998773193437, + "height": 0.26799998364257915 + } + ] + } + } + }, + { + "time": 10.969199, + "frame": 329, + "progress": 80, + "action_description": "爪夹夹紧蜘蛛侠，向爪夹方向的右后方移动。", + "state_description": "当前爪夹合拢，垂直于桌面，此时蜘蛛侠位于礼品盒的左上方。\n为完成抓取蜘蛛侠使其位于礼品盒上的任务应当：爪夹继续向爪夹的右后方移动，直至移动到礼品盒的正上方后松开爪夹，使蜘蛛侠下落。", + "progress_explanation": "当前爪夹已夹紧蜘蛛侠，与上一进度相比，在水平方向上逐渐接近礼品盒，因此进度提升为80%。", + "error_success_analysis": "爪夹已经抓取到蜘蛛侠，并且进一步向着礼品盒的方向移动。", + "correction_plan": "爪夹保持合拢，爪夹夹紧蜘蛛侠，继续向爪夹方向的右后方移动，直至蜘蛛侠位于礼品盒的正上方后松开爪夹。", + "annotations": { + "bbox_1767949687498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687498_1767950011352_5eswbgcpk", + "x": 0.3231110642632407, + "y": 0.15248609756554582, + "width": 0.19899998785400463, + "height": 0.2669999837036143 + } + ] + }, + "bbox_1767949687705": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687705_1767950024304_8jc852gvv", + "x": 0.5121110527275968, + "y": 0.3853749917373663, + "width": 0.16199999011230534, + "height": 0.18599998864746153 + } + ] + }, + "point_1767949688657": { + "type": "point", + "instances": [ + { + "id": "point_1767949688657_1767950033408_lj268b1co", + "x": 0.4131110587700769, + "y": 0.1984860947579288 + } + ] + } + } + }, + { + "time": 13.2, + "frame": 396, + "progress": 100, + "action_description": "爪夹夹紧蜘蛛侠向爪夹方向的右侧移动。", + "state_description": "当前爪夹合拢，蜘蛛侠位于礼品盒的上方。抓取蜘蛛侠使其位于礼品盒上的目标任务完成。\n", + "progress_explanation": "当前蜘蛛侠位于礼品盒的上方，因此进度提升为100%。", + "error_success_analysis": "爪夹张开使蜘蛛侠位于礼品盒的上方，成功完成任务。", + "correction_plan": "抓取蜘蛛侠使其位于礼品盒上的任务完成了。", + "annotations": { + "point_1767949688657": { + "type": "point", + "instances": [ + { + "id": "point_1767949688657_1767950039799_6wovmuxm8", + "x": 0.5611110497368744, + "y": 0.2653749838027964 + } + ] + }, + "bbox_1767949687498": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687498_1767950050120_kcvewkyfx", + "x": 0.4721110551690029, + "y": 0.23937498538971036, + "width": 0.17799998913574283, + "height": 0.21299998699951248 + } + ] + }, + "bbox_1767949687705": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767949687705_1767950067296_b7ns884ma", + "x": 0.5101110528496672, + "y": 0.38315276286909405, + "width": 0.16399998999023502, + "height": 0.1889999884643562 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767949687498", + "name": "蜘蛛侠", + "color": "#4CAF50" + }, + { + "id": "bbox_1767949687705", + "name": "礼品盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767949688449", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767949688657", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000845.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000845.json new file mode 100644 index 0000000000000000000000000000000000000000..b0b4ab03cad44fdae782e08e77a8f0088b806d0a --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000845.json @@ -0,0 +1,622 @@ +{ + "task_description": "拿起女性手办，将其放入箱子中：\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近女性手办：20%\n爪夹抓取女性手办：40%\n爪夹抓住女性手办并接近箱子：60%\n爪夹将女性手办移动至箱子上方：80%\n爪夹松开，使女性手办落到箱子中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1767942059413": { + "instances": [ + { + "height": 0.1729999894409186, + "id": "bbox_1767942059413_1767942332859_dvkwa9mzv", + "width": 0.1579999903564459, + "x": 0.5066665950520877, + "y": 0.3491805321239909 + } + ], + "type": "bbox" + }, + "bbox_1767942059545": { + "instances": [ + { + "height": 0.15299999066162162, + "id": "bbox_1767942059545_1767942327127_evuqzjxin", + "width": 0.14399999121093807, + "x": 0.20466661348470377, + "y": 0.5101805222973314 + } + ], + "type": "bbox" + }, + "point_1767942060149": { + "instances": [ + { + "id": "point_1767942060149_1767942322145_4lf5xum8a", + "x": 0.4636665976765993, + "y": 0.13418054524654874 + } + ], + "type": "point" + }, + "point_1767942060277": { + "instances": [ + { + "id": "point_1767942060277_1767942319353_ut4w172wu", + "x": 0.5456665926717168, + "y": 0.13418054524654874 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的右前方移动，到达女性手办的正上方后下降，合拢爪夹抓取女性手办后竖直上升，向爪夹方向的左后方移动，直至女性手办处于箱子正上方，松开爪夹，使女性手办落到箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起女性手办，将其放入箱子中的任务应当：向爪夹方向的右前方移动，到达女性手办的正上方后下降。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动。", + "annotations": { + "bbox_1767942059413": { + "instances": [ + { + "height": 0.17599998925781316, + "id": "bbox_1767942059413_1767942298729_c0lx3ypta", + "width": 0.16599998986816467, + "x": 0.5016665953572634, + "y": 0.34718053224606127 + } + ], + "type": "bbox" + }, + "bbox_1767942059545": { + "instances": [ + { + "height": 0.1579999903564459, + "id": "bbox_1767942059545_1767942306051_xgc8o0gzt", + "width": 0.1449999911499029, + "x": 0.20466661348470377, + "y": 0.5031805227245775 + } + ], + "type": "bbox" + }, + "point_1767942060149": { + "instances": [ + { + "id": "point_1767942060149_1767942312131_fxjmq3tdn", + "x": 0.3846666024983763, + "y": 0.2781805364574868 + } + ], + "type": "point" + }, + "point_1767942060277": { + "instances": [ + { + "id": "point_1767942060277_1767942314084_ae38zgk3g", + "x": 0.4666665974934938, + "y": 0.2591805376171547 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹方向的右前方移动，到达女性手办的正上方后下降，合拢爪夹抓取女性手办后竖直上升，向爪夹方向的左后方移动，直至女性手办处于箱子正上方，松开爪夹，使女性手办落到箱子中。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，成功与女性手办的水平距离拉进。", + "frame": 70, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的右前方移动，拉近与女性手办的水平距离。因此进度提升至10%", + "state_description": "当前爪夹张开，与女性手办的水平距离拉进。\n为完成拿起女性手办，将其放入箱子中的任务应当：继续向爪夹方向的右前方移动，到达女性手办的正上方后下降。", + "time": 2.346975113577295 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，同时下降爪夹。", + "annotations": { + "bbox_1767942059413": { + "instances": [ + { + "height": 0.1729999894409186, + "id": "bbox_1767942059413_1767942293470_ivyhccoj8", + "width": 0.156999990417481, + "x": 0.504666595174158, + "y": 0.3491805321239909 + } + ], + "type": "bbox" + }, + "bbox_1767942059545": { + "instances": [ + { + "height": 0.15999999023437556, + "id": "bbox_1767942059545_1767942284011_39qnynbb2", + "width": 0.1449999911499028, + "x": 0.20766661330159833, + "y": 0.506180522541472 + } + ], + "type": "bbox" + }, + "point_1767942060149": { + "instances": [ + { + "id": "point_1767942060149_1767942277059_peiw7dlpj", + "x": 0.2646666098225946, + "y": 0.4721805246166672 + } + ], + "type": "point" + }, + "point_1767942060277": { + "instances": [ + { + "id": "point_1767942060277_1767942275071_wywljcm2w", + "x": 0.2846666086018915, + "y": 0.4261805274242842 + } + ], + "type": "point" + } + }, + "correction_plan": "下降合拢爪夹，抓取女性手办后竖直上升，向爪夹方向的左后方移动，直至女性手办处于箱子正上方，松开爪夹，使女性手办落到箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的右前方并下降，再次拉近与女性手办的水平距离。", + "frame": 149, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的右前方移动，移动至女性手办的正上方，接近女性手办，因此进度提升至20%", + "state_description": "当前爪夹张开，位于女性手办上方。\n为完成拿起女性手办，将其放入箱子中的任务应当：下降合拢爪夹，抓取女性手办后竖直上升。", + "time": 4.9715 + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "annotations": { + "bbox_1767942059413": { + "instances": [ + { + "height": 0.17399998937988345, + "id": "bbox_1767942059413_1767942267159_nf2drjcgu", + "width": 0.1619999901123053, + "x": 0.5036665952351932, + "y": 0.34718053224606127 + } + ], + "type": "bbox" + }, + "bbox_1767942059545": { + "instances": [ + { + "height": 0.12599999230957076, + "id": "bbox_1767942059545_1767942259729_9q1nwvajd", + "width": 0.1449999911499029, + "x": 0.20466661348470377, + "y": 0.532180520954558 + } + ], + "type": "bbox" + }, + "point_1767942060149": { + "instances": [ + { + "id": "point_1767942060149_1767942269533_adxgbdra0", + "x": 0.27466660921224306, + "y": 0.5571805194286792 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，抓取女性手办后竖直上升，向爪夹方向的左后方移动，直至女性手办处于箱子正上方，松开爪夹，使女性手办落到箱子中。", + "error_success_analysis": "爪夹成功拉近与女性手办的垂直距离。", + "frame": 180, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的下方移动，拉近与女性手办的垂直距离，因此进度提升至30%", + "state_description": "当前爪夹张开，位于女性手办的两侧。\n为完成拿起女性手办，将其放入箱子中的任务应当：合拢爪夹，抓取女性手办后竖直上升。", + "time": 6.0147 + }, + { + "action_description": "爪夹合拢，抓取女性手办。", + "annotations": { + "bbox_1767942059413": { + "instances": [ + { + "height": 0.17399998937988345, + "id": "bbox_1767942059413_1767942243867_bi3lpx6kf", + "width": 0.1579999903564459, + "x": 0.504666595174158, + "y": 0.34718053224606127 + } + ], + "type": "bbox" + }, + "bbox_1767942059545": { + "instances": [ + { + "height": 0.13999999145507858, + "id": "bbox_1767942059545_1767942251221_rlrlg3uuc", + "width": 0.14499999114990286, + "x": 0.20266661360677407, + "y": 0.5201805216869799 + } + ], + "type": "bbox" + }, + "point_1767942060149": { + "instances": [ + { + "id": "point_1767942060149_1767942246656_p4rabwt3r", + "x": 0.281666608784997, + "y": 0.5521805197338551 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取女性手办后竖直上升，向爪夹方向的左后方移动，直至女性手办处于箱子正上方，松开爪夹，使女性手办落到箱子中。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，成功移动至女性手办的正上方，下降合拢抓夹才能成功抓取女性手办。", + "frame": 209, + "progress": 40, + "progress_explanation": "当前爪夹已抓住女性手办，因此进度提升至40%", + "state_description": "当前爪夹合拢，抓住女性手办。\n为完成拿起女性手办，将其放入箱子中的任务应当：抓取女性手办后竖直上升，向爪夹方向的左后方移动。", + "time": 6.9764 + }, + { + "action_description": "爪夹向爪夹方向的上方抬起爪夹。", + "annotations": { + "bbox_1767942059413": { + "instances": [ + { + "height": 0.1729999894409186, + "id": "bbox_1767942059413_1767942237145_z29ets9b1", + "width": 0.15899999029541073, + "x": 0.5056665951131228, + "y": 0.3481805321850261 + } + ], + "type": "bbox" + }, + "bbox_1767942059545": { + "instances": [ + { + "height": 0.15999999023437558, + "id": "bbox_1767942059545_1767942231375_qzcq5g8sk", + "width": 0.16299999005127014, + "x": 0.16366661598714502, + "y": 0.23118053932613897 + } + ], + "type": "bbox" + }, + "point_1767942060149": { + "instances": [ + { + "id": "point_1767942060149_1767942225519_ztq0457tg", + "x": 0.24266661116536797, + "y": 0.24018053877682258 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的左后方移动，直至女性手办处于箱子正上方，松开爪夹，使女性手办落到箱子中。", + "error_success_analysis": "爪夹成功将女性手办向爪夹方向的上方抬起。", + "frame": 301, + "progress": 50, + "progress_explanation": "爪夹向爪夹方向的上方抬起爪夹，成功将女性手办抬起。因此进度提升至50%", + "state_description": "当前爪夹合拢，抓住女性手办位于桌子上方。\n为完成拿起女性手办，将其放入箱子中的任务应当：向爪夹方向的左后方移动，直至女性手办处于箱子正上方。", + "time": 10.02645916644481 + }, + { + "action_description": "爪夹向爪夹方向的右后方移动。", + "annotations": { + "bbox_1767942059413": { + "instances": [ + { + "height": 0.17499998931884828, + "id": "bbox_1767942059413_1767942207335_0pg2qs37e", + "width": 0.16499998992919984, + "x": 0.5026665952962283, + "y": 0.34618053230709644 + } + ], + "type": "bbox" + }, + "bbox_1767942059545": { + "instances": [ + { + "height": 0.15499999053955138, + "id": "bbox_1767942059545_1767942213473_oznqo28lx", + "width": 0.15799999035644588, + "x": 0.15666661641439109, + "y": 0.22229165818532357 + } + ], + "type": "bbox" + }, + "point_1767942060149": { + "instances": [ + { + "id": "point_1767942060149_1767942221179_87xsoz1a9", + "x": 0.22966661195882496, + "y": 0.2372916572697963 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的左方移动，直至女性手办处于箱子正上方，松开爪夹，使女性手办落到箱子中", + "error_success_analysis": "爪夹移动方向错误，拉远与箱子的水平距离。", + "frame": 318, + "progress": 45, + "progress_explanation": "爪夹向爪夹方向的右后方移动，与箱子的水平距离略微拉远，因此进度下降至45%", + "state_description": "当前爪夹合拢，与箱子的水平距离略微拉远。\n为完成拿起女性手办，将其放入箱子中的任务应当：向爪夹方向的左方移动，直至女性手办处于箱子正上方。", + "time": 10.611299 + }, + { + "action_description": "爪夹向爪夹方向的左方移动。", + "annotations": { + "bbox_1767942059413": { + "instances": [ + { + "height": 0.17399998937988345, + "id": "bbox_1767942059413_1767942199789_q17ph7ymv", + "width": 0.16299999005127006, + "x": 0.5036665952351932, + "y": 0.3481805321850261 + } + ], + "type": "bbox" + }, + "bbox_1767942059545": { + "instances": [ + { + "height": 0.14099999139404348, + "id": "bbox_1767942059545_1767942192044_07jizdefd", + "width": 0.15499999053955138, + "x": 0.24866661079915706, + "y": 0.23018053938717412 + } + ], + "type": "bbox" + }, + "point_1767942060149": { + "instances": [ + { + "id": "point_1767942060149_1767942186478_3l0dohfsq", + "x": 0.3266666060384152, + "y": 0.24218053865475228 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹方向的左方移动，直至女性手办处于箱子正上方，松开爪夹，使女性手办落到箱子中。", + "error_success_analysis": "爪夹成功拉近与箱子的水平距离。", + "frame": 350, + "progress": 50, + "progress_explanation": "爪夹向爪夹方向的左方移动，与箱子的水平距离拉近，因此进度提升至50%", + "state_description": "当前爪夹合拢，与箱子的水平距离拉近。\n为完成拿起女性手办，将其放入箱子中的任务应当：继续向爪夹方向的左方移动，直至女性手办处于箱子正上方。", + "time": 11.682802193819615 + }, + { + "action_description": "爪夹向爪夹方向的左方移动。", + "annotations": { + "bbox_1767942059413": { + "instances": [ + { + "height": 0.17599998925781316, + "id": "bbox_1767942059413_1767942170787_uousonans", + "width": 0.1609999901733404, + "x": 0.5056665951131228, + "y": 0.34718053224606127 + } + ], + "type": "bbox" + }, + "bbox_1767942059545": { + "instances": [ + { + "height": 0.12099999261474652, + "id": "bbox_1767942059545_1767942176957_ajndrs812", + "width": 0.13499999176025437, + "x": 0.4416665990193726, + "y": 0.24218053865475228 + } + ], + "type": "bbox" + }, + "point_1767942060149": { + "instances": [ + { + "id": "point_1767942060149_1767942180965_thm18mkgy", + "x": 0.5126665946858767, + "y": 0.2531805379833656 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹方向的左方移动，直至女性手办处于箱子正上方，松开爪夹，使女性手办落到箱子中。", + "error_success_analysis": "爪夹成功再次拉近与箱子的水平距离，成功靠近箱子。", + "frame": 424, + "progress": 60, + "progress_explanation": "爪夹继续向爪夹方向的左方移动，已接近箱子，因此进度提升至60%", + "state_description": "当前爪夹合拢，与箱子的水平距离进一步拉近。\n为完成拿起女性手办，将其放入箱子中的任务应当：继续向爪夹方向的左方移动，直至女性手办处于箱子正上方。", + "time": 14.1484 + }, + { + "action_description": "爪夹继续向爪夹方向的左方移动。", + "annotations": { + "bbox_1767942059413": { + "instances": [ + { + "height": 0.17599998925781316, + "id": "bbox_1767942059413_1767942163825_p23z2bxws", + "width": 0.15799999035644596, + "x": 0.5056665951131228, + "y": 0.34718053224606127 + } + ], + "type": "bbox" + }, + "bbox_1767942059545": { + "instances": [ + { + "height": 0.12099999261474655, + "id": "bbox_1767942059545_1767942154139_0uoyiiiqp", + "width": 0.12799999218750055, + "x": 0.5136665946248417, + "y": 0.2491805382275062 + } + ], + "type": "bbox" + }, + "point_1767942060149": { + "instances": [ + { + "id": "point_1767942060149_1767942146635_o286i3mv7", + "x": 0.583666590352381, + "y": 0.26218053743404923 + } + ], + "type": "point" + } + }, + "correction_plan": "松开爪夹，使女性手办落到箱子中。", + "error_success_analysis": "爪夹成功将女性手办移动至箱子的正上方。", + "frame": 467, + "progress": 80, + "progress_explanation": "爪夹已抓住女性手办向爪夹方向的左方移动至箱子上方。因此进度提升至80%", + "state_description": "当前爪夹合拢，抓住女性手办位于箱子的正上方。\n为完成拿起女性手办，将其放入箱子中的任务应当：松开爪夹，使女性手办落到箱子中。", + "time": 15.5502 + }, + { + "action_description": "爪夹张开，女性手办落下。", + "annotations": { + "bbox_1767942059413": { + "instances": [ + { + "height": 0.17499998931884828, + "id": "bbox_1767942059413_1767942131231_nto26te9u", + "width": 0.15499999053955135, + "x": 0.5066665950520877, + "y": 0.34718053224606127 + } + ], + "type": "bbox" + }, + "bbox_1767942059545": { + "instances": [ + { + "height": 0.13799999157714898, + "id": "bbox_1767942059545_1767942122141_muont4wmd", + "width": 0.12499999237060594, + "x": 0.504666595174158, + "y": 0.2681805370678383 + } + ], + "type": "bbox" + }, + "point_1767942060149": { + "instances": [ + { + "id": "point_1767942060149_1767942142093_ks7v0e450", + "x": 0.5826665904134161, + "y": 0.26018053755611953 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功拿起女性手办，将其放入箱子中。", + "frame": 471, + "progress": 100, + "progress_explanation": "女性手办已落到箱子中。因此进度提升至100%", + "state_description": "当前爪夹张开，女性手办位于箱子中。已完成拿起女性手办，将其放入箱子中的任务。", + "time": 15.706252623489057 + }, + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1767942059413": { + "instances": [ + { + "height": 0.20799998730468824, + "id": "bbox_1767942059413_1767942095115_o1ea70q4v", + "width": 0.19399998815918043, + "x": 0.5186665943196659, + "y": 0.4254027507536163 + } + ], + "type": "bbox" + }, + "bbox_1767942059545": { + "instances": [ + { + "height": 0.13699999163818408, + "id": "bbox_1767942059545_1767942100743_6ix4mggu5", + "width": 0.11999999267578167, + "x": 0.2646666098225946, + "y": 0.3744027538664091 + } + ], + "type": "bbox" + }, + "point_1767942060149": { + "instances": [ + { + "id": "point_1767942060149_1767942107299_fx85ajuz8", + "x": 0.5456665926717168, + "y": 0.23040276265547102 + } + ], + "type": "point" + }, + "point_1767942060277": { + "instances": [ + { + "id": "point_1767942060277_1767942109887_isjvi8enc", + "x": 0.5816665904744512, + "y": 0.22840276277754132 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的右后方移动，到达女性手办的正上方后下降，合拢爪夹抓取女性手办后竖直上升，向爪夹方向的左前方移动，直至女性手办处于箱子正上方，松开爪夹，使女性手办落到箱子中。", + "error_success_analysis": "", + "frame": 476, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起女性手办，将其放入箱子中的任务应当：然后向爪夹方向的右后方移动，到达女性手办的正上方后下降。", + "time": 15.8599 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767942059413", + "name": "箱子" + }, + { + "color": "#FF9800", + "id": "bbox_1767942059545", + "name": "女性手办" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767942060149", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767942060277", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000865.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000865.json new file mode 100644 index 0000000000000000000000000000000000000000..9cda37a3984d3aae59cfa520e9ce9caefdeab6e5 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000865.json @@ -0,0 +1,514 @@ +{ + "task_description": "拿起紫色手办，将其放入箱子中：\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近紫色手办：20%\n爪夹抓取紫色手办：40%\n爪夹抓住紫色手办并接近箱子：60%\n爪夹将紫色手办移动至箱子上方：80%\n爪夹松开，使紫色手办落到箱子中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左后方移动，到达紫色手办的正上方后下降，合拢爪夹抓取紫色手办后竖直上升，向爪夹方向的右前方移动，直至紫色手办处于箱子正上方，松开爪夹，使紫色手办落到箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起紫色手办，将其放入箱子中的任务应当：向爪夹方向的左后方移动，到达紫色手办的正上方后下降。", + "time": 0, + "annotations": { + "bbox_1767944120419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120419_1767944238019_lu0ceiape", + "x": 0.37266660323079814, + "y": 0.4691805247997726, + "width": 0.19299998822021552, + "height": 0.22499998626709067 + } + ] + }, + "bbox_1767944120538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120538_1767944243257_suav7l97n", + "x": 0.6576665858357796, + "y": 0.3531805318798503, + "width": 0.10599999353027378, + "height": 0.14599999108886774 + } + ] + }, + "point_1767944121281": { + "type": "point", + "instances": [ + { + "id": "point_1767944121281_1767944246047_b2ete038a", + "x": 0.4646665976155641, + "y": 0.13018054549068936 + } + ] + }, + "point_1767944121407": { + "type": "point", + "instances": [ + { + "id": "point_1767944121407_1767944247953_n5awhqzvq", + "x": 0.5446665927327519, + "y": 0.13418054524654874 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左方移动，同时下降爪夹。", + "correction_plan": "继续向爪夹方向的左后方移动，到达紫色手办的正上方后下降，合拢爪夹抓取紫色手办后竖直上升，向爪夹方向的右前方移动，直至紫色手办处于箱子正上方，松开爪夹，使紫色手办落到箱子中。", + "error_success_analysis": "爪夹向爪夹方向的左方移动，成功与紫色手办的水平距离拉进。", + "frame": 64, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的左方移动并下降，拉近与紫色手办的水平距离，爪夹开始移动。因此进度提升至10%", + "state_description": "当前爪夹张开，与紫色手办的水平距离拉进。\n为完成拿起紫色手办，将其放入箱子中的任务应当：继续向爪夹方向的左后方移动，到达紫色手办的正上方后下降。", + "time": 2.136106, + "annotations": { + "bbox_1767944120538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120538_1767944255526_0057e716b", + "x": 0.6546665860188852, + "y": 0.3511805320019207, + "width": 0.10699999346923868, + "height": 0.14599999108886774 + } + ] + }, + "bbox_1767944120419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120419_1767944263383_szb9iu8og", + "x": 0.3716666032918333, + "y": 0.4691805247997726, + "width": 0.1929999882202156, + "height": 0.22799998608398522 + } + ] + }, + "point_1767944121281": { + "type": "point", + "instances": [ + { + "id": "point_1767944121281_1767944266067_41hs8jk5i", + "x": 0.5416665929158574, + "y": 0.257180537739225 + } + ] + }, + "point_1767944121407": { + "type": "point", + "instances": [ + { + "id": "point_1767944121407_1767944268615_x1qvbx5r5", + "x": 0.6256665877889045, + "y": 0.2581805376781898 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的做后方移动并下降，同时调整爪夹方向。", + "correction_plan": "下降并合拢爪夹，抓取紫色手办后竖直上升，向爪夹方向的右前方移动，直至紫色手办处于箱子正上方，松开爪夹，使紫色手办落到箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的左后方移动并下降，再次拉近与紫色手办的水平距离。", + "frame": 128, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的左后移动并下降，移动至紫色手办的正上方，接近紫色手办，因此进度提升至20%", + "state_description": "当前爪夹张开，垂直于紫色手办上方。\n为完成拿起紫色手办，将其放入箱子中的任务应当：下降并合拢爪夹，抓取紫色手办后竖直上升，向爪夹方向的右前方移动。", + "time": 4.2596, + "annotations": { + "bbox_1767944120419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120419_1767944277115_sf2bov617", + "x": 0.37266660323079814, + "y": 0.4671805249218429, + "width": 0.19199998828125076, + "height": 0.2269999861450204 + } + ] + }, + "bbox_1767944120538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120538_1767944282152_t6n2xs771", + "x": 0.6566665858968148, + "y": 0.3511805320019207, + "width": 0.10599999353027378, + "height": 0.14999999084472712 + } + ] + }, + "point_1767944121281": { + "type": "point", + "instances": [ + { + "id": "point_1767944121281_1767944294023_48qgvnay1", + "x": 0.7286665815022838, + "y": 0.3181805340160807 + } + ] + }, + "point_1767944121407": { + "type": "point", + "instances": [ + { + "id": "point_1767944121407_1767944296964_ratftsxbk", + "x": 0.7156665822957409, + "y": 0.28618053596920556 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "correction_plan": "合拢爪夹，抓取紫色手办后竖直上升，向爪夹方向的右前方移动，直至紫色手办处于箱子正上方，松开爪夹，使紫色手办落到箱子中。", + "error_success_analysis": "爪夹成功拉近与紫色手办的垂直距离。因此进度提升至30%", + "frame": 162, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的下方移动，拉近与紫色手办的垂直距离，因此进度提升至30%", + "state_description": "当前爪夹张开，位于紫色手办的两侧。\n为完成拿起紫色手办，将其放入箱子中的任务应当：合拢爪夹，抓取紫色手办后竖直上升。", + "time": 5.400319, + "annotations": { + "point_1767944121407": { + "type": "point", + "instances": [ + { + "id": "point_1767944121407_1767944300953_w9myn6jcn", + "x": 0.7046665829671276, + "y": 0.3571805316357098 + } + ] + }, + "point_1767944121281": { + "type": "point", + "instances": [ + { + "id": "point_1767944121281_1767944303563_z1suzgp8e", + "x": 0.7196665820516002, + "y": 0.3911805295605146 + } + ] + }, + "bbox_1767944120538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120538_1767944308897_rmbl73vdi", + "x": 0.6576665858357796, + "y": 0.3571805316357098, + "width": 0.10199999377441446, + "height": 0.13899999151611375 + } + ] + }, + "bbox_1767944120419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120419_1767944313153_yfhyyvbao", + "x": 0.36866660347493874, + "y": 0.4681805248608078, + "width": 0.19599998803711013, + "height": 0.22899998602295005 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取紫色手办。", + "correction_plan": "抓取紫色手办后竖直上升，向爪夹方向的右前方移动，直至紫色手办处于箱子正上方，松开爪夹，使紫色手办落到箱子中。", + "error_success_analysis": "爪夹向爪夹方向的左后方移动，成功移动至紫色手办的正上方，下降合拢抓夹才能成功抓取紫色手办。", + "frame": 184, + "progress": 40, + "progress_explanation": "当前爪夹已抓住紫色手办，因此进度提升至40%", + "state_description": "当前爪夹合拢，抓住紫色手办。\n为完成拿起紫色手办，将其放入箱子中的任务应当：抓取紫色手办后竖直上升，向爪夹方向的右前方移动。", + "time": 6.137399, + "annotations": { + "bbox_1767944120419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120419_1767944320165_72vb56ncw", + "x": 0.37166660329183326, + "y": 0.4681805248608078, + "width": 0.19399998815918054, + "height": 0.22799998608398517 + } + ] + }, + "bbox_1767944120538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120538_1767944328817_ginz12fr4", + "x": 0.6596665857137094, + "y": 0.35618053169674485, + "width": 0.10299999371337923, + "height": 0.14399999121093804 + } + ] + }, + "point_1767944121281": { + "type": "point", + "instances": [ + { + "id": "point_1767944121281_1767944335414_dlvp3q00w", + "x": 0.7166665822347056, + "y": 0.3821805301098309 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方抬起爪夹。", + "correction_plan": "向爪夹方向的右前方移动，直至紫色手办处于箱子正上方，松开爪夹，使紫色手办落到箱子中。", + "error_success_analysis": "爪夹成功将紫色手办向爪夹方向的上方抬起。", + "frame": 278, + "progress": 50, + "progress_explanation": "爪夹向爪夹方向的上方抬起爪夹，成功将紫色手办抬起。因此进度提升至50%", + "state_description": "当前爪夹合拢，抓住紫色手办位于桌子上方。\n为完成拿起紫色手办，将其放入箱子中的任务应当：向爪夹方向的右前方移动，直至紫色手办处于箱子正上方。", + "time": 9.278765, + "annotations": { + "point_1767944121281": { + "type": "point", + "instances": [ + { + "id": "point_1767944121281_1767944339903_kkkrff0j3", + "x": 0.7416665807088269, + "y": 0.14718054445309176 + } + ] + }, + "bbox_1767944120538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120538_1767944343951_vu7r9oip8", + "x": 0.6786665845540415, + "y": 0.1311805454296542, + "width": 0.11699999285888711, + "height": 0.16599998986816467 + } + ] + }, + "bbox_1767944120419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120419_1767944349457_gx9ezc2xb", + "x": 0.3676666035359739, + "y": 0.4681805248608078, + "width": 0.196999987976075, + "height": 0.2259999862060555 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "继续向爪夹方向的右前方移动，直至紫色手办处于箱子正上方，松开爪夹，使紫色手办落到箱子中。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动并下降，成功将紫色手办与箱子的水平距离拉近。", + "frame": 368, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向的右前方移动并下降，与箱子的水平距离拉近，紫色手办已接近箱子，因此进度提升至60%", + "state_description": "当前爪夹合拢，与箱子的水平距离拉近。\n为完成拿起紫色手办，将其放入箱子中的任务应当：继续向爪夹方向的右前方移动，直至紫色手办处于箱子正上方。", + "time": 12.279735, + "annotations": { + "bbox_1767944120419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120419_1767944356361_4njafrrs1", + "x": 0.37366660316976297, + "y": 0.4681805248608078, + "width": 0.19099998834228593, + "height": 0.22799998608398517 + } + ] + }, + "bbox_1767944120538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120538_1767944361907_toas9sddl", + "x": 0.5126665946858767, + "y": 0.2431805385937171, + "width": 0.1239999924316411, + "height": 0.18399998876953197 + } + ] + }, + "point_1767944121281": { + "type": "point", + "instances": [ + { + "id": "point_1767944121281_1767944368419_9b7xje4lm", + "x": 0.5746665909016974, + "y": 0.27329165507253084 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动并下降。", + "correction_plan": "松开爪夹，使紫色手办落到箱子中。", + "error_success_analysis": "爪夹成功将紫色手办移动至箱子的正上方。", + "frame": 424, + "progress": 80, + "progress_explanation": "爪夹继续向爪夹方向的右前方移动并下降，移动至箱子的正上方。因此进度提升至80%", + "state_description": "当前爪夹合拢，抓住紫色手办位于箱子正上方。\n为完成拿起紫色手办，将其放入箱子中的任务应当：松开爪夹，使紫色手办落到箱子中。", + "time": 14.129654834887013 + }, + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左方移动，到达紫色手办的正上方后下降，合拢爪夹抓取紫色手办后竖直上升，向爪夹方向的右前方移动，直至紫色手办处于箱子正上方，松开爪夹，使紫色手办落到箱子中。", + "error_success_analysis": "", + "frame": 430, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹半合拢，没有移动。\n为完成拿起紫色手办，将其放入箱子中的任务应当：向爪夹方向的左方移动，到达紫色手办的正上方后下降。", + "time": 14.3299, + "annotations": { + "point_1767944121407": { + "type": "point", + "instances": [ + { + "id": "point_1767944121407_1767944175887_npf6gehtu", + "x": 0.48466659639486104, + "y": 0.17018054304928323 + } + ] + }, + "point_1767944121281": { + "type": "point", + "instances": [ + { + "id": "point_1767944121281_1767944178269_621cozi32", + "x": 0.4626665977376344, + "y": 0.17218054292721297 + } + ] + }, + "bbox_1767944120538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120538_1767944202569_xdz3uix86", + "x": 0.6516665862019906, + "y": 0.3630694205890246, + "width": 0.111999993164063, + "height": 0.15199999072265685 + } + ] + }, + "bbox_1767944120419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120419_1767944212007_674biv3eu", + "x": 0.18766661452230132, + "y": 0.47306941387515783, + "width": 0.20199998767089922, + "height": 0.21999998657226646 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方下降。", + "correction_plan": "向爪夹方向的左方移动，直至紫色手办的正上方，随后下降并合拢爪夹，抓取紫色手办后竖直上升，向爪夹方向的右前方移动，直至紫色手办处于箱子正上方，松开爪夹，使紫色手办落到箱子中。", + "error_success_analysis": "爪夹向爪夹方向的下方下降，成功拉近与紫色手办的垂直距离。", + "frame": 433, + "progress": 0, + "progress_explanation": "爪夹向爪夹方向的下方下降，与紫色手办的垂直距离拉近。因此进度提升至10%", + "state_description": "当前状态为爪夹半合拢，与紫色手办的垂直距离拉近。\n为完成拿起紫色手办，将其放入箱子中的任务应当：向爪夹方向的左方移动，直至紫色手办的正上方。", + "time": 14.420778, + "annotations": { + "bbox_1767944120419": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120419_1767944149816_ttngrfe83", + "x": 0.18966661440023105, + "y": 0.47162498647308426, + "width": 0.19699998797607496, + "height": 0.22299998638916094 + } + ] + }, + "bbox_1767944120538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944120538_1767944155074_56qwos512", + "x": 0.6546665860188852, + "y": 0.36429164951833193, + "width": 0.10699999346923868, + "height": 0.15199999072265685 + } + ] + }, + "point_1767944121281": { + "type": "point", + "instances": [ + { + "id": "point_1767944121281_1767944161464_6kmigejc8", + "x": 0.44966659853109137, + "y": 0.3652916494572968 + } + ] + }, + "point_1767944121407": { + "type": "point", + "instances": [ + { + "id": "point_1767944121407_1767944163421_f197n7hmt", + "x": 0.4726665971272829, + "y": 0.3592916498235077 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767944120419", + "name": "箱子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767944120538", + "name": "紫色手办", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767944121281", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767944121407", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000887.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000887.json new file mode 100644 index 0000000000000000000000000000000000000000..869f436cc4799ef06fae59db4049fa44c878f2c6 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000887.json @@ -0,0 +1,642 @@ +{ + "task_description": "拿起外星人手办，将其放入箱子中：\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近外星人手办：20%\n爪夹抓取外星人手办：40%\n爪夹抓住外星人手办并接近箱子：60%\n爪夹将外星人手办移动至箱子上方：80%\n爪夹松开，使外星人手办落到箱子中：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起外星人手办，将其放入箱子中的任务应当：向爪夹方向的左方移动，到达外星人手办的正上方后下降。", + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "向爪夹方向的左方移动，到达外星人手办的正上方后下降，合拢爪夹抓取外星人手办后竖直上升，向爪夹方向的左后方移动，直至外星人手办处于箱子正上方，松开爪夹，使外星人手办落到箱子中。", + "annotations": { + "bbox_1767948135228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135228_1767948257375_8flt1uxto", + "x": 0.2036666135457389, + "y": 0.4131805282177412, + "width": 0.1929999882202156, + "height": 0.2009999877319343 + } + ] + }, + "bbox_1767948135366": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135366_1767948264536_2xjx3c8oi", + "x": 0.6646665854085335, + "y": 0.4171805279736006, + "width": 0.0869999946899417, + "height": 0.0869999946899417 + } + ] + }, + "point_1767948135948": { + "type": "point", + "instances": [ + { + "id": "point_1767948135948_1767948266655_pr3v3itrg", + "x": 0.4636665976765993, + "y": 0.13218054536861906 + } + ] + }, + "point_1767948136075": { + "type": "point", + "instances": [ + { + "id": "point_1767948136075_1767948268560_q2o1p54bj", + "x": 0.5456665926717168, + "y": 0.13418054524654874 + } + ] + } + } + }, + { + "time": 0.729747, + "frame": 22, + "progress": 10, + "action_description": "爪夹向爪夹方向的后方移动。", + "state_description": "当前爪夹张开，与外星人手办的水平距离拉近。\n为完成拿起外星人手办，将其放入箱子中的任务应当：向爪夹方向的左方移动，到达外星人手办的正上方后下降。", + "progress_explanation": "爪夹向爪夹方向的后方移动，爪夹开始移动，因此进度提升至10%", + "error_success_analysis": "爪夹向爪夹方向的后方移动，成功拉近与外星人手办的水平距离。", + "correction_plan": "向爪夹方向的左方移动，到达外星人手办的正上方后下降，合拢爪夹抓取外星人手办后竖直上升，向爪夹方向的左后方移动，直至外星人手办处于箱子正上方，松开爪夹，使外星人手办落到箱子中。", + "annotations": { + "bbox_1767948135228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135228_1767948280486_7qx4clqhn", + "x": 0.2036666135457389, + "y": 0.4152916464055391, + "width": 0.1929999882202156, + "height": 0.196999987976075 + } + ] + }, + "bbox_1767948135366": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135366_1767948286692_ezhtz2xwx", + "x": 0.6666665852864634, + "y": 0.4192916461613985, + "width": 0.08899999456787136, + "height": 0.08499999481201202 + } + ] + }, + "point_1767948135948": { + "type": "point", + "instances": [ + { + "id": "point_1767948135948_1767948293402_hsp2cn9dx", + "x": 0.46566659755452894, + "y": 0.13129166373952247 + } + ] + }, + "point_1767948136075": { + "type": "point", + "instances": [ + { + "id": "point_1767948136075_1767948296254_9vngbvzd4", + "x": 0.5456665926717168, + "y": 0.13729166337331156 + } + ] + } + } + }, + { + "time": 3.015254, + "frame": 90, + "progress": 15, + "action_description": "爪夹向爪夹方向的左方移动，同时向爪夹方向的左方调整爪夹方向。", + "state_description": "当前爪夹张开，与外星人手办的水平距离再次拉进。\n为完成拿起外星人手办，将其放入箱子中的任务应当：继续向爪夹方向的左方移动，到达外星人手办的正上方后下降。", + "progress_explanation": "爪夹向爪夹方向的左方移动，与外星人手办的水平距离再次拉进，因此进度提升至15%", + "error_success_analysis": "爪夹向爪夹方向的左方移动，成功再次拉近与外星人手办的水平距离。", + "correction_plan": "继续向爪夹方向的左方移动，到达外星人手办的正上方后下降，合拢爪夹抓取外星人手办后竖直上升，向爪夹方向的左后方移动，直至外星人手办处于箱子正上方，松开爪夹，使外星人手办落到箱子中。", + "annotations": { + "bbox_1767948135228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135228_1767948316720_774x735n3", + "x": 0.20266661360677407, + "y": 0.41418052815670603, + "width": 0.19299998822021552, + "height": 0.19899998785400458 + } + ] + }, + "bbox_1767948135366": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135366_1767948324728_beqgt7xfx", + "x": 0.6646665854085335, + "y": 0.41918052785153026, + "width": 0.08899999456787147, + "height": 0.0839999948730472 + } + ] + }, + "point_1767948135948": { + "type": "point", + "instances": [ + { + "id": "point_1767948135948_1767948326986_ml8ivswo9", + "x": 0.609666588765467, + "y": 0.26118053749508435 + } + ] + }, + "point_1767948136075": { + "type": "point", + "instances": [ + { + "id": "point_1767948136075_1767948329130_dg1pvrjk3", + "x": 0.6606665856526741, + "y": 0.24618053841061166 + } + ] + } + } + }, + { + "time": 4.943029, + "frame": 148, + "progress": 20, + "action_description": "爪夹向爪夹方向的左方移动并下降，同时向爪夹方向的左方调整爪夹方向。", + "state_description": "当前爪夹张开，位于外星人手办的正上方。\n为完成拿起外星人手办，将其放入箱子中的任务应当：下降并合拢爪夹，抓取外星人手办后竖直上升，向爪夹方向的左后方移动。", + "progress_explanation": "爪夹向爪夹方向的左方移动并下降，已移动至外星人手办的上方。因此进度提升至20%", + "error_success_analysis": "爪夹向爪夹方向的左方移动，成功移动至外星人手办的上方。", + "correction_plan": "下降并合拢爪夹，抓取外星人手办后竖直上升，向爪夹方向的左后方移动，直至外星人手办处于箱子正上方，松开爪夹，使外星人手办落到箱子中。", + "annotations": { + "point_1767948135948": { + "type": "point", + "instances": [ + { + "id": "point_1767948135948_1767948339210_9jc6m58ea", + "x": 0.7156665822957409, + "y": 0.39618052925533875 + } + ] + }, + "bbox_1767948135366": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135366_1767948344416_4ubnv28op", + "x": 0.6676665852254281, + "y": 0.41918052785153026, + "width": 0.08499999481201202, + "height": 0.08299999493408236 + } + ] + }, + "bbox_1767948135228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135228_1767948349958_re3b4jmwq", + "x": 0.20266661360677407, + "y": 0.4171805279736006, + "width": 0.1919999882812507, + "height": 0.19399998815918038 + } + ] + } + } + }, + { + "time": 5.846906131270505, + "frame": 175, + "progress": 30, + "action_description": "爪夹向爪夹方向的下方移动。", + "state_description": "当前爪夹张开，位于外星人手办的两侧。\n为完成拿起外星人手办，将其放入箱子中的任务应当：继续向爪夹方向的左方移动，到达外星人手办的正上方后下降。", + "progress_explanation": "爪夹向爪夹方向的下方移动，拉近与外星人手办的垂直距离，因此进度提升至30%", + "error_success_analysis": "爪夹成功下降，拉近与外星人手办的垂直距离。", + "correction_plan": "合拢爪夹，抓取外星人手办后竖直上升，向爪夹方向的左后方移动，直至外星人手办处于箱子正上方，松开爪夹，使外星人手办落到箱子中。", + "annotations": { + "bbox_1767948135228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135228_1767948357212_lv0kp7mlr", + "x": 0.20466661348470377, + "y": 0.4171805279736006, + "width": 0.19099998834228585, + "height": 0.19399998815918038 + } + ] + }, + "bbox_1767948135366": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135366_1767948360890_ocw0yrbo2", + "x": 0.6676665852254281, + "y": 0.4281805273022139, + "width": 0.08499999481201202, + "height": 0.07299999554443387 + } + ] + }, + "point_1767948135948": { + "type": "point", + "instances": [ + { + "id": "point_1767948135948_1767948363028_a06szjbij", + "x": 0.7186665821126355, + "y": 0.46418052510494845 + } + ] + } + } + }, + { + "time": 6.930426, + "frame": 208, + "progress": 40, + "action_description": "爪夹合拢，抓取外星人手办。", + "state_description": "当前爪夹合拢，抓住外星人手办。\n为完成拿起外星人手办，将其放入箱子中的任务应当：抓取外星人手办后竖直上升，向爪夹方向的左后方移动。", + "progress_explanation": "当前爪夹已成功抓住外星人手办。因此进度提升至40%", + "error_success_analysis": "爪夹向爪夹方向的左方移动并下降，成功移动至外星人手办的正上方，下降合拢抓夹才能成功抓取外星人手办。", + "correction_plan": "抓取外星人手办后竖直上升，向爪夹方向的左后方移动，直至外星人手办处于箱子正上方，松开爪夹，使外星人手办落到箱子中。", + "annotations": { + "point_1767948135948": { + "type": "point", + "instances": [ + { + "id": "point_1767948135948_1767948368046_ioph034z8", + "x": 0.7176665821736705, + "y": 0.4644027579099879 + } + ] + }, + "bbox_1767948135366": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135366_1767948371768_4cv6gv53f", + "x": 0.668666585164393, + "y": 0.4334027598020776, + "width": 0.0869999946899417, + "height": 0.07899999517822298 + } + ] + }, + "bbox_1767948135228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135228_1767948375990_0jywidbp6", + "x": 0.20466661348470377, + "y": 0.4184027607176049, + "width": 0.19199998828125073, + "height": 0.19699998797607485 + } + ] + } + } + }, + { + "time": 10.229505, + "frame": 307, + "progress": 50, + "action_description": "爪夹向爪夹方向的上方抬起爪夹。", + "state_description": "当前爪夹合拢，抓住外星人手办位于桌面上方。\n为完成拿起外星人手办，将其放入箱子中的任务应当：向爪夹方向的左后方移动，直至外星人手办处于箱子正上方。", + "progress_explanation": "爪夹向爪夹方向的上方抬起爪夹，成功将外星人手办抬起。因此进度提升至50%", + "error_success_analysis": "爪夹成功向爪夹方向的上方抬起外星人手办。", + "correction_plan": "向爪夹方向的左后方移动，直至外星人手办处于箱子正上方，松开爪夹，使外星人手办落到箱子中。", + "annotations": { + "bbox_1767948135228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135228_1767948386080_ggxarygmq", + "x": 0.2036666135457389, + "y": 0.4142916464665743, + "width": 0.19099998834228588, + "height": 0.19699998797607493 + } + ] + }, + "bbox_1767948135366": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135366_1767948390709_ce79gn64w", + "x": 0.6956665835164438, + "y": 0.18129166068776484, + "width": 0.0919999943847659, + "height": 0.08899999456787144 + } + ] + }, + "point_1767948135948": { + "type": "point", + "instances": [ + { + "id": "point_1767948135948_1767948392936_90v1587nd", + "x": 0.7436665805867565, + "y": 0.20829165903981572 + } + ] + } + } + }, + { + "time": 11.600809, + "frame": 348, + "progress": 55, + "action_description": "爪夹向爪夹方向的右前方移动。", + "state_description": "当前爪夹合拢，与箱子的水平距离拉近。\n为完成拿起外星人手办，将其放入箱子中的任务应当：向爪夹方向的左方移动，直至外星人手办处于箱子正上方。", + "progress_explanation": "爪夹向爪夹方向的右前方移动，与箱子的水平距离拉近。因此进度提升至55%", + "error_success_analysis": "爪夹成功使外星人手办与箱子的水平距离拉近。", + "correction_plan": "向爪夹方向的左方移动，直至外星人手办处于箱子正上方，松开爪夹，使外星人手办落到箱子中。", + "annotations": { + "point_1767948135948": { + "type": "point", + "instances": [ + { + "id": "point_1767948135948_1767948397588_90lscq3mg", + "x": 0.6346665872395881, + "y": 0.26218053743404923 + } + ] + }, + "bbox_1767948135366": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135366_1767948400946_ygd7gyhq3", + "x": 0.5886665900472052, + "y": 0.23818053889889287, + "width": 0.09799999401855501, + "height": 0.08599999475097692 + } + ] + }, + "bbox_1767948135228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135228_1767948406412_apxfx1o60", + "x": 0.20266661360677407, + "y": 0.41618052803463573, + "width": 0.1919999882812507, + "height": 0.19899998785400452 + } + ] + } + } + }, + { + "time": 15.118502, + "frame": 454, + "progress": 60, + "action_description": "爪夹向爪夹方向的左方移动。", + "state_description": "当前爪夹合拢，与箱子的水平距离进一步拉近。\n为完成拿起外星人手办，将其放入箱子中的任务应当：继续向爪夹方向的左方移动，直至外星人手办处于箱子正上方。", + "progress_explanation": "爪夹向爪夹方向的左方移动，与箱子的水平距离进一步拉近，已接近箱子。因此进度提升至60%", + "error_success_analysis": "爪夹向爪夹方向的左方移动，成功使外星人手办与箱子的水平距离进一步拉近。", + "correction_plan": "继续向爪夹方向的左方移动，直至外星人手办处于箱子正上方，松开爪夹，使外星人手办落到箱子中。", + "annotations": { + "bbox_1767948135228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135228_1767948416110_39ldmjkkm", + "x": 0.2036666135457389, + "y": 0.41418052815670603, + "width": 0.19399998815918043, + "height": 0.1999999877929696 + } + ] + }, + "bbox_1767948135366": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135366_1767948423058_vfcw8pj8s", + "x": 0.3236666062215206, + "y": 0.2711805368847328, + "width": 0.09999999389648474, + "height": 0.08999999450683631 + } + ] + }, + "point_1767948135948": { + "type": "point", + "instances": [ + { + "id": "point_1767948135948_1767948424997_xqw4h1vl4", + "x": 0.35966660402425515, + "y": 0.29718053529781885 + } + ] + } + } + }, + { + "time": 16.271193, + "frame": 488, + "progress": 80, + "action_description": "爪夹向爪夹方向的左方移动。", + "state_description": "当前爪夹合拢，抓住外星人手办位于箱子上方。\n为完成拿起外星人手办，将其放入箱子中的任务应当：松开爪夹，使外星人手办落到箱子中。", + "progress_explanation": "当前爪夹已移动至箱子的正上方。因此进度提升至80%", + "error_success_analysis": "抓夹向爪夹方向的左方移动，成功使外星人手办移动至箱子上方。", + "correction_plan": "松开爪夹，使外星人手办落到箱子中。", + "annotations": { + "point_1767948135948": { + "type": "point", + "instances": [ + { + "id": "point_1767948135948_1767948429302_v7tj3stxo", + "x": 0.2856666085408564, + "y": 0.329180533344694 + } + ] + }, + "bbox_1767948135366": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135366_1767948434008_k1ygni2dt", + "x": 0.24666661092122733, + "y": 0.3041805348705728, + "width": 0.10299999371337933, + "height": 0.09399999426269563 + } + ] + }, + "bbox_1767948135228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135228_1767948444600_vtj2zpxwx", + "x": 0.20266661360677407, + "y": 0.41818052791256544, + "width": 0.19499998809814525, + "height": 0.19599998803711008 + } + ] + } + } + }, + { + "time": 16.512369377695027, + "frame": 495, + "progress": 100, + "action_description": "爪夹张开，外星人手办落到箱子里。", + "state_description": "当前爪夹张开，外星人手办位于箱子中。已完成拿起外星人手办，将其放入箱子中的任务。", + "progress_explanation": "外星人手办已落到箱子中。因此进度提升至100%", + "error_success_analysis": "爪夹成功拿起外星人手办，随后向爪夹方向的右前方移动，其放入箱子中。", + "correction_plan": "", + "annotations": { + "point_1767948135948": { + "type": "point", + "instances": [ + { + "id": "point_1767948135948_1767948230774_bcq7zvgvu", + "x": 0.29766660780843457, + "y": 0.309180534565397 + } + ] + }, + "point_1767948136075": { + "type": "point", + "instances": [ + { + "id": "point_1767948136075_1767948232688_nyqxt5vgz", + "x": 0.2866666084798213, + "y": 0.32618053352779947 + } + ] + }, + "bbox_1767948135366": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135366_1767948237172_a44ae2vgs", + "x": 0.2646666098225946, + "y": 0.4031805288280927, + "width": 0.09399999426269563, + "height": 0.09399999426269569 + } + ] + }, + "bbox_1767948135228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135228_1767948246958_676ls962q", + "x": 0.2036666135457389, + "y": 0.41418052815670603, + "width": 0.1919999882812507, + "height": 0.20199998767089913 + } + ] + } + } + }, + { + "time": 16.648798, + "frame": 499, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起外星人手办，将其放入箱子中的任务应当：向爪夹方向的左前方移动，到达外星人手办的正上方后下降。", + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "向爪夹方向的左前方移动，到达外星人手办的正上方后下降，合拢爪夹抓取外星人手办后竖直上升，向爪夹方向的右后方移动，直至外星人手办处于箱子正上方，松开爪夹，使外星人手办落到箱子中。", + "annotations": { + "point_1767948136075": { + "type": "point", + "instances": [ + { + "id": "point_1767948136075_1767948202046_g1hwauy2s", + "x": 0.5226665940755253, + "y": 0.1311805454296542 + } + ] + }, + "point_1767948135948": { + "type": "point", + "instances": [ + { + "id": "point_1767948135948_1767948203994_55a5o6oki", + "x": 0.4776665968221071, + "y": 0.13018054549068936 + } + ] + }, + "bbox_1767948135228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135228_1767948213188_lnama2dik", + "x": 0.2536666104939813, + "y": 0.34418053242916674, + "width": 0.17599998925781316, + "height": 0.17999998901367248 + } + ] + }, + "bbox_1767948135366": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767948135366_1767948222300_g63m190uy", + "x": 0.7056665829060923, + "y": 0.5511805197948901, + "width": 0.09799999401855514, + "height": 0.0989999939575199 + } + ] + } + } + }, + { + "time": 16.867412, + "frame": 506, + "progress": -10, + "action_description": "爪夹向爪夹方向的方右方移动并下降。", + "state_description": "当前状态为爪夹打开，与外星人手办的水平距离拉远。\n为完成拿起外星人手办，将其放入箱子中的任务应当：向爪夹方向的左前方移动，到达外星人手办的正上方后下降。", + "progress_explanation": "爪夹向爪夹方向的方右方移动并下降，与外星人手办的水平距离拉远。因此进度下降至-10%", + "error_success_analysis": "爪夹移动方向错误，使爪夹与外星人手办的水平距离拉远", + "correction_plan": "向爪夹方向的左前方移动，到达外星人手办的正上方后下降，合拢爪夹抓取外星人手办后竖直上升，向爪夹方向的右后方移动，直至外星人手办处于箱子正上方，松开爪夹，使外星人手办落到箱子中。" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767948135228", + "name": "箱子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767948135366", + "name": "外星人手办", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767948135948", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767948136075", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000893.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000893.json new file mode 100644 index 0000000000000000000000000000000000000000..be8d41669368a6706759151c64f4d2fd1d3236c9 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000893.json @@ -0,0 +1,576 @@ +{ + "task_description": "拿起米老鼠手办，将其放入箱子中：\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近米老鼠手办：20%\n爪夹抓取米老鼠手办：40%\n爪夹抓住米老鼠手办并接近箱子：60%\n爪夹将米老鼠手办移动至箱子上方：80%\n爪夹松开，使米老鼠手办落到箱子中：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起米老鼠手办，将其放入箱子中的任务应当：向爪夹方向的右前方移动，到达米老鼠手办的正上方后下降。", + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "向爪夹方向的右前方移动，到达米老鼠手办的正上方后下降，合拢爪夹抓取米老鼠手办后竖直上升，向爪夹方向的左后方移动，直至米老鼠手办处于箱子正上方，松开爪夹，使米老鼠手办落到箱子中。", + "annotations": { + "bbox_1767950707856": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707856_1767950804192_qnjqh4d14", + "x": 0.6241110458916598, + "y": 0.3511805320019207, + "width": 0.18499998870849682, + "height": 0.1869999885864265 + } + ] + }, + "bbox_1767950707976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707976_1767950814817_8620alf6s", + "x": 0.2831110667046468, + "y": 0.5572916377385475, + "width": 0.07099999566650415, + "height": 0.10099999383544957 + } + ] + }, + "point_1767950708528": { + "type": "point", + "instances": [ + { + "id": "point_1767950708528_1767950822912_frgsobapu", + "x": 0.46311105571831934, + "y": 0.13229166367848733 + } + ] + }, + "point_1767950708657": { + "type": "point", + "instances": [ + { + "id": "point_1767950708657_1767950825084_xulrtcd1s", + "x": 0.5461110506524016, + "y": 0.13429166355641703 + } + ] + } + } + }, + { + "time": 2.728051, + "frame": 82, + "progress": 10, + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "state_description": "当前状态为爪夹打开，与米老鼠手办的水平距离拉近。\n为完成拿起米老鼠手办，将其放入箱子中的任务应当：继续向爪夹方向的右前方移动，到达米老鼠手办的正上方后下降。", + "progress_explanation": "爪夹向爪夹方向的右前方移动并下降，拉近与米老鼠手办的水平距离。因此进度提升至10%", + "error_success_analysis": "爪夹向爪夹方向的右前方移动并下降，成功与米老鼠手办的水平距离拉进。", + "correction_plan": "继续向爪夹方向的右前方移动，到达米老鼠手办的正上方后下降，合拢爪夹抓取米老鼠手办后竖直上升，向爪夹方向的左后方移动，直至米老鼠手办处于箱子正上方，松开爪夹，使米老鼠手办落到箱子中。", + "annotations": { + "point_1767950708657": { + "type": "point", + "instances": [ + { + "id": "point_1767950708657_1767950829542_1b71alx6p", + "x": 0.4341110574883388, + "y": 0.30795829419199866 + } + ] + }, + "point_1767950708528": { + "type": "point", + "instances": [ + { + "id": "point_1767950708528_1767950831906_6w5rhzhtp", + "x": 0.36611106163872914, + "y": 0.32640276633283893 + } + ] + }, + "bbox_1767950707976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707976_1767950837142_a4n13b89b", + "x": 0.2831110667046468, + "y": 0.5554027523557891, + "width": 0.07099999566650415, + "height": 0.09999999389648467 + } + ] + }, + "bbox_1767950707856": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707856_1767950843091_gsarbybjh", + "x": 0.6241110458916598, + "y": 0.35440276462385467, + "width": 0.18299998883056703, + "height": 0.18399998876953194 + } + ] + } + } + }, + { + "time": 5.246815, + "frame": 157, + "progress": 20, + "action_description": "爪夹向爪夹方向的右前方移动并下降，同时向爪夹方向的左方调整爪夹方向。", + "state_description": "当前状态为爪夹打开，位于米老鼠手办正上方。\n为完成拿起米老鼠手办，将其放入箱子中的任务应当：下降并合拢爪夹，抓取米老鼠手办后竖直上升。", + "progress_explanation": "爪夹向爪夹方向的右前方移动并下降。已移动至米老鼠手办的正上方。因此进度提升至20%", + "error_success_analysis": "爪夹向爪夹方向的右前方移动并下降，成功移动至米老鼠手办的正上方。", + "correction_plan": "下降并合拢爪夹，抓取米老鼠手办后竖直上升，向爪夹方向的左后方移动，直至米老鼠手办处于箱子正上方，松开爪夹，使米老鼠手办落到箱子中。", + "annotations": { + "point_1767950708528": { + "type": "point", + "instances": [ + { + "id": "point_1767950708528_1767950852275_xlt2dg5rt", + "x": 0.30611106530083826, + "y": 0.5484027527830351 + } + ] + }, + "bbox_1767950707976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707976_1767950858037_yz4pds9q0", + "x": 0.2811110668267171, + "y": 0.5584027521726836, + "width": 0.07399999548339865, + "height": 0.09799999401855501 + } + ] + }, + "bbox_1767950707856": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707856_1767950866698_45gv3aj89", + "x": 0.6221110460137301, + "y": 0.35540276456281955, + "width": 0.1849999887084967, + "height": 0.18199998889160232 + } + ] + } + } + }, + { + "time": 6.047353, + "frame": 181, + "progress": 30, + "action_description": "爪夹向爪夹方向的下方移动。", + "state_description": "当前爪夹张开，位于米老鼠手办的两侧。\n为完成拿起米老鼠手办，将其放入箱子中的任务应当：合拢爪夹，抓取米老鼠手办后竖直上升。", + "progress_explanation": "爪夹向爪夹方向的下方移动，拉近与米老鼠手办的垂直距离，因此进度提升至30%", + "error_success_analysis": "爪夹成功拉近与米老鼠手办的垂直距离。", + "correction_plan": "合拢爪夹，抓取米老鼠手办后竖直上升，向爪夹方向的左后方移动，直至米老鼠手办处于箱子正上方，松开爪夹，使米老鼠手办落到箱子中。", + "annotations": { + "bbox_1767950707856": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707856_1767950877055_ly72y44qp", + "x": 0.6201110461358004, + "y": 0.35451389437781405, + "width": 0.1869999885864265, + "height": 0.18199998889160227 + } + ] + }, + "bbox_1767950707976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707976_1767950884187_tnhc16wp4", + "x": 0.29111106621636557, + "y": 0.5525138822928538, + "width": 0.06399999609375022, + "height": 0.10399999365234423 + } + ] + }, + "point_1767950708528": { + "type": "point", + "instances": [ + { + "id": "point_1767950708528_1767950891134_opv4bdgj8", + "x": 0.31011106505669767, + "y": 0.6145138785086743 + } + ] + } + } + }, + { + "time": 7.238396, + "frame": 217, + "progress": 40, + "action_description": "爪夹合拢，抓取米老鼠手办。", + "state_description": "当前爪夹合拢，抓住米老鼠手办。\n为完成拿起米老鼠手办，将其放入箱子中的任务应当：抓取米老鼠手办后竖直上升，向爪夹方向的左后方移动。", + "progress_explanation": "当前爪夹已抓到米老鼠手办，因此进度提升至40%", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，成功移动至米老鼠手办的正上方，下降合拢抓夹才能成功抓取米老鼠手办。", + "correction_plan": "抓取米老鼠手办后竖直上升，向爪夹方向的左后方移动，直至米老鼠手办处于箱子正上方，松开爪夹，使米老鼠手办落到箱子中。", + "annotations": { + "bbox_1767950707976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707976_1767950898698_u1zgwetsg", + "x": 0.29211106615533045, + "y": 0.5595138818656077, + "width": 0.05999999633789083, + "height": 0.09199999438476603 + } + ] + }, + "bbox_1767950707856": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707856_1767950903494_8ulykp0ys", + "x": 0.6221110460137301, + "y": 0.35451389437781405, + "width": 0.1859999886474616, + "height": 0.1859999886474616 + } + ] + } + } + }, + { + "time": 10.289758332887105, + "frame": 309, + "progress": 50, + "action_description": "爪夹向爪夹方向的上方抬起。\n", + "state_description": "当前爪夹合拢，抓住米老鼠手办位于桌子上方。\n为完成拿起米老鼠手办，将其放入箱子中的任务应当：向爪夹方向的左后方移动，直至米老鼠手办处于箱子正上方。", + "progress_explanation": "爪夹向爪夹方向的上方抬起爪夹，将米老鼠手办抬起。因此进度提升至50%", + "error_success_analysis": "爪夹成功将米老鼠手办向爪夹方向的上方抬起。", + "correction_plan": "向爪夹方向的左后方移动，直至米老鼠手办处于箱子正上方，松开爪夹，使米老鼠手办落到箱子中。", + "annotations": { + "bbox_1767950707856": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707856_1767950910383_jp886hj71", + "x": 0.6201110461358005, + "y": 0.35429165012868347, + "width": 0.1839999887695318, + "height": 0.18299998883056703 + } + ] + }, + "bbox_1767950707976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707976_1767950917429_5cmwaq50a", + "x": 0.2571110682915608, + "y": 0.285291654340109, + "width": 0.07199999560546898, + "height": 0.10099999383544962 + } + ] + }, + "point_1767950708528": { + "type": "point", + "instances": [ + { + "id": "point_1767950708528_1767950925129_4lzxjw8c0", + "x": 0.288111066399471, + "y": 0.3204027666990499 + } + ] + } + } + }, + { + "time": 13.268727217606868, + "frame": 398, + "progress": 60, + "action_description": "爪夹向爪夹方向的左后方移动。", + "state_description": "当前爪夹合拢，与箱子的水平距离拉近。\n为完成拿起米老鼠手办，将其放入箱子中的任务应当：继续向爪夹方向的左后方移动，直至米老鼠手办处于箱子正上方。", + "progress_explanation": "爪夹向爪夹方向的左后方移动，与箱子的水平距离拉近，因此进度提升至60%", + "error_success_analysis": "爪夹成功拉近与箱子的水平距离，成功靠近箱子。", + "correction_plan": "继续向爪夹方向的左后方移动，直至米老鼠手办处于箱子正上方，松开爪夹，使米老鼠手办落到箱子中。", + "annotations": { + "point_1767950708528": { + "type": "point", + "instances": [ + { + "id": "point_1767950708528_1767950930303_dnvvhfc9q", + "x": 0.5521110502861908, + "y": 0.286958310732525 + } + ] + }, + "bbox_1767950707976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707976_1767950934233_cyhrb5fy1", + "x": 0.5081110529717374, + "y": 0.24018054259151964, + "width": 0.06299999615478538, + "height": 0.10699999346923865 + } + ] + }, + "bbox_1767950707856": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707856_1767950943870_k17hjtbun", + "x": 0.6201110461358004, + "y": 0.3541805356335122, + "width": 0.18499998870849682, + "height": 0.18199998889160232 + } + ] + } + } + }, + { + "time": 15.888107, + "frame": 477, + "progress": 80, + "action_description": "爪夹向爪夹方向的左后方移动。", + "state_description": "当前爪夹合拢，位于箱子的正上方。\n为完成拿起米老鼠手办，将其放入箱子中的任务应当：松开爪夹，使米老鼠手办落到箱子中。", + "progress_explanation": "爪夹向爪夹方向的左后方移动，已移动至箱子的正上方。因此进度提升至80%", + "error_success_analysis": "爪夹成功将米老鼠手办移动至箱子的正上方。", + "correction_plan": "松开爪夹，使米老鼠手办落到箱子中。", + "annotations": { + "bbox_1767950707856": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707856_1767950953352_poespsqf7", + "x": 0.6211110460747652, + "y": 0.35618053169674485, + "width": 0.1859999886474616, + "height": 0.1809999889526374 + } + ] + }, + "bbox_1767950707976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707976_1767950961706_zsphp2afe", + "x": 0.6771110426567968, + "y": 0.22418053975338503, + "width": 0.06399999609375015, + "height": 0.10299999371337926 + } + ] + }, + "point_1767950708528": { + "type": "point", + "instances": [ + { + "id": "point_1767950708528_1767950965034_jm62dnh2f", + "x": 0.7291110394829688, + "y": 0.26829165537770655 + } + ] + } + } + }, + { + "time": 16.376239, + "frame": 491, + "progress": 100, + "action_description": "爪夹张开，米老鼠手办掉落。", + "state_description": "当前爪夹张开，米老鼠手办位于箱子中。已完成拿起米老鼠手办，将其放入箱子中的任务。", + "progress_explanation": "米老鼠手办已经落到箱子中。因此进度提升至100%", + "error_success_analysis": "爪夹成功拿起米老鼠手办，向爪夹方向的左后方移动，随后将其放入箱子中。", + "correction_plan": "", + "annotations": { + "point_1767950708657": { + "type": "point", + "instances": [ + { + "id": "point_1767950708657_1767950778512_3yg7gus9e", + "x": 0.7161110402764257, + "y": 0.2491805382275062 + } + ] + }, + "point_1767950708528": { + "type": "point", + "instances": [ + { + "id": "point_1767950708528_1767950781163_onbfn5ua1", + "x": 0.7241110397881445, + "y": 0.2702916552556363 + } + ] + }, + "bbox_1767950707976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707976_1767950785721_1hkryjofv", + "x": 0.6741110428399022, + "y": 0.29729165360768717, + "width": 0.06299999615478538, + "height": 0.09199999438476597 + } + ] + }, + "bbox_1767950707856": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707856_1767950793623_tz4l1032f", + "x": 0.6221110460137301, + "y": 0.3552916500676483, + "width": 0.18399998876953194, + "height": 0.1829999888305671 + } + ] + } + } + }, + { + "time": 16.473866, + "frame": 494, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起米老鼠手办，将其放入箱子中的任务应当：向爪夹方向的右前方移动，到达米老鼠手办的正上方后下降。", + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "向爪夹方向的右前方移动，到达米老鼠手办的正上方后下降，合拢爪夹抓取米老鼠手办后竖直上升，向爪夹方向的左后方移动，直至米老鼠手办处于箱子正上方，松开爪夹，使米老鼠手办落到箱子中。", + "annotations": { + "bbox_1767950707856": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707856_1767950753427_tkprbp4h8", + "x": 0.5121110527275968, + "y": 0.34318053249020186, + "width": 0.156999990417481, + "height": 0.18299998883056703 + } + ] + }, + "bbox_1767950707976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707976_1767950761063_xsldhml1c", + "x": 0.2661110677422444, + "y": 0.5381805205883471, + "width": 0.07099999566650418, + "height": 0.0929999943237308 + } + ] + }, + "point_1767950708528": { + "type": "point", + "instances": [ + { + "id": "point_1767950708528_1767950764297_pr7uuvohm", + "x": 0.524111051995175, + "y": 0.17106943230777388 + } + ] + }, + "point_1767950708657": { + "type": "point", + "instances": [ + { + "id": "point_1767950708657_1767950767167_kk7fy4dzf", + "x": 0.5671110493706635, + "y": 0.17218054292721297 + } + ] + } + } + }, + { + "time": 16.571492, + "frame": 497, + "progress": -10, + "action_description": "爪夹向爪夹方向的左前方移动。", + "state_description": "当前爪夹张开，与米老鼠手办的水平距离拉远。\n为完成拿起米老鼠手办，将其放入箱子中的任务应当：向爪夹方向的右前方移动，到达米老鼠手办的正上方后下降。", + "progress_explanation": "爪夹向爪夹方向的左前方移动，与米老鼠手办的水平距离拉远。因此进度下降至-10%", + "error_success_analysis": "爪夹移动方向错误，导致爪夹与米老鼠手办的水平距离拉远", + "correction_plan": "向爪夹方向的右前方移动，到达米老鼠手办的正上方后下降，合拢爪夹抓取米老鼠手办后竖直上升，向爪夹方向的左后方移动，直至米老鼠手办处于箱子正上方，松开爪夹，使米老鼠手办落到箱子中。", + "annotations": { + "point_1767950708657": { + "type": "point", + "instances": [ + { + "id": "point_1767950708657_1767950723202_x52ruz4n6", + "x": 0.7311110393608985, + "y": 0.25318054179806265 + } + ] + }, + "point_1767950708528": { + "type": "point", + "instances": [ + { + "id": "point_1767950708528_1767950724950_ogvsjjtyg", + "x": 0.6841110422295507, + "y": 0.26218054124874624 + } + ] + }, + "bbox_1767950707976": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707976_1767950729199_8iaom83bh", + "x": 0.2641110678643147, + "y": 0.5381805244030442, + "width": 0.0749999954223635, + "height": 0.09599999414062535 + } + ] + }, + "bbox_1767950707856": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950707856_1767950740202_xl3zadqph", + "x": 0.511111052788632, + "y": 0.34018053648800434, + "width": 0.15699999041748108, + "height": 0.1829999888305671 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767950707856", + "name": "箱子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767950707976", + "name": "米老鼠手办", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767950708528", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767950708657", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000898.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000898.json new file mode 100644 index 0000000000000000000000000000000000000000..55fe8cc8b5553135cacef3cba800e6eb66f2255c --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000898.json @@ -0,0 +1,632 @@ +{ + "task_description": "拿起男性手办，将其放入箱子中：\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近男性手办：20%\n爪夹抓取男性手办：40%\n爪夹抓住男性手办并接近箱子：60%\n爪夹将男性手办移动至箱子上方：80%\n爪夹松开，使男性手办落到箱子中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左方移动，到达男性手办的正上方后下降，合拢爪夹抓取男性手办后竖直上升，随后向爪夹方向的右前方移动，直至男性手办处于箱子正上方，松开爪夹，使男性手办落到箱子中。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起男性手办，将其放入箱子中的任务应当：向爪夹方向的左方移动，到达男性手办的正上方后下降。", + "time": 0, + "annotations": { + "bbox_1768009392085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392085_1768009456195_a2bsj3tqr", + "x": 0.20266661360677407, + "y": 0.42340274515364107, + "width": 0.20599998742675857, + "height": 0.21799998669433668 + } + ] + }, + "bbox_1768009392219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392219_1768009463023_cfxp76f4p", + "x": 0.6776665846150766, + "y": 0.3724027482664338, + "width": 0.09399999426269569, + "height": 0.13599999169921925 + } + ] + }, + "point_1768009392811": { + "type": "point", + "instances": [ + { + "id": "point_1768009392811_1768009471891_25itj3apv", + "x": 0.4636665976765993, + "y": 0.13140276297590556 + } + ] + }, + "point_1768009392921": { + "type": "point", + "instances": [ + { + "id": "point_1768009392921_1768009474539_i8dd7cmbj", + "x": 0.5426665928548222, + "y": 0.1344027627928001 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左方移动并下降，同时向爪夹方向的左方调整爪夹角度。", + "correction_plan": "继续向爪夹方向的左方移动并下降，移动至男性手办的正上方，下降并合拢爪夹，抓取男性手办后竖直上升，随后向爪夹方向的右前方移动，直至男性手办处于箱子正上方，松开爪夹，使男性手办落到箱子中。", + "error_success_analysis": "爪夹向爪夹方向的左方移动并下降，成功与男性手办的水平距离拉进。", + "frame": 67, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的左方移动，拉近与男性手办的水平距离。因此进度提升至10%", + "state_description": "当前状态为爪夹打开，与男性手办的水平距离拉近。\n为完成拿起男性手办，将其放入箱子中的任务应当：继续向爪夹方向的左方移动并下降，移动至男性手办的正上方。", + "time": 2.2261160356271623, + "annotations": { + "point_1768009392921": { + "type": "point", + "instances": [ + { + "id": "point_1768009392921_1768009479082_ej2g5z1h2", + "x": 0.6666665852864633, + "y": 0.23029165006764832 + } + ] + }, + "point_1768009392811": { + "type": "point", + "instances": [ + { + "id": "point_1768009392811_1768009481563_b37k9ngrc", + "x": 0.6196665881551155, + "y": 0.252291648724875 + } + ] + }, + "bbox_1768009392219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392219_1768009486434_bppf45ygg", + "x": 0.6796665844930063, + "y": 0.3732916413396215, + "width": 0.0919999943847659, + "height": 0.12999999206543014 + } + ] + }, + "bbox_1768009392085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392085_1768009491531_5ef7ftp2s", + "x": 0.20066661372884437, + "y": 0.4282916379826881, + "width": 0.2089999872436531, + "height": 0.20699998736572342 + } + ] + } + } + }, + { + "action_description": "爪夹继续用向爪夹方向的左方移动并下降，同时向爪夹方向的左方调整爪夹角度。", + "correction_plan": "下降并合拢爪夹，抓取男性手办后竖直上升，随后向爪夹方向的右前方移动，直至男性手办处于箱子正上方，松开爪夹，使男性手办落到箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的左方移动并下降，再次拉近与男性手办的水平距离。", + "frame": 122, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的左方移动并下降，移动至爪夹方向的上方。因此进度提升至20%", + "state_description": "当前状态为爪夹打开，位于男性手办上方。\n为完成拿起男性手办，将其放入箱子中的任务应当：下降并合拢爪夹，抓取男性手办后竖直上升。", + "time": 4.07144, + "annotations": { + "bbox_1768009392085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392085_1768009501084_vx1ji99f6", + "x": 0.20066661372884437, + "y": 0.42840274484846524, + "width": 0.2089999872436531, + "height": 0.2109999871215828 + } + ] + }, + "bbox_1768009392219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392219_1768009509652_bxbzhb88s", + "x": 0.6776665846150766, + "y": 0.3744027481443635, + "width": 0.09199999438476603, + "height": 0.130999992004395 + } + ] + }, + "point_1768009392811": { + "type": "point", + "instances": [ + { + "id": "point_1768009392811_1768009516968_yin0gbvl0", + "x": 0.733666581197108, + "y": 0.36040274899885566 + } + ] + }, + "point_1768009392921": { + "type": "point", + "instances": [ + { + "id": "point_1768009392921_1768009519205_lkauzir26", + "x": 0.7216665819295298, + "y": 0.3304027508299102 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "correction_plan": "合拢爪夹，抓取男性手办后竖直上升，随后向爪夹方向的右前方移动，直至男性手办处于箱子正上方，松开爪夹，使男性手办落到箱子中。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，成功拉近与男性手办的垂直距离。", + "frame": 143, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的下方移动，拉近与男性手办的垂直距离。因此进度提升至30%", + "state_description": "当前爪夹张开，位于男性手办的两侧。\n为完成拿起男性手办，将其放入箱子中的任务应当：合拢爪夹，抓取男性手办后竖直上升。", + "time": 4.769237, + "annotations": { + "point_1768009392811": { + "type": "point", + "instances": [ + { + "id": "point_1768009392811_1768009527256_gfaqc4d3q", + "x": 0.7296665814412487, + "y": 0.4132916388982154 + } + ] + }, + "bbox_1768009392219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392219_1768009533583_2aq84htoy", + "x": 0.6786665845540415, + "y": 0.37529164121755115, + "width": 0.08999999450683624, + "height": 0.1299999920654302 + } + ] + }, + "bbox_1768009392085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392085_1768009538910_e084g2kni", + "x": 0.19966661378987954, + "y": 0.4252916381657936, + "width": 0.20999998718261795, + "height": 0.21199998706054773 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取男性手办。", + "correction_plan": "抓取男性手办后竖直上升，随后向爪夹方向的右前方移动，直至男性手办处于箱子正上方，松开爪夹，使男性手办落到箱子中。", + "error_success_analysis": "爪夹向爪夹方向的左方移动并下降，成功移动至男性手办的正上方，下降合拢抓夹才能成功抓取男性手办。", + "frame": 172, + "progress": 40, + "progress_explanation": "当前爪夹已抓男性手办，因此进度提升至40%", + "state_description": "当前爪夹合拢，抓住男性手办。\n为完成拿起男性手办，将其放入箱子中的任务应当：抓取男性手办后竖直上升，随后向爪夹方向的右前方移动。", + "time": 5.74248, + "annotations": { + "bbox_1768009392085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392085_1768009547674_ec022kn7r", + "x": 0.2026666136067741, + "y": 0.4254027450315707, + "width": 0.2069999873657234, + "height": 0.21399998693847735 + } + ] + }, + "bbox_1768009392219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392219_1768009556170_m2tf4mctr", + "x": 0.6786665845540415, + "y": 0.3724027482664338, + "width": 0.0929999943237308, + "height": 0.13599999169921925 + } + ] + }, + "point_1768009392811": { + "type": "point", + "instances": [ + { + "id": "point_1768009392811_1768009560510_xlh4xxp8q", + "x": 0.7266665816243542, + "y": 0.4084027460691683 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方抬起爪夹。", + "correction_plan": "向爪夹方向的右前方移动，直至男性手办处于箱子正上方，松开爪夹，使男性手办落到箱子中。", + "error_success_analysis": "爪夹成功抓住男性手办向爪夹方向的上方抬起。", + "frame": 265, + "progress": 50, + "progress_explanation": "爪夹向爪夹方向的上方抬起爪夹，成功将男性手办抬起。因此进度提升至50%", + "state_description": "当前爪夹合拢，抓住男性手办位于桌子上方。\n为完成拿起男性手办，将其放入箱子中的任务应当：向爪夹方向的右前方移动，直至男性手办处于箱子正上方。", + "time": 8.827479, + "annotations": { + "point_1768009392811": { + "type": "point", + "instances": [ + { + "id": "point_1768009392811_1768009565200_p28iz5r56", + "x": 0.7566665797932995, + "y": 0.1364027626707298 + } + ] + }, + "bbox_1768009392219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392219_1768009569694_9yunyptlo", + "x": 0.6996665832723034, + "y": 0.11640276389143286, + "width": 0.10699999346923855, + "height": 0.14899999090576227 + } + ] + }, + "bbox_1768009392085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392085_1768009577698_3uvu75c2e", + "x": 0.20166661366780922, + "y": 0.4244027450926059, + "width": 0.21099998712158283, + "height": 0.21299998699951253 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动。", + "correction_plan": "继续向爪夹方向的右前方移动，直至男性手办处于箱子正上方，松开爪夹，使男性手办落到箱子中。", + "error_success_analysis": "爪夹成功向爪夹方向的右前方移动，成功开始向箱子方向移动。", + "frame": 296, + "progress": 55, + "progress_explanation": "爪夹向爪夹方向的右前方移动，略微拉近与箱子的水平距离。因此进度提升至55%", + "state_description": "当前爪夹合拢，与箱子的水平距离略微拉近。\n为完成拿起男性手办，将其放入箱子中的任务应当：继续向爪夹方向的右前方移动，直至男性手办处于箱子正上方。", + "time": 9.855812, + "annotations": { + "bbox_1768009392085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392085_1768009588022_8xdx99pa4", + "x": 0.20466661348470375, + "y": 0.4272916380437232, + "width": 0.20499998748779374, + "height": 0.21099998712158285 + } + ] + }, + "bbox_1768009392219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392219_1768009596116_3zjnvax6h", + "x": 0.6266665877278694, + "y": 0.12029165678151509, + "width": 0.10799999340820357, + "height": 0.15299999066162168 + } + ] + }, + "point_1768009392811": { + "type": "point", + "instances": [ + { + "id": "point_1768009392811_1768009604380_wqemgvzvg", + "x": 0.6746665847981821, + "y": 0.14229165543874173 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动。", + "correction_plan": "向爪夹方向的右前方移动，直至男性手办处于箱子正上方，松开爪夹，使男性手办落到箱子中。", + "error_success_analysis": "爪夹成功再次拉近与箱子的水平距离，成功靠近箱子。", + "frame": 357, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向的右前方移动，再次拉近与男性手办的水平距离。因此进度提升至60%", + "state_description": "当前爪夹合拢，与箱子的水平距离略微拉近。\n为完成拿起男性手办，将其放入箱子中的任务应当：向爪夹方向的右前方移动，直至男性手办处于箱子正上方。", + "time": 11.90881896917165, + "annotations": { + "point_1768009392811": { + "type": "point", + "instances": [ + { + "id": "point_1768009392811_1768009609921_yujllt5rg", + "x": 0.5366665932210332, + "y": 0.24829164896901557 + } + ] + }, + "bbox_1768009392219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392219_1768009614736_aepd6kxyy", + "x": 0.49166659596761497, + "y": 0.22529165037282406, + "width": 0.10799999340820357, + "height": 0.15199999072265682 + } + ] + }, + "bbox_1768009392085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392085_1768009623586_1c8k1ufv0", + "x": 0.20366661354573892, + "y": 0.4272916380437232, + "width": 0.20799998730468827, + "height": 0.20899998724365318 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动。", + "correction_plan": "松开爪夹，使男性手办落到箱子中。", + "error_success_analysis": "爪夹成功将男性手办移动至箱子的正上方。", + "frame": 441, + "progress": 80, + "progress_explanation": "爪夹向爪夹方向的右前方移动，移动至箱子正上方。因此进度提升至80%", + "state_description": "当前爪夹合拢，位于箱子正上方。\n为完成拿起男性手办，将其放入箱子中的任务应当：向爪夹方向的右前方移动，直至男性手办处于箱子正上方。", + "time": 14.703666, + "annotations": { + "bbox_1768009392085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392085_1768009633605_s18yjusgz", + "x": 0.20166661366780922, + "y": 0.42640274497053554, + "width": 0.20699998736572345, + "height": 0.21199998706054773 + } + ] + }, + "bbox_1768009392219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392219_1768009643872_17h03l3ew", + "x": 0.24966661073812188, + "y": 0.3074027522337187, + "width": 0.11499999298095748, + "height": 0.16599998986816467 + } + ] + }, + "point_1768009392811": { + "type": "point", + "instances": [ + { + "id": "point_1768009392811_1768009650310_97qb7m8ly", + "x": 0.2896666082967158, + "y": 0.33940275028059386 + } + ] + } + } + }, + { + "action_description": "爪夹张开，男性手办落下。", + "correction_plan": "", + "error_success_analysis": "爪夹成功拿起男性手办，随后向爪夹方向的右前方移动，随后张开爪夹将其放入箱子中。", + "frame": 458, + "progress": 100, + "progress_explanation": "男性手办已落到箱子中。因此进度提升至100%", + "state_description": "当前爪夹张开，男性手办位于箱子中。已完成拿起男性手办，将其放入箱子中的任务。", + "time": 15.254558, + "annotations": { + "point_1768009392811": { + "type": "point", + "instances": [ + { + "id": "point_1768009392811_1768009656597_ved57cpzo", + "x": 0.2936666080525752, + "y": 0.3464027498533478 + } + ] + }, + "bbox_1768009392219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392219_1768009662544_izxtr5e4m", + "x": 0.25666661031087584, + "y": 0.3504027496092072, + "width": 0.11299999310302772, + "height": 0.16399998999023496 + } + ] + }, + "bbox_1768009392085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392085_1768009671056_ehsskug7g", + "x": 0.19966661378987952, + "y": 0.42840274484846524, + "width": 0.20999998718261798, + "height": 0.2099999871826179 + } + ] + } + } + }, + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的左前方移动，到达男性手办的正上方后下降，合拢爪夹抓取男性手办后竖直上升，随后向爪夹方向的右后方移动，直至男性手办处于箱子正上方，松开爪夹，使男性手办落到箱子中。", + "error_success_analysis": "", + "frame": 459, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成拿起男性手办，将其放入箱子中的任务应当：向爪夹方向的左前方移动，到达男性手办的正上方后下降。", + "time": 15.30590902704241, + "annotations": { + "bbox_1768009392085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392085_1768009681719_uv581e9pn", + "x": 0.2626666099446649, + "y": 0.34151387991248294, + "width": 0.15599999047851623, + "height": 0.17999998901367248 + } + ] + }, + "bbox_1768009392219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392219_1768009689749_af9xqsb6m", + "x": 0.6856665841267955, + "y": 0.4961805117077324, + "width": 0.10699999346923868, + "height": 0.1549999905395513 + } + ] + }, + "point_1768009392811": { + "type": "point", + "instances": [ + { + "id": "point_1768009392811_1768009696326_jsg68axy4", + "x": 0.4046666012776733, + "y": 0.1724027681028584 + } + ] + }, + "point_1768009392921": { + "type": "point", + "instances": [ + { + "id": "point_1768009392921_1768009698303_tskm85oa1", + "x": 0.445666598775232, + "y": 0.16940276828596385 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右方移动并下降。", + "correction_plan": "向爪夹方向的左前方移动，到达男性手办的正上方后下降，合拢爪夹抓取男性手办后竖直上升，随后向爪夹方向的右后方移动，直至男性手办处于箱子正上方，松开爪夹，使男性手办落到箱子中。", + "error_success_analysis": "爪夹移动方向错误，导致爪夹与男性手办的水平距离拉远。", + "frame": 463, + "progress": -10, + "progress_explanation": "爪夹向爪夹方向的右方移动并下降，与男性手办的水平距离拉远。因此进度下降至-10%", + "state_description": "当前爪夹张开，与男性手办的水平距离拉远。\n为完成拿起男性手办，将其放入箱子中的任务应当：向爪夹方向的左前方移动，到达男性手办的正上方后下降。", + "time": 15.438189, + "annotations": { + "point_1768009392921": { + "type": "point", + "instances": [ + { + "id": "point_1768009392921_1768009725031_j94zjr3ea", + "x": 0.32966660585530966, + "y": 0.3176249958724978 + } + ] + }, + "point_1768009392811": { + "type": "point", + "instances": [ + { + "id": "point_1768009392811_1768009726826_esw6l30sr", + "x": 0.2826666087239619, + "y": 0.32729165177663255 + } + ] + }, + "bbox_1768009392219": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392219_1768009731476_qczvuh4nw", + "x": 0.6866665840657602, + "y": 0.495291641522727, + "width": 0.10999999328613323, + "height": 0.15599999047851623 + } + ] + }, + "bbox_1768009392085": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009392085_1768009740486_6w7le79a0", + "x": 0.2616666100057001, + "y": 0.34229165086110525, + "width": 0.15599999047851618, + "height": 0.17499998931884833 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768009392085", + "name": "箱子", + "color": "#4CAF50" + }, + { + "id": "bbox_1768009392219", + "name": "男性手办", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768009392811", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768009392921", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000910.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000910.json new file mode 100644 index 0000000000000000000000000000000000000000..602bff6699e8db622c6184bd42dfbacf9423d722 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000910.json @@ -0,0 +1,540 @@ +{ + "task_description": "拿起女性手办，放入箱子中。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近女性手办：20%\n爪夹抓住女性手办：40%\n爪夹抓住女性手办并接近箱子：60%\n爪夹保持合拢并移动到箱子的正上方：80%\n爪夹松开，使女性手办落入箱子中：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "correction_plan": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近女性手办，爪夹移动到女性手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取女性手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右后方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，女性手办落入箱子中。", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触手办。\n为完成拿起女性手办，放入箱子中的任务应当：爪夹向爪夹的爪夹的右前方移动，同时向爪夹的下方移动，靠近女性手办。", + "time": 0.1248, + "annotations": { + "point_1767940192592": { + "type": "point", + "instances": [ + { + "id": "point_1767940192592_1767943495673_iztlj1k5p", + "x": 0.5405555089992975, + "y": 0.13162498815155102 + } + ] + }, + "point_1767940192360": { + "type": "point", + "instances": [ + { + "id": "point_1767940192360_1767943499249_iubqzadkv", + "x": 0.4675555134548637, + "y": 0.13162498815155102 + } + ] + }, + "bbox_1767940191472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191472_1767943511265_0bgv5wzrv", + "x": 0.3545555203518359, + "y": 0.3736249733810441, + "width": 0.18399998876953194, + "height": 0.19999998779296949 + } + ] + }, + "bbox_1767940191272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191272_1767943567024_n09txsci1", + "x": 0.6875555000271302, + "y": 0.49462496599579064, + "width": 0.14399999121093796, + "height": 0.15599999047851623 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右前方移动，靠近女性手办。", + "correction_plan": "爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，靠近女性手办，爪夹移动到女性手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取女性手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右后方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，女性手办落入箱子中。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近女性手办。", + "frame": 29, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近女性手办，因此进度提升至10%。", + "state_description": "当前爪夹张开，与女性手办的水平距离略微缩短。\n为完成拿起女性手办，放入箱子中的任务应当：爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，靠近女性手办，爪夹移动到女性手办的正上方。", + "time": 0.9516, + "annotations": { + "bbox_1767940191272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191272_1767943572800_2lbhjpmsl", + "x": 0.6955554995388489, + "y": 0.49262496611786094, + "width": 0.13299999188232464, + "height": 0.1579999903564459 + } + ] + }, + "bbox_1767940191472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191472_1767943578088_aughjh6cj", + "x": 0.3645555197414844, + "y": 0.3666249738082901, + "width": 0.1759999892578131, + "height": 0.20199998767089924 + } + ] + }, + "point_1767940192360": { + "type": "point", + "instances": [ + { + "id": "point_1767940192360_1767943581056_9dkpo07lb", + "x": 0.5145555105862115, + "y": 0.16562498607635584 + } + ] + }, + "point_1767940192592": { + "type": "point", + "instances": [ + { + "id": "point_1767940192592_1767943584368_k8mvkffaf", + "x": 0.5945555057033993, + "y": 0.16862498589325037 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近女性手办。", + "correction_plan": "爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，爪夹移动到女性手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取女性手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右后方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，女性手办落入箱子中。", + "error_success_analysis": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，水平方向上成功接近女性手办。", + "frame": 98, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上进一步接近女性手办，因此进度提升至20%。", + "state_description": "当前爪夹张开，与女性手办的水平距离进一步缩短。\n为完成拿起女性手办，放入箱子中的任务应当：爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，爪夹移动到女性手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取女性手办。", + "time": 3.260399, + "annotations": { + "point_1767940192592": { + "type": "point", + "instances": [ + { + "id": "point_1767940192592_1767943588904_55z3fe41j", + "x": 0.6835555002712707, + "y": 0.31373608772362743 + } + ] + }, + "point_1767940192360": { + "type": "point", + "instances": [ + { + "id": "point_1767940192360_1767943592296_ao4g25gtf", + "x": 0.641555502834747, + "y": 0.33773608625878376 + } + ] + }, + "bbox_1767940191272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191272_1767943597256_12eq84ch6", + "x": 0.6855555001492004, + "y": 0.49473607667626485, + "width": 0.15199999072265685, + "height": 0.1609999901733404 + } + ] + }, + "bbox_1767940191472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191472_1767943602240_7735tcx17", + "x": 0.3545555203518359, + "y": 0.3727360841225534, + "width": 0.1869999885864265, + "height": 0.20199998767089924 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，爪夹移动到女性手办的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取女性手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右后方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，女性手办落入箱子中。", + "error_success_analysis": "爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，爪夹成功移动到女性手办的正上方。", + "frame": 146, + "progress": 30, + "progress_explanation": "当前爪夹已悬空于女性手办正上方，已接近女性手办，因此进度提升为30%。\n", + "state_description": "当前爪夹张开，垂直于女性手办的正上方。\n为完成拿起女性手办，放入箱子中的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取女性手办。", + "time": 4.8828, + "annotations": { + "bbox_1767940191472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191472_1767943616000_xy0w810s0", + "x": 0.3545555203518359, + "y": 0.3656249738693253, + "width": 0.1869999885864265, + "height": 0.2079999873046883 + } + ] + }, + "bbox_1767940191272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191272_1767943620648_lunwyj6gw", + "x": 0.6865555000881652, + "y": 0.5006249656295797, + "width": 0.14499999114990286, + "height": 0.1519999907226568 + } + ] + }, + "point_1767940192360": { + "type": "point", + "instances": [ + { + "id": "point_1767940192360_1767943624136_g8qscunit", + "x": 0.7735554947781069, + "y": 0.4646249678268452 + } + ] + }, + "point_1767940192592": { + "type": "point", + "instances": [ + { + "id": "point_1767940192592_1767943626552_zqs2qnpzn", + "x": 0.7555554958767398, + "y": 0.4156249708175677 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取女性手办。", + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右后方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，女性手办落入箱子中。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取女性手办。\n", + "frame": 208, + "progress": 40, + "progress_explanation": "当前爪夹已成功抓取女性手办，因此进度提升为40%。\n", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到女性手办。\n为完成拿起女性手办，放入箱子中的任务应当：爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右后方移动，靠近箱子。", + "time": 6.942, + "annotations": { + "point_1767940192360": { + "type": "point", + "instances": [ + { + "id": "point_1767940192360_1767943632352_aq4frbglg", + "x": 0.7525554960598452, + "y": 0.5376249633712791 + } + ] + }, + "bbox_1767940191272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191272_1767943636800_2eoq8nlla", + "x": 0.6885554999660949, + "y": 0.5006249656295797, + "width": 0.14499999114990286, + "height": 0.14999999084472712 + } + ] + }, + "bbox_1767940191472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191472_1767943643240_i54h9gfek", + "x": 0.3585555201076953, + "y": 0.3666249738082901, + "width": 0.17999998901367256, + "height": 0.2049999874877938 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，并抓住女性手办向爪夹上方移动。", + "correction_plan": "爪夹向爪夹的右后方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，女性手办落入箱子中。", + "error_success_analysis": "爪夹抓住女性手办，并向爪夹上方移动，准备靠近箱子。", + "frame": 308, + "progress": 50, + "progress_explanation": "当前爪夹已经抓住女性手办，与箱子的水平距离缩短，因此进度提升至50%。", + "state_description": "当前爪夹合拢，已经抓住女性手办，并垂直于桌面。\n为完成拿起女性手办，放入箱子中的任务应当：爪夹向爪夹的右后方移动，靠近箱子，爪夹移动到箱子的正上方。", + "time": 10.269552400282876, + "annotations": { + "bbox_1767940191472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191472_1767943647688_vs6gd9lr9", + "x": 0.35655552022976555, + "y": 0.3646249739303605, + "width": 0.18499998870849682, + "height": 0.20599998742675857 + } + ] + }, + "point_1767940192360": { + "type": "point", + "instances": [ + { + "id": "point_1767940192360_1767943650264_kumy7yvqk", + "x": 0.793555493557404, + "y": 0.23162498204803575 + } + ] + }, + "bbox_1767940191272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191272_1767943655368_t83wfwe75", + "x": 0.7185554981350404, + "y": 0.20062498394012548, + "width": 0.1499999908447272, + "height": 0.18299998883056706 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的后方移动，同时向爪夹的右侧移动靠近箱子。", + "correction_plan": "爪夹继续向爪夹的右侧移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，女性手办落入箱子中。", + "error_success_analysis": "爪夹成功抓住女性手办，并向爪夹的后方移动，同时向爪夹的右侧移动靠近箱子。", + "frame": 339, + "progress": 60, + "progress_explanation": "当前爪夹成功抓住女性手办，并在水平方向上靠近箱子，因此进度提升至60%。", + "state_description": "当前爪夹保持合拢，与箱子的水平距离进一步缩短。\n为完成拿起女性手办，放入箱子中的任务应当：爪夹继续向爪夹的右侧移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，女性手办落入箱子中。", + "time": 11.2944, + "annotations": { + "bbox_1767940191272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191272_1767943661064_r3tcaq399", + "x": 0.6725555009426574, + "y": 0.18162498509979338, + "width": 0.1489999909057623, + "height": 0.17499998931884833 + } + ] + }, + "bbox_1767940191472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191472_1767943668168_9dzlpip8b", + "x": 0.3545555203518359, + "y": 0.3656249738693253, + "width": 0.18799998852539127, + "height": 0.20599998742675865 + } + ] + }, + "point_1767940192360": { + "type": "point", + "instances": [ + { + "id": "point_1767940192360_1767943672200_ip0idaor7", + "x": 0.7425554966701967, + "y": 0.2156249830245982 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹的右侧移动，同时向爪夹的下方移动，爪夹移动到箱子的正上方。", + "correction_plan": "爪夹松开，女性手办落入箱子中。", + "error_success_analysis": "爪夹抓住女性手办，继续向爪夹的右侧移动，同时向爪夹的下方移动，爪夹成功移动到箱子的正上方。", + "frame": 437, + "progress": 80, + "progress_explanation": "当前爪夹合拢，在水平方向上位于箱子的正上方，因此进度提升至80%。", + "state_description": "当前爪夹合找，垂直于桌面，抓住女性手办处于箱子的正上方。\n为完成拿起女性手办，放入箱子中的任务应当：松开爪夹，使女性手办落入箱子中。", + "time": 14.563572748647612, + "annotations": { + "point_1767940192360": { + "type": "point", + "instances": [ + { + "id": "point_1767940192360_1767943675895_jko2p01l6", + "x": 0.4535555143093558, + "y": 0.2916249783859266 + } + ] + }, + "bbox_1767940191272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191272_1767943680527_8k51uv6rm", + "x": 0.3875555183376759, + "y": 0.26662497991180545, + "width": 0.14799999096679742, + "height": 0.1479999909667974 + } + ] + }, + "bbox_1767940191472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191472_1767943685216_jx6grmfxi", + "x": 0.3575555201687305, + "y": 0.3736249733810441, + "width": 0.1849999887084967, + "height": 0.1979999879150398 + } + ] + } + } + }, + { + "action_description": "爪夹松开，女性手办落下。", + "correction_plan": "", + "error_success_analysis": "爪夹松开，女性手办成功落入箱子中。", + "frame": 450, + "progress": 100, + "progress_explanation": "当前女性手办成功落入箱子里，因此进度提升至100%。", + "state_description": "当前爪夹张开，女性手办落入箱子中。已完成拿起女性手办，放入箱子中的任务。\n", + "time": 15.013881998663393, + "annotations": { + "bbox_1767940191472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191472_1767943695824_wnjklfhup", + "x": 0.3575555201687305, + "y": 0.3716249735031144, + "width": 0.18399998876953194, + "height": 0.2009999877319343 + } + ] + }, + "point_1767940192360": { + "type": "point", + "instances": [ + { + "id": "point_1767940192360_1767943699136_ufqg0j3b8", + "x": 0.45555551418728546, + "y": 0.2926249783248914 + } + ] + }, + "bbox_1767940191272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191272_1767943705384_8ddaq9a84", + "x": 0.40155551748318374, + "y": 0.30362497765350477, + "width": 0.12399999243164105, + "height": 0.14399999121093804 + } + ] + } + } + }, + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近女性手办，爪夹移动到女性手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取女性手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右后方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，女性手办落入箱子中。", + "error_success_analysis": "", + "frame": 454, + "progress": 0, + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触手办。\n为完成拿起女性手办，放入箱子中的任务应当：爪夹向爪夹的爪夹的右前方移动，同时向爪夹的下方移动，靠近女性手办。", + "time": 15.132, + "annotations": { + "bbox_1767940191272": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191272_1767943711943_5tw861oyc", + "x": 0.6865555000881652, + "y": 0.49229163407643833, + "width": 0.13799999157714898, + "height": 0.15699999041748108 + } + ] + }, + "bbox_1767940191472": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767940191472_1767943716703_fgmxy9ie8", + "x": 0.2405555273098433, + "y": 0.3332916437810276, + "width": 0.18799998852539132, + "height": 0.18899998846435614 + } + ] + }, + "point_1767940192360": { + "type": "point", + "instances": [ + { + "id": "point_1767940192360_1767943719887_mbc084ole", + "x": 0.4505555144924613, + "y": 0.2152916509831756 + } + ] + }, + "point_1767940192592": { + "type": "point", + "instances": [ + { + "id": "point_1767940192592_1767943723399_ip71x8be5", + "x": 0.4875555122341606, + "y": 0.21429165104421075 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767940191272", + "name": "女性手办" + }, + { + "color": "#FF9800", + "id": "bbox_1767940191472", + "name": "箱子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767940192360", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767940192592", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000932.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000932.json new file mode 100644 index 0000000000000000000000000000000000000000..ea9f1484d17dcf0594abf158637b712a1d08f52e --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000932.json @@ -0,0 +1,494 @@ +{ + "task_description": "拿起紫色手办，放入箱子中。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近紫色手办：20%\n爪夹抓住紫色手办：40%\n爪夹抓住紫色手办并接近箱子：60%\n爪夹保持合拢并移动到箱子的正上方：80%\n爪夹松开，使紫色手办落入箱子中：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，准备移动。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触手办。\n为完成拿起紫色手办，放入箱子中的任务应当：爪夹向爪夹的爪夹的左侧移动，同时向爪夹的下方移动，靠近紫色手办。", + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的爪夹的左侧移动，同时向爪夹的下方移动，靠近紫色手办，爪夹移动到紫色手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取紫色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，紫色手办落入箱子中。", + "annotations": { + "bbox_1767943962878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943962878_1767947918002_rc6s6nve9", + "x": 0.6725555009426574, + "y": 0.3548471997163574, + "width": 0.10399999365234412, + "height": 0.14999999084472712 + } + ] + }, + "bbox_1767943963134": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943963134_1767947921826_3vsb7af2b", + "x": 0.3485555207180468, + "y": 0.4638471930635258, + "width": 0.19399998815918038, + "height": 0.23599998559570406 + } + ] + }, + "point_1767943963918": { + "type": "point", + "instances": [ + { + "id": "point_1767943963918_1767947924682_28e0h2yqo", + "x": 0.46455551363796915, + "y": 0.13284721326616128 + } + ] + }, + "point_1767943964125": { + "type": "point", + "instances": [ + { + "id": "point_1767943964125_1767947927081_cxdawm6y5", + "x": 0.5425555088772271, + "y": 0.1288472135103019 + } + ] + } + } + }, + { + "time": 1.223298678161075, + "frame": 37, + "progress": 10, + "action_description": "爪夹向爪夹的爪夹的左侧移动，靠近紫色手办。", + "state_description": "当前爪夹张开，与紫色手办的水平距离略微缩短。\n为完成拿起紫色手办，放入箱子中的任务应当：爪夹继续向爪夹的爪夹的左侧移动，同时向爪夹的下方移动，爪夹移动到紫色手办的正上方。", + "progress_explanation": "当前爪夹在水平方向上略微接近紫色手办，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动，水平方向上成功接近紫色手办。", + "correction_plan": "爪夹继续向爪夹的爪夹的左侧移动，同时向爪夹的下方移动，爪夹移动到紫色手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取紫色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，紫色手办落入箱子中。", + "annotations": { + "point_1767943964125": { + "type": "point", + "instances": [ + { + "id": "point_1767943964125_1767947931049_h658zwj4h", + "x": 0.6335555033230283, + "y": 0.1598472116182122 + } + ] + }, + "point_1767943963918": { + "type": "point", + "instances": [ + { + "id": "point_1767943963918_1767947933489_x6pew5w88", + "x": 0.5555555080837703, + "y": 0.1588472116792473 + } + ] + }, + "bbox_1767943963134": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943963134_1767947938241_1n1lml9pi", + "x": 0.3485555207180468, + "y": 0.4708471926362797, + "width": 0.19399998815918038, + "height": 0.23399998571777433 + } + ] + }, + "bbox_1767943962878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943962878_1767947961913_ch6s88lmf", + "x": 0.6725555009426574, + "y": 0.3538471997773926, + "width": 0.10299999371337935, + "height": 0.15399999060058653 + } + ] + } + } + }, + { + "time": 2.6622, + "frame": 80, + "progress": 20, + "action_description": "爪夹向爪夹的爪夹的左侧移动，同时向爪夹的下方移动，靠近紫色手办。", + "state_description": "当前爪夹张开，与紫色手办的水平距离进一步缩短。\n为完成拿起紫色手办，放入箱子中的任务应当：爪夹继续向爪夹的爪夹的左侧移动，同时向爪夹的下方移动，爪夹移动到紫色手办的正上方。", + "progress_explanation": "当前爪夹在水平方向上进一步接近紫色手办，因此进度提升至20%。", + "error_success_analysis": "爪夹向爪夹的左侧移动，同时向爪夹的下方移动，水平方向上成功接近紫色手办。", + "correction_plan": "爪夹继续向爪夹的爪夹的左侧移动，同时向爪夹的下方移动，爪夹移动到紫色手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取紫色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，紫色手办落入箱子中。", + "annotations": { + "point_1767943963918": { + "type": "point", + "instances": [ + { + "id": "point_1767943963918_1767947966873_hnvigvq7x", + "x": 0.6405555028957823, + "y": 0.26284720533159145 + } + ] + }, + "point_1767943964125": { + "type": "point", + "instances": [ + { + "id": "point_1767943964125_1767947969505_ca50z6tzu", + "x": 0.7035554990505677, + "y": 0.2548472058198727 + } + ] + }, + "bbox_1767943963134": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943963134_1767947975929_63m90u6ch", + "x": 0.34255552108425774, + "y": 0.46884719275835, + "width": 0.2009999877319343, + "height": 0.2319999858398446 + } + ] + }, + "bbox_1767943962878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943962878_1767947979817_0bfy84779", + "x": 0.6725555009426574, + "y": 0.35784719953325195, + "width": 0.10599999353027391, + "height": 0.1489999909057623 + } + ] + } + } + }, + { + "time": 3.9627, + "frame": 119, + "progress": 30, + "action_description": "爪夹继续向爪夹的爪夹的左侧移动，同时向爪夹的下方移动，爪夹移动到紫色手办的正上方。", + "state_description": "当前爪夹张开，垂直于紫色手办的正上方。\n为完成拿起紫色手办，放入箱子中的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取紫色手办。", + "progress_explanation": "当前爪夹已悬空于紫色手办正上方，已接近紫色手办，因此进度提升为30%。", + "error_success_analysis": "爪夹继续向爪夹的左侧移动，同时向爪夹的下方移动，爪夹成功移动到紫色手办的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取紫色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，紫色手办落入箱子中。", + "annotations": { + "bbox_1767943962878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943962878_1767947987098_m8pjd1zct", + "x": 0.6735555008816223, + "y": 0.3568471995942871, + "width": 0.10099999383544957, + "height": 0.14999999084472712 + } + ] + }, + "bbox_1767943963134": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943963134_1767947992553_xa9imia9c", + "x": 0.3535555204128711, + "y": 0.4708471926362797, + "width": 0.18699998858642644, + "height": 0.22699998614502034 + } + ] + }, + "point_1767943963918": { + "type": "point", + "instances": [ + { + "id": "point_1767943963918_1767947996241_h7a3trwo3", + "x": 0.7455554964870913, + "y": 0.32684720142534174 + } + ] + }, + "point_1767943964125": { + "type": "point", + "instances": [ + { + "id": "point_1767943964125_1767947998417_t2j70l4xk", + "x": 0.7335554972195131, + "y": 0.2958472033174314 + } + ] + } + } + }, + { + "time": 5.8446, + "frame": 175, + "progress": 40, + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取紫色手办。", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到紫色手办。\n为完成拿起紫色手办，放入箱子中的任务应当：爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，同时向爪夹的下方移动，靠近箱子。", + "progress_explanation": "当前爪夹已成功抓取紫色手办，因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取紫色手办。", + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，紫色手办落入箱子中。", + "annotations": { + "point_1767943963918": { + "type": "point", + "instances": [ + { + "id": "point_1767943963918_1767948004633_24zhvnq87", + "x": 0.7315554973415834, + "y": 0.3948471972749513 + } + ] + }, + "bbox_1767943963134": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943963134_1767948008825_1ah93hf7j", + "x": 0.3545555203518359, + "y": 0.4698471926973149, + "width": 0.18899998846435614, + "height": 0.22799998608398517 + } + ] + }, + "bbox_1767943962878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943962878_1767948013241_wurk2hnt9", + "x": 0.6715555010036925, + "y": 0.3598471994111817, + "width": 0.10499999359130902, + "height": 0.14499999114990286 + } + ] + } + } + }, + { + "time": 8.6598, + "frame": 260, + "progress": 50, + "action_description": "爪夹保持合拢，向爪夹的上方抬起。", + "state_description": "当前爪夹合拢，已经抓住紫色手办，并垂直于桌面。\n为完成拿起紫色手办，放入箱子中的任务应当：爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，紫色手办落入箱子中。", + "progress_explanation": "当前爪夹已经抓住紫色手办，与箱子的水平距离缩短，因此进度提升至50%。", + "error_success_analysis": "爪夹抓住紫色手办，并向爪夹上方移动，准备靠近箱子。", + "correction_plan": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，紫色手办落入箱子中。", + "annotations": { + "bbox_1767943962878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943962878_1767948018113_mla71rw3x", + "x": 0.6875555000271302, + "y": 0.15084721216752855, + "width": 0.12099999261474655, + "height": 0.1819999888916022 + } + ] + }, + "bbox_1767943963134": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943963134_1767948023257_0pevlu9ta", + "x": 0.3485555207180468, + "y": 0.46684719288042037, + "width": 0.19699998797607493, + "height": 0.22999998596191495 + } + ] + }, + "point_1767943963918": { + "type": "point", + "instances": [ + { + "id": "point_1767943963918_1767948026617_p0d4aybdp", + "x": 0.7535554959988101, + "y": 0.19384720954301699 + } + ] + } + } + }, + { + "time": 10.8018, + "frame": 324, + "progress": 60, + "action_description": "爪夹向爪夹的右前方移动，靠近箱子。", + "state_description": "当前爪夹保持合拢，与箱子的水平距离进一步缩短。\n为完成拿起女性手办，放入箱子中的任务应当：爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，并移动到箱子的正上方，爪夹松开，紫色手办落入箱子中。", + "progress_explanation": "当前爪夹成功抓住紫色手办，并在水平方向上靠近箱子，因此进度提升至60%。", + "error_success_analysis": "爪夹成功抓住紫色手办，并向爪夹的后方移动，同时向爪夹的右侧移动靠近箱子。", + "correction_plan": "爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，并移动到箱子的正上方，爪夹松开，紫色手办落入箱子中。", + "annotations": { + "point_1767943963918": { + "type": "point", + "instances": [ + { + "id": "point_1767943963918_1767948030825_yhacod3qz", + "x": 0.6475555024685362, + "y": 0.14684721241166918 + } + ] + }, + "bbox_1767943963134": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943963134_1767948036873_ua5u8ii69", + "x": 0.34555552090115227, + "y": 0.4698471926973149, + "width": 0.19699998797607493, + "height": 0.23099998590087972 + } + ] + }, + "bbox_1767943962878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943962878_1767948043897_kryonp9o3", + "x": 0.5805555065578915, + "y": 0.10884721473100495, + "width": 0.1299999920654301, + "height": 0.19699998797607496 + } + ] + } + } + }, + { + "time": 14.229, + "frame": 427, + "progress": 80, + "action_description": "爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，爪夹移动到箱子的正上方。", + "state_description": "当前爪夹合找，垂直于桌面，抓住紫色手办处于箱子的正上方。\n为完成拿起紫色手办，放入箱子中的任务应当：爪夹松开，紫色手办落入箱子中。", + "progress_explanation": "当前爪夹合拢，在水平方向上位于箱子的正上方，因此进度提升至80%。", + "error_success_analysis": "爪夹抓住紫色手办，继续向爪夹的右前方移动，同时向爪夹的下方移动，爪夹成功移动到箱子的正上方。", + "correction_plan": "爪夹松开，紫色手办落入箱子中。", + "annotations": { + "bbox_1767943962878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943962878_1767948049097_r2wg578x1", + "x": 0.3885555182766407, + "y": 0.3558471996553223, + "width": 0.13199999194335987, + "height": 0.18899998846435614 + } + ] + }, + "bbox_1767943963134": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943963134_1767948076616_07ha74ume", + "x": 0.34155552114529286, + "y": 0.46884719275835, + "width": 0.19999998779296954, + "height": 0.2269999861450204 + } + ] + }, + "point_1767943963918": { + "type": "point", + "instances": [ + { + "id": "point_1767943963918_1767948078849_bw65l41r5", + "x": 0.4465555147366019, + "y": 0.3928471973970217 + } + ] + } + } + }, + { + "time": 14.5044, + "frame": 435, + "progress": 0, + "action_description": "爪夹张开，暂未移动。", + "state_description": "当前爪夹打开，没有移动，没有接触手办。\n为完成拿起紫色手办，放入箱子中的任务应当：爪夹向爪夹的左后方移动，同时向爪夹的下方移动，靠近紫色手办，爪夹移动至手办的正上方。", + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的左后方移动，同时向爪夹的下方移动，靠近紫色手办，爪夹移动至手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取紫色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，紫色手办落入箱子中。", + "annotations": { + "point_1767943963918": { + "type": "point", + "instances": [ + { + "id": "point_1767943963918_1767948081649_t42jwz87l", + "x": 0.4625555137600394, + "y": 0.16384721137407157 + } + ] + }, + "point_1767943964125": { + "type": "point", + "instances": [ + { + "id": "point_1767943964125_1767948084393_9yg3iwtl3", + "x": 0.47755551284451214, + "y": 0.16084721155717702 + } + ] + }, + "bbox_1767943963134": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943963134_1767948091737_eclv4kijx", + "x": 0.3525555204739062, + "y": 0.44584719416215857, + "width": 0.21099998712158285, + "height": 0.23399998571777433 + } + ] + }, + "bbox_1767943962878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767943962878_1767948097377_v2rsxs33l", + "x": 0.6605555016750791, + "y": 0.3558471996553223, + "width": 0.10399999365234423, + "height": 0.156999990417481 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767943962878", + "name": "紫色手办", + "color": "#4CAF50" + }, + { + "id": "bbox_1767943963134", + "name": "箱子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767943963918", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767943964125", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000979.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000979.json new file mode 100644 index 0000000000000000000000000000000000000000..81d166650e704b27fc7962b6b23f82368ff1b782 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.image/episode_000979.json @@ -0,0 +1,438 @@ +{ + "task_description": "拿起黑色手办，放入箱子中。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近黑色手办：20%\n爪夹抓住黑色手办：40%\n爪夹抓住黑色手办并接近箱子：60%\n爪夹保持合拢并移动到箱子的正上方：80%\n爪夹松开，使黑色手办落入箱子中：100%", + "progress_points": [ + { + "time": 0.0755, + "frame": 2, + "progress": 0, + "action_description": "爪夹张开，准备移动。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触手办。\n为完成拿起黑色手办，放入箱子中的任务应当：爪夹向爪夹的右侧移动，同时向爪夹的下方移动，靠近黑色手办，爪夹移动到黑色手办的正上方。", + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的右侧移动，同时向爪夹的下方移动，靠近黑色手办，爪夹移动到黑色手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取黑色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的左前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，黑色手办落入箱子中。", + "annotations": { + "point_1767950560447": { + "type": "point", + "instances": [ + { + "id": "point_1767950560447_1767950587183_5txg6abrj", + "x": 0.4665555135158988, + "y": 0.1308472133882316 + } + ] + }, + "point_1767950560791": { + "type": "point", + "instances": [ + { + "id": "point_1767950560791_1767950589807_zmb8zz9l7", + "x": 0.5425555088772271, + "y": 0.12984721344926675 + } + ] + }, + "bbox_1767950559535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559535_1767950594423_51s0axlcm", + "x": 0.26655552572292934, + "y": 0.3458472002656738, + "width": 0.11599999291992227, + "height": 0.1619999901123053 + } + ] + }, + "bbox_1767950559751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559751_1767950599494_1q7bote9n", + "x": 0.5105555108303521, + "y": 0.46084719324663126, + "width": 0.19099998834228593, + "height": 0.22399998632812584 + } + ] + } + } + }, + { + "time": 1.208, + "frame": 36, + "progress": 10, + "action_description": "爪夹向爪夹的右侧移动，靠近黑色手办。", + "state_description": "当前爪夹张开，与黑色手办的水平距离略微缩短。\n为完成拿起黑色手办，放入箱子中的任务应当：爪夹继续向爪夹的右侧移动，同时向爪夹的下方移动，靠近黑色手办，爪夹移动到黑色手办的正上方。", + "progress_explanation": "当前爪夹在水平方向上略微接近黑色手办，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹方向的右侧移动，水平方向上成功接近黑色手办。", + "correction_plan": "爪夹继续向爪夹的右侧移动，同时向爪夹的下方移动，靠近黑色手办，爪夹移动到黑色手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取黑色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的左前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，黑色手办落入箱子中。", + "annotations": { + "bbox_1767950559751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559751_1767950606079_v3iet76ti", + "x": 0.5085555109524225, + "y": 0.45684719349077185, + "width": 0.19399998815918038, + "height": 0.23199998583984466 + } + ] + }, + "point_1767950560447": { + "type": "point", + "instances": [ + { + "id": "point_1767950560447_1767950609071_5dwzg1yug", + "x": 0.3915555180935353, + "y": 0.1408472127778801 + } + ] + }, + "point_1767950560791": { + "type": "point", + "instances": [ + { + "id": "point_1767950560791_1767950612063_r0dzewvz9", + "x": 0.46055551388210975, + "y": 0.13884721289995036 + } + ] + }, + "bbox_1767950559535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559535_1767950619839_dl29kywkw", + "x": 0.27255552535671845, + "y": 0.3458472002656738, + "width": 0.1079999934082035, + "height": 0.16399998999023496 + } + ] + } + } + }, + { + "time": 2.869, + "frame": 86, + "progress": 20, + "action_description": "爪夹继续向爪夹的右侧移动，爪夹移动到黑色手办的正上方。", + "state_description": "当前爪夹张开，在水平方向上位于黑色手办的正上方。\n为完成拿起黑色手办，放入箱子中的任务应当：爪夹向爪夹的下方移动，靠近黑色手办，并合拢爪夹抓取黑色手办。", + "progress_explanation": "当前爪夹已经移动到黑色手办的正上方，因此进度提升至20%。", + "error_success_analysis": "爪夹继续向爪夹的右侧移动，成功移动到黑色手办的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，靠近黑色手办，并合拢爪夹抓取黑色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的左前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，黑色手办落入箱子中。", + "annotations": { + "bbox_1767950559535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559535_1767950626159_v1otut8ey", + "x": 0.2715555254177536, + "y": 0.3458472002656738, + "width": 0.10599999353027384, + "height": 0.1629999900512701 + } + ] + }, + "bbox_1767950559751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559751_1767950631447_ga9pj1w0j", + "x": 0.5055555111355279, + "y": 0.46084719324663126, + "width": 0.19499998809814525, + "height": 0.2269999861450204 + } + ] + }, + "point_1767950560447": { + "type": "point", + "instances": [ + { + "id": "point_1767950560447_1767950633895_5eniu5uc8", + "x": 0.2745555252346481, + "y": 0.13984721283891524 + } + ] + }, + "point_1767950560791": { + "type": "point", + "instances": [ + { + "id": "point_1767950560791_1767950636679_lfyw64iah", + "x": 0.34355552102322257, + "y": 0.1408472127778801 + } + ] + } + } + }, + { + "time": 5.28586429016338, + "frame": 159, + "progress": 30, + "action_description": "爪夹向爪夹的下方移动，靠近黑色手办。", + "state_description": "当前爪夹张开，与黑色手办的水平距离进一步缩短。\n为完成拿起黑色手办，放入箱子中的任务应当：爪夹继续向爪夹的下方移动，并合拢爪夹抓取黑色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的左前方移动，同时向爪夹的下方移动，靠近箱子。", + "progress_explanation": "当前爪夹张开，进一步靠近黑色手办，因此进度提升至30%。", + "error_success_analysis": "爪夹向爪夹的下方移动，在水平方向上成功接近黑色手办。", + "correction_plan": "爪夹继续向爪夹的下方移动，并合拢爪夹抓取黑色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的左前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，黑色手办落入箱子中。", + "annotations": { + "point_1767950560791": { + "type": "point", + "instances": [ + { + "id": "point_1767950560791_1767950679550_p91cdjpga", + "x": 0.32555552212185535, + "y": 0.30684720264604476 + } + ] + }, + "point_1767950560447": { + "type": "point", + "instances": [ + { + "id": "point_1767950560447_1767950682086_py02klz5k", + "x": 0.3115555229763475, + "y": 0.34284720044877925 + } + ] + }, + "bbox_1767950559751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559751_1767950687414_w89gkq31e", + "x": 0.5045555111965631, + "y": 0.46084719324663126, + "width": 0.19599998803711008, + "height": 0.22499998626709072 + } + ] + }, + "bbox_1767950559535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559535_1767950692383_04rkftlbo", + "x": 0.27255552535671845, + "y": 0.34884720008256836, + "width": 0.10599999353027378, + "height": 0.15999999023437556 + } + ] + } + } + }, + { + "time": 6.7799, + "frame": 203, + "progress": 40, + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取黑色手办。", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到黑色手办。\n为完成拿起黑色手办，放入箱子中的任务应当：爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的左前方移动，同时向爪夹的下方移动，靠近箱子。", + "progress_explanation": "当前爪夹已成功抓取黑色手办，因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取黑色手办。", + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的左前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，黑色手办落入箱子中。", + "annotations": { + "bbox_1767950559535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559535_1767950698198_wrm6hkw31", + "x": 0.27755552505154263, + "y": 0.3568471995942871, + "width": 0.09599999414062535, + "height": 0.1519999907226568 + } + ] + }, + "bbox_1767950559751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559751_1767950702878_672tu20hv", + "x": 0.5125555107082819, + "y": 0.45984719330766644, + "width": 0.18599998864746164, + "height": 0.22599998620605558 + } + ] + }, + "point_1767950560447": { + "type": "point", + "instances": [ + { + "id": "point_1767950560447_1767950705998_mx99ky5g6", + "x": 0.31555552273220683, + "y": 0.38284719800737316 + } + ] + } + } + }, + { + "time": 10.01823512640978, + "frame": 301, + "progress": 50, + "action_description": "爪夹保持合拢，并抓住黑色手办向爪夹上方移动。", + "state_description": "当前爪夹合拢，已经抓住黑色手办，并垂直于桌面。\n为完成拿起黑色手办，放入箱子中的任务应当：爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方。", + "progress_explanation": "当前爪夹已经抓住黑色手办，与箱子的水平距离缩短，因此进度提升至50%。", + "error_success_analysis": "爪夹抓住黑色手办，并向爪夹上方移动，准备靠近箱子。", + "correction_plan": "爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，黑色手办落入箱子中。", + "annotations": { + "point_1767950560447": { + "type": "point", + "instances": [ + { + "id": "point_1767950560447_1767950709478_q7rq6e12m", + "x": 0.2905555242580857, + "y": 0.10784721479204011 + } + ] + }, + "bbox_1767950559751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559751_1767950713934_zw6o04tcl", + "x": 0.5165555104641412, + "y": 0.46084719324663126, + "width": 0.18499998870849682, + "height": 0.22199998645019617 + } + ] + }, + "bbox_1767950559535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559535_1767950719638_3hkkf9w0k", + "x": 0.2445555270657027, + "y": 0.0778472166230947, + "width": 0.11599999291992233, + "height": 0.1809999889526374 + } + ] + } + } + }, + { + "time": 12.431121572522253, + "frame": 373, + "progress": 60, + "action_description": "爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近箱子。", + "state_description": "当前爪夹保持合拢，与箱子的水平距离进一步缩短。\n为完成拿起黑色手办，放入箱子中的任务应当：爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方。", + "progress_explanation": "当前爪夹成功抓住黑色手办，并在水平方向上靠近箱子，因此进度提升至60%。", + "error_success_analysis": "爪夹成功抓住黑色手办，并向爪夹的后方移动，同时向爪夹的右侧移动靠近箱子。", + "correction_plan": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，黑色手办落入箱子中。", + "annotations": { + "bbox_1767950559535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559535_1767950725310_jc9on4ogn", + "x": 0.3925555180325001, + "y": 0.17984721039750914, + "width": 0.11199999316406295, + "height": 0.17899998907470765 + } + ] + }, + "point_1767950560447": { + "type": "point", + "instances": [ + { + "id": "point_1767950560447_1767950728446_4vw18ryju", + "x": 0.44355551491970735, + "y": 0.2048472088716303 + } + ] + }, + "bbox_1767950559751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559751_1767950733566_cfvvvl15k", + "x": 0.5075555110134575, + "y": 0.45984719330766644, + "width": 0.19499998809814525, + "height": 0.2299999859619149 + } + ] + } + } + }, + { + "time": 15.1, + "frame": 453, + "progress": 80, + "action_description": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，移动到箱子的正上方。", + "state_description": "当前爪夹合找，垂直于桌面，抓住黑色手办处于箱子的正上方。\n为完成拿起黑色手办，放入箱子中的任务应当：爪夹松开，黑色手办落入箱子中。", + "progress_explanation": "当前爪夹合拢，在水平方向上位于箱子的正上方，因此进度提升至80%。", + "error_success_analysis": "爪夹抓住黑色手办，继续向爪夹的左前方移动，同时向爪夹的下方移动，爪夹成功移动到箱子的正上方。", + "correction_plan": "爪夹松开，黑色手办落入箱子中。", + "annotations": { + "bbox_1767950559751": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559751_1767950791773_3ggzmcrna", + "x": 0.5145555105862115, + "y": 0.4588471933687016, + "width": 0.18699998858642655, + "height": 0.22899998602295005 + } + ] + }, + "bbox_1767950559535": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950559535_1767950796941_gkjd0n5c0", + "x": 0.5415555089382624, + "y": 0.33684720081499014, + "width": 0.1239999924316411, + "height": 0.1829999888305671 + } + ] + }, + "point_1767950560447": { + "type": "point", + "instances": [ + { + "id": "point_1767950560447_1767950800613_k44nnnse2", + "x": 0.6065555049709774, + "y": 0.3658471990449707 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767950559535", + "name": "黑色手办", + "color": "#4CAF50" + }, + { + "id": "bbox_1767950559751", + "name": "箱子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767950560447", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767950560791", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.wrist_image/episode_000154.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.wrist_image/episode_000154.json new file mode 100644 index 0000000000000000000000000000000000000000..738ae82f9b80fed9b636ced3bad99301b31f6eff --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.wrist_image/episode_000154.json @@ -0,0 +1,514 @@ +{ + "task_description": "拿起爪夹最左侧的麻将，放在红布上。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近爪夹最左侧的麻将：20%\n爪夹抓住爪夹最左侧的麻将：40%\n爪夹抓住爪夹最左侧的麻将并接近红布：60%\n爪夹保持合拢并移动到红布的正上方：80%\n爪夹松开，使爪夹最左侧的麻将落入红布中：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，准备移动。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触最左侧的麻将。\n为完成拿起爪夹最左侧的麻将，放在红布上的任务应当：爪夹向爪夹的下方移动，同时向爪夹的左前方移动，并向爪夹的右边调整爪夹方向，靠近爪夹最左侧的麻将。", + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的下方移动，同时向爪夹的左前方移动，并向爪夹的右边调整爪夹方向，爪夹移动到麻最左侧麻将的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取最左侧麻将，爪夹保持合拢，并向爪夹的右上方抬起，并向爪夹的右前方移动，靠近红布，爪夹移动到红布的正上方，爪夹松开，麻将落在红布上。", + "annotations": { + "point_1768013757677": { + "type": "point", + "instances": [ + { + "id": "point_1768013757677_1768015471065_5v1gc82dr", + "x": 0.2785555249905075, + "y": 0.4938471912324712 + } + ] + }, + "point_1768013757861": { + "type": "point", + "instances": [ + { + "id": "point_1768013757861_1768015473312_kramb3bp0", + "x": 0.793555493557404, + "y": 0.488847191537647 + } + ] + } + } + }, + { + "time": 0.6188, + "frame": 19, + "progress": 10, + "action_description": "爪夹向爪夹的下方移动，靠近最左侧的麻将。", + "state_description": "当前爪夹张开，与最左侧的麻将的水平距离缩短。\n为完成拿起爪夹最左侧的麻将，放在红布上的任务应当：爪夹向爪夹的左前方移动，并向爪夹的右边调整爪夹方向，爪夹移动到最左侧麻将的正上方。", + "progress_explanation": "当前爪夹在水平方向上略微接近最左侧的麻将，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹的下方移动，水平方向上成功接近最左侧的麻将。", + "correction_plan": "爪夹向爪夹的左前方移动，并向爪夹的右边调整爪夹方向，爪夹移动到最左侧麻将的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取最左侧麻将，爪夹保持合拢，并向爪夹的右上方抬起，并向爪夹的右前方移动，靠近红布，爪夹移动到红布的正上方，爪夹松开，麻将落在红布上。", + "annotations": { + "point_1768013757861": { + "type": "point", + "instances": [ + { + "id": "point_1768013757861_1768015476360_o4o1kj38t", + "x": 0.792555493618439, + "y": 0.4938471912324712 + } + ] + }, + "point_1768013757677": { + "type": "point", + "instances": [ + { + "id": "point_1768013757677_1768015478288_s4sn8nj6k", + "x": 0.2805555248684372, + "y": 0.5068471904390143 + } + ] + } + } + }, + { + "time": 2.2491, + "frame": 67, + "progress": 20, + "action_description": "爪夹向爪夹的左前方移动，并向爪夹的右边调整爪夹方向，靠近最左侧的麻将。", + "state_description": "当前爪夹张开，与最左侧的麻将的水平距离进一步缩短。\n为完成拿起爪夹最左侧的麻将，放在红布上的任务应当：爪夹继续向爪夹的左前方移动，并向爪夹的右边调整爪夹方向，爪夹移动到最左侧麻将的正上方。", + "progress_explanation": "当前爪夹在水平方向上进一步接近最左侧的麻将，因此进度提升至20%。", + "error_success_analysis": "爪夹向爪夹的左前方移动，并向爪夹的右边调整爪夹方向，水平方向上成功接近最左侧的麻将。", + "correction_plan": "爪夹继续向爪夹的左前方移动，并向爪夹的右边调整爪夹方向，爪夹移动到最左侧麻将的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取最左侧麻将，爪夹保持合拢，并向爪夹的右上方抬起，并向爪夹的右前方移动，靠近红布，爪夹移动到红布的正上方，爪夹松开，麻将落在红布上。", + "annotations": { + "point_1768013757677": { + "type": "point", + "instances": [ + { + "id": "point_1768013757677_1768015480976_7vt37o6su", + "x": 0.2755555251736129, + "y": 0.5078471903779791 + } + ] + }, + "point_1768013757861": { + "type": "point", + "instances": [ + { + "id": "point_1768013757861_1768015483648_tgcmkjxb4", + "x": 0.7875554939236148, + "y": 0.4898471914766118 + } + ] + } + } + }, + { + "time": 4.5577, + "frame": 137, + "progress": 30, + "action_description": "爪夹继续向爪夹的左前方移动，并向爪夹的右边调整爪夹方向，爪夹移动到最左侧麻将的正上方。", + "state_description": "当前爪夹张开，垂直于最左侧麻将的正上方。\n为完成拿起爪夹最左侧的麻将，放在红布上的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取最左侧麻将。", + "progress_explanation": "当前爪夹已悬空于最左侧麻将正上方，已接近最左侧麻将，因此进度提升为30%。", + "error_success_analysis": "爪夹继续向爪夹的左前方移动，并向爪夹的右边调整爪夹方向，爪夹成功移动到最左侧麻将的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取最左侧麻将，爪夹保持合拢，并向爪夹的右上方抬起，并向爪夹的右前方移动，靠近红布，爪夹移动到红布的正上方，爪夹松开，麻将落在红布上。", + "annotations": { + "point_1768013757861": { + "type": "point", + "instances": [ + { + "id": "point_1768013757861_1768015486392_jcpkh5ziz", + "x": 0.7955554934353336, + "y": 0.4978471909883306 + } + ] + }, + "point_1768013757677": { + "type": "point", + "instances": [ + { + "id": "point_1768013757677_1768015488104_7dcfci6dx", + "x": 0.2755555251736129, + "y": 0.49884719092729546 + } + ] + }, + "bbox_1768013756685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013756685_1768015491672_wdd9iuxbt", + "x": 0.49455551180691454, + "y": 0.15084721216752855, + "width": 0.11799999279785199, + "height": 0.33699997943115356 + } + ] + } + } + }, + { + "time": 6.4736, + "frame": 194, + "progress": 40, + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取最左侧麻将。", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到最左侧的麻将。\n为完成拿起爪夹最左侧的麻将，放在红布上的任务应当：爪夹保持合拢，并向爪夹的右上方抬起，并向爪夹的右前方移动，靠近红布。", + "progress_explanation": "当前爪夹已成功抓取最左侧的麻将，因此进度提升为40%", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取最左侧的麻将。", + "correction_plan": "爪夹保持合拢，并向爪夹的右上方抬起，并向爪夹的右前方移动，靠近红布，爪夹移动到红布的正上方，爪夹松开，麻将落在红布上。", + "annotations": { + "bbox_1768013756685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013756685_1768015496816_tuu5bpdet", + "x": 0.40555551723904315, + "y": 0.23784720685747027, + "width": 0.21599998681640706, + "height": 0.32499998016357534 + } + ] + }, + "point_1768013757677": { + "type": "point", + "instances": [ + { + "id": "point_1768013757677_1768015498936_xgrasy6lj", + "x": 0.4315555156521292, + "y": 0.53484718873003 + } + ] + }, + "point_1768013757861": { + "type": "point", + "instances": [ + { + "id": "point_1768013757861_1768015500776_3hfiz0iad", + "x": 0.6385555030178526, + "y": 0.5258471892793464 + } + ] + } + } + }, + { + "time": 7.7707, + "frame": 233, + "progress": 50, + "action_description": "爪夹保持合拢，并向爪夹的右上方抬起。", + "state_description": "当前爪夹合拢，已经抓住最左侧的麻将，并垂直于桌面。\n为完成拿起爪夹最左侧的麻将，放在红布上的任务应当：爪夹继续向爪夹的右前方移动，靠近红布，爪夹移动到红布的正上方。", + "progress_explanation": "当前爪夹已经抓住最左侧的麻将，与箱子的水平距离缩短，因此进度提升至50%。", + "error_success_analysis": "爪夹抓住最左侧的麻将，并向爪夹右上方抬起，准备靠近红布。", + "correction_plan": "爪夹继续向爪夹的右前方移动，靠近红布，爪夹移动到红布的正上方，爪夹松开，麻将落在红布上。", + "annotations": { + "point_1768013757861": { + "type": "point", + "instances": [ + { + "id": "point_1768013757861_1768015502984_qol4dg2pw", + "x": 0.6315555034450987, + "y": 0.5088471903169439 + } + ] + }, + "point_1768013757677": { + "type": "point", + "instances": [ + { + "id": "point_1768013757677_1768015504616_ancs5b5e2", + "x": 0.4575555140652152, + "y": 0.5268471892183112 + } + ] + }, + "bbox_1768013756685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013756685_1768015508096_07uxa4cmq", + "x": 0.4725555131496879, + "y": 0.20384720893266547, + "width": 0.12599999230957076, + "height": 0.3619999779052748 + } + ] + } + } + }, + { + "time": 9.472399, + "frame": 284, + "progress": 60, + "action_description": "爪夹向爪夹的右前方移动，靠近红布。", + "state_description": "当前爪夹保持合拢，与红布的水平距离进一步缩短。\n为完成拿起爪夹最左侧的麻将，放在红布上的任务应当：爪夹继续向爪夹的右前方移动，靠近红布，并移动到红布的正上方。", + "progress_explanation": "当前爪夹成功抓住，并在水平方向上靠近红布，因此进度提升至60%。", + "error_success_analysis": "爪夹成功抓住最左侧的麻将，并向爪夹的后方移动，同时向爪夹的右侧移动靠近红布。", + "correction_plan": "爪夹继续向爪夹的右前方移动，靠近红布，爪夹移动到红布的正上方，爪夹松开，麻将落在红布上。", + "annotations": { + "bbox_1768013756685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013756685_1768015512096_agpau5d5o", + "x": 0.465555513576934, + "y": 0.2108472085054194, + "width": 0.13599999169921925, + "height": 0.34999997863769655 + } + ] + }, + "point_1768013757677": { + "type": "point", + "instances": [ + { + "id": "point_1768013757677_1768015513992_rbnscoqm8", + "x": 0.4485555146145315, + "y": 0.5158471898896979 + } + ] + }, + "point_1768013757861": { + "type": "point", + "instances": [ + { + "id": "point_1768013757861_1768015516008_qbsc1p59e", + "x": 0.6315555034450987, + "y": 0.527847189157276 + } + ] + }, + "bbox_1768013756829": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013756829_1768015520648_v8ac4solz", + "x": 0.5485555085110163, + "y": 0.0038472211396959753, + "width": 0.44599997277832204, + "height": 0.43999997314453293 + } + ] + } + } + }, + { + "time": 11.0313, + "frame": 331, + "progress": 80, + "action_description": "爪夹继续向爪夹的右前方移动，并移动到红布的正上方。", + "state_description": "当前爪夹合找，垂直于桌面，抓住最左侧的麻将处于麻将落在红布上的正上方。\n为完成拿起爪夹最左侧的麻将，放在红布上的任务应当：爪夹松开，麻将落在红布上。", + "progress_explanation": "当前爪夹合拢，在水平方向上位于红布的正上方，因此进度提升至80%。", + "error_success_analysis": "爪夹继续向爪夹的右前方移动，爪夹成功移动到红布的正上方。", + "correction_plan": "爪夹松开，麻将落在红布上。", + "annotations": { + "bbox_1768013756829": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013756829_1768015526832_xxbsrjnjp", + "x": 0.06455553805203014, + "y": -0.00015277861616341454, + "width": 0.9339999429931675, + "height": 0.5579999659423849 + } + ] + }, + "bbox_1768013756685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013756685_1768015531024_lw2fhc8k9", + "x": 0.48355551247830125, + "y": 0.20784720868852485, + "width": 0.11099999322509811, + "height": 0.3529999784545911 + } + ] + }, + "point_1768013757677": { + "type": "point", + "instances": [ + { + "id": "point_1768013757677_1768015532863_vv0jqbdab", + "x": 0.45455551424832064, + "y": 0.5168471898286627 + } + ] + }, + "point_1768013757861": { + "type": "point", + "instances": [ + { + "id": "point_1768013757861_1768015534936_kfepjrun1", + "x": 0.6155555044216611, + "y": 0.5198471896455572 + } + ] + } + } + }, + { + "time": 11.2812, + "frame": 338, + "progress": 100, + "action_description": "爪夹松开，麻将落下。", + "state_description": "当前爪夹张开，最左侧的麻将落入箱子中。已完成拿起爪夹最左侧的麻将，放在红布上的任务。", + "progress_explanation": "当前麻将成功落在红布上，因此进度提升至100%。", + "error_success_analysis": "爪夹松开，麻将成功落在红布上。", + "correction_plan": "", + "annotations": { + "point_1768013757861": { + "type": "point", + "instances": [ + { + "id": "point_1768013757861_1768015537784_ipp9d0p2j", + "x": 0.6325555033840635, + "y": 0.5078471903779791 + } + ] + }, + "point_1768013757677": { + "type": "point", + "instances": [ + { + "id": "point_1768013757677_1768015539728_uue0g65u1", + "x": 0.43055551571316436, + "y": 0.5178471897676276 + } + ] + }, + "bbox_1768013756829": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013756829_1768015545064_dw4vpjr8b", + "x": 0.07455553744167863, + "y": 0.002847221200731128, + "width": 0.9209999437866244, + "height": 0.550999966369631 + } + ] + }, + "bbox_1768013756685": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013756685_1768015548632_moptu6ov8", + "x": 0.48355551247830125, + "y": 0.16484721131303642, + "width": 0.10299999371337923, + "height": 0.3939999759521499 + } + ] + } + } + }, + { + "time": 11.3645, + "frame": 341, + "progress": 0, + "action_description": "爪夹张开，准备移动", + "state_description": "当前状态为爪夹打开，没有移动，没有接触最左侧的麻将。\n为完成拿起爪夹最左侧的麻将，放在红布上的任务应当：爪夹向爪夹的下方移动，同时向爪夹的左前方移动，并向爪夹的右边调整爪夹方向，靠近爪夹最左侧的麻将。", + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的下方移动，同时向爪夹的左前方移动，并向爪夹的右边调整爪夹方向，爪夹移动到麻最左侧麻将的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取最左侧麻将，爪夹保持合拢，并向爪夹的右上方抬起，并向爪夹的右前方移动，靠近红布，爪夹移动到红布的正上方，爪夹松开，麻将落在红布上。", + "annotations": { + "bbox_1768013756829": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013756829_1768015555464_kmjlv17cz", + "x": 0.30455552340359354, + "y": 0.03484721924760625, + "width": 0.5989999634399437, + "height": 0.4689999713745135 + } + ] + }, + "point_1768013757677": { + "type": "point", + "instances": [ + { + "id": "point_1768013757677_1768015562456_9pec7v1eo", + "x": 0.4505555144924613, + "y": 0.5298471890352058 + } + ] + }, + "point_1768013757861": { + "type": "point", + "instances": [ + { + "id": "point_1768013757861_1768015564496_hvxrslgyu", + "x": 0.5985555054592587, + "y": 0.528847189096241 + } + ] + } + } + }, + { + "time": 11.9, + "frame": 357, + "progress": 5, + "action_description": "爪夹向爪夹的下方移动，同时张开爪夹，并向爪夹的右边调整爪夹方向。", + "state_description": "当前爪夹张开，与最左侧的麻将的水平距离缩短。\n为完成拿起爪夹最左侧的麻将，放在红布上的任务应当：爪夹向爪夹的左前方移动，并向爪夹的右边调整爪夹方向，爪夹移动到最左侧麻将的正上方。", + "progress_explanation": "当前爪夹在水平方向上略微接近最左侧的麻将，因此进度提升至5%。", + "error_success_analysis": "爪夹向爪夹的下方移动，同时张开爪夹，并向爪夹的右边调整爪夹方向，水平方向上成功接近最左侧的麻将。", + "correction_plan": "爪夹向爪夹的左前方移动，并向爪夹的右边调整爪夹方向，爪夹移动到最左侧麻将的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取最左侧麻将，爪夹保持合拢，并向爪夹的右上方抬起，并向爪夹的右前方移动，靠近红布，爪夹移动到红布的正上方，爪夹松开，麻将落在红布上。", + "annotations": { + "point_1768013757861": { + "type": "point", + "instances": [ + { + "id": "point_1768013757861_1768015567632_93p3hzy8a", + "x": 0.7565554958157047, + "y": 0.5265138533621916 + } + ] + }, + "point_1768013757677": { + "type": "point", + "instances": [ + { + "id": "point_1768013757677_1768015569840_0odiod2tn", + "x": 0.30755552322048807, + "y": 0.5325138529959806 + } + ] + }, + "bbox_1768013756829": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013756829_1768015577144_5x5cuo469", + "x": 0.0005555419582799097, + "y": 0.0005138854666817953, + "width": 0.9559999416503941, + "height": 0.55699996600342 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768013756685", + "name": "爪夹最左侧的麻将", + "color": "#4CAF50" + }, + { + "id": "bbox_1768013756829", + "name": "红布", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768013757677", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768013757861", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.wrist_image/episode_000511.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.wrist_image/episode_000511.json new file mode 100644 index 0000000000000000000000000000000000000000..f113f82b16882c852451628493a2ac26a4249d18 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.wrist_image/episode_000511.json @@ -0,0 +1,470 @@ +{ + "task_description": "拿起绿色手办，放入箱子中。\n准备移动：0%\n爪夹开始移动：10%\n爪夹靠近绿色手办：20%\n爪夹抓住绿色手办：40%\n爪夹抓住绿色手办并接近箱子：60%\n爪夹保持合拢并移动到箱子的正上方：80%\n爪夹松开，使绿色手办落入箱子中：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，准备移动。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触手办。\n为完成拿起绿色手办，放入箱子中的任务应当：爪夹向爪夹的右后方移动，同时向爪夹的下方移动，靠近绿色手办。", + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的右后方移动，同时向爪夹的下方移动，靠近绿色手办，爪夹移动到绿色手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取绿色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，绿色手办落入箱子中。", + "annotations": { + "bbox_1768009259582": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009259582_1768011006354_h6uajbmw7", + "x": 0.0015555418972447574, + "y": 0.0008472213228014329, + "width": 0.3239999802246106, + "height": 0.3429999790649427 + } + ] + }, + "point_1768009260398": { + "type": "point", + "instances": [ + { + "id": "point_1768009260398_1768011008937_qobvagfoj", + "x": 0.28555552456326144, + "y": 0.4928471912935064 + } + ] + }, + "point_1768009260638": { + "type": "point", + "instances": [ + { + "id": "point_1768009260638_1768011011305_oyc4f0t36", + "x": 0.7805554943508609, + "y": 0.4828471919038579 + } + ] + } + } + }, + { + "time": 1.0944, + "frame": 33, + "progress": 10, + "action_description": "爪夹向爪夹的右侧移动，靠近绿色手办。", + "state_description": "当前爪夹张开，与绿色手办的水平距离略微缩短。\n为完成拿起绿色手办，放入箱子中的任务应当：爪夹向爪夹的右后方移动，同时向爪夹的下方移动，靠近绿色手办，爪夹移动到绿色手办的正上方。", + "progress_explanation": "当前爪夹在水平方向上略微接近绿色手办，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹方向的右侧移动，水平方向上略微接近绿色手办。", + "correction_plan": "爪夹向爪夹的右后方移动，同时向爪夹的下方移动，靠近绿色手办，爪夹移动到绿色手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取绿色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，绿色手办落入箱子中。", + "annotations": { + "point_1768009260638": { + "type": "point", + "instances": [ + { + "id": "point_1768009260638_1768011015969_r19h7fwif", + "x": 0.7815554942898257, + "y": 0.4878471915986821 + } + ] + }, + "point_1768009260398": { + "type": "point", + "instances": [ + { + "id": "point_1768009260398_1768011018577_04c5tuzzd", + "x": 0.28355552468533174, + "y": 0.48084719202592824 + } + ] + } + } + }, + { + "time": 2.3085, + "frame": 69, + "progress": 20, + "action_description": "爪夹向爪夹的后方略微移动后，向爪夹的右侧移动，再次靠近绿色手办。", + "state_description": "当前爪夹张开，与绿色手办的水平距离再次缩短。\n为完成拿起绿色手办，放入箱子中的任务应当：爪夹向爪夹的右后方移动，并向爪夹的左边调整爪夹方向，爪夹移动到绿色手办的正上方。", + "progress_explanation": "当前爪夹在水平方向上进一步接近女性手办，因此进度提升至20%。", + "error_success_analysis": "爪夹向爪夹的后方略微移动后，向爪夹的右侧移动，水平方向上成功接近女性手办。", + "correction_plan": "爪夹向爪夹的右后方移动，并向爪夹的左边调整爪夹方向，爪夹移动到绿色手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取绿色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，绿色手办落入箱子中。", + "annotations": { + "point_1768009260398": { + "type": "point", + "instances": [ + { + "id": "point_1768009260398_1768011026561_cfxlocclv", + "x": 0.2845555246242966, + "y": 0.47984719208696336 + } + ] + }, + "point_1768009260638": { + "type": "point", + "instances": [ + { + "id": "point_1768009260638_1768011030225_cvwqb7thn", + "x": 0.7835554941677555, + "y": 0.4828471919038579 + } + ] + }, + "bbox_1768009259430": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009259430_1768011035409_pf29ilcb6", + "x": 0.5805555065578915, + "y": 0.3728471986177247, + "width": 0.21399998693847735, + "height": 0.19399998815918043 + } + ] + } + } + }, + { + "time": 5.0958, + "frame": 153, + "progress": 30, + "action_description": "爪夹向爪夹的右后方移动，并向爪夹的左边调整爪夹方向。", + "state_description": "当前爪夹张开，垂直于绿色手办的正上方。\n为完成拿起绿色手办，放入箱子中的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取绿色手办，爪夹保持合拢。", + "progress_explanation": "当前爪夹已悬空于绿色手办正上方，已接近绿色手办，因此进度提升为30%。", + "error_success_analysis": "爪夹向爪夹的右后方移动，并向爪夹的左边调整爪夹方向，成功移动到绿色手办的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取绿色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，绿色手办落入箱子中。", + "annotations": { + "bbox_1768009259430": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009259430_1768011041929_ztqpv71g9", + "x": 0.26055552608914023, + "y": -0.00015277861616341454, + "width": 0.3519999785156263, + "height": 0.5669999653930685 + } + ] + }, + "point_1768009260398": { + "type": "point", + "instances": [ + { + "id": "point_1768009260398_1768011045240_9tku1qso6", + "x": 0.28155552480740204, + "y": 0.4838471918428227 + } + ] + }, + "point_1768009260638": { + "type": "point", + "instances": [ + { + "id": "point_1768009260638_1768011048257_09ndun1nt", + "x": 0.7815554942898257, + "y": 0.4828471919038579 + } + ] + } + } + }, + { + "time": 7.290514766070824, + "frame": 219, + "progress": 40, + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取绿色手办", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到绿色手办。\n为完成拿起绿色手办，放入箱子中的任务应当：爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，靠近箱子。", + "progress_explanation": "当前爪夹已成功抓取绿色手办，因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取绿色手办。", + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，绿色手办落入箱子中。", + "annotations": { + "point_1768009260638": { + "type": "point", + "instances": [ + { + "id": "point_1768009260638_1768011051513_pismm8eiy", + "x": 0.6665555013088683, + "y": 0.520847189584522 + } + ] + }, + "point_1768009260398": { + "type": "point", + "instances": [ + { + "id": "point_1768009260398_1768011053705_pnv2n0hm0", + "x": 0.41855551644558614, + "y": 0.5248471893403815 + } + ] + }, + "bbox_1768009259430": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009259430_1768011060561_f6hupkxj1", + "x": 0.2765555251125778, + "y": -0.00015277861616341454, + "width": 0.43399997351074376, + "height": 0.5649999655151389 + } + ] + } + } + }, + { + "time": 10.5165, + "frame": 315, + "progress": 50, + "action_description": "爪夹保持合拢，向爪夹的上方抬起。", + "state_description": "当前爪夹合拢，已经抓住绿色手办，并垂直于桌面。\n为完成拿起绿色手办，放入箱子中的任务应当：爪夹继续向爪夹的右前方移动，靠近箱子，爪夹移动到箱子的正上方。", + "progress_explanation": "当前爪夹已经抓住绿色手办，与箱子的水平距离缩短，因此进度提升至50%。", + "error_success_analysis": "爪夹抓住绿色手办，并向爪夹上方移动，准备靠近箱子。", + "correction_plan": "爪夹继续向爪夹的右前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，绿色手办落入箱子中。", + "annotations": { + "bbox_1768009259430": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009259430_1768011156848_p9uf8dbm9", + "x": 0.2385555274319136, + "y": 0.001958312868755318, + "width": 0.4599999719238299, + "height": 0.5489999664917012 + } + ] + }, + "point_1768009260398": { + "type": "point", + "instances": [ + { + "id": "point_1768009260398_1768011160880_5lfimxofg", + "x": 0.4275555158962698, + "y": 0.5339582803980542 + } + ] + }, + "point_1768009260638": { + "type": "point", + "instances": [ + { + "id": "point_1768009260638_1768011163352_tjdmtqfc3", + "x": 0.6455555025906066, + "y": 0.5339582803980542 + } + ] + } + } + }, + { + "time": 13.3038, + "frame": 399, + "progress": 60, + "action_description": "爪夹向爪夹的右前方移动，靠近箱子。", + "state_description": "当前爪夹保持合拢，与箱子的水平距离进一步缩短。\n为完成拿起绿色手办，放入箱子中的任务应当：爪夹继续向爪夹的右前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，绿色手办落入箱子中。", + "progress_explanation": "当前爪夹成功抓住绿色手办，并在水平方向上靠近箱子，因此进度提升至60%。", + "error_success_analysis": "爪夹向爪夹的右前方移动，水平方向上成功接近箱子。", + "correction_plan": "爪夹继续向爪夹的右前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，绿色手办落入箱子中。", + "annotations": { + "point_1768009260638": { + "type": "point", + "instances": [ + { + "id": "point_1768009260638_1768011173535_wiickydnj", + "x": 0.641555502834747, + "y": 0.5298471890352058 + } + ] + }, + "point_1768009260398": { + "type": "point", + "instances": [ + { + "id": "point_1768009260398_1768011176688_1mzbnvtj9", + "x": 0.42155551626248067, + "y": 0.528847189096241 + } + ] + }, + "bbox_1768009259430": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009259430_1768011185760_ouz4hemx0", + "x": 0.2525555265774215, + "y": 0.0008472213228014329, + "width": 0.4409999730834977, + "height": 0.5559999660644552 + } + ] + } + } + }, + { + "time": 16.4673, + "frame": 494, + "progress": 80, + "action_description": "爪夹向爪夹的右前方移动，爪夹移动到箱子的正上方。", + "state_description": "当前爪夹合找，垂直于桌面，抓住绿色手办处于箱子的正上方。\n为完成拿起绿色手办，放入箱子中的任务应当：松开爪夹，使绿色手办落入箱子中。", + "progress_explanation": "当前爪夹合拢，在水平方向上位于箱子的正上方，因此进度提升至80%。", + "error_success_analysis": "爪夹抓住绿色手办，继续向爪夹的右前方移动，爪夹移动到箱子的正上方。", + "correction_plan": "松开爪夹，使绿色手办落入箱子中。", + "annotations": { + "bbox_1768009259430": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009259430_1768011193240_3ev0x1u6p", + "x": 0.26655552572292934, + "y": -0.00015277861616341454, + "width": 0.4509999724731462, + "height": 0.563999965576174 + } + ] + }, + "bbox_1768009259582": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009259582_1768011198880_8goma4e95", + "x": 0.15755553237576095, + "y": 0.002847221200731128, + "width": 0.7069999568481472, + "height": 0.4399999731445329 + } + ] + }, + "point_1768009260398": { + "type": "point", + "instances": [ + { + "id": "point_1768009260398_1768011207176_elbsxtodg", + "x": 0.42455551607937525, + "y": 0.53484718873003 + } + ] + }, + "point_1768009260638": { + "type": "point", + "instances": [ + { + "id": "point_1768009260638_1768011209535_pur7p3751", + "x": 0.6475555024685362, + "y": 0.5298471890352058 + } + ] + } + } + }, + { + "time": 16.6212, + "frame": 499, + "progress": 0, + "action_description": "爪夹张开，准备移动。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触手办。\n为完成拿起绿色手办，放入箱子中的任务应当：爪夹向爪夹的右后方移动，同时向爪夹的下方移动，靠近绿色手办。", + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的右后方移动，同时向爪夹的下方移动，靠近绿色手办，爪夹移动到绿色手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取绿色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，绿色手办落入箱子中。", + "annotations": { + "point_1768009260638": { + "type": "point", + "instances": [ + { + "id": "point_1768009260638_1768011212487_ix0tjd9l1", + "x": 0.6545555020412902, + "y": 0.53484718873003 + } + ] + }, + "point_1768009260398": { + "type": "point", + "instances": [ + { + "id": "point_1768009260398_1768011214632_s3rab32l1", + "x": 0.4125555168117971, + "y": 0.53484718873003 + } + ] + }, + "bbox_1768009259582": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009259582_1768011220119_2g8cu0xoj", + "x": 0.5945555057033993, + "y": 0.002847221200731128, + "width": 0.40099997552490374, + "height": 0.3849999765014662 + } + ] + } + } + }, + { + "time": 17.1, + "frame": 513, + "progress": -5, + "action_description": "爪夹向爪夹的右前方移动，同时向爪夹的左边调整爪夹方向。", + "state_description": "当前爪夹张开，与绿色手办的水平距离远离。\n为完成拿起绿色手办，放入箱子中的任务应当：爪夹向爪夹的右后方移动，同时向爪夹的下方移动，靠近绿色手办。", + "progress_explanation": "当前爪夹远离了绿色手办，因此进度下降至-5%。", + "error_success_analysis": "爪夹没有爪夹向爪夹的右后方移动，靠近绿色手办，而是向爪夹的右前方移动，同时向爪夹的左边调整爪夹方向，远离绿色手办。", + "correction_plan": "爪夹向爪夹的右后方移动，同时向爪夹的下方移动，靠近绿色手办，爪夹移动到绿色手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取绿色手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，绿色手办落入箱子中。", + "annotations": { + "bbox_1768009259582": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768009259582_1768011227687_d3vj9hi04", + "x": 0.34355552102322257, + "y": 0.15484721192338793, + "width": 0.6179999622802758, + "height": 0.40099997552490385 + } + ] + }, + "point_1768009260398": { + "type": "point", + "instances": [ + { + "id": "point_1768009260398_1768011230103_9vaiy642r", + "x": 0.3205555224270311, + "y": 0.49884719092729546 + } + ] + }, + "point_1768009260638": { + "type": "point", + "instances": [ + { + "id": "point_1768009260638_1768011232472_oegclqvom", + "x": 0.7425554966701967, + "y": 0.4898471914766118 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768009259430", + "name": "绿色手办", + "color": "#4CAF50" + }, + { + "id": "bbox_1768009259582", + "name": "箱子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768009260398", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768009260638", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.wrist_image/episode_000606.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.wrist_image/episode_000606.json new file mode 100644 index 0000000000000000000000000000000000000000..4b31507cc11ea37caffa287027ffec731def7d1f --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-000/observation.images.wrist_image/episode_000606.json @@ -0,0 +1,482 @@ +{ + "task_description": "拿起兽人手办，放入箱子中。\n爪夹开始移动：0%\n爪夹靠近兽人手办：20%\n爪夹抓住兽人手办：40%\n爪夹抓住兽人手办并接近箱子：60%\n爪夹保持合拢并移动到箱子的正上方：80%\n爪夹松开，使兽人手办落入箱子中：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，准备移动。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触手办。\n为完成拿起兽人手办，放入箱子中的任务应当：爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近兽人手办。", + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近兽人手办，爪夹移动到兽人手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取兽人手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的左前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，兽人手办落入箱子中。", + "annotations": { + "bbox_1768011410487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011410487_1768012847396_5aa4i0ti6", + "x": 0.18155553091091728, + "y": 0.2140694296832623, + "width": 0.4249999740600602, + "height": 0.35299997845459113 + } + ] + }, + "point_1768011411166": { + "type": "point", + "instances": [ + { + "id": "point_1768011411166_1768012850043_9qlr1qw61", + "x": 0.27755552505154263, + "y": 0.4860694130817009 + } + ] + }, + "point_1768011411326": { + "type": "point", + "instances": [ + { + "id": "point_1768011411326_1768012852611_z31my6k1j", + "x": 0.793555493557404, + "y": 0.4830694132648063 + } + ] + } + } + }, + { + "time": 2.044499, + "frame": 61, + "progress": 20, + "action_description": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向。", + "state_description": "当前爪夹张开，与兽人手办的水平距离略微缩短。\n为完成拿起兽人手办，放入箱子中的任务应当：爪夹继续向爪夹的右前方移动，同时向爪夹的左边调整爪夹方向，靠近兽人手办。", + "progress_explanation": "当前爪夹在水平方向上略微接近兽人手办，因此进度提升至20%。", + "error_success_analysis": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，水平方向上成功接近兽人手办。", + "correction_plan": "爪夹继续向爪夹的右前方移动，同时向爪夹的左边调整爪夹方向，靠近兽人手办，爪夹移动到兽人手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取兽人手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的左前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，兽人手办落入箱子中。", + "annotations": { + "bbox_1768011410318": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011410318_1768012897019_52bhf426h", + "x": 0.5265555098537897, + "y": 0.05606943932681644, + "width": 0.47099997125244314, + "height": 0.4039999753417984 + } + ] + }, + "point_1768011411166": { + "type": "point", + "instances": [ + { + "id": "point_1768011411166_1768012899715_ifvjhai52", + "x": 0.28155552480740204, + "y": 0.48906941289859535 + } + ] + }, + "point_1768011411326": { + "type": "point", + "instances": [ + { + "id": "point_1768011411326_1768012901899_tw1gdagy9", + "x": 0.7905554937405094, + "y": 0.48206941332584147 + } + ] + } + } + }, + { + "time": 3.683, + "frame": 110, + "progress": 30, + "action_description": "爪夹继续向爪夹的右前方移动，同时向爪夹的左边调整爪夹方向，靠近兽人手办，爪夹移动到兽人手办的正上方。", + "state_description": "当前爪夹张开，垂直于兽人手办的正上方。\n为完成拿起兽人手办，放入箱子中的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取兽人手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的左前方移动，靠近箱子。", + "progress_explanation": "当前爪夹已悬空于兽人手办正上方，已接近兽人手办，因此进度提升为30%。", + "error_success_analysis": "爪夹继续向爪夹的右前方移动，同时向爪夹的左边调整爪夹方向，爪夹成功移动到兽人手办的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取兽人手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的左前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，兽人手办落入箱子中。", + "annotations": { + "point_1768011411326": { + "type": "point", + "instances": [ + { + "id": "point_1768011411326_1768012905587_ewn1vcatm", + "x": 0.7915554936794743, + "y": 0.49318051952023195 + } + ] + }, + "point_1768011411166": { + "type": "point", + "instances": [ + { + "id": "point_1768011411166_1768012907531_qltuhllq6", + "x": 0.2765555251125778, + "y": 0.49318051952023195 + } + ] + }, + "bbox_1768011410318": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011410318_1768012911867_vnnb3i6v2", + "x": 0.24755552688259724, + "y": -0.0008194503284026899, + "width": 0.4729999711303729, + "height": 0.5579999659423849 + } + ] + } + } + }, + { + "time": 5.684, + "frame": 171, + "progress": 40, + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取兽人手办。", + "state_description": "当前爪夹合拢，并垂直于桌面，爪夹已经抓取到兽人手办。\n为完成拿起兽人手办，放入箱子中的任务应当：爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的左前方移动，靠近箱子。", + "progress_explanation": "当前爪夹已成功抓取兽人手办，因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹下方移动，并成功抓取兽人手办。", + "correction_plan": "爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的左前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，兽人手办落入箱子中。", + "annotations": { + "bbox_1768011410318": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011410318_1768012917619_jem6cqo0j", + "x": 0.1625555320705852, + "y": 0.002180549488491853, + "width": 0.6089999628295921, + "height": 0.5599999658203145 + } + ] + }, + "point_1768011411166": { + "type": "point", + "instances": [ + { + "id": "point_1768011411166_1768012920091_ohqg0f958", + "x": 0.34055552120632804, + "y": 0.5161805181164234 + } + ] + }, + "point_1768011411326": { + "type": "point", + "instances": [ + { + "id": "point_1768011411326_1768012922859_ohecvfuvx", + "x": 0.6435555027126768, + "y": 0.5331805170788259 + } + ] + } + } + }, + { + "time": 8.7, + "frame": 261, + "progress": 50, + "action_description": "爪夹保持合拢，向爪夹的上方抬起。", + "state_description": "当前爪夹合拢，已经抓住兽人手办，并垂直于桌面。\n为完成拿起兽人手办，放入箱子中的任务应当：爪夹向爪夹的左前方移动，靠近箱子，爪夹移动到箱子的正上方。", + "progress_explanation": "当前爪夹已经抓住兽人手办，与箱子的水平距离缩短，因此进度提升至50%。", + "error_success_analysis": "爪夹抓住兽人手办，并向爪夹上方移动，准备靠近箱子。", + "correction_plan": "爪夹向爪夹的左前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，兽人手办落入箱子中。", + "annotations": { + "point_1768011411326": { + "type": "point", + "instances": [ + { + "id": "point_1768011411326_1768012925387_bcgobpjda", + "x": 0.6985554993557435, + "y": 0.511069411555822 + } + ] + }, + "point_1768011411166": { + "type": "point", + "instances": [ + { + "id": "point_1768011411166_1768012927235_gkte3bq3d", + "x": 0.360555519985625, + "y": 0.5370694099689081 + } + ] + }, + "bbox_1768011410318": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011410318_1768012933251_tp668b7lw", + "x": 0.2025555296291791, + "y": 0.003069442561679531, + "width": 0.5819999644775412, + "height": 0.5529999662475605 + } + ] + } + } + }, + { + "time": 11.31, + "frame": 339, + "progress": 60, + "action_description": "爪夹向爪夹的左前方移动，靠近箱子。", + "state_description": "当前爪夹保持合拢，与箱子的水平距离进一步缩短。\n为完成拿起兽人手办，放入箱子中的任务应当：爪夹继续向爪夹的左前方移动，靠近箱子，爪夹移动到箱子的正上方。", + "progress_explanation": "当前爪夹成功抓住兽人手办，并在水平方向上靠近箱子，因此进度提升至60%。", + "error_success_analysis": "爪夹成功抓住兽人手办，并向爪夹的左前方移动，靠近箱子。", + "correction_plan": "爪夹继续向爪夹的左前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，兽人手办落入箱子中。", + "annotations": { + "bbox_1768011410318": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011410318_1768012944483_3i4zxgent", + "x": 0.23155552785915967, + "y": 0.005069442439609226, + "width": 0.5869999641723654, + "height": 0.5579999659423848 + } + ] + }, + "point_1768011411166": { + "type": "point", + "instances": [ + { + "id": "point_1768011411166_1768012947139_80lvnm0vc", + "x": 0.40055551754421886, + "y": 0.5210694109454705 + } + ] + }, + "point_1768011411326": { + "type": "point", + "instances": [ + { + "id": "point_1768011411326_1768012948787_ta2wkgxyd", + "x": 0.694555499599884, + "y": 0.5150694113116815 + } + ] + } + } + }, + { + "time": 13.804, + "frame": 414, + "progress": 80, + "action_description": "爪夹继续向爪夹的左前方移动，靠近箱子，爪夹移动到箱子的正上方。", + "state_description": "当前爪夹合找，垂直于桌面，抓住兽人手办处于箱子的正上方。\n为完成拿起手办手办，放入箱子中的任务应当：松开爪夹，使兽人手办落入箱子中。", + "progress_explanation": "当前爪夹合拢，在水平方向上位于箱子的正上方，因此进度提升至80%。", + "error_success_analysis": "爪夹抓住兽人手办，继续继续向爪夹的左前方移动，同时向爪夹的下方移动，爪夹成功移动到箱子的正上方。", + "correction_plan": "松开爪夹，使兽人手办落入箱子中。", + "annotations": { + "point_1768011411326": { + "type": "point", + "instances": [ + { + "id": "point_1768011411326_1768012951875_eauav9mxt", + "x": 0.6875555000271302, + "y": 0.5291805173229664 + } + ] + }, + "point_1768011411166": { + "type": "point", + "instances": [ + { + "id": "point_1768011411166_1768012953979_zwxoz9nwa", + "x": 0.40555551723904315, + "y": 0.526180517506072 + } + ] + }, + "bbox_1768011410318": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011410318_1768012958891_jtrurdsv6", + "x": 0.24355552712673786, + "y": 0.0031805494274566998, + "width": 0.6039999631347679, + "height": 0.5609999657592795 + } + ] + }, + "bbox_1768011410487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011410487_1768012963603_qil7ifbdr", + "x": 0.1415555333523234, + "y": 0.002180549488491853, + "width": 0.7299999554443386, + "height": 0.45999997192382985 + } + ] + } + } + }, + { + "time": 14.0795, + "frame": 422, + "progress": 100, + "action_description": "松开爪夹，兽人手办落下。", + "state_description": "当前爪夹张开，兽人手办即将落入箱子中。已完成拿起兽人手办，放入箱子中的任务。", + "progress_explanation": "当前兽人手办即将落入箱子中，因此进度提升至100%。", + "error_success_analysis": "爪夹松开，兽人手办成功落入箱子中。", + "correction_plan": "", + "annotations": { + "bbox_1768011410487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011410487_1768012970435_c6id9h7h7", + "x": 0.13555553371853432, + "y": 0.002180549488491853, + "width": 0.7369999550170925, + "height": 0.4619999718017595 + } + ] + }, + "bbox_1768011410318": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011410318_1768012975099_fgfi98w3t", + "x": 0.28255552474636686, + "y": 0.004180549366421548, + "width": 0.5409999669799824, + "height": 0.5589999658813497 + } + ] + }, + "point_1768011411166": { + "type": "point", + "instances": [ + { + "id": "point_1768011411166_1768012977946_tyv975bzk", + "x": 0.40155551748318374, + "y": 0.5041805188488453 + } + ] + }, + "point_1768011411326": { + "type": "point", + "instances": [ + { + "id": "point_1768011411326_1768012979714_il156ul9f", + "x": 0.6975554994167786, + "y": 0.5361805168957204 + } + ] + } + } + }, + { + "time": 14.1665, + "frame": 425, + "progress": 0, + "action_description": "爪夹张开，准备移动。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触手办。\n为完成拿起兽人手办，放入箱子中的任务应当：爪夹向爪夹的左后方移动，同时向爪夹的下方移动，靠近兽人手办。", + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的左后方移动，同时向爪夹的下方移动，靠近兽人手办，爪夹移动到兽人手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取兽人手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右前方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，兽人手办落入箱子中。", + "annotations": { + "point_1768011411326": { + "type": "point", + "instances": [ + { + "id": "point_1768011411326_1768012983995_rfo1tectb", + "x": 0.6965554994778137, + "y": 0.5270694105792596 + } + ] + }, + "point_1768011411166": { + "type": "point", + "instances": [ + { + "id": "point_1768011411166_1768012986755_ur4ffpdpc", + "x": 0.37155551931423836, + "y": 0.5320694102740838 + } + ] + }, + "bbox_1768011410318": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011410318_1768012991770_3p4dsgzdz", + "x": 0.003555541775174452, + "y": 0.30606942406802834, + "width": 0.2549999844360361, + "height": 0.255999984375001 + } + ] + } + } + }, + { + "time": 14.5, + "frame": 435, + "progress": 10, + "action_description": "爪夹向爪夹的左后方移动，同时向爪夹的左边调整爪夹方向，靠近兽人手办。", + "state_description": "当前爪夹张开，与兽人手办的水平距离缩短。\n为完成拿起兽人手办，放入箱子中的任务应当：爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近兽人手办。", + "progress_explanation": "当前爪夹张开，在水平方向上略微接近兽人手办，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹的左后方移动，同时向爪夹的左边调整爪夹方向，水平方向上成功接近兽人手办。", + "correction_plan": "爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近兽人手办，爪夹移动到兽人手办的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取兽人手办，爪夹保持合拢，向爪夹的上方抬起，接着向爪夹的右后方移动，靠近箱子，爪夹移动到箱子的正上方，爪夹松开，兽人手办落入箱子中。", + "annotations": { + "point_1768011411166": { + "type": "point", + "instances": [ + { + "id": "point_1768011411166_1768012996290_049fdo9a7", + "x": 0.3175555226101366, + "y": 0.5098471902559087 + } + ] + }, + "point_1768011411326": { + "type": "point", + "instances": [ + { + "id": "point_1768011411326_1768012998466_fh69j0hqo", + "x": 0.7435554966091615, + "y": 0.49884719092729546 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768011410318", + "name": "兽人手办", + "color": "#4CAF50" + }, + { + "id": "bbox_1768011410487", + "name": "箱子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768011411166", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768011411326", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001014.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001014.json new file mode 100644 index 0000000000000000000000000000000000000000..d36efa54a84d9625446555402407013ec4ea8eed --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001014.json @@ -0,0 +1,415 @@ +{ + "task_description": "抓取黑桃10竖直上升：\n爪夹准备移动：0%\n爪夹向爪夹方向右下方移动：20%\n爪夹移动至黑桃10正上方：40%\n爪夹靠近黑桃10：60%\n爪夹抓取黑桃10：80%\n爪夹抓取黑桃10竖直上升：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取黑桃10竖直上升的任务应当：爪夹向爪夹方向左前方移动。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向左前方移动，爪夹向爪夹方向右前方移动，爪夹向爪夹方向左前方移动，爪夹向爪夹右前方移动并下降，爪夹向爪夹前下方移动至黑桃10正上方，爪夹垂直下降靠近黑桃10，爪夹合拢抓取黑桃10，爪夹抓取黑桃10竖直上升。", + "annotations": { + "bbox_1768011552832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011552832_1768011849248_ig1bwlp7y", + "x": 0.415375, + "y": 0.5526484375, + "width": 0.061000000000000006, + "height": 0.06999999999999992 + } + ] + }, + "point_1768011553500": { + "type": "point", + "instances": [ + { + "id": "point_1768011553500_1768011852180_1quo1834m", + "x": 0.465375, + "y": 0.1306484375 + } + ] + }, + "point_1768011553632": { + "type": "point", + "instances": [ + { + "id": "point_1768011553632_1768011855649_8gjzptois", + "x": 0.541375, + "y": 0.1316484375 + } + ] + } + } + }, + { + "time": 0.7159278350515463, + "frame": 21, + "progress": 10, + "action_description": "当前爪夹向爪夹方向左前方移动。", + "state_description": "当前爪夹张开，此时爪夹与黑桃10水平距离较远，为完成抓取黑桃10竖直上升的任务应当：爪夹向爪夹方向右前方移动。", + "progress_explanation": "此时爪夹与黑桃10水平距离较远。因此当前进度提升至10", + "error_success_analysis": "当前爪夹向爪夹方向左前方移动使爪夹更加接近黑桃10.", + "correction_plan": "爪夹向爪夹方向右前方移动，爪夹向爪夹方向左前方移动，爪夹向爪夹右前方移动并下降，爪夹向爪夹前下方移动至黑桃10正上方，爪夹垂直下降靠近黑桃10，爪夹合拢抓取黑桃10，爪夹抓取黑桃10竖直上升。", + "annotations": { + "point_1768011553632": { + "type": "point", + "instances": [ + { + "id": "point_1768011553632_1768011829993_oj26ud8rk", + "x": 0.561375, + "y": 0.15264843749999998 + } + ] + }, + "point_1768011553500": { + "type": "point", + "instances": [ + { + "id": "point_1768011553500_1768011832178_kpwzjdkxv", + "x": 0.479375, + "y": 0.14964843749999998 + } + ] + }, + "bbox_1768011552832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011552832_1768011839101_98doy3j3s", + "x": 0.415375, + "y": 0.5516484375, + "width": 0.061000000000000006, + "height": 0.07300000000000004 + } + ] + } + } + }, + { + "time": 1.162799, + "frame": 35, + "progress": 12, + "action_description": "当前爪夹向爪夹方向右前方移动。", + "state_description": "当前爪夹张开，此时爪夹与黑桃10水平距离更加接近，为完成抓取黑桃10竖直上升的任务应当：爪夹向爪夹方向左前方移动。", + "progress_explanation": "此时爪夹与黑桃10水平距离更加接近，因此当前进度提升至12%。", + "error_success_analysis": "当前爪夹位置比上一阶段更加接近黑桃10。", + "correction_plan": "爪夹向爪夹方向左前方移动，爪夹向爪夹右前方移动并下降，爪夹向爪夹前下方移动至黑桃10正上方，爪夹垂直下降靠近黑桃10，爪夹合拢抓取黑桃10，爪夹抓取黑桃10竖直上升。", + "annotations": { + "bbox_1768011552832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011552832_1768011768501_olq7xo1wm", + "x": 0.414375, + "y": 0.5526484375, + "width": 0.06199999999999998, + "height": 0.069 + } + ] + }, + "point_1768011553500": { + "type": "point", + "instances": [ + { + "id": "point_1768011553500_1768011778022_mxe304qi2", + "x": 0.461375, + "y": 0.1756484375 + } + ] + }, + "point_1768011553632": { + "type": "point", + "instances": [ + { + "id": "point_1768011553632_1768011780445_784bo9csf", + "x": 0.5453749999999999, + "y": 0.1756484375 + } + ] + } + } + }, + { + "time": 1.360447, + "frame": 41, + "progress": 15, + "action_description": "当前爪夹向爪夹方向左前方移动。", + "state_description": "当前爪夹张开，此时爪夹与黑桃10水平距离更加接近，为完成抓取黑桃10竖直上升的任务应当：爪夹向爪夹右前方移动并下降。", + "progress_explanation": "此时爪夹与黑桃10水平距离更加接近，因此当前进度提升至15%。", + "error_success_analysis": "当前爪夹成功向爪夹方向左前方移动使爪夹比上一阶段更接近黑桃10.", + "correction_plan": "爪夹向爪夹右前方移动并下降，爪夹向爪夹前下方移动至黑桃10正上方，爪夹垂直下降靠近黑桃10，爪夹合拢抓取黑桃10，爪夹抓取黑桃10竖直上升。", + "annotations": { + "point_1768011553632": { + "type": "point", + "instances": [ + { + "id": "point_1768011553632_1768011748213_n25a20xfi", + "x": 0.549375, + "y": 0.1906484375 + } + ] + }, + "point_1768011553500": { + "type": "point", + "instances": [ + { + "id": "point_1768011553500_1768011750892_2dny8tn8a", + "x": 0.466375, + "y": 0.1906484375 + } + ] + }, + "bbox_1768011552832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011552832_1768011755988_jgy51h15o", + "x": 0.414375, + "y": 0.5516484375, + "width": 0.06099999999999994, + "height": 0.07300000000000004 + } + ] + } + } + }, + { + "time": 1.956383, + "frame": 59, + "progress": 18, + "action_description": "当前爪夹张开向爪夹方向右前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹与黑桃10水平距离更加接近。为完成抓取黑桃10竖直上升的任务应当：爪夹向爪夹方向前下方移动。", + "progress_explanation": "此时爪夹与黑桃10水平距离比上一阶段更加接近，因此当前进度提升至18%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动使爪夹更加接近黑桃10.", + "correction_plan": "爪夹向爪夹右前方移动并下降，爪夹向爪夹前下方移动至黑桃10正上方，爪夹垂直下降靠近黑桃10，爪夹合拢抓取黑桃10，爪夹抓取黑桃10竖直上升。", + "annotations": { + "bbox_1768011552832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011552832_1768011736183_r0rz7ctt0", + "x": 0.414375, + "y": 0.5516484375, + "width": 0.06199999999999998, + "height": 0.07099999999999997 + } + ] + }, + "point_1768011553500": { + "type": "point", + "instances": [ + { + "id": "point_1768011553500_1768011740489_825u4z94g", + "x": 0.439375, + "y": 0.2246484375 + } + ] + }, + "point_1768011553632": { + "type": "point", + "instances": [ + { + "id": "point_1768011553632_1768011742793_ks8nlvju3", + "x": 0.5243749999999999, + "y": 0.2256484375 + } + ] + } + } + }, + { + "time": 3.139184, + "frame": 94, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹与黑桃10水平距离略微接近，为完成抓取黑桃10竖直上升的任务应当：爪夹向爪夹方向前下方移动至黑桃10正上方。", + "progress_explanation": "此时爪夹与黑桃10水平距离略微接近，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹方向油漆房移动并下降使爪夹与黑桃10水平距离略微接近。", + "correction_plan": "爪夹向爪夹前下方移动至黑桃10正上方，爪夹垂直下降靠近黑桃10，爪夹合拢抓取黑桃10，爪夹抓取黑桃10竖直上升。", + "annotations": { + "point_1768011553500": { + "type": "point", + "instances": [ + { + "id": "point_1768011553500_1768011712327_w4adckcmm", + "x": 0.43037499999999995, + "y": 0.3506484375 + } + ] + }, + "point_1768011553632": { + "type": "point", + "instances": [ + { + "id": "point_1768011553632_1768011714587_fi4kl60j8", + "x": 0.504375, + "y": 0.32764843749999994 + } + ] + }, + "bbox_1768011552832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011552832_1768011725276_z2hy4binu", + "x": 0.415375, + "y": 0.5546484374999999, + "width": 0.061000000000000006, + "height": 0.07000000000000005 + } + ] + } + } + }, + { + "time": 4.44135, + "frame": 133, + "progress": 40, + "action_description": "当前爪夹向爪夹方向前下方移动至黑桃10正上方。", + "state_description": "当前爪夹张开，此时爪夹位于黑桃10正上方。为完成抓取黑桃10竖直上升的任务应当：爪夹垂直下降靠近黑桃10.", + "progress_explanation": "此时爪夹位于黑桃10正上方，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功移动至黑桃10正上方。", + "correction_plan": "爪夹垂直下降靠近黑桃10，爪夹合拢抓取黑桃10，爪夹抓取黑桃10竖直上升。", + "annotations": { + "point_1768011553500": { + "type": "point", + "instances": [ + { + "id": "point_1768011553500_1768011697175_w8rkn2ne9", + "x": 0.439375, + "y": 0.4846484375 + } + ] + }, + "point_1768011553632": { + "type": "point", + "instances": [ + { + "id": "point_1768011553632_1768011698878_hmm8zhyky", + "x": 0.46437500000000004, + "y": 0.4426484375 + } + ] + }, + "bbox_1768011552832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011552832_1768011706114_91brwpv0j", + "x": 0.414375, + "y": 0.5516484375, + "width": 0.06199999999999998, + "height": 0.07300000000000004 + } + ] + } + } + }, + { + "time": 5.7537, + "frame": 173, + "progress": 60, + "action_description": "爪夹垂直下降靠近黑桃10.", + "state_description": "当前爪夹张开，此时爪夹靠近黑桃10.为完成抓取黑桃10竖直上升的任务应当：爪夹合拢抓取黑桃10.", + "progress_explanation": "此时爪夹靠近黑桃10，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近黑桃10。", + "correction_plan": "爪夹合拢抓取黑桃10，爪夹抓取黑桃10竖直上升。", + "annotations": { + "point_1768011553500": { + "type": "point", + "instances": [ + { + "id": "point_1768011553500_1768011678656_brf66e1g1", + "x": 0.44437499999999996, + "y": 0.6056484375 + } + ] + }, + "bbox_1768011552832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011552832_1768011683300_51wqjzocz", + "x": 0.414375, + "y": 0.5526484374999999, + "width": 0.06199999999999998, + "height": 0.06900000000000013 + } + ] + } + } + }, + { + "time": 6.803361, + "frame": 204, + "progress": 80, + "action_description": "当前爪夹合拢抓取黑桃10.", + "state_description": "当前爪夹合拢抓取黑桃10，为完成抓取黑桃10竖直上升的任务应当：爪夹抓取黑桃10竖直上升。", + "progress_explanation": "当前爪夹抓取黑桃10，因此当前进度提升至80%。", + "error_success_analysis": "爪夹成功合拢抓取黑桃10.", + "correction_plan": "爪夹抓取黑桃10竖直上升。", + "annotations": { + "bbox_1768011552832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011552832_1768011670517_7cx5hydgy", + "x": 0.415375, + "y": 0.5538984374999999, + "width": 0.061000000000000006, + "height": 0.07000000000000005 + } + ] + } + } + }, + { + "time": 7.6, + "frame": 228, + "progress": 100, + "action_description": "当前爪夹合拢抓取黑桃10竖直上升。", + "state_description": "当前爪夹合拢抓取黑桃10，此时黑桃10与底座垂直距离增加。", + "progress_explanation": "当前爪夹抓取黑桃10竖直上升。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功抓取黑桃10竖直上升。", + "correction_plan": "", + "annotations": { + "bbox_1768011552832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011552832_1768011653892_5k9u1jomi", + "x": 0.41137499999999994, + "y": 0.5098984375, + "width": 0.06500000000000003, + "height": 0.07300000000000004 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768011552832", + "name": "黑桃10", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768011553500", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768011553632", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001044.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001044.json new file mode 100644 index 0000000000000000000000000000000000000000..8f3734bef881be370c68df16fdad62296b3329c0 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001044.json @@ -0,0 +1,283 @@ +{ + "task_description": "抓取方块8竖直上升：\n爪夹准备移动：0%\n爪夹向爪夹方向前下方移动：20%\n爪夹移动至方块8正上方：40%\n爪夹靠近方块8：60%\n爪夹抓取方块8：80%\n爪夹抓取方块8竖直上升：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取方块8竖直上升的任务应当：爪夹向爪夹方向右前方移动。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "当前爪夹向爪夹方向右前方移动，爪夹向爪夹前下方移动，爪夹向爪夹方向前下方移动至方块8正上方，爪夹垂直下降靠近方块8，爪夹合拢抓取方块8，爪夹抓取方块8竖直上升。", + "annotations": { + "bbox_1768008904955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768008904955_1768009143443_7tpvcg7c0", + "x": 0.41137499999999994, + "y": 0.4906484375, + "width": 0.05800000000000001, + "height": 0.06699999999999999 + } + ] + }, + "point_1768008905600": { + "type": "point", + "instances": [ + { + "id": "point_1768008905600_1768009146729_05v5qgs60", + "x": 0.46437500000000004, + "y": 0.1306484375 + } + ] + }, + "point_1768008905723": { + "type": "point", + "instances": [ + { + "id": "point_1768008905723_1768009149357_cwiagx62s", + "x": 0.544375, + "y": 0.1316484375 + } + ] + } + } + }, + { + "time": 1.785180412371134, + "frame": 54, + "progress": 10, + "action_description": "当前爪夹向爪夹方向右前方移动。", + "state_description": "当前爪夹张开，此时爪夹与方块8水平距离较远。为完成抓取方块8竖直上升的任务应当：爪夹向爪夹方向前下方移动。", + "progress_explanation": "此时爪夹与方块8水平距离较远。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动使爪夹更加接近方块8.", + "correction_plan": "爪夹向爪夹前下方移动，爪夹向爪夹方向前下方移动至方块8正上方，爪夹垂直下降靠近方块8，爪夹合拢抓取方块8，爪夹抓取方块8竖直上升。", + "annotations": { + "point_1768008905600": { + "type": "point", + "instances": [ + { + "id": "point_1768008905600_1768009118945_d63u0e0p4", + "x": 0.357375, + "y": 0.21264843749999998 + } + ] + }, + "point_1768008905723": { + "type": "point", + "instances": [ + { + "id": "point_1768008905723_1768009121751_fr9v4vymk", + "x": 0.44437499999999996, + "y": 0.2116484375 + } + ] + }, + "bbox_1768008904955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768008904955_1768009130227_yvpav2xn8", + "x": 0.41137499999999994, + "y": 0.4906484375, + "width": 0.058000000000000065, + "height": 0.06699999999999999 + } + ] + } + } + }, + { + "time": 2.644234, + "frame": 79, + "progress": 20, + "action_description": "当前爪夹向爪夹方向前下方移动。", + "state_description": "档期那爪夹张开，此时爪夹与方块8水平距离接近。，为完成抓取方块8竖直上升的任务应当：爪夹向爪夹方向前下方移动直至方块8正上方。", + "progress_explanation": "此时爪夹与方块8水平距离接近。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前下方移动使爪夹更加接近方块8.", + "correction_plan": "爪夹向爪夹方向前下方移动至方块8正上方，爪夹垂直下降靠近方块8，爪夹合拢抓取方块8，爪夹抓取方块8竖直上升。", + "annotations": { + "bbox_1768008904955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768008904955_1768009101135_16z22xhxa", + "x": 0.410375, + "y": 0.4908984375, + "width": 0.061000000000000006, + "height": 0.0700000000000001 + } + ] + }, + "point_1768008905600": { + "type": "point", + "instances": [ + { + "id": "point_1768008905600_1768009108959_5ls9i18pl", + "x": 0.37737499999999996, + "y": 0.30414843750000004 + } + ] + }, + "point_1768008905723": { + "type": "point", + "instances": [ + { + "id": "point_1768008905723_1768009111709_i3qpemm22", + "x": 0.454375, + "y": 0.28914843749999997 + } + ] + } + } + }, + { + "time": 4.013798, + "frame": 120, + "progress": 40, + "action_description": "当前爪夹向爪夹方向前下方移动至方块8正上方。", + "state_description": "当前爪夹张开，此时爪夹位于方块8正上方，为完成抓取方块8竖直上升的任务应当：爪夹垂直下降靠近方块8.", + "progress_explanation": "此时爪夹位于方块8正上方，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功移动至方块8正上方。", + "correction_plan": "爪夹垂直下降靠近方块8，爪夹合拢抓取方块8，爪夹抓取方块8竖直上升。", + "annotations": { + "point_1768008905600": { + "type": "point", + "instances": [ + { + "id": "point_1768008905600_1768008977813_336lz8fme", + "x": 0.42737499999999995, + "y": 0.4446484375 + } + ] + }, + "point_1768008905723": { + "type": "point", + "instances": [ + { + "id": "point_1768008905723_1768008980287_t2hcb45w4", + "x": 0.44737499999999997, + "y": 0.40464843749999996 + } + ] + }, + "bbox_1768008904955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768008904955_1768008986111_l0f3jguq2", + "x": 0.41137499999999994, + "y": 0.4906484375, + "width": 0.059000000000000045, + "height": 0.06699999999999999 + } + ] + } + } + }, + { + "time": 5.13442, + "frame": 154, + "progress": 60, + "action_description": "当前爪夹垂直下降靠近方块8.", + "state_description": "当前爪夹张开，此时爪夹靠近方块8，为完成抓取方块8竖直上升的任务应当：爪夹合拢抓取方块8.", + "progress_explanation": "当前爪夹垂直下降靠近方块8.因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近方块8。", + "correction_plan": "爪夹合拢抓取方块8，爪夹抓取方块8竖直上升。", + "annotations": { + "point_1768008905600": { + "type": "point", + "instances": [ + { + "id": "point_1768008905600_1768008960095_o3lxvijo6", + "x": 0.439375, + "y": 0.5378984374999999 + } + ] + }, + "bbox_1768008904955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768008904955_1768008967449_ycjvneiod", + "x": 0.410375, + "y": 0.4931484375, + "width": 0.059000000000000045, + "height": 0.06600000000000007 + } + ] + } + } + }, + { + "time": 6.279, + "frame": 188, + "progress": 80, + "action_description": "当前爪夹合拢抓取方块8.", + "state_description": "当前爪夹合拢抓取方块8，为完成抓取方块8竖直上升的任务应当：爪夹抓取方块8竖直上升。", + "progress_explanation": "当前爪夹合拢抓取方块8.因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹合拢成功抓取方块8.", + "correction_plan": "爪夹抓取方块8竖直上升。", + "annotations": { + "bbox_1768008904955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768008904955_1768008950185_w52tm2hme", + "x": 0.410375, + "y": 0.4926484375, + "width": 0.060000000000000026, + "height": 0.060000000000000026 + } + ] + } + } + }, + { + "time": 7, + "frame": 210, + "progress": 100, + "action_description": "爪夹抓取方块8竖直上升。", + "state_description": "当前抓夹合拢抓取方块8，已完成抓取方块8竖直上升的任务。", + "progress_explanation": "当前爪夹合拢抓取方块8竖直上升，因此当前进度提升至100%.", + "error_success_analysis": "当前爪夹成功抓取方块8竖直上升。", + "correction_plan": "", + "annotations": { + "bbox_1768008904955": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768008904955_1768008929161_3uwg2nf0a", + "x": 0.409375, + "y": 0.4491484375, + "width": 0.060000000000000026, + "height": 0.06899999999999995 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768008904955", + "name": "方块8", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768008905600", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768008905723", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001052.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001052.json new file mode 100644 index 0000000000000000000000000000000000000000..47a3f66009d3230023bd42ebd0590f7b31c263ae --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001052.json @@ -0,0 +1,317 @@ +{ + "task_description": "抓取黑桃j竖直上升：\n爪夹准备移动：0%\n爪夹向爪夹方向前下方移动：20%\n爪夹移动至黑桃j正上方：40%\n爪夹靠近黑桃j：60%\n爪夹抓取黑桃j：80%\n爪夹抓取黑桃j竖直上升：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "annotations": { + "bbox_1768007213460": { + "instances": [ + { + "height": 0.06799999999999991, + "id": "bbox_1768007213460_1768007368365_luc8hskog", + "width": 0.05799999999999995, + "x": 0.534375, + "y": 0.5236484375 + } + ], + "type": "bbox" + }, + "point_1768007216690": { + "instances": [ + { + "id": "point_1768007216690_1768007359884_b0qdk5s0p", + "x": 0.465375, + "y": 0.1316484375 + } + ], + "type": "point" + }, + "point_1768007216836": { + "instances": [ + { + "id": "point_1768007216836_1768007362451_or6mp87sq", + "x": 0.5453749999999999, + "y": 0.1326484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向左前方移动，爪夹向爪夹方向前下方移动，爪夹继续向爪夹方向前下方移动至黑桃j的正上方，爪夹垂直下降靠近黑桃j，爪夹合拢抓取黑桃j，爪夹抓取黑桃j竖直上升。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度提升至0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取方块4竖直上升的任务应当：爪夹向爪夹方向左前方移动。", + "time": 0 + }, + { + "action_description": "当前爪夹方向左前方移动。", + "annotations": { + "bbox_1768007213460": { + "instances": [ + { + "height": 0.06899999999999995, + "id": "bbox_1768007213460_1768007350343_u4cvjpty5", + "width": 0.05799999999999995, + "x": 0.534375, + "y": 0.5236484375 + } + ], + "type": "bbox" + }, + "point_1768007216690": { + "instances": [ + { + "id": "point_1768007216690_1768007340826_z1m7ygzb4", + "x": 0.526375, + "y": 0.2006484375 + } + ], + "type": "point" + }, + "point_1768007216836": { + "instances": [ + { + "id": "point_1768007216836_1768007343145_mpixwxvw1", + "x": 0.6073749999999999, + "y": 0.2026484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向前下方移动，爪夹继续向爪夹方向前下方移动至黑桃j的正上方，爪夹垂直下降靠近黑桃j，爪夹合拢抓取黑桃j，爪夹抓取黑桃j竖直上升。", + "error_success_analysis": "当前爪夹成功向爪夹方向左前方移动。", + "frame": 42, + "progress": 10, + "progress_explanation": "此时爪夹与黑桃记得水平距离较远。因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹与黑桃记得水平距离较远。为完成抓取方块4竖直上升的任务应当：爪夹向爪夹方向前下方移动。", + "time": 1.3924 + }, + { + "action_description": "当前爪夹张开向爪夹方向前下方移动。", + "annotations": { + "bbox_1768007213460": { + "instances": [ + { + "height": 0.06700000000000005, + "id": "bbox_1768007213460_1768007335114_sehukg7zc", + "width": 0.05799999999999995, + "x": 0.534375, + "y": 0.5233984374999999 + } + ], + "type": "bbox" + }, + "point_1768007216690": { + "instances": [ + { + "id": "point_1768007216690_1768007326413_5bmcqkb4e", + "x": 0.5363749999999999, + "y": 0.2953984375 + } + ], + "type": "point" + }, + "point_1768007216836": { + "instances": [ + { + "id": "point_1768007216836_1768007328902_576lh11ag", + "x": 0.605375, + "y": 0.2803984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向前下方移动至黑桃j的正上方，爪夹垂直下降靠近黑桃j，爪夹合拢抓取黑桃j，爪夹抓取黑桃j竖直上升。", + "error_success_analysis": "当前爪夹成功向爪夹方向前下方移动。", + "frame": 71, + "progress": 20, + "progress_explanation": "当前爪夹张开向爪夹方向前下方移动。当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹与黑桃j水平距离略微接近，为完成抓取方块4竖直上升的任务应当：爪夹向爪夹方向前下方移动。", + "time": 2.380877 + }, + { + "action_description": "当前爪夹张开向爪夹方向前下方移动。", + "annotations": { + "bbox_1768007213460": { + "instances": [ + { + "height": 0.06699999999999999, + "id": "bbox_1768007213460_1768007314703_b14r6tvc0", + "width": 0.05799999999999995, + "x": 0.534375, + "y": 0.5246484375 + } + ], + "type": "bbox" + }, + "point_1768007216690": { + "instances": [ + { + "id": "point_1768007216690_1768007306499_e8qr5i264", + "x": 0.5423749999999999, + "y": 0.3876484375 + } + ], + "type": "point" + }, + "point_1768007216836": { + "instances": [ + { + "id": "point_1768007216836_1768007308804_ci8ya86rn", + "x": 0.589375, + "y": 0.3556484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向前下方移动至黑桃j的正上方，爪夹垂直下降靠近黑桃j，爪夹合拢抓取黑桃j，爪夹抓取黑桃j竖直上升。", + "error_success_analysis": "当前爪夹向爪夹方向前下方移动成功接近黑桃j。", + "frame": 100, + "progress": 30, + "progress_explanation": "此时爪夹与黑桃j水平距离接近。因此当前进度提升至30%。", + "state_description": "当前爪夹张开，此时爪夹与黑桃j水平距离接近。为完成抓取方块4竖直上升的任务应当：爪夹向爪夹方向前下方移动至黑桃j正上方。", + "time": 3.3408 + }, + { + "action_description": "当前爪夹向爪夹方向前下方移动至黑桃j正上方。", + "annotations": { + "bbox_1768007213460": { + "instances": [ + { + "height": 0.06800000000000009, + "id": "bbox_1768007213460_1768007291986_jm1yga7bj", + "width": 0.061000000000000006, + "x": 0.5333749999999999, + "y": 0.5233984374999999 + } + ], + "type": "bbox" + }, + "point_1768007216690": { + "instances": [ + { + "id": "point_1768007216690_1768007283985_mmrs9tfmn", + "x": 0.567375, + "y": 0.5083984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近黑桃j，爪夹合拢抓取黑桃j，爪夹抓取黑桃j竖直上升。", + "error_success_analysis": "当前爪夹向爪夹方向前下方移动成功移动至黑桃j正上方。", + "frame": 137, + "progress": 40, + "progress_explanation": "此时爪夹位于黑桃j正上方，因此当前进度提升至40%。", + "state_description": "当前爪夹张开，此时爪夹位于黑桃j正上方，为完成抓取方块4竖直上升的任务应当：爪夹垂直下降靠近黑桃j。", + "time": 4.562225 + }, + { + "action_description": "当前爪夹垂直下降靠近黑桃j。", + "annotations": { + "bbox_1768007213460": { + "instances": [ + { + "height": 0.06999999999999999, + "id": "bbox_1768007213460_1768007274038_v32c6le8y", + "width": 0.05799999999999995, + "x": 0.534375, + "y": 0.5226484375 + } + ], + "type": "bbox" + }, + "point_1768007216690": { + "instances": [ + { + "id": "point_1768007216690_1768007267230_05av4opvz", + "x": 0.564375, + "y": 0.5846484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取黑桃j，爪夹抓取黑桃j竖直上升。", + "error_success_analysis": "当前爪夹垂直下降成功靠近黑桃j。", + "frame": 167, + "progress": 60, + "progress_explanation": "此时爪夹靠近黑桃j，因此当前进度提升至60%。", + "state_description": "当前爪夹张开，此时爪夹靠近黑桃j。为完成抓取方块4竖直上升的任务应当：爪夹合拢抓取黑桃j。", + "time": 5.5512 + }, + { + "action_description": "当前爪夹合拢抓取黑桃j。", + "annotations": { + "bbox_1768007213460": { + "instances": [ + { + "height": 0.06999999999999999, + "id": "bbox_1768007213460_1768007255310_szgh8uput", + "width": 0.05599999999999999, + "x": 0.534375, + "y": 0.5213984374999999 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取黑桃j竖直上升。", + "error_success_analysis": "当前爪夹合拢成功抓取黑桃j。", + "frame": 194, + "progress": 80, + "progress_explanation": "当前爪夹抓取黑桃j，因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取黑桃j，为完成抓取方块4竖直上升的任务应当：爪夹抓取黑桃j竖直上升。", + "time": 6.451199 + }, + { + "action_description": "当前爪夹合拢抓取黑桃j竖直上升。", + "annotations": { + "bbox_1768007213460": { + "instances": [ + { + "height": 0.06800000000000003, + "id": "bbox_1768007213460_1768007238210_5whin4p0q", + "width": 0.060000000000000026, + "x": 0.534375, + "y": 0.48089843749999994 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "当前爪夹成功抓取黑桃j竖直上升。", + "frame": 216, + "progress": 100, + "progress_explanation": "当前爪夹合拢抓取黑桃j竖直上升，因此当前进度提升至100%。", + "state_description": "当前爪夹合拢抓取黑桃j，已完成抓取方块4竖直上升的任务。", + "time": 7.2 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768007213460", + "name": "黑桃j" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768007216690", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768007216836", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001054.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001054.json new file mode 100644 index 0000000000000000000000000000000000000000..876186bc3df884d0bbead05a53a0ff9f19cec3ee --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001054.json @@ -0,0 +1,317 @@ +{ + "task_description": "抓取方块4竖直上升：\n爪夹准备移动：0%\n爪夹向爪夹方向左下方移动：20%\n爪夹移动至方块4正上方：40%\n爪夹靠近方块4：60%\n爪夹抓取方块4：80%\n爪夹抓取方块4竖直上升：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹左，爪夹向爪方向左前方移动并下降，爪夹继续向爪夹方向左前方移动并下降，爪夹向爪夹方向左前方移动并下降至方块4正上方，爪夹垂直下降靠近方块4，爪夹合拢抓取方块4，爪夹抓取方块4竖直上升。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。 因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取方块4竖直上升的任务应当：爪夹向爪夹右下方移动。", + "time": 0.010773195876288659, + "annotations": { + "bbox_1767951268063": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767951268063_1767951409943_r35pvcj96", + "x": 0.6463750000000001, + "y": 0.5176484375, + "width": 0.0629999999999999, + "height": 0.069 + } + ] + }, + "point_1767951268953": { + "type": "point", + "instances": [ + { + "id": "point_1767951268953_1767951416353_tdqk165ui", + "x": 0.465375, + "y": 0.1306484375 + } + ] + }, + "point_1767951269465": { + "type": "point", + "instances": [ + { + "id": "point_1767951269465_1767951418569_d8vmxf8rp", + "x": 0.5423749999999999, + "y": 0.1306484375 + } + ] + } + } + }, + { + "time": 0.6219072164948454, + "frame": 19, + "progress": 10, + "action_description": "当前爪夹向爪夹方向右前方移动。", + "state_description": "当前爪夹张开，此时爪夹与方块4水平距离略微接近，为完成抓取方块4竖直上升的任务应当：爪夹向爪夹方向左前方移动并下降。", + "progress_explanation": "当前爪夹向爪夹方向右前方移动。因此当前进度提升至10%", + "error_success_analysis": "当前爪夹成功向爪夹方向左前方移动。", + "correction_plan": "爪夹向爪方向左前方移动并下降，爪夹继续向爪夹方向左前方移动并下降，爪夹向爪夹方向左前方移动并下降至方块4正上方，爪夹垂直下降靠近方块4，爪夹合拢抓取方块4，爪夹抓取方块4竖直上升。", + "annotations": { + "point_1767951268953": { + "type": "point", + "instances": [ + { + "id": "point_1767951268953_1767951387689_qnkrd9xjf", + "x": 0.45237499999999997, + "y": 0.1656484375 + } + ] + }, + "point_1767951269465": { + "type": "point", + "instances": [ + { + "id": "point_1767951269465_1767951389981_472cr4ebu", + "x": 0.531375, + "y": 0.1646484375 + } + ] + }, + "bbox_1767951268063": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767951268063_1767951395425_lixi6l4sc", + "x": 0.645375, + "y": 0.5196484375, + "width": 0.06399999999999993, + "height": 0.06699999999999999 + } + ] + } + } + }, + { + "time": 2.0087113402061854, + "frame": 60, + "progress": 20, + "action_description": "当前爪夹向爪夹方向左前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹与方块4的水平距离略微接近，为完成抓取方块4竖直上升的任务应当：爪夹向爪夹方向前方移动并下降。", + "progress_explanation": "此时爪夹与方块4的水平距离略微接近。因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹方向左前方移动并下降使爪夹与方块4水平距离略微接近。", + "correction_plan": "爪夹继续向爪夹方向左前方移动并下降，爪夹向爪夹方向左前方移动并下降至方块4正上方，爪夹垂直下降靠近方块4，爪夹合拢抓取方块4，爪夹抓取方块4竖直上升。", + "annotations": { + "point_1767951268953": { + "type": "point", + "instances": [ + { + "id": "point_1767951268953_1767951367379_j0u6akqe", + "x": 0.515375, + "y": 0.2696484375 + } + ] + }, + "point_1767951269465": { + "type": "point", + "instances": [ + { + "id": "point_1767951269465_1767951369336_386a33k8r", + "x": 0.5853749999999999, + "y": 0.2556484375 + } + ] + }, + "bbox_1767951268063": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767951268063_1767951374243_25a4adg1m", + "x": 0.646375, + "y": 0.5176484375, + "width": 0.06300000000000001, + "height": 0.07200000000000001 + } + ] + } + } + }, + { + "time": 3.419020618556701, + "frame": 103, + "progress": 30, + "action_description": "当前爪夹向爪夹方向左前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹与方块4水平距离接近，为完成抓取方块4竖直上升的任务应当：爪夹向爪夹方向左前方移动并下降至方块4.", + "progress_explanation": "当前爪夹向爪夹方向左前方移动并下降。因此当前进度提升至30%。", + "error_success_analysis": "当前爪夹成功向爪夹方向左前方移动并下降使爪夹水平距离接近方块4.", + "correction_plan": "爪夹向爪夹方向左前方移动并下降至方块4正上方，爪夹垂直下降靠近方块4，爪夹合拢抓取方块4，爪夹抓取方块4竖直上升。", + "annotations": { + "point_1767951268953": { + "type": "point", + "instances": [ + { + "id": "point_1767951268953_1767951350677_69v5duz9z", + "x": 0.596375, + "y": 0.3806484375 + } + ] + }, + "point_1767951269465": { + "type": "point", + "instances": [ + { + "id": "point_1767951269465_1767951352843_gve9xq7fg", + "x": 0.630375, + "y": 0.3476484375 + } + ] + }, + "bbox_1767951268063": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767951268063_1767951359029_sof8u2zj3", + "x": 0.644375, + "y": 0.5186484375, + "width": 0.06599999999999989, + "height": 0.0689999999999999 + } + ] + } + } + }, + { + "time": 4.931185567010309, + "frame": 148, + "progress": 40, + "action_description": "当前爪夹向爪夹方向左前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹位于方块4正上方。为完成抓取方块4竖直上升的任务应当：爪夹垂直下降靠近方块4.", + "progress_explanation": "此时爪夹位于方块4正上方，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功移动至方块4正上方。", + "correction_plan": "爪夹垂直下降靠近方块4，爪夹合拢抓取方块4，爪夹抓取方块4竖直上升。", + "annotations": { + "point_1767951268953": { + "type": "point", + "instances": [ + { + "id": "point_1767951268953_1767951335365_6mozy0n8s", + "x": 0.686375, + "y": 0.5026484375 + } + ] + }, + "bbox_1767951268063": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767951268063_1767951342173_64yvwktyj", + "x": 0.6453749999999999, + "y": 0.5186484375, + "width": 0.06499999999999997, + "height": 0.06899999999999995 + } + ] + } + } + }, + { + "time": 6.169123711340206, + "frame": 185, + "progress": 60, + "action_description": "爪夹垂直下降靠近方块4.", + "state_description": "当前爪夹张开，此时爪夹靠近方块4，为完成抓取方块4竖直上升的任务应当：爪夹合拢抓取方块4。", + "progress_explanation": "爪夹垂直下降靠近方块4.因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹垂直下降靠近方块4.", + "correction_plan": "爪夹合拢抓取方块4，爪夹抓取方块4竖直上升。", + "annotations": { + "point_1767951268953": { + "type": "point", + "instances": [ + { + "id": "point_1767951268953_1767951320953_kbh9iuwrb", + "x": 0.681375, + "y": 0.5806484375000001 + } + ] + }, + "bbox_1767951268063": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767951268063_1767951329055_jywnrlkif", + "x": 0.6423749999999999, + "y": 0.5196484375, + "width": 0.06300000000000001, + "height": 0.07000000000000005 + } + ] + } + } + }, + { + "time": 6.889948453608247, + "frame": 207, + "progress": 80, + "action_description": "当前爪夹合拢抓取方块4.", + "state_description": "当前爪夹合拢抓取方块4.为完成抓取方块4竖直上升的任务应当：爪夹合拢爪夹方块4竖直上升.", + "progress_explanation": "当前爪夹合拢抓取方块4.因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功合拢抓取方块4.", + "correction_plan": "爪夹抓取方块4竖直上升。", + "annotations": { + "bbox_1767951268063": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767951268063_1767951307881_j1x9q20pk", + "x": 0.647375, + "y": 0.5196484375, + "width": 0.05799999999999995, + "height": 0.06700000000000005 + } + ] + } + } + }, + { + "time": 7.6, + "frame": 228, + "progress": 100, + "action_description": "当前爪夹合拢抓取方块4竖直上升.", + "state_description": "当前爪夹合拢抓取方块4，此时方块4与底座垂直距离增加。已完成抓取方块4竖直上升的任务。", + "progress_explanation": "当前爪夹合拢抓取方块4竖直上升.因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功抓取方块4竖直上升。", + "correction_plan": "", + "annotations": { + "bbox_1767951268063": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767951268063_1767951291076_enmgtz5m5", + "x": 0.647375, + "y": 0.4738984375, + "width": 0.06199999999999998, + "height": 0.07300000000000004 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767951268063", + "name": "方块4", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767951268953", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767951269465", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001059.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001059.json new file mode 100644 index 0000000000000000000000000000000000000000..e1436b7c87f43302454e3b0459982abfd23c6e9b --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001059.json @@ -0,0 +1,371 @@ +{ + "task_description": "抓取红心q竖直上升：\n爪夹准备移动：0%\n爪夹向爪夹方向右下方移动：20%\n爪夹移动至红心q正上方：40%\n爪夹靠近红心q：60%\n爪夹抓取红心q：80%\n爪夹抓取红心q竖直上升：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成抓取红心q竖直上升的任务应当：爪夹向爪夹方向右前方移动。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向右前移动，爪夹向爪夹方向右前方移动并下降，爪夹向爪夹方向右前方移动并下降直至红心q正上方，爪夹垂直下井靠近红心q，爪夹合拢抓取红心q，爪夹抓取红心q竖直上升。", + "annotations": { + "point_1767947843480": { + "type": "point", + "instances": [ + { + "id": "point_1767947843480_1767948063949_v1xikt45m", + "x": 0.46437500000000004, + "y": 0.1316484375 + } + ] + }, + "point_1767947843620": { + "type": "point", + "instances": [ + { + "id": "point_1767947843620_1767948066329_0kcnjyame", + "x": 0.544375, + "y": 0.1296484375 + } + ] + }, + "bbox_1767947840529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947840529_1767948072115_mayzkxxq8", + "x": 0.405375, + "y": 0.5616484375, + "width": 0.06500000000000003, + "height": 0.07099999999999997 + } + ] + } + } + }, + { + "time": 0.792489, + "frame": 24, + "progress": 10, + "action_description": "当前爪夹向爪夹方向右前方移动。", + "state_description": "当前爪夹张开，此时爪夹与红心q水平距离较远，为完成抓取红心q竖直上升的任务应当：爪夹向爪夹方向右前方移动并下降。", + "progress_explanation": "当前爪夹比上一阶段更加接近红心q，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动。", + "correction_plan": "爪夹向爪夹方向右前方移动并下降，爪夹向爪夹方向右前方移动并下降直至红心q正上方，爪夹垂直下井靠近红心q，爪夹合拢抓取红心q，爪夹抓取红心q竖直上升。", + "annotations": { + "point_1767947843620": { + "type": "point", + "instances": [ + { + "id": "point_1767947843620_1767947993151_pspnssfhj", + "x": 0.512375, + "y": 0.1566484375 + } + ] + }, + "point_1767947843480": { + "type": "point", + "instances": [ + { + "id": "point_1767947843480_1767947995959_c6sooutje", + "x": 0.431375, + "y": 0.1576484375 + } + ] + }, + "bbox_1767947840529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947840529_1767948003300_veo16eddz", + "x": 0.406375, + "y": 0.5606484374999999, + "width": 0.06299999999999996, + "height": 0.07099999999999997 + } + ] + } + } + }, + { + "time": 1.7956443298969071, + "frame": 54, + "progress": 20, + "action_description": "当前爪夹向爪夹方向右前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹与红心q水平距离略微接近，为完成抓取红心q竖直上升的任务应当：爪夹向爪夹方向右前方移动并下降直至红心q正上方。", + "progress_explanation": "当前爪夹比上一阶段更加接近红心q，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动并下降。", + "correction_plan": "爪夹向爪夹方向右前方移动并下降直至红心q正上方，爪夹垂直下井靠近红心q，爪夹合拢抓取红心q，爪夹抓取红心q竖直上升。", + "annotations": { + "bbox_1767947840529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947840529_1767947968816_btfusmd86", + "x": 0.405375, + "y": 0.5616484375, + "width": 0.06200000000000004, + "height": 0.06999999999999992 + } + ] + }, + "point_1767947843480": { + "type": "point", + "instances": [ + { + "id": "point_1767947843480_1767947976611_h267w56l6", + "x": 0.42537499999999995, + "y": 0.2496484375 + } + ] + }, + "point_1767947843620": { + "type": "point", + "instances": [ + { + "id": "point_1767947843620_1767947978793_kc879lk3n", + "x": 0.5003749999999999, + "y": 0.24164843749999998 + } + ] + } + } + }, + { + "time": 2.9933762886597934, + "frame": 90, + "progress": 30, + "action_description": "当前爪夹向爪夹方向右前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹与红心q水平距离接近，为完成抓取红心q竖直上升的任务应当：爪夹向爪夹方向右前方移动并下降。", + "progress_explanation": "当前爪夹向爪夹方向右前方移动并下降使爪夹比上一阶段更加接近红心q，因此当前进度提升至30%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动并下降。", + "correction_plan": "爪夹向爪夹方向右前方移动并下降直至红心q正上方，爪夹垂直下井靠近红心q，爪夹合拢抓取红心q，爪夹抓取红心q竖直上升。", + "annotations": { + "point_1767947843480": { + "type": "point", + "instances": [ + { + "id": "point_1767947843480_1767947948735_1inxfw1wh", + "x": 0.42537499999999995, + "y": 0.3706484375 + } + ] + }, + "point_1767947843620": { + "type": "point", + "instances": [ + { + "id": "point_1767947843620_1767947950888_d8g7s0mdn", + "x": 0.482375, + "y": 0.3376484375 + } + ] + }, + "bbox_1767947840529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947840529_1767947956293_mehs184ii", + "x": 0.406375, + "y": 0.5616484375, + "width": 0.064, + "height": 0.07099999999999997 + } + ] + } + } + }, + { + "time": 4.198737113402062, + "frame": 126, + "progress": 40, + "action_description": "爪夹向爪夹方向右前方移动并下降至红心q正上方。", + "state_description": "当前爪夹张开，此时爪夹位于红心q正上方，为完成抓取红心q竖直上升的任务应当：爪夹垂直下降靠近红心q。", + "progress_explanation": "此时爪夹位于红心q正上方，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功移动至红心q正上方。", + "correction_plan": "爪夹垂直下井靠近红心q，爪夹合拢抓取红心q，爪夹抓取红心q竖直上升。", + "annotations": { + "point_1767947843480": { + "type": "point", + "instances": [ + { + "id": "point_1767947843480_1767947932853_gxrafafam", + "x": 0.431375, + "y": 0.4876484375 + } + ] + }, + "point_1767947843620": { + "type": "point", + "instances": [ + { + "id": "point_1767947843620_1767947935361_ddwasz4n3", + "x": 0.455375, + "y": 0.44164843749999994 + } + ] + }, + "bbox_1767947840529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947840529_1767947942353_zcat4nml5", + "x": 0.405375, + "y": 0.5616484375, + "width": 0.064, + "height": 0.06999999999999992 + } + ] + } + } + }, + { + "time": 4.906199, + "frame": 147, + "progress": 50, + "action_description": "当前爪夹垂直下降。", + "state_description": "当前爪夹张开，此时爪夹略微靠近红心q，为完成抓取红心q竖直上升的任务应当：爪夹垂直下降靠近红心q。", + "progress_explanation": "当前爪夹垂直下降。因此当前进度提升至50%。", + "error_success_analysis": "当前爪夹垂直下降使爪夹略微接近红心q\n。", + "correction_plan": "爪夹垂直下井靠近红心q，爪夹合拢抓取红心q，爪夹抓取红心q竖直上升。", + "annotations": { + "point_1767947843480": { + "type": "point", + "instances": [ + { + "id": "point_1767947843480_1767947921549_rhanhsuq5", + "x": 0.43637499999999996, + "y": 0.5626484374999999 + } + ] + }, + "bbox_1767947840529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947840529_1767947926288_5bjlbah3x", + "x": 0.405375, + "y": 0.5616484375, + "width": 0.064, + "height": 0.07099999999999997 + } + ] + } + } + }, + { + "time": 5.7572, + "frame": 173, + "progress": 60, + "action_description": "当前爪夹垂直下降靠近红心q。", + "state_description": "当前爪夹张开，此时爪夹靠近红心q，为完成抓取红心q竖直上升的任务应当：爪夹合拢抓取红心q。", + "progress_explanation": "此时爪夹靠近红心q。因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近红心q。", + "correction_plan": "爪夹合拢抓取红心q，爪夹抓取红心q竖直上升。", + "annotations": { + "point_1767947843480": { + "type": "point", + "instances": [ + { + "id": "point_1767947843480_1767947901277_l3w32gfkx", + "x": 0.43637499999999996, + "y": 0.6258984375 + } + ] + }, + "bbox_1767947840529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947840529_1767947907554_9rc8czz3j", + "x": 0.406375, + "y": 0.5631484375, + "width": 0.06199999999999998, + "height": 0.07100000000000009 + } + ] + } + } + }, + { + "time": 6.2678, + "frame": 188, + "progress": 80, + "action_description": "当前爪夹合拢抓取红心q。", + "state_description": "当前爪夹合拢抓取红心q，为完成抓取红心q竖直上升的任务应当：爪夹抓取红心q竖直上升。", + "progress_explanation": "当前爪夹抓取红心q，因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取红心q。", + "correction_plan": "爪夹抓取红心q竖直上升。", + "annotations": { + "point_1767947843480": { + "type": "point", + "instances": [ + { + "id": "point_1767947843480_1767947877005_5rxrswwlv", + "x": 0.437375, + "y": 0.6226484375 + } + ] + }, + "bbox_1767947840529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947840529_1767947882741_6iufcsc7w", + "x": 0.40637499999999993, + "y": 0.5646484375, + "width": 0.06300000000000001, + "height": 0.06799999999999998 + } + ] + } + } + }, + { + "time": 7.4, + "frame": 222, + "progress": 100, + "action_description": "当前爪夹抓取红心q竖直上升。", + "state_description": "当前爪夹合拢抓取红心q，此时红心q与底座垂直距离增加。已完成爪夹抓取红心q竖直上升的任务。", + "progress_explanation": "当前爪夹抓取红心q竖直上升。因此当前进度提升至100%。", + "error_success_analysis": "档期那爪夹成功抓取红心q竖直上升。", + "correction_plan": "", + "annotations": { + "bbox_1767947840529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767947840529_1767947867336_ei0ogr03q", + "x": 0.404375, + "y": 0.5178984375, + "width": 0.06499999999999997, + "height": 0.07299999999999993 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767947840529", + "name": "红心q", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767947843480", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767947843620", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001068.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001068.json new file mode 100644 index 0000000000000000000000000000000000000000..b64fa9a01d0123cfd56c375145e7eac6f41e3387 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001068.json @@ -0,0 +1,317 @@ +{ + "task_description": "抓取梅花6竖直上升：\n爪夹准备移动：0%\n爪夹向爪夹方向左下方移动：20%\n爪夹移动至梅花6正上方：40%\n爪夹靠近梅花6：60%\n爪夹抓取梅花6：80%\n爪夹抓取梅花6竖直上升：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "annotations": { + "bbox_1767944985854": { + "instances": [ + { + "height": 0.06599999999999996, + "id": "bbox_1767944985854_1767945144805_1l6o4nd6q", + "width": 0.06100000000000006, + "x": 0.605375, + "y": 0.4696484375 + } + ], + "type": "bbox" + }, + "point_1767944986683": { + "instances": [ + { + "id": "point_1767944986683_1767945136251_rvjlnsatj", + "x": 0.46437500000000004, + "y": 0.1316484375 + } + ], + "type": "point" + }, + "point_1767944986801": { + "instances": [ + { + "id": "point_1767944986801_1767945138589_hy24l6q0z", + "x": 0.544375, + "y": 0.1316484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向左下方移动，爪夹向爪夹方向左前方移动并下降至梅花6正上方，爪夹垂直下降靠近梅花6，爪夹合拢抓取梅花6，爪夹抓取梅花6竖直上升。", + "error_success_analysis": "当前爪夹爪夹成功向爪夹方向左下方移动并缩短爪夹与梅花6之间的水平距离。", + "frame": 0, + "progress": 0, + "progress_explanation": "当前爪夹张开，此时爪夹与梅花6水平距离略微接近，因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取梅花6的任务应当：爪夹向爪夹左下方移动。", + "time": 0 + }, + { + "action_description": "当前爪夹向爪夹方向左边移动。", + "annotations": { + "bbox_1767944985854": { + "instances": [ + { + "height": 0.06599999999999996, + "id": "bbox_1767944985854_1767945126435_lkkqi3wi0", + "width": 0.0590000000000001, + "x": 0.6063749999999999, + "y": 0.4696484375 + } + ], + "type": "bbox" + }, + "point_1767944986683": { + "instances": [ + { + "id": "point_1767944986683_1767945118289_skk3hh7t4", + "x": 0.49737499999999996, + "y": 0.14964843749999998 + } + ], + "type": "point" + }, + "point_1767944986801": { + "instances": [ + { + "id": "point_1767944986801_1767945120965_mbsp6rdhf", + "x": 0.580375, + "y": 0.14964843749999998 + } + ], + "type": "point" + } + }, + "correction_plan": "当前爪夹向爪夹方向左下方移动，爪夹向爪夹方向左前方移动并下降至梅花6正上方，爪夹垂直下降靠近梅花6，爪夹合拢抓取梅花6，爪夹抓取梅花6竖直上升。", + "error_success_analysis": "当前爪夹成功向爪夹左边移动并缩短爪夹与梅花6之间的水平距离.", + "frame": 19, + "progress": 10, + "progress_explanation": "当前爪夹向爪夹方向左边移动，爪夹与梅花6水平距离缩短，因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹与梅花6水平距离较远。为完成抓取梅花6的任务应当：爪夹向爪夹方向左下方移动。", + "time": 0.637778 + }, + { + "action_description": "当前爪夹张开向爪夹方向左下方移动。", + "annotations": { + "bbox_1767944985854": { + "instances": [ + { + "height": 0.06499999999999992, + "id": "bbox_1767944985854_1767945109887_2a2xvgzmx", + "width": 0.06300000000000001, + "x": 0.602375, + "y": 0.47064843750000007 + } + ], + "type": "bbox" + }, + "point_1767944986683": { + "instances": [ + { + "id": "point_1767944986683_1767945102103_o8aqio0zt", + "x": 0.5463749999999999, + "y": 0.2396484375 + } + ], + "type": "point" + }, + "point_1767944986801": { + "instances": [ + { + "id": "point_1767944986801_1767945104397_sliw2kd1s", + "x": 0.6203749999999999, + "y": 0.2276484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向左前方移动并下降至梅花6正上方，爪夹垂直下降靠近梅花6，爪夹合拢抓取梅花6，爪夹抓取梅花6竖直上升。", + "error_success_analysis": "当前爪夹爪夹成功向爪夹方向左下方移动以至于缩短了爪夹与梅花6之间的水平距离。", + "frame": 51, + "progress": 20, + "progress_explanation": "此时爪夹与梅花6水平距离略微接近，因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹与梅花6水平距离略微接近。为完成抓取梅花6的任务应当：爪夹向爪夹方向左前方移动并下降至梅花6正上方。", + "time": 1.6896 + }, + { + "action_description": "当前爪夹继续向爪夹方向左下方移动。", + "annotations": { + "bbox_1767944985854": { + "instances": [ + { + "height": 0.06699999999999999, + "id": "bbox_1767944985854_1767945093325_jhvo5o1bb", + "width": 0.06100000000000006, + "x": 0.6043749999999999, + "y": 0.4696484375 + } + ], + "type": "bbox" + }, + "point_1767944986683": { + "instances": [ + { + "id": "point_1767944986683_1767945084707_hxmqs7f7p", + "x": 0.587375, + "y": 0.3456484375 + } + ], + "type": "point" + }, + "point_1767944986801": { + "instances": [ + { + "id": "point_1767944986801_1767945086767_gc1it9kv5", + "x": 0.634375, + "y": 0.3146484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向左前方移动并下降至梅花6正上方，爪夹垂直下降靠近梅花6，爪夹合拢抓取梅花6，爪夹抓取梅花6竖直上升。", + "error_success_analysis": "当前爪夹成功向爪夹方向左下方移动。", + "frame": 84, + "progress": 30, + "progress_explanation": "此时爪夹与梅花6水距离进一步缩短，因此当前进度提升至30%。", + "state_description": "当前爪夹张开，此时爪夹与梅花6水平距离更加接近。为完成抓取梅花6的任务应当：爪夹向爪夹方向左下方移动并下降至梅花6正上方。", + "time": 2.7854381443298966 + }, + { + "action_description": "当前爪夹向爪夹方向左前方移动并下降直至梅花6正上方。", + "annotations": { + "bbox_1767944985854": { + "instances": [ + { + "height": 0.06699999999999999, + "id": "bbox_1767944985854_1767945072211_awmo67o9v", + "width": 0.060000000000000026, + "x": 0.605375, + "y": 0.4706484374999999 + } + ], + "type": "bbox" + }, + "point_1767944986683": { + "instances": [ + { + "id": "point_1767944986683_1767945065917_1o06b8vxn", + "x": 0.6393749999999999, + "y": 0.4466484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近梅花6，爪夹合拢抓取梅花6，爪夹抓取梅花6竖直上升。", + "error_success_analysis": "当前爪夹成功移动至梅花6正上方，比上一阶段更加接近梅花6。", + "frame": 115, + "progress": 40, + "progress_explanation": "当前爪夹位于梅花6正上方因此当前进度提升至40%。", + "state_description": "当前爪夹张开，此时爪夹位于梅花6正上方。为完成抓取梅花6的任务应当：爪夹垂直下降靠近梅花6。", + "time": 3.81834 + }, + { + "action_description": "当前爪夹张开垂直下降靠近梅花6。", + "annotations": { + "bbox_1767944985854": { + "instances": [ + { + "height": 0.07000000000000005, + "id": "bbox_1767944985854_1767945056366_0i3v5wfw7", + "width": 0.058000000000000065, + "x": 0.6073749999999999, + "y": 0.4676484375 + } + ], + "type": "bbox" + }, + "point_1767944986683": { + "instances": [ + { + "id": "point_1767944986683_1767945049285_1fwwdld91", + "x": 0.637375, + "y": 0.5266484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取梅花6，爪夹抓取梅花6竖直上升。", + "error_success_analysis": "当前爪夹垂直下降成功靠近梅花6.", + "frame": 150, + "progress": 60, + "progress_explanation": "此时抓夹靠近梅花6，因此当前进度提升至60%。", + "state_description": "当前爪夹张开，此时爪夹靠近梅花6，为完成抓取梅花6的任务应当：爪夹合拢抓取。", + "time": 5.003627 + }, + { + "action_description": "当前爪夹合拢抓取梅花6.", + "annotations": { + "bbox_1767944985854": { + "instances": [ + { + "height": 0.05999999999999996, + "id": "bbox_1767944985854_1767945036321_g84xf8sex", + "width": 0.060000000000000026, + "x": 0.605375, + "y": 0.4706484375 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓取梅花6竖直上升。", + "error_success_analysis": "当前爪夹成功抓取梅花6准备上升。", + "frame": 174, + "progress": 80, + "progress_explanation": "当前爪夹合拢抓取梅花6准备上升，因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取梅花6。为完成抓取梅花6的任务应当：爪夹抓取梅花6竖直上升。", + "time": 5.814599 + }, + { + "action_description": "当前爪夹合拢抓取梅花6竖直上升。", + "annotations": { + "bbox_1767944985854": { + "instances": [ + { + "height": 0.075, + "id": "bbox_1767944985854_1767945014893_23rnku65r", + "width": 0.06099999999999994, + "x": 0.606375, + "y": 0.4238984375 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "当前爪夹成功抓取梅花6并竖直上升。", + "frame": 198, + "progress": 100, + "progress_explanation": "当前爪夹合拢抓取梅花6竖直上升，因此当前进度提升至100%。", + "state_description": "当前爪夹合拢抓取梅花6，此时梅花6与底座垂直距离增加。已完成爪夹抓取梅花6竖直上升。", + "time": 6.6 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767944985854", + "name": "梅花6" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767944986683", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767944986801", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001072.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001072.json new file mode 100644 index 0000000000000000000000000000000000000000..b5e4949bf05f47fed653b09abc10d284f3047e2f --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001072.json @@ -0,0 +1,293 @@ +{ + "task_description": "爪夹抓取方片9。\n开始移动：0%\n向爪夹左下方移动：20%\n继续向爪夹左下方移动：30%\n继续向爪夹左方移动：40%\n爪夹下降：60%\n爪夹继续下降：80%\n爪夹合拢：100%\n", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768010102784": { + "instances": [ + { + "height": 0.07801418439716308, + "id": "bbox_1768010102784_1768010342004_vmmm1jn9g", + "width": 0.0709219858156029, + "x": 0.6643026004728133, + "y": 0.5626477541371159 + } + ], + "type": "bbox" + }, + "point_1768010134328": { + "instances": [ + { + "id": "point_1768010134328_1768010305871_4j0c1pgnb", + "x": 0.5130023640661939, + "y": 0.15839243498817968 + } + ], + "type": "point" + }, + "point_1768010173267": { + "instances": [ + { + "id": "point_1768010173267_1768010310813_mza7a7qhn", + "x": 0.5910165484633569, + "y": 0.15602836879432624 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹处于原位。\n为完成爪夹抓取方片9的任务应当：向爪夹左下方移动。", + "time": 0.9060309278350516 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768010102784": { + "instances": [ + { + "height": 0.06855791962174938, + "id": "bbox_1768010102784_1768010353702_sa1q35kem", + "width": 0.066193853427896, + "x": 0.6666666666666666, + "y": 0.5626477541371159 + } + ], + "type": "bbox" + }, + "point_1768010134328": { + "instances": [ + { + "id": "point_1768010134328_1768010285966_effxn9sw6", + "x": 0.5395, + "y": 0.22299999999999998 + } + ], + "type": "point" + }, + "point_1768010173267": { + "instances": [ + { + "id": "point_1768010173267_1768010289123_ls4w85wyi", + "x": 0.6165, + "y": 0.213 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方片9的距离减小。方便向爪夹左下方移动。", + "frame": 54, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝方片9的方向移动。\n因此进度提升至20%。\n", + "state_description": "爪夹处于张开状态。与方片9的距离减小。\n为完成爪夹抓取方片9的任务应当：向爪夹左下方移动。", + "time": 1.7931297709923664 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768010102784": { + "instances": [ + { + "height": 0.08274231678486998, + "id": "bbox_1768010102784_1768010361172_qti1g5ctu", + "width": 0.066193853427896, + "x": 0.6643026004728133, + "y": 0.5602836879432626 + } + ], + "type": "bbox" + }, + "point_1768010134328": { + "instances": [ + { + "id": "point_1768010134328_1768010242812_vrpasnguu", + "x": 0.5675, + "y": 0.272 + } + ], + "type": "point" + }, + "point_1768010173267": { + "instances": [ + { + "id": "point_1768010173267_1768010246622_vzyd5etc0", + "x": 0.6345, + "y": 0.249 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方片9的距离减小。方便向爪夹左下方移动。", + "frame": 69, + "progress": 30, + "progress_explanation": "与上一进度相比，爪夹朝方片9的方向移动。\n因此进度提升至30%。\n", + "state_description": "爪夹处于张开状态。与方片9的距离减小。\n为完成爪夹抓取方片9的任务应当：向爪夹左下方移动。", + "time": 2.3083969465648853 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768010102784": { + "instances": [ + { + "height": 0.07801418439716308, + "id": "bbox_1768010102784_1768010367539_8igrttx9q", + "width": 0.0614657210401892, + "x": 0.6666666666666666, + "y": 0.5602836879432626 + } + ], + "type": "bbox" + }, + "point_1768010134328": { + "instances": [ + { + "id": "point_1768010134328_1768010254073_fqpb1unce", + "x": 0.6725, + "y": 0.49899999999999994 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方片9的距离减小。方便爪夹开始下降。", + "frame": 146, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹朝方片9的方向移动。\n因此进度提升至40%。\n", + "state_description": "爪夹处于张开状态。与方片9的距离减小。\n为完成爪夹抓取方片9的任务应当：爪夹开始下降", + "time": 4.864175257731958 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768010102784": { + "instances": [ + { + "height": 0.07801418439716308, + "id": "bbox_1768010102784_1768010373458_u7y95m1q0", + "width": 0.06382978723404259, + "x": 0.6643026004728133, + "y": 0.5602836879432626 + } + ], + "type": "bbox" + }, + "point_1768010134328": { + "instances": [ + { + "id": "point_1768010134328_1768010260193_hw0s6aq7p", + "x": 0.7095, + "y": 0.574 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方片9的距离减小。方便爪夹开始下降。", + "frame": 173, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝方片9的方向移动。\n因此进度提升至60%。\n", + "state_description": "爪夹处于张开状态。与方片9的距离减小。\n为完成爪夹抓取方片9的任务应当：爪夹开始下降", + "time": 5.766030927835051 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768010102784": { + "instances": [ + { + "height": 0.07328605200945629, + "id": "bbox_1768010102784_1768010380460_tg6qjv3pk", + "width": 0.066193853427896, + "x": 0.6666666666666666, + "y": 0.5626477541371159 + } + ], + "type": "bbox" + }, + "point_1768010134328": { + "instances": [ + { + "id": "point_1768010134328_1768010265419_u4x3m2103", + "x": 0.7055, + "y": 0.6199999999999999 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢。", + "error_success_analysis": "爪夹与方片9的距离减小。方便爪夹合拢。", + "frame": 190, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝方片9的方向移动。\n因此进度提升至80%。\n", + "state_description": "爪夹处于张开状态。与方片9的距离减小。\n为完成爪夹抓取方片9的任务应当：爪夹合拢。", + "time": 6.348091603053436 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768010102784": { + "instances": [ + { + "height": 0.07801418439716308, + "id": "bbox_1768010102784_1768010385360_n3ze27fru", + "width": 0.05673758865248229, + "x": 0.6666666666666666, + "y": 0.5626477541371159 + } + ], + "type": "bbox" + }, + "point_1768010134328": { + "instances": [ + { + "id": "point_1768010134328_1768011192458_b37kxsguo", + "x": 0.7044917257683215, + "y": 0.6217494089834515 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹抓取方片9。\n已完成爪夹抓取方片9的任务。", + "frame": 218, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹抓取方片9。\n因此进度提升至100%。", + "state_description": "爪夹处于合拢状态。方片9被抓取。\n已完成爪夹抓取方片9的任务。", + "time": 7.254961832061069 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768010102784", + "name": "方片9" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768010134328", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768010173267", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001081.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001081.json new file mode 100644 index 0000000000000000000000000000000000000000..ff4c91e6081c5d0aac03e241fa4708a914fd3aad --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001081.json @@ -0,0 +1,293 @@ +{ + "task_description": "爪夹抓取方块K。\n开始移动：0%\n向爪夹左下方移动：20%\n向爪夹右下方移动：30%\n继续向爪夹右下方移动：40%\n继续向爪夹右下方移动：50%\n爪夹下降：60%\n爪夹继续下降：80%\n爪夹合拢：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768010928097": { + "instances": [ + { + "height": 0.06999999999999992, + "id": "bbox_1768010928097_1768017236297_0k1zhvrzg", + "width": 0.061000000000000006, + "x": 0.4145, + "y": 0.547 + } + ], + "type": "bbox" + }, + "point_1768010936459": { + "instances": [ + { + "id": "point_1768010936459_1768011003912_jvrxhzv5s", + "x": 0.47754137115839246, + "y": 0.14657210401891255 + } + ], + "type": "point" + }, + "point_1768010942527": { + "instances": [ + { + "id": "point_1768010942527_1768011006298_lw7aa9o6y", + "x": 0.5555555555555556, + "y": 0.14893617021276598 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹左下方旋转移动。开始向爪夹右下方旋转移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于张开状态。爪夹处于原位。\n为完成爪夹抓取方块K的任务应当：向爪夹左下方旋转移动。", + "time": 0.3012722646310433 + }, + { + "action_description": "向爪夹左下方旋转移动。", + "annotations": { + "bbox_1768010928097": { + "instances": [ + { + "height": 0.07565011820330968, + "id": "bbox_1768010928097_1768010993787_nyr7si20r", + "width": 0.06855791962174944, + "x": 0.4113475177304965, + "y": 0.541371158392435 + } + ], + "type": "bbox" + }, + "point_1768010936459": { + "instances": [ + { + "id": "point_1768010936459_1768011021238_3eup5ur49", + "x": 0.5200945626477541, + "y": 0.17730496453900713 + } + ], + "type": "point" + }, + "point_1768010942527": { + "instances": [ + { + "id": "point_1768010942527_1768011023350_u53z9g6f2", + "x": 0.5957446808510639, + "y": 0.17730496453900713 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹右下方旋转移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方块K的距离减小。方便向爪夹右下方移动。", + "frame": 33, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块K的任务应当：向爪夹右下方移动。", + "time": 1.0878 + }, + { + "action_description": "向爪夹右下方旋转移动。", + "annotations": { + "bbox_1768010928097": { + "instances": [ + { + "height": 0.07328605200945629, + "id": "bbox_1768010928097_1768011031820_6wg2yl9uq", + "width": 0.066193853427896, + "x": 0.4113475177304965, + "y": 0.5460992907801419 + } + ], + "type": "bbox" + }, + "point_1768010936459": { + "instances": [ + { + "id": "point_1768010936459_1768011034147_89srh2qto", + "x": 0.4940898345153665, + "y": 0.26004728132387706 + } + ], + "type": "point" + }, + "point_1768010942527": { + "instances": [ + { + "id": "point_1768010942527_1768011038371_s92v1o7yt", + "x": 0.574468085106383, + "y": 0.24113475177304966 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方旋转移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方块K的距离减小。方便向爪夹右下方旋转移动。", + "frame": 56, + "progress": 30, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。因此进度提升至30%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块K的任务应当：向爪夹右下方移动。", + "time": 1.8829516539440205 + }, + { + "action_description": "向爪夹右下方旋转移动。", + "annotations": { + "bbox_1768010928097": { + "instances": [ + { + "height": 0.07092198581560277, + "id": "bbox_1768010928097_1768011048765_nm8ia4y3s", + "width": 0.06855791962174938, + "x": 0.40898345153664306, + "y": 0.5460992907801419 + } + ], + "type": "bbox" + }, + "point_1768010936459": { + "instances": [ + { + "id": "point_1768010936459_1768011052245_lz1zwc9zv", + "x": 0.4799054373522459, + "y": 0.33806146572104023 + } + ], + "type": "point" + }, + "point_1768010942527": { + "instances": [ + { + "id": "point_1768010942527_1768011054728_h9d8pzi73", + "x": 0.5342789598108747, + "y": 0.3120567375886525 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方旋转移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方块K的距离减小。方便向爪夹右下方旋转移动。", + "frame": 84, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至40%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块K的任务应当：向爪夹右下方移动。", + "time": 2.78676844783715 + }, + { + "action_description": "向爪夹右下方旋转移动。", + "annotations": { + "bbox_1768010928097": { + "instances": [ + { + "height": 0.07565011820330968, + "id": "bbox_1768010928097_1768011064517_os4uiy63q", + "width": 0.06855791962174944, + "x": 0.4113475177304965, + "y": 0.5437352245862885 + } + ], + "type": "bbox" + }, + "point_1768010936459": { + "instances": [ + { + "id": "point_1768010936459_1768011073145_3vepjgwu4", + "x": 0.44208037825059104, + "y": 0.5271867612293144 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方块K的距离减小。方便向爪夹右下方旋转移动。", + "frame": 140, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至50%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块K的任务应当：向爪夹右下方移动。", + "time": 4.6546 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768010928097": { + "instances": [ + { + "height": 0.07328605200945629, + "id": "bbox_1768010928097_1768011083819_ch358erz9", + "width": 0.06382978723404253, + "x": 0.4137115839243499, + "y": 0.5460992907801419 + } + ], + "type": "bbox" + }, + "point_1768010936459": { + "instances": [ + { + "id": "point_1768010936459_1768011127085_qcngny5d6", + "x": 0.44917257683215134, + "y": 0.6052009456264776 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢。", + "error_success_analysis": "爪夹与方块K的距离减小。方便向爪夹合拢。", + "frame": 179, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至60%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块K的任务应当：爪夹合拢。", + "time": 5.9695876288659795 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768010928097": { + "instances": [ + { + "height": 0.0709219858156029, + "id": "bbox_1768010928097_1768011132869_uk3uwj60f", + "width": 0.06146572104018914, + "x": 0.4137115839243499, + "y": 0.5508274231678487 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹合拢抓取方块K。\n已完成爪夹抓取方块K的任务。", + "frame": 196, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹合拢抓取方块K。\n因此进度提升至100%。", + "state_description": "爪夹处于合拢状态。方块K被抓取。\n已完成爪夹抓取方块K的任务。\n", + "time": 6.53384223918575 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768010928097", + "name": "方块K" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768010936459", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768010942527", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001093.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001093.json new file mode 100644 index 0000000000000000000000000000000000000000..5f026e7c98ef3881a250b7e98c4bd9e0813af1ad --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001093.json @@ -0,0 +1,347 @@ +{ + "task_description": "爪夹抓取方块K。\n开始移动：0%\n向爪夹右下方移动：20%\n向爪夹左下方移动：30%\n继续向爪夹左下方移动：40%\n继续向爪夹左下方移动：50%\n爪夹下降：60%\n爪夹继续下降：80%\n爪夹合拢：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768013091900": { + "instances": [ + { + "height": 0.07801418439716308, + "id": "bbox_1768013091900_1768016067942_vbqmsjpcd", + "width": 0.05910165484633575, + "x": 0.5271867612293144, + "y": 0.4799054373522459 + } + ], + "type": "bbox" + }, + "point_1768013103877": { + "instances": [ + { + "id": "point_1768013103877_1768013244372_lexh0szez", + "x": 0.4657210401891253, + "y": 0.14184397163120568 + } + ], + "type": "point" + }, + "point_1768013128540": { + "instances": [ + { + "id": "point_1768013128540_1768013247022_a31e2xfri", + "x": 0.541371158392435, + "y": 0.14420803782505912 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹右下方移动。开始向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于原位。爪夹处于张开状态。\n为完成爪夹抓取方块K的任务应当：向爪夹右下方移动。", + "time": 0.29312977099236637 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1768013091900": { + "instances": [ + { + "height": 0.07565011820330968, + "id": "bbox_1768013091900_1768016375396_9rif74i8f", + "width": 0.06855791962174938, + "x": 0.5224586288416077, + "y": 0.4822695035460993 + } + ], + "type": "bbox" + }, + "point_1768013103877": { + "instances": [ + { + "id": "point_1768013103877_1768016377396_lycjhaxnn", + "x": 0.45862884160756506, + "y": 0.19858156028368795 + } + ], + "type": "point" + }, + "point_1768013128540": { + "instances": [ + { + "id": "point_1768013128540_1768016379220_w3undzjtw", + "x": 0.541371158392435, + "y": 0.19385342789598112 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "与方块K的距离减小。方便向爪夹左下方移动。", + "frame": 27, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块K的任务应当：向爪夹左下方移动。", + "time": 0.8896 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768013091900": { + "instances": [ + { + "height": 0.0709219858156029, + "id": "bbox_1768013091900_1768016400155_pfudzundx", + "width": 0.0709219858156029, + "x": 0.5224586288416077, + "y": 0.4822695035460993 + } + ], + "type": "bbox" + }, + "point_1768013103877": { + "instances": [ + { + "id": "point_1768013103877_1768013261778_destjzhlv", + "x": 0.4988179669030733, + "y": 0.3144208037825059 + } + ], + "type": "point" + }, + "point_1768013128540": { + "instances": [ + { + "id": "point_1768013128540_1768016396075_fx8658r10", + "x": 0.5555555555555556, + "y": 0.27186761229314427 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "与方块K的距离减小。方便向爪夹左下方移动。\n", + "frame": 59, + "progress": 30, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至30%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取梅花K的任务应当：向爪夹左下方移动。", + "time": 1.9704834605597963 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768013091900": { + "instances": [ + { + "height": 0.06855791962174944, + "id": "bbox_1768013091900_1768016408095_9px8ld3oi", + "width": 0.06382978723404253, + "x": 0.5248226950354611, + "y": 0.48463356973995275 + } + ], + "type": "bbox" + }, + "point_1768013103877": { + "instances": [ + { + "id": "point_1768013103877_1768013268872_xf71ajdor", + "x": 0.5271867612293144, + "y": 0.38770685579196223 + } + ], + "type": "point" + }, + "point_1768013128540": { + "instances": [ + { + "id": "point_1768013128540_1768013271032_rp35au79m", + "x": 0.5602836879432626, + "y": 0.34751773049645396 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "与方块K的距离减小。方便向爪夹左下方移动。", + "frame": 85, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至40%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取梅花K的任务应当：向爪夹左下方移动。", + "time": 2.8335877862595424 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768013091900": { + "instances": [ + { + "height": 0.07092198581560284, + "id": "bbox_1768013091900_1768016414257_5nhfeplmj", + "width": 0.0614657210401892, + "x": 0.5319148936170213, + "y": 0.48463356973995275 + } + ], + "type": "bbox" + }, + "point_1768013103877": { + "instances": [ + { + "id": "point_1768013103877_1768013252294_sw0sn72jq", + "x": 0.46099290780141844, + "y": 0.18203309692671396 + } + ], + "type": "point" + }, + "point_1768013128540": { + "instances": [ + { + "id": "point_1768013128540_1768013254658_jiwwgw6cj", + "x": 0.5390070921985816, + "y": 0.18203309692671396 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹开始下降。爪夹合拢。", + "error_success_analysis": "与方块K的距离减小。方便向爪夹下降。", + "frame": 113, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至50%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取梅花K的任务应当：爪夹下降。", + "time": 3.750927835051547 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768013091900": { + "instances": [ + { + "height": 0.06800000000000003, + "id": "bbox_1768013091900_1768017198291_o5t5r20ai", + "width": 0.053, + "x": 0.5315, + "y": 0.483 + } + ], + "type": "bbox" + }, + "point_1768013103877": { + "instances": [ + { + "id": "point_1768013103877_1768013281752_blroa3to9", + "x": 0.557919621749409, + "y": 0.5200945626477541 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹开始下降。爪夹合拢。", + "error_success_analysis": "与方块K的距离减小。方便爪夹下降。", + "frame": 130, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至60%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取梅花K的任务应当：爪夹继续下降。", + "time": 4.338144329896907 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768013091900": { + "instances": [ + { + "height": 0.06600000000000007, + "id": "bbox_1768013091900_1768017172098_ai6jtw0zh", + "width": 0.05699999999999997, + "x": 0.5285, + "y": 0.485 + } + ], + "type": "bbox" + }, + "point_1768013103877": { + "instances": [ + { + "id": "point_1768013103877_1768013289806_xj4g4vlvc", + "x": 0.5602836879432626, + "y": 0.5366430260047282 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢。", + "error_success_analysis": "与方块K的距离减小。方便爪夹合拢。", + "frame": 147, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至80%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块K的任务应当：爪夹合拢。", + "time": 4.90178117048346 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768013091900": { + "instances": [ + { + "height": 0.05699999999999997, + "id": "bbox_1768013091900_1768017187557_92fleowug", + "width": 0.05599999999999999, + "x": 0.5305, + "y": 0.489 + } + ], + "type": "bbox" + }, + "point_1768013103877": { + "instances": [ + { + "id": "point_1768013103877_1768013295082_yydfgb4ka", + "x": 0.5626477541371159, + "y": 0.529550827423168 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹合拢抓取方块K。\n已完成爪夹抓取方块K的任务。", + "frame": 171, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹合拢抓取方块K。\n因此进度提升至100%。", + "state_description": "爪夹处于合拢状态。方块K被抓取。\n已完成爪夹抓取方块K的任务。", + "time": 5.710515463917527 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768013091900", + "name": "方块K" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768013103877", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768013128540", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001098.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001098.json new file mode 100644 index 0000000000000000000000000000000000000000..c7fdef4d9227fdfa9454a410cf939d8dfc765acf --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001098.json @@ -0,0 +1,421 @@ +{ + "task_description": "爪夹抓取红桃8。\n开始移动：0%\n向爪夹左下方移动：10%\n向爪夹右下方移动：20%\n继续向爪夹右下方移动：30%\n继续向爪夹右下方移动：40%\n继续向爪夹右下方移动：50%\n爪夹下降：60%\n爪夹继续下降：80%\n爪夹合拢：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768023827857": { + "instances": [ + { + "height": 0.0803782505910166, + "id": "bbox_1768023827857_1768023886886_vb8rm56ds", + "width": 0.06855791962174944, + "x": 0.28368794326241137, + "y": 0.4964539007092199 + } + ], + "type": "bbox" + }, + "point_1768023849912": { + "instances": [ + { + "id": "point_1768023849912_1768023889870_xkgd4wawo", + "x": 0.45862884160756506, + "y": 0.132387706855792 + } + ], + "type": "point" + }, + "point_1768023858324": { + "instances": [ + { + "id": "point_1768023858324_1768023892520_bpraz271o", + "x": 0.5437352245862885, + "y": 0.1347517730496454 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹左下方旋转移动。开始向爪夹右下方旋转移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于原位。\n为完成爪夹抓取红桃8的任务应当：向爪夹左下方旋转移动。", + "time": 0.05648854961832061 + }, + { + "action_description": "向爪夹左下方旋转移动。", + "annotations": { + "bbox_1768023827857": { + "instances": [ + { + "height": 0.07328605200945629, + "id": "bbox_1768023827857_1768023901326_noon0ctek", + "width": 0.066193853427896, + "x": 0.28368794326241137, + "y": 0.4964539007092199 + } + ], + "type": "bbox" + }, + "point_1768023849912": { + "instances": [ + { + "id": "point_1768023849912_1768023903536_ufov12fyb", + "x": 0.4822695035460993, + "y": 0.18203309692671396 + } + ], + "type": "point" + }, + "point_1768023858324": { + "instances": [ + { + "id": "point_1768023858324_1768023906054_aix94nv54", + "x": 0.5555555555555556, + "y": 0.17966903073286053 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹右下方旋转移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃8的距离减小。方便向爪夹右下方旋转移动。", + "frame": 25, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝红桃8的方向移动。\n因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与红桃8的距离减小。\n为完成爪夹抓取红桃8的任务应当：向爪夹右下方旋转移动。", + "time": 0.8473282442748091 + }, + { + "action_description": "向爪夹右下方旋转移动。", + "annotations": { + "bbox_1768023827857": { + "instances": [ + { + "height": 0.07328605200945629, + "id": "bbox_1768023827857_1768023937349_z8a9yxhoy", + "width": 0.06382978723404253, + "x": 0.2860520094562648, + "y": 0.4988179669030733 + } + ], + "type": "bbox" + }, + "point_1768023849912": { + "instances": [ + { + "id": "point_1768023849912_1768023940315_6s60embpi", + "x": 0.44917257683215134, + "y": 0.23167848699763596 + } + ], + "type": "point" + }, + "point_1768023858324": { + "instances": [ + { + "id": "point_1768023858324_1768023943359_zuiff2qfu", + "x": 0.5271867612293144, + "y": 0.21513002364066197 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方旋转移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃8的距离减小。方便向爪夹右下方旋转移动。", + "frame": 42, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝红桃8的方向移动。\n因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与红桃8的距离减小。\n为完成爪夹抓取红桃8的任务应当：向爪夹右下方旋转移动。", + "time": 1.4122137404580155 + }, + { + "action_description": "向爪夹右下方旋转移动。", + "annotations": { + "bbox_1768023827857": { + "instances": [ + { + "height": 0.07328605200945629, + "id": "bbox_1768023827857_1768023949395_7519ig5ph", + "width": 0.06382978723404259, + "x": 0.28368794326241137, + "y": 0.4964539007092199 + } + ], + "type": "bbox" + }, + "point_1768023849912": { + "instances": [ + { + "id": "point_1768023849912_1768023953393_hghpf6s02", + "x": 0.40425531914893625, + "y": 0.29787234042553196 + } + ], + "type": "point" + }, + "point_1768023858324": { + "instances": [ + { + "id": "point_1768023858324_1768023955841_y38d877lo", + "x": 0.4751773049645391, + "y": 0.2695035460992908 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方旋转移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃8的距离减小。方便向爪夹右下方旋转移动。", + "frame": 69, + "progress": 30, + "progress_explanation": "与上一进度相比，爪夹朝红桃8的方向移动。\n因此进度提升至30%。", + "state_description": "爪夹处于张开状态。与红桃8的距离减小。\n为完成爪夹抓取红桃8的任务应当：向爪夹右下方旋转移动。", + "time": 2.3088 + }, + { + "action_description": "向爪夹右下方旋转移动。", + "annotations": { + "bbox_1768023827857": { + "instances": [ + { + "height": 0.07092198581560284, + "id": "bbox_1768023827857_1768023970617_f6wgsr6h6", + "width": 0.066193853427896, + "x": 0.4137115839243499, + "y": 0.5035460992907802 + } + ], + "type": "bbox" + }, + "point_1768023849912": { + "instances": [ + { + "id": "point_1768023849912_1768023982277_nw35uw9f6", + "x": 0.3900709219858156, + "y": 0.3262411347517731 + } + ], + "type": "point" + }, + "point_1768023858324": { + "instances": [ + { + "id": "point_1768023858324_1768023984611_j9qhih9de", + "x": 0.44917257683215134, + "y": 0.30496453900709225 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方旋转移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃8的距离减小。方便向爪夹右下方旋转移动。", + "frame": 82, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹朝红桃8的方向移动。\n因此进度提升至40%。", + "state_description": "爪夹处于张开状态。与红桃8的距离减小。\n为完成爪夹抓取红桃8的任务应当：向爪夹右下方旋转移动。", + "time": 2.73027989821883 + }, + { + "action_description": "向爪夹右下方旋转移动。", + "annotations": { + "bbox_1768023827857": { + "instances": [ + { + "height": 0.07565011820330968, + "id": "bbox_1768023827857_1768023997929_0jr8b0f75", + "width": 0.06382978723404259, + "x": 0.28368794326241137, + "y": 0.4988179669030733 + } + ], + "type": "bbox" + }, + "point_1768023849912": { + "instances": [ + { + "id": "point_1768023849912_1768024007373_e0ys3svb3", + "x": 0.31678486997635935, + "y": 0.45862884160756506 + } + ], + "type": "point" + }, + "point_1768023858324": { + "instances": [ + { + "id": "point_1768023858324_1768024009447_sn91ccu1u", + "x": 0.3427895981087471, + "y": 0.4137115839243499 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃8的距离减小。方便爪夹下降。", + "frame": 134, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹朝红桃8的方向移动。\n因此进度提升至50%。", + "state_description": "爪夹处于张开状态。与红桃8的距离减小。\n为完成爪夹抓取红桃8的任务应当：爪夹下降。", + "time": 4.481424936386769 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768023827857": { + "instances": [ + { + "height": 0.0803782505910166, + "id": "bbox_1768023827857_1768024026451_n5d734yam", + "width": 0.066193853427896, + "x": 0.28368794326241137, + "y": 0.4964539007092199 + } + ], + "type": "bbox" + }, + "point_1768023849912": { + "instances": [ + { + "id": "point_1768023849912_1768024029823_ds5y9dfcp", + "x": 0.3073286052009456, + "y": 0.5200945626477541 + } + ], + "type": "point" + }, + "point_1768023858324": { + "instances": [ + { + "id": "point_1768023858324_1768024032773_jf7bi6n1s", + "x": 0.32387706855791965, + "y": 0.4680851063829788 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃8的距离减小。方便爪夹下降。", + "frame": 155, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝红桃8的方向移动。\n因此进度提升至60%。", + "state_description": "爪夹处于张开状态。与红桃8的距离减小。\n为完成爪夹抓取红桃8的任务应当：爪夹继续下降。", + "time": 5.1781170483460555 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768023827857": { + "instances": [ + { + "height": 0.07801418439716314, + "id": "bbox_1768023827857_1768024056410_pndvnpmjp", + "width": 0.07092198581560284, + "x": 0.28132387706855794, + "y": 0.4940898345153665 + } + ], + "type": "bbox" + }, + "point_1768023849912": { + "instances": [ + { + "id": "point_1768023849912_1768024060520_e1dv6hqy2", + "x": 0.30496453900709225, + "y": 0.5531914893617021 + } + ], + "type": "point" + }, + "point_1768023858324": { + "instances": [ + { + "id": "point_1768023858324_1768024062252_4jy2u5eje", + "x": 0.33096926713947994, + "y": 0.5106382978723405 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢。", + "error_success_analysis": "爪夹与红桃8的距离减小。方便爪夹合拢。", + "frame": 179, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝红桃8的方向移动。\n因此进度提升至80%。", + "state_description": "爪夹处于张开状态。与红桃8的距离减小。\n为完成爪夹抓取红桃8的任务应当：爪夹合拢。", + "time": 5.950127226463104 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768023827857": { + "instances": [ + { + "height": 0.07092198581560284, + "id": "bbox_1768023827857_1768024068220_d6yaobjl3", + "width": 0.0709219858156029, + "x": 0.28368794326241137, + "y": 0.5011820330969268 + } + ], + "type": "bbox" + }, + "point_1768023849912": { + "instances": [ + { + "id": "point_1768023849912_1768024071136_262ptc33i", + "x": 0.3073286052009456, + "y": 0.5555555555555556 + } + ], + "type": "point" + }, + "point_1768023858324": { + "instances": [ + { + "id": "point_1768023858324_1768024073008_3mopvxy1l", + "x": 0.3286052009456265, + "y": 0.5106382978723405 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹合拢抓取红桃8。\n已完成爪夹抓取红桃8的任务。", + "frame": 200, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹朝红桃8的方向移动。\n因此进度提升至100%。", + "state_description": "爪夹处于合拢状态。爪夹合拢抓取红桃8。\n已完成爪夹抓取红桃8的任务。", + "time": 6.665648854961832 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768023827857", + "name": "红桃8" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768023849912", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768023858324", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001110.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001110.json new file mode 100644 index 0000000000000000000000000000000000000000..0d1821f89c47101761ec408297c0d0fd467ea44f --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001110.json @@ -0,0 +1,381 @@ +{ + "task_description": "爪夹抓取红桃10。\n开始移动：0%\n向爪夹右下方移动：10%\n继续向爪夹右下方移动：20%\n继续向爪夹右下方移动：30%\n继续向爪夹右下方移动：40%\n继续向爪夹右下方移动：50%\n爪夹下降：60%\n爪夹继续下降：80%\n爪夹合拢：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768025931934": { + "instances": [ + { + "height": 0.07565011820330968, + "id": "bbox_1768025931934_1768025986831_fte77crfa", + "width": 0.0709219858156029, + "x": 0.31678486997635935, + "y": 0.5130023640661939 + } + ], + "type": "bbox" + }, + "point_1768025938305": { + "instances": [ + { + "id": "point_1768025938305_1768025990067_skznx9rok", + "x": 0.46099290780141844, + "y": 0.132387706855792 + } + ], + "type": "point" + }, + "point_1768025949975": { + "instances": [ + { + "id": "point_1768025949975_1768025992217_t1gqh723g", + "x": 0.5437352245862885, + "y": 0.12765957446808512 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹右下方旋转移动。爪夹开始下降。\n爪夹合拢。", + "error_success_analysis": "", + "frame": 3, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于原位。\n为完成爪夹抓取红桃10的任务应当：向爪夹右下方旋转移动。", + "time": 0.09922680412371133 + }, + { + "action_description": "向爪夹右下方旋转移动。", + "annotations": { + "bbox_1768025931934": { + "instances": [ + { + "height": 0.07565011820330968, + "id": "bbox_1768025931934_1768026006753_tw9wzhsj8", + "width": 0.066193853427896, + "x": 0.3191489361702128, + "y": 0.5153664302600472 + } + ], + "type": "bbox" + }, + "point_1768025938305": { + "instances": [ + { + "id": "point_1768025938305_1768026009681_6j3jw37on", + "x": 0.40661938534278963, + "y": 0.14420803782505912 + } + ], + "type": "point" + }, + "point_1768025949975": { + "instances": [ + { + "id": "point_1768025949975_1768026011923_fq3l8kjld", + "x": 0.48699763593380613, + "y": 0.14420803782505912 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方旋转移动。爪夹开始下降。\n爪夹合拢。", + "error_success_analysis": "爪夹与红桃10的距离减小。方便向爪夹右下方旋转移动。\n", + "frame": 25, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝红桃10的方向移动。\n因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与红桃10的距离减小。\n为完成爪夹抓取红桃10的任务应当：向爪夹右下方旋转移动。\n", + "time": 0.8229007633587786 + }, + { + "action_description": "向爪夹右下方旋转移动。", + "annotations": { + "bbox_1768025931934": { + "instances": [ + { + "height": 0.07801418439716308, + "id": "bbox_1768025931934_1768026019893_x94m0xasl", + "width": 0.06146572104018908, + "x": 0.32151300236406627, + "y": 0.5130023640661939 + } + ], + "type": "bbox" + }, + "point_1768025938305": { + "instances": [ + { + "id": "point_1768025938305_1768026082493_mwigq0c8t", + "x": 0.3617021276595745, + "y": 0.18912529550827423 + } + ], + "type": "point" + }, + "point_1768025949975": { + "instances": [ + { + "id": "point_1768025949975_1768026090767_bezfhvdd0", + "x": 0.44208037825059104, + "y": 0.19148936170212766 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方旋转移动。爪夹开始下降。\n爪夹合拢。", + "error_success_analysis": "爪夹与红桃10的距离减小。方便向爪夹右下方旋转移动。", + "frame": 51, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝红桃10的方向移动。\n因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与红桃10的距离减小。\n为完成爪夹抓取红桃10的任务应当：向爪夹右下方旋转移动。", + "time": 1.6849872773536898 + }, + { + "action_description": "向爪夹右下方旋转移动。", + "annotations": { + "bbox_1768025931934": { + "instances": [ + { + "height": 0.0709219858156029, + "id": "bbox_1768025931934_1768026043966_e88rtfb3q", + "width": 0.06382978723404253, + "x": 0.32151300236406627, + "y": 0.5153664302600472 + } + ], + "type": "bbox" + }, + "point_1768025938305": { + "instances": [ + { + "id": "point_1768025938305_1768026098059_5k7of8t5f", + "x": 0.34751773049645396, + "y": 0.26241134751773054 + } + ], + "type": "point" + }, + "point_1768025949975": { + "instances": [ + { + "id": "point_1768025949975_1768026100243_jih4tqrh1", + "x": 0.4255319148936171, + "y": 0.2576832151300236 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方旋转移动。爪夹开始下降。\n爪夹合拢。", + "error_success_analysis": "爪夹与红桃10的距离减小。方便向爪夹右下方旋转移动。", + "frame": 76, + "progress": 30, + "progress_explanation": "与上一进度相比，爪夹朝红桃10的方向移动。\n因此进度提升至30%。", + "state_description": "爪夹处于张开状态。与红桃10的距离减小。\n为完成爪夹抓取红桃10的任务应当：向爪夹右下方旋转移动。", + "time": 2.5470737913486006 + }, + { + "action_description": "向爪夹右下方旋转移动。", + "annotations": { + "bbox_1768025931934": { + "instances": [ + { + "height": 0.07565011820330968, + "id": "bbox_1768025931934_1768026107332_xkuso5r1o", + "width": 0.066193853427896, + "x": 0.3191489361702128, + "y": 0.5130023640661939 + } + ], + "type": "bbox" + }, + "point_1768025938305": { + "instances": [ + { + "id": "point_1768025938305_1768026120955_fasyj76q0", + "x": 0.34751773049645396, + "y": 0.3617021276595745 + } + ], + "type": "point" + }, + "point_1768025949975": { + "instances": [ + { + "id": "point_1768025949975_1768026122839_bqn65je75", + "x": 0.40189125295508277, + "y": 0.32151300236406627 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方旋转移动。爪夹开始下降。\n爪夹合拢。", + "error_success_analysis": "爪夹与红桃10的距离减小。方便向爪夹右下方旋转移动。", + "frame": 104, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹朝红桃10的方向移动。\n因此进度提升至40%。", + "state_description": "爪夹处于张开状态。与红桃10的距离减小。\n为完成爪夹抓取红桃10的任务应当：向爪夹右下方旋转移动。", + "time": 3.46793893129771 + }, + { + "action_description": "向爪夹右下方旋转移动。", + "annotations": { + "bbox_1768025931934": { + "instances": [ + { + "height": 0.07328605200945629, + "id": "bbox_1768025931934_1768026223183_fqed5fu3r", + "width": 0.06382978723404253, + "x": 0.3191489361702128, + "y": 0.5153664302600472 + } + ], + "type": "bbox" + }, + "point_1768025938305": { + "instances": [ + { + "id": "point_1768025938305_1768026169816_3hd0gh4jb", + "x": 0.3404255319148936, + "y": 0.4964539007092199 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃10的距离减小。方便爪夹下降。", + "frame": 150, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹朝红桃10的方向移动。\n因此进度提升至50%。", + "state_description": "爪夹处于张开状态。与红桃10的距离减小。\n为完成爪夹抓取红桃10的任务应当：爪夹开始下降。", + "time": 4.9961832061068705 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768025931934": { + "instances": [ + { + "height": 0.07565011820330968, + "id": "bbox_1768025931934_1768026241027_0o0ycfs1p", + "width": 0.06382978723404253, + "x": 0.3191489361702128, + "y": 0.5130023640661939 + } + ], + "type": "bbox" + }, + "point_1768025938305": { + "instances": [ + { + "id": "point_1768025938305_1768026246567_72kaefzot", + "x": 0.3427895981087471, + "y": 0.5437352245862885 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃10的距离减小。方便爪夹下降。", + "frame": 165, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝红桃10的方向移动。\n因此进度提升至60%。", + "state_description": "爪夹处于张开状态。与红桃10的距离减小。\n为完成爪夹抓取红桃10的任务应当：爪夹继续下降。", + "time": 5.505597964376591 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768025931934": { + "instances": [ + { + "height": 0.07801418439716314, + "id": "bbox_1768025931934_1768026262964_56qwsdm40", + "width": 0.066193853427896, + "x": 0.31678486997635935, + "y": 0.5106382978723405 + } + ], + "type": "bbox" + }, + "point_1768025938305": { + "instances": [ + { + "id": "point_1768025938305_1768026266346_6g7w35uy8", + "x": 0.34988179669030733, + "y": 0.5791962174940899 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢。", + "error_success_analysis": "爪夹与红桃10的距离减小。方便爪夹合拢。", + "frame": 183, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝红桃10的方向移动。\n因此进度提升至80%。", + "state_description": "爪夹处于张开状态。与红桃10的距离减小。\n为完成爪夹抓取红桃10的任务应当：爪夹合拢。", + "time": 6.093384223918575 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768025931934": { + "instances": [ + { + "height": 0.066193853427896, + "id": "bbox_1768025931934_1768026289622_9www7qjg3", + "width": 0.059101654846335686, + "x": 0.32387706855791965, + "y": 0.5153664302600472 + } + ], + "type": "bbox" + }, + "point_1768025938305": { + "instances": [ + { + "id": "point_1768025938305_1768026291982_otbpm9bhv", + "x": 0.34751773049645396, + "y": 0.5650118203309693 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹合拢抓取红桃10。\n已完成爪夹抓取红桃10的任务。", + "frame": 199, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹合拢抓取红桃10。\n因此进度提升至100%。", + "state_description": "爪夹处于合拢状态。红桃10被抓取。\n已完成爪夹抓取红桃10的任务。", + "time": 6.6297 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768025931934", + "name": "红桃10" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768025938305", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768025949975", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001123.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001123.json new file mode 100644 index 0000000000000000000000000000000000000000..137dc6d37b7a8a73ee50b904e19601ac6a805efd --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001123.json @@ -0,0 +1,401 @@ +{ + "task_description": "爪夹抓取红桃4。\n开始移动：0%\n向爪夹左下方移动：10%\n向爪夹下方移动：20%\n继续向爪夹下方移动：30%\n继续向爪夹下方移动：40%\n继续向爪夹下方移动：50%\n继续向爪夹下方移动：60%\n继续向爪夹下方移动：80%\n爪夹合拢：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768028082996": { + "instances": [ + { + "height": 0.07565011820330975, + "id": "bbox_1768028082996_1768028216186_j5idbabqb", + "width": 0.059101654846335686, + "x": 0.5153664302600472, + "y": 0.4940898345153665 + } + ], + "type": "bbox" + }, + "point_1768028114212": { + "instances": [ + { + "id": "point_1768028114212_1768028221308_4ng5ket90", + "x": 0.46099290780141844, + "y": 0.13711583924349882 + } + ], + "type": "point" + }, + "point_1768028120586": { + "instances": [ + { + "id": "point_1768028120586_1768028224654_arlmqvoey", + "x": 0.5437352245862885, + "y": 0.13947990543735225 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹左下方旋转移动。开始向爪夹下方旋转移动。爪夹合拢。", + "error_success_analysis": "", + "frame": 11, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于原位。\n为完成爪夹抓取红桃4的任务应当：向爪夹左下方旋转移动。", + "time": 0.3793893129770992 + }, + { + "action_description": "向爪夹左下方旋转移动。", + "annotations": { + "bbox_1768028082996": { + "instances": [ + { + "height": 0.07565011820330975, + "id": "bbox_1768028082996_1768028233958_wkvh4qn09", + "width": 0.06382978723404259, + "x": 0.5153664302600472, + "y": 0.4940898345153665 + } + ], + "type": "bbox" + }, + "point_1768028114212": { + "instances": [ + { + "id": "point_1768028114212_1768028267996_5kbzxxttq", + "x": 0.47754137115839246, + "y": 0.17494089834515367 + } + ], + "type": "point" + }, + "point_1768028120586": { + "instances": [ + { + "id": "point_1768028120586_1768028271070_evo6jeycd", + "x": 0.557919621749409, + "y": 0.17257683215130024 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹下方旋转移动。爪夹合拢。", + "error_success_analysis": "爪夹与红桃4的距离减小。方便向爪夹下方旋转移动。", + "frame": 33, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝红桃4的方向移动。因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与红桃4的距离减小。\n为完成爪夹抓取红桃4的任务应当：向爪夹下方旋转移动。", + "time": 1.102035623409669 + }, + { + "action_description": "向爪夹下方旋转移动。", + "annotations": { + "bbox_1768028082996": { + "instances": [ + { + "height": 0.06855791962174938, + "id": "bbox_1768028082996_1768028279152_2e4ck5euz", + "width": 0.059101654846335686, + "x": 0.5153664302600472, + "y": 0.4988179669030733 + } + ], + "type": "bbox" + }, + "point_1768028114212": { + "instances": [ + { + "id": "point_1768028114212_1768028281820_4ytuvdj6e", + "x": 0.4680851063829788, + "y": 0.24113475177304966 + } + ], + "type": "point" + }, + "point_1768028120586": { + "instances": [ + { + "id": "point_1768028120586_1768028284953_iu0h7qe8y", + "x": 0.5531914893617021, + "y": 0.22931442080378253 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹下方旋转移动。爪夹合拢。", + "error_success_analysis": "爪夹与红桃4的距离减小。方便向爪夹下方旋转移动。", + "frame": 57, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝红桃4的方向移动。因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与红桃4的距离减小。\n为完成爪夹抓取红桃4的任务应当：向爪夹下方旋转移动。", + "time": 1.909899 + }, + { + "action_description": "向爪夹下方旋转移动。", + "annotations": { + "bbox_1768028082996": { + "instances": [ + { + "height": 0.06855791962174944, + "id": "bbox_1768028082996_1768028292158_u1jxfe1b6", + "width": 0.0614657210401892, + "x": 0.5153664302600472, + "y": 0.5011820330969268 + } + ], + "type": "bbox" + }, + "point_1768028114212": { + "instances": [ + { + "id": "point_1768028114212_1768028295031_p1spcy5nu", + "x": 0.48699763593380613, + "y": 0.30496453900709225 + } + ], + "type": "point" + }, + "point_1768028120586": { + "instances": [ + { + "id": "point_1768028120586_1768028297158_40kqfd9ey", + "x": 0.5602836879432626, + "y": 0.28368794326241137 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹下方旋转移动。爪夹合拢。", + "error_success_analysis": "爪夹与红桃4的距离减小。方便向爪夹下方旋转移动。", + "frame": 79, + "progress": 30, + "progress_explanation": "与上一进度相比，爪夹朝红桃4的方向移动。因此进度提升至30%。", + "state_description": "爪夹处于张开状态。与红桃4的距离减小。\n为完成爪夹抓取红桃4的任务应当：向爪夹下方旋转移动。", + "time": 2.6376590330788803 + }, + { + "action_description": "向爪夹下方旋转移动。", + "annotations": { + "bbox_1768028082996": { + "instances": [ + { + "height": 0.0709219858156029, + "id": "bbox_1768028082996_1768028313525_k093mt85r", + "width": 0.06382978723404259, + "x": 0.5153664302600472, + "y": 0.4988179669030733 + } + ], + "type": "bbox" + }, + "point_1768028114212": { + "instances": [ + { + "id": "point_1768028114212_1768028325597_oisj4xt2n", + "x": 0.5059101654846336, + "y": 0.3640661938534279 + } + ], + "type": "point" + }, + "point_1768028120586": { + "instances": [ + { + "id": "point_1768028120586_1768028328710_0sq4m9qij", + "x": 0.5555555555555556, + "y": 0.3356973995271868 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹下方旋转移动。爪夹合拢。", + "error_success_analysis": "爪夹与红桃4的距离减小。方便向爪夹下方旋转移动。", + "frame": 97, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹朝红桃4的方向移动。因此进度提升至40%。", + "state_description": "爪夹处于张开状态。与红桃4的距离减小。\n为完成爪夹抓取红桃4的任务应当：向爪夹下方旋转移动。", + "time": 3.2338422391857504 + }, + { + "action_description": "向爪夹下方旋转移动。", + "annotations": { + "bbox_1768028082996": { + "instances": [ + { + "height": 0.07328605200945629, + "id": "bbox_1768028082996_1768028336854_f5btveywj", + "width": 0.06382978723404259, + "x": 0.5130023640661939, + "y": 0.4964539007092199 + } + ], + "type": "bbox" + }, + "point_1768028114212": { + "instances": [ + { + "id": "point_1768028114212_1768028340094_n3t0tzcca", + "x": 0.5224586288416077, + "y": 0.4255319148936171 + } + ], + "type": "point" + }, + "point_1768028120586": { + "instances": [ + { + "id": "point_1768028120586_1768028342482_x03nb6jza", + "x": 0.5555555555555556, + "y": 0.38770685579196223 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹下方旋转移动。爪夹合拢。", + "error_success_analysis": "爪夹与红桃4的距离减小。方便向爪夹下方旋转移动。", + "frame": 117, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹朝红桃4的方向移动。因此进度提升至50%。", + "state_description": "爪夹处于张开状态。与红桃4的距离减小。\n为完成爪夹抓取红桃4的任务应当：向爪夹下方旋转移动。", + "time": 3.884223918575063 + }, + { + "action_description": "向爪夹下方旋转移动。", + "annotations": { + "bbox_1768028082996": { + "instances": [ + { + "height": 0.06619385342789592, + "id": "bbox_1768028082996_1768028354164_97u3gs5hd", + "width": 0.0614657210401892, + "x": 0.5153664302600472, + "y": 0.5011820330969268 + } + ], + "type": "bbox" + }, + "point_1768028114212": { + "instances": [ + { + "id": "point_1768028114212_1768028357571_hxkfervq5", + "x": 0.5531914893617021, + "y": 0.5035460992907802 + } + ], + "type": "point" + }, + "point_1768028120586": { + "instances": [ + { + "id": "point_1768028120586_1768028362748_auv9u0qtv", + "x": 0.5342789598108747, + "y": 0.4539007092198582 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹下方旋转移动。爪夹合拢。", + "error_success_analysis": "爪夹与红桃4的距离减小。方便向爪夹下方旋转移动。", + "frame": 144, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝红桃4的方向移动。因此进度提升至60%。", + "state_description": "爪夹处于张开状态。与红桃4的距离减小。\n为完成爪夹抓取红桃4的任务应当：向爪夹下方旋转移动。", + "time": 4.7925 + }, + { + "action_description": "向爪夹下方旋转移动。", + "annotations": { + "bbox_1768028082996": { + "instances": [ + { + "height": 0.06855791962174944, + "id": "bbox_1768028082996_1768028368740_71t9elz4h", + "width": 0.05910165484633575, + "x": 0.5177304964539008, + "y": 0.5011820330969268 + } + ], + "type": "bbox" + }, + "point_1768028114212": { + "instances": [ + { + "id": "point_1768028114212_1768028371176_f50xhuro5", + "x": 0.5508274231678487, + "y": 0.5460992907801419 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢。", + "error_success_analysis": "爪夹与红桃4的距离减小。方便爪夹合拢。", + "frame": 178, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝红桃4的方向移动。因此进度提升至80%。", + "state_description": "爪夹处于张开状态。与红桃4的距离减小。\n为完成爪夹抓取红桃4的任务应当：爪夹合拢。", + "time": 5.943765903307888 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768028082996": { + "instances": [ + { + "height": 0.07328605200945629, + "id": "bbox_1768028082996_1768028380510_5dh523adq", + "width": 0.05910165484633575, + "x": 0.5177304964539008, + "y": 0.4988179669030733 + } + ], + "type": "bbox" + }, + "point_1768028114212": { + "instances": [ + { + "id": "point_1768028114212_1768028383734_4enxdsi5p", + "x": 0.5484633569739953, + "y": 0.5484633569739953 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹合拢抓取到红桃4。\n已完成爪夹抓取红桃4的任务。", + "frame": 190, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹合拢抓取到红桃4。因此进度提升至100%。", + "state_description": "爪夹处于合拢状态。抓取到红桃4。\n已完成爪夹抓取红桃4的任务。", + "time": 6.341221374045801 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768028082996", + "name": "红桃4" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768028114212", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768028120586", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001129.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001129.json new file mode 100644 index 0000000000000000000000000000000000000000..63574c732a750f5affa0de2de8674c7c597b526b --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001129.json @@ -0,0 +1,379 @@ +{ + "task_description": "爪夹抓取方块3。\n开始移动：0%\n向爪夹右下方移动：10%\n继续向爪夹右下方移动：20%\n继续向爪夹右下方移动：30%\n继续向爪夹右下方移动：40%\n向爪夹下方移动：50%\n继续向爪夹下方移动：60%\n继续向爪夹下方移动：80%\n爪夹合拢：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "point_1768030755394": { + "instances": [ + { + "id": "point_1768030755394_1768030812999_g4pe0lvo4", + "x": 0.4633569739952719, + "y": 0.132387706855792 + } + ], + "type": "point" + }, + "point_1768030763569": { + "instances": [ + { + "id": "point_1768030763569_1768030815393_bx65noabh", + "x": 0.5437352245862885, + "y": 0.132387706855792 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹右下方移动。开始向爪夹下方移动。爪夹合拢。", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于原位。\n为完成爪夹抓取方块3的任务应当：向爪夹右下方移动。", + "time": 0.1344 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1768030744918": { + "instances": [ + { + "height": 0.07328605200945634, + "id": "bbox_1768030744918_1768030851076_jtwkoxdhd", + "width": 0.06382978723404259, + "x": 0.3120567375886525, + "y": 0.47044917257683216 + } + ], + "type": "bbox" + }, + "point_1768030755394": { + "instances": [ + { + "id": "point_1768030755394_1768030853400_daimpz185", + "x": 0.40898345153664306, + "y": 0.14657210401891255 + } + ], + "type": "point" + }, + "point_1768030763569": { + "instances": [ + { + "id": "point_1768030763569_1768030855348_ead47beyf", + "x": 0.48463356973995275, + "y": 0.13711583924349882 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方移动。开始向爪夹下方移动。爪夹合拢。", + "error_success_analysis": "爪夹与方块3的距离减小。方便向爪夹右下方移动。", + "frame": 32, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝方块3的方向移动。\n因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与方块3的距离减小。\n为完成爪夹抓取方块3的任务应当：向爪夹右下方移动。", + "time": 1.05 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1768030744918": { + "instances": [ + { + "height": 0.07565011820330975, + "id": "bbox_1768030744918_1768030863326_7cj3vtv3c", + "width": 0.06382978723404259, + "x": 0.3120567375886525, + "y": 0.47044917257683216 + } + ], + "type": "bbox" + }, + "point_1768030755394": { + "instances": [ + { + "id": "point_1768030755394_1768030877452_eixqu27it", + "x": 0.36643026004728135, + "y": 0.14893617021276598 + } + ], + "type": "point" + }, + "point_1768030763569": { + "instances": [ + { + "id": "point_1768030763569_1768030881132_48dt7c0ge", + "x": 0.44208037825059104, + "y": 0.14893617021276598 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方移动。开始向爪夹下方移动。爪夹合拢。", + "error_success_analysis": "爪夹与方块3的距离减小。方便向爪夹右下方移动。", + "frame": 45, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝方块3的方向移动。\n因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与方块3的距离减小。\n为完成爪夹抓取方块3的任务应当：向爪夹右下方移动。", + "time": 1.4961832061068703 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1768030744918": { + "instances": [ + { + "height": 0.0709219858156029, + "id": "bbox_1768030744918_1768030888012_ob600tl4t", + "width": 0.06382978723404253, + "x": 0.3144208037825059, + "y": 0.4728132387706856 + } + ], + "type": "bbox" + }, + "point_1768030755394": { + "instances": [ + { + "id": "point_1768030755394_1768030889725_m2tfuf6h7", + "x": 0.29787234042553196, + "y": 0.17257683215130024 + } + ], + "type": "point" + }, + "point_1768030763569": { + "instances": [ + { + "id": "point_1768030763569_1768030892012_jgxl4btlh", + "x": 0.37352245862884165, + "y": 0.17257683215130024 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方移动。开始向爪夹下方移动。爪夹合拢。", + "error_success_analysis": "爪夹与方块3的距离减小。方便向爪夹右下方移动。", + "frame": 74, + "progress": 30, + "progress_explanation": "与上一进度相比，爪夹朝方块3的方向移动。\n因此进度提升至30%。", + "state_description": "爪夹处于张开状态。与方块3的距离减小。\n为完成爪夹抓取方块3的任务应当：向爪夹右下方移动。", + "time": 2.4612 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1768030744918": { + "instances": [ + { + "height": 0.07328605200945629, + "id": "bbox_1768030744918_1768030907381_ra63xwkko", + "width": 0.059101654846335686, + "x": 0.3144208037825059, + "y": 0.4728132387706856 + } + ], + "type": "bbox" + }, + "point_1768030755394": { + "instances": [ + { + "id": "point_1768030755394_1768030927492_3mc9bkldo", + "x": 0.28132387706855794, + "y": 0.27423167848699764 + } + ], + "type": "point" + }, + "point_1768030763569": { + "instances": [ + { + "id": "point_1768030763569_1768030930286_zzspnn0lk", + "x": 0.35697399527186763, + "y": 0.2576832151300236 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方移动。开始向爪夹下方移动。爪夹合拢。", + "error_success_analysis": "爪夹与方块3的距离减小。方便向爪夹右下方移动。", + "frame": 112, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹朝方块3的方向移动。\n因此进度提升至40%。", + "state_description": "爪夹处于张开状态。与方块3的距离减小。\n为完成爪夹抓取方块3的任务应当：向爪夹右下方移动。", + "time": 3.719083969465649 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1768030744918": { + "instances": [ + { + "height": 0.0709219858156029, + "id": "bbox_1768030744918_1768030939526_1uiutner0", + "width": 0.06382978723404259, + "x": 0.3120567375886525, + "y": 0.4728132387706856 + } + ], + "type": "bbox" + }, + "point_1768030755394": { + "instances": [ + { + "id": "point_1768030755394_1768030943064_knk1ybwxu", + "x": 0.28841607565011823, + "y": 0.31678486997635935 + } + ], + "type": "point" + }, + "point_1768030763569": { + "instances": [ + { + "id": "point_1768030763569_1768030985618_c6q47jnaa", + "x": 0.35933806146572106, + "y": 0.29787234042553196 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹下方移动。爪夹合拢。", + "error_success_analysis": "爪夹与方块3的距离减小。方便向爪夹下方移动。", + "frame": 129, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹朝方块3的方向移动。\n因此进度提升至50%。", + "state_description": "爪夹处于张开状态。与方块3的距离减小。\n为完成爪夹抓取方块3的任务应当：向爪夹下方移动。", + "time": 4.29618320610687 + }, + { + "action_description": "向爪夹下方移动。", + "annotations": { + "bbox_1768030744918": { + "instances": [ + { + "height": 0.0709219858156029, + "id": "bbox_1768030744918_1768030993824_h9fnt3pm8", + "width": 0.059101654846335686, + "x": 0.3144208037825059, + "y": 0.4728132387706856 + } + ], + "type": "bbox" + }, + "point_1768030755394": { + "instances": [ + { + "id": "point_1768030755394_1768030995816_2arj0ycs7", + "x": 0.32151300236406627, + "y": 0.3971631205673759 + } + ], + "type": "point" + }, + "point_1768030763569": { + "instances": [ + { + "id": "point_1768030763569_1768030998534_sm9qp9cmm", + "x": 0.35460992907801425, + "y": 0.36643026004728135 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹下方移动。爪夹合拢。", + "error_success_analysis": "爪夹与方块3的距离减小。方便向爪夹下方移动。", + "frame": 153, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝方块3的方向移动。\n因此进度提升至60%。", + "state_description": "爪夹处于张开状态。与方块3的距离减小。\n为完成爪夹抓取方块3的任务应当：向爪夹下方移动。", + "time": 5.1072 + }, + { + "action_description": "向爪夹下方移动。", + "annotations": { + "bbox_1768030744918": { + "instances": [ + { + "height": 0.07565011820330975, + "id": "bbox_1768030744918_1768031009980_epc4oqaga", + "width": 0.06382978723404253, + "x": 0.3096926713947991, + "y": 0.47044917257683216 + } + ], + "type": "bbox" + }, + "point_1768030755394": { + "instances": [ + { + "id": "point_1768030755394_1768031013024_xqgl9sirc", + "x": 0.3404255319148936, + "y": 0.5271867612293144 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹下方移动。爪夹合拢。", + "error_success_analysis": "爪夹与方块3的距离减小。方便向爪夹下方移动。", + "frame": 203, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝方块3的方向移动。\n因此进度提升至80%。", + "state_description": "爪夹处于张开状态。与方块3的距离减小。\n为完成爪夹抓取方块3的任务应当：继续向爪夹下方移动。", + "time": 6.754198473282443 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768030744918": { + "instances": [ + { + "height": 0.0709219858156029, + "id": "bbox_1768030744918_1768031021428_27282npyg", + "width": 0.06146572104018914, + "x": 0.3120567375886525, + "y": 0.4728132387706856 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹合拢抓取方块3。\n已完成爪夹抓取方块3的任务。", + "frame": 225, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹合拢抓取方块3。\n因此进度提升至100%。", + "state_description": "爪夹处于张开状态。方块3被抓取。\n已完成爪夹抓取方块3的任务。", + "time": 7.5012 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768030744918", + "name": "方块3" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768030755394", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768030763569", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001131.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001131.json new file mode 100644 index 0000000000000000000000000000000000000000..8dd70693218704e7e0ead014a7ff52e972a3f46d --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001131.json @@ -0,0 +1,445 @@ +{ + "task_description": "爪夹抓取方块K。\n开始移动：0%\n向爪夹右下方移动：10%\n向爪夹左下方移动：20%\n继续向爪夹左下方移动：30%\n继续向爪夹左下方移动：40%\n继续向爪夹左下方移动：50%\n继续向爪夹左下方移动：60%\n继续向爪夹左下方移动：80%\n爪夹下降：90%\n爪夹合拢：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768033019075": { + "instances": [ + { + "height": 0.07328605200945629, + "id": "bbox_1768033019075_1768033094742_rdzp8lpb3", + "width": 0.06382978723404248, + "x": 0.6761229314420805, + "y": 0.5650118203309693 + } + ], + "type": "bbox" + }, + "point_1768033033697": { + "instances": [ + { + "id": "point_1768033033697_1768033098476_48739pems", + "x": 0.4657210401891253, + "y": 0.1347517730496454 + } + ], + "type": "point" + }, + "point_1768033070991": { + "instances": [ + { + "id": "point_1768033070991_1768033102310_2g2g3bga3", + "x": 0.541371158392435, + "y": 0.132387706855792 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹右下方移动。开始向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于原位。\n为完成爪夹抓取方块K的任务应当：向爪夹右下方移动。", + "time": 0.044274809160305344 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768033019075": { + "instances": [ + { + "height": 0.07565011820330968, + "id": "bbox_1768033019075_1768033111760_eyoyi2y2k", + "width": 0.066193853427896, + "x": 0.6761229314420805, + "y": 0.5650118203309693 + } + ], + "type": "bbox" + }, + "point_1768033033697": { + "instances": [ + { + "id": "point_1768033033697_1768033130744_ppuahmhun", + "x": 0.3900709219858156, + "y": 0.20567375886524825 + } + ], + "type": "point" + }, + "point_1768033070991": { + "instances": [ + { + "id": "point_1768033070991_1768033132902_ra68hsobu", + "x": 0.46099290780141844, + "y": 0.20567375886524825 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方块K的距离减小。方便向爪夹左下方移动。", + "frame": 44, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块的任务应当:向爪夹左下方移动。", + "time": 1.4610687022900761 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768033019075": { + "instances": [ + { + "height": 0.07801418439716308, + "id": "bbox_1768033019075_1768033200808_3qb57wuos", + "width": 0.06855791962174938, + "x": 0.6761229314420805, + "y": 0.5626477541371159 + } + ], + "type": "bbox" + }, + "point_1768033033697": { + "instances": [ + { + "id": "point_1768033033697_1768033206963_xk6n0gz8a", + "x": 0.4137115839243499, + "y": 0.24113475177304966 + } + ], + "type": "point" + }, + "point_1768033070991": { + "instances": [ + { + "id": "point_1768033070991_1768033209311_2ubfqhj22", + "x": 0.4964539007092199, + "y": 0.2340425531914894 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方块K的距离减小。方便向爪夹左下方移动。", + "frame": 61, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块的任务应当:向爪夹左下方移动。", + "time": 2.0366412213740457 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768033019075": { + "instances": [ + { + "height": 0.06855791962174938, + "id": "bbox_1768033019075_1768033219169_hrqg0sgh0", + "width": 0.066193853427896, + "x": 0.6761229314420805, + "y": 0.5650118203309693 + } + ], + "type": "bbox" + }, + "point_1768033033697": { + "instances": [ + { + "id": "point_1768033033697_1768033221903_8ulz6rod9", + "x": 0.48463356973995275, + "y": 0.31678486997635935 + } + ], + "type": "point" + }, + "point_1768033070991": { + "instances": [ + { + "id": "point_1768033070991_1768033224153_ndj9oc704", + "x": 0.557919621749409, + "y": 0.29550827423167847 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方块K的距离减小。方便向爪夹左下方移动。", + "frame": 91, + "progress": 30, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至30%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块的任务应当:向爪夹左下方移动。", + "time": 3.036299 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768033019075": { + "instances": [ + { + "height": 0.07801418439716308, + "id": "bbox_1768033019075_1768033264590_apdxqqj9o", + "width": 0.06855791962174938, + "x": 0.6761229314420805, + "y": 0.5602836879432626 + } + ], + "type": "bbox" + }, + "point_1768033033697": { + "instances": [ + { + "id": "point_1768033033697_1768033267824_ej0anpdjd", + "x": 0.5200945626477541, + "y": 0.3640661938534279 + } + ], + "type": "point" + }, + "point_1768033070991": { + "instances": [ + { + "id": "point_1768033070991_1768033270504_su6nq2zf2", + "x": 0.5839243498817966, + "y": 0.3286052009456265 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方块K的距离减小。方便向爪夹左下方移动。", + "frame": 106, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至40%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块的任务应当:向爪夹左下方移动。", + "time": 3.5235 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768033019075": { + "instances": [ + { + "height": 0.07801418439716319, + "id": "bbox_1768033019075_1768033280760_xpfectx56", + "width": 0.0709219858156029, + "x": 0.6713947990543736, + "y": 0.5650118203309693 + } + ], + "type": "bbox" + }, + "point_1768033033697": { + "instances": [ + { + "id": "point_1768033033697_1768033283601_hhzfc87g0", + "x": 0.557919621749409, + "y": 0.38770685579196223 + } + ], + "type": "point" + }, + "point_1768033070991": { + "instances": [ + { + "id": "point_1768033070991_1768033287577_gp2y74dtz", + "x": 0.607565011820331, + "y": 0.3617021276595745 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方块K的距离减小。方便向爪夹左下方移动。", + "frame": 123, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至50%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块的任务应当:向爪夹左下方移动。", + "time": 4.095419847328244 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768033019075": { + "instances": [ + { + "height": 0.07565011820330968, + "id": "bbox_1768033019075_1768033297080_mesxg05wr", + "width": 0.0709219858156029, + "x": 0.6713947990543736, + "y": 0.5650118203309693 + } + ], + "type": "bbox" + }, + "point_1768033033697": { + "instances": [ + { + "id": "point_1768033033697_1768033304507_5dn10e8om", + "x": 0.6453900709219859, + "y": 0.48463356973995275 + } + ], + "type": "point" + }, + "point_1768033070991": { + "instances": [ + { + "id": "point_1768033070991_1768033306439_hkgl1fxwb", + "x": 0.6713947990543736, + "y": 0.43498817966903075 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方块K的距离减小。方便向爪夹左下方移动。", + "frame": 154, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至60%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块的任务应当:向爪夹左下方移动。", + "time": 5.135877862595419 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768033019075": { + "instances": [ + { + "height": 0.0803782505910166, + "id": "bbox_1768033019075_1768033315055_sda5yalfy", + "width": 0.0709219858156029, + "x": 0.6737588652482269, + "y": 0.5626477541371159 + } + ], + "type": "bbox" + }, + "point_1768033033697": { + "instances": [ + { + "id": "point_1768033033697_1768033319143_6qy2ucbuf", + "x": 0.7163120567375887, + "y": 0.557919621749409 + } + ], + "type": "point" + }, + "point_1768033070991": { + "instances": [ + { + "id": "point_1768033070991_1768033320879_3a31snrzn", + "x": 0.6950354609929079, + "y": 0.4988179669030733 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与方块K的距离减小。方便爪夹下降。", + "frame": 185, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至80%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块的任务应当:爪夹开始下降。", + "time": 6.154198473282443 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768033019075": { + "instances": [ + { + "height": 0.0709219858156029, + "id": "bbox_1768033019075_1768033336925_m1goctakt", + "width": 0.066193853427896, + "x": 0.6713947990543736, + "y": 0.5673758865248227 + } + ], + "type": "bbox" + }, + "point_1768033033697": { + "instances": [ + { + "id": "point_1768033033697_1768033341137_r4qkzgf2f", + "x": 0.7139479905437353, + "y": 0.6312056737588653 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢。", + "error_success_analysis": "爪夹与方块K的距离减小。方便爪夹合拢。", + "frame": 214, + "progress": 90, + "progress_explanation": "与上一进度相比，爪夹朝方块K的方向移动。\n因此进度提升至90%。", + "state_description": "爪夹处于张开状态。与方块K的距离减小。\n为完成爪夹抓取方块的任务应当:爪夹合拢。", + "time": 7.142699 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768033019075": { + "instances": [ + { + "height": 0.07565011820330968, + "id": "bbox_1768033019075_1768033365869_vwo1zmx4l", + "width": 0.0685579196217495, + "x": 0.6737588652482269, + "y": 0.5650118203309693 + } + ], + "type": "bbox" + }, + "point_1768033033697": { + "instances": [ + { + "id": "point_1768033033697_1768033368441_x7xo3dbnr", + "x": 0.7163120567375887, + "y": 0.624113475177305 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹合拢抓取方块K。\n已完成爪夹抓取方块K的任务。", + "frame": 238, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹合拢抓取方块K。\n因此进度提升至100%。", + "state_description": "爪夹处于合拢状态。方块K被抓取。\n已完成爪夹抓取方块K的任务。", + "time": 7.947328244274807 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768033019075", + "name": "方块K" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768033033697", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768033070991", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001136.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001136.json new file mode 100644 index 0000000000000000000000000000000000000000..02d00b6c717f48b10fa914667d279094c574b381 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001136.json @@ -0,0 +1,469 @@ +{ + "task_description": "爪夹抓取黑桃皇后。\n开始移动：0%\n向爪夹左下方移动：10%\n向爪夹下方移动：20%\n继续向爪夹下方移动：30%\n继续向爪夹下方移动：40%\n继续向爪夹下方移动：50%\n继续向爪夹下方移动：60%\n继续向爪夹下方移动：70%\n爪夹下降：80%\n爪夹继续下降：90%\n爪夹合拢：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "correction_plan": "开始向爪夹左下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于原位。\n为完成爪夹抓取黑桃皇后的任务应当：向爪夹左下方移动。", + "time": 0.44223918575063614, + "annotations": { + "bbox_1768035949299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768035949299_1768035987412_fw1xvw9gq", + "x": 0.624113475177305, + "y": 0.5342789598108747, + "width": 0.066193853427896, + "height": 0.08274231678486998 + } + ] + }, + "point_1768035957029": { + "type": "point", + "instances": [ + { + "id": "point_1768035957029_1768035990590_v3220bl3q", + "x": 0.4822695035460993, + "y": 0.13947990543735225 + } + ] + }, + "point_1768035966290": { + "type": "point", + "instances": [ + { + "id": "point_1768035966290_1768035992664_d0wsepvlv", + "x": 0.5673758865248227, + "y": 0.13711583924349882 + } + ] + } + } + }, + { + "action_description": "向爪夹下方移动。", + "correction_plan": "继续向爪夹下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与黑桃皇后的距离减小。方便向爪夹左下方移动。", + "frame": 30, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝黑桃皇后的方向移动。\n因此进度提升至10%。", + "state_description": "爪夹处于张开状态。与黑桃皇后的距离减小。\n为完成爪夹抓取黑桃皇后的任务应当：向爪夹下方移动。", + "time": 0.9849872773536896, + "annotations": { + "point_1768035957029": { + "type": "point", + "instances": [ + { + "id": "point_1768035957029_1768036011029_7fni31tf1", + "x": 0.5271867612293144, + "y": 0.14893617021276598 + } + ] + }, + "point_1768035966290": { + "type": "point", + "instances": [ + { + "id": "point_1768035966290_1768036013752_qbrd4ym4t", + "x": 0.6028368794326242, + "y": 0.14657210401891255 + } + ] + }, + "bbox_1768035949299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768035949299_1768036039631_3ccgzsuso", + "x": 0.6264775413711585, + "y": 0.5342789598108747, + "width": 0.066193853427896, + "height": 0.07801418439716319 + } + ] + } + } + }, + { + "action_description": "向爪夹下方移动。", + "correction_plan": "继续向爪夹下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与黑桃皇后的距离减小。方便向爪夹下方移动。", + "frame": 49, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝黑桃皇后的方向移动。\n因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与黑桃皇后的距离减小。\n为完成爪夹抓取黑桃皇后的任务应当：向爪夹下方移动。", + "time": 1.6282442748091603, + "annotations": { + "bbox_1768035949299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768035949299_1768036020216_hciw2rg7k", + "x": 0.624113475177305, + "y": 0.5366430260047282, + "width": 0.0685579196217495, + "height": 0.08510638297872337 + } + ] + }, + "point_1768035957029": { + "type": "point", + "instances": [ + { + "id": "point_1768035957029_1768036022250_9krj20cm1", + "x": 0.541371158392435, + "y": 0.20330969267139481 + } + ] + }, + "point_1768035966290": { + "type": "point", + "instances": [ + { + "id": "point_1768035966290_1768036024798_uq5kvkwzd", + "x": 0.624113475177305, + "y": 0.18912529550827423 + } + ] + } + } + }, + { + "action_description": "向爪夹下方移动。", + "correction_plan": "继续向爪夹下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与黑桃皇后的距离减小。方便向爪夹下方移动。", + "frame": 72, + "progress": 30, + "progress_explanation": "与上一进度相比，爪夹朝黑桃皇后的方向移动。\n因此进度提升至30%。", + "state_description": "爪夹处于张开状态。与黑桃皇后的距离减小。\n为完成爪夹抓取黑桃皇后的任务应当：向爪夹下方移动。", + "time": 2.4016, + "annotations": { + "bbox_1768035949299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768035949299_1768036049077_xuzohtbpt", + "x": 0.6264775413711585, + "y": 0.5390070921985816, + "width": 0.066193853427896, + "height": 0.07328605200945629 + } + ] + }, + "point_1768035957029": { + "type": "point", + "instances": [ + { + "id": "point_1768035957029_1768036051627_0i70dh4zh", + "x": 0.5626477541371159, + "y": 0.27186761229314427 + } + ] + }, + "point_1768035966290": { + "type": "point", + "instances": [ + { + "id": "point_1768035966290_1768036053315_jv9kf7xbi", + "x": 0.6430260047281325, + "y": 0.2576832151300236 + } + ] + } + } + }, + { + "action_description": "向爪夹下方移动。", + "correction_plan": "继续向爪夹下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与黑桃皇后的距离减小。方便向爪夹下方移动。", + "frame": 84, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹朝黑桃皇后的方向移动。\n因此进度提升至40%。", + "state_description": "爪夹处于张开状态。与黑桃皇后的距离减小。\n为完成爪夹抓取黑桃皇后的任务应当：向爪夹下方移动。", + "time": 2.8142493638676847, + "annotations": { + "bbox_1768035949299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768035949299_1768036058996_pl8pngrrf", + "x": 0.624113475177305, + "y": 0.5390070921985816, + "width": 0.066193853427896, + "height": 0.0709219858156029 + } + ] + }, + "point_1768035957029": { + "type": "point", + "instances": [ + { + "id": "point_1768035957029_1768036061847_rze84xadp", + "x": 0.5815602836879433, + "y": 0.29550827423167847 + } + ] + }, + "point_1768035966290": { + "type": "point", + "instances": [ + { + "id": "point_1768035966290_1768036063655_fwm07c4w7", + "x": 0.6453900709219859, + "y": 0.2789598108747045 + } + ] + } + } + }, + { + "action_description": "向爪夹下方移动。", + "correction_plan": "继续向爪夹下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与黑桃皇后的距离减小。方便向爪夹下方移动。", + "frame": 104, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹朝黑桃皇后的方向移动。\n因此进度提升至50%。", + "state_description": "爪夹处于张开状态。与黑桃皇后的距离减小。\n为完成爪夹抓取黑桃皇后的任务应当：向爪夹下方移动。", + "time": 3.4523, + "annotations": { + "bbox_1768035949299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768035949299_1768036070031_uv48mxvtc", + "x": 0.6264775413711585, + "y": 0.5366430260047282, + "width": 0.066193853427896, + "height": 0.07565011820330968 + } + ] + }, + "point_1768035957029": { + "type": "point", + "instances": [ + { + "id": "point_1768035957029_1768036072771_4fnppww1p", + "x": 0.5981087470449172, + "y": 0.3617021276595745 + } + ] + }, + "point_1768035966290": { + "type": "point", + "instances": [ + { + "id": "point_1768035966290_1768036074421_8e2d4y6uz", + "x": 0.6453900709219859, + "y": 0.33096926713947994 + } + ] + } + } + }, + { + "action_description": "向爪夹下方移动。", + "correction_plan": "继续向爪夹下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与黑桃皇后的距离减小。方便向爪夹下方移动。", + "frame": 124, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝黑桃皇后的方向移动。\n因此进度提升至60%。", + "state_description": "爪夹处于张开状态。与黑桃皇后的距离减小。\n为完成爪夹抓取黑桃皇后的任务应当：向爪夹下方移动。", + "time": 4.140966921119594, + "annotations": { + "bbox_1768035949299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768035949299_1768036081299_ctlp1bwim", + "x": 0.6264775413711585, + "y": 0.5366430260047282, + "width": 0.06382978723404248, + "height": 0.07565011820330968 + } + ] + }, + "point_1768035957029": { + "type": "point", + "instances": [ + { + "id": "point_1768035957029_1768036084113_023xrbr68", + "x": 0.6193853427895982, + "y": 0.4231678486997636 + } + ] + }, + "point_1768035966290": { + "type": "point", + "instances": [ + { + "id": "point_1768035966290_1768036086321_hufv3pp93", + "x": 0.6453900709219859, + "y": 0.3853427895981088 + } + ] + } + } + }, + { + "action_description": "向爪夹下方移动。", + "correction_plan": "继续向爪夹下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与黑桃皇后的距离减小。方便向爪夹下方移动。", + "frame": 146, + "progress": 70, + "progress_explanation": "与上一进度相比，爪夹朝黑桃皇后的方向移动。\n因此进度提升至70%。", + "state_description": "爪夹处于张开状态。与黑桃皇后的距离减小。\n为完成爪夹抓取黑桃皇后的任务应当：向爪夹下方移动。", + "time": 4.864631043256997, + "annotations": { + "bbox_1768035949299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768035949299_1768036098981_tfxho16cz", + "x": 0.6312056737588653, + "y": 0.5366430260047282, + "width": 0.059101654846335686, + "height": 0.07328605200945629 + } + ] + }, + "point_1768035957029": { + "type": "point", + "instances": [ + { + "id": "point_1768035957029_1768036101759_try8sqsj5", + "x": 0.6453900709219859, + "y": 0.4893617021276596 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹继续下降。爪夹合拢。", + "error_success_analysis": "爪夹与黑桃皇后的距离减小。方便向爪夹下方移动。", + "frame": 160, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝黑桃皇后的方向移动。\n因此进度提升至80%。", + "state_description": "爪夹处于张开状态。与黑桃皇后的距离减小。\n为完成爪夹抓取黑桃皇后的任务应当：向爪夹下方移动。", + "time": 5.3269720101781175, + "annotations": { + "bbox_1768035949299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768035949299_1768036132085_n81hvaq86", + "x": 0.6264775413711585, + "y": 0.5366430260047282, + "width": 0.066193853427896, + "height": 0.07092198581560277 + } + ] + }, + "point_1768035957029": { + "type": "point", + "instances": [ + { + "id": "point_1768035957029_1768036133759_iw8rztvdi", + "x": 0.6643026004728133, + "y": 0.5342789598108747 + } + ] + } + } + }, + { + "action_description": "爪夹下降。", + "correction_plan": "爪夹合拢。", + "error_success_analysis": "爪夹与黑桃皇后的距离减小。方便爪夹合拢。", + "frame": 185, + "progress": 90, + "progress_explanation": "与上一进度相比，爪夹朝黑桃皇后的方向移动。\n因此进度提升至90%。", + "state_description": "爪夹处于张开状态。与黑桃皇后的距离减小。\n为完成爪夹抓取黑桃皇后的任务应当：爪夹合拢。", + "time": 6.151145038167939, + "annotations": { + "bbox_1768035949299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768035949299_1768036152347_sxq73xwig", + "x": 0.6264775413711585, + "y": 0.541371158392435, + "width": 0.06146572104018908, + "height": 0.0685579196217495 + } + ] + }, + "point_1768035957029": { + "type": "point", + "instances": [ + { + "id": "point_1768035957029_1768036155437_2i65ocafs", + "x": 0.6595744680851064, + "y": 0.6004728132387707 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "", + "error_success_analysis": "爪夹合拢抓取黑桃皇后。\n已完成爪夹抓取黑桃皇后的任务。", + "frame": 203, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹合拢抓取黑桃皇后。\n因此进度提升至100%。", + "state_description": "爪夹处于合拢状态。黑桃皇后被抓取。\n已完成爪夹抓取黑桃皇后的任务。", + "time": 6.754198473282443, + "annotations": { + "bbox_1768035949299": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768035949299_1768036187213_8yec2norg", + "x": 0.6264775413711585, + "y": 0.541371158392435, + "width": 0.059101654846335686, + "height": 0.07328605200945629 + } + ] + }, + "point_1768035957029": { + "type": "point", + "instances": [ + { + "id": "point_1768035957029_1768036189063_sx5z2agf6", + "x": 0.6643026004728133, + "y": 0.5933806146572105 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768035949299", + "name": "黑桃皇后", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768035957029", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768035966290", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001145.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001145.json new file mode 100644 index 0000000000000000000000000000000000000000..7abc5b3a3028c4e8bab617f8746b73adba02535e --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001145.json @@ -0,0 +1,469 @@ +{ + "task_description": "爪夹抓取红桃5。\n开始移动：0%\n向爪夹左下方移动：10%\n向爪夹右下方移动：20%\n继续向爪夹右下方移动：30%\n继续向爪夹右下方移动：40%\n继续向爪夹右下方移动：50%\n继续向爪夹右下方移动：60%\n继续向爪夹右下方移动：70%\n爪夹下降：80%\n爪夹继续下降：90%\n爪夹合拢：100%", + "progress_points": [ + { + "action_description": "暂未移动。", + "annotations": { + "bbox_1768035941578": { + "instances": [ + { + "height": 0.07328605200945629, + "id": "bbox_1768035941578_1768037490406_lhp3f2b7f", + "width": 0.06146572104018914, + "x": 0.4113475177304965, + "y": 0.4893617021276596 + } + ], + "type": "bbox" + }, + "point_1768037468020": { + "instances": [ + { + "id": "point_1768037468020_1768037495524_n9zhp21al", + "x": 0.4680851063829788, + "y": 0.1347517730496454 + } + ], + "type": "point" + }, + "point_1768037475286": { + "instances": [ + { + "id": "point_1768037475286_1768037497414_pvzf7m69c", + "x": 0.5437352245862885, + "y": 0.132387706855792 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹左下方移动。开始向爪夹右下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "与上一进度相比，爪夹没有移动。因此进度为0%。", + "state_description": "爪夹处于原位。\n为完成爪夹抓取红桃5的任务应当：向爪夹左下方移动。", + "time": 0 + }, + { + "action_description": "向爪夹左下方移动。", + "annotations": { + "bbox_1768035941578": { + "instances": [ + { + "height": 0.07092198581560284, + "id": "bbox_1768035941578_1768037505995_l9ot4yola", + "width": 0.066193853427896, + "x": 0.40898345153664306, + "y": 0.49172576832151305 + } + ], + "type": "bbox" + }, + "point_1768037468020": { + "instances": [ + { + "id": "point_1768037468020_1768037508602_o28bwc9co", + "x": 0.4988179669030733, + "y": 0.20803782505910165 + } + ], + "type": "point" + }, + "point_1768037475286": { + "instances": [ + { + "id": "point_1768037475286_1768037512062_bsrms5nt0", + "x": 0.5886524822695036, + "y": 0.21276595744680854 + } + ], + "type": "point" + } + }, + "correction_plan": "开始向爪夹右下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃5的距离减小。方便向爪夹右下方移动。", + "frame": 40, + "progress": 10, + "progress_explanation": "与上一进度相比，爪夹朝红桃5的方向移动。\n因此进度提升至10%。\n", + "state_description": "爪夹处于张开状态。与红桃5的距离减小。\n为完成爪夹抓取红桃5的任务应当：向爪夹右下方移动。", + "time": 1.33587786259542 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1768035941578": { + "instances": [ + { + "height": 0.07328605200945629, + "id": "bbox_1768035941578_1768037519393_046mb58eq", + "width": 0.06382978723404259, + "x": 0.4113475177304965, + "y": 0.4893617021276596 + } + ], + "type": "bbox" + }, + "point_1768037468020": { + "instances": [ + { + "id": "point_1768037468020_1768037521208_y5rmwuzid", + "x": 0.4633569739952719, + "y": 0.2269503546099291 + } + ], + "type": "point" + }, + "point_1768037475286": { + "instances": [ + { + "id": "point_1768037475286_1768037522936_sndvnezav", + "x": 0.5460992907801419, + "y": 0.22931442080378253 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃5的距离减小。方便向爪夹右下方移动。", + "frame": 59, + "progress": 20, + "progress_explanation": "与上一进度相比，爪夹朝红桃5的方向移动。\n因此进度提升至20%。", + "state_description": "爪夹处于张开状态。与红桃5的距离减小。\n为完成爪夹抓取红桃5的任务应当：向爪夹右下方移动。", + "time": 1.9575 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1768035941578": { + "instances": [ + { + "height": 0.07565011820330962, + "id": "bbox_1768035941578_1768037529802_pqmre9228", + "width": 0.06146572104018914, + "x": 0.4137115839243499, + "y": 0.49172576832151305 + } + ], + "type": "bbox" + }, + "point_1768037468020": { + "instances": [ + { + "id": "point_1768037468020_1768037531590_o2mwcs3b0", + "x": 0.4397163120567376, + "y": 0.264775413711584 + } + ], + "type": "point" + }, + "point_1768037475286": { + "instances": [ + { + "id": "point_1768037475286_1768037533590_eqp88ce9v", + "x": 0.5177304964539008, + "y": 0.26004728132387706 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃5的距离减小。方便向爪夹右下方移动。", + "frame": 74, + "progress": 30, + "progress_explanation": "与上一进度相比，爪夹朝红桃5的方向移动。\n因此进度提升至30%。", + "state_description": "爪夹处于张开状态。与红桃5的距离减小。\n为完成爪夹抓取红桃5的任务应当：向爪夹右下方移动。", + "time": 2.4618320610687023 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1768035941578": { + "instances": [ + { + "height": 0.07092198581560284, + "id": "bbox_1768035941578_1768037541326_2y3yo73as", + "width": 0.06146572104018914, + "x": 0.4113475177304965, + "y": 0.49172576832151305 + } + ], + "type": "bbox" + }, + "point_1768037468020": { + "instances": [ + { + "id": "point_1768037468020_1768037544320_3er1wo5rr", + "x": 0.3900709219858156, + "y": 0.3144208037825059 + } + ], + "type": "point" + }, + "point_1768037475286": { + "instances": [ + { + "id": "point_1768037475286_1768037546988_w9kfa10ps", + "x": 0.4728132387706856, + "y": 0.3144208037825059 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃5的距离减小。方便向爪夹右下方移动。", + "frame": 99, + "progress": 40, + "progress_explanation": "与上一进度相比，爪夹朝红桃5的方向移动。\n因此进度提升至40%。", + "state_description": "爪夹处于张开状态。与红桃5的距离减小。\n为完成爪夹抓取红桃5的任务应当：向爪夹右下方移动。", + "time": 3.3015267175572514 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1768035941578": { + "instances": [ + { + "height": 0.07328605200945623, + "id": "bbox_1768035941578_1768037553588_byr3kpaci", + "width": 0.06146572104018914, + "x": 0.4137115839243499, + "y": 0.49172576832151305 + } + ], + "type": "bbox" + }, + "point_1768037468020": { + "instances": [ + { + "id": "point_1768037468020_1768037555604_a2jd4ivom", + "x": 0.40425531914893625, + "y": 0.38770685579196223 + } + ], + "type": "point" + }, + "point_1768037475286": { + "instances": [ + { + "id": "point_1768037475286_1768037559837_61hgy5cso", + "x": 0.47044917257683216, + "y": 0.3617021276595745 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃5的距离减小。方便向爪夹右下方移动。", + "frame": 117, + "progress": 50, + "progress_explanation": "与上一进度相比，爪夹朝红桃5的方向移动。\n因此进度提升至50%。", + "state_description": "爪夹处于张开状态。与红桃5的距离减小。\n为完成爪夹抓取红桃5的任务应当：向爪夹右下方移动。", + "time": 3.9122137404580157 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1768035941578": { + "instances": [ + { + "height": 0.07092198581560284, + "id": "bbox_1768035941578_1768037565394_udcwc6u78", + "width": 0.06382978723404259, + "x": 0.4113475177304965, + "y": 0.49172576832151305 + } + ], + "type": "bbox" + }, + "point_1768037468020": { + "instances": [ + { + "id": "point_1768037468020_1768037567846_9l3r6yohp", + "x": 0.43026004728132394, + "y": 0.4633569739952719 + } + ], + "type": "point" + }, + "point_1768037475286": { + "instances": [ + { + "id": "point_1768037475286_1768037569440_w7llpocsa", + "x": 0.44917257683215134, + "y": 0.4208037825059102 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹右下方移动。爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃5的距离减小。方便向爪夹右下方移动。", + "frame": 142, + "progress": 60, + "progress_explanation": "与上一进度相比，爪夹朝红桃5的方向移动。\n因此进度提升至60%。", + "state_description": "爪夹处于张开状态。与红桃5的距离减小。\n为完成爪夹抓取红桃5的任务应当：向爪夹右下方移动。", + "time": 4.74 + }, + { + "action_description": "向爪夹右下方移动。", + "annotations": { + "bbox_1768035941578": { + "instances": [ + { + "height": 0.07092198581560284, + "id": "bbox_1768035941578_1768037580766_mf1gl1563", + "width": 0.06382978723404253, + "x": 0.40898345153664306, + "y": 0.4940898345153665 + } + ], + "type": "bbox" + }, + "point_1768037468020": { + "instances": [ + { + "id": "point_1768037468020_1768037582714_ncdid284y", + "x": 0.4397163120567376, + "y": 0.48699763593380613 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹开始下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃5的距离减小。方便爪夹开始下降。", + "frame": 151, + "progress": 70, + "progress_explanation": "与上一进度相比，爪夹朝红桃5的方向移动。\n因此进度提升至70%。", + "state_description": "爪夹处于张开状态。与红桃5的距离减小。\n为完成爪夹抓取红桃5的任务应当：爪夹开始下降。", + "time": 5.038167938931298 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768035941578": { + "instances": [ + { + "height": 0.07565011820330975, + "id": "bbox_1768035941578_1768037587738_grlpyr458", + "width": 0.05673758865248223, + "x": 0.4137115839243499, + "y": 0.48699763593380613 + } + ], + "type": "bbox" + }, + "point_1768037468020": { + "instances": [ + { + "id": "point_1768037468020_1768037589856_3jub8626g", + "x": 0.44208037825059104, + "y": 0.5153664302600472 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续下降。爪夹合拢。", + "error_success_analysis": "爪夹与红桃5的距离减小。方便爪夹继续下降。", + "frame": 164, + "progress": 80, + "progress_explanation": "与上一进度相比，爪夹朝红桃5的方向移动。\n因此进度提升至80%。", + "state_description": "爪夹处于张开状态。与红桃5的距离减小。\n为完成爪夹抓取红桃5的任务应当：爪夹继续下降。", + "time": 5.477099236641221 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768035941578": { + "instances": [ + { + "height": 0.06619385342789605, + "id": "bbox_1768035941578_1768037595700_vr2qkudq9", + "width": 0.06382978723404259, + "x": 0.4113475177304965, + "y": 0.4940898345153665 + } + ], + "type": "bbox" + }, + "point_1768037468020": { + "instances": [ + { + "id": "point_1768037468020_1768037598432_2nwx6mm7p", + "x": 0.43735224586288424, + "y": 0.5366430260047282 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢。", + "error_success_analysis": "爪夹与红桃5的距离减小。方便爪夹合拢。", + "frame": 184, + "progress": 90, + "progress_explanation": "与上一进度相比，爪夹朝红桃5的方向移动。\n因此进度提升至90%。", + "state_description": "爪夹处于张开状态。与红桃5的距离减小。\n为完成爪夹抓取红桃5的任务应当：爪夹合拢。", + "time": 6.125954198473283 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1768035941578": { + "instances": [ + { + "height": 0.07092198581560277, + "id": "bbox_1768035941578_1768037606524_6jgbjij0x", + "width": 0.06146572104018914, + "x": 0.4137115839243499, + "y": 0.4964539007092199 + } + ], + "type": "bbox" + }, + "point_1768037468020": { + "instances": [ + { + "id": "point_1768037468020_1768037609262_fjgrngrfx", + "x": 0.44208037825059104, + "y": 0.5366430260047282 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹合拢抓取红桃5。\n已完成爪夹抓取红桃5的任务。", + "frame": 197, + "progress": 100, + "progress_explanation": "与上一进度相比，爪夹朝红桃5的方向移动。\n因此进度提升至100%。", + "state_description": "爪夹处于合拢状态。红桃5被抓取。\n已完成爪夹抓取红桃5的任务。", + "time": 6.564885496183207 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768035941578", + "name": "红桃5" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768037468020", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768037475286", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001157.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001157.json new file mode 100644 index 0000000000000000000000000000000000000000..96384a3aa1c31250e34d19fe8b381f046978f8bf --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001157.json @@ -0,0 +1,297 @@ +{ + "task_description": "从架子上抓起梅花8上升:\n开始移动:0%\n爪夹靠近梅花8:20%\n爪夹抓取梅花8:50%\n爪夹抓住梅花8开始上升:80%\n爪夹抓住梅花8上升至最高处:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1768012018429": { + "instances": [ + { + "height": 0.07299999554443394, + "id": "bbox_1768012018429_1768012142389_wdutm2oog", + "width": 0.0649999960327151, + "x": 0.30055552364773414, + "y": 0.5660694081988886 + } + ], + "type": "bbox" + }, + "point_1768012024941": { + "instances": [ + { + "id": "point_1768012024941_1768012136485_ine9p4zvj", + "x": 0.4635555136990043, + "y": 0.13206943468814486 + } + ], + "type": "point" + }, + "point_1768012025237": { + "instances": [ + { + "id": "point_1768012025237_1768012133397_deb9dvd29", + "x": 0.5475555085720515, + "y": 0.13240276291487044 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至到达梅花8正上方后下降，抓取梅花8后竖直上升至最高处。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为爪夹打开，没有移动，没有触碰梅花8。\n为完成从架子上抓起梅花8的任务应当:爪夹向爪夹方向的右前方移动，准备抓取梅花8。\n", + "time": 0 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "annotations": { + "bbox_1768012018429": { + "instances": [ + { + "height": 0.07499999542236348, + "id": "bbox_1768012018429_1768012126037_nsmot6m5w", + "width": 0.06599999597167994, + "x": 0.2985555237698045, + "y": 0.5650694082599238 + } + ], + "type": "bbox" + }, + "point_1768012024941": { + "instances": [ + { + "id": "point_1768012024941_1768012127949_5a3mfku9m", + "x": 0.347555520779082, + "y": 0.21006942992740293 + } + ], + "type": "point" + }, + "point_1768012025237": { + "instances": [ + { + "id": "point_1768012025237_1768012129949_n8eb7v6u9", + "x": 0.43355551553005883, + "y": 0.21006942992740293 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的右前方移动，直至梅花8的正上方。后下降，抓取梅花8后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向接近梅花8。", + "frame": 49, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近梅花8，因此进度提升为10%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹在水平方向接近梅花8。\n为完成从架子上抓起梅花8的任务应当:爪夹向爪夹方向的右前方移动，直至梅花8的正上方。", + "time": 1.619672131147541 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降，爪夹向爪夹方向的左侧转动调整。", + "annotations": { + "bbox_1768012018429": { + "instances": [ + { + "height": 0.07299999554443394, + "id": "bbox_1768012018429_1768012118693_9uc18gql0", + "width": 0.06799999584960965, + "x": 0.29655552389187473, + "y": 0.5660694081988886 + } + ], + "type": "bbox" + }, + "point_1768012024941": { + "instances": [ + { + "id": "point_1768012024941_1768012109629_xq1qqdmyn", + "x": 0.32755552199978505, + "y": 0.38129164085134026 + } + ], + "type": "point" + }, + "point_1768012025237": { + "instances": [ + { + "id": "point_1768012025237_1768012112101_toln39w9l", + "x": 0.38555551845974617, + "y": 0.3530694211993762 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左侧旋转调整，然后向爪夹方向的右前方略微移动，直至梅花8的正上方。后下降，抓取梅花8后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，在水平方向上更接近梅花8。", + "frame": 105, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上更接近梅花8，因此进度提升为15%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹在水平方向上更接近梅花8。\n为完成从架子上抓起梅花8的任务应当:爪夹继续向爪夹方向的左侧旋转调整，然后向爪夹方向的右前方略微移动，直至梅花8的正上方。", + "time": 3.495081967213115 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动并下降，爪夹向爪夹方向的左侧转动调整。", + "annotations": { + "bbox_1768012018429": { + "instances": [ + { + "height": 0.07199999560546905, + "id": "bbox_1768012018429_1768012095925_4y9g22k4d", + "width": 0.06699999591064483, + "x": 0.29755552383083955, + "y": 0.5670694081378536 + } + ], + "type": "bbox" + }, + "point_1768012024941": { + "instances": [ + { + "id": "point_1768012024941_1768012105621_bmegrunzu", + "x": 0.32255552230496076, + "y": 0.5580694086871698 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取梅花8，后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动至梅花8正上方。", + "frame": 153, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于梅花8正上方，已接近梅花8，因此进度提升为20%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹处于梅花8的正上方。\n为完成从架子上抓起梅花8的任务应当:爪夹下降，抓取梅花8，后竖直上升。", + "time": 5.104098360655738 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768012018429": { + "instances": [ + { + "height": 0.07199999560546905, + "id": "bbox_1768012018429_1768012086653_lrwaiku33", + "width": 0.05799999645996111, + "x": 0.3055555233425584, + "y": 0.5670694081378536 + } + ], + "type": "bbox" + }, + "point_1768012024941": { + "instances": [ + { + "id": "point_1768012024941_1768012081413_uangxj25g", + "x": 0.32655552206082017, + "y": 0.6324027323972942 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取梅花8，后竖直上升至最高处。", + "error_success_analysis": "爪夹下降，爪夹处于梅花8的正上方，在垂直方向上接近梅花8。", + "frame": 186, + "progress": 40, + "progress_explanation": "当前爪夹处于梅花8的正上方，在垂直方向上接近梅花8，因此进度提升至40%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹处于梅花8的正上方，在垂直方向上接近梅花8。\n为完成从架子上抓起梅花8的任务应当:爪夹合拢抓取梅花8，后竖直上升。", + "time": 6.1854 + }, + { + "action_description": "爪夹合拢抓取梅花8。", + "annotations": { + "bbox_1768012018429": { + "instances": [ + { + "height": 0.0749999954223636, + "id": "bbox_1768012018429_1768012070869_348turf7x", + "width": 0.05699999652099628, + "x": 0.3055555233425584, + "y": 0.5652916296208722 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住梅花8竖直上升至最高处。", + "error_success_analysis": "爪夹在梅花8的正上方合拢，成功抓取到梅花8。", + "frame": 206, + "progress": 50, + "progress_explanation": "爪夹已成功抓取到梅花8，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，梅花8已被抓取。\n为完成从架子上抓起梅花8的任务应当:爪夹抓住梅花8竖直上升。", + "time": 6.851639344262296 + }, + { + "action_description": "爪夹抓住梅花8竖直上升。", + "annotations": { + "bbox_1768012018429": { + "instances": [ + { + "height": 0.07299999554443394, + "id": "bbox_1768012018429_1768012058173_q3qs0tpem", + "width": 0.0559999965820315, + "x": 0.3085555231594529, + "y": 0.5470694093585565 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住梅花8上升至最高处。", + "error_success_analysis": "爪夹抓住梅花8开始竖直上升。", + "frame": 222, + "progress": 80, + "progress_explanation": "当前爪夹抓住梅花8开始上升，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住梅花8已经开始上升。\n为完成从架子上抓起梅花8的任务应当:爪夹抓住梅花8上升至最高处。", + "time": 7.409999 + }, + { + "action_description": "爪夹抓住梅花8竖直上升。", + "annotations": { + "bbox_1768012018429": { + "instances": [ + { + "height": 0.07299999554443387, + "id": "bbox_1768012018429_1768012051342_9z4fuq3ip", + "width": 0.05599999658203145, + "x": 0.3055555233425584, + "y": 0.5234027390501258 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹抓住梅花8上升至最高处。", + "frame": 232, + "progress": 100, + "progress_explanation": "爪夹合拢，爪夹抓住梅花8已经上升至最高处，因此进度提升为100%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住梅花8已经上升至最高处。\n已完成从架子上抓起梅花8的任务。", + "time": 7.748178097554434 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768012018429", + "name": "梅花8" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768012024941", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768012025237", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001177.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001177.json new file mode 100644 index 0000000000000000000000000000000000000000..8acb8a9d337daeb414ea1d37e58163713ce75da6 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001177.json @@ -0,0 +1,297 @@ +{ + "task_description": "从架子上抓起黑桃9上升:\n开始移动:0%\n爪夹靠近黑桃9:20%\n爪夹抓取黑桃9:50%\n爪夹抓住黑桃9开始上升:80%\n爪夹抓住黑桃9上升至最高处:100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1768012944804": { + "instances": [ + { + "height": 0.06825671256275131, + "id": "bbox_1768012944804_1768013111741_93aqh2lcc", + "width": 0.060672633389112225, + "x": 0.5178842305073896, + "y": 0.5628620627745755 + } + ], + "type": "bbox" + }, + "point_1768012954565": { + "instances": [ + { + "id": "point_1768012954565_1768013105052_btg4po87c", + "x": 0.46696255605581327, + "y": 0.13165298975909928 + } + ], + "type": "point" + }, + "point_1768012954789": { + "instances": [ + { + "id": "point_1768012954789_1768013101940_bcco2e1bw", + "x": 0.5395530281463582, + "y": 0.13165298975909928 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，直至到达黑桃9正上方后下降，抓取黑桃9后竖直上升至最高处。\n", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有触碰黑桃9。\n为完成从架子上抓起黑桃9的任务应当:爪夹向爪夹方向的左前方移动，准备抓取黑桃9。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹方向的左前方略微移动并下降。", + "annotations": { + "bbox_1768012944804": { + "instances": [ + { + "height": 0.07259047209054507, + "id": "bbox_1768012944804_1768013090485_7aja6n3xn", + "width": 0.060672633389112225, + "x": 0.5178842305073896, + "y": 0.5606951830106787 + } + ], + "type": "bbox" + }, + "point_1768012954565": { + "instances": [ + { + "id": "point_1768012954565_1768013094909_mgmzgqb89", + "x": 0.4886313536947819, + "y": 0.19990970232185054 + } + ], + "type": "point" + }, + "point_1768012954789": { + "instances": [ + { + "id": "point_1768012954789_1768013098117_3qmk4p615", + "x": 0.5666390251950691, + "y": 0.19990970232185054 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的前方移动，直至黑桃9的正上方。后下降，抓取黑桃9后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向接近黑桃9。", + "frame": 32, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近黑桃9，因此进度提升为10%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹在水平方向接近黑桃9。\n为完成从架子上抓起黑桃9的任务应当:爪夹向爪夹方向的前方移动，直至黑桃9的正上方。", + "time": 1.0585 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降，爪夹向爪夹方向的左侧转动调整。", + "annotations": { + "bbox_1768012944804": { + "instances": [ + { + "height": 0.07150703220859664, + "id": "bbox_1768012944804_1768013082285_wxiq4ag0u", + "width": 0.060672633389112225, + "x": 0.5168007906254412, + "y": 0.5606951830106787 + } + ], + "type": "bbox" + }, + "point_1768012954565": { + "instances": [ + { + "id": "point_1768012954565_1768013073188_3rw6zhc91", + "x": 0.511383591215699, + "y": 0.3591753649682702 + } + ], + "type": "point" + }, + "point_1768012954789": { + "instances": [ + { + "id": "point_1768012954789_1768013076661_zmanz2aiq", + "x": 0.5644721454311722, + "y": 0.33208936791955934 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左侧旋转调整，然后向爪夹方向的前方略微移动，直至黑桃9的正上方。后下降，抓取黑桃9后竖直上升至最高处。\n", + "error_success_analysis": "爪夹向爪夹方向的前方移动，在水平方向上更接近黑桃9。", + "frame": 82, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上更接近黑桃9，因此进度提升为15%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹在水平方向上更接近黑桃9。\n为完成从架子上抓起黑桃9的任务应当:爪夹继续向爪夹方向的左侧旋转调整，然后向爪夹方向的前方略微移动，直至黑桃9的正上方。", + "time": 2.7375 + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动并下降，爪夹向爪夹方向的左侧转动调整。", + "annotations": { + "bbox_1768012944804": { + "instances": [ + { + "height": 0.0704235923266482, + "id": "bbox_1768012944804_1768013068405_vnj95pgdk", + "width": 0.0628395131530091, + "x": 0.5157173507434928, + "y": 0.5628620627745755 + } + ], + "type": "bbox" + }, + "point_1768012954565": { + "instances": [ + { + "id": "point_1768012954565_1768013061372_9cdtiqjsm", + "x": 0.5482205472019458, + "y": 0.5498607841911943 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取黑桃9，后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的左前方略微移动至黑桃9正上方。", + "frame": 140, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于黑桃9正上方，已接近黑桃9，因此进度提升为20%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹处于黑桃9的正上方。\n为完成从架子上抓起黑桃9的任务应当:爪夹下降，抓取黑桃9，后竖直上升。", + "time": 4.6647 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768012944804": { + "instances": [ + { + "height": 0.0704235923266482, + "id": "bbox_1768012944804_1768013044933_ms45yk95z", + "width": 0.05958919350716378, + "x": 0.5178842305073896, + "y": 0.5620193781264041 + } + ], + "type": "bbox" + }, + "point_1768012954565": { + "instances": [ + { + "id": "point_1768012954565_1768013058269_yckan984p", + "x": 0.5471371073199973, + "y": 0.6246181360456362 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取黑桃9，后竖直上升至最高处。", + "error_success_analysis": "爪夹下降，爪夹处于黑桃9的正上方，在垂直方向上接近黑桃9。", + "frame": 173, + "progress": 40, + "progress_explanation": "当前爪夹处于黑桃9的正上方，在垂直方向上接近黑桃9，因此进度提升至40%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹处于黑桃9的正上方，在垂直方向上接近黑桃9。\n为完成从架子上抓起黑桃9的任务应当:爪夹合拢抓取黑桃9，后竖直上升。", + "time": 5.7597 + }, + { + "action_description": "爪夹合拢抓取黑桃9。", + "annotations": { + "bbox_1768012944804": { + "instances": [ + { + "height": 0.06717327268080288, + "id": "bbox_1768012944804_1768013022269_yiksd43m5", + "width": 0.05958919350716378, + "x": 0.5178842305073896, + "y": 0.5650289425384724 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住黑桃9竖直上升至最高处。", + "error_success_analysis": "爪夹在黑桃9的正上方合拢，成功抓取到黑桃9。", + "frame": 193, + "progress": 50, + "progress_explanation": "爪夹已成功抓取到黑桃9，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，黑桃9已被抓取。\n为完成从架子上抓起黑桃9的任务应当:爪夹抓住黑桃9竖直上升。", + "time": 6.431299 + }, + { + "action_description": "爪夹抓住黑桃9竖直上升。", + "annotations": { + "bbox_1768012944804": { + "instances": [ + { + "height": 0.0704235923266482, + "id": "bbox_1768012944804_1768013016428_jin7y0bap", + "width": 0.05958919350716378, + "x": 0.5168007906254412, + "y": 0.5422767050175552 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住黑桃9上升至最高处。", + "error_success_analysis": "爪夹抓住黑桃9开始竖直上升。", + "frame": 210, + "progress": 80, + "progress_explanation": "当前爪夹抓住黑桃9开始上升，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住黑桃9已经开始上升。\n为完成从架子上抓起黑桃9的任务应当:爪夹抓住黑桃9上升至最高处。", + "time": 6.993399 + }, + { + "action_description": "爪夹抓住黑桃9竖直上升。", + "annotations": { + "bbox_1768012944804": { + "instances": [ + { + "height": 0.07150703220859658, + "id": "bbox_1768012944804_1768013002781_8bn4v6ueo", + "width": 0.061756073271060724, + "x": 0.518967670389338, + "y": 0.5188021687313457 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹抓住黑桃9上升至最高处。", + "frame": 219, + "progress": 100, + "progress_explanation": "爪夹合拢，爪夹抓住黑桃9已经上升至最高处，因此进度提升为100%。\n", + "state_description": "当前状态为爪夹合拢，爪夹抓住黑桃9已经上升至最高处。\n已完成从架子上抓起黑桃9的任务。", + "time": 7.3 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768012944804", + "name": "黑桃9" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768012954565", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768012954789", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001179.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001179.json new file mode 100644 index 0000000000000000000000000000000000000000..b83b4fc9cc262c769dc319d5839f5ce6092b05b1 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001179.json @@ -0,0 +1,341 @@ +{ + "task_description": "从架子上抓起黑桃4上升: \n开始移动:0% \n爪夹靠近黑桃4:20%\n爪夹抓取黑桃4:50%\n爪夹抓住黑桃4开始上升:80%\n爪夹抓住黑桃4上升至最高处:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1768013538724": { + "instances": [ + { + "height": 0.06717327268080281, + "id": "bbox_1768013538724_1768013660284_pdjee3peb", + "width": 0.06717327268080275, + "x": 0.6435632568134079, + "y": 0.523858227024432 + } + ], + "type": "bbox" + }, + "point_1768013541292": { + "instances": [ + { + "id": "point_1768013541292_1768013665189_1j2md2pi1", + "x": 0.4658791161738648, + "y": 0.13056954987715083 + } + ], + "type": "point" + }, + "point_1768013541645": { + "instances": [ + { + "id": "point_1768013541645_1768013670317_c8o5x9pk0", + "x": 0.5449702275561005, + "y": 0.13381986952299615 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，直至到达黑桃4正上方后下降，抓取黑桃4后竖直上升至最高处。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有触碰黑桃4。\n为完成从架子上抓起黑桃4的任务应当:爪夹向爪夹方向的左前方移动，准备抓取黑桃4。\n", + "time": 0 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动并下降。", + "annotations": { + "bbox_1768013538724": { + "instances": [ + { + "height": 0.06717327268080281, + "id": "bbox_1768013538724_1768014233804_2aveqqzlo", + "width": 0.06608983279885432, + "x": 0.6446466966953562, + "y": 0.523858227024432 + } + ], + "type": "bbox" + }, + "point_1768013541292": { + "instances": [ + { + "id": "point_1768013541292_1768014227308_ggdixryqg", + "x": 0.431209039951515, + "y": 0.18149122432872716 + } + ], + "type": "point" + }, + "point_1768013541645": { + "instances": [ + { + "id": "point_1768013541645_1768014215796_dub0fqzyl", + "x": 0.5157173507434928, + "y": 0.17824090468288187 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，直至方块A的正上方。后下降，抓取方块A后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动并下降，在垂直方向接近方块A。", + "frame": 27, + "progress": 5, + "progress_explanation": "当前爪夹在垂直方向接近方块A，因此进度提升为5%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹在垂直方向接近方块A。\n为完成从架子上抓起方块A的任务应当:爪夹向爪夹方向的左前方移动，直至方块A的正上方。", + "time": 0.9044 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降，爪夹向爪夹方向的左侧转动调整。", + "annotations": { + "bbox_1768013538724": { + "instances": [ + { + "height": 0.06825671256275126, + "id": "bbox_1768013538724_1768013653541_xt7gx5gh8", + "width": 0.06500639291690599, + "x": 0.6457301365773046, + "y": 0.523858227024432 + } + ], + "type": "bbox" + }, + "point_1768013541292": { + "instances": [ + { + "id": "point_1768013541292_1768014222948_dx34adofo", + "x": 0.4962154328684209, + "y": 0.27250017441239555 + } + ], + "type": "point" + }, + "point_1768013541645": { + "instances": [ + { + "id": "point_1768013541645_1768014219372_6dey5tjy4", + "x": 0.5688059049589659, + "y": 0.2659995351207049 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左侧旋转调整，然后向爪夹方向的左前方移动，直至黑桃4的正上方。后下降，抓取黑桃4后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向接近黑桃4。", + "frame": 65, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近黑桃4，因此进度提升为10%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹在水平方向接近黑桃4。\n为完成从架子上抓起黑桃4的任务应当:爪夹继续向爪夹方向的左侧旋转调整，然后向爪夹方向的左前方移动，直至黑桃4的正上方。", + "time": 2.1694026266341653 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降，爪夹向爪夹方向的左侧转动调整。", + "annotations": { + "bbox_1768013538724": { + "instances": [ + { + "height": 0.06717327268080281, + "id": "bbox_1768013538724_1768013644613_hupnhjsvy", + "width": 0.06392295303495756, + "x": 0.6457301365773046, + "y": 0.5249416669063803 + } + ], + "type": "bbox" + }, + "point_1768013541292": { + "instances": [ + { + "id": "point_1768013541292_1768013633292_m1lz28z1p", + "x": 0.5839740633062439, + "y": 0.3797607227252904 + } + ], + "type": "point" + }, + "point_1768013541645": { + "instances": [ + { + "id": "point_1768013541645_1768013637428_yq2dedy8m", + "x": 0.6218944591744392, + "y": 0.35267472567657954 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左侧旋转调整，然后向爪夹方向的左前方移动，直至黑桃4的正上方。后下降，抓取黑桃4后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上更接近黑桃4。", + "frame": 103, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上更接近黑桃4，因此进度提升为15%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹在水平方向上更接近黑桃4。\n为完成从架子上抓起黑桃4的任务应当:爪夹继续向爪夹方向的左侧旋转调整，然后向爪夹方向的左前方移动，直至黑桃4的正上方。", + "time": 3.428507046895631 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降，爪夹向爪夹方向的左侧转动调整。", + "annotations": { + "bbox_1768013538724": { + "instances": [ + { + "height": 0.0693401524446997, + "id": "bbox_1768013538724_1768013627564_v2q275g9o", + "width": 0.06717327268080288, + "x": 0.6457301365773046, + "y": 0.5227747871424835 + } + ], + "type": "bbox" + }, + "point_1768013541292": { + "instances": [ + { + "id": "point_1768013541292_1768013617388_cj4vnooe4", + "x": 0.6869008520913451, + "y": 0.5086900686771538 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取黑桃4，后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动至黑桃4正上方。", + "frame": 148, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于黑桃4正上方，已接近黑桃4，因此进度提升为20%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹处于黑桃4的正上方。\n为完成从架子上抓起黑桃4的任务应当:爪夹下降，抓取黑桃4，后竖直上升。", + "time": 4.9324 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768013538724": { + "instances": [ + { + "height": 0.07259047209054502, + "id": "bbox_1768013538724_1768013600885_dn54vswyj", + "width": 0.06067263338911211, + "x": 0.6468135764592532, + "y": 0.5227747871424835 + } + ], + "type": "bbox" + }, + "point_1768013541292": { + "instances": [ + { + "id": "point_1768013541292_1768013614252_4rlvo0vle", + "x": 0.6793167729177061, + "y": 0.579113661003802 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取黑桃4，后竖直上升至最高处。", + "error_success_analysis": "爪夹下降，爪夹处于黑桃4的正上方，在垂直方向上接近黑桃4。", + "frame": 179, + "progress": 40, + "progress_explanation": "当前爪夹处于黑桃4的正上方，在垂直方向上接近黑桃4，因此进度提升至40%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹处于黑桃4的正上方，在垂直方向上接近黑桃4。\n为完成从架子上抓起黑桃4的任务应当:爪夹合拢抓取黑桃4，后竖直上升。", + "time": 5.966 + }, + { + "action_description": "爪夹合拢抓取黑桃4。", + "annotations": { + "bbox_1768013538724": { + "instances": [ + { + "height": 0.06825671256275126, + "id": "bbox_1768013538724_1768013588796_d370t5qw9", + "width": 0.06608983279885432, + "x": 0.6424798169314594, + "y": 0.523858227024432 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住黑桃4竖直上升至最高处。", + "error_success_analysis": "爪夹在黑桃4的正上方合拢，成功抓取到黑桃4。", + "frame": 199, + "progress": 50, + "progress_explanation": "爪夹已成功抓取到黑桃4，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，黑桃4已被抓取。\n为完成从架子上抓起黑桃4的任务应当:爪夹抓住黑桃4竖直上升。", + "time": 6.634799 + }, + { + "action_description": "爪夹抓住黑桃4竖直上升。", + "annotations": { + "bbox_1768013538724": { + "instances": [ + { + "height": 0.06717327268080281, + "id": "bbox_1768013538724_1768013578077_wqspr6bt6", + "width": 0.0628395131530091, + "x": 0.6424798169314594, + "y": 0.5108569484410508 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住黑桃4上升至最高处。", + "error_success_analysis": "爪夹抓住黑桃4开始竖直上升。", + "frame": 215, + "progress": 80, + "progress_explanation": "当前爪夹抓住黑桃4开始上升，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住黑桃4已经开始上升。\n为完成从架子上抓起黑桃4的任务应当:爪夹抓住黑桃4上升至最高处。", + "time": 7.1744 + }, + { + "action_description": "爪夹抓住黑桃4竖直上升。", + "annotations": { + "bbox_1768013538724": { + "instances": [ + { + "height": 0.07150703220859658, + "id": "bbox_1768013538724_1768013569013_yhcti27c7", + "width": 0.06825671256275119, + "x": 0.6424798169314594, + "y": 0.47763145321730527 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹抓住黑桃4上升至最高处。", + "frame": 228, + "progress": 100, + "progress_explanation": "爪夹合拢，爪夹抓住黑桃4已经上升至最高处，因此进度提升为100%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住黑桃4已经上升至最高处。\n已完成从架子上抓起黑桃4的任务。", + "time": 7.6 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768013538724", + "name": "黑桃4" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768013541292", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768013541645", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001181.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001181.json new file mode 100644 index 0000000000000000000000000000000000000000..f914db0f829cbfbc800e03cca4ee0b0b3e1db54b --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001181.json @@ -0,0 +1,307 @@ +{ + "task_description": "从架子上抓起方块A上升: \n开始移动:0% \n爪夹靠近方块A:20%\n爪夹抓取方块A:50%\n爪夹抓住方块A开始上升:80%\n爪夹抓住方块A上升至最高处:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "correction_plan": "爪夹向爪夹方向的左前方移动，直至到达方块A正上方后下降，抓取方块A后竖直上升至最高处。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有触碰方块A。\n为完成从架子上抓起方块A的任务应当:爪夹向爪夹方向的左前方移动，准备抓取方块A。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹方向的右前方略微移动并下降。", + "annotations": { + "bbox_1768014423749": { + "instances": [ + { + "height": 0.061756073271060606, + "id": "bbox_1768014423749_1768014529132_em309sa8b", + "width": 0.05742231374326702, + "x": 0.6186441395285939, + "y": 0.49063273180068645 + } + ], + "type": "bbox" + }, + "point_1768014425740": { + "instances": [ + { + "id": "point_1768014425740_1768014535620_z1h2ndj83", + "x": 0.438793119125154, + "y": 0.19124218326626308 + } + ], + "type": "point" + }, + "point_1768014426012": { + "instances": [ + { + "id": "point_1768014426012_1768014532468_1ohwd9zq2", + "x": 0.5146339108615443, + "y": 0.19124218326626308 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，直至方块A的正上方。后下降，抓取方块A后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的右前方略微移动并下降，在垂直方向接近方块A。", + "frame": 34, + "progress": 5, + "progress_explanation": "当前爪夹在垂直方向接近方块A，因此进度提升为5%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹在垂直方向接近方块A。\n为完成从架子上抓起方块A的任务应当:爪夹向爪夹方向的左前方移动，直至方块A的正上方。", + "time": 1.1195146250020669 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "annotations": { + "bbox_1768014423749": { + "instances": [ + { + "height": 0.06392295303495756, + "id": "bbox_1768014423749_1768014521588_9m4idht52", + "width": 0.05958919350716378, + "x": 0.6175606996466454, + "y": 0.4891881508020821 + } + ], + "type": "bbox" + }, + "point_1768014425740": { + "instances": [ + { + "id": "point_1768014425740_1768014513780_a6tzm8zwp", + "x": 0.4907982334586788, + "y": 0.25733201606511746 + } + ], + "type": "point" + }, + "point_1768014426012": { + "instances": [ + { + "id": "point_1768014426012_1768014511036_5igypc88g", + "x": 0.5688059049589659, + "y": 0.25949889582901436 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，直至方块A的正上方。后下降，抓取方块A后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向接近方块A。", + "frame": 64, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近方块A，因此进度提升为10%。", + "state_description": "爪夹向爪夹方向的左前方移动并下降。\n为完成从架子上抓起方块A的任务应当:爪夹向爪夹方向的左前方移动，直至方块A的正上方。", + "time": 2.1243 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降，爪夹向爪夹方向的左侧转动调整。", + "annotations": { + "bbox_1768014423749": { + "instances": [ + { + "height": 0.06283951315300905, + "id": "bbox_1768014423749_1768014501044_f7etd4j81", + "width": 0.05742231374326702, + "x": 0.6175606996466454, + "y": 0.49063273180068645 + } + ], + "type": "bbox" + }, + "point_1768014425740": { + "instances": [ + { + "id": "point_1768014425740_1768014504868_psbkdtmg8", + "x": 0.5720562246048112, + "y": 0.37000976378775446 + } + ], + "type": "point" + }, + "point_1768014426012": { + "instances": [ + { + "id": "point_1768014426012_1768014507860_eg03nfw86", + "x": 0.6143103800008002, + "y": 0.34184032685709526 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左侧旋转调整，然后向爪夹方向的左前方移动，直至方块A的正上方。后下降，抓取方块A后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上更接近方块A。", + "frame": 103, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上更接近方块A，因此进度提升为15%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹在水平方向上更接近方块A。\n为完成从架子上抓起方块A的任务应当:爪夹继续向爪夹方向的左侧旋转调整，然后向爪夹方向的左前方移动，直至方块A的正上方。", + "time": 3.4402607879519884 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降，爪夹向爪夹方向的左侧转动调整。", + "annotations": { + "bbox_1768014423749": { + "instances": [ + { + "height": 0.06500639291690599, + "id": "bbox_1768014423749_1768014493412_znw6jybah", + "width": 0.062839513153009, + "x": 0.6143103800008002, + "y": 0.4891881508020821 + } + ], + "type": "bbox" + }, + "point_1768014425740": { + "instances": [ + { + "id": "point_1768014425740_1768014485604_fdai0dtsn", + "x": 0.6522307758689952, + "y": 0.4696862329270103 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取方块A，后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动至方块A正上方。", + "frame": 140, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于方块A正上方，已接近方块A，因此进度提升为20%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹处于方块A的正上方。\n为完成从架子上抓起方块A的任务应当:爪夹下降，抓取方块A，后竖直上升。", + "time": 4.682350283615326 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768014423749": { + "instances": [ + { + "height": 0.06717327268080281, + "id": "bbox_1768014423749_1768014475380_ihsrmzuzs", + "width": 0.06067263338911234, + "x": 0.6153938198827485, + "y": 0.49063273180068645 + } + ], + "type": "bbox" + }, + "point_1768014425740": { + "instances": [ + { + "id": "point_1768014425740_1768014483028_td7i2494x", + "x": 0.6500638961050984, + "y": 0.5433601448995037 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取方块A，后竖直上升至最高处。", + "error_success_analysis": "爪夹下降，爪夹处于方块A的正上方，在垂直方向上接近方块A。", + "frame": 166, + "progress": 40, + "progress_explanation": "当前爪夹处于方块A的正上方，在垂直方向上接近方块A，因此进度提升至40%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹处于方块A的正上方，在垂直方向上接近方块A。\n为完成从架子上抓起方块A的任务应当:爪夹合拢抓取方块A，后竖直上升。", + "time": 5.548544274012129 + }, + { + "action_description": "爪夹合拢抓取方块A。", + "annotations": { + "bbox_1768014423749": { + "instances": [ + { + "height": 0.06608983279885437, + "id": "bbox_1768014423749_1768014466508_uoml65ba5", + "width": 0.06175607327106067, + "x": 0.6143103800008002, + "y": 0.4873824121548411 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住方块A竖直上升至最高处。", + "error_success_analysis": "爪夹在方块A的正上方合拢，成功抓取到方块A。", + "frame": 186, + "progress": 50, + "progress_explanation": "爪夹已成功抓取到方块A，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，方块A已被抓取。\n为完成从架子上抓起方块A的任务应当:爪夹抓住方块A竖直上升。", + "time": 6.210447228937987 + }, + { + "action_description": "爪夹抓住方块A竖直上升。", + "annotations": { + "bbox_1768014423749": { + "instances": [ + { + "height": 0.06608983279885437, + "id": "bbox_1768014423749_1768014456604_9f33wtwsa", + "width": 0.0595891935071639, + "x": 0.6153938198827485, + "y": 0.47546457345340837 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住方块A上升至最高处。", + "error_success_analysis": "爪夹抓住方块A开始竖直上升。", + "frame": 205, + "progress": 80, + "progress_explanation": "当前爪夹抓住方块A开始上升，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住方块A已经开始上升。\n为完成从架子上抓起方块A的任务应当:爪夹抓住方块A上升至最高处。", + "time": 6.839663618188495 + }, + { + "action_description": "爪夹抓住方块A竖直上升。", + "annotations": { + "bbox_1768014423749": { + "instances": [ + { + "height": 0.06608983279885443, + "id": "bbox_1768014423749_1768014449716_48xrum6z2", + "width": 0.06175607327106067, + "x": 0.6153938198827485, + "y": 0.4483785764046975 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹抓住方块A上升至最高处。", + "frame": 219, + "progress": 100, + "progress_explanation": "当前状态为爪夹合拢，爪夹抓住方块A已经上升至最高处。\n已完成从架子上抓起方块A的任务。", + "state_description": "当前状态为爪夹合拢，爪夹抓住方块A已经上升至最高处。\n已完成从架子上抓起方块A的任务。", + "time": 7.3 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768014423749", + "name": "方块A" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768014425740", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768014426012", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001241.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001241.json new file mode 100644 index 0000000000000000000000000000000000000000..62685dfe7a3905a7743d40fb86970a1e9d8f753f --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001241.json @@ -0,0 +1,297 @@ +{ + "task_description": "从架子上抓起红桃9上升: \n开始移动:0% \n爪夹靠近红桃9:20%\n爪夹抓取红桃9:50%\n爪夹抓住红桃9开始上升:80%\n爪夹抓住红桃9上升至最高处:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1768014934580": { + "instances": [ + { + "height": 0.06717327268080288, + "id": "bbox_1768014934580_1768015048868_2bsmj9rwj", + "width": 0.06608983279885443, + "x": 0.6359791776397687, + "y": 0.5433601448995037 + } + ], + "type": "bbox" + }, + "point_1768014935644": { + "instances": [ + { + "id": "point_1768014935644_1768015036916_5x1vatk3z", + "x": 0.4658791161738648, + "y": 0.13165298975909928 + } + ], + "type": "point" + }, + "point_1768014936036": { + "instances": [ + { + "id": "point_1768014936036_1768015040020_0u4qy9ylx", + "x": 0.5428033477922035, + "y": 0.13381986952299615 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，直至到达红桃9正上方后下降，抓取红桃9后竖直上升至最高处。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有触碰红桃9。\n为完成从架子上抓起红桃9的任务应当:爪夹向爪夹方向的左前方移动，准备抓取红桃9。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "annotations": { + "bbox_1768014934580": { + "instances": [ + { + "height": 0.06717327268080288, + "id": "bbox_1768014934580_1768015058196_iffmoet6w", + "width": 0.06500639291690599, + "x": 0.6359791776397687, + "y": 0.5455270246634005 + } + ], + "type": "bbox" + }, + "point_1768014935644": { + "instances": [ + { + "id": "point_1768014935644_1768015032188_nefkedqmc", + "x": 0.5753065442506565, + "y": 0.20641034161354113 + } + ], + "type": "point" + }, + "point_1768014936036": { + "instances": [ + { + "id": "point_1768014936036_1768015029284_xeim7u674", + "x": 0.6587314151606859, + "y": 0.20966066125938643 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向的左前方移动，直至红桃9的正上方。后下降，抓取红桃9后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向接近红桃9。", + "frame": 56, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上接近红桃9，因此进度提升为10%。", + "state_description": "爪夹向爪夹方向的左前方移动并下降。\n为完成从架子上抓起红桃9的任务应当:爪夹向爪夹方向的左前方移动，直至红桃9的正上方。", + "time": 1.854399 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降，爪夹向爪夹方向的左侧转动调整。", + "annotations": { + "bbox_1768014934580": { + "instances": [ + { + "height": 0.06825671256275131, + "id": "bbox_1768014934580_1768015016804_6jk36t0ly", + "width": 0.06608983279885443, + "x": 0.6359791776397687, + "y": 0.5433601448995037 + } + ], + "type": "bbox" + }, + "point_1768014935644": { + "instances": [ + { + "id": "point_1768014935644_1768015021004_08z4txv42", + "x": 0.6208110192924907, + "y": 0.361342244732167 + } + ], + "type": "point" + }, + "point_1768014936036": { + "instances": [ + { + "id": "point_1768014936036_1768015024708_qq1wz2by3", + "x": 0.6695658139801702, + "y": 0.33750656732930145 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹方向的左侧旋转调整，然后向爪夹方向的左前方移动，直至红桃9的正上方。后下降，抓取红桃9后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，在水平方向上更接近红桃9。", + "frame": 100, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上更接近红桃9，因此进度提升为15%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹在水平方向上更接近红桃9。\n为完成从架子上抓起红桃9的任务应当:爪夹继续向爪夹方向的左侧旋转调整，然后向爪夹方向的左前方移动，直至红桃9的正上方。", + "time": 3.344 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降，爪夹向爪夹方向的左侧转动调整。", + "annotations": { + "bbox_1768014934580": { + "instances": [ + { + "height": 0.06825671256275131, + "id": "bbox_1768014934580_1768015008212_mo2vn5yha", + "width": 0.06392295303495756, + "x": 0.6370626175217172, + "y": 0.5433601448995037 + } + ], + "type": "bbox" + }, + "point_1768014935644": { + "instances": [ + { + "id": "point_1768014935644_1768015001804_umbi0yaed", + "x": 0.6782333330357576, + "y": 0.5281919865522257 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹下降，抓取红桃9，后竖直上升至最高处。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动至红桃9正上方。", + "frame": 148, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于红桃9正上方，已接近红桃9，因此进度提升为20%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹处于红桃9的正上方。\n为完成从架子上抓起红桃9的任务应当:爪夹下降，抓取红桃9，后竖直上升。", + "time": 4.9324 + }, + { + "action_description": "爪夹下降。", + "annotations": { + "bbox_1768014934580": { + "instances": [ + { + "height": 0.06717327268080288, + "id": "bbox_1768014934580_1768014995668_qxddp5pvy", + "width": 0.06717327268080288, + "x": 0.6370626175217172, + "y": 0.5444435847814522 + } + ], + "type": "bbox" + }, + "point_1768014935644": { + "instances": [ + { + "id": "point_1768014935644_1768014986636_sg70je7y6", + "x": 0.6738995735079639, + "y": 0.6029493384066674 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取红桃9，后竖直上升至最高处。", + "error_success_analysis": "爪夹下降，爪夹处于红桃9的正上方，在垂直方向上接近红桃9。", + "frame": 181, + "progress": 40, + "progress_explanation": "当前爪夹处于红桃9的正上方，在垂直方向上接近红桃9，因此进度提升至40%。", + "state_description": "当前状态为爪夹打开，垂直于桌面，爪夹处于红桃9的正上方，在垂直方向上接近红桃9。\n为完成从架子上抓起红桃9的任务应当:爪夹合拢抓取红桃9，后竖直上升。", + "time": 6.026799 + }, + { + "action_description": "爪夹合拢抓取红桃9。", + "annotations": { + "bbox_1768014934580": { + "instances": [ + { + "height": 0.06825671256275131, + "id": "bbox_1768014934580_1768014981852_r5ftfvzu3", + "width": 0.06500639291690599, + "x": 0.6359791776397687, + "y": 0.5444435847814522 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住红桃9竖直上升至最高处。", + "error_success_analysis": "爪夹在红桃9的正上方合拢，成功抓取到红桃9。", + "frame": 195, + "progress": 50, + "progress_explanation": "爪夹已成功抓取到红桃9，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，红桃9已被抓取。\n为完成从架子上抓起红桃9的任务应当:爪夹抓住红桃9竖直上升。", + "time": 6.505599 + }, + { + "action_description": "爪夹抓住红桃9竖直上升。", + "annotations": { + "bbox_1768014934580": { + "instances": [ + { + "height": 0.06608983279885443, + "id": "bbox_1768014934580_1768014975236_769ayo5kn", + "width": 0.06717327268080288, + "x": 0.6338122978758719, + "y": 0.5325257460800193 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹抓住红桃9上升至最高处。", + "error_success_analysis": "爪夹抓住红桃9开始竖直上升。", + "frame": 215, + "progress": 80, + "progress_explanation": "当前爪夹抓住红桃9开始上升，因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住红桃9已经开始上升。\n为完成从架子上抓起红桃9的任务应当:爪夹抓住红桃9上升至最高处。", + "time": 7.154775533885647 + }, + { + "action_description": "爪夹抓住红桃9竖直上升。", + "annotations": { + "bbox_1768014934580": { + "instances": [ + { + "height": 0.06825671256275119, + "id": "bbox_1768014934580_1768014968412_i9bjii8uo", + "width": 0.07150703220859664, + "x": 0.6348957377578203, + "y": 0.5014671306201708 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹抓住红桃9上升至最高处。", + "frame": 228, + "progress": 100, + "progress_explanation": "爪夹合拢，爪夹抓住红桃9已经上升至最高处，因此进度提升为100%。", + "state_description": "当前状态为爪夹合拢，爪夹抓住红桃9已经上升至最高处。\n已完成从架子上抓起红桃9的任务。", + "time": 7.597163573436973 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768014934580", + "name": "红桃9" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768014935644", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768014936036", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001248.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001248.json new file mode 100644 index 0000000000000000000000000000000000000000..7c7d1119a06b42d71621fa1d217e9f89f8fcc55a --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001248.json @@ -0,0 +1,273 @@ +{ + "task_description": "爪夹抓起黑桃五；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近黑桃五：50%\n爪夹抓取黑桃五：80%\n爪夹抓取黑桃五向上抬起：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1768011485906": { + "instances": [ + { + "height": 0.06999999572753932, + "id": "bbox_1768011485906_1768011573338_l8oauep2t", + "width": 0.06099999627685572, + "x": 0.3036666074422236, + "y": 0.5136249648361227 + } + ], + "type": "bbox" + }, + "point_1768011486766": { + "instances": [ + { + "id": "point_1768011486766_1768011575748_ox7afrs7s", + "x": 0.4636665976765993, + "y": 0.13162498815155102 + } + ], + "type": "point" + }, + "point_1768011486894": { + "instances": [ + { + "id": "point_1768011486894_1768011578924_d96hsvq8m", + "x": 0.5456665926717168, + "y": 0.13262498809051584 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的右前方移动，到达黑桃五的正上方后下降，合拢爪夹抓取黑桃五，随后后竖直上升。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成爪夹抓起黑桃五的任务应当：向爪夹方向的右前方移动，到达黑桃五的正上方后下降。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹方向的右方移动。", + "annotations": { + "bbox_1768011485906": { + "instances": [ + { + "height": 0.06699999591064483, + "id": "bbox_1768011485906_1768011567456_zpdueucq7", + "width": 0.06199999621582055, + "x": 0.3026666075032588, + "y": 0.5156249647140524 + } + ], + "type": "bbox" + }, + "point_1768011486766": { + "instances": [ + { + "id": "point_1768011486766_1768011563340_3489rlr8v", + "x": 0.3676666035359739, + "y": 0.14062498760223463 + } + ], + "type": "point" + }, + "point_1768011486894": { + "instances": [ + { + "id": "point_1768011486894_1768011561020_b1ydyxb3g", + "x": 0.44966659853109137, + "y": 0.1416249875411995 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的右前方移动，到达黑桃五的正上方后下降，合拢爪夹抓取黑桃五，随后后竖直上升。", + "error_success_analysis": "爪夹成功开始向爪夹方向的右方移动。", + "frame": 43, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的右方移动，爪夹已开始移动。因此进度提升至10%", + "state_description": "当前爪夹张开，垂直于桌面上方。\n为完成爪夹抓起黑桃五的任务应当：向爪夹方向的右前方移动，到达黑桃五的正上方后下降。", + "time": 1.4335047246556407 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "annotations": { + "bbox_1768011485906": { + "instances": [ + { + "height": 0.06799999584960965, + "id": "bbox_1768011485906_1768011546589_vzfbl48wk", + "width": 0.06199999621582055, + "x": 0.3026666075032588, + "y": 0.5146249647750876 + } + ], + "type": "bbox" + }, + "point_1768011486766": { + "instances": [ + { + "id": "point_1768011486766_1768011550404_z65ue5xwq", + "x": 0.2936666080525752, + "y": 0.20529165922292117 + } + ], + "type": "point" + }, + "point_1768011486894": { + "instances": [ + { + "id": "point_1768011486894_1768011553002_u6y6l5945", + "x": 0.37566660304769267, + "y": 0.20529165922292117 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的前方移动并下降，到达黑桃五的正上方后继续下降，随后合拢爪夹抓取黑桃五，随后后竖直上升。", + "error_success_analysis": "爪夹成功拉近与黑桃五的水平距离。", + "frame": 76, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的右前方移动并下降，略微拉近与黑桃五的水平距离。", + "state_description": "当前爪夹张开，与黑桃五的水平距离拉近。\n为完成爪夹抓起黑桃五的任务应当：向爪夹方向的前方移动并下降，到达黑桃五的正上方后继续下降。", + "time": 2.548542 + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "annotations": { + "bbox_1768011485906": { + "instances": [ + { + "height": 0.06299999615478538, + "id": "bbox_1768011485906_1768011540759_2p23edxp8", + "width": 0.05999999633789089, + "x": 0.3036666074422236, + "y": 0.5157360830239207 + } + ], + "type": "bbox" + }, + "point_1768011486766": { + "instances": [ + { + "id": "point_1768011486766_1768011536453_dxd3n4wv1", + "x": 0.3246666061604854, + "y": 0.5106249650192282 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降，随后合拢爪夹抓取黑桃五，随后后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并下降，成功拉近与黑桃五的垂直距离。", + "frame": 171, + "progress": 50, + "progress_explanation": "爪夹向爪夹方向的前方移动并下降，移动至黑桃五的正上方。因此进度提升至50%", + "state_description": "当前爪夹张开，位于黑桃五的正上方。\n为完成爪夹抓起黑桃五的任务应当：继续下降，随后合拢爪夹抓取黑桃五。", + "time": 5.695978796513898 + }, + { + "action_description": "爪夹向爪夹方向的下方下降。\n", + "annotations": { + "bbox_1768011485906": { + "instances": [ + { + "height": 0.06599999597167994, + "id": "bbox_1768011485906_1768011523727_d75chwpbh", + "width": 0.06299999615478538, + "x": 0.2996666076863643, + "y": 0.5176249645919822 + } + ], + "type": "bbox" + }, + "point_1768011486766": { + "instances": [ + { + "id": "point_1768011486766_1768011532899_tkvw3que5", + "x": 0.3266666060384152, + "y": 0.5726249612350487 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹抓取黑桃五，随后后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的下方下降，成功移动至黑桃五的两侧。", + "frame": 190, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向的下方移动，与黑桃五的垂直距离进一步拉近。因此进度提升至60%", + "state_description": "当前爪夹张开，位于黑桃五的两侧。\n为完成爪夹抓起黑桃五的任务应当：合拢爪夹抓取黑桃五，随后后竖直上升。", + "time": 6.335256993543048 + }, + { + "action_description": "合拢爪夹，抓取黑桃五。", + "annotations": { + "bbox_1768011485906": { + "instances": [ + { + "height": 0.0709999956665041, + "id": "bbox_1768011485906_1768011517119_5rr6m1at1", + "width": 0.06299999615478538, + "x": 0.3046666073811885, + "y": 0.5146249647750876 + } + ], + "type": "bbox" + } + }, + "correction_plan": "向爪夹方向的上方竖直上升。", + "error_success_analysis": "当前爪夹已抓住黑桃五，因此进度提升至80%", + "frame": 224, + "progress": 80, + "progress_explanation": "当前爪夹成功抓住黑桃五。因此进度提升至80%", + "state_description": "当前爪夹合拢，抓住黑桃五。\n为完成爪夹抓起黑桃五的任务应当：向爪夹方向的上方竖直上升。", + "time": 7.4682 + }, + { + "action_description": "爪夹向爪夹方向的上方抬起爪夹。", + "annotations": { + "bbox_1768011485906": { + "instances": [ + { + "height": 0.06799999584960965, + "id": "bbox_1768011485906_1768011510821_qvsiagkhz", + "width": 0.058999996398925995, + "x": 0.3036666074422236, + "y": 0.47262496733856396 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功抓取黑桃五，成功向爪夹方向的上方抬起。", + "frame": 243, + "progress": 100, + "progress_explanation": "爪夹已经抓取黑桃五并向爪夹方向的上方抬起。", + "state_description": "当前爪夹合拢，爪夹抓住黑桃五位于桌面上方。已完成爪夹抓起黑桃五的任务。", + "time": 8.1 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768011485906", + "name": "黑桃五" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768011486766", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768011486894", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001254.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001254.json new file mode 100644 index 0000000000000000000000000000000000000000..affe607e5d2903ea4ba2def0fcc052ce8c580c49 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001254.json @@ -0,0 +1,307 @@ +{ + "task_description": "爪夹抓起梅花四；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近梅花四：50%\n爪夹抓取梅花四：80%\n爪夹抓取梅花四向上抬起：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1768012987551": { + "instances": [ + { + "height": 0.06899999578857449, + "id": "bbox_1768012987551_1768013069796_dfvn18szy", + "width": 0.05999999633789083, + "x": 0.5356665932820682, + "y": 0.5586249620895408 + } + ], + "type": "bbox" + }, + "point_1768012988155": { + "instances": [ + { + "id": "point_1768012988155_1768013071927_ecu13ddhk", + "x": 0.46166659779866953, + "y": 0.13262498809051584 + } + ], + "type": "point" + }, + "point_1768012990893": { + "instances": [ + { + "id": "point_1768012990893_1768013074223_bz7s7etnk", + "x": 0.5446665927327519, + "y": 0.13462498796844555 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的左前方移动，到达梅花四的正上方后下降，合拢爪夹抓取梅花四，随后竖直上升。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成爪夹抓起梅花四的任务应当：向爪夹方向的左前方移动，到达梅花四的正上方后下降。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动。", + "annotations": { + "bbox_1768012987551": { + "instances": [ + { + "height": 0.0679999958496096, + "id": "bbox_1768012987551_1768013064558_58ngllkq3", + "width": 0.057999996459961164, + "x": 0.5376665931599979, + "y": 0.5586249620895408 + } + ], + "type": "bbox" + }, + "point_1768012988155": { + "instances": [ + { + "id": "point_1768012988155_1768013057965_u4fum4exg", + "x": 0.44766659865316166, + "y": 0.16762498595428552 + } + ], + "type": "point" + }, + "point_1768012990893": { + "instances": [ + { + "id": "point_1768012990893_1768013055379_rq12xf3wy", + "x": 0.5326665934651738, + "y": 0.16662498601532066 + } + ], + "type": "point" + } + }, + "correction_plan": "向爪夹方向的左前方移动，到达梅花四的正上方后下降，合拢爪夹抓取梅花四，随后竖直上升。", + "error_success_analysis": "爪夹成功向爪夹方向的右前方移动。", + "frame": 18, + "progress": 10, + "progress_explanation": "当前爪夹已开始移动。因此进度提升至10%", + "state_description": "当前状态为爪夹打开，位于桌面上方。\n为完成爪夹抓起梅花四的任务应当：向爪夹方向的左前方移动，到达梅花四的正上方后下降。", + "time": 0.5925082433636384 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "annotations": { + "bbox_1768012987551": { + "instances": [ + { + "height": 0.07199999560546905, + "id": "bbox_1768012987551_1768013044702_k3du7a8nx", + "width": 0.06299999615478538, + "x": 0.5356665932820682, + "y": 0.5586249620895408 + } + ], + "type": "bbox" + }, + "point_1768012988155": { + "instances": [ + { + "id": "point_1768012988155_1768013048033_za22i0zft", + "x": 0.4816665965779665, + "y": 0.18351387429724889 + } + ], + "type": "point" + }, + "point_1768012990893": { + "instances": [ + { + "id": "point_1768012990893_1768013051537_cq0340ewt", + "x": 0.563666591573084, + "y": 0.1856249848556528 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹方向的左前方移动并下降，移动至梅花四的正上方，随后继续下降并合拢爪夹，抓取梅花四，随后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功拉近与梅花四的水平距离。", + "frame": 31, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的左前方移动，与梅花四的水平距离拉近。因此进度提升至20%", + "state_description": "当前爪夹张开，与梅花四的水平距离拉近。\n为完成爪夹抓起梅花四的任务应当：继续向爪夹方向的左前方移动并下降，移动至梅花四的正上方。", + "time": 1.029632 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降，同时向爪夹方向的左方调整爪夹方向。", + "annotations": { + "bbox_1768012987551": { + "instances": [ + { + "height": 0.06999999572753939, + "id": "bbox_1768012987551_1768013039695_fpl9o77dg", + "width": 0.057999996459961164, + "x": 0.5376665931599979, + "y": 0.5586249620895408 + } + ], + "type": "bbox" + }, + "point_1768012988155": { + "instances": [ + { + "id": "point_1768012988155_1768013032933_5xe918mrc", + "x": 0.5196665942586307, + "y": 0.37862497307586834 + } + ], + "type": "point" + }, + "point_1768012990893": { + "instances": [ + { + "id": "point_1768012990893_1768013034745_x9fzj2wy8", + "x": 0.5736665909627324, + "y": 0.35162497472381743 + } + ], + "type": "point" + } + }, + "correction_plan": "继续向爪夹方向的左前方移动并下降，移动至梅花四的正上方，随后继续下降并合拢爪夹，抓取梅花四，随后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，成功进一步拉近与梅花四的水平距离。", + "frame": 94, + "progress": 35, + "progress_explanation": "爪夹向爪夹方向的左前方移动并下降，与梅花四的水平距离进一步拉近。因此进度提升至35%", + "state_description": "当前爪夹张开，与梅花四的水平距离进一步拉近。\n为完成爪夹抓起梅花四的任务应当：继续向爪夹方向的左前方移动并下降，直至处于梅花四的正上方。", + "time": 3.119538 + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动并下降，同时向爪夹方向的左方调整爪夹方向。", + "annotations": { + "bbox_1768012987551": { + "instances": [ + { + "height": 0.07299999554443382, + "id": "bbox_1768012987551_1768013026521_kbmkunw0j", + "width": 0.05899999639892606, + "x": 0.5356665932820682, + "y": 0.5576249621505761 + } + ], + "type": "bbox" + }, + "point_1768012988155": { + "instances": [ + { + "id": "point_1768012988155_1768013029401_7895ofq7c", + "x": 0.5696665912068731, + "y": 0.5606249619674706 + } + ], + "type": "point" + } + }, + "correction_plan": "继续下降并合拢爪夹，抓取梅花四，随后竖直上升。", + "error_success_analysis": "爪夹成功拉近与梅花四的垂直距离。", + "frame": 149, + "progress": 50, + "progress_explanation": "爪夹继续向爪夹方向的左前方移动并下降，拉近与梅花四的垂直距离。因此进度提升至50%", + "state_description": "当前爪夹张开，位于梅花四的正上方。\n为完成爪夹抓起梅花四的任务应当：继续下降并合拢爪夹，抓取梅花四。", + "time": 4.96863 + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "annotations": { + "bbox_1768012987551": { + "instances": [ + { + "height": 0.06699999591064483, + "id": "bbox_1768012987551_1768013017583_mm6x61nuo", + "width": 0.061999996215820495, + "x": 0.5376665931599979, + "y": 0.5616249619064354 + } + ], + "type": "bbox" + } + }, + "correction_plan": "合拢爪夹，抓取梅花四，随后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，成功移动至梅花四的两侧。", + "frame": 176, + "progress": 65, + "progress_explanation": "爪夹向爪夹方向的下方移动，再次拉近与梅花四的垂直距离。因此进度提升至65%", + "state_description": "当前爪夹张开，位于梅花四的两侧。\n为完成爪夹抓起梅花四的任务应当：合拢爪夹，抓取梅花四。", + "time": 5.871676 + }, + { + "action_description": "爪夹合拢，抓取梅花四。", + "annotations": { + "bbox_1768012987551": { + "instances": [ + { + "height": 0.07399999548339871, + "id": "bbox_1768012987551_1768013011923_fccfc7pbw", + "width": 0.061999996215820495, + "x": 0.5346665933431035, + "y": 0.5576249621505761 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取梅花四，随后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功移动至梅花四的正上方，下降合拢抓夹成功抓取梅花四。", + "frame": 197, + "progress": 80, + "progress_explanation": "当前爪夹已抓住梅花四。因此进度提升至80%", + "state_description": "当前爪夹合拢，抓住梅花四。\n为完成爪夹抓起梅花四的任务应当：抓取梅花四，随后竖直上升。", + "time": 6.581167660354604 + }, + { + "action_description": "爪夹向爪夹方向的上方移动。", + "annotations": { + "bbox_1768012987551": { + "instances": [ + { + "height": 0.06999999572753926, + "id": "bbox_1768012987551_1768013005355_zuw4y4vz4", + "width": 0.061999996215820495, + "x": 0.5366665932210332, + "y": 0.5156249647140524 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹成功抓取梅花四，向爪夹方向的上方抬起。", + "frame": 222, + "progress": 100, + "progress_explanation": "爪夹抓住梅花四并向爪夹方向的上方移动。因此进度提升至100%", + "state_description": "当前爪夹合拢，抓住梅花四位于桌子上方。已完成爪夹抓起梅花四的任务。", + "time": 7.4 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768012987551", + "name": "梅花四" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768012988155", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768012990893", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001259.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001259.json new file mode 100644 index 0000000000000000000000000000000000000000..c5947cc9c9e5b6a1dbe3cfa0a2fb1af17c28edcf --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001259.json @@ -0,0 +1,327 @@ +{ + "task_description": "爪夹抓起梅花J；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近梅花J：50%\n爪夹抓取梅花J：80%\n爪夹抓取梅花J向上抬起：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右前方移动，到达梅花J的正上方后下降，合拢爪夹抓取梅花J，随后竖直上升。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成爪夹抓起梅花J的任务应当：向爪夹方向的右前方移动，到达梅花J的正上方后下降。", + "time": 0, + "annotations": { + "bbox_1768013971315": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013971315_1768013991047_85f9bbhrb", + "x": 0.40966660097249746, + "y": 0.49562496593475547, + "width": 0.057999996459961164, + "height": 0.0679999958496096 + } + ] + }, + "point_1768013971858": { + "type": "point", + "instances": [ + { + "id": "point_1768013971858_1768013993519_ndl1xdbdi", + "x": 0.4626665977376344, + "y": 0.13462498796844555 + } + ] + }, + "point_1768013971972": { + "type": "point", + "instances": [ + { + "id": "point_1768013971972_1768013995613_y7ymoffg6", + "x": 0.5456665926717168, + "y": 0.1356249879074104 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动。", + "correction_plan": "向爪夹方向的右前方移动，到达梅花J的正上方后下降，合拢爪夹抓取梅花J，随后竖直上升。", + "error_success_analysis": "爪夹成功向爪夹方向的左前方移动。", + "frame": 31, + "progress": 10, + "progress_explanation": "当前爪夹已开始移动。因此进度提升至10%", + "state_description": "当前状态为爪夹打开，位于桌面上方。\n为完成爪夹抓起梅花J的任务应当：向爪夹方向的右前方移动，到达梅花J的正上方后下降。", + "time": 1.036678, + "annotations": { + "bbox_1768013971315": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013971315_1768014001739_ib5woqhu7", + "x": 0.4116666008504272, + "y": 0.49562496593475547, + "width": 0.054999996643066616, + "height": 0.06499999603271517 + } + ] + }, + "point_1768013971858": { + "type": "point", + "instances": [ + { + "id": "point_1768013971858_1768014004153_glik0ecvp", + "x": 0.5016665953572634, + "y": 0.17262498564910975 + } + ] + }, + "point_1768013971972": { + "type": "point", + "instances": [ + { + "id": "point_1768013971972_1768014005914_rzymlu01w", + "x": 0.5866665901692756, + "y": 0.17462498552703948 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动。", + "correction_plan": "继续向爪夹方向的右前方移动，到达梅花J的正上方后下降，合拢爪夹抓取梅花J，随后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，成功拉近与梅花J的水平距离。", + "frame": 89, + "progress": 20, + "progress_explanation": "爪夹向爪夹方向的右前方移动，与梅花J的水平距离拉近。因此进度提升至20%", + "state_description": "当前爪夹张开，与梅花J的水平距离拉近。\n为完成爪夹抓起梅花J的任务应当：继续向爪夹方向的右前方移动并下降，移动至梅花J的正上方。", + "time": 2.965732, + "annotations": { + "bbox_1768013971315": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013971315_1768014011645_hrbww1n42", + "x": 0.41266660078939205, + "y": 0.49662496587372035, + "width": 0.05299999676513689, + "height": 0.061999996215820495 + } + ] + }, + "point_1768013971858": { + "type": "point", + "instances": [ + { + "id": "point_1768013971858_1768014014195_hascwc8qd", + "x": 0.4566665981038453, + "y": 0.28462497881317267 + } + ] + }, + "point_1768013971972": { + "type": "point", + "instances": [ + { + "id": "point_1768013971972_1768014016189_v5obr634c", + "x": 0.5476665925496464, + "y": 0.2866249786911024 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降，同时向爪夹方向的左方调整爪夹方向。\n", + "correction_plan": "继续向爪夹方向的下方移动，移动至梅花J的正上方，随后继续下降并合拢爪夹，抓取梅花J，随后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动并下降，成功进一步拉近与梅花J的水平距离。", + "frame": 147, + "progress": 35, + "progress_explanation": "爪夹向爪夹方向的右前方移动并下降，与梅花四的水平距离进一步拉近。因此进度提升至35%", + "state_description": "当前爪夹张开，与梅花四的水平距离进一步拉近。\n为完成爪夹抓起梅花四的任务应当：继续向爪夹方向的下方下降，直至处于梅花J的正上方。", + "time": 4.8934, + "annotations": { + "point_1768013971972": { + "type": "point", + "instances": [ + { + "id": "point_1768013971972_1768014019697_e18e2fr7k", + "x": 0.4726665971272829, + "y": 0.3846249727096574 + } + ] + }, + "point_1768013971858": { + "type": "point", + "instances": [ + { + "id": "point_1768013971858_1768014022033_cdbz4yspo", + "x": 0.4036666013387084, + "y": 0.4116249710617083 + } + ] + }, + "bbox_1768013971315": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013971315_1768014025347_qiig57lj3", + "x": 0.40966660097249746, + "y": 0.49562496593475547, + "width": 0.056999996520996334, + "height": 0.06299999615478538 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的下方下降，同时向爪夹方向的左方调整爪夹方向。", + "correction_plan": "继续下降并合拢爪夹，抓取梅花J，随后竖直上升。", + "error_success_analysis": "爪夹成功拉近与梅花J的垂直距离。", + "frame": 187, + "progress": 50, + "progress_explanation": "爪夹继续向爪夹方向的下方下降，拉近与梅花J的垂直距离。因此进度提升至50%", + "state_description": "当前爪夹张开，位于梅花J的正上方。\n为完成爪夹抓起梅花J的任务应当：继续下降并合拢爪夹，抓取梅花J。", + "time": 6.234129, + "annotations": { + "bbox_1768013971315": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013971315_1768014030951_z8r7l979r", + "x": 0.4116666008504272, + "y": 0.49462496599579064, + "width": 0.05599999658203145, + "height": 0.06599999597167999 + } + ] + }, + "point_1768013971858": { + "type": "point", + "instances": [ + { + "id": "point_1768013971858_1768014033169_mxbayp7lb", + "x": 0.4356665993855835, + "y": 0.5006249656295797 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的下方移动。", + "correction_plan": "合拢爪夹，抓取梅花J，随后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，成功移动至梅花J的两侧。", + "frame": 212, + "progress": 65, + "progress_explanation": "爪夹向爪夹方向的下方移动，再次拉近与梅花J的垂直距离。因此进度提升至65%", + "state_description": "当前爪夹张开，位于梅花J的两侧。\n为完成爪夹抓起梅花J的任务应当：合拢爪夹，抓取梅花J。", + "time": 7.052, + "annotations": { + "point_1768013971858": { + "type": "point", + "instances": [ + { + "id": "point_1768013971858_1768014036163_gx9o0evj6", + "x": 0.43366659950765385, + "y": 0.5506249625778221 + } + ] + }, + "bbox_1768013971315": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013971315_1768014039671_dtpc1vr1m", + "x": 0.4116666008504272, + "y": 0.49462496599579064, + "width": 0.054999996643066616, + "height": 0.06599999597167999 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取梅花J。", + "correction_plan": "抓取梅花J，随后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功移动至梅花J的正上方，下降合拢抓夹成功抓取梅花J。", + "frame": 236, + "progress": 80, + "progress_explanation": "当前爪夹已抓住梅花J。因此进度提升至80%", + "state_description": "当前爪夹合拢，抓住梅花J。\n为完成爪夹抓起梅花J的任务应当：抓取梅花J，随后竖直上升。", + "time": 7.877599, + "annotations": { + "bbox_1768013971315": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013971315_1768014044311_2p0nmdhb5", + "x": 0.40966660097249746, + "y": 0.49262496611786094, + "width": 0.056999996520996334, + "height": 0.06599999597167988 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方移动。", + "correction_plan": "", + "error_success_analysis": "爪夹成功抓取梅花J，向爪夹方向的上方抬起。", + "frame": 258, + "progress": 100, + "progress_explanation": "爪夹抓住梅花J并向爪夹方向的上方移动。因此进度提升至100%", + "state_description": "当前爪夹合拢，抓住梅花J位于桌子上方。已完成爪夹抓起梅花J的任务。", + "time": 8.6, + "annotations": { + "bbox_1768013971315": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768013971315_1768014049681_sij6npxef", + "x": 0.40866660103353264, + "y": 0.45262496855926704, + "width": 0.05699999652099628, + "height": 0.06499999603271504 + } + ] + }, + "point_1768013971858": { + "type": "point", + "instances": [ + { + "id": "point_1768013971858_1768014052059_le4qdheiw", + "x": 0.43266659956868897, + "y": 0.5006249656295797 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768013971315", + "name": "梅花J", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768013971858", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768013971972", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001262.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001262.json new file mode 100644 index 0000000000000000000000000000000000000000..0627b1e604c003c042cefecc48a368b6625f9487 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001262.json @@ -0,0 +1,317 @@ +{ + "task_description": "爪夹抓起红桃六；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近红桃六：50%\n爪夹抓取红桃六：80%\n爪夹抓取红桃六向上抬起：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成爪夹抓起红桃六的任务应当：向爪夹方向的左前方移动，到达红桃六的正上方后下降。", + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "向爪夹方向的左前方移动，到达红桃六的正上方后下降，合拢爪夹抓取红桃六，随后竖直上升。", + "annotations": { + "bbox_1768014907970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014907970_1768014922623_tzck0r5th", + "x": 0.534, + "y": 0.47933332824707026, + "width": 0.05799999999999995, + "height": 0.06700000000000005 + } + ] + }, + "point_1768014908442": { + "type": "point", + "instances": [ + { + "id": "point_1768014908442_1768014925463_gp5odj2gl", + "x": 0.46599999999999997, + "y": 0.1333333282470703 + } + ] + }, + "point_1768014908552": { + "type": "point", + "instances": [ + { + "id": "point_1768014908552_1768014927658_46mr4qtf8", + "x": 0.5459999999999999, + "y": 0.1343333282470703 + } + ] + } + } + }, + { + "time": 0.7426, + "frame": 22, + "progress": 10, + "action_description": "爪夹向爪夹方向的左前方移动。", + "state_description": "当前状态为爪夹打开，位于桌面上方。\n为完成爪夹抓起红桃六的任务应当：继续向爪夹方向的左前方移动，到达红桃六的正上方后下降。", + "progress_explanation": "当前爪夹已开始移动。因此进度提升至10%", + "error_success_analysis": "爪夹成功向爪夹方向的左前方移动。", + "correction_plan": "向爪夹方向的左前方移动，到达红桃六的正上方后下降，合拢爪夹抓取红桃六，随后竖直上升。", + "annotations": { + "point_1768014908552": { + "type": "point", + "instances": [ + { + "id": "point_1768014908552_1768014931237_cql8df1sv", + "x": 0.591, + "y": 0.1513333282470703 + } + ] + }, + "point_1768014908442": { + "type": "point", + "instances": [ + { + "id": "point_1768014908442_1768014933194_5795sjrzs", + "x": 0.506, + "y": 0.1513333282470703 + } + ] + }, + "bbox_1768014907970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014907970_1768014936633_vgx1qt4uz", + "x": 0.534, + "y": 0.48233332824707026, + "width": 0.05700000000000003, + "height": 0.06400000000000006 + } + ] + } + } + }, + { + "time": 1.971449, + "frame": 59, + "progress": 20, + "action_description": "爪夹向爪夹方向的右前方移动。", + "state_description": "当前爪夹张开，与红桃六的水平距离拉近。\n为完成爪夹抓起红桃六的任务应当：向爪夹方向的左前方移动并下降，移动至红桃六的正上方。", + "progress_explanation": "爪夹向爪夹方向的右前方移动，与红桃六的水平距离拉近。因此进度提升至20%", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，成功拉近与红桃六的水平距离。", + "correction_plan": "向爪夹方向的左前方移动，到达红桃六的正上方后下降，合拢爪夹抓取红桃六，随后竖直上升。", + "annotations": { + "bbox_1768014907970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014907970_1768014940503_3rfcbzc6l", + "x": 0.534, + "y": 0.48233332824707026, + "width": 0.05799999999999995, + "height": 0.06499999999999997 + } + ] + }, + "point_1768014908442": { + "type": "point", + "instances": [ + { + "id": "point_1768014908442_1768014942951_g46571738", + "x": 0.471, + "y": 0.2073333282470703 + } + ] + }, + "point_1768014908552": { + "type": "point", + "instances": [ + { + "id": "point_1768014908552_1768014945283_zu1u0s4ft", + "x": 0.5589999999999999, + "y": 0.2033333282470703 + } + ] + } + } + }, + { + "time": 3.917936, + "frame": 118, + "progress": 35, + "action_description": "爪夹向爪夹方向的左前方移动并下降，同时向爪夹方向的左方调整爪夹方向。", + "state_description": "当前爪夹张开，与红桃六的水平距离进一步拉近。\n为完成爪夹抓起红桃六的任务应当：继续向爪夹方向的左前方移动并下降，直至处于红桃六的正上方。", + "progress_explanation": "爪夹向爪夹方向的左前方移动并下降，与红桃六的水平距离进一步拉近。因此进度提升至35%", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，成功进一步拉近与红桃六的水平距离。", + "correction_plan": "继续向爪夹方向的左前方移动并下降，移动至红桃六的正上方，随后继续下降并合拢爪夹，抓取红桃六，随后竖直上升。", + "annotations": { + "point_1768014908552": { + "type": "point", + "instances": [ + { + "id": "point_1768014908552_1768014948174_co2mtm241", + "x": 0.5760000000000001, + "y": 0.3373333282470703 + } + ] + }, + "point_1768014908442": { + "type": "point", + "instances": [ + { + "id": "point_1768014908442_1768014950375_v8becakhw", + "x": 0.511, + "y": 0.3583333282470703 + } + ] + }, + "bbox_1768014907970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014907970_1768014953631_daw6zfg2n", + "x": 0.5319999999999999, + "y": 0.47933332824707026, + "width": 0.059000000000000045, + "height": 0.06700000000000005 + } + ] + } + } + }, + { + "time": 5.442072, + "frame": 163, + "progress": 50, + "action_description": "爪夹继续向爪夹方向的左前方移动并下降，同时向爪夹方向的左方调整爪夹方向。", + "state_description": "当前爪夹张开，位于红桃六的正上方。\n为完成爪夹抓起红桃六的任务应当：继续下降并合拢爪夹，抓取红桃六。", + "progress_explanation": "爪夹继续向爪夹方向的左前方移动并下降，拉近与红桃六的垂直距离。因此进度提升至50%", + "error_success_analysis": "爪夹成功拉近与红桃六的垂直距离。", + "correction_plan": "继续下降并合拢爪夹，抓取红桃六，随后竖直上升。", + "annotations": { + "bbox_1768014907970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014907970_1768014958055_p91m7sutp", + "x": 0.535, + "y": 0.4813333282470703, + "width": 0.05699999999999991, + "height": 0.06599999999999996 + } + ] + }, + "point_1768014908442": { + "type": "point", + "instances": [ + { + "id": "point_1768014908442_1768014960633_38kgzj96z", + "x": 0.567, + "y": 0.4773333282470703 + } + ] + } + } + }, + { + "time": 6.433678, + "frame": 193, + "progress": 65, + "action_description": "爪夹向爪夹方向的下方移动。", + "state_description": "当前爪夹张开，位于红桃六的两侧。\n为完成爪夹抓起红桃六的任务应当：合拢爪夹，抓取红桃六。", + "progress_explanation": "爪夹向爪夹方向的下方移动，再次拉近与红桃六的垂直距离。因此进度提升至65%", + "error_success_analysis": "爪夹向爪夹方向的下方移动，成功移动至红桃六的两侧。", + "correction_plan": "合拢爪夹，抓取红桃六，随后竖直上升。", + "annotations": { + "point_1768014908442": { + "type": "point", + "instances": [ + { + "id": "point_1768014908442_1768014964115_8o4md7382", + "x": 0.5630000000000001, + "y": 0.5343333282470704 + } + ] + }, + "bbox_1768014907970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014907970_1768014967215_7ocrrzu96", + "x": 0.535, + "y": 0.4813333282470703, + "width": 0.05699999999999991, + "height": 0.06500000000000003 + } + ] + } + } + }, + { + "time": 7.296743, + "frame": 219, + "progress": 80, + "action_description": "爪夹合拢，抓取红桃六。", + "state_description": "当前爪夹合拢，抓住红桃六。\n为完成爪夹抓起红桃六的任务应当：抓取红桃六，随后竖直上升。", + "progress_explanation": "当前爪夹已抓住红桃六。因此进度提升至80%", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，成功移动至红桃六的正上方，下降合拢抓夹成功抓取红桃六。", + "correction_plan": "抓取红桃六，随后竖直上升。", + "annotations": { + "bbox_1768014907970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014907970_1768014973727_wb6686rog", + "x": 0.535, + "y": 0.48533332824707026, + "width": 0.05499999999999995, + "height": 0.054000000000000034 + } + ] + } + } + }, + { + "time": 7.9, + "frame": 237, + "progress": 100, + "action_description": "爪夹向爪夹方向的上方移动。", + "state_description": "当前爪夹合拢，抓住红桃六位于桌子上方。已完成爪夹抓起红桃六的任务。", + "progress_explanation": "爪夹抓住红桃六并向爪夹方向的上方移动。因此进度提升至100%", + "error_success_analysis": "爪夹成功抓取红桃六，向爪夹方向的上方抬起。", + "correction_plan": "", + "annotations": { + "bbox_1768014907970": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014907970_1768014978327_e83y3vp0q", + "x": 0.5319999999999999, + "y": 0.43733333206176755, + "width": 0.05999999999999996, + "height": 0.07299999999999998 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768014907970", + "name": "红桃六", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768014908442", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768014908552", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001269.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001269.json new file mode 100644 index 0000000000000000000000000000000000000000..7113300f4a56806e3c677e8dd857bc9971cdc8e5 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001269.json @@ -0,0 +1,317 @@ +{ + "task_description": "爪夹抓起梅花十；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近梅花十：50%\n爪夹抓取梅花十：80%\n爪夹抓取梅花十向上抬起：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成爪夹抓起梅花十的任务应当：向爪夹方向的左前方移动，到达梅花十的正上方后下降。", + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "向爪夹方向的左前方移动，到达梅花十的正上方后下降，合拢爪夹抓取梅花十，随后竖直上升。", + "annotations": { + "bbox_1768015672571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015672571_1768015688379_jsdppteaf", + "x": 0.614, + "y": 0.5413333282470703, + "width": 0.06199999999999998, + "height": 0.07000000000000005 + } + ] + }, + "point_1768015673261": { + "type": "point", + "instances": [ + { + "id": "point_1768015673261_1768015691367_3y0wldvup", + "x": 0.46299999999999997, + "y": 0.1333333282470703 + } + ] + }, + "point_1768015675681": { + "type": "point", + "instances": [ + { + "id": "point_1768015675681_1768015694195_ozlx0cd84", + "x": 0.544, + "y": 0.1333333282470703 + } + ] + } + } + }, + { + "time": 1.3197, + "frame": 40, + "progress": 10, + "action_description": "爪夹向爪夹方向的左前方移动。", + "state_description": "当前状态为爪夹打开，位于桌面上方。\n为完成爪夹抓起梅花十的任务应当：继续向爪夹方向的左前方移动，到达梅花十的正上方后下降。", + "progress_explanation": "当前爪夹已开始移动。因此进度提升至10%", + "error_success_analysis": "爪夹成功向爪夹方向的左前方移动。", + "correction_plan": "继续向爪夹方向的左前方移动，到达梅花十的正上方后下降，合拢爪夹抓取梅花十，随后竖直上升。", + "annotations": { + "bbox_1768015672571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015672571_1768015698127_svxwzl73z", + "x": 0.614, + "y": 0.5413333282470703, + "width": 0.06400000000000006, + "height": 0.07000000000000005 + } + ] + }, + "point_1768015673261": { + "type": "point", + "instances": [ + { + "id": "point_1768015673261_1768015700287_pspk2wpvo", + "x": 0.571, + "y": 0.17733332824707032 + } + ] + }, + "point_1768015675681": { + "type": "point", + "instances": [ + { + "id": "point_1768015675681_1768015702071_9coddhdwa", + "x": 0.656, + "y": 0.1813333282470703 + } + ] + } + } + }, + { + "time": 2.3738, + "frame": 71, + "progress": 20, + "action_description": "爪夹继续向爪夹方向的左前方移动。", + "state_description": "当前爪夹张开，与梅花十的水平距离拉近。\n为完成爪夹抓起梅花十的任务应当：继续向爪夹方向的左前方移动并下降，移动至梅花十的正上方。", + "progress_explanation": "爪夹向爪夹方向的左前方移动，与梅花十的水平距离拉近。因此进度提升至20%", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功拉近与梅花十的水平距离。", + "correction_plan": "继续向爪夹方向的左前方移动，到达梅花十的正上方后下降，合拢爪夹抓取梅花十，随后竖直上升。", + "annotations": { + "point_1768015675681": { + "type": "point", + "instances": [ + { + "id": "point_1768015675681_1768015706005_y4qphqeio", + "x": 0.698, + "y": 0.23133332824707029 + } + ] + }, + "point_1768015673261": { + "type": "point", + "instances": [ + { + "id": "point_1768015673261_1768015708709_ehefwxg2l", + "x": 0.608, + "y": 0.2273333282470703 + } + ] + }, + "bbox_1768015672571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015672571_1768015713079_ei0y1tqwv", + "x": 0.615, + "y": 0.5423333282470703, + "width": 0.060000000000000026, + "height": 0.07099999999999997 + } + ] + } + } + }, + { + "time": 4.2828, + "frame": 128, + "progress": 35, + "action_description": "爪夹向爪夹方向的左前方移动并下降，同时向爪夹方向的左方调整爪夹方向。", + "state_description": "当前爪夹张开，与梅花十的水平距离进一步拉近。\n为完成爪夹抓起梅花十的任务应当：继续向爪夹方向的下方下降，直至处于梅花十的正上方。", + "progress_explanation": "爪夹向爪夹方向的左前方移动并下降，与梅花十的水平距离进一步拉近。因此进度提升至35%", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，成功进一步拉近与梅花十的水平距离。", + "correction_plan": "继续向爪夹方向的下方下降，移动至梅花十的正上方，随后继续下降并合拢爪夹，抓取梅花十，随后竖直上升。", + "annotations": { + "bbox_1768015672571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015672571_1768015717545_nuj59shsn", + "x": 0.615, + "y": 0.5413333282470703, + "width": 0.06099999999999994, + "height": 0.069 + } + ] + }, + "point_1768015673261": { + "type": "point", + "instances": [ + { + "id": "point_1768015673261_1768015719639_oj2ihf64z", + "x": 0.6479999999999999, + "y": 0.3813333282470703 + } + ] + }, + "point_1768015675681": { + "type": "point", + "instances": [ + { + "id": "point_1768015675681_1768015721581_a32nyrsf4", + "x": 0.714, + "y": 0.35433332824707026 + } + ] + } + } + }, + { + "time": 5.9926, + "frame": 180, + "progress": 50, + "action_description": "爪夹继续向爪夹方向的下方下降，同时向爪夹方向的左方调整爪夹方向。", + "state_description": "当前爪夹张开，位于梅花十的正上方。\n为完成爪夹抓起梅花十的任务应当：继续下降并合拢爪夹，抓取梅花十。", + "progress_explanation": "爪夹继续向爪夹方向的下方下降，拉近与梅花十的垂直距离。因此进度提升至50%", + "error_success_analysis": "爪夹成功拉近与梅花十的垂直距离。", + "correction_plan": "继续下降并合拢爪夹，抓取梅花十，随后竖直上升。", + "annotations": { + "point_1768015673261": { + "type": "point", + "instances": [ + { + "id": "point_1768015673261_1768015732053_ke2rprbgv", + "x": 0.6519999999999999, + "y": 0.5503333282470703 + } + ] + }, + "bbox_1768015672571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015672571_1768015735135_smok7yl5b", + "x": 0.615, + "y": 0.5413333282470703, + "width": 0.06300000000000001, + "height": 0.07000000000000005 + } + ] + } + } + }, + { + "time": 6.7728, + "frame": 203, + "progress": 65, + "action_description": "爪夹向爪夹方向的下方移动。", + "state_description": "当前爪夹张开，位于梅花十的两侧。\n为完成爪夹抓起梅花十的任务应当：合拢爪夹，抓取梅花十。", + "progress_explanation": "爪夹向爪夹方向的下方移动，再次拉近与梅花十的垂直距离。因此进度提升至65%", + "error_success_analysis": "爪夹向爪夹方向的下方移动，成功移动至梅花十的两侧。", + "correction_plan": "合拢爪夹，抓取梅花十，随后竖直上升。", + "annotations": { + "bbox_1768015672571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015672571_1768015739643_v9wxtsg9k", + "x": 0.614, + "y": 0.5393333282470703, + "width": 0.06100000000000006, + "height": 0.075 + } + ] + }, + "point_1768015673261": { + "type": "point", + "instances": [ + { + "id": "point_1768015673261_1768015742499_vpul2c78v", + "x": 0.6479999999999999, + "y": 0.5993333282470703 + } + ] + } + } + }, + { + "time": 7.4368, + "frame": 223, + "progress": 80, + "action_description": "爪夹合拢，抓取梅花十。", + "state_description": "当前爪夹合拢，抓住梅花十。\n为完成爪夹抓起梅花十任务应当：抓取梅花十，随后向爪夹方向的上方竖直上升。", + "progress_explanation": "当前爪夹已抓住梅花十。因此进度提升至80%", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功移动至梅花十的正上方，下降合拢抓夹成功抓取梅花十。", + "correction_plan": "向爪夹方向的上方竖直上升。", + "annotations": { + "bbox_1768015672571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015672571_1768015747928_90qikr4y1", + "x": 0.614, + "y": 0.5433333282470704, + "width": 0.06199999999999998, + "height": 0.06699999999999993 + } + ] + } + } + }, + { + "time": 8.3, + "frame": 249, + "progress": 100, + "action_description": "爪夹向爪夹方向的上方移动。", + "state_description": "当前爪夹合拢，抓住梅花十位于桌子上方。已完成爪夹抓起梅花十的任务。", + "progress_explanation": "爪夹抓住梅花十并向爪夹方向的上方移动。因此进度提升至100%", + "error_success_analysis": "爪夹成功抓取梅花十，向爪夹方向的上方抬起。", + "correction_plan": "", + "annotations": { + "bbox_1768015672571": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015672571_1768015751935_3ttplx67f", + "x": 0.615, + "y": 0.49333333206176755, + "width": 0.06700000000000005, + "height": 0.08000000000000002 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768015672571", + "name": "梅花十", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768015673261", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768015675681", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001270.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001270.json new file mode 100644 index 0000000000000000000000000000000000000000..29b4efae377edccd71bbe1ebbf56c73cd61e7aab --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001270.json @@ -0,0 +1,273 @@ +{ + "task_description": "爪夹抓起方片十；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近方片十：50%\n爪夹抓取方片十：80%\n爪夹抓取方片十向上抬起：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成爪夹抓起方片十的任务应当：向爪夹方向的左前方移动，到达方片十的正上方后下降。", + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "向爪夹方向的左前方移动并下降，移动至方片十的正上方，随后继续下降，合拢爪夹抓取方片十，随后竖直上升。", + "annotations": { + "bbox_1768016316800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768016316800_1768016330874_k3goh2cyi", + "x": 0.607, + "y": 0.4773333282470703, + "width": 0.05899999999999998, + "height": 0.069 + } + ] + }, + "point_1768016317434": { + "type": "point", + "instances": [ + { + "id": "point_1768016317434_1768016334006_xradp8lff", + "x": 0.46299999999999997, + "y": 0.1343333282470703 + } + ] + }, + "point_1768016317568": { + "type": "point", + "instances": [ + { + "id": "point_1768016317568_1768016337326_hr8ylx0io", + "x": 0.5459999999999999, + "y": 0.13533332824707028 + } + ] + } + } + }, + { + "time": 0.9729896907216494, + "frame": 29, + "progress": 10, + "action_description": "爪夹向爪夹方向的左方移动。", + "state_description": "当前状态为爪夹打开，位于桌面上方。\n为完成爪夹抓起梅花四的任务应当：向爪夹方向的左前方移动，到达方片十的正上方后下降。", + "progress_explanation": "当前爪夹已开始移动。因此进度提升至10%", + "error_success_analysis": "爪夹成功向爪夹方向的左方移动。", + "correction_plan": "向爪夹方向的左前方移动并下降，移动至方片十的正上方，随后继续下降，合拢爪夹抓取方片十，随后竖直上升。", + "annotations": { + "point_1768016317568": { + "type": "point", + "instances": [ + { + "id": "point_1768016317568_1768016340388_q3rkixtfz", + "x": 0.584, + "y": 0.1913333282470703 + } + ] + }, + "point_1768016317434": { + "type": "point", + "instances": [ + { + "id": "point_1768016317434_1768016343064_bj4apixbo", + "x": 0.503, + "y": 0.1943333282470703 + } + ] + }, + "bbox_1768016316800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768016316800_1768016347030_pnttnr3xk", + "x": 0.607, + "y": 0.47933332824707026, + "width": 0.05899999999999998, + "height": 0.06300000000000001 + } + ] + } + } + }, + { + "time": 2.4354, + "frame": 73, + "progress": 30, + "action_description": "爪夹向爪夹方向的左前方移动并下降，同时向爪夹方向的左方调整爪夹方向。", + "state_description": "当前爪夹张开，与方片十的水平距离拉近。\n为完成爪夹抓起方片十的任务应当：继续向爪夹方向的左前方移动并下降，移动至方片十的正上方。", + "progress_explanation": "爪夹向爪夹方向的左前方移动，与方片十的水平距离拉近。因此进度提升至30%", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功拉近与方片十的水平距离。", + "correction_plan": "继续向爪夹方向的左前方移动并下降，移动至方片十的正上方，随后继续下降，合拢爪夹抓取方片十，随后竖直上升。", + "annotations": { + "bbox_1768016316800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768016316800_1768016351270_zxhjy2g2c", + "x": 0.607, + "y": 0.47933332824707026, + "width": 0.05899999999999998, + "height": 0.06600000000000002 + } + ] + }, + "point_1768016317434": { + "type": "point", + "instances": [ + { + "id": "point_1768016317434_1768016353478_ba8ofmruv", + "x": 0.564, + "y": 0.3263333282470703 + } + ] + }, + "point_1768016317568": { + "type": "point", + "instances": [ + { + "id": "point_1768016317568_1768016355436_ee55jiu6z", + "x": 0.614, + "y": 0.3023333282470703 + } + ] + } + } + }, + { + "time": 3.9732, + "frame": 119, + "progress": 50, + "action_description": "爪夹继续向爪夹方向的左前方移动并下降，同时向爪夹方向的左方调整爪夹方向。", + "state_description": "当前爪夹张开，位于方片十的正上方。\n为完成爪夹抓起方片十的任务应当：继续下降并合拢爪夹，抓取方片十。", + "progress_explanation": "爪夹继续向爪夹方向的左前方移动并下降，拉近与方片十的垂直距离。因此进度提升至50%", + "error_success_analysis": "爪夹成功拉近与方片十的垂直距离。", + "correction_plan": "继续下降并合拢爪夹，抓取方片十，随后竖直上升。", + "annotations": { + "point_1768016317434": { + "type": "point", + "instances": [ + { + "id": "point_1768016317434_1768016360433_pwthn0jsh", + "x": 0.643, + "y": 0.4583333282470703 + } + ] + }, + "bbox_1768016316800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768016316800_1768016364026_7pe11t66k", + "x": 0.607, + "y": 0.4783333282470703, + "width": 0.05699999999999991, + "height": 0.06800000000000003 + } + ] + } + } + }, + { + "time": 4.8576, + "frame": 146, + "progress": 65, + "action_description": "爪夹向爪夹方向的下方移动。", + "state_description": "当前爪夹张开，位于方片十的两侧。\n为完成爪夹抓起方片十的任务应当：合拢爪夹，抓取方片十。", + "progress_explanation": "爪夹向爪夹方向的下方移动，再次拉近与方片十的垂直距离。因此进度提升至65%", + "error_success_analysis": "爪夹向爪夹方向的下方移动，成功移动至方片十的两侧。", + "correction_plan": "合拢爪夹，抓取方片十，随后竖直上升。", + "annotations": { + "bbox_1768016316800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768016316800_1768016368734_2a91jwkfj", + "x": 0.607, + "y": 0.47933332824707026, + "width": 0.05699999999999991, + "height": 0.06799999999999998 + } + ] + }, + "point_1768016317434": { + "type": "point", + "instances": [ + { + "id": "point_1768016317434_1768016371010_ih60tmywz", + "x": 0.6389999999999999, + "y": 0.5303333282470704 + } + ] + } + } + }, + { + "time": 5.6628, + "frame": 170, + "progress": 80, + "action_description": "爪夹合拢，抓取方片十。", + "state_description": "当前爪夹合拢，抓住方片十。\n为完成爪夹抓起方片十的任务应当：抓住方片十后竖直上升。", + "progress_explanation": "当前爪夹已抓住方片十。因此进度提升至80%", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功移动至方片十的正上方，下降合拢抓夹，成功抓取方片十。", + "correction_plan": "抓住方片十后竖直上升。", + "annotations": { + "bbox_1768016316800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768016316800_1768016376504_ww3oj57cb", + "x": 0.608, + "y": 0.4813333282470703, + "width": 0.054000000000000034, + "height": 0.06500000000000003 + } + ] + } + } + }, + { + "time": 6.6, + "frame": 198, + "progress": 100, + "action_description": "爪夹向爪夹方向的上方移动。", + "state_description": "当前爪夹合拢，抓住方片十位于桌子上方。已完成爪夹抓起方片十的任务。", + "progress_explanation": "爪夹抓住方片十并向爪夹方向的上方移动。因此进度提升至100%", + "error_success_analysis": "爪夹成功抓取方片十，向爪夹方向的上方抬起。", + "correction_plan": "", + "annotations": { + "bbox_1768016316800": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768016316800_1768016381093_g8cb63n76", + "x": 0.61, + "y": 0.43533333206176755, + "width": 0.05599999999999999, + "height": 0.06999999999999999 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768016316800", + "name": "方片十", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768016317434", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768016317568", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001273.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001273.json new file mode 100644 index 0000000000000000000000000000000000000000..075a96348e61c5be469da80e683a5bf20e35fdfc --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001273.json @@ -0,0 +1,327 @@ +{ + "task_description": "爪夹抓起黑桃七；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近黑桃七：50%\n爪夹抓取黑桃七：80%\n爪夹抓取黑桃七向上抬起：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成爪夹抓起黑桃七的任务应当：向爪夹方向的右前方移动并下降，移动至黑桃七的正上方后继续下降。", + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "向爪夹方向的右前方移动并下降，移动至黑桃七的正上方后继续下降，随后合拢爪夹抓取黑桃七，随后竖直上升。", + "annotations": { + "bbox_1768017128515": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017128515_1768017145485_c8odidyzc", + "x": 0.26399999999999996, + "y": 0.5383333282470703, + "width": 0.06700000000000005, + "height": 0.069 + } + ] + }, + "point_1768017129597": { + "type": "point", + "instances": [ + { + "id": "point_1768017129597_1768017153084_xp4nfa8d7", + "x": 0.46299999999999997, + "y": 0.1293333282470703 + } + ] + }, + "point_1768017129715": { + "type": "point", + "instances": [ + { + "id": "point_1768017129715_1768017155219_vm1qzj5m5", + "x": 0.5459999999999999, + "y": 0.1333333282470703 + } + ] + } + } + }, + { + "time": 0.5688, + "frame": 17, + "progress": 10, + "action_description": "爪夹向爪夹方向的右方移动。", + "state_description": "当前状态为爪夹打开，位于桌面上方。\n为完成爪夹抓起黑桃七的任务应当：向爪夹方向的右前方移动并下降，移动至黑桃七的正上方后继续下降。", + "progress_explanation": "当前爪夹已开始移动。因此进度提升至10%", + "error_success_analysis": "爪夹成功向爪夹方向的右方移动。", + "correction_plan": "向爪夹方向的右前方移动并下降，移动至黑桃七的正上方后继续下降，随后合拢爪夹抓取黑桃七，随后竖直上升。", + "annotations": { + "bbox_1768017128515": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017128515_1768017159571_nfujeqx4c", + "x": 0.27099999999999996, + "y": 0.5353333282470703, + "width": 0.059000000000000045, + "height": 0.07200000000000001 + } + ] + }, + "point_1768017129597": { + "type": "point", + "instances": [ + { + "id": "point_1768017129597_1768017161855_yi61uoq6t", + "x": 0.428, + "y": 0.1313333282470703 + } + ] + }, + "point_1768017129715": { + "type": "point", + "instances": [ + { + "id": "point_1768017129715_1768017163837_zuiawosvr", + "x": 0.511, + "y": 0.1333333282470703 + } + ] + } + } + }, + { + "time": 1.759175257731959, + "frame": 53, + "progress": 20, + "action_description": "爪夹向爪夹方向的右前方移动。", + "state_description": "当前爪夹张开，与黑桃七的水平距离略微拉近。\n为完成爪夹抓起黑桃七的任务应当：继续向爪夹方向的左前方移动并下降，移动至黑桃七的正上方。", + "progress_explanation": "爪夹向爪夹方向的右前方移动，与黑桃七的水平距离拉近。因此进度提升至20%", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，成功拉近与黑桃七的水平距离。", + "correction_plan": "继续向爪夹方向的右前方移动并下降，移动至黑桃七的正上方后继续下降，随后合拢爪夹抓取黑桃七，随后竖直上升。", + "annotations": { + "point_1768017129715": { + "type": "point", + "instances": [ + { + "id": "point_1768017129715_1768017167833_oiwdosm1q", + "x": 0.44599999999999995, + "y": 0.1953333282470703 + } + ] + }, + "point_1768017129597": { + "type": "point", + "instances": [ + { + "id": "point_1768017129597_1768017170367_0o8g390rp", + "x": 0.362, + "y": 0.1953333282470703 + } + ] + }, + "bbox_1768017128515": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017128515_1768017173825_jvi93w6y4", + "x": 0.26799999999999996, + "y": 0.5383333282470703, + "width": 0.064, + "height": 0.06700000000000005 + } + ] + } + } + }, + { + "time": 3.233298969072165, + "frame": 97, + "progress": 35, + "action_description": "爪夹向爪夹方向的右前方移动并下降，同时向爪夹方向的左方调整爪夹方向。", + "state_description": "当前爪夹张开，与黑桃七的水平距离进一步拉近。\n为完成爪夹抓起黑桃七的任务应当：继续向爪夹方向的左前方移动并下降，直至处于黑桃七的正上方。", + "progress_explanation": "爪夹向爪夹方向的右前方移动并下降，与黑桃七的水平距离进一步拉近。因此进度提升至35%", + "error_success_analysis": "爪夹向爪夹方向的右前方移动并下降，成功进一步拉近与黑桃七的水平距离。", + "correction_plan": "向爪夹方向的右前方移动并下降，移动至黑桃七的正上方后继续下降，随后合拢爪夹抓取黑桃七，随后竖直上升。", + "annotations": { + "bbox_1768017128515": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017128515_1768017182279_tnijhkvse", + "x": 0.267, + "y": 0.5383333282470703, + "width": 0.06300000000000001, + "height": 0.069 + } + ] + }, + "point_1768017129597": { + "type": "point", + "instances": [ + { + "id": "point_1768017129597_1768017184721_6djufj0ht", + "x": 0.322, + "y": 0.3303333282470703 + } + ] + }, + "point_1768017129715": { + "type": "point", + "instances": [ + { + "id": "point_1768017129715_1768017186715_zkmvqsf91", + "x": 0.394, + "y": 0.30933332824707027 + } + ] + } + } + }, + { + "time": 5.277525773195875, + "frame": 158, + "progress": 50, + "action_description": "爪夹继续向爪夹方向的右前方移动并下降，同时向爪夹方向的左方调整爪夹方向。", + "state_description": "当前爪夹张开，位于黑桃七的正上方。\n为完成爪夹抓起黑桃七的任务应当：继续下降并合拢爪夹，抓取梅黑桃七。", + "progress_explanation": "爪夹继续向爪夹方向的右前方移动并下降，拉近与黑桃七的垂直距离。因此进度提升至50%", + "error_success_analysis": "爪夹成功拉近与黑桃七的垂直距离。", + "correction_plan": "继续下降并合拢爪夹，抓取黑桃七，随后竖直上升。", + "annotations": { + "bbox_1768017128515": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017128515_1768017192025_jmd1zb2ec", + "x": 0.27099999999999996, + "y": 0.5383333282470703, + "width": 0.060000000000000026, + "height": 0.06700000000000005 + } + ] + }, + "point_1768017129597": { + "type": "point", + "instances": [ + { + "id": "point_1768017129597_1768017194403_2uputnh9f", + "x": 0.287, + "y": 0.5193333282470703 + } + ] + }, + "point_1768017129715": { + "type": "point", + "instances": [ + { + "id": "point_1768017129715_1768017196901_5cnpcxv52", + "x": 0.304, + "y": 0.47133332824707025 + } + ] + } + } + }, + { + "time": 6.2331, + "frame": 187, + "progress": 65, + "action_description": "爪夹向爪夹方向的下方移动。", + "state_description": "当前爪夹张开，位于黑桃七的两侧。\n为完成爪夹抓起黑桃七的任务应当：合拢爪夹，抓取黑桃七。", + "progress_explanation": "爪夹向爪夹方向的下方移动，再次拉近与黑桃七的垂直距离。因此进度提升至65%", + "error_success_analysis": "爪夹向爪夹方向的下方移动，成功移动至黑桃七的两侧。", + "correction_plan": "合拢爪夹，抓取黑桃七，随后竖直上升。", + "annotations": { + "bbox_1768017128515": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017128515_1768017201679_e96hebr67", + "x": 0.27599999999999997, + "y": 0.5413333282470703, + "width": 0.055000000000000014, + "height": 0.06600000000000002 + } + ] + }, + "point_1768017129597": { + "type": "point", + "instances": [ + { + "id": "point_1768017129597_1768017203490_jetefr0k2", + "x": 0.294, + "y": 0.5943333282470703 + } + ] + } + } + }, + { + "time": 6.9441, + "frame": 208, + "progress": 80, + "action_description": "爪夹合拢，抓取黑桃七。", + "state_description": "当前爪夹合拢，抓住黑桃七。\n为完成爪夹抓起黑桃七的任务应当：抓住黑桃七向爪夹方向的上方竖直上升。", + "progress_explanation": "当前爪夹已抓住黑桃七。因此进度提升至80%", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，成功移动至黑桃七的正上方，下降合拢抓夹，成功抓取黑桃七。", + "correction_plan": "向爪夹方向的上方竖直上升。", + "annotations": { + "bbox_1768017128515": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017128515_1768017208487_xsipn8ze7", + "x": 0.267, + "y": 0.5383333282470703, + "width": 0.06300000000000001, + "height": 0.06799999999999998 + } + ] + } + } + }, + { + "time": 7.9, + "frame": 237, + "progress": 100, + "action_description": "爪夹向爪夹方向的上方移动。", + "state_description": "当前爪夹合拢，抓住黑桃七位于桌子上方。已完成爪夹抓起黑桃七的任务。", + "progress_explanation": "爪夹抓住黑桃七并向爪夹方向的上方移动。因此进度提升至100%", + "error_success_analysis": "爪夹成功抓取黑桃七，向爪夹方向的上方抬起黑桃七。", + "correction_plan": "", + "annotations": { + "bbox_1768017128515": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017128515_1768017214285_hp6qlmb17", + "x": 0.26599999999999996, + "y": 0.4983333320617676, + "width": 0.065, + "height": 0.07099999999999997 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768017128515", + "name": "黑桃七", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768017129597", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768017129715", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001274.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001274.json new file mode 100644 index 0000000000000000000000000000000000000000..46a019aa8908909a375019043b6ab1ae0d53977b --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001274.json @@ -0,0 +1,273 @@ +{ + "task_description": "爪夹抓起红桃K；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近红桃K：50%\n爪夹抓取红桃K：80%\n爪夹抓取红桃K向上抬起：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成爪夹抓起红桃K的任务应当：向爪夹方向的右前方移动并下降，移动至红桃K的正上方。", + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "向爪夹方向的右前方移动并下降，移动至红桃K的正上方，随后下降，合拢爪夹抓取红桃K，随后竖直上升。", + "annotations": { + "bbox_1768032721399": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768032721399_1768032737885_owtzrv0es", + "x": 0.415, + "y": 0.5463333282470704, + "width": 0.06300000000000001, + "height": 0.06799999999999998 + } + ] + }, + "point_1768032722003": { + "type": "point", + "instances": [ + { + "id": "point_1768032722003_1768032740331_oyefwzwf3", + "x": 0.46199999999999997, + "y": 0.1333333282470703 + } + ] + }, + "point_1768032722137": { + "type": "point", + "instances": [ + { + "id": "point_1768032722137_1768032743007_ijr56eiza", + "x": 0.5419999999999999, + "y": 0.1343333282470703 + } + ] + } + } + }, + { + "time": 0.6734020618556701, + "frame": 20, + "progress": 10, + "action_description": "爪夹向爪夹方向的左前方移动。", + "state_description": "当前状态为爪夹打开，位于桌面上方。\n为完成爪夹抓起红桃K的任务应当：向爪夹方向的右前方移动并下降，移动至红桃K的正上方。", + "progress_explanation": "当前爪夹已开始移动。因此进度提升至10%", + "error_success_analysis": "爪夹成功向爪夹方向的左前方移动。", + "correction_plan": "向爪夹方向的右前方移动并下降，移动至红桃K的正上方，随后下降，合拢爪夹抓取红桃K，随后竖直上升。", + "annotations": { + "bbox_1768032721399": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768032721399_1768032748455_zjhwfsclx", + "x": 0.41600000000000004, + "y": 0.5473333282470703, + "width": 0.06199999999999998, + "height": 0.06800000000000009 + } + ] + }, + "point_1768032722003": { + "type": "point", + "instances": [ + { + "id": "point_1768032722003_1768032750667_ddukcvotu", + "x": 0.478, + "y": 0.1743333282470703 + } + ] + }, + "point_1768032722137": { + "type": "point", + "instances": [ + { + "id": "point_1768032722137_1768032752895_co39h4crz", + "x": 0.5579999999999999, + "y": 0.17333332824707032 + } + ] + } + } + }, + { + "time": 2.051899, + "frame": 62, + "progress": 20, + "action_description": "爪夹向爪夹方向的右前方移动并下降，同时向爪夹方向的左方调整爪夹方向。", + "state_description": "当前状态为爪夹打开，与红桃K的水平距离拉近。\n为完成爪夹抓起红桃K的任务应当：继续向爪夹方向的右前方移动并下降，移动至红桃K的正上方。", + "progress_explanation": "爪夹向爪夹方向的右前方移动并下降，与红桃K的水平距离拉近。因此进度提升至20%", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，成功拉近与红桃K的水平距离。", + "correction_plan": "继续向爪夹方向的右前方移动并下降，移动至红桃K的正上方，随后下降，合拢爪夹抓取红桃K，随后竖直上升。", + "annotations": { + "bbox_1768032721399": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768032721399_1768032757543_b5mcpvmvc", + "x": 0.419, + "y": 0.5493333282470704, + "width": 0.05899999999999998, + "height": 0.06600000000000002 + } + ] + }, + "point_1768032722003": { + "type": "point", + "instances": [ + { + "id": "point_1768032722003_1768032759311_g2yvrxm67", + "x": 0.458, + "y": 0.29833332824707026 + } + ] + }, + "point_1768032722137": { + "type": "point", + "instances": [ + { + "id": "point_1768032722137_1768032761375_nc4kygtfj", + "x": 0.526, + "y": 0.2783333282470703 + } + ] + } + } + }, + { + "time": 4.6292, + "frame": 139, + "progress": 50, + "action_description": "爪夹继续向爪夹方向的右前方移动并下降，同时向爪夹方向的左方调整爪夹方向。", + "state_description": "当前状态为爪夹打开，位于红桃K的正上方。\n为完成爪夹抓起红桃K的任务应当：下降并合拢爪夹，抓取红桃K。", + "progress_explanation": "爪夹继续向爪夹方向的右前方移动并下降，拉近与红桃K的垂直距离。因此进度提升至50%", + "error_success_analysis": "爪夹成功拉近与红桃K的垂直距离。", + "correction_plan": "下降并合拢爪夹，抓取红桃K，随后竖直上升。", + "annotations": { + "bbox_1768032721399": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768032721399_1768032767291_0mjoq0uyu", + "x": 0.419, + "y": 0.5463333282470704, + "width": 0.05899999999999998, + "height": 0.06799999999999998 + } + ] + }, + "point_1768032722003": { + "type": "point", + "instances": [ + { + "id": "point_1768032722003_1768032769099_djwtqux4v", + "x": 0.442, + "y": 0.5463333282470704 + } + ] + } + } + }, + { + "time": 5.3747, + "frame": 161, + "progress": 65, + "action_description": "爪夹向爪夹方向的下方移动。", + "state_description": "当前爪夹张开，位于红桃K的两侧。\n为完成爪夹抓起红桃K的任务应当：合拢爪夹，抓取红桃K。", + "progress_explanation": "爪夹向爪夹方向的下方移动，再次拉近与红桃K的垂直距离。因此进度提升至65%", + "error_success_analysis": "爪夹向爪夹方向的下方移动，成功移动至红桃K的两侧。", + "correction_plan": "合拢爪夹，抓取红桃K，随后竖直上升。", + "annotations": { + "bbox_1768032721399": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768032721399_1768032774739_cfxy7uxvi", + "x": 0.42, + "y": 0.5463333282470704, + "width": 0.05899999999999998, + "height": 0.069 + } + ] + }, + "point_1768032722003": { + "type": "point", + "instances": [ + { + "id": "point_1768032722003_1768032777363_oy0gyidri", + "x": 0.44299999999999995, + "y": 0.6063333282470702 + } + ] + } + } + }, + { + "time": 6.1983, + "frame": 186, + "progress": 80, + "action_description": "爪夹合拢，抓取红桃K。", + "state_description": "当前爪夹合拢，抓住红桃K。\n为完成爪夹抓起红桃K的任务应当：向爪夹方向的上方竖直上升。", + "progress_explanation": "当前爪夹已抓住红桃K。因此进度提升至80%", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，成功移动至红桃K的正上方，下降合拢抓夹，成功抓取红桃K。", + "correction_plan": "向爪夹方向的上方竖直上升。", + "annotations": { + "bbox_1768032721399": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768032721399_1768032783373_7xw0nmgve", + "x": 0.419, + "y": 0.5503333282470703, + "width": 0.05599999999999999, + "height": 0.06400000000000006 + } + ] + } + } + }, + { + "time": 7.1, + "frame": 213, + "progress": 100, + "action_description": "爪夹向爪夹方向的上方移动。", + "state_description": "当前爪夹合拢，抓住红桃K位于桌子上方。已完成爪夹抓起红桃K的任务。", + "progress_explanation": "爪夹抓住红桃K并向爪夹方向的上方移动。因此进度提升至100%", + "error_success_analysis": "爪夹成功抓取红桃K，向爪夹方向的上方抬起。", + "correction_plan": "", + "annotations": { + "bbox_1768032721399": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768032721399_1768032787091_i5e537hp1", + "x": 0.418, + "y": 0.5013333320617676, + "width": 0.061000000000000006, + "height": 0.07399999999999997 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768032721399", + "name": "红桃K", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768032722003", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768032722137", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001316.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001316.json new file mode 100644 index 0000000000000000000000000000000000000000..25d78cc1412753ae90c52b5791f4f482a5986eef --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001316.json @@ -0,0 +1,273 @@ +{ + "task_description": "抓取梅花6竖直上升：\n爪夹准备移动：0%\n爪夹向爪夹方向左下方移动：20%\n爪夹移动至梅花6正上方：40%\n爪夹靠近梅花6：60%\n爪夹抓取梅花6：80%\n爪夹抓取梅花6竖直上升：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取梅花6竖直上升的任务应当：爪夹向爪夹方向右前方移动。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向右前方移动，爪夹向爪夹左前方移动并下降，爪夹向爪夹左前方移动并下降至梅花7正上方，爪夹垂直下降靠近梅花7，爪夹合拢抓取梅花7，爪夹抓取梅花7竖直上升。", + "annotations": { + "bbox_1768012933086": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012933086_1768013064122_zfns1j4km", + "x": 0.5253749999999999, + "y": 0.4876484375, + "width": 0.05600000000000005, + "height": 0.06800000000000003 + } + ] + }, + "point_1768012933712": { + "type": "point", + "instances": [ + { + "id": "point_1768012933712_1768013071385_e84l446ut", + "x": 0.462375, + "y": 0.1306484375 + } + ] + }, + "point_1768012933852": { + "type": "point", + "instances": [ + { + "id": "point_1768012933852_1768013073899_vxxd6g4zj", + "x": 0.5453749999999999, + "y": 0.1316484375 + } + ] + } + } + }, + { + "time": 0.81037, + "frame": 24, + "progress": 10, + "action_description": "爪夹向爪夹方向右前方移动。", + "state_description": "当前爪夹张开，此时爪夹与梅花7水平距离较远。为完成抓取梅花6竖直上升的任务应当：爪夹向爪夹左前方移动并下降。", + "progress_explanation": "此时爪夹与梅花7水平距离较远，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动使爪夹比上阶段更接近梅花7.", + "correction_plan": "爪夹向爪夹左前方移动并下降，爪夹向爪夹左前方移动并下降至梅花7正上方，爪夹垂直下降靠近梅花7，爪夹合拢抓取梅花7，爪夹抓取梅花7竖直上升。", + "annotations": { + "point_1768012933712": { + "type": "point", + "instances": [ + { + "id": "point_1768012933712_1768013045220_zmzuf6t98", + "x": 0.43637499999999996, + "y": 0.1726484375 + } + ] + }, + "point_1768012933852": { + "type": "point", + "instances": [ + { + "id": "point_1768012933852_1768013048624_593268fvl", + "x": 0.517375, + "y": 0.16964843749999997 + } + ] + }, + "bbox_1768012933086": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012933086_1768013055516_0hkt9kh2i", + "x": 0.5243749999999999, + "y": 0.4871484375, + "width": 0.05700000000000003, + "height": 0.06699999999999999 + } + ] + } + } + }, + { + "time": 1.897695, + "frame": 57, + "progress": 20, + "action_description": "爪夹向爪夹左前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹与梅花7水平距离略微接近，为完成抓取梅花6竖直上升的任务应当：爪夹向爪夹左前方移动并下降至梅花7正上方。", + "progress_explanation": "此时爪夹与梅花7水平距离略微接近，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹方向左前方移动并下降使爪夹更加靠近梅花7.", + "correction_plan": "爪夹向爪夹左前方移动并下降至梅花7正上方，爪夹垂直下降靠近梅花7，爪夹合拢抓取梅花7，爪夹抓取梅花7竖直上升。", + "annotations": { + "point_1768012933712": { + "type": "point", + "instances": [ + { + "id": "point_1768012933712_1768013028662_r26xohqxh", + "x": 0.471375, + "y": 0.2696484375 + } + ] + }, + "point_1768012933852": { + "type": "point", + "instances": [ + { + "id": "point_1768012933852_1768013030963_x3fd9zauz", + "x": 0.5363749999999999, + "y": 0.2521484375 + } + ] + }, + "bbox_1768012933086": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012933086_1768013038562_6yl0pf3oz", + "x": 0.5253749999999999, + "y": 0.4871484375, + "width": 0.05699999999999997, + "height": 0.06800000000000003 + } + ] + } + } + }, + { + "time": 3.748799, + "frame": 112, + "progress": 40, + "action_description": "爪夹向爪夹左前方移动并下降至梅花7正上方。", + "state_description": "当前爪夹张开，此时爪夹位于梅花7正上方，为完成抓取梅花6竖直上升的任务应当：爪夹垂直下降靠近梅花7.", + "progress_explanation": "此时爪夹位于梅花7正上方，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功向爪夹方向左前方移动并下降直至梅花7正上方。", + "correction_plan": "爪夹垂直下降靠近梅花7，爪夹合拢抓取梅花7，爪夹抓取梅花7竖直上升。", + "annotations": { + "point_1768012933712": { + "type": "point", + "instances": [ + { + "id": "point_1768012933712_1768013012163_iu1k8nxml", + "x": 0.5453749999999999, + "y": 0.45264843749999994 + } + ] + }, + "bbox_1768012933086": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012933086_1768013018374_j1bb1l262", + "x": 0.523375, + "y": 0.4876484375, + "width": 0.05899999999999993, + "height": 0.06800000000000003 + } + ] + } + } + }, + { + "time": 4.978026, + "frame": 149, + "progress": 60, + "action_description": "当前爪夹垂直下降靠近梅花7。", + "state_description": "当前爪夹张开，此时爪夹靠近梅花7.为完成抓取梅花6竖直上升的任务应当：爪夹合拢抓取梅花7.", + "progress_explanation": "此时爪夹靠近梅花7，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近梅花7.", + "correction_plan": "爪夹合拢抓取梅花7，爪夹抓取梅花7竖直上升。", + "annotations": { + "point_1768012933712": { + "type": "point", + "instances": [ + { + "id": "point_1768012933712_1768012995344_ypp19ilp8", + "x": 0.552375, + "y": 0.5426484375 + } + ] + }, + "bbox_1768012933086": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012933086_1768013003226_trp5ghbk8", + "x": 0.5223749999999999, + "y": 0.4876484375, + "width": 0.059000000000000045, + "height": 0.06800000000000003 + } + ] + } + } + }, + { + "time": 5.798314, + "frame": 174, + "progress": 80, + "action_description": "当前爪夹合拢抓取梅花7.", + "state_description": "当前爪夹合拢抓取梅花7，为完成抓取梅花6竖直上升的任务应当：爪夹抓取梅花7竖直上升。", + "progress_explanation": "当前爪夹合拢抓取梅花7，因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取梅花7.", + "correction_plan": "爪夹抓取梅花7竖直上升。", + "annotations": { + "bbox_1768012933086": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012933086_1768012987538_iud0gyd4r", + "x": 0.5223749999999999, + "y": 0.4876484375, + "width": 0.05800000000000001, + "height": 0.06500000000000003 + } + ] + } + } + }, + { + "time": 6.6, + "frame": 198, + "progress": 100, + "action_description": "当前爪夹合拢抓取梅花7竖直上升。", + "state_description": "当前爪夹合拢抓取梅花7，此时梅花7与底座垂直距离增加。已完成抓取梅花6竖直上升的任务。", + "progress_explanation": "当前抓夹合拢抓取梅花7竖直上升，因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功抓取梅花7竖直上升。", + "correction_plan": "", + "annotations": { + "bbox_1768012933086": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012933086_1768012978272_synwhmow4", + "x": 0.5223749999999999, + "y": 0.4428984375, + "width": 0.05999999999999996, + "height": 0.07099999999999997 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768012933086", + "name": "梅花7", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768012933712", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768012933852", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001339.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001339.json new file mode 100644 index 0000000000000000000000000000000000000000..f61e9171aa9823f14933f7d64696ed32077d5a6a --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001339.json @@ -0,0 +1,273 @@ +{ + "task_description": "抓取梅花5竖直上升：\n爪夹准备移动：0%\n爪夹向爪夹方向左下方移动：20%\n爪夹移动至梅花5正上方：40%\n爪夹靠近梅花5：60%\n爪夹抓取梅花5：80%\n爪夹抓取梅花5竖直上升：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取梅花5竖直上升的任务应当：爪夹前方移动并下降。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹前方移动并下降，爪夹继续向爪夹方向右前方移动并下降，爪夹继续向爪夹方向右前方移动并下降直至梅花5正上方，爪夹垂直下降靠近梅花5，爪夹合拢抓取梅花5，爪夹抓取梅花5竖直上升。", + "annotations": { + "point_1768014256892": { + "type": "point", + "instances": [ + { + "id": "point_1768014256892_1768014345550_4qo9xmcbe", + "x": 0.544375, + "y": 0.1296484375 + } + ] + }, + "point_1768014256738": { + "type": "point", + "instances": [ + { + "id": "point_1768014256738_1768014348002_qca4qxh9y", + "x": 0.462375, + "y": 0.1326484375 + } + ] + }, + "bbox_1768014256060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014256060_1768014353979_s34th4wiz", + "x": 0.526375, + "y": 0.4896484375, + "width": 0.05599999999999993, + "height": 0.06799999999999998 + } + ] + } + } + }, + { + "time": 1.552512, + "frame": 47, + "progress": 10, + "action_description": "爪夹向爪夹前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹与梅花5水平距离较远。为完成抓取梅花5竖直上升的任务应当：爪夹继续向爪夹方向右前方移动并下降。", + "progress_explanation": "爪夹向爪夹前方移动并下降。因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前方移动并下降，使爪夹更加靠近梅花5.", + "correction_plan": "爪夹继续向爪夹方向右前方移动并下降，爪夹继续向爪夹方向右前方移动并下降直至梅花5正上方，爪夹垂直下降靠近梅花5，爪夹合拢抓取梅花5，爪夹抓取梅花5竖直上升。", + "annotations": { + "bbox_1768014256060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014256060_1768014335439_mc6has0wp", + "x": 0.5243749999999999, + "y": 0.4896484375, + "width": 0.05799999999999995, + "height": 0.06600000000000002 + } + ] + }, + "point_1768014256738": { + "type": "point", + "instances": [ + { + "id": "point_1768014256738_1768014338928_wweiohi0x", + "x": 0.482375, + "y": 0.2426484375 + } + ] + }, + "point_1768014256892": { + "type": "point", + "instances": [ + { + "id": "point_1768014256892_1768014341092_jy66yv751", + "x": 0.5603750000000001, + "y": 0.2356484375 + } + ] + } + } + }, + { + "time": 2.414563, + "frame": 72, + "progress": 20, + "action_description": "爪夹继续向爪夹方向右前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹与梅花5水平距离略微接近。为完成抓取梅花5竖直上升的任务应当：爪夹继续向爪夹方向右前方移动并下降直至梅花5正上方。", + "progress_explanation": "此时爪夹与梅花5水平距离略微接近，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动并下降，使爪夹更加接近梅花5.", + "correction_plan": "爪夹继续向爪夹方向右前方移动并下降直至梅花5正上方，爪夹垂直下降靠近梅花5，爪夹合拢抓取梅花5，爪夹抓取梅花5竖直上升。", + "annotations": { + "point_1768014256738": { + "type": "point", + "instances": [ + { + "id": "point_1768014256738_1768014315500_290qrqino", + "x": 0.506375, + "y": 0.3266484375 + } + ] + }, + "point_1768014256892": { + "type": "point", + "instances": [ + { + "id": "point_1768014256892_1768014317830_w6puvzj8r", + "x": 0.562375, + "y": 0.3026484375 + } + ] + }, + "bbox_1768014256060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014256060_1768014325900_g2jiz6apx", + "x": 0.5243749999999999, + "y": 0.4906484375, + "width": 0.05799999999999995, + "height": 0.06699999999999999 + } + ] + } + } + }, + { + "time": 3.736907, + "frame": 112, + "progress": 40, + "action_description": "爪夹继续向爪夹方向右前方移动并下降直至梅花5正上方。", + "state_description": "当前爪夹张开，此时爪夹位于梅花5正上方，为完成抓取梅花5竖直上升的任务应当：爪夹垂直下降靠近梅花5.", + "progress_explanation": "此时爪夹位于梅花5正上方，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功移动至梅花5正上方。", + "correction_plan": "爪夹垂直下降靠近梅花5，爪夹合拢抓取梅花5，爪夹抓取梅花5竖直上升。", + "annotations": { + "point_1768014256738": { + "type": "point", + "instances": [ + { + "id": "point_1768014256738_1768014299520_ma7j99pyi", + "x": 0.5463749999999999, + "y": 0.4566484375 + } + ] + }, + "bbox_1768014256060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014256060_1768014306118_8pttx62jj", + "x": 0.5253749999999999, + "y": 0.4906484375, + "width": 0.05699999999999997, + "height": 0.06899999999999995 + } + ] + } + } + }, + { + "time": 4.757987, + "frame": 143, + "progress": 60, + "action_description": "当前爪夹垂直下降靠近梅花5.", + "state_description": "当前爪夹张开，此时爪夹靠近梅花5，为完成抓取梅花5竖直上升的任务应当：爪夹合拢抓取梅花5.", + "progress_explanation": "此时爪夹靠近梅花5.因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功垂直下降靠近梅花5.", + "correction_plan": "爪夹合拢抓取梅花5，爪夹抓取梅花5竖直上升。", + "annotations": { + "point_1768014256738": { + "type": "point", + "instances": [ + { + "id": "point_1768014256738_1768014287307_yl9s6zk7u", + "x": 0.555375, + "y": 0.5358984375 + } + ] + }, + "bbox_1768014256060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014256060_1768014295284_bh4zgj6ki", + "x": 0.5243749999999999, + "y": 0.4901484375, + "width": 0.05799999999999995, + "height": 0.06800000000000003 + } + ] + } + } + }, + { + "time": 5.8674, + "frame": 176, + "progress": 80, + "action_description": "当前爪夹合拢抓取梅花5.", + "state_description": "当前爪夹合拢抓取梅花5.为完成抓取梅花5竖直上升的任务应当：爪夹合拢抓取梅花5竖直上升。", + "progress_explanation": "当前爪夹合拢抓取梅花5，因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹合拢成功抓取梅花5.", + "correction_plan": "爪夹抓取梅花5竖直上升。", + "annotations": { + "bbox_1768014256060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014256060_1768014280352_gf67gxxxr", + "x": 0.5243749999999999, + "y": 0.4916484375, + "width": 0.05700000000000003, + "height": 0.05899999999999998 + } + ] + } + } + }, + { + "time": 6.6, + "frame": 198, + "progress": 100, + "action_description": "当前爪夹合拢抓取梅花5竖直上升。", + "state_description": "当前爪夹合拢抓取梅花5，此时梅花5与底座垂直距离增加。已完成抓取梅花5竖直上升的任务。", + "progress_explanation": "当前爪夹合拢抓取梅花5竖直上升。因此当前进度为100%。", + "error_success_analysis": "当前爪夹成功抓取梅花5竖直上升。", + "correction_plan": "", + "annotations": { + "bbox_1768014256060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014256060_1768014271575_7ym9woblj", + "x": 0.5253749999999999, + "y": 0.44889843749999997, + "width": 0.05600000000000005, + "height": 0.069 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768014256060", + "name": "梅花5", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768014256738", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768014256892", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001352.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001352.json new file mode 100644 index 0000000000000000000000000000000000000000..f8449718b5bb6fed027db72da965990d09654bf7 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001352.json @@ -0,0 +1,327 @@ +{ + "task_description": "抓取方块q竖直上升：\n爪夹准备移动：0%\n爪夹向爪夹方向左下方移动：20%\n爪夹移动至方块q正上方：40%\n爪夹靠近方块q：60%\n爪夹抓取方块q：80%\n爪夹抓取方块q竖直上升：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取方块q竖直上升的任务应当：爪夹向爪夹方向右前方移动。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向左前方移动，爪夹向爪夹前下方移动，爪夹继续向爪夹前下方移动至方块q正上方，爪夹垂直下降靠近方块q，爪夹合拢抓取方块q，爪夹抓取方块q竖直上升。", + "annotations": { + "point_1768015643732": { + "type": "point", + "instances": [ + { + "id": "point_1768015643732_1768015734954_840hqs2bk", + "x": 0.5473750000000001, + "y": 0.1316484375 + } + ] + }, + "point_1768015643589": { + "type": "point", + "instances": [ + { + "id": "point_1768015643589_1768015737758_hl1b9cghy", + "x": 0.465375, + "y": 0.1306484375 + } + ] + }, + "bbox_1768015642898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015642898_1768015742437_hplq1q014", + "x": 0.5163749999999999, + "y": 0.5066484375, + "width": 0.059000000000000045, + "height": 0.06899999999999995 + } + ] + } + } + }, + { + "time": 0.741494, + "frame": 22, + "progress": 10, + "action_description": "当前爪夹向爪夹方向左前方移动。", + "state_description": "当前爪夹张开，此时爪夹与方块q水平距离较远。为完成抓取方块q竖直上升的任务应当：爪夹向爪夹前下方移动。", + "progress_explanation": "此时爪夹与方块q水平距离较远但比上一阶段水平距离接近，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向抓夹方向左前方移动使爪夹与方块q水平距离缩短。", + "correction_plan": "爪夹向爪夹前下方移动，爪夹继续向爪夹前下方移动至方块q正上方，，爪夹垂直下降靠近方块q，爪夹合拢抓取方块q，爪夹抓取方块q竖直上升。", + "annotations": { + "bbox_1768015642898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015642898_1768015727008_jpi0kvdp0", + "x": 0.5163749999999999, + "y": 0.5066484375, + "width": 0.05999999999999996, + "height": 0.06999999999999999 + } + ] + }, + "point_1768015643589": { + "type": "point", + "instances": [ + { + "id": "point_1768015643589_1768015729394_o0a6pk3wo", + "x": 0.48037499999999994, + "y": 0.18664843750000001 + } + ] + }, + "point_1768015643732": { + "type": "point", + "instances": [ + { + "id": "point_1768015643732_1768015731514_xgdiffgb2", + "x": 0.559375, + "y": 0.17764843749999998 + } + ] + } + } + }, + { + "time": 1.591505, + "frame": 48, + "progress": 20, + "action_description": "当前爪夹向爪夹方向前下方移动。", + "state_description": "当前爪夹张开，此时爪夹与方块q水平距离略微接近，为完成抓取方块q竖直上升的任务应当：爪夹向爪夹方向前下方移动。", + "progress_explanation": "此时爪夹与方块q水平距离略微接近，因此当前进度提升至10.", + "error_success_analysis": "当前爪夹向爪夹方向前下方移动使爪夹与方块q水平距离进一步缩短。", + "correction_plan": "爪夹向爪夹前下方移动，爪夹继续向爪夹前下方移动至方块q正上方，爪夹垂直下降靠近方块q，爪夹合拢抓取方块q，爪夹抓取方块q竖直上升。", + "annotations": { + "point_1768015643732": { + "type": "point", + "instances": [ + { + "id": "point_1768015643732_1768015710548_dov1gtsfm", + "x": 0.564375, + "y": 0.24564843749999998 + } + ] + }, + "point_1768015643589": { + "type": "point", + "instances": [ + { + "id": "point_1768015643589_1768015712662_29cofzamx", + "x": 0.49137499999999995, + "y": 0.2596484375 + } + ] + }, + "bbox_1768015642898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015642898_1768015718526_ymg5vixav", + "x": 0.5163749999999999, + "y": 0.5066484375, + "width": 0.059000000000000045, + "height": 0.06999999999999999 + } + ] + } + } + }, + { + "time": 2.366, + "frame": 71, + "progress": 30, + "action_description": "当前爪夹向爪夹方向前下方移动。", + "state_description": "当前爪夹张开，此时爪夹与方块q水平距离接近。为完成抓取方块q竖直上升的任务应当：爪夹向爪夹方向前下方移动至方块q正上方。", + "progress_explanation": "此时爪夹与方块q水平距离接近，因此当前进度提升至30%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前下方移动，使爪夹与方块q水平距离接近。", + "correction_plan": "爪夹向爪夹前下方移动至方块q正上方，爪夹垂直下降靠近方块q，爪夹合拢抓取方块q，爪夹抓取方块q竖直上升。", + "annotations": { + "bbox_1768015642898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015642898_1768015699689_ogxf8fun6", + "x": 0.517375, + "y": 0.5076484375, + "width": 0.05800000000000001, + "height": 0.06700000000000005 + } + ] + }, + "point_1768015643589": { + "type": "point", + "instances": [ + { + "id": "point_1768015643589_1768015701696_lwubybsj2", + "x": 0.509375, + "y": 0.3366484375 + } + ] + }, + "point_1768015643732": { + "type": "point", + "instances": [ + { + "id": "point_1768015643732_1768015703523_tvhmg71m2", + "x": 0.565375, + "y": 0.3126484375 + } + ] + } + } + }, + { + "time": 3.484, + "frame": 105, + "progress": 40, + "action_description": "当前爪夹向爪夹方向前下方移动至方块q正上方。", + "state_description": "当前爪夹张开，此时爪夹位于方块q正上方，为完成抓取方块q竖直上升的任务应当：爪夹垂直下降靠近方块q。", + "progress_explanation": "此时爪夹位于方块q正上方，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功移动至方块q正上方。", + "correction_plan": "爪夹垂直下降靠近方块q，爪夹合拢抓取方块q，爪夹抓取方块q竖直上升。", + "annotations": { + "point_1768015643589": { + "type": "point", + "instances": [ + { + "id": "point_1768015643589_1768015683568_d4cx0zjgf", + "x": 0.5363749999999999, + "y": 0.45264843749999994 + } + ] + }, + "point_1768015643732": { + "type": "point", + "instances": [ + { + "id": "point_1768015643732_1768015685662_7jn7485vh", + "x": 0.557375, + "y": 0.4066484375 + } + ] + }, + "bbox_1768015642898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015642898_1768015690198_br0qdxxaf", + "x": 0.5163749999999999, + "y": 0.5076484375, + "width": 0.05800000000000001, + "height": 0.069 + } + ] + } + } + }, + { + "time": 4.653726, + "frame": 140, + "progress": 60, + "action_description": "当前爪夹垂直下降靠近方块q。", + "state_description": "当前爪夹张开，此时爪夹靠近方块q，为完成抓取方块q竖直上升的任务应当：爪夹合拢抓取方块q。", + "progress_explanation": "此时爪夹靠近方块q，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近方块q。", + "correction_plan": "爪夹合拢抓取方块q，爪夹抓取方块q竖直上升", + "annotations": { + "point_1768015643589": { + "type": "point", + "instances": [ + { + "id": "point_1768015643589_1768015673388_uy1y810no", + "x": 0.5463749999999999, + "y": 0.5596484374999999 + } + ] + }, + "bbox_1768015642898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015642898_1768015678720_bwo9mhf66", + "x": 0.5163749999999999, + "y": 0.5076484375, + "width": 0.059000000000000045, + "height": 0.06700000000000005 + } + ] + } + } + }, + { + "time": 5.798, + "frame": 174, + "progress": 80, + "action_description": "当前爪夹合拢抓取方块q。", + "state_description": "当前爪夹合拢抓取方块q，为完成抓取方块q竖直上升的任务应当：当前爪夹合拢抓取方块q竖直上升。", + "progress_explanation": "当前爪夹合拢抓取方块q，因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功合拢并抓取方块q。", + "correction_plan": "爪夹抓取方块q竖直上升。", + "annotations": { + "bbox_1768015642898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015642898_1768015666622_kahbkc69v", + "x": 0.517375, + "y": 0.5076484375, + "width": 0.05699999999999997, + "height": 0.06700000000000005 + } + ] + } + } + }, + { + "time": 6.5, + "frame": 195, + "progress": 100, + "action_description": "当前爪夹合拢抓取方块q竖直上升。", + "state_description": "当前爪夹合拢抓取方块q，此时方块q与底座垂直距离增加，已完成抓取方块q竖直上升的任务。", + "progress_explanation": "当前爪夹合拢抓取方块q竖直上升。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功抓取方块q竖直上升。", + "correction_plan": "", + "annotations": { + "bbox_1768015642898": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768015642898_1768015659812_nmwp5vjua", + "x": 0.517375, + "y": 0.4638984375, + "width": 0.05899999999999993, + "height": 0.069 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768015642898", + "name": "方块q", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768015643589", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768015643732", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001354.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001354.json new file mode 100644 index 0000000000000000000000000000000000000000..616b2eae36a0329c49cb2537cc9db3da10200d70 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001354.json @@ -0,0 +1,317 @@ +{ + "task_description": "抓取梅花A竖直上升：\n爪夹准备移动：0%\n爪夹向爪夹方向左下方移动：20%\n爪夹移动至梅花A正上方：40%\n爪夹靠近梅花A：60%\n爪夹抓取梅花A：80%\n爪夹抓取梅花A竖直上升：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取梅花A竖直上升的任务应当：爪夹向爪夹放方向前方移动。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹放方向前方移动，爪夹向爪夹方向前下方移动，爪夹向爪夹方向左前方移动并下降，爪夹继续向爪夹方向前下方移动至梅花A正上方，爪夹垂直下降靠近梅花A，爪夹合拢抓取梅花A，爪夹抓取梅花A竖直上升。", + "annotations": { + "bbox_1768017041160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017041160_1768017171029_q3pl6qn5v", + "x": 0.5243749999999999, + "y": 0.5076484375, + "width": 0.060000000000000026, + "height": 0.06799999999999998 + } + ] + }, + "point_1768017041848": { + "type": "point", + "instances": [ + { + "id": "point_1768017041848_1768017174202_vsmi0auxu", + "x": 0.462375, + "y": 0.1316484375 + } + ] + }, + "point_1768017041982": { + "type": "point", + "instances": [ + { + "id": "point_1768017041982_1768017176232_dt0x5t9jt", + "x": 0.5463749999999999, + "y": 0.1326484375 + } + ] + } + } + }, + { + "time": 0.715444, + "frame": 21, + "progress": 10, + "action_description": "当前爪夹向爪夹方向前方移动。", + "state_description": "当前爪夹张开，此时爪夹与梅花A的水平距离较远。为完成抓取梅花A竖直上升的任务应当：爪夹向爪夹方向前下方移动。", + "progress_explanation": "此时爪夹与梅花A的水平距离较远但比上一阶段接近梅花A，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前方移动使爪夹与梅花A的水平距离缩短。", + "correction_plan": "爪夹向爪夹方向前下方移动，爪夹向爪夹方向左前方移动并下降，爪夹继续向爪夹方向前下方移动至梅花A正上方，爪夹垂直下降靠近梅花A，爪夹合拢抓取梅花A，爪夹抓取梅花A竖直上升。", + "annotations": { + "point_1768017041982": { + "type": "point", + "instances": [ + { + "id": "point_1768017041982_1768017144848_99cjxt024", + "x": 0.5453749999999999, + "y": 0.18164843749999998 + } + ] + }, + "point_1768017041848": { + "type": "point", + "instances": [ + { + "id": "point_1768017041848_1768017147412_f6z4yfdkd", + "x": 0.47237499999999993, + "y": 0.18164843749999998 + } + ] + }, + "bbox_1768017041160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017041160_1768017153962_7z1lsq4pn", + "x": 0.5253749999999999, + "y": 0.5076484375, + "width": 0.05999999999999996, + "height": 0.07000000000000005 + } + ] + } + } + }, + { + "time": 1.750992, + "frame": 53, + "progress": 20, + "action_description": "爪夹向爪夹方向左前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹与梅花A的水平距离略微接近，为完成抓取梅花A竖直上升的任务应当：爪夹向爪夹方向前下方移动。", + "progress_explanation": "此时爪夹与梅花A的水平距离略微接近，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹方向左前方移动并下降，使爪夹与梅花A的水平距离略微接近。", + "correction_plan": "爪夹向爪夹方向左前方移动并下降，爪夹继续向爪夹方向前下方移动至梅花A正上方，爪夹垂直下降靠近梅花A，爪夹合拢抓取梅花A，爪夹抓取梅花A竖直上升。", + "annotations": { + "bbox_1768017041160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017041160_1768017136022_fyodgdudz", + "x": 0.5253749999999999, + "y": 0.5076484375, + "width": 0.05600000000000005, + "height": 0.06799999999999998 + } + ] + }, + "point_1768017041848": { + "type": "point", + "instances": [ + { + "id": "point_1768017041848_1768017138310_2pgjgaagz", + "x": 0.49137499999999995, + "y": 0.2816484375 + } + ] + }, + "point_1768017041982": { + "type": "point", + "instances": [ + { + "id": "point_1768017041982_1768017140203_1thzmn1fw", + "x": 0.556375, + "y": 0.2606484375 + } + ] + } + } + }, + { + "time": 3.030691, + "frame": 91, + "progress": 30, + "action_description": "爪夹向爪夹方向左前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹与梅花A水平距离接近，为完成抓取梅花A竖直上升的任务应当：爪夹继续向爪夹方向前下方移动至梅花A正上方。", + "progress_explanation": "此时爪夹与梅花A水平距离接近，因此当前进度提升至30%。", + "error_success_analysis": "当前爪夹成功向爪夹方向左前方移动并下降使爪夹与梅花A水平距离接近。", + "correction_plan": "爪夹继续向爪夹方向前下方移动至梅花A正上方，爪夹垂直下降靠近梅花A，爪夹合拢抓取梅花A，爪夹抓取梅花A竖直上升。", + "annotations": { + "point_1768017041848": { + "type": "point", + "instances": [ + { + "id": "point_1768017041848_1768017120727_g5m4138be", + "x": 0.529375, + "y": 0.40464843749999996 + } + ] + }, + "point_1768017041982": { + "type": "point", + "instances": [ + { + "id": "point_1768017041982_1768017122730_t2qpko71a", + "x": 0.559375, + "y": 0.3656484375 + } + ] + }, + "bbox_1768017041160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017041160_1768017128332_l33m14ezr", + "x": 0.5253749999999999, + "y": 0.5076484375, + "width": 0.05600000000000005, + "height": 0.069 + } + ] + } + } + }, + { + "time": 3.979799, + "frame": 119, + "progress": 40, + "action_description": "爪夹继续向爪夹方向前下方移动至梅花A正上方。", + "state_description": "当前爪夹张开，此时爪夹位于梅花A正上方，为完成抓取梅花A竖直上升的任务应当：爪夹垂直下降靠近梅花A。", + "progress_explanation": "此时爪夹位于梅花A正上方，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功移动至梅花A 正上方。", + "correction_plan": "爪夹垂直下降靠近梅花A，爪夹合拢抓取梅花A，爪夹抓取梅花A竖直上升。", + "annotations": { + "point_1768017041848": { + "type": "point", + "instances": [ + { + "id": "point_1768017041848_1768017109920_0cjth3r7s", + "x": 0.557375, + "y": 0.4896484375 + } + ] + }, + "bbox_1768017041160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017041160_1768017115342_5la365wl9", + "x": 0.5243749999999999, + "y": 0.5076484375, + "width": 0.060000000000000026, + "height": 0.06700000000000005 + } + ] + } + } + }, + { + "time": 5.055599, + "frame": 152, + "progress": 60, + "action_description": "当前爪夹垂直下降靠近梅花A。", + "state_description": "当前爪夹张开，此时爪夹靠近梅花A，为完成抓取梅花A竖直上升的任务应当：爪夹合拢抓取梅花A。", + "progress_explanation": "此时爪夹靠近梅花A，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近梅花A。", + "correction_plan": "爪夹合拢抓取梅花A，爪夹抓取梅花A竖直上升。", + "annotations": { + "point_1768017041848": { + "type": "point", + "instances": [ + { + "id": "point_1768017041848_1768017099712_a182nwo3q", + "x": 0.551375, + "y": 0.5656484375 + } + ] + }, + "bbox_1768017041160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017041160_1768017105106_vmb3ana63", + "x": 0.5243749999999999, + "y": 0.5096484375, + "width": 0.060000000000000026, + "height": 0.06599999999999996 + } + ] + } + } + }, + { + "time": 5.695799, + "frame": 171, + "progress": 80, + "action_description": "当前爪夹合拢抓取梅花A。", + "state_description": "当前爪夹合拢抓取梅花A，为完成抓取梅花A竖直上升的任务应当：爪夹抓取梅花A竖直上升。", + "progress_explanation": "当前爪夹合拢抓取梅花A，因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹合拢成功抓取梅花A。", + "correction_plan": "爪夹抓取梅花A竖直上升。", + "annotations": { + "bbox_1768017041160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017041160_1768017088300_cl93fch9n", + "x": 0.5253749999999999, + "y": 0.5076484375, + "width": 0.059000000000000045, + "height": 0.06799999999999998 + } + ] + } + } + }, + { + "time": 6.6, + "frame": 198, + "progress": 100, + "action_description": "当前爪夹抓取梅花A竖直上升。", + "state_description": "当前爪夹合拢抓取梅花A，此时梅花A与底座垂直距离增加。已完成抓取梅花A竖直上升的任务。", + "progress_explanation": "当前爪夹抓取梅花A竖直上升。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取梅花A竖直上升。", + "correction_plan": "", + "annotations": { + "bbox_1768017041160": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768017041160_1768017063808_cyja0qwf6", + "x": 0.5223749999999999, + "y": 0.4638984375, + "width": 0.06299999999999996, + "height": 0.07200000000000001 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768017041160", + "name": "梅花A", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768017041848", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768017041982", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001357.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001357.json new file mode 100644 index 0000000000000000000000000000000000000000..9199d10794c9bc31fab7148d17b8beb0089ba04b --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001357.json @@ -0,0 +1,317 @@ +{ + "task_description": "抓取红桃j竖直上升：\n爪夹准备移动：0%\n爪夹向爪夹方向前下方移动：20%\n爪夹移动至红桃j正上方：40%\n爪夹靠近红桃j：60%\n爪夹抓取红桃j：80%\n爪夹抓取红桃j竖直上升：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取红桃j竖直上升的任务应当：爪夹向爪夹方向左前方移动。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向左前方移动，爪夹向爪夹方向前下方移动，爪夹继续向爪夹前下方移动，爪夹向爪夹前下方移动至红桃j正上方，爪夹垂直下降靠近红桃j，爪夹合拢抓取红桃j，爪夹抓取红桃j竖直上升。", + "annotations": { + "bbox_1768025491808": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768025491808_1768025583016_1r4s7oqe7", + "x": 0.515375, + "y": 0.4946484374999999, + "width": 0.05700000000000003, + "height": 0.06600000000000002 + } + ] + }, + "point_1768025492442": { + "type": "point", + "instances": [ + { + "id": "point_1768025492442_1768025585328_2wvfwlac5", + "x": 0.465375, + "y": 0.1326484375 + } + ] + }, + "point_1768025492576": { + "type": "point", + "instances": [ + { + "id": "point_1768025492576_1768025587584_60yrdthkt", + "x": 0.544375, + "y": 0.1296484375 + } + ] + } + } + }, + { + "time": 1.5676159793814433, + "frame": 47, + "progress": 10, + "action_description": "当前爪夹向爪夹方向左前方移动。", + "state_description": "当前爪夹张开，此时爪夹与红桃j水平距离较远，为完成抓取红桃j竖直上升的任务应当：爪夹向爪夹方向前下方移动。", + "progress_explanation": "此时爪夹与红桃j水平距离较远但比上一阶段接近，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹左前方移动使爪夹与红桃j的水平距离缩短。", + "correction_plan": "爪夹向爪夹方向前下方移动，爪夹继续向爪夹前下方移动，爪夹向爪夹前下方移动至红桃j正上方，爪夹垂直下降靠近红桃j，爪夹合拢抓取红桃j，爪夹抓取红桃j竖直上升。", + "annotations": { + "point_1768025492576": { + "type": "point", + "instances": [ + { + "id": "point_1768025492576_1768025568481_6fs170u96", + "x": 0.631375, + "y": 0.20564843749999998 + } + ] + }, + "point_1768025492442": { + "type": "point", + "instances": [ + { + "id": "point_1768025492442_1768025570744_q1miflcjp", + "x": 0.5503750000000001, + "y": 0.20564843749999998 + } + ] + }, + "bbox_1768025491808": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768025491808_1768025575649_2rhtjgeha", + "x": 0.515375, + "y": 0.4946484374999999, + "width": 0.05700000000000003, + "height": 0.06600000000000002 + } + ] + } + } + }, + { + "time": 2.328994, + "frame": 70, + "progress": 20, + "action_description": "爪夹向爪夹方向前下方移动。", + "state_description": "当前爪夹张开，此时爪夹与红桃j水平距离略微接近，为完成抓取红桃j竖直上升的任务应当：爪夹继续向爪夹前下方移动。", + "progress_explanation": "此时爪夹与红桃j水平距离略微接近，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前下方移动使爪夹与红桃j水平距离略微接近。", + "correction_plan": "爪夹继续向爪夹前下方移动，爪夹向爪夹前下方移动至红桃j正上方，爪夹垂直下降靠近红桃j，爪夹合拢抓取红桃j，爪夹抓取红桃j竖直上升。", + "annotations": { + "bbox_1768025491808": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768025491808_1768025556348_nadg81i1p", + "x": 0.5143749999999999, + "y": 0.4926484375, + "width": 0.058000000000000065, + "height": 0.06999999999999992 + } + ] + }, + "point_1768025492442": { + "type": "point", + "instances": [ + { + "id": "point_1768025492442_1768025558668_4i7s0qbgf", + "x": 0.5403749999999999, + "y": 0.29064843749999997 + } + ] + }, + "point_1768025492576": { + "type": "point", + "instances": [ + { + "id": "point_1768025492576_1768025560790_xwwuj7j47", + "x": 0.612375, + "y": 0.2756484375 + } + ] + } + } + }, + { + "time": 3.384714, + "frame": 102, + "progress": 30, + "action_description": "当前爪夹向爪夹方向前下方移动。", + "state_description": "当前爪夹张开，此时爪夹与红桃j的水平距离接近，为完成抓取红桃j竖直上升的任务应当：爪夹继续向爪夹方向前下方移动直至红桃j正上方。", + "progress_explanation": "此时爪夹与红桃j的水平距离接近，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前下方移动，使爪夹与红桃j水平距离接近。", + "correction_plan": "爪夹向爪夹前下方移动至红桃j正上方，爪夹垂直下降靠近红桃j，爪夹合拢抓取红桃j，爪夹抓取红桃j竖直上升。", + "annotations": { + "point_1768025492442": { + "type": "point", + "instances": [ + { + "id": "point_1768025492442_1768025541016_atlbqibwr", + "x": 0.5423749999999999, + "y": 0.3906484375 + } + ] + }, + "point_1768025492576": { + "type": "point", + "instances": [ + { + "id": "point_1768025492576_1768025542644_3tqqjvc6j", + "x": 0.582375, + "y": 0.35264843749999997 + } + ] + }, + "bbox_1768025491808": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768025491808_1768025549142_00v7jaioz", + "x": 0.5143749999999999, + "y": 0.4946484374999999, + "width": 0.058000000000000065, + "height": 0.06600000000000002 + } + ] + } + } + }, + { + "time": 4.2502, + "frame": 128, + "progress": 40, + "action_description": "当前爪夹向爪夹方向前下方移动直至红桃j正上方。", + "state_description": "当前爪夹张开，此时爪夹位于红桃j正上方。为完成抓取红桃j竖直上升的任务应当：爪夹垂直下降靠近红桃j。", + "progress_explanation": "此时爪夹位于红桃j正上方，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功移动至红桃j正上方。", + "correction_plan": "爪夹垂直下降靠近红桃j，爪夹合拢抓取红桃j，爪夹抓取红桃j竖直上升。", + "annotations": { + "bbox_1768025491808": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768025491808_1768025534931_d4txrwxvz", + "x": 0.5143749999999999, + "y": 0.4946484374999999, + "width": 0.060000000000000026, + "height": 0.06700000000000005 + } + ] + }, + "point_1768025492442": { + "type": "point", + "instances": [ + { + "id": "point_1768025492442_1768025537176_cxibhsca0", + "x": 0.5463749999999999, + "y": 0.47664843749999997 + } + ] + } + } + }, + { + "time": 5.2026, + "frame": 156, + "progress": 60, + "action_description": "当前爪夹垂直下降靠近红桃j。", + "state_description": "当前爪夹张开，此时爪夹靠近红桃j。为完成抓取红桃j竖直上升的任务应当：爪夹合拢抓取红桃j。", + "progress_explanation": "此时爪夹靠近红桃j，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近红桃j。", + "correction_plan": "爪夹合拢抓取红桃j，爪夹抓取红桃j竖直上升。", + "annotations": { + "point_1768025492442": { + "type": "point", + "instances": [ + { + "id": "point_1768025492442_1768025523063_hu458nfbz", + "x": 0.5463749999999999, + "y": 0.5516484375 + } + ] + }, + "bbox_1768025491808": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768025491808_1768025527941_8l2zjojqx", + "x": 0.5143749999999999, + "y": 0.4956484375, + "width": 0.060000000000000026, + "height": 0.06499999999999997 + } + ] + } + } + }, + { + "time": 6.1203, + "frame": 184, + "progress": 80, + "action_description": "当前爪夹合拢抓取红桃j。", + "state_description": "当前爪夹合拢抓取红桃j，为完成抓取红桃j竖直上升的任务应当：爪夹抓取红桃j竖直上升。", + "progress_explanation": "当前爪夹合拢抓取红桃j。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取红桃j。", + "correction_plan": "爪夹抓取红桃j竖直上升。", + "annotations": { + "bbox_1768025491808": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768025491808_1768025517312_4fx4g67xe", + "x": 0.5143749999999999, + "y": 0.4946484374999999, + "width": 0.058000000000000065, + "height": 0.06199999999999998 + } + ] + } + } + }, + { + "time": 6.9, + "frame": 207, + "progress": 100, + "action_description": "当前爪夹抓取红桃j竖直上升。", + "state_description": "当前爪夹合拢抓取红桃j，此时红桃j与底座垂直距离增加。", + "progress_explanation": "当前爪夹抓取红桃j竖直上升。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功抓取红桃j竖直上升。", + "correction_plan": "", + "annotations": { + "bbox_1768025491808": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768025491808_1768025507840_250e2wkwh", + "x": 0.515375, + "y": 0.44889843749999997, + "width": 0.05700000000000003, + "height": 0.06999999999999999 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768025491808", + "name": "红桃j", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768025492442", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768025492576", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001384.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001384.json new file mode 100644 index 0000000000000000000000000000000000000000..95c003a17ca5e3852cae7cb08bb86503f93df0d7 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001384.json @@ -0,0 +1,347 @@ +{ + "task_description": "抓取黑桃A。\n开始移动:0%\n爪夹小幅度移动：20%\n爪夹靠近黑桃A：40%\n爪夹移动到黑桃A正上方:60%\n爪夹抓取黑桃A:80%\n爪夹抓住黑桃A竖直上升:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1768012448610": { + "instances": [ + { + "height": 0.06784660766961655, + "id": "bbox_1768012448610_1768012484177_yij2dnefl", + "width": 0.057522123893805364, + "x": 0.6091445427728613, + "y": 0.5053097343726144 + } + ], + "type": "bbox" + }, + "point_1768012449474": { + "instances": [ + { + "id": "point_1768012449474_1768012495721_lxmm25lvt", + "x": 0.4646017699115044, + "y": 0.13185839807741057 + } + ], + "type": "point" + }, + "point_1768012450649": { + "instances": [ + { + "id": "point_1768012450649_1768012500921_vm7mgu51n", + "x": 0.5427728613569321, + "y": 0.1324483764558415 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达黑桃A的正上方后竖直下落，合拢爪夹抓取黑桃A。爪夹抓住黑桃A后竖直上升。", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触黑桃A。\n为完成抓取黑桃A的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，准备抓取黑桃A。", + "time": 0.07552167645187531 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1768012448610": { + "instances": [ + { + "height": 0.06713097484686645, + "id": "bbox_1768012448610_1768012524152_wmraym6b3", + "width": 0.058910401952721375, + "x": 0.6066332865181798, + "y": 0.507281363771309 + } + ], + "type": "bbox" + }, + "point_1768012449474": { + "instances": [ + { + "id": "point_1768012449474_1768012517489_vvi243h48", + "x": 0.3992796762449414, + "y": 0.16727605118829983 + } + ], + "type": "point" + }, + "point_1768012450649": { + "instances": [ + { + "id": "point_1768012450649_1768012512505_vpy65204d", + "x": 0.4772808950139846, + "y": 0.1642760043125674 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达黑桃A的正上方后竖直下落，合拢爪夹抓取黑桃A。爪夹抓住黑桃A后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近黑桃A，方便调整角度抓取黑桃A。", + "frame": 32, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上虽然离黑桃A较远，但是开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与黑桃A的水平距离边远。\n为完成抓取黑桃A的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至黑桃A的正上方。", + "time": 1.0527861670170013 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1768012448610": { + "instances": [ + { + "height": 0.06779661484517169, + "id": "bbox_1768012448610_1768012542560_d6u45eunb", + "width": 0.057627122618396004, + "x": 0.6090395900257927, + "y": 0.5064875720344205 + } + ], + "type": "bbox" + }, + "point_1768012449474": { + "instances": [ + { + "id": "point_1768012449474_1768012552320_jbyjy9fb1", + "x": 0.48474579614297786, + "y": 0.322306768371704 + } + ], + "type": "point" + }, + "point_1768012450649": { + "instances": [ + { + "id": "point_1768012450649_1768012556984_nsdfa6ei8", + "x": 0.5525424109881496, + "y": 0.30535761466041106 + } + ], + "type": "point" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达黑桃A的正上方后竖直下落，合拢爪夹抓取黑桃A。爪夹抓住黑桃A后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方开始移动，水平方向上成功接近黑桃A，并使爪夹角度向垂直于桌面调整，方便抓取黑桃A。", + "frame": 93, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上略微接近黑桃A并开始调整爪夹角度方便抓取，因此进度提升为20%。", + "state_description": "当前爪夹张开，与黑桃A的水平距离变得更近。\n为完成抓取黑桃A的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至黑桃A的正上方。", + "time": 3.1047 + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1768012448610": { + "instances": [ + { + "height": 0.06553672768366603, + "id": "bbox_1768012448610_1768012576248_g0g2tn4hv", + "width": 0.057627122618396004, + "x": 0.6079096464450398, + "y": 0.5062821214773489 + } + ], + "type": "bbox" + }, + "point_1768012449474": { + "instances": [ + { + "id": "point_1768012449474_1768012567408_dpjez9n4r", + "x": 0.5299435393730924, + "y": 0.37202428592482994 + } + ], + "type": "point" + }, + "point_1768012450649": { + "instances": [ + { + "id": "point_1768012450649_1768012564312_0i3q390e4", + "x": 0.5796610569262183, + "y": 0.3426457528252555 + } + ], + "type": "point" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达黑桃A的正上方后竖直下落，合拢爪夹抓取黑桃A。爪夹抓住黑桃A后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方开始移动，水平方向上成功接近黑桃A，并使爪夹角度向垂直于桌面调整，方便抓取黑桃A。", + "frame": 111, + "progress": 30, + "progress_explanation": "当前爪夹在水平方向上略微接近黑桃A并调整了爪夹角度方便抓取，因此进度提升为30%。", + "state_description": "当前爪夹张开，与黑桃A的水平距离变得更近。\n为完成抓取黑桃A的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至黑桃A的正上方。", + "time": 3.683951724337548 + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1768012448610": { + "instances": [ + { + "height": 0.06666667126441889, + "id": "bbox_1768012448610_1768012595192_01iq8h30v", + "width": 0.057627122618396004, + "x": 0.6079096464450398, + "y": 0.5062821300981342 + } + ], + "type": "bbox" + }, + "point_1768012449474": { + "instances": [ + { + "id": "point_1768012449474_1768012607898_c1ld0v5tw", + "x": 0.5649717903764311, + "y": 0.4091069821533881 + } + ], + "type": "point" + }, + "point_1768012450649": { + "instances": [ + { + "id": "point_1768012450649_1768012611729_705igh3km", + "x": 0.5977401542182641, + "y": 0.3752086747308022 + } + ], + "type": "point" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达黑桃A的正上方后竖直下落，合拢爪夹抓取黑桃A。爪夹抓住黑桃A后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近黑桃A，并使爪夹角度向垂直于桌面调整，方便抓取黑桃A。", + "frame": 125, + "progress": 40, + "progress_explanation": "爪夹向爪夹方向的左前方开始移动，水平方向上成功接近黑桃A，并使爪夹角度向垂直于桌面调整，方便抓取黑桃A。", + "state_description": "当前爪夹张开，与黑桃A的水平距离变得更近。\n为完成抓取黑桃A的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至黑桃A的正上方。", + "time": 4.172611518151982 + }, + { + "action_description": "爪夹向爪夹的左侧移动到黑桃A的正上方。", + "annotations": { + "bbox_1768012448610": { + "instances": [ + { + "height": 0.06779661484517169, + "id": "bbox_1768012448610_1768012625201_72up34foi", + "width": 0.057627122618396004, + "x": 0.6079096464450398, + "y": 0.5064875720344205 + } + ], + "type": "bbox" + }, + "point_1768012450649": { + "instances": [ + { + "id": "point_1768012450649_1768012618394_sueal4kfo", + "x": 0.6451977846098843, + "y": 0.48614858758086904 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹竖直下落，合拢爪夹抓取黑桃A。爪夹抓住黑桃A后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动，并且已经移动到了黑桃A的正上方，方便抓取。", + "frame": 157, + "progress": 60, + "progress_explanation": "当前爪夹已悬空于黑桃A的正上方，已接近黑桃A，因此进度提升为60%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到黑桃A上方。\n为完成抓取黑桃A的任务应当：爪夹向爪夹方向的正下方移动，合拢爪夹抓取黑桃A后竖直上升", + "time": 5.241156299983563 + }, + { + "action_description": "爪夹合拢抓取黑桃A。", + "annotations": { + "bbox_1768012448610": { + "instances": [ + { + "height": 0.06327684052216025, + "id": "bbox_1768012448610_1768012643953_jh2ph14x4", + "width": 0.05536723545689028, + "x": 0.6079096464450398, + "y": 0.5097746861189286 + } + ], + "type": "bbox" + }, + "point_1768012450649": { + "instances": [ + { + "id": "point_1768012450649_1768012650553_xmydyekf9", + "x": 0.6429378974483786, + "y": 0.5459328807030203 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧黑桃A后竖直上升。", + "error_success_analysis": "爪夹合拢成功抓住了黑桃A。", + "frame": 201, + "progress": 80, + "progress_explanation": "当前爪夹合拢，爪夹已经抓住了黑桃A，因此进度上升为80。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓住黑桃A。\n为完成抓取黑桃A的任务应当：爪夹夹紧黑桃A后竖直上升。", + "time": 6.702393965175884 + }, + { + "action_description": "爪夹夹紧黑桃A竖直上升。", + "annotations": { + "bbox_1768012448610": { + "instances": [ + { + "height": 0.06892655842592461, + "id": "bbox_1768012448610_1768012669184_egwmr1ssh", + "width": 0.05649717903764315, + "x": 0.6090395900257927, + "y": 0.4714593210310818 + } + ], + "type": "bbox" + }, + "point_1768012450649": { + "instances": [ + { + "id": "point_1768012450649_1768012660137_607zbikmc", + "x": 0.6451977846098843, + "y": 0.5132672335189377 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取黑桃A的任务完成了。", + "error_success_analysis": "爪夹成功抓取了黑桃A。", + "frame": 234, + "progress": 100, + "progress_explanation": "当前爪夹抓取到了黑桃A，所以进度提升为100%。", + "state_description": "当前爪夹合拢，已经抓取到了黑桃A，所以抓取黑桃A的任务完成了。", + "time": 7.793266362266579 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768012448610", + "name": "黑桃A" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768012449474", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768012450649", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001396.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001396.json new file mode 100644 index 0000000000000000000000000000000000000000..ef0cd4da5d880c1a202dd79b31ec2e1a4c10227a --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001396.json @@ -0,0 +1,303 @@ +{ + "task_description": "抓取黑桃3。\n开始移动:0%\n爪夹小幅度移动：20%\n爪夹靠近黑桃3：40%\n爪夹移动到黑桃3正上方:60%\n爪夹抓取黑桃3:80%\n爪夹抓住黑桃3竖直上升:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达黑桃3的正上方后竖直下落，合拢爪夹抓取黑桃3。爪夹抓住黑桃3后竖直上升。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前状态为爪夹打开，没有移动，没有接触黑桃3。\n为完成抓取黑桃3的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，准备抓取黑桃3。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触黑桃3。\n为完成抓取黑桃A的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，准备抓取黑桃A。", + "time": 0, + "annotations": { + "bbox_1768012567890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012567890_1768012643082_26iymyhyz", + "x": 0.6561110437554294, + "y": 0.47826385661231346, + "width": 0.059999996520996274, + "height": 0.06499999572753926 + } + ] + }, + "point_1768012568938": { + "type": "point", + "instances": [ + { + "id": "point_1768012568938_1768012653874_hur9crxoq", + "x": 0.466375, + "y": 0.1303984375 + } + ] + }, + "point_1768012569170": { + "type": "point", + "instances": [ + { + "id": "point_1768012569170_1768012658226_wus3mfv7v", + "x": 0.544375, + "y": 0.1303984375 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方微调，并调整爪夹角度，使其垂直于桌面。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。继续向爪夹的左前方移动，爪夹到达黑桃3的正上方后竖直下落，合拢爪夹抓取黑桃3。爪夹抓住黑桃3后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近黑桃A，方便调整角度抓取黑桃3。", + "frame": 27, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上距离黑桃3较进，\n开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与黑桃3的水平距离边近。\n为完成抓取黑桃3的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至黑桃3的正上方。", + "time": 0.8859278350515464, + "annotations": { + "point_1768012569170": { + "type": "point", + "instances": [ + { + "id": "point_1768012569170_1768012663081_k6nfdvkpe", + "x": 0.582375, + "y": 0.1733984375 + } + ] + }, + "point_1768012568938": { + "type": "point", + "instances": [ + { + "id": "point_1768012568938_1768012666257_88yzkblv6", + "x": 0.504375, + "y": 0.1733984375 + } + ] + }, + "bbox_1768012567890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012567890_1768012673921_jfmc3r8oa", + "x": 0.6573749999999999, + "y": 0.47839843749999994, + "width": 0.0590000000000001, + "height": 0.0650000000000001 + } + ] + } + } + }, + { + "time": 2.14048095703125, + "frame": 64, + "progress": 20, + "action_description": "爪夹向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "state_description": "当前爪夹张开，与黑桃3的水平距离变得更近。\n为完成抓取黑桃3的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至黑桃3的正上方。", + "progress_explanation": "当前爪夹在水平方向上略微接近黑桃3并开始调整爪夹角度方便抓取，因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹方向的左前方开始移动，水平方向上成功接近黑桃3，并使爪夹角度向垂直于桌面调整，方便抓取黑桃3。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达黑桃3的正上方后竖直下落，合拢爪夹抓取黑桃A。爪夹抓住黑桃3后竖直上升。", + "annotations": { + "bbox_1768012567890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012567890_1768012688922_ymntxpt37", + "x": 0.6553749999999999, + "y": 0.47739843749999994, + "width": 0.06300000000000001, + "height": 0.06500000000000003 + } + ] + }, + "point_1768012568938": { + "type": "point", + "instances": [ + { + "id": "point_1768012568938_1768012702857_ma634od2h", + "x": 0.571375, + "y": 0.2893984375 + } + ] + }, + "point_1768012569170": { + "type": "point", + "instances": [ + { + "id": "point_1768012569170_1768012706106_tsgg6r1v0", + "x": 0.631375, + "y": 0.2663984375 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达黑桃3的正上方后竖直下落，合拢爪夹抓取黑桃3。爪夹抓住黑桃3后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方开始移动，水平方向上成功接近黑桃3，并使爪夹角度向垂直于桌面调整，方便抓取黑桃3。", + "frame": 97, + "progress": 40, + "progress_explanation": "当前爪夹在水平方向上略微接近黑桃3并调整了爪夹角度方便抓取，因此进度提升为40%。", + "state_description": "当前爪夹张开，与黑桃3的水平距离变得更近。\n为完成抓取黑桃3的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至黑桃3的正上方。", + "time": 3.23408920445393, + "annotations": { + "point_1768012569170": { + "type": "point", + "instances": [ + { + "id": "point_1768012569170_1768012711793_g1v2j0wka", + "x": 0.6653749999999999, + "y": 0.34639843749999993 + } + ] + }, + "point_1768012568938": { + "type": "point", + "instances": [ + { + "id": "point_1768012568938_1768012714281_rhx9odkw5", + "x": 0.6393749999999999, + "y": 0.38139843749999996 + } + ] + }, + "bbox_1768012567890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012567890_1768012721626_nh37wqkmf", + "x": 0.6573749999999999, + "y": 0.4783984375, + "width": 0.0590000000000001, + "height": 0.06500000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左侧移动到黑桃3的正上方。", + "correction_plan": "爪夹竖直下落，合拢爪夹抓取黑桃3。爪夹抓住黑桃3后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动，并且已经移动到了黑桃3的正上方，方便抓取。", + "frame": 125, + "progress": 60, + "progress_explanation": "当前爪夹已悬空于黑桃A的正上方，已接近黑桃A，因此进度提升为60%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到黑桃3上方。\n为完成抓取黑桃3的任务应当：爪夹向爪夹方向的正下方移动，合拢爪夹抓取黑桃3后竖直上升", + "time": 4.152439719917848, + "annotations": { + "bbox_1768012567890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012567890_1768012739369_nr2efotq6", + "x": 0.657375, + "y": 0.4773984375, + "width": 0.05799999999999995, + "height": 0.06600000000000002 + } + ] + }, + "point_1768012569170": { + "type": "point", + "instances": [ + { + "id": "point_1768012569170_1768012748290_5siime4r3", + "x": 0.6943750000000001, + "y": 0.45539843750000003 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取黑桃3。", + "correction_plan": "爪夹夹紧黑桃3后竖直上升。", + "error_success_analysis": "爪夹合拢成功抓住了黑桃3。", + "frame": 185, + "progress": 80, + "progress_explanation": "当前爪夹合拢，爪夹已经抓住了黑桃3，因此进度上升为80。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓住黑桃3。\n为完成抓取黑桃3的任务应当：爪夹夹紧黑桃3后竖直上升。", + "time": 6.178419101361147, + "annotations": { + "bbox_1768012567890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012567890_1768012759481_6nhs0ep70", + "x": 0.6553749999999999, + "y": 0.4753984375, + "width": 0.05899999999999998, + "height": 0.06599999999999996 + } + ] + }, + "point_1768012569170": { + "type": "point", + "instances": [ + { + "id": "point_1768012569170_1768012775561_iqwaf2d0s", + "x": 0.700375, + "y": 0.5103984374999999 + } + ] + } + } + }, + { + "time": 6.8, + "frame": 204, + "progress": 100, + "action_description": "爪夹夹紧黑桃3竖直上升。", + "state_description": "当前爪夹合拢，已经抓取到了黑桃3，所以抓取黑桃3的任务完成了。", + "progress_explanation": "当前爪夹抓取到了黑桃3，所以进度提升为100%。", + "error_success_analysis": "爪夹成功抓取了黑桃3。", + "correction_plan": "抓取黑桃3的任务完成了。", + "annotations": { + "point_1768012569170": { + "type": "point", + "instances": [ + { + "id": "point_1768012569170_1768012781289_x6vv93546", + "x": 0.700375, + "y": 0.4733984375 + } + ] + }, + "bbox_1768012567890": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012567890_1768012787313_mvi2hu6l1", + "x": 0.6583749999999999, + "y": 0.43539843749999996, + "width": 0.053, + "height": 0.069 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768012567890", + "name": "黑桃3", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768012568938", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768012569170", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001400.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001400.json new file mode 100644 index 0000000000000000000000000000000000000000..9a4e85cc1beaa5fb075e16cf2b31857e2578e553 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001400.json @@ -0,0 +1,347 @@ +{ + "task_description": "抓取黑桃K。\n开始移动:0%\n爪夹小幅度移动：20%\n爪夹靠近黑桃K：40%\n爪夹移动到黑桃K正上方:60%\n爪夹抓取黑桃K:80%\n爪夹抓住黑桃K竖直上升:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "annotations": { + "bbox_1768013463135": { + "instances": [ + { + "height": 0.064, + "id": "bbox_1768013463135_1768013499662_baoyp6m78", + "width": 0.055000000000000014, + "x": 0.526375, + "y": 0.5348984375000001 + } + ], + "type": "bbox" + }, + "point_1768013467390": { + "instances": [ + { + "id": "point_1768013467390_1768013505750_wrxqki1rq", + "x": 0.465375, + "y": 0.1288984375 + } + ], + "type": "point" + }, + "point_1768013467590": { + "instances": [ + { + "id": "point_1768013467590_1768013510142_z5afk6fjs", + "x": 0.544375, + "y": 0.1328984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达黑桃K的正上方后竖直下落，合拢爪夹抓取黑桃K。爪夹抓住黑桃K后竖直上升。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触黑桃K。\n为完成抓取黑桃K的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，准备抓取黑桃K。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹方向的右前方微调，并调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1768013463135": { + "instances": [ + { + "height": 0.06699999999999988, + "id": "bbox_1768013463135_1768013534398_kvido3tp2", + "width": 0.05699999999999991, + "x": 0.525375, + "y": 0.5331484375000001 + } + ], + "type": "bbox" + }, + "point_1768013467390": { + "instances": [ + { + "id": "point_1768013467390_1768013525294_c8sovgkmx", + "x": 0.412375, + "y": 0.1833984375 + } + ], + "type": "point" + }, + "point_1768013467590": { + "instances": [ + { + "id": "point_1768013467590_1768013518742_2dx9likyh", + "x": 0.49137499999999995, + "y": 0.1833984375 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达黑桃K的正上方后竖直下落，合拢爪夹抓取黑桃K。爪夹抓住黑桃K后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，水平方向上成功接近黑桃K，方便调整角度抓取黑桃K。", + "frame": 33, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上虽然离黑桃K较远，但是开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与黑桃K的水平距离边远。\n为完成抓取黑桃K的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至黑桃K的正上方。", + "time": 1.1155154639175258 + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1768013463135": { + "instances": [ + { + "height": 0.069, + "id": "bbox_1768013463135_1768013547557_hs51ux9il", + "width": 0.05800000000000001, + "x": 0.523375, + "y": 0.5323984374999999 + } + ], + "type": "bbox" + }, + "point_1768013467390": { + "instances": [ + { + "id": "point_1768013467390_1768013559549_074czr16g", + "x": 0.43537499999999996, + "y": 0.2683984375 + } + ], + "type": "point" + }, + "point_1768013467590": { + "instances": [ + { + "id": "point_1768013467590_1768013562373_d7l001852", + "x": 0.5223749999999999, + "y": 0.2683984375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达黑桃K的正上方后竖直下落，合拢爪夹抓取黑桃K。爪夹抓住黑桃K后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方开始移动，水平方向上成功接近黑桃K，并使爪夹角度向垂直于桌面调整，方便抓取黑桃K。", + "frame": 77, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上略微接近黑桃K并开始调整爪夹角度方便抓取，因此进度提升为20%。", + "state_description": "当前爪夹张开，与黑桃K的水平距离变得更近。\n为完成抓取黑桃K的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至黑桃K的正上方。", + "time": 2.568799 + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1768013463135": { + "instances": [ + { + "height": 0.069, + "id": "bbox_1768013463135_1768013575781_2tx169vdd", + "width": 0.05799999999999995, + "x": 0.5243749999999999, + "y": 0.5323984374999999 + } + ], + "type": "bbox" + }, + "point_1768013467390": { + "instances": [ + { + "id": "point_1768013467390_1768013570549_yp62hliwy", + "x": 0.490375, + "y": 0.4043984375 + } + ], + "type": "point" + }, + "point_1768013467590": { + "instances": [ + { + "id": "point_1768013467590_1768013567837_40pjkqmdc", + "x": 0.5463749999999999, + "y": 0.3753984375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达黑桃K的正上方后竖直下落，合拢爪夹抓取黑桃K。爪夹抓住黑桃K后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方开始移动，水平方向上成功接近黑桃K，并使爪夹角度向垂直于桌面调整，方便抓取黑桃K。", + "frame": 38, + "progress": 30, + "progress_explanation": "当前爪夹在水平方向上略微接近黑桃K并调整了爪夹角度方便抓取，因此进度提升为30%。", + "state_description": "当前爪夹张开，与黑桃K的水平距离变得更近。\n为完成抓取黑桃K的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至黑桃K的正上方。", + "time": 3.8 + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "annotations": { + "bbox_1768013463135": { + "instances": [ + { + "height": 0.06799999999999998, + "id": "bbox_1768013463135_1768013591629_6vgja6gwd", + "width": 0.05999999999999996, + "x": 0.5223749999999999, + "y": 0.5313984375 + } + ], + "type": "bbox" + }, + "point_1768013467390": { + "instances": [ + { + "id": "point_1768013467390_1768013607022_g1ka6l6vm", + "x": 0.5223749999999999, + "y": 0.45539843750000003 + } + ], + "type": "point" + }, + "point_1768013467590": { + "instances": [ + { + "id": "point_1768013467590_1768013604558_yqo0p8ss5", + "x": 0.554375, + "y": 0.4163984375 + } + ], + "type": "point" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达黑桃A的正上方后竖直下落，合拢爪夹抓取黑桃A。爪夹抓住黑桃A后竖直上升。", + "error_success_analysis": "爪夹继续向爪夹方向的左前方移动，水平方向上成功接近黑桃K，并使爪夹角度向垂直于桌面调整，方便抓取黑桃K。", + "frame": 130, + "progress": 40, + "progress_explanation": "爪夹向爪夹方向的左前方开始移动，水平方向上成功接近黑桃K，并使爪夹角度向垂直于桌面调整，方便抓取黑桃K。", + "state_description": "当前爪夹张开，与黑桃K的水平距离变得更近。\n为完成抓取黑桃K的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至黑桃K的正上方。", + "time": 4.343556701030927 + }, + { + "action_description": "爪夹向爪夹的左侧移动到黑桃K的正上方。", + "annotations": { + "bbox_1768013463135": { + "instances": [ + { + "height": 0.06599999999999996, + "id": "bbox_1768013463135_1768013617070_cvyg2ck6u", + "width": 0.05699999999999997, + "x": 0.5253749999999999, + "y": 0.5346484375 + } + ], + "type": "bbox" + }, + "point_1768013467390": { + "instances": [ + { + "id": "point_1768013467390_1768013611654_a0ki084v9", + "x": 0.555375, + "y": 0.5156484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹竖直下落，合拢爪夹抓取黑桃K。爪夹抓住黑桃K后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动，并且已经移动到了黑桃K的正上方，方便抓取。", + "frame": 150, + "progress": 60, + "progress_explanation": "当前爪夹已悬空于黑桃K的正上方，已接近黑桃K，因此进度提升为60%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到黑桃K上方。\n为完成抓取黑桃K的任务应当：爪夹向爪夹方向的正下方移动，合拢爪夹抓取黑桃K后竖直上升", + "time": 4.984954134351316 + }, + { + "action_description": "爪夹合拢抓取黑桃K。", + "annotations": { + "bbox_1768013463135": { + "instances": [ + { + "height": 0.06599999999999989, + "id": "bbox_1768013463135_1768013630197_7mum6uh7h", + "width": 0.05600000000000005, + "x": 0.5253749999999999, + "y": 0.5343984375 + } + ], + "type": "bbox" + }, + "point_1768013467390": { + "instances": [ + { + "id": "point_1768013467390_1768013634317_8c3j4nyyi", + "x": 0.556375, + "y": 0.5763984375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢成功抓住了黑桃K。", + "error_success_analysis": "爪夹合拢成功抓住了黑桃K。", + "frame": 201, + "progress": 80, + "progress_explanation": "当前爪夹合拢，爪夹已经抓住了黑桃K，因此进度上升为80。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓住黑桃K。\n为完成抓取黑桃K的任务应当：爪夹夹紧黑桃K后竖直上升。", + "time": 6.692899079465558 + }, + { + "action_description": "爪夹夹紧黑桃K竖直上升。", + "annotations": { + "bbox_1768013463135": { + "instances": [ + { + "height": 0.06899999999999995, + "id": "bbox_1768013463135_1768013650956_gn208qris", + "width": 0.060000000000000026, + "x": 0.5243749999999999, + "y": 0.4911484375 + } + ], + "type": "bbox" + }, + "point_1768013467390": { + "instances": [ + { + "id": "point_1768013467390_1768013639398_mxwbdgw7c", + "x": 0.557375, + "y": 0.5371484375000001 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取黑桃K的任务完成了。", + "error_success_analysis": "爪夹成功抓取了黑桃K。", + "frame": 225, + "progress": 100, + "progress_explanation": "当前爪夹抓取到了黑桃K，所以进度提升为100%。", + "state_description": "当前爪夹合拢，已经抓取到了黑桃K，所以抓取黑桃K的任务完成了。", + "time": 7.5012 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768013463135", + "name": "黑桃K" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768013467390", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768013467590", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001444.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001444.json new file mode 100644 index 0000000000000000000000000000000000000000..e584de5c8c93fe5811f15d2145d0e7c7b99ad768 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001444.json @@ -0,0 +1,283 @@ +{ + "task_description": "爪夹抓起红桃二。\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近红桃二：40%\n爪夹移动到红桃二的正上方：60%\n爪夹抓取红桃二：80%\n爪夹抓取红桃二向上抬起：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1768024374856": { + "instances": [ + { + "height": 0.0749999954223636, + "id": "bbox_1768024374856_1768025848804_icp3p06zw", + "width": 0.061999996215820495, + "x": 0.5225555100979303, + "y": 0.557069408748205 + } + ], + "type": "bbox" + }, + "point_1768024375583": { + "instances": [ + { + "id": "point_1768024375583_1768025852205_1o3jz4dud", + "x": 0.4665555135158988, + "y": 0.13206943468814486 + } + ], + "type": "point" + }, + "point_1768024375895": { + "instances": [ + { + "id": "point_1768024375895_1768025855076_kxcwtu71c", + "x": 0.5425555088772271, + "y": 0.12706943499332063 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动，同时向爪夹的左边调整爪夹方向，并向爪夹的下方移动，爪夹移动到红桃二的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取红桃二，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触红桃二。\n为完成爪夹抓起红桃二的任务应当：爪夹向爪夹的左前方移动，同时向爪夹的左边调整爪夹方向，并向爪夹的下方移动，爪夹移动到红桃二的正上方。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹的左前方移动，靠近红桃二。", + "annotations": { + "bbox_1768024374856": { + "instances": [ + { + "height": 0.07799999523925803, + "id": "bbox_1768024374856_1768025868420_vhhaxuhsq", + "width": 0.06599999597167994, + "x": 0.5215555101589654, + "y": 0.558180515552947 + } + ], + "type": "bbox" + }, + "point_1768024375583": { + "instances": [ + { + "id": "point_1768024375583_1768025864508_43g9rwxhb", + "x": 0.49455551180691454, + "y": 0.1631805396618323 + } + ], + "type": "point" + }, + "point_1768024375895": { + "instances": [ + { + "id": "point_1768024375895_1768025861732_qpe1x2x68", + "x": 0.5665555074123836, + "y": 0.16418053960079712 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，爪夹移动到红桃二的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取红桃二，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹的左前方移动，略微靠近红桃二。", + "frame": 22, + "progress": 10, + "progress_explanation": "当前爪夹张开，与红桃二的水平距离略微缩短，因此进度提升至10%。", + "state_description": "当前爪夹张开，与红桃二的水平距离缩短。\n为完成爪夹抓起红桃二的任务应当：爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向。", + "time": 0.7252 + }, + { + "action_description": "爪夹向爪夹的左前方移动，移动到红桃二的正上方。", + "annotations": { + "bbox_1768024374856": { + "instances": [ + { + "height": 0.07299999554443394, + "id": "bbox_1768024374856_1768025872884_jsznuy3w5", + "width": 0.06399999609375027, + "x": 0.5215555101589654, + "y": 0.5591805154919118 + } + ], + "type": "bbox" + }, + "point_1768024375583": { + "instances": [ + { + "id": "point_1768024375583_1768025903508_c3fdhaamf", + "x": 0.5055555111355279, + "y": 0.20418053715939105 + } + ], + "type": "point" + }, + "point_1768024375895": { + "instances": [ + { + "id": "point_1768024375895_1768025906476_hbxwk5o7b", + "x": 0.5825555064358211, + "y": 0.1991805374645668 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并向爪夹的左边调整爪夹方向，爪夹移动到红桃二的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取红桃二，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹的左前方移动，在水平方向上再次接近红桃二。", + "frame": 39, + "progress": 20, + "progress_explanation": "当前爪夹张开，与红桃二的水平距离再次缩短，因此进度提升至20%。", + "state_description": "当前爪夹张开，与红桃二的水平距离再次缩短。\n为完成爪夹抓起红桃二的任务应当：爪夹向爪夹的下方移动，并向爪夹的左边调整爪夹方向，爪夹移动到红桃二的正上方。", + "time": 1.3164030210261066 + }, + { + "action_description": "爪夹向爪夹的下方移动，同时向爪夹的左边调整爪夹方向。", + "annotations": { + "bbox_1768024374856": { + "instances": [ + { + "height": 0.07299999554443394, + "id": "bbox_1768024374856_1768025915916_s31sg7erd", + "width": 0.058999996398925995, + "x": 0.5265555098537897, + "y": 0.5591805154919118 + } + ], + "type": "bbox" + }, + "point_1768024375583": { + "instances": [ + { + "id": "point_1768024375583_1768025912236_jvhh4h87i", + "x": 0.52455550997586, + "y": 0.36018052763790726 + } + ], + "type": "point" + }, + "point_1768024375895": { + "instances": [ + { + "id": "point_1768024375895_1768025909484_kpowqx860", + "x": 0.5755555068630671, + "y": 0.3341805292248212 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左边调整爪夹方向，并向爪夹的下方移动，直到爪夹垂直于红桃二的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取红桃二，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹的下方移动，同时向爪夹的左边调整爪夹方向，进一步接近红桃二。", + "frame": 87, + "progress": 35, + "progress_explanation": "当前爪夹在水平方向上进一步接近红桃二，因此进度提升至35%。", + "state_description": "当前爪夹张开，与红桃二的水平距离进一步缩短。\n为完成爪夹抓起红桃二的任务应当：爪夹继续向爪夹的左边调整爪夹方向，并向爪夹的下方移动，直到爪夹垂直于红桃二的正上方。", + "time": 2.9082 + }, + { + "action_description": "爪夹向爪夹的左边调整爪夹方向，并向爪夹的下方移动，直到爪夹垂直于红桃二的正上方。", + "annotations": { + "bbox_1768024374856": { + "instances": [ + { + "height": 0.07499999542236348, + "id": "bbox_1768024374856_1768025933116_2n9yjcl87", + "width": 0.06399999609375015, + "x": 0.5225555100979303, + "y": 0.558180515552947 + } + ], + "type": "bbox" + }, + "point_1768024375583": { + "instances": [ + { + "id": "point_1768024375583_1768025935500_c8vvr8ze8", + "x": 0.556555508022735, + "y": 0.5471805162243337 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取红桃二，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹的左边调整爪夹方向，并向爪夹的下方移动，爪夹成功移动到红桃二的正上方。", + "frame": 141, + "progress": 60, + "progress_explanation": "当前爪夹张开，已经移动到红桃二的正上方，因此进度提升至60%。", + "state_description": "当前爪夹张开，垂直于红桃二的正上方。\n为完成爪夹抓起红桃二的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取红桃二，爪夹保持合拢，并向爪夹的上方抬起。", + "time": 4.7138 + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取红桃二。", + "annotations": { + "bbox_1768024374856": { + "instances": [ + { + "height": 0.07399999548339871, + "id": "bbox_1768024374856_1768025943412_7urheulf1", + "width": 0.06599999597167988, + "x": 0.5205555102200006, + "y": 0.5601805154308768 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹的下方移动，并合拢爪夹，成功抓住红桃二。", + "frame": 192, + "progress": 80, + "progress_explanation": "当前爪夹已经抓住红桃二，因此进度提升至80%。", + "state_description": "当前爪夹合拢，垂直于桌面，已经抓住红桃二。\n为完成爪夹抓起红桃二的任务应当：爪夹保持合拢，并向爪夹的上方抬起。", + "time": 6.3936 + }, + { + "action_description": "爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "bbox_1768024374856": { + "instances": [ + { + "height": 0.07699999530029332, + "id": "bbox_1768024374856_1768025949084_91lukodns", + "width": 0.06899999578857449, + "x": 0.5185555103420708, + "y": 0.5128471900728033 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹保持合拢，并向爪夹的上方抬起，在水平方向上成功位于桌子上空。", + "frame": 222, + "progress": 100, + "progress_explanation": "当前爪夹已经抓住红桃二，并抬起，因此进度提升至100%。", + "state_description": "当前爪夹合拢，在水平方向上悬空于桌子上空，已经完成爪夹抓起红桃二的任务。", + "time": 7.4 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768024374856", + "name": "红桃二" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768024375583", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768024375895", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001458.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001458.json new file mode 100644 index 0000000000000000000000000000000000000000..86566d49621533e7a8fa5881365af379ced80131 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001458.json @@ -0,0 +1,283 @@ +{ + "task_description": "爪夹抓起梅花K。\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近梅花K：40%\n爪夹移动到梅花K的正上方：60%\n爪夹抓取梅花K：80%\n爪夹抓取梅花K向上抬起：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "annotations": { + "bbox_1768027349074": { + "instances": [ + { + "height": 0.07399999548339871, + "id": "bbox_1768027349074_1768027373385_hnu8mqwvg", + "width": 0.05899999639892606, + "x": 0.6175555042995907, + "y": 0.511069411555822 + } + ], + "type": "bbox" + }, + "point_1768027349690": { + "instances": [ + { + "id": "point_1768027349690_1768027366417_rnup07we6", + "x": 0.4685555133938285, + "y": 0.13006943481021516 + } + ], + "type": "point" + }, + "point_1768027349826": { + "instances": [ + { + "id": "point_1768027349826_1768027369545_oyip8ecyn", + "x": 0.5405555089992975, + "y": 0.13106943474918 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，爪夹移动到梅花K的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取梅花K，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触梅花K。\n为完成爪夹抓起梅花K的任务应当：爪夹向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，爪夹移动到梅花K的正上方。", + "time": 0.007099 + }, + { + "action_description": "爪夹向爪夹的左前方移动，靠近梅花K。", + "annotations": { + "bbox_1768027349074": { + "instances": [ + { + "height": 0.0749999954223636, + "id": "bbox_1768027349074_1768027377641_vo2qx1ee6", + "width": 0.06499999603271517, + "x": 0.6115555046658017, + "y": 0.5111805184215992 + } + ], + "type": "bbox" + }, + "point_1768027349690": { + "instances": [ + { + "id": "point_1768027349690_1768027379857_t64yvr3ey", + "x": 0.5155555105251763, + "y": 0.15418054021114866 + } + ], + "type": "point" + }, + "point_1768027349826": { + "instances": [ + { + "id": "point_1768027349826_1768027383297_x7prkaau4", + "x": 0.5855555062527157, + "y": 0.15418054021114866 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，爪夹移动到梅花K的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取梅花K，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹的左前方移动，略微靠近梅花K。", + "frame": 23, + "progress": 10, + "progress_explanation": "当前爪夹张开，与梅花K的水平距离略微缩短，因此进度提升至10%。", + "state_description": "当前爪夹张开，与梅花K的水平距离缩短。\n为完成爪夹抓起梅花K的任务应当：爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向。", + "time": 0.752599 + }, + { + "action_description": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向。", + "annotations": { + "bbox_1768027349074": { + "instances": [ + { + "height": 0.07599999536132848, + "id": "bbox_1768027349074_1768027392929_4g3bfnlta", + "width": 0.061999996215820495, + "x": 0.6135555045437314, + "y": 0.511069411555822 + } + ], + "type": "bbox" + }, + "point_1768027349690": { + "instances": [ + { + "id": "point_1768027349690_1768027389705_mlte5wvrq", + "x": 0.5465555086330867, + "y": 0.2430694279132429 + } + ], + "type": "point" + }, + "point_1768027349826": { + "instances": [ + { + "id": "point_1768027349826_1768027387105_moyv35oau", + "x": 0.6085555048489071, + "y": 0.23106942864566477 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，直到爪夹垂直于梅花K的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取梅花K，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，进一步接近梅花K。", + "frame": 53, + "progress": 20, + "progress_explanation": "当前爪夹张开，与梅花K的水平距离再次缩短，因此进度提升至20%。", + "state_description": "当前爪夹张开，与梅花K的水平距离再次缩短。\n为完成爪夹抓起梅花K的任务应当：爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，直到爪夹垂直于梅花K的正上方。", + "time": 1.7754064327652805 + }, + { + "action_description": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，靠近梅花K。", + "annotations": { + "bbox_1768027349074": { + "instances": [ + { + "height": 0.06999999572753926, + "id": "bbox_1768027349074_1768027397329_zq4jf1tdg", + "width": 0.06099999627685572, + "x": 0.6155555044216611, + "y": 0.5150694113116815 + } + ], + "type": "bbox" + }, + "point_1768027349690": { + "instances": [ + { + "id": "point_1768027349690_1768027400609_lm0ijf8se", + "x": 0.5985555054592587, + "y": 0.36506942046695434 + } + ], + "type": "point" + }, + "point_1768027349826": { + "instances": [ + { + "id": "point_1768027349826_1768027403369_wg6zvtl9i", + "x": 0.6305555035061338, + "y": 0.3330694224200792 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹的左边调整爪夹方向，并向爪夹的左下方移动，爪夹移动到梅花K的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取梅花K，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，进一步接近梅花K。", + "frame": 92, + "progress": 40, + "progress_explanation": "当前爪夹在水平方向上进一步接技能梅花K，因此进度提升至40%。", + "state_description": "当前爪夹张开，与梅花K的水平距离进一步缩短。\n为完成爪夹抓起梅花K的任务应当：爪夹继续向爪夹的左边调整爪夹方向，并向爪夹的左下方移动，爪夹移动到梅花K的正上方。", + "time": 3.0672 + }, + { + "action_description": "爪夹继续向爪夹的左边调整爪夹方向，并向爪夹的左下方移动，爪夹移动到梅花K的正上方。", + "annotations": { + "bbox_1768027349074": { + "instances": [ + { + "height": 0.0749999954223636, + "id": "bbox_1768027349074_1768027411945_gjcw4ppqm", + "width": 0.06599999597167994, + "x": 0.6115555046658017, + "y": 0.5120694114947869 + } + ], + "type": "bbox" + }, + "point_1768027349690": { + "instances": [ + { + "id": "point_1768027349690_1768027407417_ynilmycti", + "x": 0.6525555021633604, + "y": 0.4970694124103142 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取梅花K，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹的左边调整爪夹方向，并向爪夹的下方移动，爪夹成功移动到梅花K的正上方。", + "frame": 132, + "progress": 60, + "progress_explanation": "当前爪夹张开，已经移动到梅花K的正上方，因此进度提升至60%。", + "state_description": "当前爪夹张开，垂直于梅花K的正上方。\n为完成爪夹抓起梅花K的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取梅花K，爪夹保持合拢，并向爪夹的上方抬起。", + "time": 4.402 + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取梅花K。", + "annotations": { + "bbox_1768027349074": { + "instances": [ + { + "height": 0.07299999554443382, + "id": "bbox_1768027349074_1768027415497_mcjb8iiyy", + "width": 0.07099999566650415, + "x": 0.6115555046658017, + "y": 0.5150694113116815 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹的下方移动，并合拢爪夹，成功抓住梅花K。", + "frame": 187, + "progress": 80, + "progress_explanation": "当前爪夹已经抓住梅花K，因此进度提升至80%。", + "state_description": "当前爪夹合拢，垂直于桌面，已经抓住梅花K。\n为完成爪夹抓起梅花K的任务应当：爪夹保持合拢，并向爪夹的上方抬起。", + "time": 6.219599 + }, + { + "action_description": "爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "bbox_1768027349074": { + "instances": [ + { + "height": 0.0769999953002932, + "id": "bbox_1768027349074_1768027419497_e56bl75le", + "width": 0.06399999609375027, + "x": 0.6115555046658017, + "y": 0.4638471930635258 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹保持合拢，并向爪夹的上方抬起，在水平方向上成功位于桌子上空。", + "frame": 213, + "progress": 100, + "progress_explanation": "当前爪夹已经抓住梅花K，并抬起，因此进度提升至100%。", + "state_description": "当前爪夹合拢，在水平方向上悬空于桌子上空，已经完成爪夹抓起梅花K的任务。", + "time": 7.1 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768027349074", + "name": "梅花K" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768027349690", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768027349826", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001462.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001462.json new file mode 100644 index 0000000000000000000000000000000000000000..735305e23ddc47a34d653245c1b627ede4d84f7b --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001462.json @@ -0,0 +1,283 @@ +{ + "task_description": "爪夹抓起黑桃二。\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近黑桃二：40%\n爪夹移动到黑桃二的正上方：60%\n爪夹抓取黑桃二：80%\n爪夹抓取黑桃二向上抬起：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "爪夹向爪夹的右前方移动，接着向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，直至爪夹移动到黑桃二的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取黑桃二，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触黑桃二。\n为完成爪夹抓起黑桃二的任务应当：爪夹向爪夹的右前方移动，接着向爪夹的左前方移动，同时向爪夹的下方移动，靠近黑桃二。", + "time": 0, + "annotations": { + "bbox_1768027439065": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027439065_1768029130549_wl2xqk76j", + "x": 0.5325555094875788, + "y": 0.470374963661196, + "width": 0.057999996459961164, + "height": 0.06899999578857455 + } + ] + }, + "point_1768027439593": { + "type": "point", + "instances": [ + { + "id": "point_1768027439593_1768029132972_pyjyxfli4", + "x": 0.4665555135158988, + "y": 0.12937498447418308 + } + ] + }, + "point_1768027439753": { + "type": "point", + "instances": [ + { + "id": "point_1768027439753_1768029135636_47t1jw0ow", + "x": 0.5405555089992975, + "y": 0.13137498435211276 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右前方移动，靠近黑桃二。", + "correction_plan": "爪夹向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，直至爪夹移动到黑桃二的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取黑桃二，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹的右前方移动，略微靠近黑桃二。", + "frame": 18, + "progress": 10, + "progress_explanation": "当前爪夹张开，与黑桃二的水平距离略微缩短，因此进度提升至10%。", + "state_description": "当前爪夹张开，与黑桃二的水平距离缩短。\n为完成爪夹抓起黑桃二的任务应当：爪夹向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，直至爪夹移动到黑桃二的正上方。", + "time": 0.6016, + "annotations": { + "point_1768027439753": { + "type": "point", + "instances": [ + { + "id": "point_1768027439753_1768029139364_3urhs7856", + "x": 0.5085555109524225, + "y": 0.1593749826431285 + } + ] + }, + "point_1768027439593": { + "type": "point", + "instances": [ + { + "id": "point_1768027439593_1768029142052_35cvwtnvb", + "x": 0.43555551540798854, + "y": 0.1593749826431285 + } + ] + }, + "bbox_1768027439065": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027439065_1768029145564_z9564xbfr", + "x": 0.5275555097927546, + "y": 0.4673749638443015, + "width": 0.06299999615478538, + "height": 0.07299999554443387 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，靠近黑桃二。", + "correction_plan": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，直至爪夹移动到黑桃二的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取黑桃二，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，在水平方向上再次接近黑桃二。", + "frame": 48, + "progress": 20, + "progress_explanation": "当前爪夹张开，与黑桃二的水平距离再次缩短，因此进度提升至20%。", + "state_description": "当前爪夹张开，与黑桃二的水平距离再次缩短。\n为完成爪夹抓起黑桃二的任务应当：爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，直至爪夹移动到黑桃二的正上方。", + "time": 1.6, + "annotations": { + "bbox_1768027439065": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027439065_1768029150716_youw414tr", + "x": 0.5285555097317194, + "y": 0.46637496390533667, + "width": 0.06199999621582055, + "height": 0.0749999954223636 + } + ] + }, + "point_1768027439593": { + "type": "point", + "instances": [ + { + "id": "point_1768027439593_1768029153901_ss5ixbgng", + "x": 0.4715555132107231, + "y": 0.2573749766616836 + } + ] + }, + "point_1768027439753": { + "type": "point", + "instances": [ + { + "id": "point_1768027439753_1768029156924_7tqkmvfxc", + "x": 0.5335555094265436, + "y": 0.2393749777603163 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，继续靠近黑桃二，", + "correction_plan": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，直至爪夹移动到黑桃二的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取黑桃二，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，进一步接近黑桃二。", + "frame": 81, + "progress": 40, + "progress_explanation": "当前爪夹在水平方向上进一步接近黑桃二，因此进度提升至40%", + "state_description": "当前爪夹张开，与黑桃二的水平距离进一步缩短。\n为完成爪夹抓起黑桃二的任务应当：爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，直至爪夹移动到黑桃二的正上方。", + "time": 2.708819900429644, + "annotations": { + "point_1768027439753": { + "type": "point", + "instances": [ + { + "id": "point_1768027439753_1768029160628_cmqhml89q", + "x": 0.5515555083279108, + "y": 0.32837497232818774 + } + ] + }, + "point_1768027439593": { + "type": "point", + "instances": [ + { + "id": "point_1768027439593_1768029164612_eydeyhdto", + "x": 0.5225555100979303, + "y": 0.3563749706192034 + } + ] + }, + "bbox_1768027439065": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027439065_1768029168900_pc9llbdl5", + "x": 0.5315555095486139, + "y": 0.46637496390533667, + "width": 0.05599999658203145, + "height": 0.0749999954223636 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，爪夹移动到黑桃二的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取黑桃二，爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹的下方移动，并合拢爪夹抓取黑桃二", + "frame": 112, + "progress": 60, + "progress_explanation": "当前爪夹张开，已经移动到黑桃二的正上方，因此进度提升至60%。", + "state_description": "当前爪夹张开，垂直于黑桃二的正上方。\n为完成爪夹抓起黑桃二的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取黑桃二，爪夹保持合拢，并向爪夹的上方抬起。", + "time": 3.7184, + "annotations": { + "bbox_1768027439065": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027439065_1768029172420_90kx68kr7", + "x": 0.5215555101589654, + "y": 0.4693749637222312, + "width": 0.07099999566650415, + "height": 0.07099999566650415 + } + ] + }, + "point_1768027439593": { + "type": "point", + "instances": [ + { + "id": "point_1768027439593_1768029175444_3718q579h", + "x": 0.5615555077175594, + "y": 0.4513749648208639 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取黑桃二。", + "correction_plan": "爪夹保持合拢，并向爪夹的上方抬起。", + "error_success_analysis": "爪夹向爪夹的下方移动，并合拢爪夹，成功抓住黑桃二。", + "frame": 166, + "progress": 80, + "progress_explanation": "当前爪夹已经抓住黑桃二，因此进度提升至80%。", + "state_description": "当前爪夹合拢，垂直于桌面，已经抓住黑桃二。\n为完成爪夹抓起黑桃二的任务应当：爪夹保持合拢，并向爪夹的上方抬起。", + "time": 5.5168, + "annotations": { + "bbox_1768027439065": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027439065_1768029181740_zmv34rdoa", + "x": 0.52455550997586, + "y": 0.4673749638443015, + "width": 0.06899999578857449, + "height": 0.07699999530029332 + } + ] + } + } + }, + { + "action_description": "爪夹保持合拢，并向爪夹的上方抬起。", + "correction_plan": "", + "error_success_analysis": "爪夹保持合拢，并向爪夹的上方抬起，在水平方向上成功位于桌子上空。", + "frame": 192, + "progress": 100, + "progress_explanation": "当前爪夹已经抓住黑桃二，并抬起，因此进度提升至100%", + "state_description": "当前爪夹合拢，在水平方向上悬空于桌子上空，已经完成爪夹抓起黑桃二的任务。", + "time": 6.4, + "annotations": { + "bbox_1768027439065": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027439065_1768029185460_wsavhegno", + "x": 0.5265555098537897, + "y": 0.4212638597861414, + "width": 0.06599999597167988, + "height": 0.07799999523925809 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768027439065", + "name": "黑桃二" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768027439593", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768027439753", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001468.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001468.json new file mode 100644 index 0000000000000000000000000000000000000000..07e216ee40b8dfee3908ea2d780cc7ec8b24bd10 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001468.json @@ -0,0 +1,283 @@ +{ + "task_description": "爪夹抓起方片二。\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近方片二：40%\n爪夹移动到方片二的正上方：60%\n爪夹抓取方片二：80%\n爪夹抓取方片二向上抬起：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，准备移动。", + "state_description": "当前爪夹张开，没有移动，没有接触方片二。\n为完成爪夹抓起方片二的任务应当：爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近方片二。", + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，靠近方片二，爪夹移动到方片二的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取方片二，爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "bbox_1768029229764": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029229764_1768034062192_59evwqq80", + "x": 0.6135555045437314, + "y": 0.49237496994781677, + "width": 0.0679999958496096, + "height": 0.07899999517822293 + } + ] + }, + "point_1768029230724": { + "type": "point", + "instances": [ + { + "id": "point_1768029230724_1768034065392_2w2wwo07o", + "x": 0.4665555135158988, + "y": 0.1283749921646123 + } + ] + }, + "point_1768029230908": { + "type": "point", + "instances": [ + { + "id": "point_1768029230908_1768034069256_8wwga5m84", + "x": 0.5405555089992975, + "y": 0.12937499210357714 + } + ] + } + } + }, + { + "time": 0.7314, + "frame": 22, + "progress": 10, + "action_description": "爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近方片二。", + "state_description": "当前爪夹张开，与方片二的水平距离缩短。\n为完成爪夹抓起方片二的任务应当：爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，靠近方片二。", + "progress_explanation": "当前爪夹张开，与方片二的水平距离略微缩短，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹的左前方移动，同时向爪夹的下方移动，略微靠近方片二。", + "correction_plan": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，继续靠近方片二，爪夹移动到方片二的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取方片二，爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "point_1768029230908": { + "type": "point", + "instances": [ + { + "id": "point_1768029230908_1768034072472_stfyn2nt1", + "x": 0.5745555069241024, + "y": 0.16148609701622943 + } + ] + }, + "point_1768029230724": { + "type": "point", + "instances": [ + { + "id": "point_1768029230724_1768034075488_1rq4jrick", + "x": 0.49855551156277395, + "y": 0.15848609719933487 + } + ] + }, + "bbox_1768029229764": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029229764_1768034078784_oq2uxwc08", + "x": 0.6105555047268368, + "y": 0.4934860767525588, + "width": 0.0679999958496096, + "height": 0.07599999536132843 + } + ] + } + } + }, + { + "time": 1.8768, + "frame": 56, + "progress": 20, + "action_description": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，再次接近方片二。", + "state_description": "当前爪夹张开，与方片二的水平距离再次缩短。\n为完成爪夹抓起方片二的任务应当：爪夹继续向爪夹的左下方移动，并向爪夹的左边调整爪夹方向，爪夹移动到方片二的正上方。", + "progress_explanation": "当前爪夹张开，与方片二的水平距离再次缩短，因此进度提升至20%。", + "error_success_analysis": "爪夹继续向爪夹的左前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，在水平方向上再次接近方片二。", + "correction_plan": "爪夹继续向爪夹的左下方移动，并向爪夹的左边调整爪夹方向，爪夹移动到方片二的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取方片二，爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "bbox_1768029229764": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029229764_1768034087424_h58jlr1ar", + "x": 0.6145555044826962, + "y": 0.49548607663048844, + "width": 0.06399999609375027, + "height": 0.07399999548339876 + } + ] + }, + "point_1768029230724": { + "type": "point", + "instances": [ + { + "id": "point_1768029230724_1768034090288_0v6t5htru", + "x": 0.5555555080837703, + "y": 0.25348609140099543 + } + ] + }, + "point_1768029230908": { + "type": "point", + "instances": [ + { + "id": "point_1768029230908_1768034093784_lyotjuhuu", + "x": 0.616555504360626, + "y": 0.24048609219445236 + } + ] + } + } + }, + { + "time": 3.1464, + "frame": 94, + "progress": 40, + "action_description": "爪夹继续向爪夹的左下方移动，并向爪夹的左边调整爪夹方向。", + "state_description": "当前爪夹张开，与方片二的水平距离进一步缩短。\n为完成爪夹抓起方片二的任务应当：爪夹继续向爪夹的左下方移动，并向爪夹的左边调整爪夹方向，直到爪夹垂直于方片二的正上方。", + "progress_explanation": "当前爪夹在水平方向上进一步接近方片二，因此进度提升至40%。", + "error_success_analysis": "爪夹向爪夹的左下方移动，同时向爪夹的左边调整爪夹方向，进一步接近方片二。", + "correction_plan": "爪夹继续向爪夹的左下方移动，并向爪夹的左边调整爪夹方向，直到爪夹垂直于方片二的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取方片二，爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "point_1768029230908": { + "type": "point", + "instances": [ + { + "id": "point_1768029230908_1768034097272_nzv5z3obg", + "x": 0.6375555030788878, + "y": 0.34348608590783164 + } + ] + }, + "point_1768029230724": { + "type": "point", + "instances": [ + { + "id": "point_1768029230724_1768034099864_m5780wlan", + "x": 0.6085555048489071, + "y": 0.3734860840767771 + } + ] + }, + "bbox_1768029229764": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029229764_1768034103672_omod001i7", + "x": 0.6115555046658017, + "y": 0.49548607663048844, + "width": 0.06699999591064483, + "height": 0.07499999542236353 + } + ] + } + } + }, + { + "time": 4.2159, + "frame": 126, + "progress": 60, + "action_description": "爪夹继续向爪夹的左下方移动，并向爪夹的左边调整爪夹方向，直到爪夹垂直于方片二的正上方。", + "state_description": "当前爪夹张开，垂直于方片二的正上方。\n为完成爪夹抓起方片二的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取方片二，爪夹保持合拢，并向爪夹的上方抬起。", + "progress_explanation": "当前爪夹张开，已经移动到方片二的正上方，因此进度提升至60%。", + "error_success_analysis": "爪夹继续向爪夹的左下方移动，并向爪夹的左边调整爪夹方向，爪夹成功移动到方片二的正上方。", + "correction_plan": "爪夹向爪夹的下方移动，并合拢爪夹抓取方片二，爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "bbox_1768029229764": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029229764_1768034107808_uhs9g32yl", + "x": 0.6125555046047666, + "y": 0.4964860765694533, + "width": 0.06899999578857449, + "height": 0.07099999566650421 + } + ] + }, + "point_1768029230724": { + "type": "point", + "instances": [ + { + "id": "point_1768029230724_1768034110264_5dmzplgvj", + "x": 0.6545555020412902, + "y": 0.4814860774849806 + } + ] + } + } + }, + { + "time": 5.9616, + "frame": 179, + "progress": 80, + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取方片二。", + "state_description": "当前爪夹合拢，垂直于桌面，已经抓住方片二。\n为完成爪夹抓起方片二的任务应当：爪夹保持合拢，并向爪夹的上方抬起。", + "progress_explanation": "爪夹向爪夹的下方移动，并合拢爪夹，成功抓住方片二。", + "error_success_analysis": "爪夹向爪夹的下方移动，并合拢爪夹，成功抓住方片二。", + "correction_plan": "爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "bbox_1768029229764": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029229764_1768034116304_m39b4onuy", + "x": 0.6135555045437314, + "y": 0.49248607681359396, + "width": 0.0669999959106447, + "height": 0.07699999530029326 + } + ] + } + } + }, + { + "time": 6.8793, + "frame": 206, + "progress": 100, + "action_description": "爪夹保持合拢，并向爪夹的上方抬起。", + "state_description": "当前爪夹合拢，在水平方向上悬空于桌子上空，已经完成爪夹抓起方片二的任务。", + "progress_explanation": "当前爪夹已经抓住方片二，并抬起，因此进度提升至100%。", + "error_success_analysis": "爪夹保持合拢，并向爪夹的上方抬起，在水平方向上成功位于桌子上空。", + "correction_plan": "", + "annotations": { + "bbox_1768029229764": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029229764_1768034120120_ww7pnwv1g", + "x": 0.6135555045437314, + "y": 0.4492638580771571, + "width": 0.06999999572753926, + "height": 0.07899999517822298 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768029229764", + "name": "方片二", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768029230724", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768029230908", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001476.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001476.json new file mode 100644 index 0000000000000000000000000000000000000000..7347a5e89c940aa4c7041f7d491a4d991c2cc967 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001476.json @@ -0,0 +1,283 @@ +{ + "task_description": "爪夹抓起梅花九。\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近梅花九：40%\n爪夹移动到梅花九的正上方：60%\n爪夹抓取梅花九：80%\n爪夹抓取梅花九向上抬起：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，准备移动。", + "state_description": "当前爪夹张开，没有移动，没有接触梅花九。\n为完成爪夹抓起梅花九的任务应当：爪夹向爪夹的右前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，靠近梅花九。", + "progress_explanation": "当前爪夹处于初始状态，没有移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，靠近梅花九，爪夹移动到梅花九的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取梅花九，爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "bbox_1768034191663": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768034191663_1768035211064_sfta33j0k", + "x": 0.4235555161404104, + "y": 0.5293749676895161, + "width": 0.06299999615478538, + "height": 0.07499999542236353 + } + ] + }, + "point_1768034192248": { + "type": "point", + "instances": [ + { + "id": "point_1768034192248_1768035213840_dwy53ndc7", + "x": 0.4665555135158988, + "y": 0.13137499198150684 + } + ] + }, + "point_1768034192407": { + "type": "point", + "instances": [ + { + "id": "point_1768034192407_1768035216583_3hkn3at2c", + "x": 0.5425555088772271, + "y": 0.13237499192047167 + } + ] + } + } + }, + { + "time": 0.7107, + "frame": 21, + "progress": 10, + "action_description": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，靠近梅花九。", + "state_description": "当前爪夹张开，与梅花九的水平距离略微缩短。\n为完成爪夹抓起梅花九的任务应当：爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，靠近梅花九。", + "progress_explanation": "当前爪夹张开，与梅花九的水平距离略微缩短，因此进度提升至10%。", + "error_success_analysis": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，并向爪夹的左边调整爪夹方向，略微靠近梅花九。", + "correction_plan": "爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，靠近梅花九，爪夹移动到梅花九的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取梅花九，爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "point_1768034192407": { + "type": "point", + "instances": [ + { + "id": "point_1768034192407_1768035220552_xdju9ck54", + "x": 0.5355555093044733, + "y": 0.17848609597863183 + } + ] + }, + "point_1768034192248": { + "type": "point", + "instances": [ + { + "id": "point_1768034192248_1768035223263_la3hwighv", + "x": 0.46055551388210975, + "y": 0.18148609579552635 + } + ] + }, + "bbox_1768034191663": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768034191663_1768035226504_l0n8eamfc", + "x": 0.42055551632351584, + "y": 0.5264860747383987, + "width": 0.06499999603271504, + "height": 0.0769999953002932 + } + ] + } + } + }, + { + "time": 1.6629, + "frame": 50, + "progress": 20, + "action_description": "爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，靠近梅花九。", + "state_description": "当前爪夹张开，与梅花九的水平距离再次缩短。\n为完成爪夹抓起梅花九的任务应当：爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，靠近梅花九。", + "progress_explanation": "当前爪夹张开，与梅花九的水平距离再次缩短，因此进度提升至20%。", + "error_success_analysis": "爪夹继续向爪夹的右前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，在水平方向上再次接近梅花九。", + "correction_plan": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，靠近梅花九，爪夹移动到梅花九的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取梅花九，爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "bbox_1768034191663": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768034191663_1768035231031_ha2lsml8u", + "x": 0.42155551626248067, + "y": 0.5294860745552933, + "width": 0.06399999609375022, + "height": 0.07399999548339865 + } + ] + }, + "point_1768034192248": { + "type": "point", + "instances": [ + { + "id": "point_1768034192248_1768035233730_c7nf70512", + "x": 0.45555551418728546, + "y": 0.2634860907906439 + } + ] + }, + "point_1768034192407": { + "type": "point", + "instances": [ + { + "id": "point_1768034192407_1768035236343_arhzp0ny4", + "x": 0.5205555102200006, + "y": 0.2474860917672063 + } + ] + } + } + }, + { + "time": 2.7462, + "frame": 82, + "progress": 40, + "action_description": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，靠近梅花九。", + "state_description": "当前爪夹张开，与梅花九的水平距离进一步缩短。\n为完成爪夹抓起梅花九的任务应当：爪夹向爪夹的右下方移动，并向爪夹的左边调整爪夹方向，爪夹移动到梅花九的正上方。", + "progress_explanation": "当前爪夹在水平方向上进一步接近梅花九，因此进度提升至40%", + "error_success_analysis": "爪夹向爪夹的右前方移动，同时向爪夹的下方移动，并继续向爪夹的左边调整爪夹方向，进一步接近梅花九。", + "correction_plan": "爪夹向爪夹的右下方移动，并向爪夹的左边调整爪夹方向，爪夹移动到梅花九的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取梅花九，爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "point_1768034192407": { + "type": "point", + "instances": [ + { + "id": "point_1768034192407_1768035240087_uv55jgepf", + "x": 0.49255551192898483, + "y": 0.3384860862130074 + } + ] + }, + "point_1768034192248": { + "type": "point", + "instances": [ + { + "id": "point_1768034192248_1768035242679_vwf2kfqdr", + "x": 0.45455551424832064, + "y": 0.36848608438195285 + } + ] + }, + "bbox_1768034191663": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768034191663_1768035245847_wc2gx9ve5", + "x": 0.42155551626248067, + "y": 0.5284860746163285, + "width": 0.06299999615478538, + "height": 0.07499999542236353 + } + ] + } + } + }, + { + "time": 4.209, + "frame": 126, + "progress": 60, + "action_description": "爪夹向爪夹的右下方移动，并向爪夹的左边调整爪夹方向，爪夹移动到梅花九的正上方。", + "state_description": "当前爪夹张开，垂直于梅花九的正上方。\n为完成爪夹抓起梅花九的任务应当：爪夹向爪夹的下方移动，并合拢爪夹抓取梅花九，爪夹保持合拢，并向爪夹的上方抬起。", + "progress_explanation": "当前爪夹张开，已经移动到梅花九的正上方，因此进度提升至60%。", + "error_success_analysis": "爪夹向爪夹的右下方移动，并向爪夹的左边调整爪夹方向，爪夹成功移动到梅花九的正上方。", + "correction_plan": "爪夹成功移动到梅花九的正上方，爪夹向爪夹的下方移动，并合拢爪夹抓取梅花九，爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "bbox_1768034191663": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768034191663_1768035250191_n7ani4v52", + "x": 0.42155551626248067, + "y": 0.5284860746163285, + "width": 0.06299999615478538, + "height": 0.07399999548339876 + } + ] + }, + "point_1768034192248": { + "type": "point", + "instances": [ + { + "id": "point_1768034192248_1768035252775_0f7qhp5vf", + "x": 0.4515555144314261, + "y": 0.5134860755318557 + } + ] + } + } + }, + { + "time": 5.7753, + "frame": 173, + "progress": 80, + "action_description": "爪夹向爪夹的下方移动，并合拢爪夹抓取梅花九。", + "state_description": "当前爪夹合拢，垂直于桌面，已经抓住梅花九。\n为完成爪夹抓起梅花九的任务应当：爪夹保持合拢，并向爪夹的上方抬起。", + "progress_explanation": "当前爪夹已经抓住梅花九，因此进度提升至80%。", + "error_success_analysis": "爪夹向爪夹的下方移动，并合拢爪夹，成功抓住梅花九。", + "correction_plan": "爪夹保持合拢，并向爪夹的上方抬起。", + "annotations": { + "bbox_1768034191663": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768034191663_1768035258543_npk9ote7b", + "x": 0.4225555162014455, + "y": 0.5294860745552933, + "width": 0.06099999627685572, + "height": 0.07299999554443387 + } + ] + } + } + }, + { + "time": 6.9, + "frame": 207, + "progress": 100, + "action_description": "爪夹保持合拢，并向爪夹的上方抬起。", + "state_description": "当前爪夹合拢，在水平方向上悬空于桌子上空，已经完成爪夹抓起没梅花九的任务。", + "progress_explanation": "当前爪夹已经抓住梅花九，并抬起，因此进度提升至100%。", + "error_success_analysis": "爪夹保持合拢，并向爪夹的上方抬起，在水平方向上成功位于桌子上空。", + "correction_plan": "", + "annotations": { + "bbox_1768034191663": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768034191663_1768035262215_jpsqyp0j9", + "x": 0.41555551662869156, + "y": 0.48526385587989157, + "width": 0.07199999560546905, + "height": 0.07599999536132843 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768034191663", + "name": "梅花九", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768034192248", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768034192407", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001480.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001480.json new file mode 100644 index 0000000000000000000000000000000000000000..9239cfa66539f55910b9c4a653c9bb036aeb5c3b --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001480.json @@ -0,0 +1,303 @@ +{ + "task_description": "抓取红桃A。\n开始移动:0%\n爪夹小幅度移动：20%\n爪夹靠近红桃A：40%\n爪夹移动到红桃A正上方:60%\n爪夹抓取红桃A:80%\n爪夹抓住红桃A竖直上升:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹的右前方移动，爪夹到达红桃A的正上方后竖直下落，合拢爪夹抓取红桃A。爪夹抓住红桃A后竖直上升。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触红桃A。\n为完成抓取红桃A的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹的右前方移动，准备抓取红桃A。", + "time": 0.0022832153470728938, + "annotations": { + "bbox_1768011706150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011706150_1768011740549_8n1iuh8dt", + "x": 0.4161110585869715, + "y": 0.5473749818496715, + "width": 0.056999996520996334, + "height": 0.0679999958496096 + } + ] + }, + "point_1768011710077": { + "type": "point", + "instances": [ + { + "id": "point_1768011710077_1768011744933_7ozd8f1gf", + "x": 0.46411105565728417, + "y": 0.13148609884728402 + } + ] + }, + "point_1768011710317": { + "type": "point", + "instances": [ + { + "id": "point_1768011710317_1768011750532_9ca70fv2q", + "x": 0.544111050774472, + "y": 0.13248609878624887 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方微调，并调整爪夹角度，使其垂直于桌面。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达红桃A的正上方后竖直下落，合拢爪夹抓取红桃A。爪夹抓住红桃A后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近红桃A，方便调整角度抓取红桃A。", + "frame": 64, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上虽然离红桃A较远，但是开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与红桃A的水平距离边远。\n为完成抓取红桃A的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至红桃A的正上方。", + "time": 2.138659432721675, + "annotations": { + "point_1768011710317": { + "type": "point", + "instances": [ + { + "id": "point_1768011710317_1768011758804_svfqipjxg", + "x": 0.4331110575493739, + "y": 0.2509305419353917 + } + ] + }, + "point_1768011710077": { + "type": "point", + "instances": [ + { + "id": "point_1768011710077_1768011762452_ubhlj278a", + "x": 0.35011106261529157, + "y": 0.24793054211849716 + } + ] + }, + "bbox_1768011706150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011706150_1768011768924_kumvqitfx", + "x": 0.4131110587700769, + "y": 0.5459305239300217, + "width": 0.058999996398925995, + "height": 0.0679999958496096 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达红桃A的正上方后竖直下落，合拢爪夹抓取红桃A。爪夹抓住红桃A后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的右前方开始移动，水平方向上成功接近红桃A，并使爪夹角度向垂直于桌面调整，方便抓取红桃A。", + "frame": 124, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上略微接近红桃A并开始调整爪夹角度方便抓取，因此进度提升为20%。", + "state_description": "当前爪夹张开，与红桃A的水平距离变得更近。\n为完成抓取红桃A的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的右前方移动直至红桃A的正上方。", + "time": 4.117731473141292, + "annotations": { + "bbox_1768011706150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011706150_1768011780084_7rbc69ft7", + "x": 0.4161110585869715, + "y": 0.5459305239300217, + "width": 0.056999996520996334, + "height": 0.06999999572753926 + } + ] + }, + "point_1768011710077": { + "type": "point", + "instances": [ + { + "id": "point_1768011710077_1768011783301_fbsrqqjw3", + "x": 0.4341110574883388, + "y": 0.3899305334515055 + } + ] + }, + "point_1768011710317": { + "type": "point", + "instances": [ + { + "id": "point_1768011710317_1768011787053_0cna5mco3", + "x": 0.5211110521782805, + "y": 0.38393053381771647 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动，并调整爪夹角度，使其垂直于桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹的右前方移动，爪夹到达红桃A的正上方后竖直下落，合拢爪夹抓取红桃A。爪夹抓住红桃A后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的右前方开始移动，水平方向上成功接近红桃A，并使爪夹角度向垂直于桌面调整，方便抓取红桃A。", + "frame": 141, + "progress": 40, + "progress_explanation": "当前爪夹在水平方向上略微接近红桃A并调整了爪夹角度方便抓取，因此进度提升为40%。", + "state_description": "当前爪夹张开，与红桃A的水平距离变得更近。\n为完成抓取红桃A的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的右前方移动直至红桃A的正上方。", + "time": 4.686658290850225, + "annotations": { + "point_1768011710317": { + "type": "point", + "instances": [ + { + "id": "point_1768011710317_1768011795756_g3a0kiqlk", + "x": 0.49911105352105384, + "y": 0.41859720345476054 + } + ] + }, + "point_1768011710077": { + "type": "point", + "instances": [ + { + "id": "point_1768011710077_1768011798292_uws4inmvw", + "x": 0.4321110576104091, + "y": 0.4475972016847411 + } + ] + }, + "bbox_1768011706150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011706150_1768011803508_qzo6qk5su", + "x": 0.41411105870904186, + "y": 0.5465971956422611, + "width": 0.05999999633789083, + "height": 0.0679999958496096 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右侧移动到红桃A的正上方。", + "correction_plan": "爪夹竖直下落，合拢爪夹抓取红桃A。爪夹抓住红桃A后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的右侧移动，并且已经移动到了红桃A的正上方，方便抓取。", + "frame": 164, + "progress": 60, + "progress_explanation": "当前爪夹已悬空于红桃A的正上方，已接近红桃A，因此进度提升为60%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到红桃A上方。\n为完成抓取红桃A的任务应当：爪夹向爪夹方向的正下方移动，合拢爪夹抓取红桃A后竖直上升。", + "time": 5.479912537147552, + "annotations": { + "bbox_1768011706150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011706150_1768011814940_xaaja9hto", + "x": 0.4161110585869715, + "y": 0.5474860810860546, + "width": 0.054999996643066616, + "height": 0.06799999584960972 + } + ] + }, + "point_1768011710317": { + "type": "point", + "instances": [ + { + "id": "point_1768011710317_1768011819476_q6d1uz77h", + "x": 0.4371110729915127, + "y": 0.5270417489613248 + } + ] + } + } + }, + { + "time": 6.807569644108338, + "frame": 204, + "progress": 80, + "action_description": "爪夹合拢抓取红桃A。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓住红桃A。\n为完成抓取红桃A的任务应当：爪夹夹紧红桃A后竖直上升。", + "progress_explanation": "当前爪夹合拢，爪夹已经抓住了红桃A，因此进度上升为80。", + "error_success_analysis": "爪夹合拢成功抓住了红桃A。", + "correction_plan": "爪夹夹紧红桃A后竖直上升。", + "annotations": { + "point_1768011710317": { + "type": "point", + "instances": [ + { + "id": "point_1768011710317_1768011824933_dl8gkk364", + "x": 0.4431110569390224, + "y": 0.5914860784005078 + } + ] + }, + "bbox_1768011706150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011706150_1768011830100_65dpzjxdu", + "x": 0.4171110585259364, + "y": 0.5474860810860546, + "width": 0.054999996643066554, + "height": 0.06799999584960972 + } + ] + } + } + }, + { + "time": 7.993275991205391, + "frame": 240, + "progress": 100, + "action_description": "爪夹夹紧红桃A竖直上升。", + "state_description": "当前爪夹合拢，已经抓取到了红桃A，所以抓取红桃A的任务完成了。", + "progress_explanation": "当前爪夹抓取到了红桃A，所以进度提升为100%。", + "error_success_analysis": "爪夹成功抓取了红桃A。", + "correction_plan": "抓取红桃A的任务完成了。", + "annotations": { + "bbox_1768011706150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011706150_1768011837340_ddkk53yp7", + "x": 0.4121110588311121, + "y": 0.503263870040047, + "width": 0.06099999627685572, + "height": 0.06999999572753926 + } + ] + }, + "point_1768011710317": { + "type": "point", + "instances": [ + { + "id": "point_1768011710317_1768011841332_lqycup494", + "x": 0.4371110573052333, + "y": 0.5482638672934652 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768011706150", + "name": "红桃A", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768011710077", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768011710317", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001492.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001492.json new file mode 100644 index 0000000000000000000000000000000000000000..79c39d0df152627f85d51463b1e39241594a0a16 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001492.json @@ -0,0 +1,303 @@ +{ + "task_description": "", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达方片9的正上方后竖直下落，合拢爪夹抓取方片9。爪夹抓住方片9后竖直上升。", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "当前状态为爪夹打开，没有移动，没有接触方片9。\n为完成抓取方片9的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，准备抓取方片9。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触方片9。\n为完成抓取方片9的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，准备抓取方片9。", + "time": 0.03350499733207152, + "annotations": { + "bbox_1768012815264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012815264_1768012850999_2isvw73pd", + "x": 0.5323749999999999, + "y": 0.5168984375, + "width": 0.055000000000000014, + "height": 0.06499999999999997 + } + ] + }, + "point_1768012815976": { + "type": "point", + "instances": [ + { + "id": "point_1768012815976_1768012858151_i141mux7a", + "x": 0.465375, + "y": 0.1308984375 + } + ] + }, + "point_1768012816215": { + "type": "point", + "instances": [ + { + "id": "point_1768012816215_1768012863166_5xjc2vszj", + "x": 0.5423749999999999, + "y": 0.1328984375 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方微调。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。继续向爪夹的左前方移动，爪夹到达方片9的正上方后竖直下落，合拢爪夹抓取方片9。爪夹抓住方片9后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近方片9，方便调整角度抓取方片9。", + "frame": 12, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上距离方片9较进，开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与方片9的水平距离边近。\n为完成抓取方片9的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至方片9的正上方。", + "time": 1.2666666666666666, + "annotations": { + "point_1768012816215": { + "type": "point", + "instances": [ + { + "id": "point_1768012816215_1768012869183_mawb9bzf6", + "x": 0.615375, + "y": 0.1753984375 + } + ] + }, + "point_1768012815976": { + "type": "point", + "instances": [ + { + "id": "point_1768012815976_1768012873343_rvaxg351r", + "x": 0.537375, + "y": 0.17439843749999998 + } + ] + }, + "bbox_1768012815264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012815264_1768012880367_gmfue5nmv", + "x": 0.531375, + "y": 0.5153984374999999, + "width": 0.05499999999999995, + "height": 0.06899999999999995 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达方片9的正上方后竖直下落，合拢爪夹抓取方片9。爪夹抓住方片9后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方开始移动，水平方向上成功接近方片9，并使爪夹角度向垂直于桌面调整，方便抓取方片9。", + "frame": 94, + "progress": 30, + "progress_explanation": "当前爪夹在水平方向上略微接近方片9并开始调整爪夹角度方便抓取，因此进度提升为30%。", + "state_description": "当前爪夹张开，与方片9的水平距离变得更近。\n为完成抓取方片9的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至方片9的正上方。", + "time": 3.141752420012484, + "annotations": { + "bbox_1768012815264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012815264_1768012890655_qywq0mrl4", + "x": 0.531375, + "y": 0.5153984374999999, + "width": 0.05499999999999995, + "height": 0.06800000000000003 + } + ] + }, + "point_1768012815976": { + "type": "point", + "instances": [ + { + "id": "point_1768012815976_1768012893679_qcq0nx6t7", + "x": 0.559375, + "y": 0.32139843749999997 + } + ] + }, + "point_1768012816215": { + "type": "point", + "instances": [ + { + "id": "point_1768012816215_1768012896936_vnkuxnu61", + "x": 0.627375, + "y": 0.30439843749999995 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达方片9的正上方后竖直下落，合拢爪夹抓取方片9。爪夹抓住方片9后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方开始移动，水平方向上成功接近方片9，并使爪夹角度向垂直于桌面调整，方便抓取方片9。", + "frame": 116, + "progress": 40, + "progress_explanation": "当前爪夹在水平方向上略微接近方片9并调整了爪夹角度方便抓取，因此进度提升为40%。", + "state_description": "当前爪夹张开，与方片9的水平距离变得更近。\n为完成抓取方片9的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至方片9的正上方。", + "time": 3.8762885024867106, + "annotations": { + "point_1768012816215": { + "type": "point", + "instances": [ + { + "id": "point_1768012816215_1768012905631_vmzq1jvnl", + "x": 0.599375, + "y": 0.3743984375 + } + ] + }, + "point_1768012815976": { + "type": "point", + "instances": [ + { + "id": "point_1768012815976_1768012908535_ntk6nhl64", + "x": 0.557375, + "y": 0.4053984375 + } + ] + }, + "bbox_1768012815264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012815264_1768012914103_zx4ry9e9b", + "x": 0.531375, + "y": 0.5153984374999999, + "width": 0.05499999999999995, + "height": 0.06599999999999996 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的左侧移动到方片9的正上方。", + "correction_plan": "爪夹竖直下落，合拢爪夹抓取方片9。爪夹抓住方片9后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动，并且已经移动到了方片9的正上方，方便抓取。", + "frame": 142, + "progress": 60, + "progress_explanation": "当前爪夹已悬空于方片9的正上方，已接近方片9，因此进度提升为60%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到方片9上方。\n为完成抓取方片9的任务应当：爪夹向爪夹方向的正下方移动，合拢爪夹抓取方片9后竖直上升", + "time": 4.749999842692897, + "annotations": { + "bbox_1768012815264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012815264_1768012924447_9c0ol1bpq", + "x": 0.5323749999999999, + "y": 0.5143984375, + "width": 0.055000000000000014, + "height": 0.06699999999999993 + } + ] + }, + "point_1768012816215": { + "type": "point", + "instances": [ + { + "id": "point_1768012816215_1768012928398_sfmx66og7", + "x": 0.561375, + "y": 0.49839843749999996 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取方片9。", + "correction_plan": "爪夹夹紧方片9后竖直上升。", + "error_success_analysis": "爪夹合拢成功抓住了方片9。", + "frame": 201, + "progress": 80, + "progress_explanation": "当前爪夹合拢，爪夹已经抓住了方片9，因此进度上升为80%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓住方片9。\n为完成抓取方片9的任务应当：爪夹夹紧方片9后竖直上升。", + "time": 6.697612892314383, + "annotations": { + "point_1768012816215": { + "type": "point", + "instances": [ + { + "id": "point_1768012816215_1768012945599_6p2iwrqf0", + "x": 0.562375, + "y": 0.5601484375 + } + ] + }, + "bbox_1768012815264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012815264_1768012951655_1m8gpk5qz", + "x": 0.5323749999999999, + "y": 0.5151484375, + "width": 0.055000000000000014, + "height": 0.06699999999999999 + } + ] + } + } + }, + { + "time": 7.305, + "frame": 219, + "progress": 100, + "action_description": "爪夹夹紧方片9竖直上升。", + "state_description": "当前爪夹合拢，已经抓取到了方片9，所以抓取方片9的任务完成了。", + "progress_explanation": "当前爪夹抓取到了方片9，所以进度提升为100%。", + "error_success_analysis": "爪夹成功抓取了方片9。", + "correction_plan": "抓取方片9的任务完成了。", + "annotations": { + "bbox_1768012815264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012815264_1768012958831_0626acvif", + "x": 0.5303749999999999, + "y": 0.4803984375, + "width": 0.05899999999999998, + "height": 0.07099999999999997 + } + ] + }, + "point_1768012816215": { + "type": "point", + "instances": [ + { + "id": "point_1768012816215_1768012962863_t9221ygwh", + "x": 0.562375, + "y": 0.5253984375 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768012815264", + "name": "方片9", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768012815976", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768012816215", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001825.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001825.json new file mode 100644 index 0000000000000000000000000000000000000000..7cb910d7da8e3b90a9156aed918f35a5f1d33dd0 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001825.json @@ -0,0 +1,333 @@ +{ + "task_description": "抓取高锰酸钾溶液。\n开始移动:0%\n爪夹小幅度移动：20%\n爪夹靠近高锰酸钾溶液：40%\n爪夹移动到高锰酸钾溶液正上方:60%\n爪夹抓取高锰酸钾溶液:80%\n爪夹抓住高锰酸钾溶液竖直上升:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，未开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达高锰酸钾溶液的正上方后竖直下落，合拢爪夹抓取高锰酸钾溶液。爪夹抓住高锰酸钾溶液后竖直上升。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前状态为爪夹打开，没有移动，没有接触高锰酸钾溶液\n为完成抓取高锰酸钾溶液的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，准备抓取高锰酸钾溶液。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触高锰酸钾溶液。\n为完成抓取高锰酸钾溶液的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，准备抓取高锰酸钾溶液。", + "time": 0, + "annotations": { + "bbox_1768010302352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768010302352_1768010427943_zgu3805vs", + "x": 0.552375, + "y": 0.4101484375, + "width": 0.039000000000000055, + "height": 0.11499999999999998 + } + ] + }, + "point_1768010305719": { + "type": "point", + "instances": [ + { + "id": "point_1768010305719_1768010431615_7zgazsuai", + "x": 0.46437500000000004, + "y": 0.1321484375 + } + ] + }, + "point_1768010305943": { + "type": "point", + "instances": [ + { + "id": "point_1768010305943_1768010435695_cybaccsu4", + "x": 0.544375, + "y": 0.1321484375 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方微调，并调整爪夹角度，使其垂直于桌面。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。继续向爪夹的左前方移动，爪夹到达高锰酸钾溶液的正上方后竖直下落，合拢爪夹抓取高锰酸钾溶液。爪夹抓住高锰酸钾溶液后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上成功接近高锰酸钾溶液，方便调整角度抓取高锰酸钾溶液。", + "frame": 24, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上距离高锰酸钾溶液较近，开始调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与高锰酸钾溶液的水平距离边近。\n为完成抓取高锰酸钾溶液的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至高锰酸钾溶液的正上方。", + "time": 0.7892668744513439, + "annotations": { + "bbox_1768010302352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768010302352_1768010448615_2dgf7d2an", + "x": 0.555375, + "y": 0.4116484375, + "width": 0.032999999999999946, + "height": 0.11599999999999995 + } + ] + }, + "point_1768010305719": { + "type": "point", + "instances": [ + { + "id": "point_1768010305719_1768010456223_t3lqtb5pi", + "x": 0.49637499999999996, + "y": 0.1666484375 + } + ] + }, + "point_1768010305943": { + "type": "point", + "instances": [ + { + "id": "point_1768010305943_1768010461879_14ny7im4t", + "x": 0.577375, + "y": 0.16964843749999997 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达高锰酸钾溶液的正上方后竖直下落，合拢爪夹抓取高锰酸钾溶液。爪夹抓住高锰酸钾溶液后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方开始移动，水平方向上成功接近高锰酸钾溶液，并使爪夹角度向垂直于桌面调整，方便抓取高锰酸钾溶液。", + "frame": 76, + "progress": 15, + "progress_explanation": "当前爪夹在水平方向上略微接近高锰酸钾溶液并开始调整爪夹角度方便抓取，因此进度提升为15%。", + "state_description": "当前爪夹张开，爪夹与桌面呈90度夹角与高锰酸钾溶液的水平距离变得更近。\n为完成抓取高锰酸钾溶液的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至高锰酸钾溶液的正上方。", + "time": 2.548138430234917, + "annotations": { + "point_1768010305719": { + "type": "point", + "instances": [ + { + "id": "point_1768010305719_1768010470967_ayv6amxbu", + "x": 0.5663750000000001, + "y": 0.3046484375 + } + ] + }, + "bbox_1768010302352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768010302352_1768010476967_c8yms4tit", + "x": 0.555375, + "y": 0.41214843749999996, + "width": 0.03200000000000003, + "height": 0.11600000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹的左前方移动，爪夹到达高锰酸钾溶液的正上方后竖直下落，合拢爪夹抓取高锰酸钾溶液。爪夹抓住高锰酸钾溶液后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方开始移动，水平方向上成功接近高锰酸钾溶液，并使爪夹角度向垂直于桌面调整，方便抓取高锰酸钾溶液。", + "frame": 91, + "progress": 20, + "progress_explanation": "当前爪夹在水平方向上略微接近高锰酸钾溶液并调整了爪夹角度方便抓取，因此进度提升为20%。", + "state_description": "当前爪夹张开，与高锰酸钾溶液的水平距离变得更近。\n为完成抓取高锰酸钾溶液的任务应当：继续调整爪夹方向直到垂直于桌面，继续向爪夹方向的左前方移动直至高锰酸钾溶液的正上方。", + "time": 3.020172026383822, + "annotations": { + "bbox_1768010302352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768010302352_1768010483735_ltwmhdue7", + "x": 0.552375, + "y": 0.40764843749999996, + "width": 0.03800000000000002, + "height": 0.11900000000000001 + } + ] + }, + "point_1768010305719": { + "type": "point", + "instances": [ + { + "id": "point_1768010305719_1768010489087_n852oy7um", + "x": 0.544375, + "y": 0.3438984375 + } + ] + }, + "point_1768010305943": { + "type": "point", + "instances": [ + { + "id": "point_1768010305943_1768010494375_3eiqx6s93", + "x": 0.6013749999999999, + "y": 0.31889843749999996 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的左前方移动，并调整爪夹角度，使其垂直于桌面。", + "correction_plan": "爪夹到达高锰酸钾溶液的正上方后竖直下落，合拢爪夹抓取高锰酸钾溶液。爪夹抓住高锰酸钾溶液后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左前方开始移动，水平方向上成功接近高锰酸钾溶液，并使爪夹角度向垂直于桌面调整，方便抓取高锰酸钾溶液。", + "frame": 107, + "progress": 40, + "progress_explanation": "当前爪夹在水平方向上略微接近高锰酸钾溶液并调整了爪夹角度方便抓取，因此进度提升为40%。", + "state_description": "当前爪夹张开，爪夹位于高锰酸钾溶液的正上方。\n为完成抓取高锰酸钾溶液的任务应当：爪夹向爪夹方向的正下方移动，合拢爪夹抓取高锰酸钾溶液。", + "time": 3.566713917525773, + "annotations": { + "point_1768010305943": { + "type": "point", + "instances": [ + { + "id": "point_1768010305943_1768010501319_9qc8hucm7", + "x": 0.615375, + "y": 0.3676484375 + } + ] + }, + "point_1768010305719": { + "type": "point", + "instances": [ + { + "id": "point_1768010305719_1768010505134_ys7qxjegt", + "x": 0.5363749999999999, + "y": 0.3706484375 + } + ] + }, + "bbox_1768010302352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768010302352_1768010511879_hn015s3pw", + "x": 0.552375, + "y": 0.41064843749999996, + "width": 0.03800000000000002, + "height": 0.11900000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的正下方移动。", + "correction_plan": "爪夹竖直下落，合拢爪夹抓取高锰酸钾溶液。爪夹抓住高锰酸钾溶液后竖直上升。", + "error_success_analysis": "爪夹向爪夹方向的左侧移动，并且已经移动到了高锰酸钾溶液的正上方，方便抓取。", + "frame": 132, + "progress": 60, + "progress_explanation": "当前爪夹已悬空于高锰酸钾溶液的正上方，已接近黑桃A，因此进度提升为60%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹已经移动到高锰酸钾溶液上方。\n为完成抓取高锰酸钾溶液的任务应当：爪夹向爪夹方向的正下方移动，合拢爪夹抓取高锰酸钾溶液后竖直上升", + "time": 4.406319377821609, + "annotations": { + "bbox_1768010302352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768010302352_1768010521854_46bqurio3", + "x": 0.556375, + "y": 0.42264843750000003, + "width": 0.03099999999999999, + "height": 0.10399999999999997 + } + ] + }, + "point_1768010305719": { + "type": "point", + "instances": [ + { + "id": "point_1768010305719_1768010525726_ns6agaho9", + "x": 0.5363749999999999, + "y": 0.4446484375 + } + ] + }, + "point_1768010305943": { + "type": "point", + "instances": [ + { + "id": "point_1768010305943_1768010529398_fz61w65tm", + "x": 0.609375, + "y": 0.4426484375 + } + ] + } + } + }, + { + "time": 5.3667, + "frame": 161, + "progress": 80, + "action_description": "爪夹合拢抓取高锰酸钾溶液。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓住高锰酸钾溶液。\n为完成抓取高锰酸钾溶液的任务应当：爪夹夹紧高锰酸钾溶液后竖直上升。", + "progress_explanation": "当前爪夹合拢，爪夹已经抓住了高锰酸钾溶液，因此进度上升为80%。", + "error_success_analysis": "爪夹合拢成功抓住了高锰酸钾溶液。", + "correction_plan": "爪夹夹紧高锰酸钾溶液后竖直上升。" + }, + { + "time": 6.3382, + "frame": 190, + "progress": 100, + "action_description": "爪夹夹紧高锰酸钾溶液竖直上升。", + "state_description": "当前爪夹合拢，已经抓取到了高锰酸钾溶液，所以抓取高锰酸钾溶液的任务完成了。", + "progress_explanation": "当前爪夹抓取到了高锰酸钾溶液，所以进度提升为100%。", + "error_success_analysis": "爪夹成功抓取了高锰酸钾溶液。", + "correction_plan": "抓取高锰酸钾溶液的任务完成了。", + "annotations": { + "point_1768010305943": { + "type": "point", + "instances": [ + { + "id": "point_1768010305943_1768010547894_smkg849rm", + "x": 0.597375, + "y": 0.3868984375 + } + ] + }, + "point_1768010305719": { + "type": "point", + "instances": [ + { + "id": "point_1768010305719_1768010551246_uxcnw74c0", + "x": 0.5503750000000001, + "y": 0.38389843749999997 + } + ] + }, + "bbox_1768010302352": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768010302352_1768010557094_g1o6ocay1", + "x": 0.556375, + "y": 0.36389843749999995, + "width": 0.03399999999999999, + "height": 0.12400000000000003 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768010302352", + "name": "高锰酸钾溶液", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768010305719", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768010305943", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001849.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001849.json new file mode 100644 index 0000000000000000000000000000000000000000..bbda0de23adb3ebcd8d1d0cb617c9e655b9cf3a2 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001849.json @@ -0,0 +1,377 @@ +{ + "task_description": "抓取氯化铜液体竖直上升：\n爪夹准备移动：0%\n爪夹向爪夹方向右前方移动并下降：20%\n爪夹移动至氯化铜液体正上方：40%\n爪夹靠近氯化铜液体：60%\n爪夹抓取氯化铜液体：80%\n爪夹抓取氯化铜液体竖直上升：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "当前爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取氯化铜液体竖直上升的任务应当：爪夹向爪夹方向右前方移动。", + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度提升至0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向右前方移动，爪夹向爪夹方向右前方移动并略微下降，爪夹向爪夹方向左下方移动接近氯化铜液体，爪夹向爪夹方向左下方移动至氯化铜液体正上方，爪夹垂直下降靠近氯化铜，爪夹抓取氯化铜液体，爪夹抓取氯化铜液体竖直上升。", + "annotations": { + "bbox_1768026862396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768026862396_1768026973426_e60lfmnow", + "x": 0.354375, + "y": 0.5106484375, + "width": 0.04799999999999998, + "height": 0.13399999999999998 + } + ] + }, + "point_1768026863007": { + "type": "point", + "instances": [ + { + "id": "point_1768026863007_1768026977200_8t5muil04", + "x": 0.462375, + "y": 0.1296484375 + } + ] + }, + "point_1768026863129": { + "type": "point", + "instances": [ + { + "id": "point_1768026863129_1768026979694_g1a5268ba", + "x": 0.5473750000000001, + "y": 0.1341484375 + } + ] + } + } + }, + { + "time": 1.622799, + "frame": 49, + "progress": 10, + "action_description": "爪夹向爪夹方向右前方移动。", + "state_description": "当前爪夹张开，此时爪夹与氯化铜液体水平距离较远。为完成抓取氯化铜液体竖直上升的任务应当：爪夹向爪夹方向右前方移动并略微下降。", + "progress_explanation": "此时爪夹与氯化铜液体水平距离较远，但比上一阶段水平距离接近，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动。", + "correction_plan": "爪夹向爪夹方向右前方移动并略微下降，爪夹向爪夹方向左下方移动接近氯化铜液体，爪夹向爪夹方向左下方移动至氯化铜液体正上方，爪夹垂直下降靠近氯化铜，爪夹抓取氯化铜液体，爪夹抓取氯化铜液体竖直上升。", + "annotations": { + "point_1768026863129": { + "type": "point", + "instances": [ + { + "id": "point_1768026863129_1768026951998_a3v9o7m3k", + "x": 0.432375, + "y": 0.20164843749999997 + } + ] + }, + "point_1768026863007": { + "type": "point", + "instances": [ + { + "id": "point_1768026863007_1768026955252_uvu85s624", + "x": 0.35537499999999994, + "y": 0.20014843749999997 + } + ] + }, + "bbox_1768026862396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768026862396_1768026960872_3ugpavs5n", + "x": 0.346375, + "y": 0.5141484374999999, + "width": 0.05899999999999998, + "height": 0.14100000000000001 + } + ] + } + } + }, + { + "time": 2.705417, + "frame": 81, + "progress": 20, + "action_description": "当前爪夹向爪夹方向右前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹与氯化铜液体水平距离略微接近，为完成抓取氯化铜液体竖直上升的任务应当：爪夹向爪夹方向右前方移动并略微下降。", + "progress_explanation": "此时爪夹与氯化铜液体水平距离略微接近，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向抓夹方向油漆房移动并下降，大大拉近了爪夹与氯化铜水平距离。", + "correction_plan": "爪夹向爪夹方向左下方移动接近氯化铜液体，爪夹向爪夹方向左下方移动至氯化铜液体正上方，爪夹垂直下降靠近氯化铜，爪夹抓取氯化铜液体，爪夹抓取氯化铜液体竖直上升。", + "annotations": { + "bbox_1768026862396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768026862396_1768026943512_6gixyd357", + "x": 0.341375, + "y": 0.5146484375, + "width": 0.06300000000000001, + "height": 0.13699999999999998 + } + ] + }, + "point_1768026863007": { + "type": "point", + "instances": [ + { + "id": "point_1768026863007_1768026945980_vt3uulcy4", + "x": 0.266375, + "y": 0.24464843749999998 + } + ] + }, + "point_1768026863129": { + "type": "point", + "instances": [ + { + "id": "point_1768026863129_1768026948262_dfv2l7kq1", + "x": 0.345375, + "y": 0.2426484375 + } + ] + } + } + }, + { + "time": 4.339211, + "frame": 130, + "progress": 30, + "action_description": "爪夹向爪夹方向左下方移动接近氯化铜液体。", + "state_description": "当前爪夹张开，此时爪夹与氯化铜液体接近。为完成抓取氯化铜液体竖直上升的任务应当：爪夹向爪夹方向左下方移动至氯化铜液体正上方。", + "progress_explanation": "此时爪夹与氯化铜液体接近，因此当前进度提升至30%。", + "error_success_analysis": "当前爪夹成功向爪夹方向左下方移动直至接近氯化铜液体。", + "correction_plan": "爪夹向爪夹方向左下方移动至氯化铜液体正上方，爪夹垂直下降靠近氯化铜，爪夹抓取氯化铜液体，爪夹抓取氯化铜液体竖直上升。", + "annotations": { + "point_1768026863129": { + "type": "point", + "instances": [ + { + "id": "point_1768026863129_1768026929472_akxu2d7f0", + "x": 0.289375, + "y": 0.3596484375 + } + ] + }, + "point_1768026863007": { + "type": "point", + "instances": [ + { + "id": "point_1768026863007_1768026931624_mugzje9kv", + "x": 0.225375, + "y": 0.3346484375 + } + ] + }, + "bbox_1768026862396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768026862396_1768026936978_v7na3vabr", + "x": 0.345375, + "y": 0.5156484375, + "width": 0.05699999999999997, + "height": 0.13499999999999995 + } + ] + } + } + }, + { + "time": 6.127199, + "frame": 184, + "progress": 40, + "action_description": "当前爪夹向爪夹方向左下方移动至氯化铜液体正上方。", + "state_description": "当前爪夹张开，此时爪夹位于氯化铜液体正上方。为完成抓取氯化铜液体竖直上升的任务应当：爪夹垂直下降靠近氯化铜液体。", + "progress_explanation": "此时爪夹位于氯化铜液体正上方，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功移动至氯化铜液体正上方。", + "correction_plan": "爪夹垂直下降靠近氯化铜，爪夹抓取氯化铜液体，爪夹抓取氯化铜液体竖直上升。", + "annotations": { + "bbox_1768026862396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768026862396_1768026922572_8tofwe3mr", + "x": 0.346375, + "y": 0.5156484375, + "width": 0.05599999999999999, + "height": 0.13400000000000004 + } + ] + }, + "point_1768026863007": { + "type": "point", + "instances": [ + { + "id": "point_1768026863007_1768026924446_0kx38r5w4", + "x": 0.332375, + "y": 0.4846484375 + } + ] + }, + "point_1768026863129": { + "type": "point", + "instances": [ + { + "id": "point_1768026863129_1768026926362_e1sgebjgr", + "x": 0.424375, + "y": 0.4846484375 + } + ] + } + } + }, + { + "time": 7.093199, + "frame": 213, + "progress": 60, + "action_description": "当前爪夹垂直下降靠近氯化铜液体。", + "state_description": "当前爪夹张开，此时爪夹靠近氯化铜液体，为完成抓取氯化铜液体竖直上升的任务应当：爪夹合拢抓取氯化铜液体。", + "progress_explanation": "此时爪夹靠近氯化铜液体，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近氯化铜液体。", + "correction_plan": "爪夹抓取氯化铜液体，爪夹抓取氯化铜液体竖直上升。", + "annotations": { + "point_1768026863007": { + "type": "point", + "instances": [ + { + "id": "point_1768026863007_1768026906620_d97fzm87d", + "x": 0.345375, + "y": 0.5516484375 + } + ] + }, + "point_1768026863129": { + "type": "point", + "instances": [ + { + "id": "point_1768026863129_1768026908506_w984jbpm0", + "x": 0.42537499999999995, + "y": 0.5546484374999999 + } + ] + }, + "bbox_1768026862396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768026862396_1768026915114_evykskdna", + "x": 0.345375, + "y": 0.5276484375, + "width": 0.05699999999999997, + "height": 0.12299999999999998 + } + ] + } + } + }, + { + "time": 8.059199, + "frame": 242, + "progress": 80, + "action_description": "当前爪夹合拢抓取氯化铜液体。", + "state_description": "当前爪夹合拢抓取氯化铜液体。为完成抓取氯化铜液体竖直上升的任务应当：爪夹抓取氯化铜液体竖直上升。", + "progress_explanation": "当前爪夹合拢抓取氯化铜液体。因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹合拢成功抓取氯化铜液体。", + "correction_plan": "爪夹抓取氯化铜液体竖直上升。", + "annotations": { + "point_1768026863007": { + "type": "point", + "instances": [ + { + "id": "point_1768026863007_1768026890892_k3v76yhmu", + "x": 0.346375, + "y": 0.5546484374999999 + } + ] + }, + "point_1768026863129": { + "type": "point", + "instances": [ + { + "id": "point_1768026863129_1768026892912_dkrhnm4ik", + "x": 0.406375, + "y": 0.5546484374999999 + } + ] + }, + "bbox_1768026862396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768026862396_1768026898324_167qopyyu", + "x": 0.34737499999999993, + "y": 0.5266484375, + "width": 0.05599999999999999, + "height": 0.11500000000000009 + } + ] + } + } + }, + { + "time": 9.2, + "frame": 276, + "progress": 100, + "action_description": "当前爪夹抓取氯化铜液体竖直上升。", + "state_description": "当前爪夹合拢抓取氯化铜液体，此时氯化铜液体与底座垂直距离增加，已完成抓取氯化铜液体竖直上升的任务。", + "progress_explanation": "当前爪夹抓取氯化铜液体竖直上升。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功抓取氯化铜液体竖直上升。", + "correction_plan": "", + "annotations": { + "point_1768026863007": { + "type": "point", + "instances": [ + { + "id": "point_1768026863007_1768026876883_r654kt5dm", + "x": 0.349375, + "y": 0.4688984375 + } + ] + }, + "point_1768026863129": { + "type": "point", + "instances": [ + { + "id": "point_1768026863129_1768026878916_27ptpbr1f", + "x": 0.41137499999999994, + "y": 0.46414843749999996 + } + ] + }, + "bbox_1768026862396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768026862396_1768026883486_z91jfptvd", + "x": 0.354375, + "y": 0.44014843749999993, + "width": 0.04600000000000003, + "height": 0.133 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768026862396", + "name": "氯化铜液体", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768026863007", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768026863129", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001905.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001905.json new file mode 100644 index 0000000000000000000000000000000000000000..c3c893330cc8fc498dcb8c8b9569a9afb2c47c90 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001905.json @@ -0,0 +1,421 @@ +{ + "task_description": "抓取硫酸铜溶液竖直上升：\n爪夹准备移动：0%\n爪夹向爪夹方向左前方移动并下降：20%\n爪夹移动至硫酸铜溶液正上方：40%\n爪夹靠近硫酸铜溶液：60%\n爪夹抓取硫酸铜溶液：80%\n爪夹抓取硫酸铜溶液竖直上升：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备移动。", + "annotations": { + "bbox_1768028301140": { + "instances": [ + { + "height": 0.14099999999999996, + "id": "bbox_1768028301140_1768028424206_pno2vso3z", + "width": 0.04499999999999993, + "x": 0.609375, + "y": 0.5006484375 + } + ], + "type": "bbox" + }, + "point_1768028301836": { + "instances": [ + { + "id": "point_1768028301836_1768028418055_2tmvs8sob", + "x": 0.460375, + "y": 0.1306484375 + } + ], + "type": "point" + }, + "point_1768028301973": { + "instances": [ + { + "id": "point_1768028301973_1768028420506_0o4ijo5cv", + "x": 0.544375, + "y": 0.1306484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向前方移动，爪夹向爪夹方向右前方移动，爪夹向爪夹方向左前方移动并下降，爪夹向爪夹方向左前方移动并下降直至硫酸铜溶液的正上方，爪夹垂直下降靠近硫酸铜溶液，爪夹合拢抓取硫酸铜溶液，爪夹抓取硫酸铜溶液竖直上升。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成抓取硫酸铜溶液竖直上升的任务应当：爪夹向爪夹方向前方移动。", + "time": 0 + }, + { + "action_description": "当前爪夹张开向爪夹方向前方移动。", + "annotations": { + "bbox_1768028301140": { + "instances": [ + { + "height": 0.13499999999999995, + "id": "bbox_1768028301140_1768028409600_ynwt45l69", + "width": 0.05, + "x": 0.6043749999999999, + "y": 0.5026484375 + } + ], + "type": "bbox" + }, + "point_1768028301836": { + "instances": [ + { + "id": "point_1768028301836_1768028414532_5j17pyqm5", + "x": 0.459375, + "y": 0.14564843749999998 + } + ], + "type": "point" + }, + "point_1768028301973": { + "instances": [ + { + "id": "point_1768028301973_1768028412360_4on4qsg1s", + "x": 0.5403749999999999, + "y": 0.14464843749999998 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方移动，爪夹向爪夹方向左前方移动并下降，爪夹向爪夹方向左前方移动并下降直至硫酸铜溶液的正上方，爪夹垂直下降靠近硫酸铜溶液，爪夹合拢抓取硫酸铜溶液，爪夹抓取硫酸铜溶液竖直上升。", + "error_success_analysis": "当前爪夹成功向爪夹方向前方移动使爪夹与硫酸铜溶液的距离拉近。", + "frame": 12, + "progress": 10, + "progress_explanation": "此时爪夹与硫酸铜溶液的水平距离较远，但比上一阶段水平距离接近，因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹与硫酸铜溶液的水平距离较远。为完成抓取硫酸铜溶液竖直上升的任务应当：爪夹向爪夹方向右前方移动。", + "time": 0.384971 + }, + { + "action_description": "爪夹向爪夹方向右前方移动。", + "annotations": { + "bbox_1768028301140": { + "instances": [ + { + "height": 0.13200000000000003, + "id": "bbox_1768028301140_1768028402514_zfg0r8b4b", + "width": 0.04899999999999996, + "x": 0.605375, + "y": 0.5046484375 + } + ], + "type": "bbox" + }, + "point_1768028301836": { + "instances": [ + { + "id": "point_1768028301836_1768028398544_10pmqwqwy", + "x": 0.407375, + "y": 0.1876484375 + } + ], + "type": "point" + }, + "point_1768028301973": { + "instances": [ + { + "id": "point_1768028301973_1768028396322_zrs9xpcch", + "x": 0.487375, + "y": 0.1956484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向左前方移动并下降，爪夹向爪夹方向左前方移动并下降直至硫酸铜溶液的正上方，爪夹垂直下降靠近硫酸铜溶液，爪夹合拢抓取硫酸铜溶液，爪夹抓取硫酸铜溶液竖直上升。", + "error_success_analysis": "爪夹成功向爪夹方向右前方移动，使爪夹与硫酸铜溶液的水平距离略微接近。", + "frame": 39, + "progress": 15, + "progress_explanation": "此时爪夹与硫酸铜溶液的水平距离略微接近，因此当前进度提升至15%。", + "state_description": "当前爪夹张开，此时爪夹与硫酸铜溶液的水平距离略微接近，为完成抓取硫酸铜溶液竖直上升的任务应当：爪夹向爪夹方向左前方移动并下降。", + "time": 1.285584 + }, + { + "action_description": "爪夹向爪夹方向左前方移动并下降。", + "annotations": { + "bbox_1768028301140": { + "instances": [ + { + "height": 0.13400000000000004, + "id": "bbox_1768028301140_1768028387152_q3io2ynmn", + "width": 0.04500000000000005, + "x": 0.6073749999999999, + "y": 0.5026484375 + } + ], + "type": "bbox" + }, + "point_1768028301836": { + "instances": [ + { + "id": "point_1768028301836_1768028389206_v0ppnv8a9", + "x": 0.442375, + "y": 0.2516484375 + } + ], + "type": "point" + }, + "point_1768028301973": { + "instances": [ + { + "id": "point_1768028301973_1768028391254_kyn5vd5ne", + "x": 0.509375, + "y": 0.2656484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向左前方移动并下降，爪夹向爪夹方向左下方下降直至硫酸铜溶液的正上方，爪夹垂直下降靠近硫酸铜溶液，爪夹合拢抓取硫酸铜溶液，爪夹抓取硫酸铜溶液竖直上升。", + "error_success_analysis": "当前爪夹向爪夹方向左前方移动并下降成功接近硫酸铜溶液。", + "frame": 63, + "progress": 20, + "progress_explanation": "此时爪夹与硫酸铜溶液水平距离比上一阶段还要接近，因此当前进度提升至20%。", + "state_description": "当前爪夹张开，此时爪夹与硫酸铜溶液水平距离略微接近，为完成抓取硫酸铜溶液竖直上升的任务应当：爪夹向爪夹方向左前方移动并下降接近硫酸铜溶液。", + "time": 2.1165721649484537 + }, + { + "action_description": "爪夹向爪夹方向左前方移动并下降接近硫酸铜溶液。", + "annotations": { + "bbox_1768028301140": { + "instances": [ + { + "height": 0.13899999999999998, + "id": "bbox_1768028301140_1768028376207_rhmptzy3h", + "width": 0.04700000000000001, + "x": 0.6043749999999999, + "y": 0.5036484375 + } + ], + "type": "bbox" + }, + "point_1768028301836": { + "instances": [ + { + "id": "point_1768028301836_1768028368984_82cw3ucyv", + "x": 0.541375, + "y": 0.3656484375 + } + ], + "type": "point" + }, + "point_1768028301973": { + "instances": [ + { + "id": "point_1768028301973_1768028371086_pe8whrxan", + "x": 0.5603750000000001, + "y": 0.3306484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向左下方下降直至硫酸铜溶液的正上方，爪夹垂直下降靠近硫酸铜溶液，爪夹合拢抓取硫酸铜溶液，爪夹抓取硫酸铜溶液竖直上升。", + "error_success_analysis": "当前爪夹向爪夹方向左前方移动并下降成功接近硫酸铜溶液。", + "frame": 104, + "progress": 30, + "progress_explanation": "此时爪夹与硫酸铜溶液水平距离接近，因此当前进度提升至30%。", + "state_description": "当前爪夹张开，此时爪夹与硫酸铜溶液水平距离接近，为完成抓取硫酸铜溶液竖直上升的任务应当：爪夹向爪夹方向左下方移动至硫酸铜溶液正上方。", + "time": 3.468599 + }, + { + "action_description": "当前爪夹向爪夹方向左下方移动至硫酸铜溶液正上方。", + "annotations": { + "bbox_1768028301140": { + "instances": [ + { + "height": 0.14600000000000002, + "id": "bbox_1768028301140_1768028362882_46napk1hf", + "width": 0.04700000000000001, + "x": 0.605375, + "y": 0.5031484374999999 + } + ], + "type": "bbox" + }, + "point_1768028301836": { + "instances": [ + { + "id": "point_1768028301836_1768028356226_u52v11918", + "x": 0.597375, + "y": 0.4691484375 + } + ], + "type": "point" + }, + "point_1768028301973": { + "instances": [ + { + "id": "point_1768028301973_1768028358352_awt6namwq", + "x": 0.681375, + "y": 0.46714843749999996 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近硫酸铜溶液，爪夹合拢抓取硫酸铜溶液，爪夹抓取硫酸铜溶液竖直上升。", + "error_success_analysis": "当前爪夹垂直下降靠近硫酸铜溶液。", + "frame": 152, + "progress": 40, + "progress_explanation": "此时爪夹位于硫酸铜溶液正上方。因此当前进度提升至40%。", + "state_description": "当前爪夹张开，此时爪夹位于硫酸铜溶液正上方。为完成抓取硫酸铜溶液竖直上升的任务应当：爪夹垂直下降靠近硫酸铜溶液。", + "time": 5.069659 + }, + { + "action_description": "当前爪夹垂直下降靠近硫酸铜溶液。", + "annotations": { + "bbox_1768028301140": { + "instances": [ + { + "height": 0.13, + "id": "bbox_1768028301140_1768028351182_sbk9d0sia", + "width": 0.053, + "x": 0.602375, + "y": 0.5156484375 + } + ], + "type": "bbox" + }, + "point_1768028301836": { + "instances": [ + { + "id": "point_1768028301836_1768028345234_ac6tm6ysi", + "x": 0.592375, + "y": 0.5416484374999999 + } + ], + "type": "point" + }, + "point_1768028301973": { + "instances": [ + { + "id": "point_1768028301973_1768028347220_otxs7scl3", + "x": 0.6753750000000001, + "y": 0.5406484375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取硫酸铜溶液，爪夹抓取硫酸铜溶液竖直上升。", + "error_success_analysis": "当前爪夹垂直下降成功靠近硫酸铜溶液。", + "frame": 183, + "progress": 60, + "progress_explanation": "此时爪夹靠近硫酸铜溶液，因此当前进度提升至60%。", + "state_description": "当前爪夹张开，此时爪夹靠近硫酸铜溶液。为完成抓取硫酸铜溶液竖直上升的任务应当：爪夹合拢抓取硫酸铜溶液。", + "time": 6.105816 + }, + { + "action_description": "当前爪夹合拢抓取硫酸铜溶液。", + "annotations": { + "bbox_1768028301140": { + "instances": [ + { + "height": 0.12199999999999994, + "id": "bbox_1768028301140_1768028340250_dsm94k1b4", + "width": 0.04899999999999996, + "x": 0.605375, + "y": 0.5096484375 + } + ], + "type": "bbox" + }, + "point_1768028301836": { + "instances": [ + { + "id": "point_1768028301836_1768028333118_on69wbspj", + "x": 0.605375, + "y": 0.5446484374999999 + } + ], + "type": "point" + }, + "point_1768028301973": { + "instances": [ + { + "id": "point_1768028301973_1768028334940_sgyw2hzyt", + "x": 0.656375, + "y": 0.5446484374999999 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹抓取硫酸铜溶液竖直上升。", + "error_success_analysis": "当前爪夹成功合拢抓取硫酸铜溶液。", + "frame": 211, + "progress": 80, + "progress_explanation": "当前爪夹合拢抓取硫酸铜溶液。因此当前进度提升至80%。", + "state_description": "当前爪夹合拢抓取硫酸铜溶液，为完成抓取硫酸铜溶液竖直上升的任务应当：爪夹抓取硫酸铜溶液竖直上升。", + "time": 7.039699 + }, + { + "action_description": "当前爪夹抓取硫酸铜溶液竖直上升。", + "annotations": { + "bbox_1768028301140": { + "instances": [ + { + "height": 0.136, + "id": "bbox_1768028301140_1768028328160_brj345a77", + "width": 0.04700000000000001, + "x": 0.619375, + "y": 0.4281484375 + } + ], + "type": "bbox" + }, + "point_1768028301836": { + "instances": [ + { + "id": "point_1768028301836_1768028319730_z2bzxi0u0", + "x": 0.611375, + "y": 0.4568984375 + } + ], + "type": "point" + }, + "point_1768028301973": { + "instances": [ + { + "id": "point_1768028301973_1768028321694_k7zwqkny1", + "x": 0.6703749999999999, + "y": 0.45414843749999995 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "当前爪夹成功抓取硫酸铜溶液竖直上升。", + "frame": 246, + "progress": 100, + "progress_explanation": "当前爪夹抓取硫酸铜溶液竖直上升。因此当前进度提升至100%。", + "state_description": "当前爪夹合拢抓取硫酸铜溶液，此时硫酸铜溶液与底座垂直距离增加。已完成抓取硫酸铜溶液竖直上升的任务。", + "time": 8.2 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768028301140", + "name": "硫酸铜溶液" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768028301836", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768028301973", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001924.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001924.json new file mode 100644 index 0000000000000000000000000000000000000000..1b0c874a200818647b9400701ca79c2f16a64356 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.image/episode_001924.json @@ -0,0 +1,367 @@ +{ + "task_description": "取出FeCl3溶液：\n爪夹准备移动：0%\n爪夹向爪夹方向右前方移动并下降：20%\n爪夹移动至FeCl3溶液正上方：40%\n爪夹靠近FeCl3溶液：60%\n爪夹抓取FeCl3溶液：80%\n爪夹抓取FeCl3溶液竖直上升：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，爪夹准备移动。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成取出FeCl3溶液的任务应当：爪夹向爪夹方向右前方移动。", + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向右前方移动，爪夹向爪夹方向右前方移动并下降，爪夹向爪夹方向右前方移动并下降接近FeCl3溶液，爪夹向爪夹方向前下方移动至FeCl3溶液正上方，爪夹垂直下降靠近FeCl3溶液，爪夹合拢抓取FeCl3溶液，爪夹抓取FeCl3溶液竖直上升。", + "annotations": { + "bbox_1768029825592": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029825592_1768029949536_exmfvnztj", + "x": 0.365375, + "y": 0.4216484375, + "width": 0.04400000000000001, + "height": 0.13400000000000004 + } + ] + }, + "point_1768029828708": { + "type": "point", + "instances": [ + { + "id": "point_1768029828708_1768029952130_cj84bn8v0", + "x": 0.466375, + "y": 0.1326484375 + } + ] + }, + "point_1768029829006": { + "type": "point", + "instances": [ + { + "id": "point_1768029829006_1768029954766_5zsdn6fkb", + "x": 0.541375, + "y": 0.1321484375 + } + ] + } + } + }, + { + "time": 0.5829, + "frame": 17, + "progress": 10, + "action_description": "当前爪夹向爪夹方向右前方移动。", + "state_description": "当前爪夹张开，此时爪夹与FeCl3溶液的水平距离较远。为完成取出FeCl3溶液的任务应当：爪夹向爪夹方向右前方移动并下降。", + "progress_explanation": "此时爪夹与FeCl3溶液的水平距离较远，但是比上一阶段接近FeCl3溶液，因此当前进度提升至10%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动使爪夹与FeCl3溶液水平距离拉近。", + "correction_plan": "爪夹向爪夹方向右前方移动并下降，爪夹向爪夹方向右前方移动并下降接近FeCl3溶液，爪夹向爪夹方向前下方移动至FeCl3溶液正上方，爪夹垂直下降靠近FeCl3溶液，爪夹合拢抓取FeCl3溶液，爪夹抓取FeCl3溶液竖直上升。", + "annotations": { + "point_1768029828708": { + "type": "point", + "instances": [ + { + "id": "point_1768029828708_1768029933536_mne2bfymk", + "x": 0.43037499999999995, + "y": 0.1466484375 + } + ] + }, + "point_1768029829006": { + "type": "point", + "instances": [ + { + "id": "point_1768029829006_1768029936144_isjju99yn", + "x": 0.507375, + "y": 0.1441484375 + } + ] + }, + "bbox_1768029825592": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029825592_1768029940670_yngieryey", + "x": 0.364375, + "y": 0.42414843750000003, + "width": 0.041999999999999996, + "height": 0.14299999999999996 + } + ] + } + } + }, + { + "time": 1.856365, + "frame": 56, + "progress": 20, + "action_description": "爪夹向爪夹方向右前方移动并下降。", + "state_description": "当前爪夹张开，此时爪夹与FeCl3溶液水平距离略微接近，为完成取出FeCl3溶液的任务应当：爪夹向爪夹方向右前方移动并下降接近FeCl3溶液。", + "progress_explanation": "此时爪夹与FeCl3溶液水平距离略微接近，因此当前进度提升至20%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动并下降，使爪夹与FeCl3溶液的水平距离略微接近。", + "correction_plan": "爪夹向爪夹方向右前方移动并下降接近FeCl3溶液，爪夹向爪夹方向前下方移动至FeCl3溶液正上方，爪夹垂直下降靠近FeCl3溶液，爪夹合拢抓取FeCl3溶液，爪夹抓取FeCl3溶液竖直上升。", + "annotations": { + "bbox_1768029825592": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029825592_1768029921822_4sv5is0og", + "x": 0.365375, + "y": 0.4216484375, + "width": 0.03799999999999996, + "height": 0.13400000000000004 + } + ] + }, + "point_1768029828708": { + "type": "point", + "instances": [ + { + "id": "point_1768029828708_1768029929672_paxf7bzwd", + "x": 0.42737499999999995, + "y": 0.27464843749999995 + } + ] + } + } + }, + { + "time": 2.4589, + "frame": 74, + "progress": 30, + "action_description": "爪夹向爪夹方向右前方移动并下降接近FeCl3溶液。", + "state_description": "当前爪夹张开，此时爪夹与FeCl3溶液水平距离接近，为完成爪取出FeCl3溶液的任务应当：爪夹向爪夹方向前下方移动至FeCl3溶液正上方。", + "progress_explanation": "此时爪夹与FeCl3溶液水平距离接近，因此当前进度提升至30%。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动并下降接近FeCl3溶液。", + "correction_plan": "爪夹向爪夹方向前下方移动至FeCl3溶液正上方，爪夹垂直下降靠近FeCl3溶液，爪夹合拢抓取FeCl3溶液，爪夹抓取FeCl3溶液竖直上升。", + "annotations": { + "point_1768029829006": { + "type": "point", + "instances": [ + { + "id": "point_1768029829006_1768029899624_myfm3fd3l", + "x": 0.43637499999999996, + "y": 0.29564843749999997 + } + ] + }, + "point_1768029828708": { + "type": "point", + "instances": [ + { + "id": "point_1768029828708_1768029903116_vhu95pitd", + "x": 0.389375, + "y": 0.3216484375 + } + ] + }, + "bbox_1768029825592": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029825592_1768029909190_t7pu2d7r5", + "x": 0.364375, + "y": 0.4246484375, + "width": 0.041999999999999996, + "height": 0.13700000000000004 + } + ] + } + } + }, + { + "time": 3.524964, + "frame": 106, + "progress": 40, + "action_description": "爪夹向爪夹方向前下方移动至FeCl3溶液正上方。", + "state_description": "当前爪夹张开，此时爪夹位于FeCl3溶液正上方。为完成爪取出FeCl3溶液的任务应当：爪夹垂直下降靠近FeCl3溶液。", + "progress_explanation": "此时爪夹位于FeCl3溶液正上方，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功向爪夹方向前下方移动至FeCl3溶液正上方使爪夹更方便抓取FeCl3溶液。", + "correction_plan": "爪夹垂直下降靠近FeCl3溶液，爪夹合拢抓取FeCl3溶液，爪夹抓取FeCl3溶液竖直上升。", + "annotations": { + "bbox_1768029825592": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029825592_1768029891400_o2nyn4xfo", + "x": 0.364375, + "y": 0.42264843750000003, + "width": 0.041999999999999996, + "height": 0.13999999999999993 + } + ] + }, + "point_1768029828708": { + "type": "point", + "instances": [ + { + "id": "point_1768029828708_1768029894426_gcnebk29f", + "x": 0.34737499999999993, + "y": 0.4006484375 + } + ] + }, + "point_1768029829006": { + "type": "point", + "instances": [ + { + "id": "point_1768029829006_1768029896448_jb6ftvp6l", + "x": 0.424375, + "y": 0.4006484375 + } + ] + } + } + }, + { + "time": 4.3886726804123715, + "frame": 132, + "progress": 60, + "action_description": "爪夹垂直下降靠近FeCl3溶液。", + "state_description": "当前爪夹张开，此时爪夹靠近FeCl3溶液，为完成爪取出FeCl3溶液的任务应当：爪夹合拢抓取FeCl3溶液。", + "progress_explanation": "此时爪夹靠近FeCl3溶液，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹垂直下降成功靠近FeCl3溶液。", + "correction_plan": "爪夹合拢抓取FeCl3溶液，爪夹抓取FeCl3溶液竖直上升。", + "annotations": { + "point_1768029829006": { + "type": "point", + "instances": [ + { + "id": "point_1768029829006_1768029874052_9099s54i8", + "x": 0.429375, + "y": 0.4626484375 + } + ] + }, + "point_1768029828708": { + "type": "point", + "instances": [ + { + "id": "point_1768029828708_1768029876183_8c6hfd70i", + "x": 0.350375, + "y": 0.45564843749999995 + } + ] + }, + "bbox_1768029825592": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029825592_1768029883172_i4lr4kch8", + "x": 0.362375, + "y": 0.4346484375, + "width": 0.04299999999999997, + "height": 0.13 + } + ] + } + } + }, + { + "time": 5.3265, + "frame": 160, + "progress": 80, + "action_description": "当前爪夹合拢抓取FeCl3溶液。", + "state_description": "当前爪夹合拢抓取FeCl3溶液，为完成取出FeCl3溶液的任务应当：爪夹抓取FeCl3溶液竖直上升。", + "progress_explanation": "当前爪夹合拢抓取FeCl3溶液，因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功合拢抓取FeCl3溶液。", + "correction_plan": "爪夹抓取FeCl3溶液竖直上升。", + "annotations": { + "bbox_1768029825592": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029825592_1768029862206_gtk61xrb3", + "x": 0.365375, + "y": 0.4346484375, + "width": 0.045999999999999965, + "height": 0.12700000000000003 + } + ] + }, + "point_1768029828708": { + "type": "point", + "instances": [ + { + "id": "point_1768029828708_1768029865534_0m51c8uyj", + "x": 0.365375, + "y": 0.4596484375 + } + ] + }, + "point_1768029829006": { + "type": "point", + "instances": [ + { + "id": "point_1768029829006_1768029869716_9eszh9hcb", + "x": 0.41137499999999994, + "y": 0.46064843749999995 + } + ] + } + } + }, + { + "time": 6.7, + "frame": 201, + "progress": 100, + "action_description": "当前爪夹抓取FeCl3溶液竖直上升。", + "state_description": "当前爪夹抓取FeCl3溶液，此时FeCl3溶液与底座垂直距离增加，已完成取出FeCl3溶液的任务。", + "progress_explanation": "当前爪夹抓取FeCl3溶液竖直上升。因此当前进度提升至100%。", + "error_success_analysis": "当前爪夹成功抓取FeCl3溶液竖直上升。", + "correction_plan": "", + "annotations": { + "point_1768029828708": { + "type": "point", + "instances": [ + { + "id": "point_1768029828708_1768029846642_efn7y1gi8", + "x": 0.362375, + "y": 0.3731484375 + } + ] + }, + "point_1768029829006": { + "type": "point", + "instances": [ + { + "id": "point_1768029829006_1768029848606_kzgqqm8m0", + "x": 0.409375, + "y": 0.3771484375 + } + ] + }, + "bbox_1768029825592": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768029825592_1768029853198_kc2e5qzwi", + "x": 0.365375, + "y": 0.34714843749999996, + "width": 0.04400000000000001, + "height": 0.12700000000000003 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768029825592", + "name": "FeCl3溶液", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768029828708", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768029829006", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001009.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001009.json new file mode 100644 index 0000000000000000000000000000000000000000..5d832e028b3a89b4f3639b356bb65ae6f0f5d720 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001009.json @@ -0,0 +1,377 @@ +{ + "task_description": "抓取取出爪夹最左侧扑克牌：\n准备开始移动：0%\n爪夹接近最左侧扑克牌：20%\n爪夹来到最左侧扑克牌正上方：40%\n爪夹靠近最左侧扑克牌：60%\n爪夹抓取最左侧扑克牌：80%\n爪夹夹紧最左侧扑克牌上升取出：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离爪夹最左侧扑克牌，未开始移动。\n为完成抓取取出爪夹最左侧扑克牌的任务应当：爪夹向爪夹左后方移动并垂直下降，调整爪夹方向使其位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。", + "progress_explanation": "爪夹张开，远离爪夹最左侧扑克牌，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左后方移动并垂直下降，调整爪夹方向使其位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。爪夹垂直下降靠近爪夹最左侧扑克牌，爪夹合拢抓取爪夹最左侧扑克牌。抓紧爪夹最左侧扑克牌垂直升高。", + "annotations": { + "point_1768028068818": { + "type": "point", + "instances": [ + { + "id": "point_1768028068818_1768028085386_kvhazr1n6", + "x": 0.28377769264052166, + "y": 0.46081941462283843 + } + ] + }, + "point_1768028073644": { + "type": "point", + "instances": [ + { + "id": "point_1768028073644_1768028087406_7yvarhmci", + "x": 0.7837776621229454, + "y": 0.4517083006769836 + } + ] + }, + "bbox_1768028054848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768028054848_1768028104587_91mtz1shp", + "x": 0.3497776886122016, + "y": 0.43970830140940537, + "width": 0.13799999157714898, + "height": 0.0929999943237308 + } + ] + } + } + }, + { + "time": 1.1548677012733255, + "frame": 35, + "progress": 10, + "action_description": "爪夹向爪夹左后方移动", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平上略微接近了爪夹最左侧扑克牌。\n为完成抓取取出爪夹最左侧扑克牌的任务应当：爪夹向爪夹下方移动垂直下降，调整爪夹方向使其位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上略微接近了爪夹最左侧扑克牌。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹左后方移动，水平上缩短了与爪夹最左侧扑克牌的距离。", + "correction_plan": "爪夹向爪夹下方移动垂直下降，调整爪夹方向使其位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。爪夹垂直下降靠近爪夹最左侧扑克牌，爪夹合拢抓取爪夹最左侧扑克牌。抓紧爪夹最左侧扑克牌垂直升高。", + "annotations": { + "point_1768028068818": { + "type": "point", + "instances": [ + { + "id": "point_1768028068818_1768028119579_5rrk5sfx1", + "x": 0.28277769270155684, + "y": 0.4517083006769836 + } + ] + }, + "point_1768028073644": { + "type": "point", + "instances": [ + { + "id": "point_1768028073644_1768028121774_nvjkdaz0w", + "x": 0.7857776620008751, + "y": 0.4477083009211242 + } + ] + }, + "bbox_1768028054848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768028054848_1768028125687_haev6zmmp", + "x": 0.4927776798841748, + "y": 0.383708304827374, + "width": 0.13499999176025443, + "height": 0.10099999383544957 + } + ] + } + } + }, + { + "time": 2.094499, + "frame": 63, + "progress": 20, + "action_description": "爪夹垂直下降调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最左侧扑克牌。\n为完成抓取取出爪夹最左侧扑克牌的任务应当：爪夹向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最左侧扑克牌。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹下方移动下降缩短了与爪夹最左侧扑克牌之间的距离。方便继续向爪夹最左侧扑克牌移动靠近。", + "correction_plan": "爪夹向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。爪夹垂直下降靠近爪夹最左侧扑克牌，爪夹合拢抓取爪夹最左侧扑克牌。抓紧爪夹最左侧扑克牌垂直升高。", + "annotations": { + "point_1768028068818": { + "type": "point", + "instances": [ + { + "id": "point_1768028068818_1768028130009_ct55z0x03", + "x": 0.28277769270155684, + "y": 0.4547083004938781 + } + ] + }, + "point_1768028073644": { + "type": "point", + "instances": [ + { + "id": "point_1768028073644_1768028132295_vvt9xz70k", + "x": 0.7847776620619104, + "y": 0.4607083001276672 + } + ] + }, + "bbox_1768028054848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768028054848_1768028136303_85elz9zqj", + "x": 0.3257776900770453, + "y": 0.324708308428448, + "width": 0.1649999899291998, + "height": 0.15399999060058653 + } + ] + } + } + }, + { + "time": 3.0672, + "frame": 92, + "progress": 30, + "action_description": "爪夹垂直下降调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最左侧扑克牌。\n为完成抓取取出爪夹最左侧扑克牌的任务应当：爪夹向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，垂直上更加接近了爪夹最左侧扑克牌。因此进度提升为30%。", + "error_success_analysis": "爪夹向爪夹下方移动下降方便抓取爪夹最左侧扑克牌。", + "correction_plan": "爪夹继续向爪夹下方移动下降，调整爪夹角度使爪夹位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。爪夹垂直下降靠近爪夹最左侧扑克牌，爪夹合拢抓取爪夹最左侧扑克牌。抓紧爪夹最左侧扑克牌垂直升高。", + "annotations": { + "point_1768028068818": { + "type": "point", + "instances": [ + { + "id": "point_1768028068818_1768028140104_fgit0zc6n", + "x": 0.28277769270155684, + "y": 0.4627083000055969 + } + ] + }, + "point_1768028073644": { + "type": "point", + "instances": [ + { + "id": "point_1768028073644_1768028141829_8od52pou1", + "x": 0.78677766193984, + "y": 0.45970830018870235 + } + ] + }, + "bbox_1768028054848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768028054848_1768028145144_bkn780k97", + "x": 0.23677769550917385, + "y": 0.19170831654612328, + "width": 0.17799998913574286, + "height": 0.24199998522949304 + } + ] + } + } + }, + { + "time": 4.4091, + "frame": 132, + "progress": 40, + "action_description": "爪夹垂直下降调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于爪夹最左侧扑克牌正上方。\n为完成抓取取出爪夹最左侧扑克牌的任务应当：爪夹垂直下降靠近爪夹最左侧扑克牌，爪夹合拢抓取爪夹最左侧扑克牌。", + "progress_explanation": "爪夹角度与桌面接近垂直，位于爪夹最左侧扑克牌正上方。方便下降抓取爪夹最左侧扑克牌。因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹左方移动下降来到了爪夹最左侧扑克牌正上方，方便抓取爪夹最左侧扑克牌。", + "correction_plan": "爪夹垂直下降靠近爪夹最左侧扑克牌，爪夹合拢抓取爪夹最左侧扑克牌。抓紧爪夹最左侧扑克牌垂直升高。", + "annotations": { + "point_1768028068818": { + "type": "point", + "instances": [ + { + "id": "point_1768028068818_1768028152979_i13n73cu4", + "x": 0.28477769257948654, + "y": 0.44970830079905394 + } + ] + }, + "point_1768028073644": { + "type": "point", + "instances": [ + { + "id": "point_1768028073644_1768028155125_7nall0q40", + "x": 0.7837776621229454, + "y": 0.4477083009211242 + } + ] + }, + "bbox_1768028054848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768028054848_1768028163350_1rt9mfn5h", + "x": 0.49577767970106934, + "y": 0.07770832350413065, + "width": 0.019999998779296924, + "height": 0.3779999769287123 + } + ] + } + } + }, + { + "time": 5.424399, + "frame": 163, + "progress": 60, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了爪夹最左侧扑克牌两侧。\n为完成抓取取出爪夹最左侧扑克牌的任务应当：爪夹合拢抓取爪夹最左侧扑克牌。", + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了爪夹最左侧扑克牌两侧。方便抓取爪夹最左侧扑克牌，因此进度提升为60%。", + "error_success_analysis": "爪夹垂直下降靠近了爪夹最左侧扑克牌，方便抓取爪夹最左侧扑克牌。", + "correction_plan": "爪夹合拢抓取爪夹最左侧扑克牌。抓紧爪夹最左侧扑克牌垂直升高。", + "annotations": { + "point_1768028068818": { + "type": "point", + "instances": [ + { + "id": "point_1768028068818_1768028167364_5in2kymw6", + "x": 0.28077769282362713, + "y": 0.44970830079905394 + } + ] + }, + "point_1768028073644": { + "type": "point", + "instances": [ + { + "id": "point_1768028073644_1768028169436_is05vcxt2", + "x": 0.7847776620619104, + "y": 0.44470830110422965 + } + ] + }, + "bbox_1768028054848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768028054848_1768028174066_8nx29ilfn", + "x": 0.49377767982313964, + "y": 0.19770831617991236, + "width": 0.018999998840332093, + "height": 0.4159999746093766 + } + ] + } + } + }, + { + "time": 6.468099, + "frame": 194, + "progress": 80, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，抓取到爪夹最左侧扑克牌。\n为完成抓取取出爪夹最左侧扑克牌的任务应当：抓紧爪夹最左侧扑克牌垂直升高。", + "progress_explanation": "爪夹合拢，抓取到了爪夹最左侧扑克牌。因此进度提升为80%。", + "error_success_analysis": "爪夹合拢抓取到了爪夹最左侧扑克牌，方便将爪夹最左侧扑克牌取出。", + "correction_plan": "抓紧爪夹最左侧扑克牌垂直升高。", + "annotations": { + "point_1768028068818": { + "type": "point", + "instances": [ + { + "id": "point_1768028068818_1768028178468_yrcrswbsu", + "x": 0.49977767945692875, + "y": 0.4377083015314757 + } + ] + }, + "point_1768028073644": { + "type": "point", + "instances": [ + { + "id": "point_1768028073644_1768028180738_vqrqgbu7l", + "x": 0.543777676771382, + "y": 0.4397083014094054 + } + ] + }, + "bbox_1768028054848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768028054848_1768028184560_n65qgbx6g", + "x": 0.5147776785414014, + "y": 0.19370831642405292, + "width": 0.013999999145507876, + "height": 0.4109999749145523 + } + ] + } + } + }, + { + "time": 7.1, + "frame": 213, + "progress": 100, + "action_description": "爪夹夹紧最左侧扑克牌垂直升高", + "state_description": "爪夹夹紧爪夹最左侧扑克牌，爪夹角度接近垂直于桌面。\n抓取取出爪夹最左侧扑克牌的任务目标完成。", + "progress_explanation": "爪夹夹紧爪夹最左侧扑克牌上升取出，因此进度提升为100%。", + "error_success_analysis": "爪夹夹紧爪夹最左侧扑克牌上升，把爪夹最左侧扑克牌取出。任务完成。", + "correction_plan": "", + "annotations": { + "point_1768028068818": { + "type": "point", + "instances": [ + { + "id": "point_1768028068818_1768028188270_ubm3k2sls", + "x": 0.5097776788465772, + "y": 0.4417083012873351 + } + ] + }, + "point_1768028073644": { + "type": "point", + "instances": [ + { + "id": "point_1768028073644_1768028190151_ii7hsxkzs", + "x": 0.5527776762220656, + "y": 0.4387083014704406 + } + ] + }, + "bbox_1768028054848": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768028054848_1768028194190_kgvwa527m", + "x": 0.5287776776869093, + "y": 0.1947083163630178, + "width": 0.013999999145507876, + "height": 0.4089999750366226 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768028054848", + "name": "最左侧扑克牌", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768028068818", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768028073644", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001031.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001031.json new file mode 100644 index 0000000000000000000000000000000000000000..8795802e2f3720ae20b7948807dfc9198956775d --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001031.json @@ -0,0 +1,377 @@ +{ + "task_description": "抓取取出爪夹右侧第二张扑克牌：\n准备开始移动：0%\n爪夹接近右侧第二张扑克牌：20%\n爪夹来到右侧第二张扑克牌正上方：40%\n爪夹靠近右侧第二张扑克牌：60%\n爪夹抓取右侧第二张扑克牌：80%\n爪夹夹紧右侧第二张扑克牌上升取出：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离爪夹右侧第二张扑克牌，未开始移动。\n为完成抓取取出爪夹右侧第二张扑克牌的任务应当：爪夹向爪夹右后方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。", + "progress_explanation": "爪夹张开，远离爪夹右侧第二张扑克牌，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。爪夹垂直下降靠近爪夹右侧第二张扑克牌，爪夹合拢抓取爪夹右侧第二张扑克牌。抓紧爪夹右侧第二张扑克牌垂直升高。", + "annotations": { + "point_1768027408807": { + "type": "point", + "instances": [ + { + "id": "point_1768027408807_1768027425992_228keu3lx", + "x": 0.28277769270155684, + "y": 0.45181941517215485 + } + ] + }, + "point_1768027413256": { + "type": "point", + "instances": [ + { + "id": "point_1768027413256_1768027427951_nc30y85ly", + "x": 0.7837776621229454, + "y": 0.44370830116526483 + } + ] + }, + "bbox_1768027396187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027396187_1768027442182_csx1q368w", + "x": 0.5797776745741167, + "y": 0.4567083003718078, + "width": 0.1299999920654301, + "height": 0.09499999420166053 + } + ] + } + } + }, + { + "time": 1.047199, + "frame": 31, + "progress": 10, + "action_description": "爪夹向爪夹右后方移动", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平上略微接近了爪夹右侧第二张扑克牌。\n为完成抓取取出爪夹右侧第二张扑克牌的任务应当：爪夹向爪夹右方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上略微接近了爪夹右侧第二张扑克牌。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右后方移动，水平上缩短了与爪夹右侧第二张扑克牌的距离。", + "correction_plan": "爪夹向爪夹右方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。爪夹垂直下降靠近爪夹右侧第二张扑克牌，爪夹合拢抓取爪夹右侧第二张扑克牌。抓紧爪夹右侧第二张扑克牌垂直升高。", + "annotations": { + "point_1768027408807": { + "type": "point", + "instances": [ + { + "id": "point_1768027408807_1768027450708_fgjz1oru5", + "x": 0.28277769270155684, + "y": 0.45570830043284294 + } + ] + }, + "point_1768027413256": { + "type": "point", + "instances": [ + { + "id": "point_1768027413256_1768027453273_gji2pqh9o", + "x": 0.7857776620008751, + "y": 0.44970830079905394 + } + ] + }, + "bbox_1768027396187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027396187_1768027456976_k6jgiuh2c", + "x": 0.5027776792738233, + "y": 0.481708298845929, + "width": 0.13499999176025437, + "height": 0.09899999395751996 + } + ] + } + } + }, + { + "time": 1.9584, + "frame": 59, + "progress": 20, + "action_description": "爪夹向爪夹右后方移动垂直下降调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹右侧第二张扑克牌。\n为完成抓取取出爪夹右侧第二张扑克牌的任务应当：爪夹向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹右侧第二张扑克牌。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右后方移动下降缩短了与爪夹右侧第二张扑克牌之间的距离。方便继续向爪夹右侧第二张扑克牌移动靠近。", + "correction_plan": "爪夹向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。爪夹垂直下降靠近爪夹右侧第二张扑克牌，爪夹合拢抓取爪夹右侧第二张扑克牌。抓紧爪夹右侧第二张扑克牌垂直升高。", + "annotations": { + "point_1768027408807": { + "type": "point", + "instances": [ + { + "id": "point_1768027408807_1768027460384_3zl39hm0j", + "x": 0.28377769264052166, + "y": 0.4477083009211242 + } + ] + }, + "point_1768027413256": { + "type": "point", + "instances": [ + { + "id": "point_1768027413256_1768027462634_rv2ghaslo", + "x": 0.7827776621839805, + "y": 0.4477083009211242 + } + ] + }, + "bbox_1768027396187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027396187_1768027466862_byz3a2xne", + "x": 0.3127776908705023, + "y": 0.39770830397288187, + "width": 0.16499998992919984, + "height": 0.1629999900512701 + } + ] + } + } + }, + { + "time": 2.9778229340025635, + "frame": 89, + "progress": 30, + "action_description": "爪夹垂直下降调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上更加接近了爪夹右侧第二张扑克牌。\n为完成抓取取出爪夹右侧第二张扑克牌的任务应当：爪夹向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上更加接近了爪夹右侧第二张扑克牌。因此进度提升为30%。", + "error_success_analysis": "爪夹向爪夹下方移动下降缩短了与爪夹右侧第二张扑克牌之间的距离。方便继续向爪夹右侧第二张扑克牌移动靠近。", + "correction_plan": "爪夹向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。爪夹垂直下降靠近爪夹右侧第二张扑克牌，爪夹合拢抓取爪夹右侧第二张扑克牌。抓紧爪夹右侧第二张扑克牌垂直升高。", + "annotations": { + "point_1768027408807": { + "type": "point", + "instances": [ + { + "id": "point_1768027408807_1768027470874_3ve121axp", + "x": 0.28077769282362713, + "y": 0.45270830061594847 + } + ] + }, + "point_1768027413256": { + "type": "point", + "instances": [ + { + "id": "point_1768027413256_1768027472519_537goko8t", + "x": 0.7827776621839805, + "y": 0.45070830073801876 + } + ] + }, + "bbox_1768027396187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027396187_1768027476437_t109i7jie", + "x": 0.235777695570209, + "y": 0.23270831404368197, + "width": 0.16499998992919984, + "height": 0.281999982788087 + } + ] + } + } + }, + { + "time": 4.134399, + "frame": 124, + "progress": 40, + "action_description": "爪夹垂直下降调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于爪夹右侧第二张扑克牌正上方。\n为完成抓取取出爪夹右侧第二张扑克牌的任务应当：爪夹垂直下降靠近爪夹右侧第二张扑克牌，爪夹合拢抓取爪夹右侧第二张扑克牌。", + "progress_explanation": "爪夹角度与桌面接近垂直，位于爪夹右侧第二张扑克牌正上方。方便下降抓取爪夹右侧第二张扑克牌。因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹下方移动来到了爪夹右侧第二张扑克牌正上方，方便抓取爪夹右侧第二张扑克牌。", + "correction_plan": "爪夹垂直下降靠近爪夹右侧第二张扑克牌，爪夹合拢抓取爪夹右侧第二张扑克牌。抓紧爪夹右侧第二张扑克牌垂直升高。", + "annotations": { + "point_1768027408807": { + "type": "point", + "instances": [ + { + "id": "point_1768027408807_1768027483890_vj82lii4w", + "x": 0.28577769251845137, + "y": 0.44970830079905394 + } + ] + }, + "point_1768027413256": { + "type": "point", + "instances": [ + { + "id": "point_1768027413256_1768027485892_pc3tz0hz8", + "x": 0.7857776620008751, + "y": 0.45070830073801876 + } + ] + }, + "bbox_1768027396187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027396187_1768027491261_44wg3zh50", + "x": 0.49577767970106934, + "y": 0.08570832301584944, + "width": 0.016999998962402372, + "height": 0.39199997607422016 + } + ] + } + } + }, + { + "time": 5.1952, + "frame": 156, + "progress": 60, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了爪夹右侧第二张扑克牌两侧。\n为完成抓取取出爪夹右侧第二张扑克牌的任务应当：爪夹合拢抓取爪夹右侧第二张扑克牌。", + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了爪夹右侧第二张扑克牌两侧。方便抓取爪夹右侧第二张扑克牌，因此进度提升为60%。", + "error_success_analysis": "爪夹垂直下降靠近了爪夹右侧第二张扑克牌，方便抓取爪夹右侧第二张扑克牌。", + "correction_plan": "爪夹合拢抓取爪夹右侧第二张扑克牌。抓紧爪夹右侧第二张扑克牌垂直升高。", + "annotations": { + "point_1768027408807": { + "type": "point", + "instances": [ + { + "id": "point_1768027408807_1768027495122_0a7vvd5pz", + "x": 0.28077769282362713, + "y": 0.44470830110422965 + } + ] + }, + "point_1768027413256": { + "type": "point", + "instances": [ + { + "id": "point_1768027413256_1768027497113_lr8ldxddg", + "x": 0.7827776621839805, + "y": 0.4477083009211242 + } + ] + }, + "bbox_1768027396187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027396187_1768027501673_mduc4nbdw", + "x": 0.49077768000624505, + "y": 0.20170831593577174, + "width": 0.021999998657226644, + "height": 0.3839999765625014 + } + ] + } + } + }, + { + "time": 6.1404, + "frame": 184, + "progress": 80, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，抓取到爪夹右侧第二张扑克牌。\n为完成抓取取出爪夹右侧第二张扑克牌的任务应当：抓紧爪夹右侧第二张扑克牌垂直升高。", + "progress_explanation": "爪夹合拢，抓取到了爪夹右侧第二张扑克牌。因此进度提升为80%。", + "error_success_analysis": "爪夹合拢抓取到了爪夹右侧第二张扑克牌，方便将爪夹右侧第二张扑克牌取出。", + "correction_plan": "抓紧爪夹右侧第二张扑克牌垂直升高。", + "annotations": { + "point_1768027408807": { + "type": "point", + "instances": [ + { + "id": "point_1768027408807_1768027506405_arbjwgle6", + "x": 0.5007776793958936, + "y": 0.435708301653546 + } + ] + }, + "point_1768027413256": { + "type": "point", + "instances": [ + { + "id": "point_1768027413256_1768027508538_eh3bk7tff", + "x": 0.5457776766493118, + "y": 0.4387083014704406 + } + ] + }, + "bbox_1768027396187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027396187_1768027516169_dein79bf3", + "x": 0.5127776786634717, + "y": 0.20270831587473656, + "width": 0.015999999023437596, + "height": 0.37599997705078264 + } + ] + } + } + }, + { + "time": 6.8, + "frame": 204, + "progress": 100, + "action_description": "爪夹夹紧右侧第二张扑克牌垂直升高", + "state_description": "爪夹夹紧爪夹右侧第二张扑克牌，爪夹角度接近垂直于桌面。\n抓取取出爪夹右侧第二张扑克牌的任务目标完成。", + "progress_explanation": "爪夹夹紧爪夹右侧第二张扑克牌上升取出，因此进度提升为100%。", + "error_success_analysis": "爪夹夹紧爪夹右侧第二张扑克牌上升，把爪夹右侧第二张扑克牌取出。任务完成。", + "correction_plan": "", + "annotations": { + "point_1768027408807": { + "type": "point", + "instances": [ + { + "id": "point_1768027408807_1768027520475_xtvcjxcbq", + "x": 0.5077776789686476, + "y": 0.4397083014094054 + } + ] + }, + "point_1768027413256": { + "type": "point", + "instances": [ + { + "id": "point_1768027413256_1768027522395_mn15yu9h5", + "x": 0.5547776760999953, + "y": 0.4387083014704406 + } + ] + }, + "bbox_1768027396187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768027396187_1768027526438_m7o5283ut", + "x": 0.5267776778089795, + "y": 0.19070831660715842, + "width": 0.015999999023437596, + "height": 0.4089999750366226 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768027396187", + "name": "右侧第二张扑克牌", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768027408807", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768027413256", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001041.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001041.json new file mode 100644 index 0000000000000000000000000000000000000000..e4f264c78b258f530ccfcddb4673444cef5ae65e --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001041.json @@ -0,0 +1,341 @@ +{ + "task_description": "抓取取出爪夹最左侧扑克牌：\n准备开始移动：0%\n爪夹接近最左侧扑克牌：20%\n爪夹来到最左侧扑克牌正上方：40%\n爪夹靠近最左侧扑克牌：60%\n爪夹抓取最左侧扑克牌：80%\n爪夹夹紧最左侧扑克牌上升取出：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左后方移动并垂直下降，调整爪夹方向使其位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。爪夹垂直下降靠近爪夹最左侧扑克牌，爪夹合拢抓取爪夹最左侧扑克牌。抓紧爪夹最左侧扑克牌垂直升高。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹张开，远离爪夹最左侧扑克牌，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离爪夹最左侧扑克牌，未开始移动。\n为完成抓取取出爪夹最左侧扑克牌的任务应当：爪夹向爪夹左后方移动并垂直下降，调整爪夹方向使其位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。", + "time": 0, + "annotations": { + "point_1768026917479": { + "type": "point", + "instances": [ + { + "id": "point_1768026917479_1768026934576_rx2m9x6wp", + "x": 0.28377769264052166, + "y": 0.4598194146838736 + } + ] + }, + "point_1768026926042": { + "type": "point", + "instances": [ + { + "id": "point_1768026926042_1768026937148_5r1dyl16v", + "x": 0.7847776620619104, + "y": 0.45570830043284294 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动", + "correction_plan": "爪夹向爪夹右方移动并垂直下降，调整爪夹方向使其位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。爪夹垂直下降靠近爪夹最左侧扑克牌，爪夹合拢抓取爪夹最左侧扑克牌。抓紧爪夹最左侧扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹左后方移动，水平上缩短了与爪夹最左侧扑克牌的距离。", + "frame": 47, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上略微接近了爪夹最左侧扑克牌。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平上略微接近了爪夹最左侧扑克牌。\n为完成抓取取出爪夹最左侧扑克牌的任务应当：爪夹向爪夹右方移动并垂直下降，调整爪夹方向使其位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。", + "time": 1.5743, + "annotations": { + "point_1768026926042": { + "type": "point", + "instances": [ + { + "id": "point_1768026926042_1768026940776_yxel02jfm", + "x": 0.7857776620008751, + "y": 0.4537083005549133 + } + ] + }, + "point_1768026917479": { + "type": "point", + "instances": [ + { + "id": "point_1768026917479_1768026942734_i4uyd759k", + "x": 0.28377769264052166, + "y": 0.4537083005549133 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动下降", + "correction_plan": "爪夹向爪夹左后方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。爪夹垂直下降靠近爪夹最左侧扑克牌，爪夹合拢抓取爪夹最左侧扑克牌。抓紧爪夹最左侧扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹左后方移动下降缩短了与爪夹最左侧扑克牌之间的距离。方便继续向爪夹最左侧扑克牌移动靠近。", + "frame": 95, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最左侧扑克牌。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最左侧扑克牌。\n为完成抓取取出爪夹最左侧扑克牌的任务应当：爪夹向爪夹左后方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。", + "time": 3.1668, + "annotations": { + "point_1768026917479": { + "type": "point", + "instances": [ + { + "id": "point_1768026917479_1768026946414_lrs9nond6", + "x": 0.28077769282362713, + "y": 0.448708300860089 + } + ] + }, + "point_1768026926042": { + "type": "point", + "instances": [ + { + "id": "point_1768026926042_1768026948196_n2rcoz6cn", + "x": 0.7837776621229454, + "y": 0.44370830116526483 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左方移动下降并调整爪夹方向", + "correction_plan": "爪夹继续向爪夹左方移动下降，调整爪夹角度使爪夹位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。爪夹垂直下降靠近爪夹最左侧扑克牌，爪夹合拢抓取爪夹最左侧扑克牌。抓紧爪夹最左侧扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹左方移动下降方便抓取爪夹最左侧扑克牌。", + "frame": 144, + "progress": 30, + "progress_explanation": "爪夹角度与桌面接近垂直，垂直上更加接近了爪夹最左侧扑克牌。因此进度提升为30%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，垂直上接近了爪夹最左侧扑克牌。\n为完成抓取取出爪夹最左侧扑克牌的任务应当：爪夹继续向爪夹左方移动下降，调整爪夹角度使爪夹位于扑克牌两侧，来到爪夹最左侧扑克牌正上方。", + "time": 4.8139, + "annotations": { + "point_1768026926042": { + "type": "point", + "instances": [ + { + "id": "point_1768026926042_1768026951820_727r04z6a", + "x": 0.7807776623060508, + "y": 0.45070830073801876 + } + ] + }, + "point_1768026917479": { + "type": "point", + "instances": [ + { + "id": "point_1768026917479_1768026954022_4y2j8cmki", + "x": 0.28077769282362713, + "y": 0.4577083003107727 + } + ] + }, + "bbox_1768026905940": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768026905940_1768026956990_48zqugcfi", + "x": 0.10177770374891944, + "y": 0.30970830934397525, + "width": 0.21199998706054762, + "height": 0.23499998565673916 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左方移动下降并调整爪夹方向", + "correction_plan": "爪夹垂直下降靠近爪夹最左侧扑克牌，爪夹合拢抓取爪夹最左侧扑克牌。抓紧爪夹最左侧扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹左方移动下降来到了爪夹最左侧扑克牌正上方，方便抓取爪夹最左侧扑克牌。", + "frame": 195, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，位于爪夹最左侧扑克牌正上方。方便下降抓取爪夹最左侧扑克牌。因此进度提升为40%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于爪夹最左侧扑克牌正上方。\n为完成抓取取出爪夹最左侧扑克牌的任务应当：爪夹垂直下降靠近爪夹最左侧扑克牌，爪夹合拢抓取爪夹最左侧扑克牌。", + "time": 6.506499, + "annotations": { + "point_1768026917479": { + "type": "point", + "instances": [ + { + "id": "point_1768026917479_1768026966462_0ofyz3q9w", + "x": 0.28077769282362713, + "y": 0.45070830073801876 + } + ] + }, + "point_1768026926042": { + "type": "point", + "instances": [ + { + "id": "point_1768026926042_1768026968664_yp786d1er", + "x": 0.7827776621839805, + "y": 0.4577083003107727 + } + ] + }, + "bbox_1768026905940": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768026905940_1768026973801_uis55jt92", + "x": 0.49577767970106934, + "y": 0.07970832338206034, + "width": 0.014999999084472708, + "height": 0.4099999749755875 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹合拢抓取爪夹最左侧扑克牌。抓紧爪夹最左侧扑克牌垂直升高。", + "error_success_analysis": "爪夹垂直下降靠近了爪夹最左侧扑克牌，方便抓取爪夹最左侧扑克牌。", + "frame": 225, + "progress": 60, + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了爪夹最左侧扑克牌两侧。方便抓取爪夹最左侧扑克牌，因此进度提升为60%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了爪夹最左侧扑克牌两侧。\n为完成抓取取出爪夹最左侧扑克牌的任务应当：爪夹合拢抓取爪夹最左侧扑克牌。", + "time": 7.489299, + "annotations": { + "point_1768026917479": { + "type": "point", + "instances": [ + { + "id": "point_1768026917479_1768026978230_rjjhqyekc", + "x": 0.28377769264052166, + "y": 0.4537083005549133 + } + ] + }, + "point_1768026926042": { + "type": "point", + "instances": [ + { + "id": "point_1768026926042_1768026980220_rtv88dazt", + "x": 0.7837776621229454, + "y": 0.448708300860089 + } + ] + }, + "bbox_1768026905940": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768026905940_1768026985550_t3g1frfl0", + "x": 0.4927776798841748, + "y": 0.18770831679026387, + "width": 0.019999998779296924, + "height": 0.39999997558593897 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧爪夹最左侧扑克牌垂直升高。", + "error_success_analysis": "爪夹合拢抓取到了爪夹最左侧扑克牌，方便将爪夹最左侧扑克牌取出。", + "frame": 253, + "progress": 80, + "progress_explanation": "爪夹合拢，抓取到了爪夹最左侧扑克牌。因此进度提升为80%。", + "state_description": "爪夹合拢，抓取到爪夹最左侧扑克牌。\n为完成抓取取出爪夹最左侧扑克牌的任务应当：抓紧爪夹最左侧扑克牌垂直升高。", + "time": 8.4357, + "annotations": { + "point_1768026917479": { + "type": "point", + "instances": [ + { + "id": "point_1768026917479_1768026989516_hkgndr5zx", + "x": 0.504777679151753, + "y": 0.4417083012873351 + } + ] + }, + "point_1768026926042": { + "type": "point", + "instances": [ + { + "id": "point_1768026926042_1768026991500_4n2lbu3gm", + "x": 0.5457776766493118, + "y": 0.44370830116526483 + } + ] + }, + "bbox_1768026905940": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768026905940_1768026996704_qj514png4", + "x": 0.5147776785414014, + "y": 0.18170831715647479, + "width": 0.017999998901367262, + "height": 0.4279999738769547 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧最左侧扑克牌垂直升高", + "correction_plan": "", + "error_success_analysis": "爪夹夹紧爪夹最左侧扑克牌上升，把爪夹最左侧扑克牌取出。任务完成。", + "frame": 273, + "progress": 100, + "progress_explanation": "爪夹夹紧爪夹最左侧扑克牌上升取出，因此进度提升为100%。", + "state_description": "爪夹夹紧爪夹最左侧扑克牌，爪夹角度接近垂直于桌面。\n抓取取出爪夹最左侧扑克牌的任务目标完成。", + "time": 9.1, + "annotations": { + "point_1768026917479": { + "type": "point", + "instances": [ + { + "id": "point_1768026917479_1768027000712_388ymspht", + "x": 0.5087776789076124, + "y": 0.44070830134837025 + } + ] + }, + "point_1768026926042": { + "type": "point", + "instances": [ + { + "id": "point_1768026926042_1768027002540_8zna00i1d", + "x": 0.5547776760999953, + "y": 0.4417083012873351 + } + ] + }, + "bbox_1768026905940": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768026905940_1768027008532_af0o93qg9", + "x": 0.5247776779310499, + "y": 0.18370831703440446, + "width": 0.017999998901367262, + "height": 0.42099997430420083 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768026905940", + "name": "最左侧扑克牌", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768026917479", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768026926042", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001054.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001054.json new file mode 100644 index 0000000000000000000000000000000000000000..95960476699eed3a504eac01b189e6a4765ddb47 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001054.json @@ -0,0 +1,353 @@ +{ + "task_description": "抓取取出爪夹最右侧扑克牌：\n准备开始移动：0%\n爪夹接近最右侧扑克牌：20%\n爪夹来到最右侧扑克牌正上方：40%\n爪夹靠近最右侧扑克牌：60%\n爪夹抓取最右侧扑克牌：80%\n爪夹夹紧最右侧扑克牌上升取出：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离爪夹最右侧扑克牌，未开始移动。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右后方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹张开，远离爪夹最右侧扑克牌，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768025750438": { + "type": "point", + "instances": [ + { + "id": "point_1768025750438_1768025765649_dm1z9xzr8", + "x": 0.28577769251845137, + "y": 0.4548194149890493 + } + ] + }, + "point_1768025755159": { + "type": "point", + "instances": [ + { + "id": "point_1768025755159_1768025769196_7vsnybac7", + "x": 0.7807776623060508, + "y": 0.4537083005549133 + } + ] + }, + "bbox_1768025726633": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768025726633_1768025773401_4yxxnu37i", + "x": 0.8667776570570278, + "y": 0.4377083015314757, + "width": 0.13199999194335987, + "height": 0.13699999163818416 + } + ] + } + } + }, + { + "time": 0.76, + "frame": 23, + "progress": 10, + "action_description": "爪夹向正前方移动下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，垂直上略微接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，垂直上略微接近了爪夹最右侧扑克牌。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右后方移动，水平上缩短了与爪夹最右侧扑克牌的距离。", + "correction_plan": "爪夹向爪夹右方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768025750438": { + "type": "point", + "instances": [ + { + "id": "point_1768025750438_1768025778437_5icqzjc9p", + "x": 0.28277769270155684, + "y": 0.4587083002497375 + } + ] + }, + "point_1768025755159": { + "type": "point", + "instances": [ + { + "id": "point_1768025755159_1768025780849_6ytl9xent", + "x": 0.7837776621229454, + "y": 0.4517083006769836 + } + ] + } + } + }, + { + "time": 2.082381926396514, + "frame": 62, + "progress": 20, + "action_description": "爪夹向爪夹右后方移动下降并调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右后方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最右侧扑克牌。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右后移动下降缩短了与爪夹最右侧扑克牌之间的距离。方便继续向爪夹最右侧扑克牌移动靠近。", + "correction_plan": "爪夹向爪夹右后方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768025755159": { + "type": "point", + "instances": [ + { + "id": "point_1768025755159_1768025785981_rcwwfxceq", + "x": 0.7827776621839805, + "y": 0.4547083004938781 + } + ] + }, + "point_1768025750438": { + "type": "point", + "instances": [ + { + "id": "point_1768025750438_1768025788130_ndzjf8ksp", + "x": 0.28277769270155684, + "y": 0.4587083002497375 + } + ] + } + } + }, + { + "time": 3.430010707579263, + "frame": 103, + "progress": 30, + "action_description": "爪夹向爪夹右后方移动下降并调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，垂直上接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹继续向爪夹下方移动下降，调整爪夹角度使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，垂直上更加接近了爪夹最右侧扑克牌。因此进度提升为30%。", + "error_success_analysis": "爪夹向爪夹右后方移动下降方便抓取爪夹最右侧扑克牌。", + "correction_plan": "爪夹继续向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768025750438": { + "type": "point", + "instances": [ + { + "id": "point_1768025750438_1768025792779_2zftjb0tl", + "x": 0.2797776928846623, + "y": 0.45070830073801876 + } + ] + }, + "point_1768025755159": { + "type": "point", + "instances": [ + { + "id": "point_1768025755159_1768025795345_5nee1b8ig", + "x": 0.7827776621839805, + "y": 0.4517083006769836 + } + ] + }, + "bbox_1768025726633": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768025726633_1768025806059_djwhnjjle", + "x": 0.3307776897718695, + "y": 0.37770830519358495, + "width": 0.13599999169921925, + "height": 0.20099998773193425 + } + ] + } + } + }, + { + "time": 4.909599, + "frame": 147, + "progress": 40, + "action_description": "爪夹下降并调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于爪夹最右侧扑克牌正上方。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。", + "progress_explanation": "爪夹角度与桌面接近垂直，位于爪夹最右侧扑克牌正上方。方便下降抓取爪夹最右侧扑克牌。因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹下移动来到了爪夹最右侧扑克牌正上方，方便抓取爪夹最右侧扑克牌。", + "correction_plan": "爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768025750438": { + "type": "point", + "instances": [ + { + "id": "point_1768025750438_1768025819549_2rmkwe2bm", + "x": 0.28277769270155684, + "y": 0.4517083006769836 + } + ] + }, + "point_1768025755159": { + "type": "point", + "instances": [ + { + "id": "point_1768025755159_1768025821473_47aw8zbmg", + "x": 0.7827776621839805, + "y": 0.4517083006769836 + } + ] + }, + "bbox_1768025726633": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768025726633_1768025829384_6iwxluefb", + "x": 0.4927776798841748, + "y": 0.09270832258860336, + "width": 0.017999998901367262, + "height": 0.4049999752807632 + } + ] + } + } + }, + { + "time": 5.8824, + "frame": 176, + "progress": 60, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了爪夹最右侧扑克牌两侧。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹合拢抓取爪夹最右侧扑克牌。", + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了爪夹最右侧扑克牌两侧。方便抓取爪夹最右侧扑克牌，因此进度提升为60%。", + "error_success_analysis": "爪夹垂直下降靠近了爪夹最右侧扑克牌，方便抓取爪夹最右侧扑克牌。", + "correction_plan": "爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768025750438": { + "type": "point", + "instances": [ + { + "id": "point_1768025750438_1768025833929_bdupyzpsn", + "x": 0.28277769270155684, + "y": 0.4547083004938781 + } + ] + }, + "point_1768025755159": { + "type": "point", + "instances": [ + { + "id": "point_1768025755159_1768025835737_eaipb4iup", + "x": 0.7847776620619104, + "y": 0.44570830104319453 + } + ] + }, + "bbox_1768025726633": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768025726633_1768025841417_mlp5q24as", + "x": 0.49677767964003416, + "y": 0.20770831556956082, + "width": 0.017999998901367262, + "height": 0.3949999758911148 + } + ] + } + } + }, + { + "time": 6.9464, + "frame": 208, + "progress": 80, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，抓取到爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：抓紧爪夹最右侧扑克牌垂直升高。", + "progress_explanation": "爪夹合拢，抓取到了爪夹最右侧扑克牌。因此进度提升为80%。", + "error_success_analysis": "爪夹合拢抓取到了爪夹最右侧扑克牌，方便将爪夹最右侧扑克牌取出。", + "correction_plan": "抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768025750438": { + "type": "point", + "instances": [ + { + "id": "point_1768025750438_1768025846302_t70gi4d5x", + "x": 0.504777679151753, + "y": 0.4397083014094054 + } + ] + }, + "point_1768025755159": { + "type": "point", + "instances": [ + { + "id": "point_1768025755159_1768025848470_t1ipsiysq", + "x": 0.543777676771382, + "y": 0.44570830104319453 + } + ] + }, + "bbox_1768025726633": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768025726633_1768025853156_ejc2gc6sm", + "x": 0.5207776781751905, + "y": 0.2057083156916311, + "width": 0.011999999267578155, + "height": 0.3969999757690444 + } + ] + } + } + }, + { + "time": 7.6, + "frame": 228, + "progress": 100, + "action_description": "爪夹夹紧最右侧扑克牌垂直上升", + "state_description": "爪夹夹紧爪夹最右侧扑克牌，爪夹角度接近垂直于桌面。\n抓取取出爪夹最右侧扑克牌的任务目标完成。", + "progress_explanation": "爪夹夹紧爪夹最右侧扑克牌上升取出，因此进度提升为100%。", + "error_success_analysis": "爪夹夹紧爪夹最右侧扑克牌上升，把爪夹最右侧扑克牌取出。任务完成。", + "correction_plan": "", + "annotations": { + "point_1768025750438": { + "type": "point", + "instances": [ + { + "id": "point_1768025750438_1768025862126_eftpel87g", + "x": 0.510777678785542, + "y": 0.44370830116526483 + } + ] + }, + "point_1768025755159": { + "type": "point", + "instances": [ + { + "id": "point_1768025755159_1768025864644_4js2tt8w5", + "x": 0.550777676344136, + "y": 0.44370830116526483 + } + ] + }, + "bbox_1768025726633": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768025726633_1768025872679_b6xaz2vok", + "x": 0.5267776778089795, + "y": 0.21570831508127958, + "width": 0.013999999145507935, + "height": 0.3879999763183608 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768025726633", + "name": "最右侧扑克牌", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768025750438", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768025755159", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001217.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001217.json new file mode 100644 index 0000000000000000000000000000000000000000..c79f7fd6ee9ec95d82ca74150ad53a6cbb4ef316 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001217.json @@ -0,0 +1,377 @@ +{ + "task_description": "抓取取出爪夹右侧第二张扑克牌：\n准备开始移动：0%\n爪夹接近右侧第二张扑克牌：20%\n爪夹来到右侧第二张扑克牌正上方：40%\n爪夹靠近右侧第二张扑克牌：60%\n爪夹抓取右侧第二张扑克牌：80%\n爪夹夹紧右侧第二张扑克牌上升取出：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。爪夹垂直下降靠近爪夹右侧第二张扑克牌，爪夹合拢抓取爪夹右侧第二张扑克牌。抓紧爪夹右侧第二张扑克牌垂直升高。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹张开，远离爪夹右侧第二张扑克牌，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离爪夹右侧第二张扑克牌，未开始移动。\n为完成抓取取出爪夹右侧第二张扑克牌的任务应当：爪夹向爪夹右后方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。", + "time": 0, + "annotations": { + "bbox_1768024978344": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768024978344_1768025008694_q95kyess7", + "x": 0.6057776729872025, + "y": 0.44581941553836574, + "width": 0.13499999176025443, + "height": 0.0929999943237308 + } + ] + }, + "point_1768024993386": { + "type": "point", + "instances": [ + { + "id": "point_1768024993386_1768025012214_r9lmi9bzy", + "x": 0.28377769264052166, + "y": 0.45570830043284294 + } + ] + }, + "point_1768024998224": { + "type": "point", + "instances": [ + { + "id": "point_1768024998224_1768025015386_nla1dxzrf", + "x": 0.7837776621229454, + "y": 0.44970830079905394 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右后方移动", + "correction_plan": "爪夹向爪夹右方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。爪夹垂直下降靠近爪夹右侧第二张扑克牌，爪夹合拢抓取爪夹右侧第二张扑克牌。抓紧爪夹右侧第二张扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹右后方移动，水平上缩短了与爪夹右侧第二张扑克牌的距离。", + "frame": 40, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上略微接近了爪夹右侧第二张扑克牌。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平上略微接近了爪夹右侧第二张扑克牌。\n为完成抓取取出爪夹右侧第二张扑克牌的任务应当：爪夹向爪夹右方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。", + "time": 1.3348, + "annotations": { + "point_1768024998224": { + "type": "point", + "instances": [ + { + "id": "point_1768024998224_1768025018990_03a32owpi", + "x": 0.7847776620619104, + "y": 0.45270830061594847 + } + ] + }, + "point_1768024993386": { + "type": "point", + "instances": [ + { + "id": "point_1768024993386_1768025021040_4erw89n8x", + "x": 0.28377769264052166, + "y": 0.45270830061594847 + } + ] + }, + "bbox_1768024978344": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768024978344_1768025025450_szqnffo5u", + "x": 0.4737776810438427, + "y": 0.3787083051325497, + "width": 0.13699999163818408, + "height": 0.10299999371337928 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降调整爪夹方向", + "correction_plan": "爪夹向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。爪夹垂直下降靠近爪夹右侧第二张扑克牌，爪夹合拢抓取爪夹右侧第二张扑克牌。抓紧爪夹右侧第二张扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹下方移动下降缩短了与爪夹右侧第二张扑克牌之间的距离。方便继续向爪夹右侧第二张扑克牌移动靠近。", + "frame": 71, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹右侧第二张扑克牌。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹右侧第二张扑克牌。\n为完成抓取取出爪夹右侧第二张扑克牌的任务应当：爪夹向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。", + "time": 2.364299, + "annotations": { + "point_1768024993386": { + "type": "point", + "instances": [ + { + "id": "point_1768024993386_1768025030242_ou0fa1hp4", + "x": 0.28477769257948654, + "y": 0.4587083002497375 + } + ] + }, + "point_1768024998224": { + "type": "point", + "instances": [ + { + "id": "point_1768024998224_1768025032504_plo7lavkb", + "x": 0.7827776621839805, + "y": 0.44970830079905394 + } + ] + }, + "bbox_1768024978344": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768024978344_1768025035686_qd2sn47z7", + "x": 0.30477769135878346, + "y": 0.29470831025950256, + "width": 0.16399998999023496, + "height": 0.17999998901367248 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降调整爪夹方向", + "correction_plan": "爪夹向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。爪夹垂直下降靠近爪夹右侧第二张扑克牌，爪夹合拢抓取爪夹右侧第二张扑克牌。抓紧爪夹右侧第二张扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹下方移动下降缩短了与爪夹右侧第二张扑克牌之间的距离。方便继续向爪夹右侧第二张扑克牌移动靠近。", + "frame": 102, + "progress": 30, + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上更加接近了爪夹右侧第二张扑克牌。因此进度提升为30%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上更加接近了爪夹右侧第二张扑克牌。\n为完成抓取取出爪夹右侧第二张扑克牌的任务应当：爪夹向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹右侧第二张扑克牌正上方。", + "time": 3.393799, + "annotations": { + "point_1768024993386": { + "type": "point", + "instances": [ + { + "id": "point_1768024993386_1768025044908_g5f4s0sp8", + "x": 0.28077769282362713, + "y": 0.45270830061594847 + } + ] + }, + "point_1768024998224": { + "type": "point", + "instances": [ + { + "id": "point_1768024998224_1768025047180_uvy86mk7k", + "x": 0.7847776620619104, + "y": 0.44970830079905394 + } + ] + }, + "bbox_1768024978344": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768024978344_1768025052290_9pr30zsnu", + "x": 0.26577769373915444, + "y": 0.15770831862131846, + "width": 0.15099999078369192, + "height": 0.27599998315429786 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降调整爪夹方向", + "correction_plan": "爪夹垂直下降靠近爪夹右侧第二张扑克牌，爪夹合拢抓取爪夹右侧第二张扑克牌。抓紧爪夹右侧第二张扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹下方移动来到了爪夹右侧第二张扑克牌正上方，方便抓取爪夹右侧第二张扑克牌。", + "frame": 134, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，位于爪夹右侧第二张扑克牌正上方。方便下降抓取爪夹右侧第二张扑克牌。因此进度提升为40%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于爪夹右侧第二张扑克牌正上方。\n为完成抓取取出爪夹右侧第二张扑克牌的任务应当：爪夹垂直下降靠近爪夹右侧第二张扑克牌，爪夹合拢抓取爪夹右侧第二张扑克牌。", + "time": 4.4659, + "annotations": { + "point_1768024993386": { + "type": "point", + "instances": [ + { + "id": "point_1768024993386_1768025061182_xjqrhaolb", + "x": 0.28277769270155684, + "y": 0.45570830043284294 + } + ] + }, + "point_1768024998224": { + "type": "point", + "instances": [ + { + "id": "point_1768024998224_1768025063250_z8j1b315w", + "x": 0.7837776621229454, + "y": 0.44570830104319453 + } + ] + }, + "bbox_1768024978344": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768024978344_1768025068391_zyjxo4hq5", + "x": 0.4947776797621045, + "y": 0.07970832338206034, + "width": 0.015999999023437537, + "height": 0.3959999758300796 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹合拢抓取爪夹右侧第二张扑克牌。抓紧爪夹右侧第二张扑克牌垂直升高。", + "error_success_analysis": "爪夹垂直下降靠近了爪夹右侧第二张扑克牌，方便抓取爪夹右侧第二张扑克牌。", + "frame": 168, + "progress": 60, + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了爪夹右侧第二张扑克牌两侧。方便抓取爪夹右侧第二张扑克牌，因此进度提升为60%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了爪夹右侧第二张扑克牌两侧。\n为完成抓取取出爪夹右侧第二张扑克牌的任务应当：爪夹合拢抓取爪夹右侧第二张扑克牌。", + "time": 5.5877, + "annotations": { + "point_1768024993386": { + "type": "point", + "instances": [ + { + "id": "point_1768024993386_1768025072886_rrj26vcuw", + "x": 0.28077769282362713, + "y": 0.44970830079905394 + } + ] + }, + "point_1768024998224": { + "type": "point", + "instances": [ + { + "id": "point_1768024998224_1768025075352_a1gk95yk7", + "x": 0.7847776620619104, + "y": 0.4517083006769836 + } + ] + }, + "bbox_1768024978344": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768024978344_1768025080150_5v484oyt0", + "x": 0.4987776795179639, + "y": 0.19970831605784203, + "width": 0.019999998779296924, + "height": 0.40899997503662255 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧爪夹右侧第二张扑克牌垂直升高。", + "error_success_analysis": "爪夹合拢抓取到了爪夹右侧第二张扑克牌，方便将爪夹右侧第二张扑克牌取出。", + "frame": 194, + "progress": 80, + "progress_explanation": "爪夹合拢，抓取到了爪夹右侧第二张扑克牌。因此进度提升为80%。", + "state_description": "爪夹合拢，抓取到爪夹右侧第二张扑克牌。\n为完成抓取取出爪夹右侧第二张扑克牌的任务应当：抓紧爪夹右侧第二张扑克牌垂直升高。", + "time": 6.4539, + "annotations": { + "point_1768024993386": { + "type": "point", + "instances": [ + { + "id": "point_1768024993386_1768025085092_t1e2sx2zx", + "x": 0.5027776792738233, + "y": 0.4377083015314757 + } + ] + }, + "point_1768024998224": { + "type": "point", + "instances": [ + { + "id": "point_1768024998224_1768025087116_laf5dxob4", + "x": 0.5447776767103468, + "y": 0.4387083014704406 + } + ] + }, + "bbox_1768024978344": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768024978344_1768025091929_6183tbyee", + "x": 0.5187776782972608, + "y": 0.20170831593577174, + "width": 0.013999999145507876, + "height": 0.4529999723510759 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧右侧第二张扑克牌垂直升高", + "correction_plan": "", + "error_success_analysis": "爪夹夹紧爪夹右侧第二张扑克牌上升，把爪夹右侧第二张扑克牌取出。任务完成。", + "frame": 213, + "progress": 100, + "progress_explanation": "爪夹夹紧爪夹右侧第二张扑克牌上升取出，因此进度提升为100%。", + "state_description": "爪夹夹紧爪夹右侧第二张扑克牌，爪夹角度接近垂直于桌面。\n抓取取出爪夹右侧第二张扑克牌的任务目标完成。", + "time": 7.1, + "annotations": { + "point_1768024993386": { + "type": "point", + "instances": [ + { + "id": "point_1768024993386_1768025097396_0b55fvb5y", + "x": 0.510777678785542, + "y": 0.4387083014704406 + } + ] + }, + "point_1768024998224": { + "type": "point", + "instances": [ + { + "id": "point_1768024998224_1768025099979_4dsqs04lm", + "x": 0.5527776762220656, + "y": 0.44070830134837025 + } + ] + }, + "bbox_1768024978344": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768024978344_1768025107930_r7gma1noi", + "x": 0.5257776778700147, + "y": 0.19770831617991236, + "width": 0.014999999084472767, + "height": 0.40799997509765784 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768024978344", + "name": "右侧第二张扑克牌", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768024993386", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768024998224", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001224.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001224.json new file mode 100644 index 0000000000000000000000000000000000000000..5fac6d0b6f208517d41364338e123de0df8e64d2 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001224.json @@ -0,0 +1,377 @@ +{ + "task_description": "抓取取出爪夹最右侧扑克牌：\n准备开始移动：0%\n爪夹接近最右侧扑克牌：20%\n爪夹来到最右侧扑克牌正上方：40%\n爪夹靠近最右侧扑克牌：60%\n爪夹抓取最右侧扑克牌：80%\n爪夹夹紧最右侧扑克牌上升取出：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹张开，远离爪夹最右侧扑克牌，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离爪夹最右侧扑克牌，未开始移动。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右后方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。", + "time": 0, + "annotations": { + "point_1768014864192": { + "type": "point", + "instances": [ + { + "id": "point_1768014864192_1768014880204_itmjbhaqw", + "x": 0.28477769257948654, + "y": 0.4598194146838736 + } + ] + }, + "point_1768014869083": { + "type": "point", + "instances": [ + { + "id": "point_1768014869083_1768014882152_hfu2dj6wi", + "x": 0.7857776620008751, + "y": 0.4547083004938781 + } + ] + }, + "bbox_1768014849278": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014849278_1768014886956_glh5uzzzj", + "x": 0.858777657545309, + "y": 0.45570830043284294, + "width": 0.08999999450683624, + "height": 0.0989999939575199 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右后方移动", + "correction_plan": "爪夹向爪夹右方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹右后方移动，水平上缩短了与爪夹最右侧扑克牌的距离。", + "frame": 46, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上略微接近了爪夹最右侧扑克牌。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平上略微接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右方移动并垂直下降，调整爪夹角度使其位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。", + "time": 1.53, + "annotations": { + "point_1768014864192": { + "type": "point", + "instances": [ + { + "id": "point_1768014864192_1768014891726_z5kyq7ueu", + "x": 0.28377769264052166, + "y": 0.4587083002497375 + } + ] + }, + "point_1768014869083": { + "type": "point", + "instances": [ + { + "id": "point_1768014869083_1768014893576_7gcw7nvci", + "x": 0.7827776621839805, + "y": 0.45570830043284294 + } + ] + }, + "bbox_1768014849278": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014849278_1768014897434_sakevf9b7", + "x": 0.6767776686537067, + "y": 0.304708309649151, + "width": 0.16399998999023496, + "height": 0.08699999468994175 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右后方移动下降", + "correction_plan": "爪夹向爪夹前方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹右移动下降缩短了与爪夹最右侧扑克牌之间的距离。方便继续向爪夹最右侧扑克牌移动靠近。", + "frame": 109, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最右侧扑克牌。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹前方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。", + "time": 3.645, + "annotations": { + "point_1768014864192": { + "type": "point", + "instances": [ + { + "id": "point_1768014864192_1768014901808_b5h2zj2rj", + "x": 0.28377769264052166, + "y": 0.45270830061594847 + } + ] + }, + "point_1768014869083": { + "type": "point", + "instances": [ + { + "id": "point_1768014869083_1768014903914_h2anj6yw5", + "x": 0.7827776621839805, + "y": 0.4537083005549133 + } + ] + }, + "bbox_1768014849278": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014849278_1768014907127_7iti2f38e", + "x": 0.5587776758558547, + "y": 0.06570832423655247, + "width": 0.1809999889526374, + "height": 0.06699999591064479 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹前方移动下降，调整爪夹方向", + "correction_plan": "爪夹继续向爪夹前方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹前方移动下降方便抓取爪夹最右侧扑克牌。", + "frame": 159, + "progress": 30, + "progress_explanation": "爪夹角度与桌面接近垂直，垂直上更加接近了爪夹最右侧扑克牌。因此进度提升为30%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，垂直上接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹继续向爪夹前方移动下降，调整爪夹角度使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。", + "time": 5.292, + "annotations": { + "point_1768014864192": { + "type": "point", + "instances": [ + { + "id": "point_1768014864192_1768014911108_wt3e621a3", + "x": 0.28377769264052166, + "y": 0.4577083003107727 + } + ] + }, + "point_1768014869083": { + "type": "point", + "instances": [ + { + "id": "point_1768014869083_1768014913128_cvgudbsj4", + "x": 0.7847776620619104, + "y": 0.45070830073801876 + } + ] + }, + "bbox_1768014849278": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014849278_1768014917800_opcmt908j", + "x": 0.5367776771986281, + "y": 0.0707083239313767, + "width": 0.18199998889160227, + "height": 0.2109999871215828 + } + ] + } + } + }, + { + "action_description": "爪夹下降并调整爪夹方向", + "correction_plan": "爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹右移动来到了爪夹最右侧扑克牌正上方，方便抓取爪夹最右侧扑克牌。", + "frame": 189, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，位于爪夹最右侧扑克牌正上方。方便下降抓取爪夹最右侧扑克牌。因此进度提升为40%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于爪夹最右侧扑克牌正上方。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。", + "time": 6.308999, + "annotations": { + "point_1768014864192": { + "type": "point", + "instances": [ + { + "id": "point_1768014864192_1768014921910_sgv4q0hkw", + "x": 0.28277769270155684, + "y": 0.44970830079905394 + } + ] + }, + "point_1768014869083": { + "type": "point", + "instances": [ + { + "id": "point_1768014869083_1768014924028_fu314humi", + "x": 0.7837776621229454, + "y": 0.45070830073801876 + } + ] + }, + "bbox_1768014849278": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014849278_1768014929244_abgeyhrwf", + "x": 0.49977767945692875, + "y": 0.08770832289377913, + "width": 0.017999998901367262, + "height": 0.386999976379396 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "error_success_analysis": "爪夹垂直下降靠近了爪夹最右侧扑克牌，方便抓取爪夹最右侧扑克牌。", + "frame": 220, + "progress": 60, + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了爪夹最右侧扑克牌两侧。方便抓取爪夹最右侧扑克牌，因此进度提升为60%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了爪夹最右侧扑克牌两侧。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹合拢抓取爪夹最右侧扑克牌。", + "time": 7.343999, + "annotations": { + "point_1768014864192": { + "type": "point", + "instances": [ + { + "id": "point_1768014864192_1768014933444_v99ltcov0", + "x": 0.28277769270155684, + "y": 0.4537083005549133 + } + ] + }, + "point_1768014869083": { + "type": "point", + "instances": [ + { + "id": "point_1768014869083_1768014935484_6yp0s0l52", + "x": 0.7857776620008751, + "y": 0.44970830079905394 + } + ] + }, + "bbox_1768014849278": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014849278_1768014941264_98bkwes3f", + "x": 0.49377767982313964, + "y": 0.20170831593577174, + "width": 0.018999998840332093, + "height": 0.39399997595214986 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧爪夹最右侧扑克牌垂直升高。", + "error_success_analysis": "爪夹合拢抓取到了爪夹最右侧扑克牌，方便将爪夹最右侧扑克牌取出。", + "frame": 251, + "progress": 80, + "progress_explanation": "爪夹合拢，抓取到了爪夹最右侧扑克牌。因此进度提升为80%。", + "state_description": "爪夹合拢，抓取到爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：抓紧爪夹最右侧扑克牌垂直升高。", + "time": 8.369999, + "annotations": { + "point_1768014864192": { + "type": "point", + "instances": [ + { + "id": "point_1768014864192_1768014945334_u6kgebead", + "x": 0.504777679151753, + "y": 0.4397083014094054 + } + ] + }, + "point_1768014869083": { + "type": "point", + "instances": [ + { + "id": "point_1768014869083_1768014947204_pby7unf77", + "x": 0.5427776768324172, + "y": 0.4397083014094054 + } + ] + }, + "bbox_1768014849278": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014849278_1768014959062_4r5u8tv5g", + "x": 0.5197776782362257, + "y": 0.20870831550852567, + "width": 0.014999999084472767, + "height": 0.43299997357177894 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧最右侧扑克牌垂直升高", + "correction_plan": "", + "error_success_analysis": "爪夹夹紧爪夹最右侧扑克牌上升，把爪夹最右侧扑克牌取出。任务完成。", + "frame": 270, + "progress": 100, + "progress_explanation": "爪夹夹紧爪夹最右侧扑克牌上升取出，因此进度提升为100%。", + "state_description": "爪夹夹紧爪夹最右侧扑克牌，爪夹角度接近垂直于桌面。\n抓取取出爪夹最右侧扑克牌的任务目标完成。", + "time": 9, + "annotations": { + "point_1768014864192": { + "type": "point", + "instances": [ + { + "id": "point_1768014864192_1768014963804_thd42v734", + "x": 0.510777678785542, + "y": 0.4377083015314757 + } + ] + }, + "point_1768014869083": { + "type": "point", + "instances": [ + { + "id": "point_1768014869083_1768014966176_e9h6haxjg", + "x": 0.550777676344136, + "y": 0.4387083014704406 + } + ] + }, + "bbox_1768014849278": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014849278_1768014973093_59cp3gg2y", + "x": 0.5267776778089795, + "y": 0.22470831453196327, + "width": 0.015999999023437596, + "height": 0.40699997515869296 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768014849278", + "name": "最右侧扑克牌", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768014864192", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768014869083", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001233.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001233.json new file mode 100644 index 0000000000000000000000000000000000000000..4b2627167d0f7b76ffc891ea18d142c65b1157a4 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001233.json @@ -0,0 +1,365 @@ +{ + "task_description": "抓取取出爪夹最右侧扑克牌：\n准备开始移动：0%\n爪夹接近最右侧扑克牌：20%\n爪夹来到最右侧扑克牌正上方：40%\n爪夹靠近最右侧扑克牌：60%\n爪夹抓取最右侧扑克牌：80%\n爪夹夹紧最右侧扑克牌上升取出：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离爪夹最右侧扑克牌，未开始移动。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右后方移动并垂直下降，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹张开，远离爪夹最右侧扑克牌，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768014059467": { + "type": "point", + "instances": [ + { + "id": "point_1768014059467_1768014073823_8z5rb96xd", + "x": 0.28277769270155684, + "y": 0.4698194140735221 + } + ] + }, + "point_1768014064171": { + "type": "point", + "instances": [ + { + "id": "point_1768014064171_1768014076327_rynhtlwxb", + "x": 0.7827776621839805, + "y": 0.45070830073801876 + } + ] + } + } + }, + { + "time": 1.1218, + "frame": 34, + "progress": 10, + "action_description": "爪夹向爪夹右后方移动", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平上略微接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右方移动并垂直下降，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上略微接近了爪夹最右侧扑克牌。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右后方移动，水平上缩短了与爪夹最右侧扑克牌的距离。", + "correction_plan": "爪夹向爪夹右方移动并垂直下降，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768014064171": { + "type": "point", + "instances": [ + { + "id": "point_1768014064171_1768014080867_rwp5uh5x9", + "x": 0.78677766193984, + "y": 0.45070830073801876 + } + ] + }, + "point_1768014059467": { + "type": "point", + "instances": [ + { + "id": "point_1768014059467_1768014084409_mij5awp4z", + "x": 0.28277769270155684, + "y": 0.4517083006769836 + } + ] + }, + "bbox_1768014047541": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014047541_1768014091980_wljql31jt", + "x": 0.753777663954, + "y": 0.4517083006769836, + "width": 0.09599999414062535, + "height": 0.09799999401855507 + } + ] + } + } + }, + { + "time": 2.3542, + "frame": 71, + "progress": 20, + "action_description": "爪夹向爪夹右侧移动下降，调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最右侧扑克牌。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右移动下降缩短了与爪夹最右侧扑克牌之间的距离。方便继续向爪夹最右侧扑克牌移动靠近。", + "correction_plan": "爪夹向爪夹右下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768014059467": { + "type": "point", + "instances": [ + { + "id": "point_1768014059467_1768014096382_5mv4e99jj", + "x": 0.28377769264052166, + "y": 0.4587083002497375 + } + ] + }, + "point_1768014064171": { + "type": "point", + "instances": [ + { + "id": "point_1768014064171_1768014098906_u1slws7ii", + "x": 0.7827776621839805, + "y": 0.45270830061594847 + } + ] + }, + "bbox_1768014047541": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014047541_1768014111176_a0hw3eeyp", + "x": 0.5187776782972608, + "y": 0.4577083003107727, + "width": 0.12499999237060594, + "height": 0.1459999910888677 + } + ] + } + } + }, + { + "time": 3.7525, + "frame": 113, + "progress": 30, + "action_description": "爪夹向爪夹右下方移动下降并调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，垂直上接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹继续向爪夹下方移动下降，调整爪夹角度使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，垂直上更加接近了爪夹最右侧扑克牌。因此进度提升为30%。", + "error_success_analysis": "爪夹向爪夹右移动下降方便抓取爪夹最右侧扑克牌。", + "correction_plan": "爪夹继续向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768014059467": { + "type": "point", + "instances": [ + { + "id": "point_1768014059467_1768014115581_6psvsp559", + "x": 0.28277769270155684, + "y": 0.4517083006769836 + } + ] + }, + "point_1768014064171": { + "type": "point", + "instances": [ + { + "id": "point_1768014064171_1768014118133_fr0e19sfn", + "x": 0.7827776621839805, + "y": 0.448708300860089 + } + ] + }, + "bbox_1768014047541": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014047541_1768014122650_il4kgbvdo", + "x": 0.32277769026015074, + "y": 0.31370830909983466, + "width": 0.13599999169921925, + "height": 0.24999998474121188 + } + ] + } + } + }, + { + "time": 5.372, + "frame": 161, + "progress": 40, + "action_description": "爪夹下降并调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于爪夹最右侧扑克牌正上方。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。", + "progress_explanation": "爪夹角度与桌面接近垂直，位于爪夹最右侧扑克牌正上方。方便下降抓取爪夹最右侧扑克牌。因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹右移动来到了爪夹最右侧扑克牌正上方，方便抓取爪夹最右侧扑克牌。", + "correction_plan": "爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768014059467": { + "type": "point", + "instances": [ + { + "id": "point_1768014059467_1768014130118_v3ne97w13", + "x": 0.28377769264052166, + "y": 0.4537083005549133 + } + ] + }, + "point_1768014064171": { + "type": "point", + "instances": [ + { + "id": "point_1768014064171_1768014132289_7f4fy458o", + "x": 0.7837776621229454, + "y": 0.45270830061594847 + } + ] + }, + "bbox_1768014047541": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014047541_1768014137062_06a2ymahl", + "x": 0.49777767957899904, + "y": 0.0957083224054979, + "width": 0.015999999023437596, + "height": 0.41399997473144684 + } + ] + } + } + }, + { + "time": 6.1225, + "frame": 184, + "progress": 60, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了爪夹最右侧扑克牌两侧。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹合拢抓取爪夹最右侧扑克牌。", + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了爪夹最右侧扑克牌两侧。方便抓取爪夹最右侧扑克牌，因此进度提升为60%。", + "error_success_analysis": "爪夹垂直下降靠近了爪夹最右侧扑克牌，方便抓取爪夹最右侧扑克牌。", + "correction_plan": "爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768014059467": { + "type": "point", + "instances": [ + { + "id": "point_1768014059467_1768014141739_fnuzvro5v", + "x": 0.28377769264052166, + "y": 0.4517083006769836 + } + ] + }, + "point_1768014064171": { + "type": "point", + "instances": [ + { + "id": "point_1768014064171_1768014143768_cr1ffks49", + "x": 0.7837776621229454, + "y": 0.45970830018870235 + } + ] + }, + "bbox_1768014047541": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014047541_1768014148899_s8qhsf94l", + "x": 0.4987776795179639, + "y": 0.20770831556956082, + "width": 0.016999998962402372, + "height": 0.3849999765014662 + } + ] + } + } + }, + { + "time": 7.2759, + "frame": 218, + "progress": 80, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，抓取到爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：抓紧爪夹最右侧扑克牌垂直升高。", + "progress_explanation": "爪夹合拢，抓取到了爪夹最右侧扑克牌。因此进度提升为80%。", + "error_success_analysis": "爪夹合拢抓取到了爪夹最右侧扑克牌，方便将爪夹最右侧扑克牌取出。", + "correction_plan": "抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768014059467": { + "type": "point", + "instances": [ + { + "id": "point_1768014059467_1768014155091_is9axaljw", + "x": 0.504777679151753, + "y": 0.44270830122629995 + } + ] + }, + "point_1768014064171": { + "type": "point", + "instances": [ + { + "id": "point_1768014064171_1768014157133_eq8kozaue", + "x": 0.5457776766493118, + "y": 0.4397083014094054 + } + ] + }, + "bbox_1768014047541": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014047541_1768014161547_krlmacy2s", + "x": 0.5187776782972608, + "y": 0.20170831593577174, + "width": 0.010999999328613322, + "height": 0.4229999741821305 + } + ] + } + } + }, + { + "time": 7.9, + "frame": 237, + "progress": 100, + "action_description": "爪夹夹紧最右侧扑克牌垂直升高", + "state_description": "爪夹夹紧爪夹最右侧扑克牌，爪夹角度接近垂直于桌面。\n抓取取出爪夹最右侧扑克牌的任务目标完成。", + "progress_explanation": "爪夹夹紧爪夹最右侧扑克牌上升取出，因此进度提升为100%。", + "error_success_analysis": "爪夹夹紧爪夹最右侧扑克牌上升，把爪夹最右侧扑克牌取出。任务完成。", + "correction_plan": "", + "annotations": { + "point_1768014059467": { + "type": "point", + "instances": [ + { + "id": "point_1768014059467_1768014171379_r3sc6kgg2", + "x": 0.5097776788465772, + "y": 0.4397083014094054 + } + ] + }, + "point_1768014064171": { + "type": "point", + "instances": [ + { + "id": "point_1768014064171_1768014173793_68listg0t", + "x": 0.550777676344136, + "y": 0.4397083014094054 + } + ] + }, + "bbox_1768014047541": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768014047541_1768014182433_pvpa5tzab", + "x": 0.5257776778700147, + "y": 0.21770831495920928, + "width": 0.014999999084472767, + "height": 0.39499997589111474 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768014047541", + "name": "最右侧扑克牌", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768014059467", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768014064171", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001314.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001314.json new file mode 100644 index 0000000000000000000000000000000000000000..db2210753c96e0b7132bd9ae15617f5f0bbd2996 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001314.json @@ -0,0 +1,365 @@ +{ + "task_description": "抓取取出爪夹最右侧扑克牌：\n准备开始移动：0%\n爪夹接近最右侧扑克牌：20%\n爪夹来到最右侧扑克牌正上方：40%\n爪夹靠近最右侧扑克牌：60%\n爪夹抓取最右侧扑克牌：80%\n爪夹夹紧最右侧扑克牌上升取出：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "point_1768013209718": { + "instances": [ + { + "id": "point_1768013209718_1768013225582_0106hdj2n", + "x": 0.28077769282362713, + "y": 0.4568194148669791 + } + ], + "type": "point" + }, + "point_1768013214376": { + "instances": [ + { + "id": "point_1768013214376_1768013228194_sitb5ebww", + "x": 0.7837776621229454, + "y": 0.45570830043284294 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹张开，远离爪夹最右侧扑克牌，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离爪夹最右侧扑克牌，未开始移动。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右后方移动并垂直下降，来到爪夹最右侧扑克牌正上方。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹右后方移动", + "annotations": { + "bbox_1768013197172": { + "instances": [ + { + "height": 0.08899999456787142, + "id": "bbox_1768013197172_1768013243304_i8b8jpcf1", + "width": 0.17499998931884828, + "x": 0.7807776623060508, + "y": 0.3027083097712213 + } + ], + "type": "bbox" + }, + "point_1768013209718": { + "instances": [ + { + "id": "point_1768013209718_1768013235161_3de0s4rbq", + "x": 0.28477769257948654, + "y": 0.45570830043284294 + } + ], + "type": "point" + }, + "point_1768013214376": { + "instances": [ + { + "id": "point_1768013214376_1768013232527_exiv8mvdb", + "x": 0.7837776621229454, + "y": 0.45270830061594847 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方移动并垂直下降，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹右后方移动，水平上缩短了与爪夹最右侧扑克牌的距离。", + "frame": 47, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，垂直上略微接近了爪夹最右侧扑克牌。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，垂直上略微接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右方移动并垂直下降，来到爪夹最右侧扑克牌正上方。", + "time": 1.568 + }, + { + "action_description": "爪夹向爪夹右方移动下降", + "annotations": { + "bbox_1768013197172": { + "instances": [ + { + "height": 0.09999999389648474, + "id": "bbox_1768013197172_1768013255562_cerj6mgl2", + "width": 0.1549999905395514, + "x": 0.48977768006728023, + "y": 0.3027083097712213 + } + ], + "type": "bbox" + }, + "point_1768013209718": { + "instances": [ + { + "id": "point_1768013209718_1768013248578_sh9oxr9rq", + "x": 0.28477769257948654, + "y": 0.45570830043284294 + } + ], + "type": "point" + }, + "point_1768013214376": { + "instances": [ + { + "id": "point_1768013214376_1768013250835_8yi8iah8d", + "x": 0.7827776621839805, + "y": 0.4587083002497375 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹右移动下降缩短了与爪夹最右侧扑克牌之间的距离。方便继续向爪夹最右侧扑克牌移动靠近。", + "frame": 85, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最右侧扑克牌。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。", + "time": 2.832 + }, + { + "action_description": "爪夹调整爪夹方向并垂直下降", + "annotations": { + "bbox_1768013197172": { + "instances": [ + { + "height": 0.2539999844970713, + "id": "bbox_1768013197172_1768013265804_u01zvy53x", + "width": 0.16299999005127017, + "x": 0.3137776908094671, + "y": 0.1657083181330372 + } + ], + "type": "bbox" + }, + "point_1768013209718": { + "instances": [ + { + "id": "point_1768013209718_1768013268036_k60lua0bi", + "x": 0.28377769264052166, + "y": 0.45970830018870235 + } + ], + "type": "point" + }, + "point_1768013214376": { + "instances": [ + { + "id": "point_1768013214376_1768013270446_l1t82ry9x", + "x": 0.7837776621229454, + "y": 0.45570830043284294 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹下方移动下降，调整爪夹方向使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹右移动下降方便抓取爪夹最右侧扑克牌。", + "frame": 127, + "progress": 30, + "progress_explanation": "爪夹角度与桌面接近垂直，垂直上更加接近了爪夹最右侧扑克牌。因此进度提升为30%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，垂直上接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹继续向爪夹下方移动下降，调整爪夹角度使爪夹位于扑克牌两侧，来到爪夹最右侧扑克牌正上方。", + "time": 4.248 + }, + { + "action_description": "爪夹调整爪夹方向并垂直下降", + "annotations": { + "bbox_1768013197172": { + "instances": [ + { + "height": 0.3989999756469741, + "id": "bbox_1768013197172_1768013283462_ij84mspvw", + "width": 0.017999998901367262, + "x": 0.49677767964003416, + "y": 0.08870832283274396 + } + ], + "type": "bbox" + }, + "point_1768013209718": { + "instances": [ + { + "id": "point_1768013209718_1768013276634_i505gasit", + "x": 0.28277769270155684, + "y": 0.4607083001276672 + } + ], + "type": "point" + }, + "point_1768013214376": { + "instances": [ + { + "id": "point_1768013214376_1768013274960_nbfy6qbtw", + "x": 0.7827776621839805, + "y": 0.45570830043284294 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "error_success_analysis": "爪夹向爪夹右移动来到了爪夹最右侧扑克牌正上方，方便抓取爪夹最右侧扑克牌。", + "frame": 161, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，位于爪夹最右侧扑克牌正上方。方便下降抓取爪夹最右侧扑克牌。因此进度提升为40%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于爪夹最右侧扑克牌正上方。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。", + "time": 5.36 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1768013197172": { + "instances": [ + { + "height": 0.3899999761962905, + "id": "bbox_1768013197172_1768013294737_gxs1utext", + "width": 0.01699999896240243, + "x": 0.49377767982313964, + "y": 0.19070831660715842 + } + ], + "type": "bbox" + }, + "point_1768013209718": { + "instances": [ + { + "id": "point_1768013209718_1768013288096_70a4lu315", + "x": 0.28277769270155684, + "y": 0.45270830061594847 + } + ], + "type": "point" + }, + "point_1768013214376": { + "instances": [ + { + "id": "point_1768013214376_1768013290298_u84079t5s", + "x": 0.7827776621839805, + "y": 0.45270830061594847 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "error_success_analysis": "爪夹垂直下降靠近了爪夹最右侧扑克牌，方便抓取爪夹最右侧扑克牌。", + "frame": 186, + "progress": 60, + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了爪夹最右侧扑克牌两侧。方便抓取爪夹最右侧扑克牌，因此进度提升为60%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了爪夹最右侧扑克牌两侧。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹合拢抓取爪夹最右侧扑克牌。", + "time": 6.192 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768013197172": { + "instances": [ + { + "height": 0.4189999744262712, + "id": "bbox_1768013197172_1768013311802_gt4fh5nin", + "width": 0.017999998901367262, + "x": 0.510777678785542, + "y": 0.20570831569163112 + } + ], + "type": "bbox" + }, + "point_1768013209718": { + "instances": [ + { + "id": "point_1768013209718_1768013299023_eek0jmaux", + "x": 0.5007776793958936, + "y": 0.4417083012873351 + } + ], + "type": "point" + }, + "point_1768013214376": { + "instances": [ + { + "id": "point_1768013214376_1768013301518_tcouk019m", + "x": 0.5427776768324172, + "y": 0.44070830134837025 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧爪夹最右侧扑克牌垂直升高。", + "error_success_analysis": "爪夹合拢抓取到了爪夹最右侧扑克牌，方便将爪夹最右侧扑克牌取出。", + "frame": 220, + "progress": 80, + "progress_explanation": "爪夹合拢，抓取到了爪夹最右侧扑克牌。因此进度提升为80%。", + "state_description": "爪夹合拢，抓取到爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：抓紧爪夹最右侧扑克牌垂直升高。", + "time": 7.3466198260674345 + }, + { + "action_description": "爪夹夹紧最右侧扑克牌垂直升高", + "annotations": { + "bbox_1768013197172": { + "instances": [ + { + "height": 0.41899997442627107, + "id": "bbox_1768013197172_1768013326332_4iz2lav1w", + "width": 0.011999999267578214, + "x": 0.5287776776869093, + "y": 0.20370831581370144 + } + ], + "type": "bbox" + }, + "point_1768013209718": { + "instances": [ + { + "id": "point_1768013209718_1768013316206_cqsf0ukdr", + "x": 0.5097776788465772, + "y": 0.4397083014094054 + } + ], + "type": "point" + }, + "point_1768013214376": { + "instances": [ + { + "id": "point_1768013214376_1768013318060_o6zn92jvt", + "x": 0.5547776760999953, + "y": 0.44470830110422965 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹夹紧爪夹最右侧扑克牌上升，把爪夹最右侧扑克牌取出。任务完成。", + "frame": 240, + "progress": 100, + "progress_explanation": "爪夹夹紧爪夹最右侧扑克牌上升取出，因此进度提升为100%。", + "state_description": "爪夹夹紧爪夹最右侧扑克牌，爪夹角度接近垂直于桌面。\n抓取取出爪夹最右侧扑克牌的任务目标完成。", + "time": 8 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768013197172", + "name": "最右侧扑克牌" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768013209718", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768013214376", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001321.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001321.json new file mode 100644 index 0000000000000000000000000000000000000000..9ec1cab0f79bff5f8443938f1e342229bef6c95a --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001321.json @@ -0,0 +1,341 @@ +{ + "task_description": "抓取取出爪夹最右侧扑克牌：\n准备开始移动：0%\n爪夹接近最右侧扑克牌：20%\n爪夹来到最右侧扑克牌正上方：40%\n爪夹靠近最右侧扑克牌：60%\n爪夹抓取最右侧扑克牌：80%\n爪夹夹紧最右侧扑克牌上升取出：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离爪夹最右侧扑克牌，未开始移动。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右后方移动并垂直下降，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹张开，远离爪夹最右侧扑克牌，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768012296441": { + "type": "point", + "instances": [ + { + "id": "point_1768012296441_1768012317997_jegld5gpy", + "x": 0.28477769257948654, + "y": 0.45581941492801425 + } + ] + }, + "point_1768012308255": { + "type": "point", + "instances": [ + { + "id": "point_1768012308255_1768012320975_jzxmw7ihd", + "x": 0.7847776620619104, + "y": 0.448708300860089 + } + ] + } + } + }, + { + "time": 2.0618319946394776, + "frame": 62, + "progress": 10, + "action_description": "爪夹向爪夹右前方移动下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，垂直上略微接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右后方移动并垂直下降，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，垂直上略微接近了爪夹最右侧扑克牌。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹左移动下降，竖直上缩短了与爪夹最右侧扑克牌的距离。", + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768012296441": { + "type": "point", + "instances": [ + { + "id": "point_1768012296441_1768012325089_t8ckekpi9", + "x": 0.28077769282362713, + "y": 0.44970830079905394 + } + ] + }, + "point_1768012308255": { + "type": "point", + "instances": [ + { + "id": "point_1768012308255_1768012329653_8ucynl56i", + "x": 0.7837776621229454, + "y": 0.4517083006769836 + } + ] + } + } + }, + { + "time": 3.9193576509545616, + "frame": 118, + "progress": 20, + "action_description": "爪夹向爪夹右后方移动下降，调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右后方移动并垂直下降，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最右侧扑克牌。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右移动下降缩短了与爪夹最右侧扑克牌之间的距离。方便继续向爪夹最右侧扑克牌移动靠近。", + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768012308255": { + "type": "point", + "instances": [ + { + "id": "point_1768012308255_1768012333859_tmlipcf7w", + "x": 0.7837776621229454, + "y": 0.44570830104319453 + } + ] + }, + "point_1768012296441": { + "type": "point", + "instances": [ + { + "id": "point_1768012296441_1768012335979_onvmw1kkr", + "x": 0.28477769257948654, + "y": 0.4537083005549133 + } + ] + } + } + }, + { + "time": 5.3547183853798535, + "frame": 161, + "progress": 30, + "action_description": "爪夹向爪夹右后方移动下降，调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹继续向爪夹右后方移动，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上更加接近了爪夹最右侧扑克牌。因此进度提升为30%。", + "error_success_analysis": "爪夹向爪夹右移动下降方便抓取爪夹最右侧扑克牌。", + "correction_plan": "爪夹继续向爪夹右后方移动，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768012296441": { + "type": "point", + "instances": [ + { + "id": "point_1768012296441_1768012340582_l2oek8scq", + "x": 0.28377769264052166, + "y": 0.4577083003107727 + } + ] + }, + "point_1768012308255": { + "type": "point", + "instances": [ + { + "id": "point_1768012308255_1768012342659_mmxr4yt3a", + "x": 0.7837776621229454, + "y": 0.44570830104319453 + } + ] + }, + "bbox_1768012281397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012281397_1768012346571_adishgxbx", + "x": 0.1197777026502867, + "y": 0.2307083141657523, + "width": 0.19999998779296949, + "height": 0.26399998388671975 + } + ] + } + } + }, + { + "time": 6.424599, + "frame": 193, + "progress": 40, + "action_description": "爪夹向爪夹正后方移动下降，调整爪夹方向", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于爪夹最右侧扑克牌正上方。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。", + "progress_explanation": "爪夹角度与桌面接近垂直，位于爪夹最右侧扑克牌正上方。方便下降抓取爪夹最右侧扑克牌。因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹右移动来到了爪夹最右侧扑克牌正上方，方便抓取爪夹最右侧扑克牌。", + "correction_plan": "爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768012296441": { + "type": "point", + "instances": [ + { + "id": "point_1768012296441_1768012354657_viz5fmu35", + "x": 0.28377769264052166, + "y": 0.4547083004938781 + } + ] + }, + "point_1768012308255": { + "type": "point", + "instances": [ + { + "id": "point_1768012308255_1768012356757_o8iysuyw3", + "x": 0.7807776623060508, + "y": 0.44970830079905394 + } + ] + }, + "bbox_1768012281397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012281397_1768012362233_ku1mbx0pv", + "x": 0.49077768000624505, + "y": 0.08570832301584944, + "width": 0.021999998657226644, + "height": 0.4049999752807632 + } + ] + } + } + }, + { + "time": 7.4802, + "frame": 224, + "progress": 60, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了爪夹最右侧扑克牌两侧。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹合拢抓取爪夹最右侧扑克牌。", + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了爪夹最右侧扑克牌两侧。方便抓取爪夹最右侧扑克牌，因此进度提升为60%。", + "error_success_analysis": "爪夹垂直下降靠近了爪夹最右侧扑克牌，方便抓取爪夹最右侧扑克牌。", + "correction_plan": "爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768012296441": { + "type": "point", + "instances": [ + { + "id": "point_1768012296441_1768012366099_vdl5xj57y", + "x": 0.28377769264052166, + "y": 0.4537083005549133 + } + ] + }, + "point_1768012308255": { + "type": "point", + "instances": [ + { + "id": "point_1768012308255_1768012368179_sp9s9noja", + "x": 0.7827776621839805, + "y": 0.4547083004938781 + } + ] + }, + "bbox_1768012281397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012281397_1768012372923_3lcja3amv", + "x": 0.49577767970106934, + "y": 0.20270831587473656, + "width": 0.016999998962402372, + "height": 0.39199997607422027 + } + ] + } + } + }, + { + "time": 8.463, + "frame": 254, + "progress": 80, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，抓取到爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：抓紧爪夹最右侧扑克牌垂直升高。", + "progress_explanation": "爪夹合拢，抓取到了爪夹最右侧扑克牌。因此进度提升为80%。", + "error_success_analysis": "爪夹合拢抓取到了爪夹最右侧扑克牌，方便将爪夹最右侧扑克牌取出。", + "correction_plan": "抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768012296441": { + "type": "point", + "instances": [ + { + "id": "point_1768012296441_1768012376895_snloqv55a", + "x": 0.5057776790907178, + "y": 0.4477083009211242 + } + ] + }, + "point_1768012308255": { + "type": "point", + "instances": [ + { + "id": "point_1768012308255_1768012379499_gidhjm5i4", + "x": 0.5447776767103468, + "y": 0.44370830116526483 + } + ] + }, + "bbox_1768012281397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012281397_1768012392006_74sx33mnz", + "x": 0.5227776780531203, + "y": 0.20570831569163112, + "width": 0.014999999084472708, + "height": 0.41799997448730614 + } + ] + } + } + }, + { + "time": 9.1, + "frame": 273, + "progress": 100, + "action_description": "爪夹夹紧最右侧扑克牌垂直升高", + "state_description": "爪夹夹紧爪夹最右侧扑克牌，爪夹角度接近垂直于桌面。\n抓取取出爪夹最右侧扑克牌的任务目标完成。", + "progress_explanation": "爪夹夹紧爪夹最右侧扑克牌上升取出，因此进度提升为100%。", + "error_success_analysis": "爪夹夹紧爪夹最右侧扑克牌上升，把爪夹最右侧扑克牌取出。任务完成。", + "correction_plan": "", + "annotations": { + "point_1768012296441": { + "type": "point", + "instances": [ + { + "id": "point_1768012296441_1768012404277_cmhtz01mm", + "x": 0.5097776788465772, + "y": 0.4417083012873351 + } + ] + }, + "point_1768012308255": { + "type": "point", + "instances": [ + { + "id": "point_1768012308255_1768012406157_z73kv9squ", + "x": 0.5537776761610306, + "y": 0.44370830116526483 + } + ] + }, + "bbox_1768012281397": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768012281397_1768012410510_x25ojlaz7", + "x": 0.5257776778700147, + "y": 0.21870831489817413, + "width": 0.014999999084472767, + "height": 0.44099997308349775 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768012281397", + "name": "最右侧扑克牌", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768012296441", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768012308255", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001451.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001451.json new file mode 100644 index 0000000000000000000000000000000000000000..4e82848af9e7787d899e0b3d0c6bddcb690bbd30 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001451.json @@ -0,0 +1,377 @@ +{ + "task_description": "抓取取出爪夹最右侧扑克牌：\n准备开始移动：0%\n爪夹接近最右侧扑克牌：20%\n爪夹来到最右侧扑克牌正上方：40%\n爪夹靠近最右侧扑克牌：60%\n爪夹抓取最右侧扑克牌：80%\n爪夹夹紧最右侧扑克牌上升取出：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离爪夹最右侧扑克牌，未开始移动。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右后方移动并垂直下降，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹张开，远离爪夹最右侧扑克牌，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "bbox_1768011447648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011447648_1768011486158_64ltq19na", + "x": 0.8927776554701138, + "y": 0.3398194220080919, + "width": 0.10499999359130902, + "height": 0.09399999426269569 + } + ] + }, + "point_1768011466358": { + "type": "point", + "instances": [ + { + "id": "point_1768011466358_1768011489538_2hx0w7sqe", + "x": 0.28277769270155684, + "y": 0.45570830043284294 + } + ] + }, + "point_1768011471168": { + "type": "point", + "instances": [ + { + "id": "point_1768011471168_1768011493208_wyqyv8dgv", + "x": 0.7827776621839805, + "y": 0.4547083004938781 + } + ] + } + } + }, + { + "time": 1.4509157506622157, + "frame": 44, + "progress": 10, + "action_description": "爪夹向爪夹右后移动下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，垂直上略微接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右方移动并垂直下降，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，垂直上略微接近了爪夹最右侧扑克牌。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右后移动下降，竖直上缩短了与爪夹最右侧扑克牌的距离。", + "correction_plan": "爪夹向爪夹右方移动并垂直下降，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768011471168": { + "type": "point", + "instances": [ + { + "id": "point_1768011471168_1768011498294_vyra44soy", + "x": 0.7827776621839805, + "y": 0.45270830061594847 + } + ] + }, + "point_1768011466358": { + "type": "point", + "instances": [ + { + "id": "point_1768011466358_1768011501156_aml73ckyq", + "x": 0.28277769270155684, + "y": 0.4537083005549133 + } + ] + }, + "bbox_1768011447648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011447648_1768011511646_3i49w05dz", + "x": 0.8157776601698205, + "y": 0.2557083126398735, + "width": 0.18299998883056717, + "height": 0.08899999456787142 + } + ] + } + } + }, + { + "time": 2.5641, + "frame": 77, + "progress": 20, + "action_description": "爪夹向爪夹右侧移动下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹向爪夹右后方移动并垂直下降，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最右侧扑克牌。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹右移动下降缩短了与爪夹最右侧扑克牌之间的距离。方便继续向爪夹最右侧扑克牌移动靠近。", + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768011466358": { + "type": "point", + "instances": [ + { + "id": "point_1768011466358_1768011524906_cc02m3w2t", + "x": 0.28377769264052166, + "y": 0.4577083003107727 + } + ] + }, + "point_1768011471168": { + "type": "point", + "instances": [ + { + "id": "point_1768011471168_1768011527348_inlo9btx3", + "x": 0.7827776621839805, + "y": 0.45270830061594847 + } + ] + }, + "bbox_1768011447648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011447648_1768011532665_3l28s6oyl", + "x": 0.7187776660902304, + "y": 0.29270831038157286, + "width": 0.1849999887084967, + "height": 0.14099999139404348 + } + ] + } + } + }, + { + "time": 3.6113, + "frame": 108, + "progress": 30, + "action_description": "爪夹向爪夹右移动下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹继续向爪夹右后方移动，来到爪夹最右侧扑克牌正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上更加接近了爪夹最右侧扑克牌。因此进度提升为30%。", + "error_success_analysis": "爪夹向爪夹右移动下降方便抓取爪夹最右侧扑克牌。", + "correction_plan": "爪夹继续向爪夹右后方移动，来到爪夹最右侧扑克牌正上方。爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768011466358": { + "type": "point", + "instances": [ + { + "id": "point_1768011466358_1768011537107_rtoaywc4v", + "x": 0.28477769257948654, + "y": 0.4587083002497375 + } + ] + }, + "point_1768011471168": { + "type": "point", + "instances": [ + { + "id": "point_1768011471168_1768011539235_opyqks22w", + "x": 0.7847776620619104, + "y": 0.45070830073801876 + } + ] + }, + "bbox_1768011447648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011447648_1768011542809_dq5gq38v9", + "x": 0.517777678358296, + "y": 0.2877083106867486, + "width": 0.13799999157714898, + "height": 0.24299998516845794 + } + ] + } + } + }, + { + "time": 5.0127, + "frame": 150, + "progress": 40, + "action_description": "爪夹向爪夹右移动下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于爪夹最右侧扑克牌正上方。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。", + "progress_explanation": "爪夹角度与桌面接近垂直，位于爪夹最右侧扑克牌正上方。方便下降抓取爪夹最右侧扑克牌。因此进度提升为40%。", + "error_success_analysis": "爪夹向爪夹右移动来到了爪夹最右侧扑克牌正上方，方便抓取爪夹最右侧扑克牌。", + "correction_plan": "爪夹垂直下降靠近爪夹最右侧扑克牌，爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768011466358": { + "type": "point", + "instances": [ + { + "id": "point_1768011466358_1768011546848_wy1sb6kx8", + "x": 0.28377769264052166, + "y": 0.4587083002497375 + } + ] + }, + "point_1768011471168": { + "type": "point", + "instances": [ + { + "id": "point_1768011471168_1768011549908_rge27rdb6", + "x": 0.7807776623060508, + "y": 0.4517083006769836 + } + ] + }, + "bbox_1768011447648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011447648_1768011554858_aloddul5n", + "x": 0.4927776798841748, + "y": 0.0937083225275682, + "width": 0.022999998596191475, + "height": 0.373999977172853 + } + ] + } + } + }, + { + "time": 6.0291, + "frame": 181, + "progress": 60, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了爪夹最右侧扑克牌两侧。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：爪夹合拢抓取爪夹最右侧扑克牌。", + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了爪夹最右侧扑克牌两侧。方便抓取爪夹最右侧扑克牌，因此进度提升为60%。", + "error_success_analysis": "爪夹垂直下降靠近了爪夹最右侧扑克牌，方便抓取爪夹最右侧扑克牌。", + "correction_plan": "爪夹合拢抓取爪夹最右侧扑克牌。抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768011466358": { + "type": "point", + "instances": [ + { + "id": "point_1768011466358_1768011560563_otphswpdz", + "x": 0.28277769270155684, + "y": 0.45270830061594847 + } + ] + }, + "point_1768011471168": { + "type": "point", + "instances": [ + { + "id": "point_1768011471168_1768011562519_ui78hymf6", + "x": 0.7847776620619104, + "y": 0.448708300860089 + } + ] + }, + "bbox_1768011447648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011447648_1768011568855_18wmpsnpt", + "x": 0.49777767957899904, + "y": 0.2097083154474905, + "width": 0.021999998657226644, + "height": 0.37999997680664194 + } + ] + } + } + }, + { + "time": 7.007616431946654, + "frame": 210, + "progress": 80, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，抓取到爪夹最右侧扑克牌。\n为完成抓取取出爪夹最右侧扑克牌的任务应当：抓紧爪夹最右侧扑克牌垂直升高。", + "progress_explanation": "爪夹合拢，抓取到了爪夹最右侧扑克牌。因此进度提升为80%。", + "error_success_analysis": "爪夹合拢抓取到了爪夹最右侧扑克牌，方便将爪夹最右侧扑克牌取出。", + "correction_plan": "抓紧爪夹最右侧扑克牌垂直升高。", + "annotations": { + "point_1768011466358": { + "type": "point", + "instances": [ + { + "id": "point_1768011466358_1768011573917_s40qbfebl", + "x": 0.5067776790296826, + "y": 0.44370830116526483 + } + ] + }, + "point_1768011471168": { + "type": "point", + "instances": [ + { + "id": "point_1768011471168_1768011577189_uhcgfuzak", + "x": 0.543777676771382, + "y": 0.44570830104319453 + } + ] + }, + "bbox_1768011447648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011447648_1768011583027_fx7zkwnwv", + "x": 0.5167776784193311, + "y": 0.20870831550852567, + "width": 0.015999999023437596, + "height": 0.40699997515869296 + } + ] + } + } + }, + { + "time": 7.7, + "frame": 231, + "progress": 100, + "action_description": "爪夹夹紧爪夹最右侧扑克牌垂直升高", + "state_description": "爪夹夹紧爪夹最右侧扑克牌，爪夹角度接近垂直于桌面。\n抓取取出爪夹最右侧扑克牌的任务目标完成。", + "progress_explanation": "爪夹夹紧爪夹最右侧扑克牌上升取出，因此进度提升为100%。", + "error_success_analysis": "爪夹夹紧爪夹最右侧扑克牌上升，把爪夹最右侧扑克牌取出。任务完成.", + "correction_plan": "", + "annotations": { + "point_1768011466358": { + "type": "point", + "instances": [ + { + "id": "point_1768011466358_1768011588877_vhv7apfre", + "x": 0.5097776788465772, + "y": 0.4397083014094054 + } + ] + }, + "point_1768011471168": { + "type": "point", + "instances": [ + { + "id": "point_1768011471168_1768011591062_78r7vl50t", + "x": 0.5537776761610306, + "y": 0.44070830134837025 + } + ] + }, + "bbox_1768011447648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768011447648_1768011600636_qkgtyiji4", + "x": 0.5277776777479445, + "y": 0.2157083150812796, + "width": 0.015999999023437537, + "height": 0.4469999727172868 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768011447648", + "name": "最右侧扑克牌", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1768011466358", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768011471168", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001677.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001677.json new file mode 100644 index 0000000000000000000000000000000000000000..a06a4e7e8d4a1e80486f2ebdd1c060792e4c6328 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-001/observation.images.wrist_image/episode_001677.json @@ -0,0 +1,341 @@ +{ + "task_description": "抓取取出氯化铜溶液：\n准备开始移动：0%\n爪夹接近氯化铜溶液：20%\n爪夹来到氯化铜溶液正上方：40%\n爪夹靠近氯化铜溶液：60%\n爪夹抓取氯化铜溶液：80%\n爪夹夹紧氯化铜溶液上升取出：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "point_1768009433973": { + "instances": [ + { + "id": "point_1768009433973_1768009451381_9ppbneou9", + "x": 0.28277769270155684, + "y": 0.48081941340213535 + } + ], + "type": "point" + }, + "point_1768009438971": { + "instances": [ + { + "id": "point_1768009438971_1768009453934_xwjf7jfao", + "x": 0.7877776618788048, + "y": 0.4777082990900696 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，来到氯化铜溶液正上方。爪夹垂直下降靠近氯化铜溶液，爪夹合拢抓取氯化铜溶液。抓紧氯化铜溶液垂直升高。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹张开，远离氯化铜溶液，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离氯化铜溶液，未开始移动。\n为完成抓取取出氯化铜溶液的任务应当：爪夹向爪夹右后方移动并垂直下降，来到氯化铜溶液正上方。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹左移动下降", + "annotations": { + "point_1768009433973": { + "instances": [ + { + "id": "point_1768009433973_1768009461204_qqcek78m4", + "x": 0.28077769282362713, + "y": 0.4777082990900696 + } + ], + "type": "point" + }, + "point_1768009438971": { + "instances": [ + { + "id": "point_1768009438971_1768009458852_2cryndeyj", + "x": 0.7837776621229454, + "y": 0.4737082993342102 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，来到氯化铜溶液正上方。爪夹垂直下降靠近氯化铜溶液，爪夹合拢抓取氯化铜溶液。抓紧氯化铜溶液垂直升高。", + "error_success_analysis": "爪夹向爪夹左移动下降，竖直上缩短了与氯化铜溶液的距离。", + "frame": 41, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，垂直上略微接近了氯化铜溶液。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，垂直上略微接近了氯化铜溶液。\n为完成抓取取出氯化铜溶液的任务应当：爪夹向爪夹右后方移动并垂直下降，来到氯化铜溶液正上方。", + "time": 1.3746 + }, + { + "action_description": "爪夹向爪夹右移动下降", + "annotations": { + "point_1768009433973": { + "instances": [ + { + "id": "point_1768009433973_1768009465229_xnaku1108", + "x": 0.28077769282362713, + "y": 0.4827082987848939 + } + ], + "type": "point" + }, + "point_1768009438971": { + "instances": [ + { + "id": "point_1768009438971_1768009467665_o3dbus609", + "x": 0.7827776621839805, + "y": 0.45070830073801876 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，来到氯化铜溶液正上方。爪夹垂直下降靠近氯化铜溶液，爪夹合拢抓取氯化铜溶液。抓紧氯化铜溶液垂直升高。", + "error_success_analysis": "爪夹向爪夹右移动下降缩短了与氯化铜溶液之间的距离。方便继续向氯化铜溶液移动靠近。", + "frame": 81, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了氯化铜溶液。因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了氯化铜溶液。\n为完成抓取取出氯化铜溶液的任务应当：爪夹向爪夹右后方移动并垂直下降，来到氯化铜溶液正上方。", + "time": 2.7018 + }, + { + "action_description": "爪夹向爪夹右移动下降", + "annotations": { + "bbox_1768009423458": { + "instances": [ + { + "height": 0.1729999894409186, + "id": "bbox_1768009423458_1768009497910_kd3q9uvku", + "width": 0.22499998626709067, + "x": 0.3937776859266549, + "y": 0.0007083282038373898 + } + ], + "type": "bbox" + }, + "point_1768009433973": { + "instances": [ + { + "id": "point_1768009433973_1768009474700_fyt5vy04a", + "x": 0.28277769270155684, + "y": 0.45970830018870235 + } + ], + "type": "point" + }, + "point_1768009438971": { + "instances": [ + { + "id": "point_1768009438971_1768009472790_i9ew44qa3", + "x": 0.7837776621229454, + "y": 0.45270830061594847 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹右后方移动，来到氯化铜溶液正上方。爪夹垂直下降靠近氯化铜溶液，爪夹合拢抓取氯化铜溶液。抓紧氯化铜溶液垂直升高。", + "error_success_analysis": "爪夹向爪夹右移动下降方便抓取氯化铜溶液。", + "frame": 127, + "progress": 30, + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上更加接近了氯化铜溶液。因此进度提升为30%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了氯化铜溶液。\n为完成抓取取出氯化铜溶液的任务应当：爪夹继续向爪夹右后方移动，来到氯化铜溶液正上方。", + "time": 4.225096547228844 + }, + { + "action_description": "爪夹向爪夹右移动", + "annotations": { + "bbox_1768009423458": { + "instances": [ + { + "height": 0.32699998004150516, + "id": "bbox_1768009423458_1768009511077_vr8nib83c", + "width": 0.27199998339843845, + "x": 0.4307776836683542, + "y": 0.20570831569163112 + } + ], + "type": "bbox" + }, + "point_1768009433973": { + "instances": [ + { + "id": "point_1768009433973_1768009503914_plov4o0qe", + "x": 0.28277769270155684, + "y": 0.4607083001276672 + } + ], + "type": "point" + }, + "point_1768009438971": { + "instances": [ + { + "id": "point_1768009438971_1768009505852_c1fhnb4yg", + "x": 0.7837776621229454, + "y": 0.45270830061594847 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近氯化铜溶液，爪夹合拢抓取氯化铜溶液。抓紧氯化铜溶液垂直升高。", + "error_success_analysis": "爪夹向爪夹右移动来到了氯化铜溶液正上方，方便抓取氯化铜溶液。", + "frame": 158, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，位于氯化铜溶液正上方。方便下降抓取氯化铜溶液。因此进度提升为40%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于氯化铜溶液正上方。\n为完成抓取取出氯化铜溶液的任务应当：爪夹垂直下降靠近氯化铜溶液，爪夹合拢抓取氯化铜溶液。", + "time": 5.275715037821974 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1768009423458": { + "instances": [ + { + "height": 0.3969999757690444, + "id": "bbox_1768009423458_1768009527186_k26il95tl", + "width": 0.33799997937011844, + "x": 0.4077776850721628, + "y": 0.2857083108088189 + } + ], + "type": "bbox" + }, + "point_1768009433973": { + "instances": [ + { + "id": "point_1768009433973_1768009515652_0c79kt6rt", + "x": 0.28477769257948654, + "y": 0.4587083002497375 + } + ], + "type": "point" + }, + "point_1768009438971": { + "instances": [ + { + "id": "point_1768009438971_1768009517608_9z3e86uz6", + "x": 0.7847776620619104, + "y": 0.45070830073801876 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取氯化铜溶液。抓紧氯化铜溶液垂直升高。", + "error_success_analysis": "爪夹垂直下降靠近了氯化铜溶液，方便抓取氯化铜溶液。", + "frame": 175, + "progress": 60, + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了氯化铜溶液两侧。方便抓取氯化铜溶液，因此进度提升为60%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了氯化铜溶液两侧。\n为完成抓取取出氯化铜溶液的任务应当：爪夹合拢抓取氯化铜溶液。", + "time": 5.8381 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1768009423458": { + "instances": [ + { + "height": 0.3639999777832045, + "id": "bbox_1768009423458_1768009541556_k0um6cgeh", + "width": 0.3329999796752941, + "x": 0.4137776847059519, + "y": 0.2757083114191704 + } + ], + "type": "bbox" + }, + "point_1768009433973": { + "instances": [ + { + "id": "point_1768009433973_1768009532230_9nrk1r8jn", + "x": 0.4187776844007761, + "y": 0.4637082999445618 + } + ], + "type": "point" + }, + "point_1768009438971": { + "instances": [ + { + "id": "point_1768009438971_1768009534732_qcksunpw9", + "x": 0.707777666761617, + "y": 0.45070830073801876 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧氯化铜溶液垂直升高。", + "error_success_analysis": "爪夹合拢抓取到了氯化铜溶液，方便将氯化铜溶液取出。", + "frame": 195, + "progress": 80, + "progress_explanation": "爪夹合拢，抓取到了氯化铜溶液。因此进度提升为80%。", + "state_description": "爪夹合拢，抓取到氯化铜溶液。\n为完成抓取取出氯化铜溶液的任务应当：抓紧氯化铜溶液垂直升高。", + "time": 6.4938 + }, + { + "action_description": "爪夹夹紧氯化铜溶液垂直升高", + "annotations": { + "bbox_1768009423458": { + "instances": [ + { + "height": 0.5039999692382829, + "id": "bbox_1768009423458_1768009556570_gounwggiy", + "width": 0.3319999797363293, + "x": 0.37477768708632286, + "y": 0.14970831910959964 + } + ], + "type": "bbox" + }, + "point_1768009433973": { + "instances": [ + { + "id": "point_1768009433973_1768009551544_hemw16vsp", + "x": 0.3937776859266549, + "y": 0.4577083003107727 + } + ], + "type": "point" + }, + "point_1768009438971": { + "instances": [ + { + "id": "point_1768009438971_1768009553189_31ca7a7yp", + "x": 0.6707776690199176, + "y": 0.4517083006769836 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹夹紧氯化铜溶液上升，把氯化铜溶液取出。任务完成。", + "frame": 237, + "progress": 100, + "progress_explanation": "爪夹夹紧氯化铜溶液上升取出，因此进度提升为100%。", + "state_description": "爪夹夹紧氯化铜溶液，爪夹角度接近垂直于桌面。\n抓取取出氯化铜溶液的任务目标完成。", + "time": 7.9 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1768009423458", + "name": "氯化铜溶液" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1768009433973", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1768009438971", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.image/episode_002123.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.image/episode_002123.json new file mode 100644 index 0000000000000000000000000000000000000000..498f28e5640ecf88ca514cbe94ff365ccb94c8bd --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.image/episode_002123.json @@ -0,0 +1,636 @@ +{ + "task_description": "抓取苹果放进盘子里：\n准备开始移动：0%\n爪夹靠近苹果：20%\n爪夹抓取苹果：40%\n爪夹夹紧苹果接近盘子：60%\n爪夹夹紧苹果靠近盘子：80%\n爪夹松开苹果落入盘子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767942093501": { + "instances": [ + { + "height": 0.06199999999999998, + "id": "bbox_1767942093501_1767942119120_u5wtxixts", + "width": 0.06200000000000001, + "x": 0.2195, + "y": 0.656 + } + ], + "type": "bbox" + }, + "bbox_1767942097790": { + "instances": [ + { + "height": 0.1, + "id": "bbox_1767942097790_1767942123069_x0o4t6wz4", + "width": 0.1839999999999999, + "x": 0.4235, + "y": 0.413 + } + ], + "type": "bbox" + }, + "point_1767942101027": { + "instances": [ + { + "id": "point_1767942101027_1767942133677_kzar69jtk", + "x": 0.46649999999999997, + "y": 0.13799999999999998 + } + ], + "type": "point" + }, + "point_1767942105483": { + "instances": [ + { + "id": "point_1767942105483_1767942136616_z183h1stl", + "x": 0.5445, + "y": 0.13899999999999998 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右前方移动并垂直下降，来到苹果正上方。爪夹垂直下降靠近苹果，爪夹合拢抓取苹果。抓紧苹果向爪夹左后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开苹果落入盘子。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹张开，远离苹果，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离苹果，未开始移动。\n为完成抓取苹果放进盘子里的任务应当：爪夹向爪夹右前方移动并垂直下降，来到苹果正上方。", + "time": 0 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直下降", + "annotations": { + "bbox_1767942093501": { + "instances": [ + { + "height": 0.06600000000000002, + "id": "bbox_1767942093501_1767942162873_drgiwh4wi", + "width": 0.064, + "x": 0.2185, + "y": 0.653 + } + ], + "type": "bbox" + }, + "bbox_1767942097790": { + "instances": [ + { + "height": 0.10099999999999998, + "id": "bbox_1767942097790_1767942175921_9o2zz55vh", + "width": 0.18500000000000008, + "x": 0.42149999999999993, + "y": 0.41300000000000003 + } + ], + "type": "bbox" + }, + "point_1767942105483": { + "instances": [ + { + "id": "point_1767942105483_1767942147195_ywto922i3", + "x": 0.3685, + "y": 0.38 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹右前方移动并垂直下降，来到苹果正上方。爪夹垂直下降靠近苹果，爪夹合拢抓取苹果。抓紧苹果向爪夹左后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开苹果落入盘子。", + "error_success_analysis": "爪夹向爪夹右前方移动并垂直下降缩短了与苹果之间的距离。方便靠近苹果抓取。", + "frame": 108, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了苹果。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了苹果。\n为完成抓取苹果放进盘子里的任务应当：爪夹继续向爪夹右前方移动并垂直下降，来到苹果正上方。", + "time": 3.5838 + }, + { + "action_description": "爪夹向爪夹右前方移动并垂直下降", + "annotations": { + "bbox_1767942093501": { + "instances": [ + { + "height": 0.06300000000000001, + "id": "bbox_1767942093501_1767942192949_eq8dp9wzp", + "width": 0.06100000000000003, + "x": 0.22049999999999997, + "y": 0.656 + } + ], + "type": "bbox" + }, + "bbox_1767942097790": { + "instances": [ + { + "height": 0.09800000000000005, + "id": "bbox_1767942097790_1767942197583_ghz59t4xe", + "width": 0.18200000000000002, + "x": 0.4215, + "y": 0.413 + } + ], + "type": "bbox" + }, + "point_1767942101027": { + "instances": [ + { + "id": "point_1767942101027_1767942186353_hfy95wqyz", + "x": 0.2085, + "y": 0.624 + } + ], + "type": "point" + }, + "point_1767942105483": { + "instances": [ + { + "id": "point_1767942105483_1767942188679_6hlzw6cpg", + "x": 0.29250000000000004, + "y": 0.6229999999999999 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近苹果两侧，爪夹合拢抓取苹果。抓紧苹果向爪夹左后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开苹果落入盘子。", + "error_success_analysis": "爪夹向爪夹右前方移动并垂直下降来到了苹果正上方，方便抓取苹果。", + "frame": 199, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，位于苹果正上方。方便下降抓取苹果。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于苹果正上方。\n为完成抓取苹果放进盘子里的任务应当：爪夹垂直下降靠近苹果两侧，爪夹合拢抓取苹果。", + "time": 6.6427 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1767942093501": { + "instances": [ + { + "height": 0.0590000000000001, + "id": "bbox_1767942093501_1767942232367_xdef37bc5", + "width": 0.06699999999999999, + "x": 0.2155, + "y": 0.662 + } + ], + "type": "bbox" + }, + "bbox_1767942097790": { + "instances": [ + { + "height": 0.09799999999999999, + "id": "bbox_1767942097790_1767942243611_wgzpen0tk", + "width": 0.186, + "x": 0.4205, + "y": 0.415 + } + ], + "type": "bbox" + }, + "point_1767942101027": { + "instances": [ + { + "id": "point_1767942101027_1767942227789_h6bt3wvvf", + "x": 0.2115, + "y": 0.697 + } + ], + "type": "point" + }, + "point_1767942105483": { + "instances": [ + { + "id": "point_1767942105483_1767942229541_99d9yf3uh", + "x": 0.29250000000000004, + "y": 0.699 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取苹果。抓紧苹果向爪夹左后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开苹果落入盘子。", + "error_success_analysis": "爪夹垂直下降靠近了苹果，方便抓取苹果。", + "frame": 236, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了苹果两侧。方便抓取苹果，因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了苹果两侧。\n为完成抓取苹果放进盘子里的任务应当：爪夹合拢抓取苹果。抓紧苹果向爪夹右后方的盘子移动并垂直升高。", + "time": 7.8554 + }, + { + "action_description": "爪夹合拢", + "annotations": { + "bbox_1767942093501": { + "instances": [ + { + "height": 0.057999996459961164, + "id": "bbox_1767942093501_1767942261178_km47oel8g", + "width": 0.06199999621582052, + "x": 0.2187776966078066, + "y": 0.6607082879206366 + } + ], + "type": "bbox" + }, + "bbox_1767942097790": { + "instances": [ + { + "height": 0.09999999389648474, + "id": "bbox_1767942097790_1767942270535_dfak6754c", + "width": 0.1819999888916022, + "x": 0.42277768415663547, + "y": 0.41270830305735456 + } + ], + "type": "bbox" + }, + "point_1767942101027": { + "instances": [ + { + "id": "point_1767942101027_1767942253375_hse5kmi5q", + "x": 0.2167776967298769, + "y": 0.699819400035437 + } + ], + "type": "point" + }, + "point_1767942105483": { + "instances": [ + { + "id": "point_1767942105483_1767942255708_etuibudp3", + "x": 0.28477769257948654, + "y": 0.6997082855402658 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧苹果向爪夹左后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开苹果落入盘子。", + "error_success_analysis": "爪夹合拢成功抓取到了苹果，方便将苹果移动。", + "frame": 259, + "progress": 40, + "progress_explanation": "爪夹合拢抓取到了苹果。因此进度提升为40%。", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直，抓取到苹果。\n为完成抓取苹果放进盘子里的任务应当：抓紧苹果向爪夹左后方的盘子移动并垂直升高。", + "time": 8.6337 + }, + { + "action_description": "爪夹夹紧苹果向爪夹左后方移动升高", + "annotations": { + "bbox_1767942093501": { + "instances": [ + { + "height": 0.0559999965820315, + "id": "bbox_1767942093501_1767942281417_wkydouzjk", + "width": 0.061999996215820495, + "x": 0.3367776894056586, + "y": 0.5387082953669253 + } + ], + "type": "bbox" + }, + "bbox_1767942097790": { + "instances": [ + { + "height": 0.09799999401855507, + "id": "bbox_1767942097790_1767942286251_9y0fd52zj", + "width": 0.18299998883056703, + "x": 0.42177768421767065, + "y": 0.4117083031183897 + } + ], + "type": "bbox" + }, + "point_1767942101027": { + "instances": [ + { + "id": "point_1767942101027_1767942275742_rxzsp6erq", + "x": 0.33577768946669373, + "y": 0.5697082934748356 + } + ], + "type": "point" + }, + "point_1767942105483": { + "instances": [ + { + "id": "point_1767942105483_1767942277822_mg7x7bd6v", + "x": 0.399777685560444, + "y": 0.5637082938410465 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧苹果向爪夹左后方的盘子移动。来到盘子正上方。爪夹松开苹果落入盘子。", + "error_success_analysis": "爪夹夹紧苹果向爪夹左后方移动升高，缩短了与盘子间的距离，方便继续将苹果向盘子移动靠近。", + "frame": 311, + "progress": 50, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了盘子。因此进度提升为50%。", + "state_description": "爪夹夹紧苹果，爪夹角度与桌面接近垂直，水平上接近了盘子。\n为完成抓取苹果放进盘子里的任务应当：抓紧苹果向爪夹左后方的盘子移动。来到盘子正上方。", + "time": 10.3713 + }, + { + "action_description": "爪夹夹紧苹果向爪夹左后方移动升高", + "annotations": { + "bbox_1767942093501": { + "instances": [ + { + "height": 0.05799999645996111, + "id": "bbox_1767942093501_1767942303300_w2y9zvgtf", + "width": 0.05499999664306667, + "x": 0.49077768000624505, + "y": 0.48470829866282356 + } + ], + "type": "bbox" + }, + "bbox_1767942097790": { + "instances": [ + { + "height": 0.08999999450683624, + "id": "bbox_1767942097790_1767942307919_2vbo1fvcy", + "width": 0.17599998925781316, + "x": 0.42477768403456523, + "y": 0.4177083027521788 + } + ], + "type": "bbox" + }, + "point_1767942101027": { + "instances": [ + { + "id": "point_1767942101027_1767942296311_s02j7djkl", + "x": 0.4857776803114209, + "y": 0.5137082968928042 + } + ], + "type": "point" + }, + "point_1767942105483": { + "instances": [ + { + "id": "point_1767942105483_1767942298693_z9j1ehxqw", + "x": 0.5527776762220656, + "y": 0.5127082969538393 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧苹果向爪夹正后方的盘子移动。来到盘子正上方。爪夹松开苹果落入盘子。", + "error_success_analysis": "爪夹夹紧苹果向爪夹左后方移动升高，来到盘子正上方的前方。方便继续将苹果向盘子移动靠近。", + "frame": 370, + "progress": 60, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上更加接近了盘子。因此进度提升为60%。", + "state_description": "爪夹夹紧苹果，爪夹角度与桌面接近垂直，水平上接近了盘子。\n为完成抓取苹果放进盘子里的任务应当：抓紧苹果向爪夹正后方的盘子移动。来到盘子正上方。", + "time": 12.3261 + }, + { + "action_description": "爪夹向爪夹左后方移动升高", + "annotations": { + "bbox_1767942093501": { + "instances": [ + { + "height": 0.053999996704101785, + "id": "bbox_1767942093501_1767942319087_g5yl6w17x", + "width": 0.052999996765136954, + "x": 0.6027776731703081, + "y": 0.3587083063532528 + } + ], + "type": "bbox" + }, + "bbox_1767942097790": { + "instances": [ + { + "height": 0.09999999389648474, + "id": "bbox_1767942097790_1767942322775_m9fldjicl", + "width": 0.1809999889526374, + "x": 0.42477768403456523, + "y": 0.4137083029963194 + } + ], + "type": "bbox" + }, + "point_1767942101027": { + "instances": [ + { + "id": "point_1767942101027_1767942312970_hmaivfs27", + "x": 0.5997776733534135, + "y": 0.3827083048884091 + } + ], + "type": "point" + }, + "point_1767942105483": { + "instances": [ + { + "id": "point_1767942105483_1767942315656_km8lcj2sf", + "x": 0.6597776696913044, + "y": 0.3847083047663388 + } + ], + "type": "point" + } + }, + "correction_plan": "抓紧苹果向爪夹右方的盘子移动。来到盘子正上方。爪夹松开苹果落入盘子。", + "error_success_analysis": "爪夹向爪夹左方移动升高，更加缩短了与盘子之间的距离。方便苹果落入盘子。", + "frame": 448, + "progress": 70, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上更加接近了盘子。因此进度提升为70%。", + "state_description": "爪夹夹紧苹果，爪夹角度与桌面接近垂直，水平上更加接近了盘子。\n为完成抓取苹果放进盘子里的任务应当：抓紧苹果向爪夹右方的盘子移动。来到盘子正上方。", + "time": 14.9325 + }, + { + "action_description": "爪夹夹紧苹果向爪夹左后方移动", + "annotations": { + "bbox_1767942093501": { + "instances": [ + { + "height": 0.047999997070312675, + "id": "bbox_1767942093501_1767942333387_psjphfvlc", + "width": 0.04899999700927757, + "x": 0.4887776801283154, + "y": 0.3547083065973934 + } + ], + "type": "bbox" + }, + "bbox_1767942097790": { + "instances": [ + { + "height": 0.0999999938964848, + "id": "bbox_1767942097790_1767942337275_6q6fmjhvw", + "width": 0.1829999888305671, + "x": 0.41977768433974094, + "y": 0.4117083031183897 + } + ], + "type": "bbox" + }, + "point_1767942101027": { + "instances": [ + { + "id": "point_1767942101027_1767942328579_1x5a8zkvc", + "x": 0.4877776801893506, + "y": 0.3777083051935849 + } + ], + "type": "point" + }, + "point_1767942105483": { + "instances": [ + { + "id": "point_1767942105483_1767942330305_q8vhs6991", + "x": 0.543777676771382, + "y": 0.3757083053156552 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开苹果落入盘子。", + "error_success_analysis": "爪夹夹紧苹果向爪夹左后方移动来到了盘子正上方。方便苹果落入盘子。", + "frame": 514, + "progress": 80, + "progress_explanation": "爪夹角度与桌面接近垂直，位于盘子正上方。方便苹果落入盘子，因此进度提升为80%。", + "state_description": "爪夹夹紧苹果，爪夹角度与桌面接近垂直，位于盘子正上方。\n为完成抓取苹果放进盘子里的任务应当：爪夹松开苹果落入盘子。", + "time": 17.1407 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1767942093501": { + "instances": [ + { + "height": 0.05099999688720723, + "id": "bbox_1767942093501_1767942353273_kcro4ky5j", + "width": 0.048999997009277506, + "x": 0.48977768006728023, + "y": 0.383708304827374 + } + ], + "type": "bbox" + }, + "bbox_1767942097790": { + "instances": [ + { + "height": 0.09999999389648474, + "id": "bbox_1767942097790_1767942357463_e57krvt1b", + "width": 0.18799998852539127, + "x": 0.4187776844007761, + "y": 0.4147083029352842 + } + ], + "type": "bbox" + }, + "point_1767942101027": { + "instances": [ + { + "id": "point_1767942101027_1767942346206_b44u20tt6", + "x": 0.48977768006728023, + "y": 0.3777083051935849 + } + ], + "type": "point" + }, + "point_1767942105483": { + "instances": [ + { + "id": "point_1767942105483_1767942348205_s70t7vudo", + "x": 0.543777676771382, + "y": 0.3807083050104794 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开，苹果落入盘子。任务完成。", + "frame": 538, + "progress": 100, + "progress_explanation": "爪夹松开，苹果落入盘子。因此进度提升为100%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于盘子正上方。\n抓取苹果放进盘子里的任务目标完成。", + "time": 17.919 + }, + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767942093501": { + "instances": [ + { + "height": 0.046999997131347844, + "id": "bbox_1767942093501_1767942374801_frlgex55y", + "width": 0.05199999682617206, + "x": 0.6807776684095662, + "y": 0.435708301653546 + } + ], + "type": "bbox" + }, + "bbox_1767942097790": { + "instances": [ + { + "height": 0.13499999176025443, + "id": "bbox_1767942097790_1767942378501_5v5gjjzfm", + "width": 0.21799998669433668, + "x": 0.36077768794081494, + "y": 0.5367082954889957 + } + ], + "type": "bbox" + }, + "point_1767942101027": { + "instances": [ + { + "id": "point_1767942101027_1767942368911_w7y3527bk", + "x": 0.4727776811048779, + "y": 0.3007083098932916 + } + ], + "type": "point" + }, + "point_1767942105483": { + "instances": [ + { + "id": "point_1767942105483_1767942370689_4twr4xka1", + "x": 0.5327776774427687, + "y": 0.3007083098932916 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左后方移动并垂直下降，来到苹果正上方。爪夹垂直下降靠近苹果，爪夹合拢抓取苹果。抓紧苹果向爪夹右前方的盘子移动并垂直升高。来到盘子正上方。爪夹松开苹果落入盘子。", + "error_success_analysis": "", + "frame": 543, + "progress": 0, + "progress_explanation": "爪夹张开，远离苹果，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离苹果，未开始移动。\n为完成抓取苹果放进盘子里的任务应当：爪夹向爪夹左后方移动并垂直下降，来到苹果正上方。", + "time": 18.1 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767942093501", + "name": "苹果" + }, + { + "color": "#FF9800", + "id": "bbox_1767942097790", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767942101027", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767942105483", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.image/episode_002127.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.image/episode_002127.json new file mode 100644 index 0000000000000000000000000000000000000000..6f5b858041c70a362cc469a9bccaadb03c767f37 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.image/episode_002127.json @@ -0,0 +1,692 @@ +{ + "task_description": "抓取苹果放进盘子里：\n准备开始移动：0%\n爪夹靠近苹果：20%\n爪夹抓取苹果：40%\n爪夹夹紧苹果接近盘子：60%\n爪夹夹紧苹果靠近盘子：80%\n爪夹松开苹果落入盘子：100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离苹果，未开始移动。\n为完成抓取苹果放进盘子里的任务应当：爪夹向爪夹左后方移动并垂直下降，来到苹果正上方。", + "progress_explanation": "爪夹张开，远离苹果，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左后方移动并垂直下降，来到苹果正上方。爪夹垂直下降靠近苹果，爪夹合拢抓取苹果。抓紧苹果向爪夹右前方的盘子移动并垂直升高。来到盘子正上方。爪夹松开苹果落入盘子。", + "annotations": { + "bbox_1767944226042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944226042_1767944247322_w9jh06aql", + "x": 0.6785, + "y": 0.426, + "width": 0.04899999999999996, + "height": 0.04799999999999998 + } + ] + }, + "bbox_1767944229538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944229538_1767944250476_iletcrxfl", + "x": 0.18550000000000003, + "y": 0.5559999999999999, + "width": 0.23299999999999998, + "height": 0.147 + } + ] + }, + "point_1767944232740": { + "type": "point", + "instances": [ + { + "id": "point_1767944232740_1767944257241_5s3gfpifg", + "x": 0.46649999999999997, + "y": 0.13699999999999998 + } + ] + }, + "point_1767944237502": { + "type": "point", + "instances": [ + { + "id": "point_1767944237502_1767944260938_guzh7vnkp", + "x": 0.5415, + "y": 0.13899999999999998 + } + ] + } + } + }, + { + "time": 2.4168, + "frame": 73, + "progress": 5, + "action_description": "爪夹向爪夹正后方移动并向爪夹左方移动", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平上略微接近了苹果。\n为完成抓取苹果放进盘子里的任务应当：爪夹向爪夹左方移动并垂直下降，来到苹果正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上略微接近了苹果。因此进度提升为5%。", + "error_success_analysis": "爪夹向爪夹左后方移动略微缩短了与苹果之间的距离。方便继续向苹果移动。", + "correction_plan": "爪夹向爪夹左方移动并垂直下降，来到苹果正上方。爪夹垂直下降靠近苹果，爪夹合拢抓取苹果。抓紧苹果向爪夹右前方的盘子移动并垂直升高。来到盘子正上方。爪夹松开苹果落入盘子。", + "annotations": { + "point_1767944237502": { + "type": "point", + "instances": [ + { + "id": "point_1767944237502_1767944267202_a307mvyzp", + "x": 0.6515, + "y": 0.143 + } + ] + }, + "point_1767944232740": { + "type": "point", + "instances": [ + { + "id": "point_1767944232740_1767944269461_ngl5obd15", + "x": 0.5805, + "y": 0.14 + } + ] + }, + "bbox_1767944226042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944226042_1767944274169_yocuz7eyk", + "x": 0.6805, + "y": 0.428, + "width": 0.05, + "height": 0.045999999999999965 + } + ] + }, + "bbox_1767944229538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944229538_1767944278289_gou6hqroi", + "x": 0.18550000000000003, + "y": 0.554, + "width": 0.22899999999999995, + "height": 0.14699999999999988 + } + ] + } + } + }, + { + "time": 4.2864, + "frame": 129, + "progress": 10, + "action_description": "爪夹向爪夹左方移动下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了苹果。\n为完成抓取苹果放进盘子里的任务应当：爪夹继续向爪夹左方移动并垂直下降，来到苹果正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了苹果。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹左方移动并垂直下降缩短了与苹果之间的距离。方便靠近苹果抓取。", + "correction_plan": "爪夹继续向爪夹左方移动并垂直下降，来到苹果正上方。爪夹垂直下降靠近苹果，爪夹合拢抓取苹果。抓紧苹果向爪夹右前方的盘子移动并垂直升高。来到盘子正上方。爪夹松开苹果落入盘子。", + "annotations": { + "point_1767944237502": { + "type": "point", + "instances": [ + { + "id": "point_1767944237502_1767944296872_i5w7tfmmw", + "x": 0.6675, + "y": 0.293 + } + ] + }, + "bbox_1767944226042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944226042_1767944301159_lratnoz5r", + "x": 0.6815, + "y": 0.429, + "width": 0.04700000000000001, + "height": 0.04600000000000003 + } + ] + }, + "bbox_1767944229538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944229538_1767944304218_0kfnals6d", + "x": 0.18549999999999997, + "y": 0.5519999999999999, + "width": 0.233, + "height": 0.14800000000000005 + } + ] + } + } + }, + { + "time": 6.0952, + "frame": 183, + "progress": 15, + "action_description": "爪夹向爪夹左方移动并垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于苹果正上方。\n为完成抓取苹果放进盘子里的任务应当：爪夹垂直下降靠近苹果，爪夹合拢抓取苹果。", + "progress_explanation": "爪夹角度与桌面接近垂直，位于苹果正上方。方便下降抓取苹果。因此进度提升为15%。", + "error_success_analysis": "爪夹向爪夹左方移动并垂直下降来到了苹果正上方，方便抓取苹果。", + "correction_plan": "爪夹垂直下降靠近苹果，爪夹合拢抓取苹果。抓紧苹果向爪夹右前方的盘子移动并垂直升高。来到盘子正上方。爪夹松开苹果落入盘子。", + "annotations": { + "point_1767944232740": { + "type": "point", + "instances": [ + { + "id": "point_1767944232740_1767944316569_ljv8ii6jm", + "x": 0.6755, + "y": 0.405 + } + ] + }, + "point_1767944237502": { + "type": "point", + "instances": [ + { + "id": "point_1767944237502_1767944318837_ywz61cvet", + "x": 0.7414999999999999, + "y": 0.40599999999999997 + } + ] + }, + "bbox_1767944226042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944226042_1767944322073_mkdpmq7pq", + "x": 0.6815, + "y": 0.425, + "width": 0.047999999999999925, + "height": 0.051999999999999956 + } + ] + }, + "bbox_1767944229538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944229538_1767944325290_b4dqv8e72", + "x": 0.1835, + "y": 0.553, + "width": 0.23399999999999996, + "height": 0.1509999999999999 + } + ] + } + } + }, + { + "time": 6.8704, + "frame": 206, + "progress": 20, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了苹果两侧。\n为完成抓取苹果放进盘子里的任务应当：爪夹合拢抓取苹果。", + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了苹果两侧。方便抓取苹果，因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降靠近了苹果，方便抓取苹果。", + "correction_plan": "爪夹合拢抓取苹果。抓紧苹果向爪夹右前方的盘子移动并垂直升高。来到盘子正上方。爪夹松开苹果落入盘子。", + "annotations": { + "point_1767944232740": { + "type": "point", + "instances": [ + { + "id": "point_1767944232740_1767944334922_7ux6q2f2b", + "x": 0.6695, + "y": 0.461 + } + ] + }, + "point_1767944237502": { + "type": "point", + "instances": [ + { + "id": "point_1767944237502_1767944337894_v6eve4bnp", + "x": 0.7364999999999999, + "y": 0.461 + } + ] + }, + "bbox_1767944226042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944226042_1767944341950_gd225y1oj", + "x": 0.6804999999999999, + "y": 0.42999999999999994, + "width": 0.04800000000000016, + "height": 0.04500000000000005 + } + ] + }, + "bbox_1767944229538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944229538_1767944350218_ajxzyasz0", + "x": 0.1835, + "y": 0.555, + "width": 0.235, + "height": 0.14599999999999985 + } + ] + } + } + }, + { + "time": 7.7672, + "frame": 233, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢，爪夹角度与桌面接近垂直，抓取到苹果。\n为完成抓取苹果放进盘子里的任务应当：抓紧苹果向爪夹右前方的盘子移动并垂直升高。", + "progress_explanation": "爪夹合拢抓取到了苹果。因此进度提升为40%。", + "error_success_analysis": "爪夹合拢成功抓取到了苹果，方便将苹果向盘子移动。", + "correction_plan": "抓紧苹果向爪夹右前方的盘子移动并垂直升高。来到盘子正上方。爪夹松开苹果落入盘子。", + "annotations": { + "point_1767944232740": { + "type": "point", + "instances": [ + { + "id": "point_1767944232740_1767944358978_llqqkuhd2", + "x": 0.6775, + "y": 0.46199999999999997 + } + ] + }, + "point_1767944237502": { + "type": "point", + "instances": [ + { + "id": "point_1767944237502_1767944361894_lz9e9qbjy", + "x": 0.7304999999999999, + "y": 0.461 + } + ] + }, + "bbox_1767944226042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944226042_1767944365958_6mawazizl", + "x": 0.6835, + "y": 0.431, + "width": 0.04700000000000001, + "height": 0.045999999999999965 + } + ] + }, + "bbox_1767944229538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944229538_1767944370648_b8r7qfat5", + "x": 0.18449999999999997, + "y": 0.553, + "width": 0.23300000000000004, + "height": 0.147 + } + ] + } + } + }, + { + "time": 9.476928466990143, + "frame": 284, + "progress": 50, + "action_description": "爪夹夹紧苹果向爪夹右前方移动升高", + "state_description": "爪夹夹紧苹果，爪夹角度与桌面接近垂直，水平上略微接近了盘子。\n为完成抓取苹果放进盘子里的任务应当：抓紧苹果继续向爪夹右前方的盘子移动。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上略微接近了盘子。因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧苹果向爪夹右前方移动升高，缩短了与盘子间的距离，方便继续将苹果向盘子移动靠近。", + "correction_plan": "抓紧苹果继续向爪夹右前方的盘子移动。来到盘子正上方。爪夹松开苹果落入盘子。", + "annotations": { + "point_1767944232740": { + "type": "point", + "instances": [ + { + "id": "point_1767944232740_1767944378976_dxag5ikr6", + "x": 0.5965, + "y": 0.428 + } + ] + }, + "point_1767944237502": { + "type": "point", + "instances": [ + { + "id": "point_1767944237502_1767944382324_mlzwjw5fh", + "x": 0.6545, + "y": 0.43 + } + ] + }, + "bbox_1767944226042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944226042_1767944386364_sfqon0olm", + "x": 0.5995, + "y": 0.397, + "width": 0.04899999999999996, + "height": 0.051999999999999956 + } + ] + }, + "bbox_1767944229538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944229538_1767944390078_rr80j1x4g", + "x": 0.1845, + "y": 0.5549999999999999, + "width": 0.23099999999999998, + "height": 0.14400000000000002 + } + ] + } + } + }, + { + "time": 10.716, + "frame": 321, + "progress": 60, + "action_description": "爪夹夹紧苹果向爪夹右前方移动", + "state_description": "爪夹夹紧苹果，爪夹角度与桌面接近垂直，水平上接近了盘子。\n为完成抓取苹果放进盘子里的任务应当：抓紧苹果继续向爪夹右前方的盘子移动。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了盘子。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧苹果向爪夹右前方移动升高，缩短了与盘子间的距离，方便继续将苹果向盘子移动靠近。", + "correction_plan": "抓紧苹果继续向爪夹右前方的盘子移动。来到盘子正上方。爪夹松开苹果落入盘子。", + "annotations": { + "point_1767944232740": { + "type": "point", + "instances": [ + { + "id": "point_1767944232740_1767944398937_r1yt1btmc", + "x": 0.5135, + "y": 0.45699999999999996 + } + ] + }, + "point_1767944237502": { + "type": "point", + "instances": [ + { + "id": "point_1767944237502_1767944401280_cw79lzvug", + "x": 0.5745, + "y": 0.458 + } + ] + }, + "bbox_1767944226042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944226042_1767944405122_s6nn0n5gu", + "x": 0.5165, + "y": 0.423, + "width": 0.050999999999999976, + "height": 0.053 + } + ] + }, + "bbox_1767944229538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944229538_1767944408726_21xadpckx", + "x": 0.18549999999999997, + "y": 0.553, + "width": 0.23200000000000004, + "height": 0.1509999999999999 + } + ] + } + } + }, + { + "time": 12.661599, + "frame": 380, + "progress": 70, + "action_description": "爪夹夹紧苹果向爪夹右前方移动", + "state_description": "爪夹夹紧苹果，爪夹角度与桌面接近垂直，位于盘子边缘上方。\n为完成抓取苹果放进盘子里的任务应当：抓紧苹果继续向爪夹右前方的盘子移动。来到盘子正上方。", + "progress_explanation": "爪夹角度与桌面接近垂直，水平上更加接近了盘子。因此进度提升为70%。", + "error_success_analysis": "爪夹向爪夹左方移动升高，更加缩短了与盘子之间的距离。方便苹果落入盘子。", + "correction_plan": "抓紧苹果继续向爪夹右前方的盘子移动。来到盘子正上方。爪夹松开苹果落入盘子。", + "annotations": { + "point_1767944232740": { + "type": "point", + "instances": [ + { + "id": "point_1767944232740_1767944417785_8b39l5qqc", + "x": 0.38049999999999995, + "y": 0.49599999999999994 + } + ] + }, + "point_1767944237502": { + "type": "point", + "instances": [ + { + "id": "point_1767944237502_1767944419662_wxw28394c", + "x": 0.4405, + "y": 0.49599999999999994 + } + ] + }, + "bbox_1767944226042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944226042_1767944423658_g0f13apiw", + "x": 0.3825, + "y": 0.46499999999999997, + "width": 0.055000000000000014, + "height": 0.05200000000000002 + } + ] + }, + "bbox_1767944229538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944229538_1767944428321_xno0f3b8c", + "x": 0.1835, + "y": 0.5549999999999999, + "width": 0.234, + "height": 0.14399999999999988 + } + ] + } + } + }, + { + "time": 14.2424, + "frame": 427, + "progress": 80, + "action_description": "爪夹夹紧苹果向爪夹右前方移动", + "state_description": "爪夹夹紧苹果，爪夹角度与桌面接近垂直，位于盘子正上方。\n为完成抓取苹果放进盘子里的任务应当：爪夹松开苹果落入盘子。", + "progress_explanation": "爪夹角度与桌面接近垂直，位于盘子正上方。方便苹果落入盘子，因此进度提升为80%。", + "error_success_analysis": "爪夹夹紧苹果向爪夹右前方移动来到了盘子正上方。方便苹果落入盘子。", + "correction_plan": "爪夹松开苹果落入盘子。", + "annotations": { + "point_1767944232740": { + "type": "point", + "instances": [ + { + "id": "point_1767944232740_1767944438628_aa3ey2s1q", + "x": 0.2615, + "y": 0.534 + } + ] + }, + "point_1767944237502": { + "type": "point", + "instances": [ + { + "id": "point_1767944237502_1767944440632_822fivbxf", + "x": 0.3235, + "y": 0.533 + } + ] + }, + "bbox_1767944226042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944226042_1767944445502_09a4ut1wi", + "x": 0.2605, + "y": 0.5, + "width": 0.060000000000000026, + "height": 0.05499999999999995 + } + ] + }, + "bbox_1767944229538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944229538_1767944451436_s6vuo9mab", + "x": 0.1805, + "y": 0.5559999999999999, + "width": 0.235, + "height": 0.147 + } + ] + } + } + }, + { + "time": 15.093599, + "frame": 453, + "progress": 100, + "action_description": "爪夹张开", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于盘子正上方。\n抓取苹果放进盘子里的任务目标完成。", + "progress_explanation": "爪夹松开，苹果落入盘子。因此进度提升为100%。", + "error_success_analysis": "爪夹松开，苹果落入盘子。任务完成。", + "correction_plan": "", + "annotations": { + "point_1767944232740": { + "type": "point", + "instances": [ + { + "id": "point_1767944232740_1767944457188_l7q6u4epb", + "x": 0.2575, + "y": 0.537 + } + ] + }, + "point_1767944237502": { + "type": "point", + "instances": [ + { + "id": "point_1767944237502_1767944459112_ax8gm8jl9", + "x": 0.32749999999999996, + "y": 0.5389999999999999 + } + ] + }, + "bbox_1767944226042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944226042_1767944463236_ojh53e8wx", + "x": 0.2615, + "y": 0.5319999999999999, + "width": 0.06099999999999997, + "height": 0.059000000000000045 + } + ] + }, + "bbox_1767944229538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944229538_1767944468062_3pvdofrul", + "x": 0.18549999999999997, + "y": 0.5579999999999999, + "width": 0.228, + "height": 0.14100000000000001 + } + ] + } + } + }, + { + "time": 15.2, + "frame": 456, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离苹果，未开始移动。\n为完成抓取苹果放进盘子里的任务应当：爪夹向爪夹左后方移动并垂直下降，来到苹果正上方。", + "progress_explanation": "爪夹张开，远离苹果，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左后方移动并垂直下降，来到苹果正上方。爪夹垂直下降靠近苹果，爪夹合拢抓取苹果。抓紧苹果向爪夹右前方的盘子移动并垂直升高。来到盘子正上方。爪夹松开苹果落入盘子。", + "annotations": { + "point_1767944232740": { + "type": "point", + "instances": [ + { + "id": "point_1767944232740_1767944476138_sc1epuv6m", + "x": 0.5305, + "y": 0.047 + } + ] + }, + "point_1767944237502": { + "type": "point", + "instances": [ + { + "id": "point_1767944237502_1767944479746_hr6o911ys", + "x": 0.5915, + "y": 0.055 + } + ] + }, + "bbox_1767944226042": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944226042_1767944483996_md0ur9ozs", + "x": 0.6745, + "y": 0.43799999999999994, + "width": 0.05100000000000004, + "height": 0.04800000000000004 + } + ] + }, + "bbox_1767944229538": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767944229538_1767944491848_x4kh0pwgq", + "x": 0.34950000000000003, + "y": 0.521, + "width": 0.21899999999999994, + "height": 0.14800000000000005 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767944226042", + "name": "苹果", + "color": "#4CAF50" + }, + { + "id": "bbox_1767944229538", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767944232740", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767944237502", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.image/episode_002151.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.image/episode_002151.json new file mode 100644 index 0000000000000000000000000000000000000000..89c9bf90fc0967b46f4e86cd3bc8761bd5554788 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.image/episode_002151.json @@ -0,0 +1,748 @@ +{ + "task_description": "抓取香蕉放进盘子里：\n准备开始移动：0%\n爪夹靠近香蕉：20%\n爪夹抓取香蕉：40%\n爪夹夹紧香蕉接近盘子：60%\n爪夹夹紧香蕉靠近盘子：80%\n爪夹松开香蕉落入盘子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767947625296": { + "instances": [ + { + "height": 0.13199999194335987, + "id": "bbox_1767947625296_1767947651189_04gkes3m9", + "width": 0.09399999426269581, + "x": 0.7237776657850544, + "y": 0.6487082733942704 + } + ], + "type": "bbox" + }, + "bbox_1767947629811": { + "instances": [ + { + "height": 0.10199999377441446, + "id": "bbox_1767947629811_1767947660900_xmtdor9lg", + "width": 0.19399998815918043, + "x": 0.38477768647597127, + "y": 0.4297082867609688 + } + ], + "type": "bbox" + }, + "point_1767947634048": { + "instances": [ + { + "id": "point_1767947634048_1767947663649_yaartygqt", + "x": 0.4647776815931591, + "y": 0.13570830470530368 + } + ], + "type": "point" + }, + "point_1767947641361": { + "instances": [ + { + "id": "point_1767947641361_1767947666386_gffj6yvs9", + "x": 0.5447776767103468, + "y": 0.1387083045221982 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前方移动并垂直下降，来到香蕉正上方。爪夹垂直下降靠近香蕉，爪夹合拢抓取香蕉。抓紧香蕉向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开香蕉落入盘子。", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "爪夹张开，远离香蕉，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离香蕉，未开始移动。\n为完成抓取香蕉放进盘子里的任务应当：爪夹向爪夹左前方移动并垂直下降，来到香蕉正上方。", + "time": 0.044672446045397184 + }, + { + "action_description": "爪夹向爪夹左前方移动下降", + "annotations": { + "bbox_1767947625296": { + "instances": [ + { + "height": 0.13399999182128955, + "id": "bbox_1767947625296_1767947680703_im2c378d2", + "width": 0.09499999420166046, + "x": 0.7207776659681601, + "y": 0.6477082887140937 + } + ], + "type": "bbox" + }, + "bbox_1767947629811": { + "instances": [ + { + "height": 0.10499999359130895, + "id": "bbox_1767947629811_1767947684723_4uxa0uoqx", + "width": 0.19599998803711013, + "x": 0.3847776864759712, + "y": 0.42770830214182726 + } + ], + "type": "bbox" + }, + "point_1767947634048": { + "instances": [ + { + "id": "point_1767947634048_1767947675229_20f91csp2", + "x": 0.6067776729261674, + "y": 0.20470831575266626 + } + ], + "type": "point" + }, + "point_1767947641361": { + "instances": [ + { + "id": "point_1767947641361_1767947672531_n3bke5v0e", + "x": 0.6847776681654255, + "y": 0.21070831538645537 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹左前方移动并垂直下降，来到香蕉正上方。爪夹垂直下降靠近香蕉，爪夹合拢抓取香蕉。抓紧香蕉向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开香蕉落入盘子。", + "error_success_analysis": "爪夹向爪夹左前方移动下降稍微缩短了与香蕉之间的距离。方便继续向香蕉移动靠近。", + "frame": 59, + "progress": 5, + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上略微接近了香蕉。因此进度提升为5%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上略微接近了香蕉。\n为完成抓取香蕉放进盘子里的任务应当：爪夹继续向爪夹左前方移动并垂直下降，来到香蕉正上方。", + "time": 1.95 + }, + { + "action_description": "爪夹向爪夹左前方移动下降", + "annotations": { + "bbox_1767947625296": { + "instances": [ + { + "height": 0.13199999194335987, + "id": "bbox_1767947625296_1767947711781_gobk6tdk1", + "width": 0.09599999414062535, + "x": 0.7207776659681601, + "y": 0.6507082885309882 + } + ], + "type": "bbox" + }, + "bbox_1767947629811": { + "instances": [ + { + "height": 0.10599999353027384, + "id": "bbox_1767947629811_1767947716871_p6lkebxk0", + "width": 0.1929999882202156, + "x": 0.38577768641493615, + "y": 0.42570830226389755 + } + ], + "type": "bbox" + }, + "point_1767947641361": { + "instances": [ + { + "id": "point_1767947641361_1767947706433_8pwect8wg", + "x": 0.7087776667005818, + "y": 0.44470830110422965 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续向爪夹左前方移动并垂直下降，来到香蕉正上方。爪夹垂直下降靠近香蕉，爪夹合拢抓取香蕉。抓紧香蕉向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开香蕉落入盘子。", + "error_success_analysis": "爪夹向爪夹左前方移动下降缩短了与香蕉之间的距离。方便继续向香蕉移动靠近。", + "frame": 144, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了香蕉。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了香蕉。\n为完成抓取香蕉放进盘子里的任务应当：爪夹继续向爪夹左前方移动并垂直下降，来到香蕉正上方。", + "time": 4.7892 + }, + { + "action_description": "爪夹向爪夹左前方移动下降", + "annotations": { + "bbox_1767947625296": { + "instances": [ + { + "height": 0.13399999182128966, + "id": "bbox_1767947625296_1767947732855_jrje6dkcq", + "width": 0.0929999943237308, + "x": 0.7237776657850545, + "y": 0.6497082885920233 + } + ], + "type": "bbox" + }, + "bbox_1767947629811": { + "instances": [ + { + "height": 0.10299999371337928, + "id": "bbox_1767947629811_1767947740667_mskab79v7", + "width": 0.18899998846435614, + "x": 0.3887776862318307, + "y": 0.4297083020197569 + } + ], + "type": "bbox" + }, + "point_1767947634048": { + "instances": [ + { + "id": "point_1767947634048_1767947725825_h9gocyeur", + "x": 0.7257776656629843, + "y": 0.6607082879206366 + } + ], + "type": "point" + }, + "point_1767947641361": { + "instances": [ + { + "id": "point_1767947641361_1767947728274_grzyfiomj", + "x": 0.818777659986715, + "y": 0.6597082879816719 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹垂直下降靠近香蕉，爪夹合拢抓取香蕉。抓紧香蕉向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开香蕉落入盘子。", + "error_success_analysis": "爪夹向爪夹左前方移动并垂直下降来到了香蕉正上方，方便抓取香蕉。", + "frame": 218, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，位于香蕉正上方。方便下降抓取香蕉。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于香蕉正上方。\n为完成抓取香蕉放进盘子里的任务应当：爪夹垂直下降靠近香蕉，爪夹合拢抓取香蕉。", + "time": 7.281785392727541 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1767947625296": { + "instances": [ + { + "height": 0.12099999261474655, + "id": "bbox_1767947625296_1767947751761_0lzde5mc0", + "width": 0.09399999426269569, + "x": 0.7267776656019491, + "y": 0.6607082879206366 + } + ], + "type": "bbox" + }, + "bbox_1767947629811": { + "instances": [ + { + "height": 0.10899999334716834, + "id": "bbox_1767947629811_1767947760361_dvihmiq92", + "width": 0.19599998803711008, + "x": 0.38477768647597127, + "y": 0.42570830226389755 + } + ], + "type": "bbox" + }, + "point_1767947634048": { + "instances": [ + { + "id": "point_1767947634048_1767947745419_g8qt0dnev", + "x": 0.7197776660291951, + "y": 0.7197082843195627 + } + ], + "type": "point" + }, + "point_1767947641361": { + "instances": [ + { + "id": "point_1767947641361_1767947747672_87o0khupz", + "x": 0.8057776607801721, + "y": 0.7187082843805979 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹合拢抓取香蕉。抓紧香蕉向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开香蕉落入盘子。", + "error_success_analysis": "爪夹垂直下降靠近了香蕉，方便抓取香蕉。", + "frame": 243, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了香蕉两侧。方便抓取香蕉，因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了香蕉两侧。\n为完成抓取香蕉放进盘子里的任务应当：爪夹合拢抓取香蕉。抓紧香蕉向爪夹右后方的盘子移动并垂直升高。", + "time": 8.096399 + }, + { + "action_description": "爪夹合拢，夹紧香蕉垂直升高", + "annotations": { + "bbox_1767947625296": { + "instances": [ + { + "height": 0.1299999920654301, + "id": "bbox_1767947625296_1767947774503_h3surqnnp", + "width": 0.09199999438476603, + "x": 0.7477776643202109, + "y": 0.6257082900568671 + } + ], + "type": "bbox" + }, + "bbox_1767947629811": { + "instances": [ + { + "height": 0.11299999310302772, + "id": "bbox_1767947629811_1767947784559_84m152gac", + "width": 0.196999987976075, + "x": 0.3837776865370064, + "y": 0.42470830232493273 + } + ], + "type": "bbox" + }, + "point_1767947634048": { + "instances": [ + { + "id": "point_1767947634048_1767947769029_1qfs5g2tv", + "x": 0.7447776645033163, + "y": 0.6897082861506173 + } + ], + "type": "point" + }, + "point_1767947641361": { + "instances": [ + { + "id": "point_1767947641361_1767947771073_cx5rdnb09", + "x": 0.7947776614515587, + "y": 0.6887082862116524 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧香蕉向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开香蕉落入盘子。", + "error_success_analysis": "爪夹合拢抓取到香蕉，夹紧香蕉垂直升高位于半空中，方便将香蕉向盘子移动。", + "frame": 276, + "progress": 45, + "progress_explanation": "爪夹合拢抓取到香蕉，垂直升高微微远离了桌面，来到半空中。因此进度提升为45%。", + "state_description": "爪夹夹紧香蕉，位于桌面正上方。\n为完成抓取香蕉放进盘子里的任务应当：爪夹夹紧香蕉向爪夹右后方的盘子移动并垂直升高。", + "time": 9.1884 + }, + { + "action_description": "爪夹夹紧香蕉向爪夹右后方移动升高", + "annotations": { + "bbox_1767947625296": { + "instances": [ + { + "height": 0.10699999346923862, + "id": "bbox_1767947625296_1767947799785_7n8ftehso", + "width": 0.08299999493408236, + "x": 0.6747776687757769, + "y": 0.5077082972590151 + } + ], + "type": "bbox" + }, + "bbox_1767947629811": { + "instances": [ + { + "height": 0.10699999346923862, + "id": "bbox_1767947629811_1767947816312_n3l89d2yq", + "width": 0.19099998834228593, + "x": 0.3877776862928658, + "y": 0.42770830214182726 + } + ], + "type": "bbox" + }, + "point_1767947634048": { + "instances": [ + { + "id": "point_1767947634048_1767947794161_cfwb4fr9t", + "x": 0.6737776688368122, + "y": 0.560708294024152 + } + ], + "type": "point" + }, + "point_1767947641361": { + "instances": [ + { + "id": "point_1767947641361_1767947796175_2ajbxonwn", + "x": 0.7157776662733358, + "y": 0.5597082940851871 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧香蕉继续向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开香蕉落入盘子。", + "error_success_analysis": "爪夹夹紧香蕉向爪夹右后方移动升高缩短了与盘子间的距离，方便继续将香蕉向盘子移动靠近。", + "frame": 326, + "progress": 50, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上略微接近了盘子。因此进度提升为50%。", + "state_description": "爪夹夹紧香蕉，爪夹角度与桌面接近垂直，水平上略微接近了盘子。\n为完成抓取香蕉放进盘子里的任务应当：爪夹夹紧香蕉继续向爪夹右后方的盘子移动并垂直升高。", + "time": 10.8732 + }, + { + "action_description": "爪夹夹紧香蕉向爪夹右后方移动", + "annotations": { + "bbox_1767947625296": { + "instances": [ + { + "height": 0.09699999407959024, + "id": "bbox_1767947625296_1767947826960_jqx3qodk1", + "width": 0.07199999560546892, + "x": 0.5787776746351517, + "y": 0.4337083017756163 + } + ], + "type": "bbox" + }, + "bbox_1767947629811": { + "instances": [ + { + "height": 0.10499999359130895, + "id": "bbox_1767947629811_1767947831126_gnlm3vs4k", + "width": 0.19799998791503975, + "x": 0.38477768647597127, + "y": 0.42770830214182726 + } + ], + "type": "bbox" + }, + "point_1767947634048": { + "instances": [ + { + "id": "point_1767947634048_1767947821149_wtiqrbcqc", + "x": 0.576777674757222, + "y": 0.48370829872385873 + } + ], + "type": "point" + }, + "point_1767947641361": { + "instances": [ + { + "id": "point_1767947641361_1767947823016_qh9oeppww", + "x": 0.6177776722547806, + "y": 0.4827082987848939 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧香蕉继续向爪夹右后方的盘子移动。来到盘子正上方。爪夹松开香蕉落入盘子。", + "error_success_analysis": "爪夹夹紧香蕉向爪夹右后方移动，更加缩短了与盘子间的距离。方便继续将香蕉向盘子移动靠近。", + "frame": 375, + "progress": 60, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上更加接近了盘子。因此进度提升为60%。", + "state_description": "爪夹夹紧香蕉，爪夹角度与桌面接近垂直，水平上接近了盘子。\n为完成抓取香蕉放进盘子里的任务应当：爪夹夹紧香蕉继续向爪夹右后方的盘子移动。来到盘子正上方。", + "time": 12.495599 + }, + { + "action_description": "爪夹夹紧香蕉向爪夹右后方移动", + "annotations": { + "bbox_1767947625296": { + "instances": [ + { + "height": 0.08999999450683624, + "id": "bbox_1767947625296_1767947845602_omcm2srzn", + "width": 0.06899999578857449, + "x": 0.5097776788465772, + "y": 0.3847083047663388 + } + ], + "type": "bbox" + }, + "bbox_1767947629811": { + "instances": [ + { + "height": 0.1079999934082035, + "id": "bbox_1767947629811_1767947850410_1eu53de7w", + "width": 0.19999998779296954, + "x": 0.3837776865370064, + "y": 0.4257083022638976 + } + ], + "type": "bbox" + }, + "point_1767947634048": { + "instances": [ + { + "id": "point_1767947634048_1767947839384_qykudkypw", + "x": 0.5087776789076124, + "y": 0.4327083018366515 + } + ], + "type": "point" + }, + "point_1767947641361": { + "instances": [ + { + "id": "point_1767947641361_1767947841560_b74v6g5mu", + "x": 0.5527776762220656, + "y": 0.4297083020197569 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹夹紧香蕉继续向爪夹右后方的盘子移动。来到盘子正上方。爪夹松开香蕉落入盘子。", + "error_success_analysis": "爪夹夹紧香蕉向爪夹右后方移动，更加缩短了与盘子之间的距离。方便香蕉落入盘子。", + "frame": 411, + "progress": 70, + "progress_explanation": "爪夹角度与桌面接近垂直，位于盘子边缘正上方。因此进度提升为70%。", + "state_description": "爪夹夹紧香蕉，爪夹角度与桌面接近垂直，位于盘子边缘正上方。\n为完成抓取香蕉放进盘子里的任务应当：爪夹夹紧香蕉继续向爪夹右后方的盘子移动。来到盘子正上方。", + "time": 13.6968 + }, + { + "action_description": "爪夹夹紧香蕉向爪夹右后方移动", + "annotations": { + "bbox_1767947625296": { + "instances": [ + { + "height": 0.08599999475097686, + "id": "bbox_1767947625296_1767947864289_93hkks5yr", + "width": 0.06599999597167994, + "x": 0.4637776816541942, + "y": 0.34770830702463945 + } + ], + "type": "bbox" + }, + "bbox_1767947629811": { + "instances": [ + { + "height": 0.10799999340820357, + "id": "bbox_1767947629811_1767947869037_la1wov16o", + "width": 0.19399998815918043, + "x": 0.386777686353901, + "y": 0.42570830226389755 + } + ], + "type": "bbox" + }, + "point_1767947634048": { + "instances": [ + { + "id": "point_1767947634048_1767947858700_oo0t97rfc", + "x": 0.4647776815931591, + "y": 0.3997083038508115 + } + ], + "type": "point" + }, + "point_1767947641361": { + "instances": [ + { + "id": "point_1767947641361_1767947860758_jm7p4mz2k", + "x": 0.5027776792738233, + "y": 0.39770830397288187 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开香蕉落入盘子。", + "error_success_analysis": "爪夹夹紧香蕉向爪夹右后方移动来到了盘子正上方。方便香蕉落入盘子。", + "frame": 443, + "progress": 80, + "progress_explanation": "爪夹角度与桌面接近垂直，位于盘子正上方。方便香蕉落入盘子，因此进度提升为80%。", + "state_description": "爪夹夹紧香蕉，爪夹角度与桌面接近垂直，位于盘子正上方。\n为完成抓取香蕉放进盘子里的任务应当：爪夹松开香蕉落入盘子。", + "time": 14.760135437632426 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1767947625296": { + "instances": [ + { + "height": 0.10299999371337928, + "id": "bbox_1767947625296_1767947893597_8ylpa0yqh", + "width": 0.0559999965820315, + "x": 0.4687776813490184, + "y": 0.3797083050715146 + } + ], + "type": "bbox" + }, + "bbox_1767947629811": { + "instances": [ + { + "height": 0.10799999340820345, + "id": "bbox_1767947629811_1767947897597_8z3rzgsvk", + "width": 0.19299998822021552, + "x": 0.3897776861707955, + "y": 0.42670830220286243 + } + ], + "type": "bbox" + }, + "point_1767947634048": { + "instances": [ + { + "id": "point_1767947634048_1767947886945_tnytrg5sq", + "x": 0.4637776816541942, + "y": 0.3957083040949521 + } + ], + "type": "point" + }, + "point_1767947641361": { + "instances": [ + { + "id": "point_1767947641361_1767947889103_gukao5j7q", + "x": 0.504777679151753, + "y": 0.3957083040949521 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开香蕉落入盘子，任务完成。", + "frame": 456, + "progress": 100, + "progress_explanation": "爪夹松开，香蕉落入盘子。因此进度提升为100%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于盘子正上方。\n抓取香蕉放进盘子里的任务目标完成。", + "time": 15.1944 + }, + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1767947625296": { + "instances": [ + { + "height": 0.1299999920654302, + "id": "bbox_1767947625296_1767947922489_w0403dyl1", + "width": 0.09399999426269569, + "x": 0.7367776649915976, + "y": 0.6427082890192695 + } + ], + "type": "bbox" + }, + "bbox_1767947629811": { + "instances": [ + { + "height": 0.11399999304199256, + "id": "bbox_1767947629811_1767947927096_schdsn4nx", + "width": 0.1999999877929695, + "x": 0.20677769734022844, + "y": 0.4397083014094054 + } + ], + "type": "bbox" + }, + "point_1767947634048": { + "instances": [ + { + "id": "point_1767947634048_1767947914567_g11wzf1qi", + "x": 0.49577767970106934, + "y": 0.17470831758372085 + } + ], + "type": "point" + }, + "point_1767947641361": { + "instances": [ + { + "id": "point_1767947641361_1767947917755_j6av6sr3t", + "x": 0.5227776780531203, + "y": 0.1777083174006154 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前方移动并垂直下降，来到香蕉正上方。爪夹垂直下降靠近香蕉，爪夹合拢抓取香蕉。抓紧香蕉向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开香蕉落入盘子。", + "error_success_analysis": "", + "frame": 457, + "progress": 0, + "progress_explanation": "爪夹张开，远离香蕉，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离香蕉，未开始移动。\n为完成抓取香蕉放进盘子里的任务应当：爪夹向爪夹左前方移动并垂直下降，来到香蕉正上方。", + "time": 15.2256 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1767947625296": { + "instances": [ + { + "height": 0.13299999188232464, + "id": "bbox_1767947625296_1767947941299_um46zyd5y", + "width": 0.09399999426269569, + "x": 0.7357776650526326, + "y": 0.6387082892634102 + } + ], + "type": "bbox" + }, + "bbox_1767947629811": { + "instances": [ + { + "height": 0.1089999933471684, + "id": "bbox_1767947629811_1767947945533_bigxrlul1", + "width": 0.19899998785400466, + "x": 0.20777769727919326, + "y": 0.4417083012873351 + } + ], + "type": "bbox" + }, + "point_1767947634048": { + "instances": [ + { + "id": "point_1767947634048_1767947934243_skxs05j4b", + "x": 0.4687776813490184, + "y": 0.383708304827374 + } + ], + "type": "point" + }, + "point_1767947641361": { + "instances": [ + { + "id": "point_1767947641361_1767947936317_34r0mkhkx", + "x": 0.4947776797621045, + "y": 0.40570830348460063 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前方移动并垂直下降，来到香蕉正上方。爪夹垂直下降靠近香蕉，爪夹合拢抓取香蕉。抓紧香蕉向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开香蕉落入盘子。", + "error_success_analysis": "爪夹垂直下降垂直上缩短了与香蕉之间的距离。方便继续向香蕉移动抓取。", + "frame": 468, + "progress": 5, + "progress_explanation": "爪夹角度与桌面接近垂直，垂直上接近了香蕉。因此进度提升为5%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，垂直上接近了香蕉。\n为完成抓取香蕉放进盘子里的任务应当：爪夹向爪夹左前方移动并垂直下降，来到香蕉正上方。", + "time": 15.6 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767947625296", + "name": "香蕉" + }, + { + "color": "#FF9800", + "id": "bbox_1767947629811", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767947634048", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767947641361", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.image/episode_002245.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.image/episode_002245.json new file mode 100644 index 0000000000000000000000000000000000000000..3f02f4c6175f14ce80a3aaa9ac0857bacbbc876f --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.image/episode_002245.json @@ -0,0 +1,636 @@ +{ + "task_description": "抓取橙子放进盘子里：\n准备开始移动：0%\n爪夹靠近橙子：20%\n爪夹抓取橙子：40%\n爪夹夹紧橙子接近盘子：60%\n爪夹夹紧橙子靠近盘子：80%\n爪夹松开橙子落入盘子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左前方移动并垂直下降，来到橙子正上方。爪夹垂直下降靠近橙子，爪夹合拢抓取橙子。抓紧橙子向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开橙子落入盘子。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹张开，远离苹果，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离橙子，未开始移动。\n为完成抓取橙子放进盘子里的任务应当：爪夹向爪夹左前方移动并垂直下降，来到橙子正上方。", + "time": 0, + "annotations": { + "bbox_1767950209866": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950209866_1767950241440_bn5yodk92", + "x": 0.7377776649305624, + "y": 0.653819402843054, + "width": 0.06499999603271504, + "height": 0.06199999621582061 + } + ] + }, + "bbox_1767950214105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950214105_1767950245165_2xou3wsf0", + "x": 0.2827776927015569, + "y": 0.43170830189768666, + "width": 0.18999998840332097, + "height": 0.10899999334716834 + } + ] + }, + "point_1767950225079": { + "type": "point", + "instances": [ + { + "id": "point_1767950225079_1767950303735_or0j7pc38", + "x": 0.4647776815931591, + "y": 0.1377083198420215 + } + ] + }, + "point_1767950229895": { + "type": "point", + "instances": [ + { + "id": "point_1767950229895_1767950306093_an7qxyuns", + "x": 0.5427776768324172, + "y": 0.1377083198420215 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动下降", + "correction_plan": "爪夹继续向爪夹左前方移动并垂直下降，来到橙子正上方。爪夹垂直下降靠近橙子，爪夹合拢抓取橙子。抓紧橙子向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开橙子落入盘子。", + "error_success_analysis": "爪夹向爪夹左前方移动下降稍微缩短了与橙子之间的距离。方便继续向橙子移动靠近。", + "frame": 58, + "progress": 5, + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上略微接近了橙子。因此进度提升为5%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上略微接近了橙子。\n为完成抓取橙子放进盘子里的任务应当：爪夹继续向爪夹左前方移动并垂直下降，来到橙子正上方。", + "time": 1.929199, + "annotations": { + "point_1767950225079": { + "type": "point", + "instances": [ + { + "id": "point_1767950225079_1767950310701_i3eoh6r0h", + "x": 0.5577776759168899, + "y": 0.19970831605784203 + } + ] + }, + "point_1767950229895": { + "type": "point", + "instances": [ + { + "id": "point_1767950229895_1767950313645_y8zojixoq", + "x": 0.6237776718885698, + "y": 0.2137083152033499 + } + ] + }, + "bbox_1767950209866": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950209866_1767950318050_3gpbrllly", + "x": 0.7367776649915976, + "y": 0.6517082884699531, + "width": 0.06699999591064483, + "height": 0.06899999578857449 + } + ] + }, + "bbox_1767950214105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950214105_1767950321692_v3oqx5rev", + "x": 0.28277769270155684, + "y": 0.4307083019587218, + "width": 0.19499998809814525, + "height": 0.10799999340820357 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动下降", + "correction_plan": "爪夹继续向爪夹左前方移动并垂直下降，来到橙子正上方。爪夹垂直下降靠近橙子，爪夹合拢抓取橙子。抓紧橙子向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开橙子落入盘子。", + "error_success_analysis": "爪夹向爪夹左前方移动下降缩短了与橙子之间的距离。方便继续向橙子移动靠近。", + "frame": 123, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平和垂直上接近了橙子。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，水平和垂直上接近了橙子。\n为完成抓取橙子放进盘子里的任务应当：爪夹继续向爪夹左前方移动并垂直下降，来到橙子正上方。", + "time": 4.094998, + "annotations": { + "point_1767950229895": { + "type": "point", + "instances": [ + { + "id": "point_1767950229895_1767950331081_0vxmmr0xa", + "x": 0.6657776693250934, + "y": 0.38170830494944424 + } + ] + }, + "bbox_1767950209866": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950209866_1767950334770_oq89yrc40", + "x": 0.7367776649915976, + "y": 0.6527082884089179, + "width": 0.06999999572753939, + "height": 0.06699999591064483 + } + ] + }, + "bbox_1767950214105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950214105_1767950346690_wlkob38bc", + "x": 0.28277769270155684, + "y": 0.4337083017756163, + "width": 0.19299998822021552, + "height": 0.10399999365234412 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动下降", + "correction_plan": "爪夹垂直下降靠近橙子，爪夹合拢抓取橙子。抓紧橙子向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开橙子落入盘子。", + "error_success_analysis": "爪夹向爪夹左前方移动并垂直下降来到了橙子正上方，方便抓取橙子。", + "frame": 215, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，位于橙子正上方。方便下降抓取橙子。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于橙子正上方。\n为完成抓取橙子放进盘子里的任务应当：爪夹垂直下降靠近橙子，爪夹合拢抓取橙子。", + "time": 7.170799, + "annotations": { + "point_1767950225079": { + "type": "point", + "instances": [ + { + "id": "point_1767950225079_1767950353556_pjbcscqb5", + "x": 0.7287776654798788, + "y": 0.6277082899347968 + } + ] + }, + "point_1767950229895": { + "type": "point", + "instances": [ + { + "id": "point_1767950229895_1767950356894_mf6a8agy3", + "x": 0.8237776596815393, + "y": 0.625708290056867 + } + ] + }, + "bbox_1767950209866": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950209866_1767950362142_u0rssmhn1", + "x": 0.7377776649305624, + "y": 0.6527082884089179, + "width": 0.0669999959106447, + "height": 0.06499999603271517 + } + ] + }, + "bbox_1767950214105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950214105_1767950366391_pr4stc5kj", + "x": 0.28377769264052166, + "y": 0.4317083018976867, + "width": 0.19499998809814525, + "height": 0.10599999353027373 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹合拢抓取橙子。抓紧橙子向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开橙子落入盘子。", + "error_success_analysis": "爪夹垂直下降靠近了橙子，方便抓取橙子。", + "frame": 246, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了橙子两侧。方便抓取橙子，因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了橙子两侧。\n为完成抓取橙子放进盘子里的任务应当：爪夹合拢抓取橙子。抓紧橙子向爪夹右后方的盘子移动并垂直升高。", + "time": 8.189999, + "annotations": { + "point_1767950225079": { + "type": "point", + "instances": [ + { + "id": "point_1767950225079_1767950375450_t2nqgsu1r", + "x": 0.7257776656629843, + "y": 0.691708286028547 + } + ] + }, + "point_1767950229895": { + "type": "point", + "instances": [ + { + "id": "point_1767950229895_1767950377147_7ygpl0eht", + "x": 0.812777660352926, + "y": 0.6947082858454415 + } + ] + }, + "bbox_1767950209866": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950209866_1767950380867_jxvkfreym", + "x": 0.7357776650526326, + "y": 0.6597082879816719, + "width": 0.07199999560546905, + "height": 0.05899999639892594 + } + ] + }, + "bbox_1767950214105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950214105_1767950385584_imzugac5d", + "x": 0.28277769270155684, + "y": 0.4347083017145812, + "width": 0.19499998809814525, + "height": 0.10799999340820345 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧橙子向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开橙子落入盘子。", + "error_success_analysis": "爪夹合拢，抓取到了橙子。方便将橙子向盘子移动。", + "frame": 272, + "progress": 40, + "progress_explanation": "爪夹合拢，抓取到了橙子。因此进度提升为40%。", + "state_description": "爪夹合拢，抓取到橙子。\n为完成抓取橙子放进盘子里的任务应当：抓紧橙子向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。", + "time": 9.0818, + "annotations": { + "point_1767950225079": { + "type": "point", + "instances": [ + { + "id": "point_1767950225079_1767950389479_27jrhftuf", + "x": 0.733777665174703, + "y": 0.6927082859675119 + } + ] + }, + "point_1767950229895": { + "type": "point", + "instances": [ + { + "id": "point_1767950229895_1767950391741_9seco7n61", + "x": 0.8087776605970666, + "y": 0.6957082857844064 + } + ] + }, + "bbox_1767950209866": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950209866_1767950396452_bqnb7rk7z", + "x": 0.7367776649915976, + "y": 0.6617082878596017, + "width": 0.06699999591064483, + "height": 0.05699999652099616 + } + ] + }, + "bbox_1767950214105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950214105_1767950404598_2v5664igz", + "x": 0.28277769270155684, + "y": 0.43170830189768666, + "width": 0.1919999882812507, + "height": 0.10699999346923868 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧橙子向爪夹右后方移动升高", + "correction_plan": "爪夹夹紧橙子继续向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开橙子落入盘子。", + "error_success_analysis": "爪夹夹紧橙子向爪夹右后方移动升高缩短了与盘子间的距离，方便继续将橙子向盘子移动靠近。", + "frame": 338, + "progress": 50, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上略微接近了盘子。因此进度提升为50%。", + "state_description": "爪夹夹紧橙子，爪夹角度与桌面接近垂直，水平上略微接近了盘子。\n为完成抓取橙子放进盘子里的任务应当：爪夹夹紧橙子继续向爪夹右后方的盘子移动并垂直升高。", + "time": 11.272323333279429, + "annotations": { + "point_1767950225079": { + "type": "point", + "instances": [ + { + "id": "point_1767950225079_1767950412649_vsag653fe", + "x": 0.537777677137593, + "y": 0.5717082933527653 + } + ] + }, + "point_1767950229895": { + "type": "point", + "instances": [ + { + "id": "point_1767950229895_1767950414589_yc88tzioq", + "x": 0.6187776721937456, + "y": 0.5737082932306949 + } + ] + }, + "bbox_1767950209866": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950209866_1767950418599_pq226424b", + "x": 0.5427776768324172, + "y": 0.5347082956110659, + "width": 0.07099999566650415, + "height": 0.05999999633789095 + } + ] + }, + "bbox_1767950214105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950214105_1767950424039_dxe8xifk3", + "x": 0.28377769264052166, + "y": 0.43170830189768666, + "width": 0.1929999882202156, + "height": 0.10399999365234412 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹正后方移动升高", + "correction_plan": "爪夹夹紧橙子继续向爪夹右方的盘子移动。来到盘子正上方。爪夹松开橙子落入盘子。", + "error_success_analysis": "爪夹夹紧橙子向爪夹正后方移动，更加缩短了与盘子间的距离。方便继续将橙子向盘子移动靠近。", + "frame": 416, + "progress": 60, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上更加接近了盘子。因此进度提升为60%。", + "state_description": "爪夹夹紧橙子，爪夹角度与桌面接近垂直，水平上接近了盘子。\n为完成抓取橙子放进盘子里的任务应当：爪夹夹紧橙子继续向爪夹右方的盘子移动。来到盘子正上方。", + "time": 13.8684, + "annotations": { + "point_1767950225079": { + "type": "point", + "instances": [ + { + "id": "point_1767950225079_1767950431902_5xfhdk4yk", + "x": 0.5357776772596632, + "y": 0.39370830421702246 + } + ] + }, + "point_1767950229895": { + "type": "point", + "instances": [ + { + "id": "point_1767950229895_1767950433883_cp5nnkkdi", + "x": 0.6067776729261674, + "y": 0.3947083041559873 + } + ] + }, + "bbox_1767950209866": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950209866_1767950437879_0c3xl7zvw", + "x": 0.5407776769544875, + "y": 0.35770830641428797, + "width": 0.06299999615478538, + "height": 0.05299999676513689 + } + ] + }, + "bbox_1767950214105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950214105_1767950441556_jd5gerbuz", + "x": 0.2837776926405217, + "y": 0.43170830189768666, + "width": 0.19299998822021552, + "height": 0.10299999371337923 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方移动升高", + "correction_plan": "爪夹夹紧橙子继续向爪夹右方的盘子移动。来到盘子正上方。爪夹松开橙子落入盘子。", + "error_success_analysis": "爪夹夹紧橙子向爪夹右方移动，更加缩短了与盘子之间的距离。方便橙子落入盘子。", + "frame": 456, + "progress": 70, + "progress_explanation": "爪夹角度与桌面接近垂直，位于盘子边缘正上方。因此进度提升为70%。", + "state_description": "爪夹夹紧橙子，爪夹角度与桌面接近垂直，位于盘子边缘正上方。\n为完成抓取橙子放进盘子里的任务应当：爪夹夹紧橙子继续向爪夹右后方的盘子移动。来到盘子正上方。", + "time": 15.193766385500162, + "annotations": { + "point_1767950225079": { + "type": "point", + "instances": [ + { + "id": "point_1767950225079_1767950448950_m4bj0ry20", + "x": 0.4647776815931591, + "y": 0.3557083065363582 + } + ] + }, + "point_1767950229895": { + "type": "point", + "instances": [ + { + "id": "point_1767950229895_1767950450894_a9by4uqpw", + "x": 0.530777677564839, + "y": 0.3557083065363582 + } + ] + }, + "bbox_1767950209866": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950209866_1767950455100_371fibxo1", + "x": 0.46577768153212395, + "y": 0.32270830855051824, + "width": 0.060999996276855664, + "height": 0.047999997070312675 + } + ] + }, + "bbox_1767950214105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950214105_1767950459245_pecmbd1hb", + "x": 0.28677769245741624, + "y": 0.4337083017756163, + "width": 0.18799998852539132, + "height": 0.10499999359130902 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右方移动下降", + "correction_plan": "爪夹松开橙子落入盘子。", + "error_success_analysis": "爪夹夹紧橙子向爪夹右后方移动来到了盘子正上方。方便橙子落入盘子。", + "frame": 523, + "progress": 80, + "progress_explanation": "爪夹角度与桌面接近垂直，位于盘子正上方。方便橙子落入盘子，因此进度提升为80%。", + "state_description": "爪夹夹紧橙子，爪夹角度与桌面接近垂直，位于盘子正上方。\n为完成抓取橙子放进盘子里的任务应当：爪夹松开橙子落入盘子。", + "time": 17.4174, + "annotations": { + "point_1767950225079": { + "type": "point", + "instances": [ + { + "id": "point_1767950225079_1767950465171_28b8qaybl", + "x": 0.34677768879530707, + "y": 0.3997083038508115 + } + ] + }, + "point_1767950229895": { + "type": "point", + "instances": [ + { + "id": "point_1767950229895_1767950467356_wv2aze2qc", + "x": 0.4097776849500924, + "y": 0.4017083037287412 + } + ] + }, + "bbox_1767950209866": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950209866_1767950472382_03g984ab2", + "x": 0.3487776886732368, + "y": 0.37170830555979584, + "width": 0.053999996704101785, + "height": 0.04599999719238295 + } + ] + }, + "bbox_1767950214105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950214105_1767950476943_5zcibyp18", + "x": 0.28577769251845137, + "y": 0.4327083018366515, + "width": 0.1869999885864265, + "height": 0.10599999353027384 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，橙子落入盘子。任务完成。", + "frame": 546, + "progress": 100, + "progress_explanation": "爪夹松开，橙子落入盘子。因此进度提升为100%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于盘子正上方。\n抓取橙子放进盘子里的任务目标完成。", + "time": 18.2, + "annotations": { + "point_1767950225079": { + "type": "point", + "instances": [ + { + "id": "point_1767950225079_1767950481991_wd0ahgayj", + "x": 0.34477768891737737, + "y": 0.40270830366770605 + } + ] + }, + "point_1767950229895": { + "type": "point", + "instances": [ + { + "id": "point_1767950229895_1767950484285_t9zbuugmx", + "x": 0.4107776848890573, + "y": 0.4037083036066709 + } + ] + }, + "bbox_1767950209866": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950209866_1767950488341_iym5xq5nn", + "x": 0.3507776885511664, + "y": 0.41070830317942486, + "width": 0.0559999965820315, + "height": 0.03499999786376969 + } + ] + }, + "bbox_1767950214105": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767950214105_1767950492050_r4qwnn2z1", + "x": 0.28277769270155684, + "y": 0.43570830165354607, + "width": 0.1919999882812507, + "height": 0.10299999371337923 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767950209866", + "name": "橙子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767950214105", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767950225079", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767950229895", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.wrist_image/episode_002418.json b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.wrist_image/episode_002418.json new file mode 100644 index 0000000000000000000000000000000000000000..363a17956c5b9c662656eb2b7f8d1cc85fbedd82 --- /dev/null +++ b/annotation_files_raw/0109/project-1/VLABench_5/annotations/chunk-002/observation.images.wrist_image/episode_002418.json @@ -0,0 +1,530 @@ +{ + "task_description": "抓取梨放进盘子里：\n准备开始移动：0%\n爪夹靠近梨：20%\n爪夹抓取梨：40%\n爪夹夹紧梨接近盘子：60%\n爪夹夹紧梨靠近盘子：80%\n爪夹松开梨落入盘子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左前方移动并垂直下降，来到梨正上方。爪夹垂直下降靠近梨，爪夹合拢抓取梨。抓紧梨向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开梨落入盘子。", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹张开，远离梨，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离梨，未开始移动。\n为完成抓取梨放进盘子里的任务应当：爪夹向爪夹左前方移动并垂直下降，来到梨正上方。", + "time": 0, + "annotations": { + "bbox_1768007200303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007200303_1768007225394_dd23f5z2p", + "x": -0.0002222900254949936, + "y": -0.00018055723995622186, + "width": 0.04399999731445328, + "height": 0.1699999896240241 + } + ] + }, + "point_1768007207724": { + "type": "point", + "instances": [ + { + "id": "point_1768007207724_1768007239524_36wmcdz13", + "x": 0.2797776928846623, + "y": 0.4607083001276672 + } + ] + }, + "point_1768007213309": { + "type": "point", + "instances": [ + { + "id": "point_1768007213309_1768007242143_bf01lafx9", + "x": 0.7847776620619104, + "y": 0.45070830073801876 + } + ] + }, + "bbox_1768007203765": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007203765_1768007258537_ur6yqln0p", + "x": 0.399777685560444, + "y": 0.3807083050104794, + "width": 0.41099997491455226, + "height": 0.36499997772216936 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左前方移动下降", + "correction_plan": "爪夹垂直下降调整爪夹角度使爪夹位于梨身两侧，来到梨正上方。爪夹垂直下降靠近梨，爪夹合拢抓取梨。抓紧梨向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开梨落入盘子。", + "error_success_analysis": "爪夹向爪夹左前方移动下降缩短了与梨之间的距离。方便继续向梨移动靠近。", + "frame": 68, + "progress": 10, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上接近了梨。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于梨正上方。\n为完成抓取梨放进盘子里的任务应当：爪夹垂直下降调整爪夹角度使爪夹位于梨身两侧，来到梨正上方。", + "time": 2.268, + "annotations": { + "point_1768007207724": { + "type": "point", + "instances": [ + { + "id": "point_1768007207724_1768007265322_x2ptkworv", + "x": 0.28277769270155684, + "y": 0.46904163549550565 + } + ] + }, + "point_1768007213309": { + "type": "point", + "instances": [ + { + "id": "point_1768007213309_1768007267141_8bnt8cnzh", + "x": 0.7837776621229454, + "y": 0.4520416365331032 + } + ] + }, + "bbox_1768007200303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007200303_1768007271947_4sd1qi36c", + "x": 0.3707776873304634, + "y": 0.35704164233144275, + "width": 0.26599998376464945, + "height": 0.16999998962402404 + } + ] + } + } + }, + { + "action_description": "爪夹调整爪夹角度", + "correction_plan": "爪夹垂直下降靠近梨，爪夹合拢抓取梨。抓紧梨向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开梨落入盘子。", + "error_success_analysis": "爪夹调整爪夹角度来到了梨正上方，方便抓取梨。", + "frame": 141, + "progress": 15, + "progress_explanation": "爪夹角度与桌面接近垂直，位于梨正上方。方便下降抓取梨。因此进度提升为15%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，爪夹位于梨正上方两侧。\n为完成抓取梨放进盘子里的任务应当：爪夹垂直下降靠近梨，爪夹合拢抓取梨。", + "time": 4.698280652341191, + "annotations": { + "point_1768007207724": { + "type": "point", + "instances": [ + { + "id": "point_1768007207724_1768007277095_aeyb579iz", + "x": 0.28277769270155684, + "y": 0.45993052154965075 + } + ] + }, + "point_1768007213309": { + "type": "point", + "instances": [ + { + "id": "point_1768007213309_1768007279423_004n9pwn3", + "x": 0.7837776621229454, + "y": 0.4529305219768968 + } + ] + }, + "bbox_1768007200303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007200303_1768007284073_2dfnr4yd9", + "x": 0.3887776862318307, + "y": 0.003930549381680335, + "width": 0.313999980834962, + "height": 0.536999967224123 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下降", + "correction_plan": "爪夹合拢抓取梨。抓紧梨向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开梨落入盘子。", + "error_success_analysis": "爪夹垂直下降靠近了梨，方便抓取梨。", + "frame": 170, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了梨两侧。方便抓取梨，因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了梨两侧。\n为完成抓取梨放进盘子里的任务应当：爪夹合拢抓取梨。抓紧梨向爪夹右后方的盘子移动并垂直升高。", + "time": 5.652, + "annotations": { + "point_1768007207724": { + "type": "point", + "instances": [ + { + "id": "point_1768007207724_1768007295791_4oqmw2crm", + "x": 0.28377769264052166, + "y": 0.45993052154965075 + } + ] + }, + "point_1768007213309": { + "type": "point", + "instances": [ + { + "id": "point_1768007213309_1768007298097_coknvd38m", + "x": 0.7847776620619104, + "y": 0.4479305222820726 + } + ] + }, + "bbox_1768007200303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007200303_1768007303035_id0mf87ma", + "x": 0.3067776912367132, + "y": 0.16293053967709112, + "width": 0.4159999746093765, + "height": 0.694999957580569 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": "抓紧梨向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。爪夹松开梨落入盘子。", + "error_success_analysis": "爪夹合拢抓取到了梨。方便将梨向盘子移动。", + "frame": 186, + "progress": 40, + "progress_explanation": "爪夹角度与桌面接近垂直，抓取到了梨。因此进度提升为40%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，抓取到了梨。\n为完成抓取梨放进盘子里的任务应当：抓紧梨向爪夹右后方的盘子移动并垂直升高。来到盘子正上方。", + "time": 6.192, + "annotations": { + "point_1768007213309": { + "type": "point", + "instances": [ + { + "id": "point_1768007213309_1768007319840_4jif056ri", + "x": 0.694777667555074, + "y": 0.4559305217937914 + } + ] + }, + "point_1768007207724": { + "type": "point", + "instances": [ + { + "id": "point_1768007207724_1768007322061_fm0son5kc", + "x": 0.33277768964979926, + "y": 0.4549305218548266 + } + ] + }, + "bbox_1768007200303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007200303_1768007326068_9p312ppz6", + "x": 0.30077769160292406, + "y": 0.15993053986019654, + "width": 0.41799997448730625, + "height": 0.6879999580078151 + } + ] + } + } + }, + { + "action_description": "爪夹向夹紧梨向爪夹右后方移动", + "correction_plan": "爪夹夹紧梨继续向爪夹右后方的盘子移动。来到盘子正上方。爪夹松开梨落入盘子。", + "error_success_analysis": "爪夹夹紧梨向爪夹右后方移动，更加缩短了与盘子间的距离。方便继续将梨向盘子移动靠近。", + "frame": 265, + "progress": 60, + "progress_explanation": "爪夹角度与桌面接近垂直，水平上更加接近了盘子。因此进度提升为60%。", + "state_description": "爪夹夹紧梨，爪夹角度与桌面接近垂直，水平上接近了盘子。\n为完成抓取梨放进盘子里的任务应当：爪夹夹紧梨继续向爪夹右后方的盘子移动。来到盘子正上方。", + "time": 8.832, + "annotations": { + "point_1768007207724": { + "type": "point", + "instances": [ + { + "id": "point_1768007207724_1768007343543_h5pb6evdw", + "x": 0.3747776870863228, + "y": 0.4919305195965259 + } + ] + }, + "point_1768007213309": { + "type": "point", + "instances": [ + { + "id": "point_1768007213309_1768007346083_9li0q26d0", + "x": 0.6937776676161092, + "y": 0.4759305205730883 + } + ] + }, + "bbox_1768007200303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007200303_1768007350077_k3wqaoinc", + "x": 0.36277768781874464, + "y": 0.3859305260662521, + "width": 0.3619999779052747, + "height": 0.3099999810791027 + } + ] + }, + "bbox_1768007203765": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007203765_1768007360932_td80sjqpq", + "x": 0.0007777099134698577, + "y": -0.0020694502521087575, + "width": 0.20299998760986407, + "height": 0.14999999084472712 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧梨向爪夹右后方移动", + "correction_plan": "爪夹松开梨落入盘子。", + "error_success_analysis": "爪夹夹紧梨向爪夹右后方移动来到了盘子正上方。方便梨落入盘子。", + "frame": 319, + "progress": 80, + "progress_explanation": "爪夹角度与桌面接近垂直，位于盘子正上方。方便梨落入盘子，因此进度提升为80%。", + "state_description": "爪夹夹紧梨，爪夹角度与桌面接近垂直，位于盘子正上方。\n为完成抓取梨放进盘子里的任务应当：爪夹松开梨落入盘子。", + "time": 10.636424608593208, + "annotations": { + "point_1768007207724": { + "type": "point", + "instances": [ + { + "id": "point_1768007207724_1768007373837_61kqbt7gn", + "x": 0.3927776859876901, + "y": 0.4759305205730883 + } + ] + }, + "point_1768007213309": { + "type": "point", + "instances": [ + { + "id": "point_1768007213309_1768007376227_lcxc8w0ch", + "x": 0.6707776690199176, + "y": 0.4749305206341235 + } + ] + }, + "bbox_1768007200303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007200303_1768007379427_ww1bemjbq", + "x": 0.38077768672011186, + "y": 0.4369305229534593, + "width": 0.3049999813842785, + "height": 0.242999985168458 + } + ] + }, + "bbox_1768007203765": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007203765_1768007392645_ntugi84zs", + "x": 0.0027777097913995485, + "y": 0.003930549381680335, + "width": 0.969999940795902, + "height": 0.5679999653320333 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧梨向爪夹右后方移动下降", + "correction_plan": "爪夹松开梨落入盘子。", + "error_success_analysis": "爪夹夹紧梨向爪夹右后方移动下降，梨来到了盘子上。", + "frame": 333, + "progress": 90, + "progress_explanation": "爪夹下降将梨放到了盘子上，方便梨落到盘子上。因此进度提升为90%。", + "state_description": "爪夹夹紧梨，将梨放到了盘子上。\n为完成抓取梨放进盘子里的任务应当：爪夹松开梨落入盘子。", + "time": 11.1, + "annotations": { + "point_1768007207724": { + "type": "point", + "instances": [ + { + "id": "point_1768007207724_1768007401502_qmp45jelf", + "x": 0.39777768568251426, + "y": 0.48504163451894317 + } + ] + }, + "point_1768007213309": { + "type": "point", + "instances": [ + { + "id": "point_1768007213309_1768007403943_neihv5sjj", + "x": 0.6627776695081988, + "y": 0.47804163494618923 + } + ] + }, + "bbox_1768007200303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007200303_1768007410399_u89cwfzx1", + "x": 0.38277768659804157, + "y": 0.4430416370824196, + "width": 0.3069999812622081, + "height": 0.24599998498535242 + } + ] + }, + "bbox_1768007203765": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007203765_1768007418179_brsxww7po", + "x": 0.0027777097913995485, + "y": 0.0030416639378867223, + "width": 0.9939999393310583, + "height": 0.629999961547854 + } + ] + } + } + }, + { + "action_description": "爪夹张开", + "correction_plan": "", + "error_success_analysis": "爪夹松开，梨落入盘子。任务完成。", + "frame": 349, + "progress": 100, + "progress_explanation": "爪夹松开，梨落入盘子。因此进度提升为100%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，位于盘子正上方。\n抓取梨放进盘子里的任务目标完成。", + "time": 11.64, + "annotations": { + "point_1768007207724": { + "type": "point", + "instances": [ + { + "id": "point_1768007207724_1768007424599_746s0rnb8", + "x": 0.3787776868421822, + "y": 0.48204163470204864 + } + ] + }, + "point_1768007213309": { + "type": "point", + "instances": [ + { + "id": "point_1768007213309_1768007427189_s3wmv27w6", + "x": 0.6857776681043904, + "y": 0.4670416356175759 + } + ] + }, + "bbox_1768007200303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007200303_1768007431933_rwwmc87yy", + "x": 0.3687776874525337, + "y": 0.39004164031728267, + "width": 0.33699997943115356, + "height": 0.2519999846191415 + } + ] + }, + "bbox_1768007203765": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007203765_1768007443515_pu60zssrb", + "x": 0.0007777099134698538, + "y": 0.0030416639378867223, + "width": 0.995999939208988, + "height": 0.5859999642334006 + } + ] + } + } + }, + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右后方移动并垂直下降，来到梨正上方。爪夹垂直下降靠近梨，爪夹合拢抓取梨。抓紧梨向盘子移动并垂直升高。来到盘子正上方。爪夹松开梨落入盘子。", + "error_success_analysis": "", + "frame": 353, + "progress": 0, + "progress_explanation": "爪夹张开，远离梨，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离梨，未开始移动。\n为完成抓取梨放进盘子里的任务应当：爪夹向爪夹右后方移动并垂直下降，来到梨正上方。", + "time": 11.774568866874844, + "annotations": { + "point_1768007207724": { + "type": "point", + "instances": [ + { + "id": "point_1768007207724_1768007467609_qma3azqw9", + "x": 0.39777768568251426, + "y": 0.4698194140735221 + } + ] + }, + "point_1768007213309": { + "type": "point", + "instances": [ + { + "id": "point_1768007213309_1768007470165_3p9wmi57s", + "x": 0.6707776690199176, + "y": 0.46970829957835086 + } + ] + }, + "bbox_1768007200303": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1768007200303_1768007474863_8dpcj54wa", + "x": 0.8737776566297817, + "y": 0.4417083012873351, + "width": 0.11899999273681688, + "height": 0.1459999910888677 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1768007200303", + "name": "梨", + "color": "#4CAF50" + }, + { + "id": "bbox_1768007203765", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1768007207724", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1768007213309", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000044.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000044.json new file mode 100644 index 0000000000000000000000000000000000000000..9752200608ad20ad44b1858482cb1436f09d47c6 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000044.json @@ -0,0 +1,546 @@ +{ + "task_description": "把黄白相间的杯子放进微波炉并关上\n开始移动0%\n爪夹靠近黄白相间的杯子20%\n爪夹抓取黄白相间的杯子40%\n爪夹抓取黄白相间的杯子靠近微波炉60%\n爪夹张开，将黄白相间的杯子放入微波炉中80%\n爪夹将微波炉关上100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "调整爪夹角度，使其垂直于桌面，然后向爪夹方向的后方移动至黄白杯子的把手上方后竖直下降，靠近并触及黄白相间的杯子把手，爪夹做闭合抓取动作，闭合抓取黄白相间的杯子后爪夹竖直上升，并向爪夹方向的左侧移动并向左调整机械臂方向将抓取的黄白相间的杯子移动至打开的微波炉中，爪夹张开，黄白相间的杯子放在微波炉中后爪夹向右侧移动出微波炉中，并向爪夹方向的右上方移动至打开的微波炉门的后侧上方，爪夹竖直下降后向爪夹方向的左后方推动打开的微波炉门闭合，直至打开的微波炉门完全关上", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触黄白相间的杯子。\n为了完成把黄白相间的杯子放进微波炉并关上的任务：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的后方移动至黄白杯子的上方后竖直下降", + "time": 0, + "annotations": { + "bbox_1767678778164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678778164_1767685808761_az7mebxlu", + "x": 0.41050000000000003, + "y": 0.538, + "width": 0.195, + "height": 0.17299999999999993 + } + ] + }, + "bbox_1767678788947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678788947_1767685816468_kqqaf514p", + "x": 0.0055, + "y": 0.298, + "width": 0.49500000000000005, + "height": 0.556 + } + ] + }, + "point_1767678797952": { + "type": "point", + "instances": [ + { + "id": "point_1767678797952_1767685834953_y3bvgkmi2", + "x": 0.4425, + "y": 0.252 + } + ] + }, + "point_1767678808240": { + "type": "point", + "instances": [ + { + "id": "point_1767678808240_1767685838145_lcribegit", + "x": 0.5535, + "y": 0.251 + } + ] + } + } + }, + { + "action_description": "张开的爪夹开始向爪夹方向的下后方向移动", + "correction_plan": "继续调整爪夹角度，使其垂直于桌面，然后向爪夹方向的后方移动至黄白杯子的把手上方后竖直下降，靠近并触及黄白相间的杯子把手，爪夹做闭合抓取动作，闭合抓取黄白相间的杯子后爪夹竖直上升，并向爪夹方向的左侧移动并向左调整机械臂方向将抓取的黄白相间的杯子移动至打开的微波炉中，爪夹张开，黄白相间的杯子放在微波炉中后爪夹向右侧移动出微波炉中，并向爪夹方向的右上方移动至打开的微波炉门的后侧上方，爪夹竖直下降后向爪夹方向的左后方推动打开的微波炉门闭合，直至打开的微波炉门完全关上", + "error_success_analysis": "爪夹张开朝爪夹方向的后侧下方靠近黄白相间的杯子移动", + "frame": 58, + "progress": 5, + "progress_explanation": "爪夹开始向爪夹方向的下后方移动靠近桌上黄白相间的杯子，进度提升为5%", + "state_description": "爪夹张开位于打开的微波炉门的上方\n为了完成把黄白相间的杯子放进微波炉并关上的任务：继续调整爪夹角度，使其垂直于桌面，然后向爪夹方向的后方移动至黄白杯子的上方后竖直下降", + "time": 1.9405670103092785, + "annotations": { + "point_1767678808240": { + "type": "point", + "instances": [ + { + "id": "point_1767678808240_1767685844109_o38d7x2l6", + "x": 0.5685, + "y": 0.35100000000000003 + } + ] + }, + "point_1767678797952": { + "type": "point", + "instances": [ + { + "id": "point_1767678797952_1767685846357_pyfqlh27l", + "x": 0.4625, + "y": 0.338 + } + ] + }, + "bbox_1767678778164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678778164_1767685851885_zx2zx67zn", + "x": 0.4215, + "y": 0.536, + "width": 0.18500000000000005, + "height": 0.17599999999999993 + } + ] + }, + "bbox_1767678788947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678788947_1767685857108_aticd61oi", + "x": 0.0025, + "y": 0.302, + "width": 0.499, + "height": 0.551 + } + ] + } + } + }, + { + "time": 5.847299, + "frame": 175, + "progress": 10, + "action_description": "张开的爪夹向爪夹方向的左后方调整爪夹角度并向下略微移动", + "state_description": "爪夹张开位于黄白相间的杯子把手的上方\n为了完成把黄白相间的杯子放进微波炉并关上的任务：张开的爪夹继续向右移动至黄白相间的杯子把手的上方后竖直下落", + "progress_explanation": "张开的爪夹向左后方向调整爪夹方向靠近黄白相间杯子的上方，进度提升为10%", + "error_success_analysis": "张开的爪夹向左后翻转后调整爪夹的方向方便后续抓取黄白相间的杯子", + "correction_plan": "向爪夹方向的右侧移动至黄白杯子的把手上方后竖直下降，靠近并触及黄白相间的杯子把手，爪夹做闭合抓取动作，闭合抓取黄白相间的杯子后爪夹竖直上升，并向爪夹方向的左侧移动并向左调整机械臂方向将抓取的黄白相间的杯子移动至打开的微波炉中，爪夹张开，黄白相间的杯子放在微波炉中后爪夹向右侧移动出微波炉中，并向爪夹方向的右上方移动至打开的微波炉门的后侧上方，爪夹竖直下降后向爪夹方向的左后方推动打开的微波炉门闭合，直至打开的微波炉门完全关上", + "annotations": { + "bbox_1767678778164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678778164_1767685870035_tervbfcyp", + "x": 0.4185, + "y": 0.54, + "width": 0.19100000000000006, + "height": 0.16999999999999993 + } + ] + }, + "bbox_1767678788947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678788947_1767685875887_ex359p8f2", + "x": 0.0015, + "y": 0.302, + "width": 0.49900000000000005, + "height": 0.552 + } + ] + }, + "point_1767678797952": { + "type": "point", + "instances": [ + { + "id": "point_1767678797952_1767685879420_5un37qq9i", + "x": 0.5725, + "y": 0.561 + } + ] + }, + "point_1767678808240": { + "type": "point", + "instances": [ + { + "id": "point_1767678808240_1767685881519_8ie2k52sa", + "x": 0.5675, + "y": 0.501 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "correction_plan": "爪夹闭合做抓取黄白相间的杯子把手的动作，抓取黄白相间的杯子后向爪夹方向的上方抬升至与打开的微波炉平行，并向爪夹方向的左侧移动至左侧打开的微波炉中，爪夹张开，黄白相间的杯子放在微波炉中后爪夹向右侧移动出微波炉中，并向爪夹方向的右上方移动至打开的微波炉门的后侧上方，爪夹竖直下降后向爪夹方向的左后方推动打开的微波炉门闭合，直至打开的微波炉门完全关上", + "error_success_analysis": "张开的爪夹向爪夹方向的下方竖直下落至黄白相间的杯子把手的两侧", + "frame": 261, + "progress": 20, + "progress_explanation": "爪夹竖直下落靠近黄白相间杯子的把手，进度提升为20%", + "state_description": "爪夹张开在位于黄白相间杯子把手的两侧\n为了完成把黄白相间的杯子放进微波炉并关上的任务：爪夹闭合做抓取黄白相间的杯子把手的动作后向爪夹方向的上方抬升至与打开的微波炉平行", + "time": 8.68438144329897, + "annotations": { + "point_1767678808240": { + "type": "point", + "instances": [ + { + "id": "point_1767678808240_1767685887071_9b6o0n3n2", + "x": 0.5835, + "y": 0.5710000000000001 + } + ] + }, + "point_1767678797952": { + "type": "point", + "instances": [ + { + "id": "point_1767678797952_1767685888869_58vvkk6ow", + "x": 0.5905, + "y": 0.653 + } + ] + }, + "bbox_1767678788947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678788947_1767685894119_jitx4tj34", + "x": 0.0025, + "y": 0.305, + "width": 0.49800000000000005, + "height": 0.544 + } + ] + }, + "bbox_1767678778164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678778164_1767685898626_f24czjops", + "x": 0.4165, + "y": 0.537, + "width": 0.18900000000000006, + "height": 0.17099999999999993 + } + ] + } + } + }, + { + "action_description": "爪夹闭合成功，抓取桌子上黄白相间的杯子把手", + "correction_plan": "抓取黄白相间杯子的爪夹向爪夹方向的左侧平移至左侧打开的微波炉中，爪夹张开，黄白相间的杯子放在微波炉中后爪夹向右侧移动出微波炉中，并向爪夹方向的右上方移动至打开的微波炉门的后侧上方，爪夹竖直下降后向爪夹方向的左后方推动打开的微波炉门闭合，直至打开的微波炉门完全关上", + "error_success_analysis": "张开的爪夹闭合，成功抓取黄白相间杯子的把手", + "frame": 336, + "progress": 40, + "progress_explanation": "爪夹闭合成功抓取黄白相间的杯子，进度提升为40%", + "state_description": "爪夹目前抓取黄白相间的杯子把手在打开的微波炉右侧\n为了完成把黄白相间的杯子放进微波炉并关上的任务：抓取黄白相间杯子的爪夹向爪夹方向的左侧平移靠近打开的微波炉", + "time": 11.189226804123713, + "annotations": { + "bbox_1767678788947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678788947_1767685908883_tfac883h7", + "x": 0.0055, + "y": 0.316, + "width": 0.49800000000000005, + "height": 0.5369999999999999 + } + ] + }, + "bbox_1767678778164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678778164_1767685914420_sb3njfiit", + "x": 0.4215, + "y": 0.522, + "width": 0.18200000000000005, + "height": 0.17400000000000004 + } + ] + }, + "point_1767678797952": { + "type": "point", + "instances": [ + { + "id": "point_1767678797952_1767685917930_o85nlih02", + "x": 0.5705, + "y": 0.627 + } + ] + }, + "point_1767678808240": { + "type": "point", + "instances": [ + { + "id": "point_1767678808240_1767685919893_hj1hmpzms", + "x": 0.5685, + "y": 0.595 + } + ] + } + } + }, + { + "action_description": "抓取黄白相间的杯子的爪夹略微向上抬升并向爪夹方向的左侧平移", + "correction_plan": "抓取黄白相间杯子的爪夹继续向爪夹方向的左侧移动至打开的微波炉中，打开爪夹，黄白相间的杯子放入微波炉中，后爪夹继续向右侧移动出微波炉中，并向爪夹方向的右上方移动至打开的微波炉门的后侧上方，爪夹竖直下降后向爪夹方向的左后方推动打开的微波炉门闭合，直至打开的微波炉门完全关上", + "error_success_analysis": "爪夹向爪夹方向的左侧略微抬升跟微波炉平齐后继续向爪夹方向的左侧移动", + "frame": 133, + "progress": 50, + "progress_explanation": "抓取黄白相间的杯子的爪夹向左侧靠近微波炉移动，进度提升为50%", + "state_description": "爪夹目前抓取黄白相间的杯子在打开的微波炉的右侧\n为了完成把黄白相间的杯子放进微波炉并关上的任务：抓取黄白相间杯子的爪夹继续向爪夹方向的左侧移动至打开的微波炉中，打开爪夹，黄白相间的杯子放入微波炉中", + "time": 13.333333333333334, + "annotations": { + "point_1767678808240": { + "type": "point", + "instances": [ + { + "id": "point_1767678808240_1767685923765_mwvftviqr", + "x": 0.34750000000000003, + "y": 0.533 + } + ] + }, + "point_1767678797952": { + "type": "point", + "instances": [ + { + "id": "point_1767678797952_1767685926524_0gblmqo0l", + "x": 0.34750000000000003, + "y": 0.562 + } + ] + }, + "bbox_1767678788947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678788947_1767685933239_xbes9tqjr", + "x": 0.0035, + "y": 0.292, + "width": 0.493, + "height": 0.558 + } + ] + }, + "bbox_1767678778164": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678778164_1767685938909_j3udiskxd", + "x": 0.1875, + "y": 0.453, + "width": 0.20600000000000002, + "height": 0.186 + } + ] + } + } + }, + { + "action_description": "抓取黄白相间杯子的爪夹向爪夹方向的左侧方向移动", + "correction_plan": "打开爪夹，将黄白相间的杯子放入微波炉中，后爪夹继续向右侧移动出微波炉中，并向爪夹方向的右上方移动至打开的微波炉门的后侧上方，爪夹竖直下降后向爪夹方向的左后方推动打开的微波炉门闭合，直至打开的微波炉门完全关上", + "error_success_analysis": "抓取黄白相间杯子的爪夹向左移动将抓取的黄白相间的杯子移动至微波炉中", + "frame": 160, + "progress": 60, + "progress_explanation": "爪夹抓取黄白相间的杯子向左进入微波炉中，进度提升为60%", + "state_description": "爪夹目前抓取黄白相间的杯子在打开的微波炉里\n为了完成把黄白相间的杯子放进微波炉并关上的任务：抓取黄白相间杯子的爪夹张开，黄白相间的杯子放入微波炉中", + "time": 16, + "annotations": { + "bbox_1767678788947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678788947_1767685947710_8r6i6b8go", + "x": 0.0035, + "y": 0.306, + "width": 0.496, + "height": 0.546 + } + ] + } + } + }, + { + "action_description": "抓取黄白相间的杯子的爪夹张开并向右略微移动，黄白相间的杯子放入微波炉中", + "correction_plan": "爪夹继续向右侧移动出微波炉中，并向爪夹方向的右上方移动至打开的微波炉门的后侧上方，爪夹竖直下降后向爪夹方向的左后方推动打开的微波炉门闭合，直至打开的微波炉门完全关上", + "error_success_analysis": "抓取黄白相间的杯子的爪夹成功张开，黄白相间的杯子落入打开的微波炉中，爪夹略微向右移动", + "frame": 177, + "progress": 80, + "progress_explanation": "爪夹张开，抓取的黄白相间的杯子放入微波炉中，进度提升为80%", + "state_description": "爪夹张开位于在微波炉中杯子把手的右侧\n为了完成把黄白相间的杯子放进微波炉并关上的任务：张开的爪夹向爪夹方向的右侧移动并向爪夹的右上方移动至打开的微波炉门的后侧上方", + "time": 17.733333333333334, + "annotations": { + "bbox_1767678788947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678788947_1767685955122_c50ldx9py", + "x": 0.0035, + "y": 0.302, + "width": 0.5000000000000001, + "height": 0.552 + } + ] + }, + "point_1767678797952": { + "type": "point", + "instances": [ + { + "id": "point_1767678797952_1767685959057_timx8c5gr", + "x": 0.1535, + "y": 0.5720000000000001 + } + ] + }, + "point_1767678808240": { + "type": "point", + "instances": [ + { + "id": "point_1767678808240_1767685961275_6ongwdcsv", + "x": 0.1635, + "y": 0.489 + } + ] + } + } + }, + { + "time": 21.658838, + "frame": 650, + "progress": 90, + "action_description": "张开的爪夹向爪夹方向的右上方向抬升并向爪夹的右前方移动", + "state_description": "爪夹张开，位于打开的微波炉门的上方\n为了完成把黄白相间的杯子放进微波炉并关上的任务：张开的爪夹向爪夹方向的右侧移动到打开的微波炉门的后侧上方并向上调整爪夹方向后竖直下落", + "progress_explanation": "爪夹向右上方打开的微波炉门后方移动，进度提升为90%", + "error_success_analysis": "张开的爪夹向爪夹方向的右侧移动后兵向右上方靠近微波炉门移动", + "correction_plan": "张开的爪夹向爪夹方向的右侧移动到打开的微波炉门的后侧上方并向上调整爪夹方向后竖直下落，后向爪夹方向的左后方推动打开的微波炉门闭合，直至打开的微波炉门完全关上", + "annotations": { + "bbox_1767678788947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678788947_1767685972000_nubihyvmy", + "x": 0.0025, + "y": 0.303, + "width": 0.49900000000000005, + "height": 0.5509999999999999 + } + ] + } + } + }, + { + "time": 24.619299, + "frame": 739, + "progress": 95, + "action_description": "张开的爪夹向爪夹方向的右下方移动触及微波炉门并向爪夹方向的左侧移动", + "state_description": "爪夹张开位于半开的微波炉门的上方\n为了完成把黄白相间的杯子放进微波炉并关上的任务：张开的爪夹继续向爪夹方向的左侧推动微波炉门直至完全关闭", + "progress_explanation": "爪夹触及张开的微波炉门向左关闭，进度提升为95%", + "error_success_analysis": "爪夹向下移动后略微向左调整爪夹角度，向抓爪夹方向的左侧移动，触及的微波炉门向左合拢", + "correction_plan": "爪夹继续向爪夹方向的左侧移动至微波炉门完全合拢", + "annotations": { + "bbox_1767678788947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678788947_1767685982661_ale99a4ze", + "x": 0.0015, + "y": 0.321, + "width": 0.391, + "height": 0.534 + } + ] + }, + "point_1767678797952": { + "type": "point", + "instances": [ + { + "id": "point_1767678797952_1767685985837_r8z65di16", + "x": 0.2955, + "y": 0.399 + } + ] + }, + "point_1767678808240": { + "type": "point", + "instances": [ + { + "id": "point_1767678808240_1767685988048_zkggdfgln", + "x": 0.3965, + "y": 0.382 + } + ] + } + } + }, + { + "time": 26.7, + "frame": 801, + "progress": 100, + "action_description": "爪夹继续向左推动微波炉门，微波炉关上", + "state_description": "微波炉门关闭，爪夹张开位于微波炉的右侧上方\n把黄白相间的杯子放进微波炉并关上已完成", + "progress_explanation": "爪夹向右移动，将微波炉关上，进度提升为100%", + "error_success_analysis": "爪夹继续向右移动使微波炉门完全合并", + "correction_plan": "已完成把黄白相间的杯子放进微波炉并关上的任务", + "annotations": { + "point_1767678808240": { + "type": "point", + "instances": [ + { + "id": "point_1767678808240_1767685991660_fr1ebevn1", + "x": 0.3535, + "y": 0.46 + } + ] + }, + "point_1767678797952": { + "type": "point", + "instances": [ + { + "id": "point_1767678797952_1767685995531_6af2vz3ge", + "x": 0.23450000000000001, + "y": 0.438 + } + ] + }, + "bbox_1767678788947": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767678788947_1767686002169_p4pt1b11o", + "x": 0.0004999999999999996, + "y": 0.306, + "width": 0.233, + "height": 0.549 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767678778164", + "name": "黄白相间的杯子" + }, + { + "color": "#FF9800", + "id": "bbox_1767678788947", + "name": "微波炉" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767678797952", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767678808240", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000088.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000088.json new file mode 100644 index 0000000000000000000000000000000000000000..6fca23fc4b9206273ba9da441af60f8094731e1c --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000088.json @@ -0,0 +1,1008 @@ +{ + "task_description": "把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上\n开始移动0%\n爪夹靠近白色的杯子10%\n爪夹抓取白色的杯子20%\n爪夹抓取白色的杯子接近左边的盘子30%\n爪夹将白色杯子放入左边的盘子40%\n爪夹松开，白色杯子落入左边的盘子50%\n爪夹靠近黄白相间的杯子60%\n爪夹抓取黄白相间的杯子70%\n爪夹抓取黄白相间的杯子接近右边的盘子80%\n爪夹将黄白相间的杯子放入右边的盘子90%\n爪夹松开，黄白相间的杯子落入右边的盘子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹向爪夹方向的左侧移动至白色杯子的上方后竖直下落，靠近并触及白色杯子，爪夹闭合，抓取白色杯子后竖直上升并向爪夹方向的左前方移动至左边盘子的上方后竖直下落将抓取的白色杯子放入左边的盘子中，爪夹松开，白色杯子落入左边的盘子中，张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "error_success_analysis": "", + "frame": 3, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触白色的杯子。\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹向爪夹方向的左侧移动至白色杯子的上方后竖直下落", + "time": 0.1076, + "annotations": { + "bbox_1767689917579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689917579_1767751816790_8g5iioh8k", + "x": 0.6075, + "y": 0.428, + "width": 0.19899999999999995, + "height": 0.199 + } + ] + }, + "bbox_1767689926296": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689926296_1767751829611_w44zndssd", + "x": 0.8655, + "y": 0.62, + "width": 0.126, + "height": 0.15100000000000002 + } + ] + }, + "bbox_1767689933956": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689933956_1767751839599_tgsp0691t", + "x": 0.2495, + "y": 0.485, + "width": 0.22900000000000004, + "height": 0.19500000000000006 + } + ] + }, + "bbox_1767689944567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689944567_1767751850781_kaz10hfwn", + "x": 0.0045000000000000005, + "y": 0.6, + "width": 0.126, + "height": 0.14300000000000002 + } + ] + }, + "point_1767690000838": { + "type": "point", + "instances": [ + { + "id": "point_1767690000838_1767751854464_pcb755f2b", + "x": 0.4345, + "y": 0.319 + } + ] + }, + "point_1767690006402": { + "type": "point", + "instances": [ + { + "id": "point_1767690006402_1767751857315_c6054rrcu", + "x": 0.5915, + "y": 0.322 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的左下方向移动", + "correction_plan": "爪夹竖直下落，靠近并触及白色杯子，爪夹闭合，抓取白色杯子后竖直上升并向爪夹方向的左前方移动至左边盘子的上方后竖直下落将抓取的白色杯子放入左边的盘子中，爪夹松开，白色杯子落入左边的盘子中，张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "error_success_analysis": "张开的爪夹向左后方向移动靠近抓取物白色的杯子", + "frame": 87, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向的右下方靠近左边的杯子，进度提升为5%", + "state_description": "爪夹张开位于白色杯子的上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹竖直向下靠近并触及白色杯子后爪夹闭合抓取白色杯子", + "time": 2.8979896907216496, + "annotations": { + "bbox_1767689917579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689917579_1767751714928_np8fz8iin", + "x": 0.6085, + "y": 0.431, + "width": 0.19999999999999996, + "height": 0.192 + } + ] + }, + "bbox_1767689926296": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689926296_1767751731733_qvi4drpqs", + "x": 0.8625, + "y": 0.623, + "width": 0.134, + "height": 0.14900000000000002 + } + ] + }, + "bbox_1767689933956": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689933956_1767751737435_3q9ev3rlt", + "x": 0.2515, + "y": 0.486, + "width": 0.22400000000000003, + "height": 0.19500000000000006 + } + ] + }, + "bbox_1767689944567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689944567_1767751742671_41jphucuf", + "x": 0.0025, + "y": 0.598, + "width": 0.128, + "height": 0.15100000000000002 + } + ] + }, + "point_1767690000838": { + "type": "point", + "instances": [ + { + "id": "point_1767690000838_1767751746688_6shttswtb", + "x": 0.5535, + "y": 0.40700000000000003 + } + ] + }, + "point_1767690006402": { + "type": "point", + "instances": [ + { + "id": "point_1767690006402_1767751749357_nucm6g6ff", + "x": 0.7085, + "y": 0.41300000000000003 + } + ] + } + } + }, + { + "action_description": "张开的爪夹竖直下落", + "correction_plan": "张开的爪夹靠近白色杯子后，爪夹闭合，抓取白色杯子后竖直上升并向爪夹方向的左前方移动至左边盘子的上方后竖直下落将抓取的白色杯子放入左边的盘子中，爪夹松开，白色杯子落入左边的盘子中，张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "error_success_analysis": "张开的爪夹向爪夹方向的下方下落靠近抓取物白色的杯子", + "frame": 136, + "progress": 10, + "progress_explanation": "爪夹下落后靠近桌面上的白色杯子，进度提升为10%", + "state_description": "爪夹目前张开在白色杯子的上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹闭合做抓取白色杯子的动作，抓取后爪夹竖直向上抬升", + "time": 4.546099, + "annotations": { + "point_1767690006402": { + "type": "point", + "instances": [ + { + "id": "point_1767690006402_1767751864547_q0b3ar1vr", + "x": 0.7255, + "y": 0.483 + } + ] + }, + "point_1767690000838": { + "type": "point", + "instances": [ + { + "id": "point_1767690000838_1767751867097_n648ifd9p", + "x": 0.5955, + "y": 0.467 + } + ] + }, + "bbox_1767689917579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689917579_1767751874835_v8u6ykgrj", + "x": 0.6005, + "y": 0.436, + "width": 0.20899999999999996, + "height": 0.19 + } + ] + }, + "bbox_1767689926296": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689926296_1767751880893_4taeyysz6", + "x": 0.8655, + "y": 0.62, + "width": 0.131, + "height": 0.15000000000000002 + } + ] + }, + "bbox_1767689944567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689944567_1767751894445_uclzc1413", + "x": 0.0055, + "y": 0.596, + "width": 0.127, + "height": 0.15100000000000002 + } + ] + }, + "bbox_1767689933956": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689933956_1767751900907_mm4japsa7", + "x": 0.2495, + "y": 0.486, + "width": 0.22500000000000003, + "height": 0.19700000000000006 + } + ] + } + } + }, + { + "action_description": "张开的爪夹闭合，抓取桌面上的白色的杯子", + "correction_plan": "抓取白色杯子后竖直上升并向爪夹方向的左前方移动至左边盘子的上方后竖直下落将抓取的白色杯子放入左边的盘子中，爪夹松开，白色杯子落入左边的盘子中，张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的白色的杯子", + "frame": 174, + "progress": 20, + "progress_explanation": "爪夹闭合成功抓取白色的杯子，进度提升为20%", + "state_description": "爪夹目前闭合并抓取桌上的白色杯子\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：抓取白色杯子的爪夹竖直上升并向爪夹方向的左前方移动至左边的盘子上方", + "time": 5.8104, + "annotations": { + "bbox_1767689933956": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689933956_1767751908351_vqxsl0kv1", + "x": 0.2515, + "y": 0.486, + "width": 0.22600000000000003, + "height": 0.19500000000000006 + } + ] + }, + "bbox_1767689917579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689917579_1767751915653_60el7jxi4", + "x": 0.6115, + "y": 0.431, + "width": 0.19899999999999995, + "height": 0.191 + } + ] + }, + "bbox_1767689926296": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689926296_1767751952546_3acudl4gs", + "x": 0.8635, + "y": 0.619, + "width": 0.133, + "height": 0.15100000000000002 + } + ] + }, + "bbox_1767689944567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689944567_1767751963293_lxni6rioi", + "x": 0.0035, + "y": 0.6, + "width": 0.135, + "height": 0.14500000000000002 + } + ] + }, + "point_1767690000838": { + "type": "point", + "instances": [ + { + "id": "point_1767690000838_1767751966937_uz5vj1h0f", + "x": 0.6605, + "y": 0.486 + } + ] + }, + "point_1767690006402": { + "type": "point", + "instances": [ + { + "id": "point_1767690006402_1767751969359_spf5af857", + "x": 0.6895, + "y": 0.48 + } + ] + } + } + }, + { + "action_description": "抓取白色的杯子的爪夹竖直向上抬升并向爪夹方向的右前方移动", + "correction_plan": "抓取白色杯子的爪夹向爪夹方向的左前方移动至左边盘子的上方后竖直下落将抓取的白色杯子放入左边的盘子中，爪夹松开，白色杯子落入左边的盘子中，张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "error_success_analysis": "夹取白色杯子的爪夹向上抬升后向左上方靠近作伴盘子的方向移动", + "frame": 238, + "progress": 30, + "progress_explanation": "爪夹抓取白色的杯子向左前方接近左边的盘子，进度提升为30%", + "state_description": "爪夹目前抓取白色的杯子位于左边盘子的右后方向\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹继续向爪机方向的左上方移动至左边贩子的上方后竖直下落", + "time": 7.935499, + "annotations": { + "point_1767690006402": { + "type": "point", + "instances": [ + { + "id": "point_1767690006402_1767751974277_7g5e6va1k", + "x": 0.8045, + "y": 0.41300000000000003 + } + ] + }, + "point_1767690000838": { + "type": "point", + "instances": [ + { + "id": "point_1767690000838_1767751988393_gusmojeje", + "x": 0.7695, + "y": 0.41000000000000003 + } + ] + }, + "bbox_1767689944567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689944567_1767751993835_y1rphawhe", + "x": 0.0045000000000000005, + "y": 0.594, + "width": 0.131, + "height": 0.15500000000000003 + } + ] + }, + "bbox_1767689926296": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689926296_1767751999299_cdwnkgn44", + "x": 0.8655, + "y": 0.62, + "width": 0.128, + "height": 0.15200000000000002 + } + ] + }, + "bbox_1767689933956": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689933956_1767752004377_z87g1bx4u", + "x": 0.2505, + "y": 0.485, + "width": 0.22600000000000003, + "height": 0.19700000000000006 + } + ] + }, + "bbox_1767689917579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689917579_1767752013073_mm5vabxvy", + "x": 0.7175, + "y": 0.363, + "width": 0.23299999999999998, + "height": 0.22499999999999998 + } + ] + } + } + }, + { + "action_description": "抓取白色杯子的爪夹向爪夹方向的左下方移动将抓取的白色杯子放在左边的盘子中", + "correction_plan": "爪夹松开，白色杯子落入左边的盘子中，张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "error_success_analysis": "抓取白色杯子的爪夹向左下方移动后竖直下落将抓取的白色杯子放在左边的盘子上", + "frame": 317, + "progress": 40, + "progress_explanation": "爪夹抓取白色杯子向左下方将杯子放在左边的盘子上，进度提升为40%", + "state_description": "爪夹抓取白色杯子在盘子的上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹张开，抓取的白色杯子落在左边的盘子上", + "time": 10.55201030927835, + "annotations": { + "bbox_1767689917579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689917579_1767752022251_zv3zzdvlu", + "x": 0.8925000000000001, + "y": 0.498, + "width": 0.10599999999999998, + "height": 0.20899999999999996 + } + ] + }, + "bbox_1767689926296": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689926296_1767752033925_quob6xo1k", + "x": 0.8655, + "y": 0.619, + "width": 0.129, + "height": 0.15100000000000002 + } + ] + }, + "bbox_1767689933956": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689933956_1767752039509_5d8xyhcma", + "x": 0.2485, + "y": 0.487, + "width": 0.22900000000000004, + "height": 0.19400000000000006 + } + ] + }, + "bbox_1767689944567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689944567_1767752044762_11ruxu2xq", + "x": 0.0025, + "y": 0.597, + "width": 0.129, + "height": 0.15000000000000002 + } + ] + }, + "point_1767690000838": { + "type": "point", + "instances": [ + { + "id": "point_1767690000838_1767752048245_83hspdni3", + "x": 0.9455, + "y": 0.54 + } + ] + }, + "point_1767690006402": { + "type": "point", + "instances": [ + { + "id": "point_1767690006402_1767752050399_jkyplw3ep", + "x": 0.9815, + "y": 0.542 + } + ] + } + } + }, + { + "action_description": "爪夹张开，抓取的白色杯子的落在左边的盘子里", + "correction_plan": "张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "error_success_analysis": "爪夹张开，抓取的白色杯子成功放在左边的盘子上", + "frame": 383, + "progress": 50, + "progress_explanation": "爪夹张开将白色杯子放入左边的盘子，进度提升为50%", + "state_description": "爪夹张开位于白色杯子的上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子的上方", + "time": 12.750599, + "annotations": { + "point_1767690006402": { + "type": "point", + "instances": [ + { + "id": "point_1767690006402_1767752061195_8t164i0tq", + "x": 0.9935, + "y": 0.554 + } + ] + }, + "point_1767690000838": { + "type": "point", + "instances": [ + { + "id": "point_1767690000838_1767752063365_8k0ixv8ey", + "x": 0.9245, + "y": 0.553 + } + ] + }, + "bbox_1767689944567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689944567_1767752069971_kc7e77gof", + "x": 0.0025, + "y": 0.598, + "width": 0.131, + "height": 0.15200000000000002 + } + ] + }, + "bbox_1767689933956": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689933956_1767752075379_65c1mxrd7", + "x": 0.2495, + "y": 0.487, + "width": 0.22900000000000004, + "height": 0.19500000000000006 + } + ] + }, + "bbox_1767689926296": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689926296_1767752083427_lo21212b9", + "x": 0.8625, + "y": 0.624, + "width": 0.135, + "height": 0.14700000000000002 + } + ] + }, + "bbox_1767689917579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689917579_1767752088084_oytrua3am", + "x": 0.8915000000000001, + "y": 0.523, + "width": 0.10499999999999998, + "height": 0.22099999999999997 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向上抬升并向爪夹方向的右侧移动", + "correction_plan": "爪夹继续向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "error_success_analysis": "爪夹张开向上略微抬升并向爪夹方向的右侧靠近黄白相间的杯子移动", + "frame": 472, + "progress": 55, + "progress_explanation": "爪夹向右侧靠近黄白相间的杯子移动，进度提升为55%", + "state_description": "爪夹张开位于黄白相间的杯子的左侧上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹继续向爪夹方向的右侧移动至黄白相间的杯子的上方", + "time": 15.737886597938145, + "annotations": { + "bbox_1767689917579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689917579_1767752106419_7exytmyva", + "x": 0.8915000000000001, + "y": 0.516, + "width": 0.10299999999999998, + "height": 0.23199999999999998 + } + ] + }, + "bbox_1767689926296": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689926296_1767752113205_tr65ffemf", + "x": 0.8685, + "y": 0.596, + "width": 0.122, + "height": 0.17200000000000004 + } + ] + }, + "bbox_1767689933956": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689933956_1767752117909_9gf64qtfs", + "x": 0.2425, + "y": 0.487, + "width": 0.23100000000000004, + "height": 0.19100000000000006 + } + ] + }, + "bbox_1767689944567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689944567_1767752121901_2d5ps22ud", + "x": 0.0015, + "y": 0.594, + "width": 0.13, + "height": 0.15200000000000002 + } + ] + }, + "point_1767690000838": { + "type": "point", + "instances": [ + { + "id": "point_1767690000838_1767752124270_fin3mpapz", + "x": 0.5375, + "y": 0.44 + } + ] + }, + "point_1767690006402": { + "type": "point", + "instances": [ + { + "id": "point_1767690006402_1767752126345_18mwxsv8m", + "x": 0.7075, + "y": 0.434 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右侧移动至黄白相间的杯子上方后竖直下降", + "correction_plan": "爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "error_success_analysis": "张开的爪夹向右侧移动靠近黄白相间的杯子后竖直下落在黄白相间的杯子上方", + "frame": 572, + "progress": 60, + "progress_explanation": "爪夹向左并向下移动，靠近黄白相间的杯子，进度提升为60%", + "state_description": "爪夹张开位于黄白相间杯子的上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：张开的爪夹做闭合动作抓取黄白相间的杯子", + "time": 19.0721, + "annotations": { + "point_1767690006402": { + "type": "point", + "instances": [ + { + "id": "point_1767690006402_1767752134797_zlws4kbjy", + "x": 0.34450000000000003, + "y": 0.549 + } + ] + }, + "point_1767690000838": { + "type": "point", + "instances": [ + { + "id": "point_1767690000838_1767752136641_wjrhtc1r1", + "x": 0.2095, + "y": 0.558 + } + ] + }, + "bbox_1767689944567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689944567_1767752140411_irc530tui", + "x": 0.0035, + "y": 0.594, + "width": 0.129, + "height": 0.15500000000000003 + } + ] + }, + "bbox_1767689933956": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689933956_1767752143919_75osqfpdo", + "x": 0.2485, + "y": 0.49, + "width": 0.22700000000000004, + "height": 0.18800000000000006 + } + ] + }, + "bbox_1767689926296": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689926296_1767752148030_o2xgmyr7n", + "x": 0.8705, + "y": 0.609, + "width": 0.127, + "height": 0.16300000000000003 + } + ] + }, + "bbox_1767689917579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689917579_1767752157051_wheouts9l", + "x": 0.8885000000000001, + "y": 0.517, + "width": 0.10699999999999998, + "height": 0.22799999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹做闭合动作，抓取黄白相间的杯子", + "correction_plan": "抓取黄白相间杯子的爪夹竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "error_success_analysis": "爪夹成功闭合，抓取了黄白相间的杯子", + "frame": 608, + "progress": 70, + "progress_explanation": "爪夹闭合抓取黄白相间的杯子，进度提升70%", + "state_description": "爪夹目前闭合抓取桌子上黄白相间的杯子\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：抓取杯子的爪夹竖直上升并向爪机方向的右侧移动至右边的盘子上方", + "time": 20.255699, + "annotations": { + "bbox_1767689917579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689917579_1767752166102_vd28aodp1", + "x": 0.8925000000000001, + "y": 0.518, + "width": 0.10299999999999998, + "height": 0.23299999999999998 + } + ] + }, + "bbox_1767689926296": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689926296_1767752171521_rgrb3bny8", + "x": 0.8655, + "y": 0.599, + "width": 0.126, + "height": 0.17900000000000005 + } + ] + }, + "bbox_1767689933956": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689933956_1767752176891_3ssm5ut2i", + "x": 0.2435, + "y": 0.47500000000000003, + "width": 0.22400000000000003, + "height": 0.191 + } + ] + }, + "bbox_1767689944567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689944567_1767752180953_redg142dw", + "x": 0.0025, + "y": 0.592, + "width": 0.132, + "height": 0.16200000000000003 + } + ] + }, + "point_1767690000838": { + "type": "point", + "instances": [ + { + "id": "point_1767690000838_1767752184573_1346y91km", + "x": 0.2505, + "y": 0.561 + } + ] + }, + "point_1767690006402": { + "type": "point", + "instances": [ + { + "id": "point_1767690006402_1767752186917_bq0msizco", + "x": 0.2945, + "y": 0.549 + } + ] + } + } + }, + { + "action_description": "抓取黄白相间杯子的爪夹向上抬升并向爪夹方向的右侧移动", + "correction_plan": "抓取黄白相间的杯子的爪夹竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "error_success_analysis": "抓取黄白相间的杯子向上抬升后向右侧靠近右边的盘子上方", + "frame": 675, + "progress": 80, + "progress_explanation": "爪夹抓取黄白相间的杯子向右侧移动，接近右边的盘子，进度提升为80%", + "state_description": "爪夹目前闭合抓取黄白相间的杯子位于右侧盘子的上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：抓取黄白相间杯子的爪夹下落将抓取的黄白相间的杯子放在右边的盘子上", + "time": 22.504484536082472, + "annotations": { + "bbox_1767689944567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689944567_1767752199851_v612er4jo", + "x": 0.0045000000000000005, + "y": 0.5690000000000001, + "width": 0.126, + "height": 0.17499999999999993 + } + ] + }, + "bbox_1767689933956": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689933956_1767752205925_wthdori56", + "x": 0.0035, + "y": 0.429, + "width": 0.208, + "height": 0.21000000000000002 + } + ] + }, + "bbox_1767689926296": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689926296_1767752210850_p1lteped1", + "x": 0.8695, + "y": 0.598, + "width": 0.128, + "height": 0.17500000000000004 + } + ] + }, + "bbox_1767689917579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689917579_1767752215834_jqjs759os", + "x": 0.8925000000000001, + "y": 0.518, + "width": 0.10499999999999998, + "height": 0.239 + } + ] + } + } + }, + { + "action_description": "抓取黄白相间杯子的爪夹向爪夹方向的右下方下落", + "correction_plan": "爪夹松开，黄白相间的杯子落入右边的盘子", + "error_success_analysis": "抓取黄白相间的杯子的爪夹向右下方移动后抓取的黄白相间的杯子放在右边的盘子里", + "frame": 724, + "progress": 90, + "progress_explanation": "抓取黄白相间的杯子的爪夹下落将黄白相间的杯子放入右边的盘子，进度提升90%", + "state_description": "爪夹目前抓取黄白相间的杯子在右边盘子的上方。\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹张开，黄白相间的杯子落入右边的盘子", + "time": 24.1293, + "annotations": { + "bbox_1767689917579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689917579_1767752222002_7z5tem8ih", + "x": 0.8865000000000001, + "y": 0.52, + "width": 0.11099999999999999, + "height": 0.235 + } + ] + }, + "bbox_1767689926296": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689926296_1767752227350_l5wqbg9iu", + "x": 0.8705, + "y": 0.599, + "width": 0.124, + "height": 0.17200000000000004 + } + ] + }, + "bbox_1767689944567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689944567_1767752235163_r157yjq27", + "x": 0.0055, + "y": 0.597, + "width": 0.126, + "height": 0.15500000000000003 + } + ] + } + } + }, + { + "action_description": "抓取黄白相间杯子的爪夹张开，黄白相间的杯子落入右边的盘子里", + "correction_plan": "已完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务", + "error_success_analysis": "爪夹成功张开，抓取的黄白相间的杯子落入下方的右边盘子中", + "frame": 786, + "progress": 100, + "progress_explanation": "爪夹松开，黄白相间的杯子落入右边的盘子，进度提升为100%", + "state_description": "爪夹目前张开，位于右边盘子中黄白相间的杯子上方\n把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上已完成", + "time": 26.2006, + "annotations": { + "bbox_1767689933956": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689933956_1767752259217_2dei39mzh", + "x": 0.0015, + "y": 0.5, + "width": 0.132, + "height": 0.21199999999999997 + } + ] + }, + "bbox_1767689926296": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689926296_1767752269319_b0d9pgjat", + "x": 0.8685, + "y": 0.589, + "width": 0.131, + "height": 0.18200000000000005 + } + ] + }, + "bbox_1767689917579": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689917579_1767752278646_anjbfy5os", + "x": 0.8905000000000001, + "y": 0.518, + "width": 0.10699999999999998, + "height": 0.23099999999999998 + } + ] + }, + "bbox_1767689944567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767689944567_1767752286097_h1fxl0mmy", + "x": 0.0045000000000000005, + "y": 0.584, + "width": 0.127, + "height": 0.16200000000000003 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767689917579", + "name": "白色的杯子" + }, + { + "color": "#FF9800", + "id": "bbox_1767689926296", + "name": "左边的盘子" + }, + { + "color": "#2196F3", + "id": "bbox_1767689933956", + "name": "黄白相间的杯子" + }, + { + "color": "#9C27B0", + "id": "bbox_1767689944567", + "name": "右边的盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767690000838", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767690006402", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000097.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000097.json new file mode 100644 index 0000000000000000000000000000000000000000..5006ebf7cc7d29b548669655471bd60ef961b407 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000097.json @@ -0,0 +1,542 @@ +{ + "task_description": "把黑色碗放到橱柜的底层抽屉里，然后关上它\n开始移动0%\n爪夹靠近黑色碗20%\n爪夹抓取黑色碗40%\n爪夹抓取黑色碗放到橱柜的底层抽屉60%\n爪夹松开，黑色碗落入橱柜的底层抽屉80%\n爪夹把抽屉推回关上抽屉100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1767756678490": { + "instances": [ + { + "height": 0.127, + "id": "bbox_1767756678490_1767756714613_alq3vg3f5", + "width": 0.15399999999999997, + "x": 0.4895, + "y": 0.61 + } + ], + "type": "bbox" + }, + "bbox_1767756687332": { + "instances": [ + { + "height": 0.27, + "id": "bbox_1767756687332_1767756719918_kkp1f592h", + "width": 0.28200000000000003, + "x": 0.1625, + "y": 0.504 + } + ], + "type": "bbox" + }, + "point_1767756692187": { + "instances": [ + { + "id": "point_1767756692187_1767756730643_10u90vgys", + "x": 0.4525, + "y": 0.249 + } + ], + "type": "point" + }, + "point_1767756700281": { + "instances": [ + { + "id": "point_1767756700281_1767756735038_261t7iu1u", + "x": 0.5665, + "y": 0.244 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左下方移动至黑色碗的上方后竖直下落靠近并触及黑色的碗，爪夹闭合做抓取黑色碗的动作，抓取黑色碗后爪夹竖直上升并向爪夹方向的左侧移动至打橱柜底层抽屉的上方，后抓取黑色碗的爪夹竖直下落将抓取的黑色碗放在橱柜的底层抽屉中，松开爪夹，抓取的黑色碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触黑色的碗。\n为了完成把黑色碗放到橱柜的底层抽屉里，然后关上它的任务：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左下方移动至黑色碗的上方", + "time": 0.7315979381443297 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方移动并翻转机械臂后调整爪夹角度", + "annotations": { + "bbox_1767756678490": { + "instances": [ + { + "height": 0.127, + "id": "bbox_1767756678490_1767756753326_khsq060im", + "width": 0.16099999999999998, + "x": 0.4825, + "y": 0.606 + } + ], + "type": "bbox" + }, + "bbox_1767756687332": { + "instances": [ + { + "height": 0.274, + "id": "bbox_1767756687332_1767756748486_iqsouewnp", + "width": 0.277, + "x": 0.1625, + "y": 0.498 + } + ], + "type": "bbox" + }, + "point_1767756692187": { + "instances": [ + { + "id": "point_1767756692187_1767756741098_ogdk1dwi4", + "x": 0.5805, + "y": 0.435 + } + ], + "type": "point" + }, + "point_1767756700281": { + "instances": [ + { + "id": "point_1767756700281_1767756738238_gs4s6ecfe", + "x": 0.6565, + "y": 0.393 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹竖直下落靠近并触及黑色的碗，爪夹闭合做抓取黑色碗的动作，抓取黑色碗后爪夹竖直上升并向爪夹方向的左侧移动至打橱柜底层抽屉的上方，后抓取黑色碗的爪夹竖直下落将抓取的黑色碗放在橱柜的底层抽屉中，松开爪夹，抓取的黑色碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "error_success_analysis": "张开的爪夹向下移动靠近下方的黑色碗并向右上翻转爪夹角度方便后续爪夹抓取", + "frame": 133, + "progress": 10, + "progress_explanation": "爪夹开始向下方靠近黑色碗移动，进度提升为10%", + "state_description": "爪夹当前状态为张开，在黑色碗的左侧上方\n为了完成把黑色碗放到橱柜的底层抽屉里，然后关上它的任务：爪夹竖直下落靠近桌上的黑色碗，爪夹闭合做抓取黑色碗的动作", + "time": 4.440847 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1767756678490": { + "instances": [ + { + "height": 0.121, + "id": "bbox_1767756678490_1767756758458_wcl8wk3wm", + "width": 0.14400000000000007, + "x": 0.4925, + "y": 0.613 + } + ], + "type": "bbox" + }, + "bbox_1767756687332": { + "instances": [ + { + "height": 0.269, + "id": "bbox_1767756687332_1767756763138_a7zbxru8u", + "width": 0.28800000000000003, + "x": 0.1555, + "y": 0.499 + } + ], + "type": "bbox" + }, + "point_1767756692187": { + "instances": [ + { + "id": "point_1767756692187_1767756765951_6ehmtdlzk", + "x": 0.5905, + "y": 0.5700000000000001 + } + ], + "type": "point" + }, + "point_1767756700281": { + "instances": [ + { + "id": "point_1767756700281_1767756768572_urlvrsauo", + "x": 0.6425, + "y": 0.506 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹继续竖直下落靠近并触及黑色的碗，爪夹闭合做抓取黑色碗的动作，抓取黑色碗后爪夹竖直上升并向爪夹方向的左侧移动至打橱柜底层抽屉的上方，后抓取黑色碗的爪夹竖直下落将抓取的黑色碗放在橱柜的底层抽屉中，松开爪夹，抓取的黑色碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "error_success_analysis": "爪夹向下方的黑色碗移动", + "frame": 55, + "progress": 15, + "progress_explanation": "爪夹竖直下落缩短与抓取物黑色碗的距离，进度提升为15%", + "state_description": "目前抓取张开位于桌上黑色碗的上方\n为了完成把黑色碗放到橱柜的底层抽屉里，然后关上它的任务：爪夹继续竖直向下靠近并触及黑色碗后爪夹闭合，抓取黑色的碗", + "time": 5.566666666666666 + }, + { + "action_description": "张开的爪夹继续向爪夹方向的下方下落至黑色碗的侧边上方", + "annotations": { + "bbox_1767756678490": { + "instances": [ + { + "height": 0.123, + "id": "bbox_1767756678490_1767756786700_x6rxbesp5", + "width": 0.15799999999999997, + "x": 0.4855, + "y": 0.612 + } + ], + "type": "bbox" + }, + "bbox_1767756687332": { + "instances": [ + { + "height": 0.271, + "id": "bbox_1767756687332_1767756781260_dahxarp8k", + "width": 0.28800000000000003, + "x": 0.1525, + "y": 0.499 + } + ], + "type": "bbox" + }, + "point_1767756692187": { + "instances": [ + { + "id": "point_1767756692187_1767756773935_u96nimxot", + "x": 0.5725, + "y": 0.662 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹闭合做抓取黑色碗的动作，抓取黑色碗后爪夹竖直上升并向爪夹方向的左侧移动至打橱柜底层抽屉的上方，后抓取黑色碗的爪夹竖直下落将抓取的黑色碗放在橱柜的底层抽屉中，松开爪夹，抓取的黑色碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "error_success_analysis": "张开的爪夹继续向下方靠近黑色碗方向移动", + "frame": 228, + "progress": 20, + "progress_explanation": "爪夹向下落靠近并触及了黑色碗，进度提升为20%", + "state_description": "爪夹目前张开位于黑色碗的左侧边的上方\n为了完成把黑色碗放到橱柜的底层抽屉里，然后关上它的任务：爪夹做闭合抓取动作，抓取黑色的碗后爪夹竖直上升", + "time": 7.585515463917525 + }, + { + "action_description": "张开的爪夹合并，抓取黑色的碗", + "annotations": { + "bbox_1767756678490": { + "instances": [ + { + "height": 0.126, + "id": "bbox_1767756678490_1767756791832_n9tmhkspj", + "width": 0.16199999999999992, + "x": 0.47850000000000004, + "y": 0.614 + } + ], + "type": "bbox" + }, + "bbox_1767756687332": { + "instances": [ + { + "height": 0.274, + "id": "bbox_1767756687332_1767756797638_zukxf7ys0", + "width": 0.29300000000000004, + "x": 0.1525, + "y": 0.5 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取黑色碗的爪夹竖直上升并向爪夹方向的左侧移动至打橱柜底层抽屉的上方，后抓取黑色碗的爪夹竖直下落将抓取的黑色碗放在橱柜的底层抽屉中，松开爪夹，抓取的黑色碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "error_success_analysis": "张开的爪夹闭合成功，抓取了目标物黑色的碗", + "frame": 277, + "progress": 40, + "progress_explanation": "爪夹闭合成功抓取黑色碗，进度提升为40%", + "state_description": "爪夹目前合并抓取黑色的碗在打开的橱柜的底层抽屉的左侧\n为了完成把黑色碗放到橱柜的底层抽屉里，然后关上它的任务：抓取黑色碗的爪夹竖直向上抬升并向爪夹方向的右侧移动至打开的橱柜底层抽屉上方", + "time": 9.2379 + }, + { + "action_description": "抓取黑色碗的爪夹竖直向上抬升并向爪夹方向的右侧移动", + "annotations": { + "bbox_1767756678490": { + "instances": [ + { + "height": 0.14000000000000007, + "id": "bbox_1767756678490_1767756808140_3p75cnnvu", + "width": 0.176, + "x": 0.3205, + "y": 0.422 + } + ], + "type": "bbox" + }, + "bbox_1767756687332": { + "instances": [ + { + "height": 0.278, + "id": "bbox_1767756687332_1767756814128_w86a2772l", + "width": 0.28500000000000003, + "x": 0.1585, + "y": 0.496 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取黑色碗的爪夹继续向爪夹方向的右侧移动至打开的橱柜底层抽屉上方，后爪夹竖直下落将抓取的黑色碗放在橱柜的底层抽屉中，松开爪夹，抓取的黑色碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "error_success_analysis": "抓取黑色碗的爪夹向上抬升后向右侧靠近打开的橱柜的底层抽屉方向移动", + "frame": 366, + "progress": 50, + "progress_explanation": "爪夹抓取黑色的碗向右上方移动，靠近右侧的抽屉，进度抬升为50%", + "state_description": "爪夹当前闭合抓取黑色碗位于橱柜的底层抽屉把手上方\n为了完成把黑色碗放到橱柜的底层抽屉里，然后关上它的任务：抓取黑色碗的爪夹继续向爪夹方向的右侧移动至打开的橱柜底层抽屉上方", + "time": 12.200999 + }, + { + "action_description": "抓取黑色碗的爪夹向爪夹方向的右侧移动后竖直下落", + "annotations": { + "bbox_1767756678490": { + "instances": [ + { + "height": 0.121, + "id": "bbox_1767756678490_1767756826078_gins2qdkv", + "width": 0.152, + "x": 0.23650000000000002, + "y": 0.531 + } + ], + "type": "bbox" + }, + "bbox_1767756687332": { + "instances": [ + { + "height": 0.274, + "id": "bbox_1767756687332_1767756820360_nkxcywmoj", + "width": 0.278, + "x": 0.1695, + "y": 0.498 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续竖直下落将抓取的黑色碗放在橱柜的底层抽屉中，松开爪夹，抓取的黑色碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "error_success_analysis": "爪夹抓取黑色的碗向右侧移动至打开的橱柜的底层抽屉上方后下落，抓取的黑色碗进入抽屉中", + "frame": 449, + "progress": 55, + "progress_explanation": "抓取黑色碗的爪夹向右侧移动下落抓取的黑色碗进入打开的橱柜的底层抽屉，进度提升为55%", + "state_description": "爪夹目前闭合抓取黑色的碗位于打开的橱柜的底层抽屉内部\n为了完成把黑色碗放到橱柜的底层抽屉里，然后关上它的任务：抓取黑色碗的爪夹继续下落，将抓取的黑色碗放到橱柜的底层抽屉中", + "time": 14.964899 + }, + { + "action_description": "爪夹向爪夹方向的下方竖直下落，抓取的黑色碗放到橱柜的底层抽屉", + "annotations": { + "bbox_1767756678490": { + "instances": [ + { + "height": 0.10799999999999998, + "id": "bbox_1767756678490_1767756836106_sfsz56w74", + "width": 0.155, + "x": 0.2265, + "y": 0.561 + } + ], + "type": "bbox" + }, + "bbox_1767756687332": { + "instances": [ + { + "height": 0.277, + "id": "bbox_1767756687332_1767756841880_o99xi97tn", + "width": 0.29800000000000004, + "x": 0.1575, + "y": 0.496 + } + ], + "type": "bbox" + } + }, + "correction_plan": "张开爪夹，抓取的黑色碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "error_success_analysis": "抓取黑色碗的爪夹继续下落将抓取的黑色碗放在打开的橱柜的底层抽屉里", + "frame": 522, + "progress": 60, + "progress_explanation": "爪夹下落抓取黑色碗放到了橱柜的底层抽屉里，进度提升为60%", + "state_description": "爪夹当前闭合抓取黑色碗位于打开的橱柜的底层抽屉中\n为了完成把黑色碗放到橱柜的底层抽屉里，然后关上它的任务：爪夹张开，抓取的黑色碗落入橱柜的底层抽屉", + "time": 17.39149484536082 + }, + { + "action_description": "爪夹张开，并向爪夹方向的后侧上方移动", + "annotations": { + "bbox_1767756678490": { + "instances": [ + { + "height": 0.122, + "id": "bbox_1767756678490_1767756854590_uag1ia1bh", + "width": 0.15, + "x": 0.2325, + "y": 0.561 + } + ], + "type": "bbox" + }, + "bbox_1767756687332": { + "instances": [ + { + "height": 0.278, + "id": "bbox_1767756687332_1767756849372_nkvks1zzq", + "width": 0.31400000000000006, + "x": 0.1475, + "y": 0.495 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪夹方向的后侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "error_success_analysis": "爪夹成功张开，抓取的目标物黑色碗成功落入打开的橱柜的底层抽屉里，爪夹并向后侧上方移动出打开的底层抽屉上方", + "frame": 565, + "progress": 80, + "progress_explanation": "爪夹松开，黑色碗成功落入橱柜的底层抽屉中，进度提升为80%", + "state_description": "爪夹当前张开位于打开的橱柜的底层抽屉的把手右侧上方\n为了完成把黑色碗放到橱柜的底层抽屉里，然后关上它的任务：爪夹向爪夹方向的后方移动至打开的抽屉把手上方后竖直下落", + "time": 18.824399 + }, + { + "action_description": "张开的爪夹继续向爪夹方向的右侧移动", + "annotations": { + "bbox_1767756678490": { + "instances": [ + { + "height": 0.121, + "id": "bbox_1767756678490_1767756859922_7rjvvw2gk", + "width": 0.153, + "x": 0.2265, + "y": 0.562 + } + ], + "type": "bbox" + }, + "bbox_1767756687332": { + "instances": [ + { + "height": 0.27, + "id": "bbox_1767756687332_1767756865734_b7k00xsud", + "width": 0.31100000000000005, + "x": 0.1535, + "y": 0.498 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "error_success_analysis": "张开的爪夹向爪夹方向的后侧移动出打开的橱柜的底层抽屉上方范围，方便后续关上抽屉", + "frame": 599, + "progress": 85, + "progress_explanation": "爪夹向后方移动出打开的橱柜的底层抽屉，进度提升为85%", + "state_description": "爪夹目前张开，位于底层抽屉的把手上方\n为了完成把黑色碗放到橱柜的底层抽屉里，然后关上它的任务：爪夹竖直下落靠近并触及抽屉把手", + "time": 19.9698 + }, + { + "action_description": "张开的爪夹向爪夹方向的后下方移动", + "annotations": { + "bbox_1767756678490": { + "instances": [ + { + "height": 0.128, + "id": "bbox_1767756678490_1767756876410_1slbp72ch", + "width": 0.148, + "x": 0.2325, + "y": 0.555 + } + ], + "type": "bbox" + }, + "bbox_1767756687332": { + "instances": [ + { + "height": 0.279, + "id": "bbox_1767756687332_1767756871080_5v6wd9aa4", + "width": 0.31200000000000006, + "x": 0.1525, + "y": 0.496 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹方向的前方靠近抽屉表面后继续移动，向前关上抽屉", + "error_success_analysis": "张开的张开向下移动方便后续爪夹向前推动抽屉", + "frame": 633, + "progress": 90, + "progress_explanation": "爪夹继续向后侧下方移动，靠近抽屉表面，进度提升为90%", + "state_description": "爪夹目前张开位于打开的橱柜的底层抽屉左侧上方\n为了完成把黑色碗放到橱柜的底层抽屉里，然后关上它的任务：爪夹向爪夹方向的前方靠近抽屉表面后继续移动，向前关上抽屉", + "time": 21.0903 + }, + { + "action_description": "张开的爪夹向爪夹方向的前方移动，推动打开的橱柜的底层抽屉合拢", + "annotations": { + "bbox_1767756678490": { + "instances": [ + { + "height": 0.128, + "id": "bbox_1767756678490_1767756883594_s4mtdpuqg", + "width": 0.10200000000000004, + "x": 0.1805, + "y": 0.556 + } + ], + "type": "bbox" + }, + "bbox_1767756687332": { + "instances": [ + { + "height": 0.276, + "id": "bbox_1767756687332_1767756888734_6met2rl3e", + "width": 0.18999999999999997, + "x": 0.1635, + "y": 0.495 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向爪机方向的前方移动使橱柜的底层抽屉完成关上", + "error_success_analysis": "爪夹向前移动触及抽屉表面，继续向前移动推动橱柜的底层抽屉合并", + "frame": 690, + "progress": 95, + "progress_explanation": "爪夹向前移动推动橱柜的底层抽屉合拢，进度提升为95%", + "state_description": "爪夹目前张开位于半张开的底层抽屉左侧表面\n为了完成把黑色碗放到橱柜的底层抽屉里，然后关上它的任务：爪夹继续向爪机方向的前方移动使橱柜的底层抽屉完成关上", + "time": 23.0076 + }, + { + "action_description": "张开的爪夹向爪夹方向的前方移动，并推动橱柜的底层抽屉合拢", + "correction_plan": "已完成把黑色碗放到橱柜的底层抽屉里，然后关上它的任务", + "error_success_analysis": "张开的爪夹继续向爪夹方向的前方推动抽屉使抽屉彻底关上", + "frame": 747, + "progress": 100, + "progress_explanation": "爪夹继续向前移动并推动抽屉，推回关上抽屉，进度提升为100%", + "state_description": "爪夹张开位于橱柜的底层抽屉的把手左侧\n把黑色碗放到橱柜的底层抽屉里，然后关上它已完成", + "time": 24.9 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767756678490", + "name": "黑色碗" + }, + { + "color": "#FF9800", + "id": "bbox_1767756687332", + "name": "橱柜的底层抽屉" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767756692187", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767756700281", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000113.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000113.json new file mode 100644 index 0000000000000000000000000000000000000000..408f9cc238e773660aecc00adb26e62b54cf0c14 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000113.json @@ -0,0 +1,775 @@ +{ + "task_description": "把白色杯子放在盘子上，把巧克力布丁放在盘子的右边\n开始移动0%\n爪夹靠近白色杯子10%\n爪夹抓取白色杯子20%\n爪夹抓取白色杯子接近盘子30%\n爪夹抓取白色杯子放入盘子40%\n爪夹松开，白色杯子落入盘子中50%\n爪夹靠近巧克力布丁70%\n爪夹抓取巧克力布丁80%\n爪夹抓取巧克力布丁移动到盘子右边90%\n爪夹张开，巧克力布丁放在盘子的右边100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "爪夹向爪夹方向的左前方移动至白色杯子的上方后竖直下落，爪夹闭合做抓取白色杯子的动作后竖直上升并向爪夹方向的右前方移动至盘子的上方后竖直下落将抓取的白色杯子放在盘子上，爪夹张开，抓取的白色杯子落在盘子上，张开的爪夹竖直向上抬升并向爪夹方向的右后方移动至巧克力布丁的上方后竖直下落，靠近触及巧克力布丁后爪夹闭合，抓取巧克力布丁，抓取后爪夹竖直上升并向爪夹方向的右前方移动至盘子的右侧后竖直下落，将抓取的巧克力布丁移动到盘子的右边，爪夹张开，巧克力布丁放在盘子的右边", + "error_success_analysis": "", + "frame": 7, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触白色杯子。\n为了完成把白色杯子放在盘子上，把巧克力布丁放在盘子的右边的任务：爪夹向爪夹方向的左前方移动至白色杯子的上方后竖直下落", + "time": 0.24190721649484534, + "annotations": { + "bbox_1767757840913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757840913_1767764951774_dflyp1cdw", + "x": 0.6145, + "y": 0.44, + "width": 0.20899999999999996, + "height": 0.189 + } + ] + }, + "bbox_1767757847560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757847560_1767764958458_70ff7sshb", + "x": 0.3775, + "y": 0.775, + "width": 0.27099999999999996, + "height": 0.20099999999999996 + } + ] + }, + "bbox_1767757851094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757851094_1767764967432_uci2hhxvj", + "x": 0.3335, + "y": 0.5630000000000001, + "width": 0.08699999999999997, + "height": 0.11699999999999999 + } + ] + }, + "point_1767757859964": { + "type": "point", + "instances": [ + { + "id": "point_1767757859964_1767764971102_cyakc8bhj", + "x": 0.4185, + "y": 0.303 + } + ] + }, + "point_1767757867880": { + "type": "point", + "instances": [ + { + "id": "point_1767757867880_1767764973384_wptx5afo2", + "x": 0.5765, + "y": 0.306 + } + ] + } + } + }, + { + "time": 2.415742, + "frame": 72, + "progress": 5, + "action_description": "张开的爪夹开始向爪夹方向的左侧移动", + "state_description": "爪夹目前张开，位于白色杯子的右后侧的上方。\n为了完成把白色杯子放在盘子上，把巧克力布丁放在盘子的右边的任务：张开的爪夹继续向爪夹方向的左侧移动至白色杯子的上方后竖直下落\n", + "progress_explanation": "爪夹开始向左下方的杯子移动并靠近，进度提升为5%", + "error_success_analysis": "张开的爪夹向爪夹方向的左下方移动靠近抓取物白色杯子", + "correction_plan": "爪夹继续向爪夹方向的左下方移动至白色杯子的上方后竖直下落，爪夹闭合做抓取白色杯子的动作后竖直上升并向爪夹方向的右前方移动至盘子的上方后竖直下落将抓取的白色杯子放在盘子上，爪夹张开，抓取的白色杯子落在盘子上，张开的爪夹竖直向上抬升并向爪夹方向的右后方移动至巧克力布丁的上方后竖直下落，靠近触及巧克力布丁后爪夹闭合，抓取巧克力布丁，抓取后爪夹竖直上升并向爪夹方向的右前方移动至盘子的右侧后竖直下落，将抓取的巧克力布丁移动到盘子的右边，爪夹张开，巧克力布丁放在盘子的右边", + "annotations": { + "point_1767757867880": { + "type": "point", + "instances": [ + { + "id": "point_1767757867880_1767764922914_g4vrm3465", + "x": 0.7155, + "y": 0.361 + } + ] + }, + "point_1767757859964": { + "type": "point", + "instances": [ + { + "id": "point_1767757859964_1767764926976_0cuovp3yj", + "x": 0.5735, + "y": 0.367 + } + ] + }, + "bbox_1767757851094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757851094_1767764931918_ykadikul3", + "x": 0.3335, + "y": 0.5710000000000001, + "width": 0.08699999999999997, + "height": 0.10899999999999999 + } + ] + }, + "bbox_1767757847560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757847560_1767764935784_xaq8fqsjm", + "x": 0.3815, + "y": 0.778, + "width": 0.26399999999999996, + "height": 0.19499999999999995 + } + ] + }, + "bbox_1767757840913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757840913_1767764944922_9ey1bg6n7", + "x": 0.6195, + "y": 0.443, + "width": 0.19899999999999995, + "height": 0.185 + } + ] + } + } + }, + { + "time": 4.519845360824742, + "frame": 136, + "progress": 10, + "action_description": "张开的爪夹向爪夹方向的左侧移动至杯子侧边的上访后爪夹竖直下落", + "state_description": "爪夹目前张开位于抓取物白色杯子的侧边上方。\n为了完成把白色杯子放在盘子上，把巧克力布丁放在盘子的右边的任务：爪夹做闭合动作，抓取白色杯子", + "progress_explanation": "爪夹向左下方移动后靠近白色杯子，进度提升为10%", + "error_success_analysis": "爪夹向左移动到白色杯子侧边的上方方便抓取后竖直下落靠近白色杯子", + "correction_plan": "爪夹闭合做抓取白色杯子的动作后竖直上升并向爪夹方向的右前方移动至盘子的上方后竖直下落将抓取的白色杯子放在盘子上，爪夹张开，抓取的白色杯子落在盘子上，张开的爪夹竖直向上抬升并向爪夹方向的右后方移动至巧克力布丁的上方后竖直下落，靠近触及巧克力布丁后爪夹闭合，抓取巧克力布丁，抓取后爪夹竖直上升并向爪夹方向的右前方移动至盘子的右侧后竖直下落，将抓取的巧克力布丁移动到盘子的右边，爪夹张开，巧克力布丁放在盘子的右边", + "annotations": { + "bbox_1767757840913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757840913_1767764899200_8sdudkr90", + "x": 0.6175, + "y": 0.446, + "width": 0.19999999999999996, + "height": 0.186 + } + ] + }, + "bbox_1767757847560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757847560_1767764905054_uwv1tb7g7", + "x": 0.3775, + "y": 0.779, + "width": 0.26899999999999996, + "height": 0.19399999999999995 + } + ] + }, + "bbox_1767757851094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757851094_1767764909188_icm9xcitg", + "x": 0.3255, + "y": 0.5710000000000001, + "width": 0.09699999999999998, + "height": 0.10999999999999999 + } + ] + }, + "point_1767757859964": { + "type": "point", + "instances": [ + { + "id": "point_1767757859964_1767764915350_xihhaq5c3", + "x": 0.6195, + "y": 0.499 + } + ] + }, + "point_1767757867880": { + "type": "point", + "instances": [ + { + "id": "point_1767757867880_1767764918312_1477n9jxs", + "x": 0.7485, + "y": 0.493 + } + ] + } + } + }, + { + "time": 6.084571, + "frame": 183, + "progress": 20, + "action_description": "爪夹合拢，抓取了桌面上的白色杯子", + "state_description": "爪夹目前合并抓取白色杯子位于盘子的左后方\n为了完成把白色杯子放在盘子上，把巧克力布丁放在盘子的右边的任务：抓取白色杯子的爪夹竖直上升并向爪夹方向的右前方移动至盘子的上方", + "progress_explanation": "爪夹闭合，成功抓取白色杯子，进度提升为20%", + "error_success_analysis": "爪夹成功闭合并成功抓取了桌面上的白色杯子", + "correction_plan": "抓取白色杯子的爪夹竖直上升并向爪夹方向的右前方移动至盘子的上方后竖直下落将抓取的白色杯子放在盘子上，爪夹张开，抓取的白色杯子落在盘子上，张开的爪夹竖直向上抬升并向爪夹方向的右后方移动至巧克力布丁的上方后竖直下落，靠近触及巧克力布丁后爪夹闭合，抓取巧克力布丁，抓取后爪夹竖直上升并向爪夹方向的右前方移动至盘子的右侧后竖直下落，将抓取的巧克力布丁移动到盘子的右边，爪夹张开，巧克力布丁放在盘子的右边", + "annotations": { + "point_1767757859964": { + "type": "point", + "instances": [ + { + "id": "point_1767757859964_1767764877572_83hfox2dx", + "x": 0.6585, + "y": 0.482 + } + ] + }, + "bbox_1767757851094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757851094_1767764881990_xc9z75a6u", + "x": 0.3385, + "y": 0.5680000000000001, + "width": 0.07899999999999996, + "height": 0.11299999999999999 + } + ] + }, + "bbox_1767757847560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757847560_1767764885832_v8t8s0vot", + "x": 0.3755, + "y": 0.782, + "width": 0.27099999999999996, + "height": 0.18699999999999994 + } + ] + }, + "bbox_1767757840913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757840913_1767764890980_f1qxk2ka4", + "x": 0.6275000000000001, + "y": 0.42, + "width": 0.17799999999999994, + "height": 0.188 + } + ] + } + } + }, + { + "time": 8.332374, + "frame": 250, + "progress": 30, + "action_description": "抓取白色杯子的爪夹向上略微抬升后并向爪夹方向的右前方向移动", + "state_description": "爪夹目前合并抓取白色杯子位于盘子的左后方\n为了完成把白色杯子放在盘子上，把巧克力布丁放在盘子的右边的任务：抓取白色杯子的爪夹继续向爪夹方向的右前方移动至盘子的上方后竖直下落", + "progress_explanation": "爪夹抓取白色杯子向右前方靠近盘子，进度提升为30%", + "error_success_analysis": "爪夹抓取白色杯子后向上抬升并向右前方靠近盘子移动", + "correction_plan": "抓取白色杯子的爪夹继续向爪夹方向的右前方移动至盘子的上方后竖直下落将抓取的白色杯子放在盘子上，爪夹张开，抓取的白色杯子落在盘子上，张开的爪夹竖直向上抬升并向爪夹方向的右后方移动至巧克力布丁的上方后竖直下落，靠近触及巧克力布丁后爪夹闭合，抓取巧克力布丁，抓取后爪夹竖直上升并向爪夹方向的右前方移动至盘子的右侧后竖直下落，将抓取的巧克力布丁移动到盘子的右边，爪夹张开，巧克力布丁放在盘子的右边", + "annotations": { + "bbox_1767757840913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757840913_1767764854872_acs96414a", + "x": 0.5155, + "y": 0.445, + "width": 0.21300000000000008, + "height": 0.21600000000000003 + } + ] + }, + "bbox_1767757847560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757847560_1767764867260_y7t0n3iej", + "x": 0.3825, + "y": 0.77, + "width": 0.26399999999999996, + "height": 0.19799999999999995 + } + ] + }, + "bbox_1767757851094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757851094_1767764871022_fjy9nvy1s", + "x": 0.3325, + "y": 0.5630000000000001, + "width": 0.08899999999999997, + "height": 0.118 + } + ] + }, + "point_1767757859964": { + "type": "point", + "instances": [ + { + "id": "point_1767757859964_1767764873620_apywch11z", + "x": 0.5475, + "y": 0.513 + } + ] + } + } + }, + { + "time": 9.701725, + "frame": 291, + "progress": 35, + "action_description": "抓取白色杯子的爪夹继续向爪夹方向右前方移动", + "state_description": "爪夹抓取白色杯子位于盘子的上方\n为了完成把白色杯子放在盘子上，把巧克力布丁放在盘子的右边的任务：抓取白色杯子的爪夹竖直下落将白色杯子放到盘子上", + "progress_explanation": "爪夹抓取白色杯子向右前移动靠近盘子，进度提升为35%", + "error_success_analysis": "抓取白色杯子的爪夹向右前方靠近盘子移动至盘子的上方", + "correction_plan": "抓取白色杯子的爪夹竖直下落将抓取的白色杯子放在盘子上，爪夹张开，抓取的白色杯子落在盘子上，张开的爪夹竖直向上抬升并向爪夹方向的右后方移动至巧克力布丁的上方后竖直下落，靠近触及巧克力布丁后爪夹闭合，抓取巧克力布丁，抓取后爪夹竖直上升并向爪夹方向的右前方移动至盘子的右侧后竖直下落，将抓取的巧克力布丁移动到盘子的右边，爪夹张开，巧克力布丁放在盘子的右边", + "annotations": { + "point_1767757859964": { + "type": "point", + "instances": [ + { + "id": "point_1767757859964_1767764838098_00t7qad8e", + "x": 0.3895, + "y": 0.659 + } + ] + }, + "bbox_1767757847560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757847560_1767764843460_vhx0mcnv4", + "x": 0.3805, + "y": 0.768, + "width": 0.26499999999999996, + "height": 0.20499999999999996 + } + ] + }, + "bbox_1767757840913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757840913_1767764847332_uo4tjqqva", + "x": 0.3325, + "y": 0.616, + "width": 0.269, + "height": 0.21400000000000008 + } + ] + } + } + }, + { + "time": 12.0042, + "frame": 360, + "progress": 40, + "action_description": "爪夹抓取白色杯子向爪夹方向的下方竖直下落", + "state_description": "爪夹目前闭合抓取在盘子上的白色杯子\n为了完成把白色杯子放在盘子上，把巧克力布丁放在盘子的右边的任务：抓取白色杯子的爪夹张开，白色杯子落入盘子中", + "progress_explanation": "爪夹抓取白色杯子在盘子上方下落将杯子放入盘子，进度提升为40%", + "error_success_analysis": "爪夹在盘子的上方竖直下落，抓取的目标物白色杯子放在盘子上", + "correction_plan": "爪夹张开，抓取的白色杯子落在盘子上，张开的爪夹竖直向上抬升并向爪夹方向的右后方移动至巧克力布丁的上方后竖直下落，靠近触及巧克力布丁后爪夹闭合，抓取巧克力布丁，抓取后爪夹竖直上升并向爪夹方向的右前方移动至盘子的右侧后竖直下落，将抓取的巧克力布丁移动到盘子的右边，爪夹张开，巧克力布丁放在盘子的右边", + "annotations": { + "bbox_1767757840913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757840913_1767764821870_khopfnpli", + "x": 0.34550000000000003, + "y": 0.6890000000000001, + "width": 0.271, + "height": 0.22999999999999998 + } + ] + }, + "bbox_1767757847560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757847560_1767764829228_tfenzadd4", + "x": 0.3755, + "y": 0.782, + "width": 0.27099999999999996, + "height": 0.19199999999999995 + } + ] + }, + "point_1767757859964": { + "type": "point", + "instances": [ + { + "id": "point_1767757859964_1767764832903_ex00icv6w", + "x": 0.4035, + "y": 0.771 + } + ] + } + } + }, + { + "time": 15.163762886597938, + "frame": 455, + "progress": 50, + "action_description": "爪夹张开，抓取的白色杯子落入盘子中", + "state_description": "爪夹张开位于盘子上白色杯子的上方\n为了完成把白色杯子放在盘子上，把巧克力布丁放在盘子的右边的任务：张开的爪夹竖直上升并向爪夹方向的后方移动至巧克力布丁的上方", + "progress_explanation": "爪夹张开，白色杯子成功落入盘子中，进度提升为50%", + "error_success_analysis": "爪夹成功张开，抓取的白色杯子成功落入盘子中", + "correction_plan": "张开的爪夹竖直向上抬升并向爪夹方向的右后方移动至巧克力布丁的上方后竖直下落，靠近触及巧克力布丁后爪夹闭合，抓取巧克力布丁，抓取后爪夹竖直上升并向爪夹方向的右前方移动至盘子的右侧后竖直下落，将抓取的巧克力布丁移动到盘子的右边，爪夹张开，巧克力布丁放在盘子的右边", + "annotations": { + "point_1767757867880": { + "type": "point", + "instances": [ + { + "id": "point_1767757867880_1767764795226_izbbqwyjx", + "x": 0.4975, + "y": 0.67 + } + ] + }, + "point_1767757859964": { + "type": "point", + "instances": [ + { + "id": "point_1767757859964_1767764798014_7n7h3to4z", + "x": 0.3255, + "y": 0.675 + } + ] + }, + "bbox_1767757847560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757847560_1767764803550_g9qnqutc0", + "x": 0.3565, + "y": 0.77, + "width": 0.26600000000000007, + "height": 0.20299999999999996 + } + ] + }, + "bbox_1767757840913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757840913_1767764809522_bm1sak5rr", + "x": 0.3285, + "y": 0.638, + "width": 0.255, + "height": 0.266 + } + ] + } + } + }, + { + "time": 17.531907216494847, + "frame": 526, + "progress": 60, + "action_description": "张开的爪夹竖直向上抬升并向爪夹方向的右后方移动", + "state_description": "爪夹张开，位于巧克力布丁的上方\n为了完成把白色杯子放在盘子上，把巧克力布丁放在盘子的右边的任务：爪夹继续向爪夹方向的下方移动靠近并触及巧克力布丁后爪夹闭合", + "progress_explanation": "爪夹向右后方向的巧克力布丁靠近，进度提升为60", + "error_success_analysis": "爪夹向上抬升并向右后方向靠近巧克力布丁的方向移动", + "correction_plan": "张开的爪夹竖直下落，靠近触及巧克力布丁后爪夹闭合，抓取巧克力布丁，抓取后爪夹竖直上升并向爪夹方向的右前方移动至盘子的右侧后竖直下落，将抓取的巧克力布丁移动到盘子的右边，爪夹张开，巧克力布丁放在盘子的右边", + "annotations": { + "bbox_1767757840913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757840913_1767764778564_gcq4lai43", + "x": 0.3215, + "y": 0.64, + "width": 0.261, + "height": 0.261 + } + ] + }, + "bbox_1767757847560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757847560_1767764782128_5qfbje9bj", + "x": 0.3575, + "y": 0.784, + "width": 0.2720000000000001, + "height": 0.19399999999999995 + } + ] + }, + "bbox_1767757851094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757851094_1767764785233_vgkvtrt73", + "x": 0.3345, + "y": 0.56, + "width": 0.08899999999999997, + "height": 0.119 + } + ] + }, + "point_1767757859964": { + "type": "point", + "instances": [ + { + "id": "point_1767757859964_1767764787640_ptqjvha7r", + "x": 0.2745, + "y": 0.525 + } + ] + }, + "point_1767757867880": { + "type": "point", + "instances": [ + { + "id": "point_1767757867880_1767764789778_krt1vy0gc", + "x": 0.4405, + "y": 0.519 + } + ] + } + } + }, + { + "time": 19.907269, + "frame": 597, + "progress": 70, + "action_description": "张开的爪夹向爪夹方向的下方移动", + "state_description": "爪夹张开位于巧克力布丁的上方\n为了完成把白色杯子放在盘子上，把巧克力布丁放在盘子的右边的任务：爪夹闭合做抓取巧克力布丁的动作后竖直上升", + "progress_explanation": "巧克力布丁上方的爪夹向下移动靠近巧克力布丁，进度提升为70%", + "error_success_analysis": "爪夹在巧克力布丁的上方下降爪夹靠近桌上的巧克力布丁", + "correction_plan": "爪夹闭合，抓取巧克力布丁，抓取后爪夹竖直上升并向爪夹方向的右前方移动至盘子的右侧后竖直下落，将抓取的巧克力布丁移动到盘子的右边，爪夹张开，巧克力布丁放在盘子的右边", + "annotations": { + "point_1767757867880": { + "type": "point", + "instances": [ + { + "id": "point_1767757867880_1767764752404_57bkpmwre", + "x": 0.4515, + "y": 0.584 + } + ] + }, + "point_1767757859964": { + "type": "point", + "instances": [ + { + "id": "point_1767757859964_1767764755032_4y7vo9i0h", + "x": 0.3205, + "y": 0.5750000000000001 + } + ] + }, + "bbox_1767757851094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757851094_1767764758130_6lc3cowus", + "x": 0.3345, + "y": 0.5670000000000001, + "width": 0.08499999999999996, + "height": 0.11199999999999999 + } + ] + }, + "bbox_1767757847560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757847560_1767764762502_0j0wmccmx", + "x": 0.3585, + "y": 0.792, + "width": 0.26400000000000007, + "height": 0.18699999999999994 + } + ] + }, + "bbox_1767757840913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757840913_1767764767341_czfj59sv1", + "x": 0.3275, + "y": 0.642, + "width": 0.25, + "height": 0.255 + } + ] + } + } + }, + { + "time": 21.534989, + "frame": 646, + "progress": 80, + "action_description": "爪夹合并，抓取桌面上的巧克力布丁", + "state_description": "爪夹目前闭合抓取盘子后方的巧克力布丁\n为了完成把白色杯子放在盘子上，把巧克力布丁放在盘子的右边的任务：抓取巧克里布丁的爪夹向爪夹方向的右前方移动至盘子的右侧\n", + "progress_explanation": "爪夹闭合成功抓取巧克力布丁，进度提升为80%", + "error_success_analysis": "爪夹成功合并，成功抓取了巧克力布丁", + "correction_plan": "抓取巧克力布丁的爪夹竖直上升并向爪夹方向的右前方移动至盘子的右侧后竖直下落，将抓取的巧克力布丁移动到盘子的右边，爪夹张开，巧克力布丁放在盘子的右边", + "annotations": { + "bbox_1767757840913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757840913_1767764731344_37g7coze5", + "x": 0.3285, + "y": 0.641, + "width": 0.253, + "height": 0.26 + } + ] + }, + "bbox_1767757847560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757847560_1767764739732_21ta3c5va", + "x": 0.35150000000000003, + "y": 0.78, + "width": 0.273, + "height": 0.19699999999999995 + } + ] + }, + "bbox_1767757851094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757851094_1767764743604_xcnzu8t7x", + "x": 0.3205, + "y": 0.558, + "width": 0.10099999999999998, + "height": 0.119 + } + ] + }, + "point_1767757859964": { + "type": "point", + "instances": [ + { + "id": "point_1767757859964_1767764746432_jb8545ih0", + "x": 0.3335, + "y": 0.592 + } + ] + }, + "point_1767757867880": { + "type": "point", + "instances": [ + { + "id": "point_1767757867880_1767764748660_tn8kjz742", + "x": 0.4205, + "y": 0.597 + } + ] + } + } + }, + { + "time": 24.7, + "frame": 741, + "progress": 90, + "action_description": "抓取巧克力布丁的爪夹向爪夹方向的上方抬升并向爪夹方向的右前方移动", + "state_description": "爪夹目前抓取巧克力布丁位于盘子的右侧\n为了完成把白色杯子放在盘子上，把巧克力布丁放在盘子的右边的任务：抓取巧克里布丁的爪夹张开，巧克力布丁放在盘子的右边", + "progress_explanation": "爪夹向右前移动到盘子的右边，进度提升为90%", + "error_success_analysis": "抓取巧克力布丁的爪夹向爪夹方向的右前方移动到盘子的右侧", + "correction_plan": "爪夹张开，巧克力布丁放在盘子的右边", + "annotations": { + "point_1767757867880": { + "type": "point", + "instances": [ + { + "id": "point_1767757867880_1767764706784_gtm9d1vkf", + "x": 0.3385, + "y": 0.762 + } + ] + }, + "point_1767757859964": { + "type": "point", + "instances": [ + { + "id": "point_1767757859964_1767764708898_kwgan2jt9", + "x": 0.23950000000000002, + "y": 0.759 + } + ] + }, + "bbox_1767757851094": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757851094_1767764712574_20t4m1xj0", + "x": 0.2255, + "y": 0.719, + "width": 0.10800000000000001, + "height": 0.15200000000000002 + } + ] + }, + "bbox_1767757847560": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757847560_1767764717397_1aem5cgae", + "x": 0.34950000000000003, + "y": 0.77, + "width": 0.28, + "height": 0.20199999999999996 + } + ] + }, + "bbox_1767757840913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767757840913_1767764723004_w93fs6moq", + "x": 0.3265, + "y": 0.641, + "width": 0.258, + "height": 0.26 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767757840913", + "name": "白色杯子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767757847560", + "name": "盘子", + "color": "#FF9800" + }, + { + "id": "bbox_1767757851094", + "name": "巧克力布丁", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1767757859964", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767757867880", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000121.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000121.json new file mode 100644 index 0000000000000000000000000000000000000000..ffa6c5db3e64541a0192e305b514bf2a641dada6 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000121.json @@ -0,0 +1,1140 @@ +{ + "task_description": "把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上\n开始移动0%\n爪夹靠近白色的杯子10%\n爪夹抓取白色的杯子20%\n爪夹抓取白色的杯子接近左边的盘子30%\n爪夹将白色杯子放入左边的盘子40%\n爪夹松开，白色杯子落入左边的盘子50%\n爪夹靠近黄白相间的杯子60%\n爪夹抓取黄白相间的杯子70%\n爪夹抓取黄白相间的杯子接近右边的盘子80%\n爪夹将黄白相间的杯子放入右边的盘子90%\n爪夹松开，黄白相间的杯子落入右边的盘子100%", + "progress_points": [ + { + "time": 0.381799, + "frame": 11, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动", + "state_description": "爪夹当前处于打开状态，没有移动和接触白色的杯子。\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹向爪夹方向的左侧移动至白色杯子的上方后竖直下落", + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "张开的爪夹向爪夹方向的左侧移动至白色杯子的上方后竖直下落，靠近并触及白色杯子，爪夹闭合，抓取白色杯子后竖直上升并向爪夹方向的左前方移动至左边盘子的上方后竖直下落将抓取的白色杯子放入左边的盘子中，爪夹松开，白色杯子落入左边的盘子中，张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "annotations": { + "point_1767765198533": { + "type": "point", + "instances": [ + { + "id": "point_1767765198533_1767766923213_689hnqpa7", + "x": 0.5795, + "y": 0.309 + } + ] + }, + "point_1767765193834": { + "type": "point", + "instances": [ + { + "id": "point_1767765193834_1767766925725_vgbb7e2pb", + "x": 0.4275, + "y": 0.312 + } + ] + }, + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766930050_g8andrcur", + "x": 0.0005, + "y": 0.594, + "width": 0.163, + "height": 0.15300000000000002 + } + ] + }, + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766934459_rp8mkp44x", + "x": 0.2575, + "y": 0.47200000000000003, + "width": 0.22599999999999998, + "height": 0.192 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766940757_9ssgvg507", + "x": 0.8675, + "y": 0.612, + "width": 0.132, + "height": 0.16000000000000003 + } + ] + }, + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766945365_ij5o7dxj0", + "x": 0.5945, + "y": 0.434, + "width": 0.20299999999999996, + "height": 0.194 + } + ] + } + } + }, + { + "time": 2.774, + "frame": 83, + "progress": 5, + "action_description": "张开的爪夹向爪夹方向的左下方向移动", + "state_description": "爪夹张开位于白色杯子的上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹竖直向下靠近并触及白色杯子后爪夹闭合抓取白色杯子", + "progress_explanation": "爪夹向爪夹方向的右下方靠近左边的杯子，进度提升为5%", + "error_success_analysis": "张开的爪夹向左后方向移动靠近抓取物白色的杯子", + "correction_plan": "爪夹竖直下落，靠近并触及白色杯子，爪夹闭合，抓取白色杯子后竖直上升并向爪夹方向的左前方移动至左边盘子的上方后竖直下落将抓取的白色杯子放入左边的盘子中，爪夹松开，白色杯子落入左边的盘子中，张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "annotations": { + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766894709_bpskkqoc8", + "x": 0.5925, + "y": 0.427, + "width": 0.20699999999999996, + "height": 0.197 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766902686_svb1oii6h", + "x": 0.8675, + "y": 0.613, + "width": 0.131, + "height": 0.15600000000000003 + } + ] + }, + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766906787_vwvzgksqc", + "x": 0.2575, + "y": 0.47300000000000003, + "width": 0.22499999999999998, + "height": 0.184 + } + ] + }, + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766910447_hck4lobvx", + "x": 0.0015, + "y": 0.594, + "width": 0.168, + "height": 0.15000000000000002 + } + ] + }, + "point_1767765193834": { + "type": "point", + "instances": [ + { + "id": "point_1767765193834_1767766912791_qd32by5gb", + "x": 0.5495, + "y": 0.372 + } + ] + }, + "point_1767765198533": { + "type": "point", + "instances": [ + { + "id": "point_1767765198533_1767766915325_o24ujcgj1", + "x": 0.7075, + "y": 0.367 + } + ] + } + } + }, + { + "time": 4.581474, + "frame": 137, + "progress": 10, + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "state_description": "爪夹目前张开位于白色杯子的上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹闭合做抓取白色杯子的动作，抓取后爪夹竖直向上抬升", + "progress_explanation": "爪夹下落后靠近桌面上的白色杯子，进度提升为10%", + "error_success_analysis": "张开的爪夹向爪夹方向的下方下落靠近抓取物白色的杯子", + "correction_plan": "张开的爪夹靠近白色杯子后，爪夹闭合，抓取白色杯子后竖直上升并向爪夹方向的左前方移动至左边盘子的上方后竖直下落将抓取的白色杯子放入左边的盘子中，爪夹松开，白色杯子落入左边的盘子中，张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子上", + "annotations": { + "point_1767765198533": { + "type": "point", + "instances": [ + { + "id": "point_1767765198533_1767766865635_inlbo9la0", + "x": 0.7105, + "y": 0.466 + } + ] + }, + "point_1767765193834": { + "type": "point", + "instances": [ + { + "id": "point_1767765193834_1767766867521_vay4ftswm", + "x": 0.5785, + "y": 0.457 + } + ] + }, + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766873674_yt7v78a3a", + "x": 0.0005, + "y": 0.596, + "width": 0.165, + "height": 0.14500000000000002 + } + ] + }, + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766877484_z43bq0nnv", + "x": 0.2635, + "y": 0.47200000000000003, + "width": 0.21999999999999997, + "height": 0.187 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766882141_kmmm1jmnd", + "x": 0.8705, + "y": 0.615, + "width": 0.127, + "height": 0.14900000000000002 + } + ] + }, + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766886901_waudh18mq", + "x": 0.5925, + "y": 0.436, + "width": 0.20299999999999996, + "height": 0.19 + } + ] + } + } + }, + { + "time": 5.740642, + "frame": 172, + "progress": 20, + "action_description": "张开的爪夹闭合，抓取桌面上的白色的杯子", + "state_description": "爪夹目前闭合并抓取桌上的白色杯子\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：抓取白色杯子的爪夹竖直上升并向爪夹方向的左前方移动至左边的盘子上方", + "progress_explanation": "爪夹闭合成功抓取白色的杯子，进度提升为20%", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的白色的杯子", + "correction_plan": "抓取白色杯子后竖直上升并向爪夹方向的左前方移动至左边盘子的上方后竖直下落将抓取的白色杯子放入左边的盘子中，爪夹松开，白色杯子落入左边的盘子中，张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "annotations": { + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766832665_3pie53oby", + "x": 0.5985, + "y": 0.428, + "width": 0.19999999999999996, + "height": 0.196 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766843001_n1dcxarx0", + "x": 0.8635, + "y": 0.61, + "width": 0.134, + "height": 0.15700000000000003 + } + ] + }, + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766847593_whv9wjy3t", + "x": 0.2645, + "y": 0.47100000000000003, + "width": 0.21699999999999997, + "height": 0.186 + } + ] + }, + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766851149_ukbavsqs9", + "x": -0.0005000000000000004, + "y": 0.598, + "width": 0.167, + "height": 0.14300000000000002 + } + ] + }, + "point_1767765193834": { + "type": "point", + "instances": [ + { + "id": "point_1767765193834_1767766858443_kn1h249ay", + "x": 0.6395000000000001, + "y": 0.47300000000000003 + } + ] + }, + "point_1767765198533": { + "type": "point", + "instances": [ + { + "id": "point_1767765198533_1767766860758_wj1vhtmmj", + "x": 0.6695, + "y": 0.468 + } + ] + } + } + }, + { + "time": 8.00378, + "frame": 240, + "progress": 10, + "action_description": "爪夹抓取白色杯子后略微向上抬高抓取的杯子掉落，爪夹重新张开", + "state_description": "爪夹目前张开在白色杯子的上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹闭合做抓取白色杯子的动作，抓取后爪夹竖直向上抬升", + "progress_explanation": "爪夹抓取的白色杯子掉落爪夹重新张开，进度降低为10%", + "error_success_analysis": "爪夹没有向下深入杯子侧边抓取白色杯子", + "correction_plan": "张开的爪夹向下爪夹闭合，抓取白色杯子后竖直上升并向爪夹方向的左前方移动至左边盘子的上方后竖直下落将抓取的白色杯子放入左边的盘子中，爪夹松开，白色杯子落入左边的盘子中，张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "annotations": { + "point_1767765198533": { + "type": "point", + "instances": [ + { + "id": "point_1767765198533_1767766797725_dpp7ezgu1", + "x": 0.7355, + "y": 0.467 + } + ] + }, + "point_1767765193834": { + "type": "point", + "instances": [ + { + "id": "point_1767765193834_1767766801098_suf3w81if", + "x": 0.5955, + "y": 0.459 + } + ] + }, + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766808991_4b3x9lc8g", + "x": 0.0025, + "y": 0.596, + "width": 0.165, + "height": 0.14600000000000002 + } + ] + }, + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766814677_un05wfx7k", + "x": 0.2655, + "y": 0.466, + "width": 0.21499999999999997, + "height": 0.195 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766819311_9hmqoc5n6", + "x": 0.8685, + "y": 0.611, + "width": 0.13, + "height": 0.15500000000000003 + } + ] + }, + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766825522_plb5535o7", + "x": 0.5975, + "y": 0.437, + "width": 0.20099999999999996, + "height": 0.187 + } + ] + } + } + }, + { + "time": 9.990926, + "frame": 300, + "progress": 20, + "action_description": "张开的爪夹闭合，抓取桌面上的白色的杯子", + "state_description": "爪夹目前闭合并抓取桌上的白色杯子\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：抓取白色杯子的爪夹竖直上升并向爪夹方向的左前方移动至左边的盘子上方", + "progress_explanation": "爪夹闭合成功抓取白色的杯子，进度提升为20%", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的白色的杯子", + "correction_plan": "抓取白色杯子后竖直上升并向爪夹方向的左前方移动至左边盘子的上方后竖直下落将抓取的白色杯子放入左边的盘子中，爪夹松开，白色杯子落入左边的盘子中，张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "annotations": { + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766768175_2frguvo93", + "x": 0.6295000000000001, + "y": 0.41400000000000003, + "width": 0.18999999999999995, + "height": 0.17399999999999993 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766772827_oy15ap9b4", + "x": 0.8685, + "y": 0.611, + "width": 0.128, + "height": 0.15400000000000003 + } + ] + }, + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766777707_wvyvaqjei", + "x": 0.2565, + "y": 0.47400000000000003, + "width": 0.22899999999999998, + "height": 0.187 + } + ] + }, + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766782045_26x510xz9", + "x": 0.0035, + "y": 0.599, + "width": 0.16, + "height": 0.14600000000000002 + } + ] + }, + "point_1767765193834": { + "type": "point", + "instances": [ + { + "id": "point_1767765193834_1767766789832_1a4genzpf", + "x": 0.6615, + "y": 0.46900000000000003 + } + ] + }, + "point_1767765198533": { + "type": "point", + "instances": [ + { + "id": "point_1767765198533_1767766792001_n857cdx34", + "x": 0.6915, + "y": 0.464 + } + ] + } + } + }, + { + "time": 11.938121546961327, + "frame": 358, + "progress": 30, + "action_description": "抓取白色的杯子的爪夹竖直向上抬升并向爪夹方向的右前方移动", + "state_description": "爪夹目前抓取白色的杯子位于左边盘子的右后方向\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹继续向爪机方向的左上方移动至左边贩子的上方后竖直下落", + "progress_explanation": "爪夹抓取白色的杯子向左前方接近左边的盘子，进度提升为30%", + "error_success_analysis": "夹取白色杯子的爪夹向上抬升后向左上方靠近作伴盘子的方向移动", + "correction_plan": "抓取白色杯子的爪夹向爪夹方向的左前方移动至左边盘子的上方后竖直下落将抓取的白色杯子放入左边的盘子中，爪夹松开，白色杯子落入左边的盘子中，张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "annotations": { + "point_1767765193834": { + "type": "point", + "instances": [ + { + "id": "point_1767765193834_1767766713177_nf4cmgyu5", + "x": 0.8775000000000001, + "y": 0.456 + } + ] + }, + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766720371_i9ej64q6d", + "x": 0.0035, + "y": 0.593, + "width": 0.162, + "height": 0.15200000000000002 + } + ] + }, + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766732291_yckb3miee", + "x": 0.2665, + "y": 0.467, + "width": 0.21399999999999997, + "height": 0.192 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766739270_hacuxu64m", + "x": 0.8685, + "y": 0.618, + "width": 0.13, + "height": 0.14800000000000002 + } + ] + }, + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766745891_pvg9dgw2d", + "x": 0.8245, + "y": 0.39, + "width": 0.17400000000000004, + "height": 0.22299999999999998 + } + ] + } + } + }, + { + "time": 14.793194, + "frame": 444, + "progress": 40, + "action_description": "抓取白色杯子的爪夹向爪夹方向的左下方移动将抓取的白色杯子放在左边的盘子中", + "state_description": "爪夹抓取白色杯子在盘子的上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹张开，抓取的白色杯子落在左边的盘子上", + "progress_explanation": "爪夹抓取白色杯子向左下方将杯子放在左边的盘子上，进度提升为40%", + "error_success_analysis": "抓取白色杯子的爪夹向左下方移动后竖直下落将抓取的白色杯子放在左边的盘子上", + "correction_plan": "爪夹松开，白色杯子落入左边的盘子中，张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "annotations": { + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766686483_txvrndwmh", + "x": 0.9055, + "y": 0.5, + "width": 0.09300000000000008, + "height": 0.22199999999999998 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766693481_rj5i2vwkb", + "x": 0.8665, + "y": 0.597, + "width": 0.129, + "height": 0.16600000000000004 + } + ] + }, + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766698911_qxswiq5uo", + "x": 0.2565, + "y": 0.47000000000000003, + "width": 0.22799999999999998, + "height": 0.193 + } + ] + }, + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766703673_kpaj61zzw", + "x": 0.0025, + "y": 0.593, + "width": 0.165, + "height": 0.15000000000000002 + } + ] + }, + "point_1767765193834": { + "type": "point", + "instances": [ + { + "id": "point_1767765193834_1767766708575_7zgpgupe3", + "x": 0.9575, + "y": 0.5640000000000001 + } + ] + } + } + }, + { + "time": 15.897164, + "frame": 477, + "progress": 50, + "action_description": "爪夹张开，抓取的白色杯子的落在左边的盘子里", + "state_description": "爪夹张开位于白色杯子的上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子的上方", + "progress_explanation": "爪夹张开将白色杯子放入左边的盘子，进度提升为50%", + "error_success_analysis": "爪夹张开，抓取的白色杯子成功放在左边的盘子上", + "correction_plan": "张开的爪夹竖直上升并向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "annotations": { + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766616833_twap1x9zb", + "x": 0.2595, + "y": 0.467, + "width": 0.22499999999999998, + "height": 0.193 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766622163_ndcucj1z9", + "x": 0.8695, + "y": 0.594, + "width": 0.129, + "height": 0.17600000000000005 + } + ] + }, + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766627817_srbzivb3x", + "x": 0.9025, + "y": 0.514, + "width": 0.09600000000000009, + "height": 0.21399999999999997 + } + ] + }, + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766633543_hhb0oxj9r", + "x": 0.0025, + "y": 0.594, + "width": 0.164, + "height": 0.15000000000000002 + } + ] + } + } + }, + { + "time": 18.98268876611418, + "frame": 569, + "progress": 55, + "action_description": "张开的爪夹向上抬升并向爪夹方向的右侧移动", + "state_description": "爪夹张开位于黄白相间的杯子的左侧上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹继续向爪夹方向的右侧移动至黄白相间的杯子的上方", + "progress_explanation": "爪夹向右侧靠近黄白相间的杯子移动，进度提升为55%", + "error_success_analysis": "爪夹张开向上略微抬升并向爪夹方向的右侧靠近黄白相间的杯子移动", + "correction_plan": "爪夹继续向爪夹方向的右侧移动至黄白相间的杯子上方，后爪夹竖直下落爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "annotations": { + "point_1767765198533": { + "type": "point", + "instances": [ + { + "id": "point_1767765198533_1767766568627_ajid8akj5", + "x": 0.4465, + "y": 0.4 + } + ] + }, + "point_1767765193834": { + "type": "point", + "instances": [ + { + "id": "point_1767765193834_1767766570823_u52dp9sis", + "x": 0.6235, + "y": 0.392 + } + ] + }, + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766575550_gyeltq1z2", + "x": -0.0005, + "y": 0.6, + "width": 0.168, + "height": 0.14300000000000002 + } + ] + }, + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766585947_80tyigkxu", + "x": 0.9025, + "y": 0.505, + "width": 0.09500000000000008, + "height": 0.22899999999999998 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766592084_scfkp9clr", + "x": 0.8675, + "y": 0.596, + "width": 0.129, + "height": 0.16900000000000004 + } + ] + }, + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766597293_vt6b5e4m6", + "x": 0.2615, + "y": 0.466, + "width": 0.21899999999999997, + "height": 0.192 + } + ] + } + } + }, + { + "time": 22.465784, + "frame": 674, + "progress": 60, + "action_description": "张开的爪夹向爪夹方向的右侧移动至黄白相间的杯子上方后竖直下降", + "state_description": "爪夹张开位于黄白相间杯子的上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：张开的爪夹做闭合动作抓取黄白相间的杯子", + "progress_explanation": "爪夹向左并向下移动，靠近黄白相间的杯子，进度提升为60%", + "error_success_analysis": "张开的爪夹向右侧移动靠近黄白相间的杯子后竖直下落在黄白相间的杯子上方", + "correction_plan": "爪夹闭合抓取黄白相间的杯子，抓取后竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "annotations": { + "point_1767765193834": { + "type": "point", + "instances": [ + { + "id": "point_1767765193834_1767766532855_uw61lye8p", + "x": 0.2275, + "y": 0.552 + } + ] + }, + "point_1767765198533": { + "type": "point", + "instances": [ + { + "id": "point_1767765198533_1767766535218_i4uxij96x", + "x": 0.3595, + "y": 0.541 + } + ] + }, + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766540595_2tvaytzci", + "x": 0.0025, + "y": 0.592, + "width": 0.164, + "height": 0.15100000000000002 + } + ] + }, + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766545373_vawyi3bqd", + "x": 0.2605, + "y": 0.47600000000000003, + "width": 0.22299999999999998, + "height": 0.185 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766550569_iduqi8xzb", + "x": 0.8675, + "y": 0.599, + "width": 0.129, + "height": 0.16000000000000003 + } + ] + }, + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766561609_q9sgo3n5w", + "x": 0.9045, + "y": 0.506, + "width": 0.09400000000000008, + "height": 0.22599999999999998 + } + ] + } + } + }, + { + "time": 23.624952, + "frame": 709, + "progress": 70, + "action_description": "爪夹做闭合动作，抓取黄白相间的杯子", + "state_description": "爪夹目前闭合抓取桌子上黄白相间的杯子\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：抓取杯子的爪夹竖直上升并向爪机方向的右侧移动至右边的盘子上方", + "progress_explanation": "爪夹闭合抓取黄白相间的杯子，进度提升70%", + "error_success_analysis": "爪夹成功闭合，抓取了黄白相间的杯子", + "correction_plan": "抓取黄白相间杯子的爪夹竖直上升并向爪夹方向的右前方移动至右边盘子的上方后竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "annotations": { + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766506679_104vig7ne", + "x": 0.0055, + "y": 0.6, + "width": 0.16, + "height": 0.14300000000000002 + } + ] + }, + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766512667_ntbjemrl8", + "x": 0.2655, + "y": 0.456, + "width": 0.21599999999999997, + "height": 0.192 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766517391_a7a01gxp2", + "x": 0.8665, + "y": 0.601, + "width": 0.132, + "height": 0.17300000000000004 + } + ] + }, + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766522184_2ov4s2odj", + "x": 0.8975, + "y": 0.509, + "width": 0.10100000000000009, + "height": 0.22099999999999997 + } + ] + }, + "point_1767765193834": { + "type": "point", + "instances": [ + { + "id": "point_1767765193834_1767766526825_bu8muxebg", + "x": 0.2715, + "y": 0.552 + } + ] + } + } + }, + { + "time": 25.998487, + "frame": 780, + "progress": 80, + "action_description": "抓取黄白相间杯子的爪夹向上抬升并向爪夹方向的右侧移动", + "state_description": "爪夹目前闭合抓取黄白相间的杯子位于右侧盘子的上方\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：抓取黄白相间杯子的爪夹下落将抓取的黄白相间的杯子放在右边的盘子上", + "progress_explanation": "爪夹抓取黄白相间的杯子向右侧移动，接近右边的盘子，进度提升为80%", + "error_success_analysis": "抓取黄白相间的杯子向上抬升后向右侧靠近右边的盘子上方", + "correction_plan": "抓取黄白相间的杯子的爪夹竖直下落将抓取的黄白相间的杯子放入右边的盘子，爪夹松开，黄白相间的杯子落入右边的盘子", + "annotations": { + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766482318_77vmi8ma7", + "x": 0.8965, + "y": 0.507, + "width": 0.10200000000000009, + "height": 0.22199999999999998 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766487014_s1g2br5w3", + "x": 0.8675, + "y": 0.599, + "width": 0.128, + "height": 0.17400000000000004 + } + ] + }, + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766491995_xymjjv8fh", + "x": 0.0025, + "y": 0.391, + "width": 0.22, + "height": 0.22299999999999998 + } + ] + }, + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766496810_i2rs6zhy0", + "x": 0.0045000000000000005, + "y": 0.595, + "width": 0.161, + "height": 0.14700000000000002 + } + ] + } + } + }, + { + "time": 27.433648, + "frame": 823, + "progress": 90, + "action_description": "抓取黄白相间杯子的爪夹向爪夹方向的右下方下落", + "state_description": "爪夹目前抓取黄白相间的杯子在右边盘子的上方。\n为了完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务：爪夹张开，黄白相间的杯子落入右边的盘子", + "progress_explanation": "抓取黄白相间的杯子的爪夹下落将黄白相间的杯子放入右边的盘子，进度提升90%", + "error_success_analysis": "抓取黄白相间的杯子的爪夹向右下方移动后抓取的黄白相间的杯子放在右边的盘子里", + "correction_plan": "爪夹松开，黄白相间的杯子落入右边的盘子", + "annotations": { + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766457377_yvsy5183i", + "x": 0.0015, + "y": 0.5720000000000001, + "width": 0.166, + "height": 0.17499999999999993 + } + ] + }, + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766461597_tx1yqcgta", + "x": 0.0005, + "y": 0.47900000000000004, + "width": 0.184, + "height": 0.20900000000000002 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766469106_3f9z8lk0m", + "x": 0.8695, + "y": 0.595, + "width": 0.128, + "height": 0.17700000000000005 + } + ] + }, + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766474421_12lql4w8y", + "x": 0.9005, + "y": 0.506, + "width": 0.09500000000000008, + "height": 0.22899999999999998 + } + ] + } + } + }, + { + "time": 29.2, + "frame": 876, + "progress": 100, + "action_description": "抓取黄白相间杯子的爪夹张开，黄白相间的杯子落入右边的盘子里", + "state_description": "爪夹目前张开，位于右边盘子中黄白相间的杯子上方\n把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上已完成", + "progress_explanation": "爪夹松开，黄白相间的杯子落入右边的盘子，进度提升为100%", + "error_success_analysis": "爪夹成功张开，抓取的黄白相间的杯子落入下方的右边盘子中", + "correction_plan": "已完成把白色的杯子放在左边的盘子上，把黄白相间的杯子放在右边的盘子上的任务", + "annotations": { + "bbox_1767765159016": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765159016_1767766413312_g3irghetm", + "x": 0.8975, + "y": 0.507, + "width": 0.10000000000000009, + "height": 0.22699999999999998 + } + ] + }, + "bbox_1767765165841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765165841_1767766420000_dvamfejy0", + "x": 0.8675, + "y": 0.592, + "width": 0.127, + "height": 0.18000000000000005 + } + ] + }, + "bbox_1767765172131": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765172131_1767766427891_6qvdv12hd", + "x": 0.0035, + "y": 0.497, + "width": 0.185, + "height": 0.20500000000000007 + } + ] + }, + "bbox_1767765185123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767765185123_1767766434552_gsd39e7ck", + "x": 0.0045000000000000005, + "y": 0.591, + "width": 0.16300000000000003, + "height": 0.15000000000000002 + } + ] + }, + "point_1767765198533": { + "type": "point", + "instances": [ + { + "id": "point_1767765198533_1767766446827_yodliwl5f", + "x": 0.0265, + "y": 0.551 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767765159016", + "name": "白色的杯子", + "color": "#4CAF50" + }, + { + "id": "bbox_1767765165841", + "name": "左边的盘子", + "color": "#FF9800" + }, + { + "id": "bbox_1767765172131", + "name": "黄白相间的杯子", + "color": "#2196F3" + }, + { + "id": "bbox_1767765185123", + "name": "右边的盘子", + "color": "#9C27B0" + } + ], + "point_targets": [ + { + "id": "point_1767765193834", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767765198533", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000127.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000127.json new file mode 100644 index 0000000000000000000000000000000000000000..6c902e08e90917aa60879bd2091dfccad25d6c65 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000127.json @@ -0,0 +1,408 @@ +{ + "task_description": "拿起书，把它放在手推车的隔间里\n开始移动0%\n爪夹靠近书20%\n爪夹抓取书40%\n爪夹抓取书接近手推车的隔间60%\n爪夹将书放入手推车的隔间80%\n爪夹松开，书落入手推车的隔间100%", + "progress_points": [ + { + "time": 0.06956, + "frame": 2, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动", + "state_description": "爪夹当前处于打开状态，没有移动和接触书。\n为了完成拿起书，把它放在手推车的隔间里的任务：爪夹向爪夹方向的右前方移动至桌面上书的上方，后竖直下落", + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向的右前方移动至桌面上书的上方，后竖直下落靠近并触及桌面上的书本，爪夹合并抓取书，抓取书的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至手推车个隔间上方后竖直下落，将抓取的书放在手推车的隔间里，爪夹张开，书落入手推车的隔间", + "annotations": { + "bbox_1767767168656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767168656_1767769630967_zt3td7vah", + "x": 0.27574171029668415, + "y": 0.48342059336823734, + "width": 0.07504363001745196, + "height": 0.24258289703315888 + } + ] + }, + "bbox_1767767191200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767191200_1767769639047_hbsc7nb8v", + "x": 0.39092495636998253, + "y": 0.31239092495637, + "width": 0.5357766143106457, + "height": 0.2792321116928447 + } + ] + }, + "point_1767767199333": { + "type": "point", + "instances": [ + { + "id": "point_1767767199333_1767769653673_433y5j3ta", + "x": 0.43455497382198954, + "y": 0.3298429319371728 + } + ] + }, + "point_1767767203381": { + "type": "point", + "instances": [ + { + "id": "point_1767767203381_1767769657633_di6k9rmvn", + "x": 0.5584642233856894, + "y": 0.33158813263525305 + } + ] + } + } + }, + { + "time": 2.527, + "frame": 76, + "progress": 10, + "action_description": "张开的爪夹向爪夹方向的右前方向移动", + "state_description": "爪夹目前张开位于桌上书的上方\n为了完成拿起书，把它放在手推车的隔间里的任务：张开的爪夹竖向爪夹方向的下方下落靠近比触及书后爪夹闭合抓取桌面上的书", + "progress_explanation": "爪夹向右前移动靠近桌面上的书，进度提升为10%", + "error_success_analysis": "张开的爪夹向爪夹方向的右前方移动靠近抓取物书", + "correction_plan": "竖直下落靠近并触及桌面上的书本，爪夹合并抓取书，抓取书的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至手推车个隔间上方后竖直下落，将抓取的书放在手推车的隔间里，爪夹张开，书落入手推车的隔间", + "annotations": { + "point_1767767203381": { + "type": "point", + "instances": [ + { + "id": "point_1767767203381_1767769668599_8kx9m2lkz", + "x": 0.3961605584642234, + "y": 0.4118673647469459 + } + ] + }, + "point_1767767199333": { + "type": "point", + "instances": [ + { + "id": "point_1767767199333_1767769671133_8rxi2ytrb", + "x": 0.2617801047120419, + "y": 0.42408376963350786 + } + ] + }, + "bbox_1767767191200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767191200_1767769679085_6fht0ofci", + "x": 0.4083769633507853, + "y": 0.2949389179755672, + "width": 0.518324607329843, + "height": 0.30191972076788826 + } + ] + }, + "bbox_1767767168656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767168656_1767769688851_wlaq17g5j", + "x": 0.28097731239092494, + "y": 0.4904013961605585, + "width": 0.0680628272251309, + "height": 0.23385689354275735 + } + ] + } + } + }, + { + "time": 4.446, + "frame": 133, + "progress": 20, + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "state_description": "爪夹目前张开书本位于两侧爪夹中间\n为了完成拿起书，把它放在手推车的隔间里的任务：张开的爪夹合并抓取桌面上的书，后竖直上升", + "progress_explanation": "爪夹下落后靠近桌面上的书，进度提升为20%", + "error_success_analysis": "张开的爪夹向爪夹方向的下方下落靠近抓取物书", + "correction_plan": "爪夹合并抓取书，抓取书的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至手推车个隔间上方后竖直下落，将抓取的书放在手推车的隔间里，爪夹张开，书落入手推车的隔间", + "annotations": { + "bbox_1767767168656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767168656_1767769694419_arguh7xir", + "x": 0.2705061082024433, + "y": 0.47643979057591623, + "width": 0.08726003490401396, + "height": 0.24956369982548 + } + ] + }, + "bbox_1767767191200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767191200_1767769699415_z2v0tpd71", + "x": 0.3926701570680628, + "y": 0.30715532286212915, + "width": 0.5340314136125656, + "height": 0.28795811518324604 + } + ] + }, + "point_1767767199333": { + "type": "point", + "instances": [ + { + "id": "point_1767767199333_1767769709293_92znyohld", + "x": 0.2617801047120419, + "y": 0.5794066317626527 + } + ] + }, + "point_1767767203381": { + "type": "point", + "instances": [ + { + "id": "point_1767767203381_1767769711439_jbao67o4f", + "x": 0.38394415357766143, + "y": 0.5671902268760908 + } + ] + } + } + }, + { + "time": 5.878453038674033, + "frame": 176, + "progress": 40, + "action_description": "张开的爪夹闭合，抓取桌面上的书", + "state_description": "爪夹目前闭合并抓取桌上的书位于手推车的右前方\n为了完成拿起书，把它放在手推车的隔间里的任务：抓取书的爪夹竖直上升并向爪夹方向的左后方移动至手推车的上方", + "progress_explanation": "爪夹闭合成功抓取书，进度提升为40%", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的书", + "correction_plan": "抓取书的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至手推车个隔间上方后竖直下落，将抓取的书放在手推车的隔间里，爪夹张开，书落入手推车的隔间", + "annotations": { + "point_1767767203381": { + "type": "point", + "instances": [ + { + "id": "point_1767767203381_1767769715469_4hkk51xf1", + "x": 0.35951134380453753, + "y": 0.5567190226876091 + } + ] + }, + "point_1767767199333": { + "type": "point", + "instances": [ + { + "id": "point_1767767199333_1767769718179_70gsrnvx7", + "x": 0.29668411867364747, + "y": 0.5671902268760908 + } + ] + }, + "bbox_1767767191200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767191200_1767769725941_jvm55upqf", + "x": 0.387434554973822, + "y": 0.30715532286212915, + "width": 0.537521815008726, + "height": 0.2914485165794067 + } + ] + }, + "bbox_1767767168656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767168656_1767769746721_hmllyq9q8", + "x": 0.29319371727748694, + "y": 0.4712041884816754, + "width": 0.06282722513089001, + "height": 0.23560209424083772 + } + ] + } + } + }, + { + "time": 7.391, + "frame": 222, + "progress": 50, + "action_description": "抓取书的爪夹向上抬升并向爪夹方向的左后方移动", + "state_description": "爪夹抓取书位于手推车的右侧上方\n为了完成拿起书，把它放在手推车的隔间里的任务：抓取书的爪夹继续向爪夹的左后方移动至手推车隔间上方", + "progress_explanation": "爪夹抓取书向左后方靠近手推车隔间，进度提升为50%", + "error_success_analysis": "夹取书的爪夹向上抬升后向左后方靠近手推车上方的方向移动", + "correction_plan": "抓取书的爪夹继续向爪夹方向的左后方移动至手推车隔间的上方，向爪夹方向的右上方翻转爪夹方向，使抓取的书本与手推车平齐后竖直下落将抓取的书放入手拖车的隔间，爪夹张开，书落入手推车的隔间", + "annotations": { + "bbox_1767767168656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767168656_1767769754697_3xuhbq5ya", + "x": 0.4153577661431065, + "y": 0.2949389179755672, + "width": 0.0872600349040139, + "height": 0.2600349040139616 + } + ] + }, + "bbox_1767767191200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767191200_1767769760188_69ehxs5fx", + "x": 0.41361256544502617, + "y": 0.3089005235602094, + "width": 0.506108202443281, + "height": 0.2914485165794067 + } + ] + }, + "point_1767767199333": { + "type": "point", + "instances": [ + { + "id": "point_1767767199333_1767769763393_gmb6tms24", + "x": 0.4258289703315881, + "y": 0.39092495636998253 + } + ] + } + } + }, + { + "time": 9.405, + "frame": 282, + "progress": 60, + "action_description": "抓取书的爪夹继续向爪夹方向的左后方移动", + "state_description": "爪夹目前抓取书在手推车的上方\n为了完成拿起书，把它放在手推车的隔间里的任务：抓取书的爪夹向爪夹方向的右上方翻转爪夹方向，使抓取的书本与手推车平齐", + "progress_explanation": "爪夹抓取书向左后方靠近手推车隔间上方，进度提升为60%", + "error_success_analysis": "夹取书的爪夹向左后方靠近手推车上方的方向移动至手推车隔间的上方", + "correction_plan": "抓取书的爪夹向爪夹方向的右上方翻转爪夹方向，使抓取的书本与手推车平齐后竖直下落将抓取的书放入手拖车的隔间，爪夹张开，书落入手推车的隔间", + "annotations": { + "bbox_1767767168656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767168656_1767769775377_tl8azgb0z", + "x": 0.6038394415357766, + "y": 0.11692844677137872, + "width": 0.17975567190226882, + "height": 0.24258289703315883 + } + ] + }, + "bbox_1767767191200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767191200_1767769781244_gdq19v68n", + "x": 0.3979057591623037, + "y": 0.2966841186736474, + "width": 0.5305410122164049, + "height": 0.2984293193717278 + } + ] + } + } + }, + { + "time": 14.258979, + "frame": 428, + "progress": 70, + "action_description": "抓取书的爪夹向爪夹方向的右上方翻转爪夹角度", + "state_description": "爪夹当前抓取书位于手推车隔间的上方\n为了完成拿起书，把它放在手推车的隔间里的任务：抓取书的爪夹向爪夹方向的下方竖直下落，将书放入手推车的隔间中", + "progress_explanation": "爪夹向右上翻转角度使抓取的书容易放进隔间，进度提升为70%", + "error_success_analysis": "爪夹抓取书在隔间上方向爪夹方向的右上方翻转爪夹方向", + "correction_plan": "抓取书的爪夹竖直下落，将抓取的书放在手推车的隔间里，爪夹张开，书落入手推车的隔间", + "annotations": { + "bbox_1767767191200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767191200_1767769791921_6gpdjei6q", + "x": 0.3961605584642234, + "y": 0.31413612565445026, + "width": 0.5200698080279232, + "height": 0.27574171029668415 + } + ] + }, + "bbox_1767767168656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767168656_1767769800991_j9ijw7ken", + "x": 0.5794066317626527, + "y": 0.14485165794066318, + "width": 0.1797556719022687, + "height": 0.2530541012216405 + } + ] + } + } + }, + { + "time": 18.031, + "frame": 541, + "progress": 75, + "action_description": "抓取书的爪夹向爪夹方向的下方竖直下落", + "state_description": "爪夹当前状态抓取在手推车隔间上的书\n为了完成拿起书，把它放在手推车的隔间里的任务：抓取书的爪夹向爪夹方向的前方略微移动，将书本置于隔间正上方", + "progress_explanation": "抓取书的爪夹下落将抓取的书放在隔间上，进度提升为75%", + "error_success_analysis": "抓取书的爪夹竖直下落后，将抓取的书放到手推车的隔间中", + "correction_plan": "抓取书的爪夹向爪夹方向的前方略微移动，将书本置于隔间正上方，下落，将抓取的书放在手推车的隔间里，爪夹张开，书落入手推车的隔间", + "annotations": { + "bbox_1767767168656": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767168656_1767769815991_133xozunt", + "x": 0.5602094240837696, + "y": 0.23385689354275743, + "width": 0.22687609075043635, + "height": 0.20244328097731237 + } + ] + }, + "bbox_1767767191200": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767767191200_1767769819991_oqzieltli", + "x": 0.3944153577661431, + "y": 0.31413612565445026, + "width": 0.525305410122164, + "height": 0.2792321116928447 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767767168656", + "name": "书", + "color": "#4CAF50" + }, + { + "id": "bbox_1767767191200", + "name": "手推车的隔间", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767767199333", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767767203381", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000149.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000149.json new file mode 100644 index 0000000000000000000000000000000000000000..b2f8bc5f7179f0ca1a2e85b951b0a3493ac68d9e --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000149.json @@ -0,0 +1,831 @@ +{ + "task_description": "把两个摩卡壶都放在炉子上\n开始移动0%\n爪夹靠近左侧的摩卡壶10%\n爪夹抓取左侧的摩卡壶20%\n爪夹抓取左侧的摩卡壶接近炉子30%\n爪夹将左侧的摩卡壶放在炉子上40%\n爪夹松开，左侧的摩卡壶落在炉子上50%\n爪夹靠近右侧的摩卡壶60%\n爪夹抓取右侧的摩卡壶70%\n爪夹抓取右侧的摩卡壶接近炉子80%\n爪夹将右侧的摩卡壶放在炉子上90%\n爪夹松开，右侧的摩卡壶落在炉子上100%", + "progress_points": [ + { + "time": 0.3434622467771639, + "frame": 10, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动", + "state_description": "爪夹当前处于打开状态，没有移动和接触左侧的摩卡壶\n为了完成把两个摩卡壶都放在炉子上的任务：爪夹向爪夹方向的前方移动至左侧摩卡壶的上方后调整爪夹方向", + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "张开的爪夹向爪夹方向的前方移动至白色杯子的上方后向爪夹方向左上方调整爪夹角度平行于桌面后竖直下落，靠近并触及左侧摩卡壶的把手，爪夹闭合，抓取左侧摩卡壶的把手后竖直上升并向爪夹方向的左侧移动至炉子的上方后竖直下落将抓取的左侧摩卡壶放在炉子上，爪夹松开，左侧摩卡壶落在炉子上，张开的爪夹向爪夹方向的上方抬升并向右侧移动至右侧的摩卡壶把手上方两侧，后爪夹向下闭合抓取右侧的摩卡壶，抓取后向上抬升并向爪夹方向的左侧移动至炉子的上方后竖直下落右侧的摩卡壶放在炉子上，爪夹松开，右侧的摩卡壶落在炉子上", + "annotations": { + "point_1767770230402": { + "type": "point", + "instances": [ + { + "id": "point_1767770230402_1767774741539_tlkwmoj1w", + "x": 0.5532286212914486, + "y": 0.24607329842931938 + } + ] + }, + "point_1767770226044": { + "type": "point", + "instances": [ + { + "id": "point_1767770226044_1767774743996_v8szya9w8", + "x": 0.4363001745200698, + "y": 0.25828970331588136 + } + ] + }, + "bbox_1767770219810": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770219810_1767774748691_202fqtxbm", + "x": 0.6055846422338569, + "y": 0.5235602094240838, + "width": 0.2792321116928447, + "height": 0.19371727748691103 + } + ] + }, + "bbox_1767770213215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770213215_1767774752255_u51emxz2h", + "x": 0.06457242582897034, + "y": 0.4781849912739965, + "width": 0.20418848167539266, + "height": 0.20593368237347298 + } + ] + }, + "bbox_1767770205735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770205735_1767774756785_q8skibf0i", + "x": 0.35776614310645727, + "y": 0.5532286212914486, + "width": 0.2146596858638743, + "height": 0.19720767888307156 + } + ] + } + } + }, + { + "time": 2.961436, + "frame": 89, + "progress": 5, + "action_description": "张开的爪夹向爪夹方向的前方移动并向爪夹方向的左上方翻转", + "state_description": "爪夹张开位于左侧摩卡壶的的右上方\n为了完成把两个摩卡壶都放在炉子上的任务：爪夹继续调整爪夹方向使左右两侧爪夹位于左侧摩卡壶的上方", + "progress_explanation": "爪夹向爪夹方向的下方移动靠近左侧的摩卡壶，进度提升为5%", + "error_success_analysis": "张开的爪夹向左下方向移动靠近抓取物了抓取物左侧的摩卡壶", + "correction_plan": "张开的爪夹向爪夹方向的前方移动至白色杯子的上方后向爪夹方向左上方调整爪夹角度平行于桌面后竖直下落，靠近并触及左侧摩卡壶的把手，爪夹闭合，抓取左侧摩卡壶的把手后竖直上升并向爪夹方向的左侧移动至炉子的上方后竖直下落将抓取的左侧摩卡壶放在炉子上，爪夹松开，左侧摩卡壶落在炉子上，张开的爪夹向爪夹方向的上方抬升并向右侧移动至右侧的摩卡壶把手上方两侧，后爪夹向下闭合抓取右侧的摩卡壶，抓取后向上抬升并向爪夹方向的左侧移动至炉子的上方后竖直下落右侧的摩卡壶放在炉子上，爪夹松开，右侧的摩卡壶落在炉子上", + "annotations": { + "bbox_1767770205735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770205735_1767774715989_4cplvjzew", + "x": 0.35602094240837695, + "y": 0.5445026178010471, + "width": 0.21116928446771382, + "height": 0.20767888307155324 + } + ] + }, + "bbox_1767770213215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770213215_1767774719618_jogj95bk1", + "x": 0.06457242582897034, + "y": 0.4816753926701571, + "width": 0.19895287958115182, + "height": 0.20069808027923214 + } + ] + }, + "bbox_1767770219810": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770219810_1767774728733_h6wjnmwkv", + "x": 0.6020942408376964, + "y": 0.5287958115183247, + "width": 0.2774869109947644, + "height": 0.19197207678883066 + } + ] + }, + "point_1767770226044": { + "type": "point", + "instances": [ + { + "id": "point_1767770226044_1767774731171_boy2u4bt7", + "x": 0.48516579406631766, + "y": 0.39092495636998253 + } + ] + }, + "point_1767770230402": { + "type": "point", + "instances": [ + { + "id": "point_1767770230402_1767774733183_3vmpqq3kt", + "x": 0.6038394415357766, + "y": 0.35776614310645727 + } + ] + } + } + }, + { + "time": 7.12155, + "frame": 214, + "progress": 8, + "action_description": "张开的爪夹向爪夹方向的左上方翻转爪夹方向", + "state_description": "爪夹目前张开位于左侧摩卡壶把手的上方\n为了完成把两个摩卡壶都放在炉子上的任务：张开的爪夹继续下落靠近左侧摩卡壶的把手", + "progress_explanation": "爪夹向下靠近左侧的摩卡壶并调整抓取角度，进度提升为8%", + "error_success_analysis": "张开的爪夹向左上方翻转调整了爪夹的后续抓取角度，并略微下落", + "correction_plan": "张开竖直下落，靠近并触及左侧摩卡壶的把手，爪夹闭合，抓取左侧摩卡壶的把手后竖直上升并向爪夹方向的左侧移动至炉子的上方后竖直下落将抓取的左侧摩卡壶放在炉子上，爪夹松开，左侧摩卡壶落在炉子上，张开的爪夹向爪夹方向的上方抬升并向右侧移动至右侧的摩卡壶把手上方两侧，后爪夹向下闭合抓取右侧的摩卡壶，抓取后向上抬升并向爪夹方向的左侧移动至炉子的上方后竖直下落右侧的摩卡壶放在炉子上，爪夹松开，右侧的摩卡壶落在炉子上", + "annotations": { + "point_1767770226044": { + "type": "point", + "instances": [ + { + "id": "point_1767770226044_1767774693725_241zx0sec", + "x": 0.5479930191972077, + "y": 0.49214659685863876 + } + ] + }, + "point_1767770230402": { + "type": "point", + "instances": [ + { + "id": "point_1767770230402_1767774695643_40jbcyht2", + "x": 0.5584642233856894, + "y": 0.5794066317626527 + } + ] + }, + "bbox_1767770219810": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770219810_1767774700189_uxfh36thf", + "x": 0.6020942408376964, + "y": 0.5148342059336823, + "width": 0.2792321116928447, + "height": 0.20593368237347298 + } + ] + }, + "bbox_1767770213215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770213215_1767774704441_wmf53xt0h", + "x": 0.06108202443280977, + "y": 0.4869109947643979, + "width": 0.2006980802792321, + "height": 0.19371727748691103 + } + ] + }, + "bbox_1767770205735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770205735_1767774708790_xrwf9xtgx", + "x": 0.35776614310645727, + "y": 0.5462478184991274, + "width": 0.21116928446771377, + "height": 0.21291448516579403 + } + ] + } + } + }, + { + "time": 10.082986, + "frame": 302, + "progress": 10, + "action_description": "张开的爪夹向爪夹方向的下方下落", + "state_description": "爪夹目前张开位于左侧摩卡壶把手的两侧\n为了完成把两个摩卡壶都放在炉子上的任务：爪夹闭合做抓取左侧摩卡壶的动作，抓取后爪夹竖直向上抬升", + "progress_explanation": "爪夹下落后靠近并触及桌面上左侧的摩卡壶，进度提升为10%", + "error_success_analysis": "张开的爪夹向爪夹方向的下方下落触及了抓取物左侧的摩卡壶", + "correction_plan": "爪夹闭合，抓取左侧摩卡壶的把手后竖直上升并向爪夹方向的左侧移动至炉子的上方后竖直下落将抓取的左侧摩卡壶放在炉子上，爪夹松开，左侧摩卡壶落在炉子上，张开的爪夹向爪夹方向的上方抬升并向右侧移动至右侧的摩卡壶把手上方两侧，后爪夹向下闭合抓取右侧的摩卡壶，抓取后向上抬升并向爪夹方向的左侧移动至炉子的上方后竖直下落右侧的摩卡壶放在炉子上，爪夹松开，右侧的摩卡壶落在炉子上", + "annotations": { + "bbox_1767770219810": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770219810_1767774670069_xxli40ixe", + "x": 0.6020942408376964, + "y": 0.5235602094240838, + "width": 0.28446771378708546, + "height": 0.20069808027923208 + } + ] + }, + "bbox_1767770213215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770213215_1767774678915_qfwdsa0ts", + "x": 0.05759162303664921, + "y": 0.4886561954624782, + "width": 0.20767888307155324, + "height": 0.18673647469458987 + } + ] + }, + "bbox_1767770205735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770205735_1767774682575_y62ldps53", + "x": 0.3682373472949389, + "y": 0.5462478184991274, + "width": 0.20069808027923214, + "height": 0.20418848167539272 + } + ] + }, + "point_1767770230402": { + "type": "point", + "instances": [ + { + "id": "point_1767770230402_1767774686234_sigbark4v", + "x": 0.5270506108202443, + "y": 0.6212914485165795 + } + ] + }, + "point_1767770226044": { + "type": "point", + "instances": [ + { + "id": "point_1767770226044_1767774688293_hiuszrctp", + "x": 0.4973821989528796, + "y": 0.5410122164048866 + } + ] + } + } + }, + { + "time": 11.1527, + "frame": 335, + "progress": 20, + "action_description": "张开的爪夹闭合，抓取桌面上的左侧摩卡壶", + "state_description": "爪夹目前闭合并抓取桌上的左侧摩卡壶位于炉子的右侧\n为了完成把两个摩卡壶都放在炉子上的任务：抓取左侧摩卡壶的爪夹竖直上升并向爪夹方向的左侧移动至炉子的上方", + "progress_explanation": "爪夹闭合成功抓取左侧的摩卡壶，进度提升为20%", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的左侧摩卡壶", + "correction_plan": "抓取左侧摩卡壶的把手后竖直上升并向爪夹方向的左侧移动至炉子的上方后竖直下落将抓取的左侧摩卡壶放在炉子上，爪夹松开，左侧摩卡壶落在炉子上，张开的爪夹向爪夹方向的上方抬升并向右侧移动至右侧的摩卡壶把手上方两侧，后爪夹向下闭合抓取右侧的摩卡壶，抓取后向上抬升并向爪夹方向的左侧移动至炉子的上方后竖直下落右侧的摩卡壶放在炉子上，爪夹松开，右侧的摩卡壶落在炉子上", + "annotations": { + "point_1767770230402": { + "type": "point", + "instances": [ + { + "id": "point_1767770230402_1767774635193_aw2p6sw3c", + "x": 0.5357766143106457, + "y": 0.5968586387434555 + } + ] + }, + "bbox_1767770205735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770205735_1767774639922_7vz46ogq0", + "x": 0.37347294938917974, + "y": 0.5148342059336823, + "width": 0.19895287958115182, + "height": 0.2146596858638744 + } + ] + }, + "bbox_1767770213215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770213215_1767774644697_8tcq56eg9", + "x": 0.06457242582897034, + "y": 0.4886561954624782, + "width": 0.19371727748691103, + "height": 0.18848167539267013 + } + ] + }, + "bbox_1767770219810": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770219810_1767774654454_ligdke2et", + "x": 0.5951134380453752, + "y": 0.5165794066317627, + "width": 0.2844677137870856, + "height": 0.20244328097731235 + } + ] + } + } + }, + { + "time": 14.621599, + "frame": 439, + "progress": 30, + "action_description": "抓取左侧摩卡壶的爪夹竖直向上抬升并向爪夹方向的左侧移动", + "state_description": "爪夹目前抓取左侧的摩卡壶位于炉子的上方\n为了完成把两个摩卡壶都放在炉子上的任务：抓取左侧摩卡壶的爪夹竖直下落将抓取的左侧摩卡壶放在炉子上", + "progress_explanation": "爪夹抓取左侧的摩卡壶向左侧靠近炉子上方移动，进度提升为30%", + "error_success_analysis": "夹取左侧摩卡壶的爪夹向上抬升后向左方移动后靠近炉子的上方", + "correction_plan": "抓取左侧摩卡壶的爪夹竖直下落将抓取的左侧摩卡壶放在炉子上，爪夹松开，左侧摩卡壶落在炉子上，张开的爪夹向爪夹方向的上方抬升并向右侧移动至右侧的摩卡壶把手上方两侧，后爪夹向下闭合抓取右侧的摩卡壶，抓取后向上抬升并向爪夹方向的左侧移动至炉子的上方后竖直下落右侧的摩卡壶放在炉子上，爪夹松开，右侧的摩卡壶落在炉子上", + "annotations": { + "point_1767770230402": { + "type": "point", + "instances": [ + { + "id": "point_1767770230402_1767774613879_wfie7mawf", + "x": 0.8411867364746946, + "y": 0.42408376963350786 + } + ] + }, + "bbox_1767770219810": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770219810_1767774618712_51w8evef0", + "x": 0.6020942408376964, + "y": 0.5218150087260035, + "width": 0.2792321116928447, + "height": 0.20244328097731235 + } + ] + }, + "bbox_1767770213215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770213215_1767774624128_4yjlyp0bn", + "x": 0.055846422338568937, + "y": 0.48516579406631766, + "width": 0.20767888307155322, + "height": 0.19720767888307156 + } + ] + }, + "bbox_1767770205735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770205735_1767774629347_0wxgje5m2", + "x": 0.68760907504363, + "y": 0.34904013961605584, + "width": 0.19371727748691103, + "height": 0.19895287958115182 + } + ] + } + } + }, + { + "time": 16.851984, + "frame": 506, + "progress": 40, + "action_description": "抓取左侧摩卡壶的爪夹向爪夹方向的下方竖直下落", + "state_description": "爪夹抓取在炉子上的左侧摩卡壶\n为了完成把两个摩卡壶都放在炉子上的任务：爪夹张开，左侧的摩卡壶落在炉子上", + "progress_explanation": "爪夹抓取左侧的摩卡壶向下将左侧摩卡壶放在炉子上，进度提升为40%", + "error_success_analysis": "抓取左侧摩卡壶的爪夹竖直下落将抓取的左侧摩卡壶放在炉子上", + "correction_plan": "爪夹松开，抓取的左侧摩卡壶落在炉子上，张开的爪夹向爪夹方向的上方抬升并向右侧移动至右侧的摩卡壶把手上方两侧，后爪夹向下闭合抓取右侧的摩卡壶，抓取后向上抬升并向爪夹方向的左侧移动至炉子的上方后竖直下落右侧的摩卡壶放在炉子上，爪夹松开，右侧的摩卡壶落在炉子上", + "annotations": { + "bbox_1767770205735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770205735_1767774594483_nd61tnjgd", + "x": 0.7172774869109948, + "y": 0.3769633507853403, + "width": 0.1605584642233857, + "height": 0.19371727748691098 + } + ] + }, + "bbox_1767770213215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770213215_1767774598585_uqz6uf7s8", + "x": 0.059336823734729496, + "y": 0.47469458987783597, + "width": 0.20418848167539266, + "height": 0.20767888307155324 + } + ] + }, + "bbox_1767770219810": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770219810_1767774603631_nquipyn14", + "x": 0.5986038394415358, + "y": 0.5287958115183247, + "width": 0.28446771378708546, + "height": 0.19546247818499118 + } + ] + }, + "point_1767770230402": { + "type": "point", + "instances": [ + { + "id": "point_1767770230402_1767774609682_fcy6hibkj", + "x": 0.8516579406631762, + "y": 0.4554973821989529 + } + ] + } + } + }, + { + "time": 18.262192, + "frame": 548, + "progress": 50, + "action_description": "爪夹张开，抓取的左侧摩卡壶落在炉子上", + "state_description": "爪夹张开位于在炉子上的左侧摩卡壶上侧。\n为了完成把两个摩卡壶都放在炉子上的任务：张开的爪夹竖直上升并向爪夹方向的右侧移动至右侧摩卡壶的把手上方", + "progress_explanation": "爪夹张开将抓取的左侧摩卡壶放入炉子上，进度提升为50%", + "error_success_analysis": "爪夹张开，抓取的左侧摩卡壶成功落在炉子上", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向右侧移动至右侧的摩卡壶把手上方两侧，后爪夹向下闭合抓取右侧的摩卡壶，抓取后向上抬升并向爪夹方向的左侧移动至炉子的上方后竖直下落右侧的摩卡壶放在炉子上，爪夹松开，右侧的摩卡壶落在炉子上", + "annotations": { + "point_1767770226044": { + "type": "point", + "instances": [ + { + "id": "point_1767770226044_1767774559928_5qf40td2c", + "x": 0.8516579406631762, + "y": 0.3787085514834206 + } + ] + }, + "point_1767770230402": { + "type": "point", + "instances": [ + { + "id": "point_1767770230402_1767774562730_jj7df2csj", + "x": 0.8952879581151832, + "y": 0.44851657940663175 + } + ] + }, + "bbox_1767770219810": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770219810_1767774569923_klf2sgqja", + "x": 0.6003490401396161, + "y": 0.5270506108202443, + "width": 0.28446771378708546, + "height": 0.19720767888307156 + } + ] + }, + "bbox_1767770205735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770205735_1767774577210_6x43rpckr", + "x": 0.7347294938917975, + "y": 0.38394415357766143, + "width": 0.1413612565445026, + "height": 0.20418848167539272 + } + ] + }, + "bbox_1767770213215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770213215_1767774581368_rsgzwcypq", + "x": 0.06457242582897034, + "y": 0.4869109947643979, + "width": 0.193717277486911, + "height": 0.1954624781849913 + } + ] + } + } + }, + { + "time": 23.056899, + "frame": 692, + "progress": 55, + "action_description": "张开的爪夹竖直向上抬升并向爪夹方向的右侧移动", + "state_description": "爪夹张开位于右侧摩卡壶的左侧上方\n为了完成把两个摩卡壶都放在炉子上的任务：张开的爪夹继续向爪夹方向的右侧移动至右侧摩卡壶的把手上方", + "progress_explanation": "爪夹向右侧靠近右侧的摩卡壶移动，进度提升为55%", + "error_success_analysis": "爪夹张开向上略微抬升后并向爪夹方向的右侧靠近右侧摩卡壶方向移动", + "correction_plan": "张开的爪夹继续向爪夹方向的右侧移动至右侧的摩卡壶把手上方两侧，后爪夹向下闭合抓取右侧的摩卡壶，抓取后向上抬升并向爪夹方向的左侧移动至炉子的上方后竖直下落右侧的摩卡壶放在炉子上，爪夹松开，右侧的摩卡壶落在炉子上", + "annotations": { + "bbox_1767770219810": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770219810_1767774531098_tf3besi5d", + "x": 0.6020942408376964, + "y": 0.5270506108202443, + "width": 0.2774869109947644, + "height": 0.19720767888307156 + } + ] + }, + "bbox_1767770205735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770205735_1767774539620_v4xt0nhot", + "x": 0.7277486910994764, + "y": 0.3839441535776615, + "width": 0.14834205933682376, + "height": 0.20069808027923203 + } + ] + }, + "bbox_1767770213215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770213215_1767774550510_dxx2csuoe", + "x": 0.06108202443280977, + "y": 0.48342059336823734, + "width": 0.19895287958115185, + "height": 0.19895287958115188 + } + ] + }, + "point_1767770226044": { + "type": "point", + "instances": [ + { + "id": "point_1767770226044_1767774554748_8kfzkadvd", + "x": 0.4031413612565445, + "y": 0.46771378708551486 + } + ] + } + } + }, + { + "time": 26.088846, + "frame": 783, + "progress": 60, + "action_description": "张开的爪夹向爪夹方向的右下方向移动", + "state_description": "爪夹张开位于右侧摩卡壶的把手上方\n为了完成把两个摩卡壶都放在炉子上的任务：爪夹闭合抓取右侧摩卡壶的把手后竖直上升", + "progress_explanation": "爪夹继续向右下方移动，靠近并触及右侧的摩卡壶把手，进度提升为60%", + "error_success_analysis": "张开的爪夹向右下方移动到抓取物右侧摩卡壶的把手上方，方便后续抓取", + "correction_plan": "爪夹闭合抓取右侧的摩卡壶，抓取后向上抬升并向爪夹方向的左侧移动至炉子的上方后竖直下落右侧的摩卡壶放在炉子上，爪夹松开，右侧的摩卡壶落在炉子上", + "annotations": { + "bbox_1767770205735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770205735_1767774506086_trxqweeur", + "x": 0.7277486910994765, + "y": 0.39092495636998253, + "width": 0.1553228621291448, + "height": 0.19546247818499135 + } + ] + }, + "bbox_1767770213215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770213215_1767774519772_u5wbdsrur", + "x": 0.06631762652705062, + "y": 0.48342059336823734, + "width": 0.193717277486911, + "height": 0.19895287958115188 + } + ] + }, + "bbox_1767770219810": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770219810_1767774524226_i17mh4vrb", + "x": 0.6020942408376964, + "y": 0.525305410122164, + "width": 0.28446771378708546, + "height": 0.19720767888307156 + } + ] + } + } + }, + { + "time": 28.2734, + "frame": 848, + "progress": 70, + "action_description": "爪夹做闭合动作，抓取右侧的摩卡壶把手", + "state_description": "爪夹目前闭合抓取桌子上的右侧摩卡壶\n为了完成把两个摩卡壶都放在炉子上的任务：抓取右侧摩卡壶的爪夹向爪夹方向的上方抬升并向爪夹方向的左侧移动至炉子的上方", + "progress_explanation": "爪夹闭合成功抓取右侧的摩卡壶，进度提升70%", + "error_success_analysis": "爪夹成功闭合，抓取了桌上的右侧摩卡壶", + "correction_plan": "抓取右侧摩卡壶的爪夹向上抬升并向爪夹方向的左侧移动至炉子的上方后竖直下落右侧的摩卡壶放在炉子上，爪夹松开，右侧的摩卡壶落在炉子上", + "annotations": { + "bbox_1767770219810": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770219810_1767774479929_gt4zvlij4", + "x": 0.6020942408376964, + "y": 0.5270506108202443, + "width": 0.2792321116928447, + "height": 0.19371727748691103 + } + ] + }, + "bbox_1767770213215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770213215_1767774484410_qb2jk8vk5", + "x": 0.06980802792321117, + "y": 0.4729493891797557, + "width": 0.20593368237347298, + "height": 0.20069808027923208 + } + ] + }, + "bbox_1767770205735": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770205735_1767774491807_hx7k28n3y", + "x": 0.7277486910994764, + "y": 0.39267015706806285, + "width": 0.14834205933682376, + "height": 0.19197207678883066 + } + ] + } + } + }, + { + "time": 33.492438, + "frame": 1005, + "progress": 80, + "action_description": "抓取右侧摩卡壶的爪夹向上抬升并向爪夹方向的左侧移动", + "state_description": "爪夹目前闭合抓取右侧的摩卡壶位于炉子的上方", + "progress_explanation": "爪夹抓取右侧的摩卡壶向左侧移动，接近左边的炉子，进度提升为80%", + "error_success_analysis": "抓取右侧的摩卡壶向上抬升后并向左侧靠近炉子移动到炉子上方", + "correction_plan": "抓取右侧摩卡壶的爪夹竖直下落将右侧的摩卡壶放在炉子上，爪夹松开，右侧的摩卡壶落在炉子上", + "annotations": { + "bbox_1767770213215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770213215_1767774464475_41h14vx9m", + "x": 0.5706806282722513, + "y": 0.41012216404886565, + "width": 0.2251308900523561, + "height": 0.23385689354275735 + } + ] + }, + "bbox_1767770219810": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770219810_1767774473750_t0uxl6269", + "x": 0.5986038394415358, + "y": 0.5218150087260035, + "width": 0.28446771378708546, + "height": 0.19895287958115182 + } + ] + } + } + }, + { + "time": 35.748771, + "frame": 1072, + "progress": 90, + "action_description": "抓取右侧摩卡壶的爪夹向爪夹方向的下方下落", + "state_description": "爪夹目前抓取了炉子上方的右侧摩卡壶\n为了完成把两个摩卡壶都放在炉子上的任务：爪夹松开，右侧的摩卡壶落在炉子上", + "progress_explanation": "抓取右侧的摩卡壶的爪夹下落将右侧的摩卡壶放在炉子上，进度提升90%", + "error_success_analysis": "抓取右侧的摩卡壶的爪夹向下落后抓取的右侧的摩卡壶放在炉子上", + "correction_plan": "爪夹张开，右侧的摩卡壶落在炉子上", + "annotations": { + "point_1767770226044": { + "type": "point", + "instances": [ + { + "id": "point_1767770226044_1767774412114_xblglv1m3", + "x": 0.8673647469458988, + "y": 0.5445026178010471 + } + ] + }, + "bbox_1767770219810": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770219810_1767774418752_sd5aal46h", + "x": 0.6020942408376964, + "y": 0.5218150087260035, + "width": 0.2774869109947644, + "height": 0.20244328097731235 + } + ] + }, + "bbox_1767770213215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770213215_1767774432128_mvxt2x1cu", + "x": 0.6963350785340313, + "y": 0.4659685863874346, + "width": 0.19720767888307167, + "height": 0.2076788830715532 + } + ] + } + } + }, + { + "time": 37.3, + "frame": 1119, + "progress": 100, + "action_description": "抓取右侧摩卡壶的爪夹张开，右侧摩卡壶落在炉子上", + "state_description": "爪夹目前张开，位于右侧摩卡壶的把手上方\n把两个摩卡壶都放在炉子上已完成", + "progress_explanation": "爪夹松开，右侧的摩卡壶落在炉子上，进度提升为100%", + "error_success_analysis": "爪夹成功张开，抓取的右侧摩卡壶落在下方的炉子上", + "correction_plan": "已完成把两个摩卡壶都放在炉子上的任务", + "annotations": { + "bbox_1767770213215": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770213215_1767774392259_xp5iyges7", + "x": 0.7137870855148343, + "y": 0.47469458987783597, + "width": 0.2094240837696335, + "height": 0.20244328097731235 + } + ] + }, + "bbox_1767770219810": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770219810_1767774403498_2gmit6gva", + "x": 0.6055846422338569, + "y": 0.5270506108202443, + "width": 0.2774869109947644, + "height": 0.19895287958115193 + } + ] + }, + "point_1767770226044": { + "type": "point", + "instances": [ + { + "id": "point_1767770226044_1767774405896_dyv8z9g7u", + "x": 0.9127399650959861, + "y": 0.5828970331588132 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767770205735", + "name": "左侧的摩卡壶", + "color": "#4CAF50" + }, + { + "id": "bbox_1767770213215", + "name": "右侧的摩卡壶", + "color": "#FF9800" + }, + { + "id": "bbox_1767770219810", + "name": "炉子", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1767770226044", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767770230402", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000227.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000227.json new file mode 100644 index 0000000000000000000000000000000000000000..633704852f42a19835a38b54a7588bef5434f58f --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000227.json @@ -0,0 +1,428 @@ +{ + "task_description": "拿起书，把它放在手推车的隔间里\n开始移动0%\n爪夹靠近书20%\n爪夹抓取书40%\n爪夹抓取书接近手推车的隔间60%\n爪夹将书放入手推车的隔间80%\n爪夹松开，书落入手推车的隔间100%", + "progress_points": [ + { + "time": 0.06151012891344383, + "frame": 2, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动", + "state_description": "爪夹当前处于打开状态，没有移动和接触书。\n为了完成拿起书，把它放在手推车的隔间里的任务：爪夹向爪夹方向的右前方移动至桌面上书的上方，后竖直下落", + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向的右前方移动至桌面上书的上方，后竖直下落靠近并触及桌面上的书本，爪夹合并抓取书，抓取书的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至手推车个隔间上方后竖直下落，将抓取的书放在手推车的隔间里，爪夹张开，书落入手推车的隔间", + "annotations": { + "bbox_1767776008068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776008068_1767776056998_o20u1opnu", + "x": 0.25828970331588136, + "y": 0.5130890052356021, + "width": 0.09947643979057591, + "height": 0.23211169284467714 + } + ] + }, + "bbox_1767776011481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776011481_1767776061923_n84zy5w3o", + "x": 0.41361256544502617, + "y": 0.3019197207678883, + "width": 0.5200698080279231, + "height": 0.2774869109947644 + } + ] + }, + "point_1767776036460": { + "type": "point", + "instances": [ + { + "id": "point_1767776036460_1767776066049_yjn5gqm0x", + "x": 0.418848167539267, + "y": 0.3403141361256545 + } + ] + }, + "point_1767776043367": { + "type": "point", + "instances": [ + { + "id": "point_1767776043367_1767776068623_f4zu2bpwb", + "x": 0.537521815008726, + "y": 0.33158813263525305 + } + ] + } + } + }, + { + "time": 1.4362, + "frame": 43, + "progress": 5, + "action_description": "张开的爪夹向爪夹方向的右前方移动", + "state_description": "爪夹张开位于桌面上书的左上方\n为了完成拿起书，把它放在手推车的隔间里的任务：张开的爪夹继续向爪夹方向的右前方移动至书的正上方", + "progress_explanation": "爪夹开始向右前方的移动并靠近，进度提升为5%", + "error_success_analysis": "爪夹向爪夹方向的右前方移动到抓取物书的左上方", + "correction_plan": "爪夹继续向爪夹方向的右前方移动至桌面上书的上方，后竖直下落靠近并触及桌面上的书本，爪夹合并抓取书，抓取书的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至手推车个隔间上方后竖直下落，将抓取的书放在手推车的隔间里，爪夹张开，书落入手推车的隔间", + "annotations": { + "point_1767776043367": { + "type": "point", + "instances": [ + { + "id": "point_1767776043367_1767776075933_1shilwu77", + "x": 0.4432809773123909, + "y": 0.38394415357766143 + } + ] + }, + "point_1767776036460": { + "type": "point", + "instances": [ + { + "id": "point_1767776036460_1767776078197_nfoslfadb", + "x": 0.3054101221640489, + "y": 0.3944153577661431 + } + ] + }, + "bbox_1767776011481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776011481_1767776081563_rvfk12jlg", + "x": 0.4118673647469459, + "y": 0.31762652705061084, + "width": 0.5287958115183247, + "height": 0.26876090750436304 + } + ] + }, + "bbox_1767776008068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776008068_1767776091323_ufcunpsu2", + "x": 0.25654450261780104, + "y": 0.5165794066317627, + "width": 0.10471204188481675, + "height": 0.23036649214659677 + } + ] + } + } + }, + { + "time": 2.675690607734807, + "frame": 80, + "progress": 10, + "action_description": "张开的爪夹向爪夹方向的右前方向移动", + "state_description": "爪夹目前张开位于桌上书的上方\n为了完成拿起书，把它放在手推车的隔间里的任务：张开的爪夹竖向爪夹方向的下方下落靠近比触及书后爪夹闭合抓取桌面上的书", + "progress_explanation": "爪夹向右前移动靠近桌面上的书，进度提升为10%", + "error_success_analysis": "张开的爪夹向爪夹方向的右前方移动靠近抓取物书", + "correction_plan": "竖直下落靠近并触及桌面上的书本，爪夹合并抓取书，抓取书的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至手推车个隔间上方后竖直下落，将抓取的书放在手推车的隔间里，爪夹张开，书落入手推车的隔间", + "annotations": { + "bbox_1767776008068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776008068_1767776097103_vuuqdwh6x", + "x": 0.25654450261780104, + "y": 0.5043630017452007, + "width": 0.10645724258289707, + "height": 0.24258289703315883 + } + ] + }, + "bbox_1767776011481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776011481_1767776101214_pv843x3hs", + "x": 0.4118673647469459, + "y": 0.3141361256544502, + "width": 0.5270506108202443, + "height": 0.27399650959860394 + } + ] + }, + "point_1767776036460": { + "type": "point", + "instances": [ + { + "id": "point_1767776036460_1767776107787_0yzuf3nqg", + "x": 0.21640488656195464, + "y": 0.44851657940663175 + } + ] + }, + "point_1767776043367": { + "type": "point", + "instances": [ + { + "id": "point_1767776043367_1767776110011_jw8kzr75n", + "x": 0.3630017452006981, + "y": 0.4258289703315881 + } + ] + } + } + }, + { + "time": 5.240453, + "frame": 157, + "progress": 20, + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "state_description": "爪夹目前张开书本位于两侧爪夹中间\n为了完成拿起书，把它放在手推车的隔间里的任务：张开的爪夹合并抓取桌面上的书，后竖直上升", + "progress_explanation": "爪夹下落后靠近桌面上的书，进度提升为20%", + "error_success_analysis": "张开的爪夹向爪夹方向的下方下落靠近抓取物书", + "correction_plan": "爪夹合并抓取书，抓取书的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至手推车个隔间上方后竖直下落，将抓取的书放在手推车的隔间里，爪夹张开，书落入手推车的隔间", + "annotations": { + "point_1767776043367": { + "type": "point", + "instances": [ + { + "id": "point_1767776043367_1767776113393_qbs2muiv1", + "x": 0.3682373472949389, + "y": 0.5794066317626527 + } + ] + }, + "point_1767776036460": { + "type": "point", + "instances": [ + { + "id": "point_1767776036460_1767776114899_9ugxtsaip", + "x": 0.2443280977312391, + "y": 0.612565445026178 + } + ] + }, + "bbox_1767776011481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776011481_1767776118929_ua9daplr5", + "x": 0.4223385689354276, + "y": 0.31064572425828973, + "width": 0.5113438045375218, + "height": 0.26527050610820246 + } + ] + }, + "bbox_1767776008068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776008068_1767776126881_69awvowof", + "x": 0.25828970331588136, + "y": 0.5287958115183247, + "width": 0.09773123909249559, + "height": 0.2198952879581152 + } + ] + } + } + }, + { + "time": 6.440075, + "frame": 193, + "progress": 40, + "action_description": "张开的爪夹闭合，抓取桌面上的书", + "state_description": "爪夹目前闭合并抓取桌上的书位于手推车的右前方\n为了完成拿起书，把它放在手推车的隔间里的任务：抓取书的爪夹竖直上升并向爪夹方向的左后方移动至手推车的上方", + "progress_explanation": "爪夹闭合成功抓取书，进度提升为40%", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的书", + "correction_plan": "抓取书的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至手推车个隔间上方后竖直下落，将抓取的书放在手推车的隔间里，爪夹张开，书落入手推车的隔间", + "annotations": { + "bbox_1767776008068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776008068_1767776131397_xzhsmhe1g", + "x": 0.2600349040139616, + "y": 0.5200698080279232, + "width": 0.09947643979057591, + "height": 0.22513089005235598 + } + ] + }, + "bbox_1767776011481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776011481_1767776137107_y282fyn8b", + "x": 0.4083769633507853, + "y": 0.31064572425828973, + "width": 0.5095986038394416, + "height": 0.26003490401396157 + } + ] + }, + "point_1767776036460": { + "type": "point", + "instances": [ + { + "id": "point_1767776036460_1767776140203_bs0z2pf3d", + "x": 0.2844677137870855, + "y": 0.6160558464223386 + } + ] + } + } + }, + { + "time": 9.195764272559853, + "frame": 276, + "progress": 50, + "action_description": "抓取书的爪夹向爪夹方向的左后方移动略微调整爪夹的方向", + "state_description": "爪夹抓取书位于手推车的右上方\n为了完成拿起书，把它放在手推车的隔间里的任务：抓取书的爪夹继续向爪夹的左后方移动至手推车隔间上方", + "progress_explanation": "爪夹抓取书向左后方靠近手推车隔间，进度提升为50%", + "error_success_analysis": "夹取书的爪夹向上抬升后向左后方靠近手推车上方的方向移动", + "correction_plan": "抓取书的爪夹继续向爪夹方向的左后方移动至手推车隔间的上方，向爪夹方向的右上方翻转爪夹方向，使抓取的书本与手推车平齐后竖直下落将抓取的书放入手拖车的隔间，爪夹张开，书落入手推车的隔间", + "annotations": { + "point_1767776036460": { + "type": "point", + "instances": [ + { + "id": "point_1767776036460_1767776143443_gb0278o2j", + "x": 0.462478184991274, + "y": 0.29319371727748694 + } + ] + }, + "bbox_1767776011481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776011481_1767776148051_xwhy78c60", + "x": 0.4153577661431065, + "y": 0.31413612565445026, + "width": 0.5061082024432809, + "height": 0.268760907504363 + } + ] + }, + "bbox_1767776008068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776008068_1767776170537_e5101gdf1", + "x": 0.40663176265270506, + "y": 0.2286212914485166, + "width": 0.1361256544502618, + "height": 0.2425828970331588 + } + ] + } + } + }, + { + "time": 13.224677716390422, + "frame": 397, + "progress": 60, + "action_description": "抓取书的爪夹继续向爪夹方向的左后方移动并继续调整爪夹的方向", + "state_description": "爪夹目前抓取书在手推车的上方\n为了完成拿起书，把它放在手推车的隔间里的任务：抓取书的爪夹竖直下落将书放入手推车的隔间", + "progress_explanation": "爪夹抓取书向左后方靠近手推车隔间上方，进度提升为60%", + "error_success_analysis": "夹取书的爪夹向左后方靠近手推车上方的方向移动至手推车隔间的上方", + "correction_plan": "抓取书的爪夹向爪夹方向的下方竖直下落将抓取的书放入手拖车的隔间，爪夹张开，书落入手推车的隔间", + "annotations": { + "bbox_1767776008068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776008068_1767776179217_y9ckau1fc", + "x": 0.5898778359511344, + "y": 0.10471204188481675, + "width": 0.17626527050610818, + "height": 0.23211169284467714 + } + ] + }, + "bbox_1767776011481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776011481_1767776184057_vqrlpgo7f", + "x": 0.41361256544502617, + "y": 0.32111692844677137, + "width": 0.5165794066317626, + "height": 0.2617801047120419 + } + ] + }, + "point_1767776036460": { + "type": "point", + "instances": [ + { + "id": "point_1767776036460_1767776186669_vlg715t4z", + "x": 0.6823734729493892, + "y": 0.2006980802792321 + } + ] + } + } + }, + { + "time": 15.714699, + "frame": 471, + "progress": 75, + "action_description": "抓取书的爪夹向爪夹方向的下方竖直下落", + "state_description": "爪夹当前状态抓取在手推车隔间上的书\n为了完成拿起书，把它放在手推车的隔间里的任务：抓取书的爪夹向爪夹方向的前方略微移动，将书本置于隔间正上方", + "progress_explanation": "抓取书的爪夹下落将抓取的书放在隔间上，进度提升为75%", + "error_success_analysis": "抓取书的爪夹竖直下落后，将抓取的书放到手推车的隔间中", + "correction_plan": "抓取书的爪夹向爪夹方向的前方略微移动，将书本置于隔间正上方，竖直下落，将抓取的书放在手推车的隔间里，爪夹张开，书落入手推车的隔间", + "annotations": { + "bbox_1767776008068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776008068_1767776195017_wfh3wuq9v", + "x": 0.6020942408376964, + "y": 0.19197207678883071, + "width": 0.17452006980802792, + "height": 0.20767888307155324 + } + ] + }, + "bbox_1767776011481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776011481_1767776199248_su1sazreb", + "x": 0.41012216404886565, + "y": 0.30715532286212915, + "width": 0.5200698080279231, + "height": 0.280977312390925 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767776008068", + "name": "书", + "color": "#4CAF50" + }, + { + "id": "bbox_1767776011481", + "name": "手推车隔间", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767776036460", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767776043367", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000300.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000300.json new file mode 100644 index 0000000000000000000000000000000000000000..f81b3371f183090b5b8be8377050ccaa04b8f50e --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000300.json @@ -0,0 +1,592 @@ +{ + "task_description": "把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉\n开始移动0%\n爪夹靠近黑色的碗20%\n爪夹抓取黑色的碗40%\n爪夹抓取黑色的碗放到橱柜的底层抽屉60%\n爪夹松开，黑色的碗落入橱柜的底层抽屉80%\n爪夹把抽屉推回关上抽屉100%", + "progress_points": [ + { + "time": 0.134404, + "frame": 4, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动", + "state_description": "爪夹当前处于打开状态，没有移动和接触黑色的碗。\n为了完成把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉的任务：调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左下方移动至黑色碗的上方", + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左下方移动至黑色的碗的上方后竖直下落靠近并触及黑色的碗，爪夹闭合做抓取黑色碗的动作，抓取黑色的碗后爪夹竖直上升并向爪夹方向的左侧移动至打橱柜底层抽屉的上方，后抓取黑色的碗的爪夹竖直下落将抓取的黑色的碗放在橱柜的底层抽屉中，松开爪夹，抓取的黑色的碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "annotations": { + "bbox_1767776630858": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776630858_1767777658159_dj318s9h4", + "x": 0.4675, + "y": 0.607, + "width": 0.15600000000000003, + "height": 0.124 + } + ] + }, + "bbox_1767776641000": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776641000_1767777664290_0ecn44ynl", + "x": 0.1515, + "y": 0.501, + "width": 0.281, + "height": 0.276 + } + ] + }, + "point_1767776647227": { + "type": "point", + "instances": [ + { + "id": "point_1767776647227_1767777667482_odqgz0ov3", + "x": 0.4255, + "y": 0.249 + } + ] + }, + "point_1767776653591": { + "type": "point", + "instances": [ + { + "id": "point_1767776653591_1767777670197_ayg2jta61", + "x": 0.5405, + "y": 0.247 + } + ] + } + } + }, + { + "time": 4.524952, + "frame": 136, + "progress": 10, + "action_description": "张开的爪夹向爪夹方向的下方移动并向右翻转调整爪夹角度", + "state_description": "爪夹当前状态为张开，在黑色碗的左侧上方\n为了完成把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉的任务：爪夹竖直下落靠近桌上的黑色的碗，爪夹闭合做抓取黑色的碗的动作", + "progress_explanation": "爪夹开始向下方靠近黑色碗移动，进度提升为10%", + "error_success_analysis": "张开的爪夹向下移动靠近下方的黑色碗并向右上翻转爪夹角度方便后续爪夹抓取", + "correction_plan": "爪夹竖直下落靠近并触及黑色的碗，爪夹闭合做抓取黑色碗的动作，抓取黑色的碗后爪夹竖直上升并向爪夹方向的左侧移动至打橱柜底层抽屉的上方，后抓取黑色的碗的爪夹竖直下落将抓取的黑色的碗放在橱柜的底层抽屉中，松开爪夹，抓取的黑色的碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "annotations": { + "point_1767776653591": { + "type": "point", + "instances": [ + { + "id": "point_1767776653591_1767777676867_lpns9s3oy", + "x": 0.6475, + "y": 0.435 + } + ] + }, + "point_1767776647227": { + "type": "point", + "instances": [ + { + "id": "point_1767776647227_1767777679449_isdf4y4lp", + "x": 0.5725, + "y": 0.48 + } + ] + }, + "bbox_1767776630858": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776630858_1767777684319_9t2yzbrks", + "x": 0.4675, + "y": 0.607, + "width": 0.15700000000000003, + "height": 0.127 + } + ] + }, + "bbox_1767776641000": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776641000_1767777689301_d6mbae20o", + "x": 0.1605, + "y": 0.501, + "width": 0.275, + "height": 0.28 + } + ] + } + } + }, + { + "time": 6.137807, + "frame": 184, + "progress": 15, + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "state_description": "目前抓取张开位于桌上黑色碗的上方\n为了完成把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉的任务：爪夹继续竖直向下靠近并触及黑色的碗后爪夹闭合，抓取黑色的碗", + "progress_explanation": "爪夹竖直下落缩短与抓取物黑色碗的距离，进度提升为15%", + "error_success_analysis": "爪夹向下方的黑色碗移动", + "correction_plan": "爪夹继续竖直下落靠近并触及黑色的碗，爪夹闭合做抓取黑色碗的动作，抓取黑色的碗后爪夹竖直上升并向爪夹方向的左侧移动至打橱柜底层抽屉的上方，后抓取黑色的碗的爪夹竖直下落将抓取的黑色碗放在橱柜的底层抽屉中，松开爪夹，抓取的黑色的碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "annotations": { + "bbox_1767776641000": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776641000_1767777699525_bu4d4sk6t", + "x": 0.1675, + "y": 0.502, + "width": 0.269, + "height": 0.268 + } + ] + }, + "bbox_1767776630858": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776630858_1767777705347_b7bu7myrx", + "x": 0.46950000000000003, + "y": 0.609, + "width": 0.15200000000000002, + "height": 0.124 + } + ] + }, + "point_1767776647227": { + "type": "point", + "instances": [ + { + "id": "point_1767776647227_1767777708039_whteya1by", + "x": 0.5815, + "y": 0.623 + } + ] + }, + "point_1767776653591": { + "type": "point", + "instances": [ + { + "id": "point_1767776653591_1767777710581_sfe3sq46b", + "x": 0.6315000000000001, + "y": 0.553 + } + ] + } + } + }, + { + "time": 7.7262, + "frame": 232, + "progress": 20, + "action_description": "张开的爪夹继续向爪夹方向的下方下落至黑色的碗的侧边上方", + "state_description": "爪夹目前张开位于黑色的碗的左侧边的上方\n为了完成把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉的任务：爪夹做闭合抓取动作，抓取黑色的碗后爪夹竖直上升", + "progress_explanation": "爪夹向下落靠近并触及了黑色的碗，进度提升为20%", + "error_success_analysis": "张开的爪夹继续向下方靠近黑色的碗方向移动", + "correction_plan": "爪夹闭合做抓取黑色碗的动作，抓取黑色的碗后爪夹竖直上升并向爪夹方向的左侧移动至打橱柜底层抽屉的上方，后抓取黑色的碗的爪夹竖直下落将抓取的黑色碗放在橱柜的底层抽屉中，松开爪夹，抓取的黑色的碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "annotations": { + "point_1767776653591": { + "type": "point", + "instances": [ + { + "id": "point_1767776653591_1767777719777_y5f7989ht", + "x": 0.6155, + "y": 0.609 + } + ] + }, + "point_1767776647227": { + "type": "point", + "instances": [ + { + "id": "point_1767776647227_1767777722209_p9753ykmu", + "x": 0.5695, + "y": 0.668 + } + ] + }, + "bbox_1767776630858": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776630858_1767777727539_x7qayvtii", + "x": 0.46950000000000003, + "y": 0.608, + "width": 0.15000000000000002, + "height": 0.126 + } + ] + }, + "bbox_1767776641000": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776641000_1767777733383_5o17qhbjk", + "x": 0.1505, + "y": 0.503, + "width": 0.28400000000000003, + "height": 0.271 + } + ] + } + } + }, + { + "time": 8.960302, + "frame": 269, + "progress": 40, + "action_description": "张开的爪夹合并，抓取黑色的碗", + "state_description": "爪夹目前合并抓取黑色的碗在打开的橱柜的底层抽屉的左侧\n为了完成把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉的任务：抓取黑色的碗的爪夹竖直向上抬升并向爪夹方向的右侧移动至打开的橱柜底层抽屉上方", + "progress_explanation": "爪夹闭合成功抓取黑色的碗，进度提升为40%", + "error_success_analysis": "张开的爪夹闭合成功，抓取了目标物黑色的碗", + "correction_plan": "抓取黑色碗的爪夹竖直上升并向爪夹方向的左侧移动至打橱柜底层抽屉的上方，后抓取黑色的碗的爪夹竖直下落将抓取的黑色的碗放在橱柜的底层抽屉中，松开爪夹，抓取的黑色的碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "annotations": { + "bbox_1767776641000": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776641000_1767777741795_tp2jb49xs", + "x": 0.1545, + "y": 0.504, + "width": 0.28300000000000003, + "height": 0.269 + } + ] + }, + "bbox_1767776630858": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776630858_1767777746959_x5qoc68nn", + "x": 0.47450000000000003, + "y": 0.618, + "width": 0.15400000000000003, + "height": 0.133 + } + ] + }, + "point_1767776647227": { + "type": "point", + "instances": [ + { + "id": "point_1767776647227_1767777752645_gyra0fphd", + "x": 0.5915, + "y": 0.644 + } + ] + } + } + }, + { + "time": 12.813232, + "frame": 384, + "progress": 50, + "action_description": "抓取黑色的碗的爪夹竖直向上抬升并向爪夹方向的右侧移动", + "state_description": "爪夹当前闭合抓取黑色的碗位于橱柜的底层抽屉把手上方\n为了完成把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉的任务：抓取黑色的碗的爪夹继续向爪夹方向的右侧移动至打开的橱柜底层抽屉上方", + "progress_explanation": "爪夹抓取黑色的碗向右上方移动，靠近右侧的抽屉，进度抬升为50%", + "error_success_analysis": "抓取黑色的碗的爪夹向上抬升后向右侧靠近打开的橱柜的底层抽屉方向移动", + "correction_plan": "抓取黑色的碗的爪夹继续向爪夹方向的右侧移动至打开的橱柜底层抽屉上方，后爪夹竖直下落将抓取的黑色的碗放在橱柜的底层抽屉中，松开爪夹，抓取的黑色的碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "annotations": { + "point_1767776647227": { + "type": "point", + "instances": [ + { + "id": "point_1767776647227_1767777757493_g0mjujahi", + "x": 0.4255, + "y": 0.457 + } + ] + }, + "bbox_1767776630858": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776630858_1767777763686_gnvok77vk", + "x": 0.2945, + "y": 0.442, + "width": 0.18400000000000005, + "height": 0.13599999999999995 + } + ] + }, + "bbox_1767776641000": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776641000_1767777768581_00mtxl9cw", + "x": 0.1575, + "y": 0.505, + "width": 0.278, + "height": 0.272 + } + ] + } + } + }, + { + "time": 14.24688, + "frame": 427, + "progress": 55, + "action_description": "抓取黑色的碗的爪夹向爪夹方向的右侧移动后竖直下落", + "state_description": "爪夹目前闭合抓取黑色的碗位于打开的橱柜的底层抽屉内部\n为了完成把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉的任务：抓取黑色的碗的爪夹继续下落，将抓取的黑色的碗放到橱柜的底层抽屉中", + "progress_explanation": "抓取黑色的碗的爪夹向右侧移动下落抓取的黑色的碗进入打开的橱柜的底层抽屉，进度提升为55%", + "error_success_analysis": "爪夹抓取黑色的碗向右侧移动至打开的橱柜的底层抽屉上方后下落，抓取的黑色碗进入抽屉中", + "correction_plan": "爪夹继续竖直下落将抓取的黑色的碗放在橱柜的底层抽屉中，松开爪夹，抓取的黑色的碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "annotations": { + "bbox_1767776630858": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776630858_1767777783288_i2bd6dr4k", + "x": 0.2335, + "y": 0.47100000000000003, + "width": 0.163, + "height": 0.13699999999999996 + } + ] + }, + "bbox_1767776641000": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776641000_1767777788253_p34x6h09g", + "x": 0.1595, + "y": 0.504, + "width": 0.279, + "height": 0.276 + } + ] + }, + "point_1767776647227": { + "type": "point", + "instances": [ + { + "id": "point_1767776647227_1767777791137_ihuj87dnf", + "x": 0.34850000000000003, + "y": 0.491 + } + ] + } + } + }, + { + "time": 16.262948, + "frame": 488, + "progress": 60, + "action_description": "爪夹向爪夹方向的下方竖直下落，抓取的黑色碗放到橱柜的底层抽屉", + "state_description": "爪夹当前闭合抓取黑色的碗位于打开的橱柜的底层抽屉中\n为了完成把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉的任务：爪夹张开，抓取的黑色的碗落入橱柜的底层抽屉", + "progress_explanation": "爪夹下落抓取黑色的碗放到了橱柜的底层抽屉里，进度提升为60%", + "error_success_analysis": "抓取黑色碗的爪夹继续下落将抓取的黑色碗放在打开的橱柜的底层抽屉里", + "correction_plan": "张开爪夹，抓取的黑色的碗放入抽屉，爪夹向上抬升并继续向爪夹方向的右侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "annotations": { + "bbox_1767776630858": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776630858_1767777799224_jiiffeg1g", + "x": 0.2445, + "y": 0.551, + "width": 0.137, + "height": 0.121 + } + ] + }, + "bbox_1767776641000": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776641000_1767777804593_z0bg8c32x", + "x": 0.1515, + "y": 0.5, + "width": 0.30500000000000005, + "height": 0.28 + } + ] + }, + "point_1767776647227": { + "type": "point", + "instances": [ + { + "id": "point_1767776647227_1767777807333_ffrnt2e9t", + "x": 0.3565, + "y": 0.588 + } + ] + } + } + }, + { + "time": 17.869799, + "frame": 536, + "progress": 80, + "action_description": "爪夹张开，并向爪夹方向的后侧上方移动", + "state_description": "爪夹当前张开位于打开的橱柜的底层抽屉的把手右侧上方\n为了完成把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉的任务：爪夹向爪夹方向的后方移动至打开的抽屉把手上方后竖直下落", + "progress_explanation": "爪夹松开，黑色的碗成功落入橱柜的底层抽屉中，进度提升为80%", + "error_success_analysis": "爪夹成功张开，抓取的目标物黑色的碗成功落入打开的橱柜的底层抽屉里，爪夹并向后侧上方移动出打开的底层抽屉上方", + "correction_plan": "爪夹继续向爪夹方向的后侧移动到打开的橱柜底层抽屉的把手上方后竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "annotations": { + "bbox_1767776641000": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776641000_1767777818161_n9qu6zkiv", + "x": 0.1635, + "y": 0.496, + "width": 0.28600000000000003, + "height": 0.281 + } + ] + }, + "bbox_1767776630858": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776630858_1767777823055_y00z1ftgl", + "x": 0.23450000000000001, + "y": 0.549, + "width": 0.148, + "height": 0.124 + } + ] + } + } + }, + { + "time": 18.727032, + "frame": 562, + "progress": 85, + "action_description": "张开的爪夹继续向爪夹方向的右侧移动", + "state_description": "爪夹目前张开，位于底层抽屉的把手上方\n为了完成把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉的任务：爪夹竖直下落靠近并触及抽屉把手", + "progress_explanation": "爪夹向后方移动出打开的橱柜的底层抽屉，进度提升为85%", + "error_success_analysis": "张开的爪夹向爪夹方向的后侧移动出打开的橱柜的底层抽屉上方范围，方便后续关上抽屉", + "correction_plan": "爪夹竖直下落，靠近并触及抽屉把手，爪夹向爪夹方向的前方移动将橱柜的底层抽屉关上", + "annotations": { + "bbox_1767776630858": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776630858_1767777830367_k1nc82r76", + "x": 0.2295, + "y": 0.554, + "width": 0.152, + "height": 0.12 + } + ] + }, + "bbox_1767776641000": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776641000_1767777835863_nxggs7dyh", + "x": 0.1485, + "y": 0.502, + "width": 0.275, + "height": 0.277 + } + ] + } + } + }, + { + "time": 19.802268, + "frame": 594, + "progress": 90, + "action_description": "张开的爪夹向爪夹方向的后下方移动", + "state_description": "爪夹目前张开位于打开的橱柜的底层抽屉左侧上方\n为了完成把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉的任务：爪夹向爪夹方向的前方靠近抽屉表面后继续移动，向前关上抽屉", + "progress_explanation": "爪夹继续向后侧下方移动，靠近抽屉表面，进度提升为90%", + "error_success_analysis": "张开的张开向下移动方便后续爪夹向前推动抽屉", + "correction_plan": "爪夹向爪夹方向的前方靠近抽屉表面后继续移动，向前关上抽屉", + "annotations": { + "bbox_1767776641000": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776641000_1767777846413_lxzhae1ba", + "x": 0.1565, + "y": 0.501, + "width": 0.29600000000000004, + "height": 0.275 + } + ] + }, + "bbox_1767776630858": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776630858_1767777853509_n39x7og1w", + "x": 0.2325, + "y": 0.546, + "width": 0.15, + "height": 0.126 + } + ] + } + } + }, + { + "time": 21.459924, + "frame": 644, + "progress": 95, + "action_description": "张开的爪夹向爪夹方向的前方移动，推动打开的橱柜的底层抽屉合拢", + "state_description": "爪夹目前张开位于半张开的底层抽屉左侧表面\n为了完成把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉的任务：爪夹继续向爪机方向的前方移动使橱柜的底层抽屉完成关上", + "progress_explanation": "爪夹向前移动推动橱柜的底层抽屉合拢，进度提升为95%", + "error_success_analysis": "爪夹向前移动触及抽屉表面，继续向前移动推动橱柜的底层抽屉合并", + "correction_plan": "爪夹继续向爪机方向的前方移动使橱柜的底层抽屉完成关上", + "annotations": { + "bbox_1767776630858": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776630858_1767777862949_845dn70yl", + "x": 0.17550000000000002, + "y": 0.55, + "width": 0.12599999999999997, + "height": 0.124 + } + ] + }, + "bbox_1767776641000": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767776641000_1767777867051_cfbwtwrdk", + "x": 0.1615, + "y": 0.499, + "width": 0.212, + "height": 0.279 + } + ] + } + } + }, + { + "time": 23.162381, + "frame": 695, + "progress": 100, + "action_description": "张开的爪夹向爪夹方向的前方移动，并推动橱柜的底层抽屉合拢", + "state_description": "爪夹张开位于橱柜的底层抽屉的把手左侧\n把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉已完成", + "progress_explanation": "爪夹继续向前移动并推动抽屉，推回关上抽屉，进度提升为100%", + "error_success_analysis": "张开的爪夹继续向爪夹方向的前方推动抽屉使抽屉彻底关上", + "correction_plan": "已完成把黑色的碗放到橱柜的底层抽屉里，然后关上抽屉的任务" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767776630858", + "name": "黑色的碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767776641000", + "name": "橱柜的底层抽屉", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767776647227", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767776653591", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000317.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000317.json new file mode 100644 index 0000000000000000000000000000000000000000..774897dc4580eb0637add259c984a59ec9b75460 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000317.json @@ -0,0 +1,805 @@ +{ + "task_description": "把字母汤和番茄酱都放进篮子里\n开始移动0%\n爪夹靠近字母汤10%\n爪夹抓取字母汤20%\n爪夹抓取字母汤接近篮子30%\n爪夹将抓取的字母汤放进篮子40%\n爪夹松开，字母汤落入篮子中50%\n爪夹靠近番茄酱60%\n爪夹抓取番茄酱70%\n爪夹抓取番茄酱接近篮子80%\n爪夹将抓取的番茄酱放进篮子90%\n爪夹松开，番茄酱落入篮子中100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹向爪夹方向的左前方移动至字母汤的正上方后竖直下落，靠近并触及字母汤，爪夹闭合，抓取字母汤后竖直上升并向爪夹方向的右侧方向移动至篮子的正上方后竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触字母汤。\n为了完成把字母汤和番茄酱都放进篮子里的任务：爪夹向爪夹方向的左前方移动至字母汤的正上方后竖直下落", + "time": 0.340264, + "annotations": { + "bbox_1767778444648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778444648_1767837237096_71wmvmvox", + "x": 0.6803418803418804, + "y": 0.48717948717948717, + "width": 0.10427350427350424, + "height": 0.1555555555555556 + } + ] + }, + "bbox_1767778471878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778471878_1767837240400_wi365v11d", + "x": 0.37606837606837606, + "y": 0.4564102564102564, + "width": 0.09743589743589742, + "height": 0.15897435897435902 + } + ] + }, + "bbox_1767778481804": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778481804_1767837245714_y39acjuex", + "x": 0.006837606837606838, + "y": 0.4393162393162393, + "width": 0.2205128205128205, + "height": 0.3367521367521368 + } + ] + }, + "point_1767778485512": { + "type": "point", + "instances": [ + { + "id": "point_1767778485512_1767837248747_3bvdf6n7s", + "x": 0.42905982905982903, + "y": 0.3076923076923077 + } + ] + }, + "point_1767778489620": { + "type": "point", + "instances": [ + { + "id": "point_1767778489620_1767837251400_tie1d6o7d", + "x": 0.5675213675213675, + "y": 0.3094017094017094 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的左侧移动", + "correction_plan": "在字母汤上的爪夹竖直下落，靠近并触及字母汤，爪夹闭合，抓取字母汤后竖直上升并向爪夹方向的右侧方向移动至篮子的正上方后竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "error_success_analysis": "爪夹向左移动靠近了抓取物字母汤", + "frame": 100, + "progress": 5, + "progress_explanation": "张开的爪夹向左边移动靠近字母汤，进度提升为5%", + "state_description": "爪夹目前张开位于字母汤的上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：爪夹继续向爪夹方向的下方竖直下落并闭合爪夹抓取字母汤", + "time": 3.345935, + "annotations": { + "point_1767778485512": { + "type": "point", + "instances": [ + { + "id": "point_1767778485512_1767837257648_gd830wwnt", + "x": 0.6649572649572649, + "y": 0.3811965811965812 + } + ] + }, + "point_1767778489620": { + "type": "point", + "instances": [ + { + "id": "point_1767778489620_1767837259510_019e67iei", + "x": 0.811965811965812, + "y": 0.37264957264957266 + } + ] + }, + "bbox_1767778444648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778444648_1767837267984_5jb8ls9sd", + "x": 0.6803418803418804, + "y": 0.48547008547008547, + "width": 0.10256410256410253, + "height": 0.16239316239316243 + } + ] + }, + "bbox_1767778471878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778471878_1767837280730_d6uxesilb", + "x": 0.37777777777777777, + "y": 0.4564102564102564, + "width": 0.10427350427350429, + "height": 0.1555555555555556 + } + ] + }, + "bbox_1767778481804": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778481804_1767837286320_be1f76ldv", + "x": 0.0017094017094017094, + "y": 0.441025641025641, + "width": 0.2170940170940171, + "height": 0.3384615384615385 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "correction_plan": "爪夹闭合，抓取字母汤后竖直上升并向爪夹方向的右侧方向移动至篮子的正上方后竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "error_success_analysis": "爪夹向下方的字母汤下落靠近抓取物字母汤", + "frame": 218, + "progress": 10, + "progress_explanation": "在字母汤上方的爪夹下落靠近字母汤，进度提升为10%", + "state_description": "两侧爪夹目前张开位于字母汤的上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：爪夹闭合抓取字母汤后向爪夹方向的上方竖直上升并向爪夹方向的右侧移动至篮子的上方", + "time": 7.258979, + "annotations": { + "point_1767778485512": { + "type": "point", + "instances": [ + { + "id": "point_1767778485512_1767837295314_2nsxv3zp4", + "x": 0.6683760683760683, + "y": 0.5504273504273505 + } + ] + }, + "point_1767778489620": { + "type": "point", + "instances": [ + { + "id": "point_1767778489620_1767837297548_60k0tte9f", + "x": 0.8034188034188035, + "y": 0.5521367521367522 + } + ] + }, + "bbox_1767778444648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778444648_1767837301990_278x2ydp8", + "x": 0.694017094017094, + "y": 0.49572649572649574, + "width": 0.0871794871794872, + "height": 0.14871794871794874 + } + ] + }, + "bbox_1767778471878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778471878_1767837305752_95tx027sb", + "x": 0.37435897435897436, + "y": 0.4581196581196581, + "width": 0.105982905982906, + "height": 0.1487179487179487 + } + ] + }, + "bbox_1767778481804": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778481804_1767837312048_plqgbix12", + "x": 0.0017094017094017094, + "y": 0.4393162393162393, + "width": 0.22905982905982908, + "height": 0.3367521367521368 + } + ] + } + } + }, + { + "action_description": "张开的爪夹闭合，抓取桌面上字母汤", + "correction_plan": "抓取字母汤的爪夹竖直上升并向爪夹方向的右侧方向移动至篮子的正上方后竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的字母汤", + "frame": 248, + "progress": 20, + "progress_explanation": "爪夹闭合成功抓取字母汤，进度提升为20%", + "state_description": "爪夹目前抓取了在桌面上的字母汤\n为了完成把字母汤和番茄酱都放进篮子里的任务：抓取字母汤的爪夹竖直向上抬升并向爪夹方向的右侧移动至篮子的上方", + "time": 8.279773, + "annotations": { + "bbox_1767778444648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778444648_1767837321742_0bero4vpe", + "x": 0.6854700854700855, + "y": 0.4905982905982906, + "width": 0.10256410256410253, + "height": 0.14358974358974358 + } + ] + }, + "bbox_1767778471878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778471878_1767837325750_i18bfus47", + "x": 0.37948717948717947, + "y": 0.452991452991453, + "width": 0.09914529914529918, + "height": 0.15897435897435902 + } + ] + }, + "bbox_1767778481804": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778481804_1767837331176_zmu69davl", + "x": 0.005128205128205128, + "y": 0.4427350427350427, + "width": 0.22564102564102564, + "height": 0.3367521367521368 + } + ] + }, + "point_1767778485512": { + "type": "point", + "instances": [ + { + "id": "point_1767778485512_1767837333298_8drp5rmk8", + "x": 0.6820512820512821, + "y": 0.5418803418803418 + } + ] + }, + "point_1767778489620": { + "type": "point", + "instances": [ + { + "id": "point_1767778489620_1767837335754_stydm8e23", + "x": 0.7897435897435897, + "y": 0.5487179487179488 + } + ] + } + } + }, + { + "action_description": "抓取字母汤的爪夹竖直向上抬升并向爪夹方向的右侧移动", + "correction_plan": "抓取字母汤的爪夹竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "error_success_analysis": "抓取字母汤的爪夹向右侧移动到篮子的上方", + "frame": 381, + "progress": 30, + "progress_explanation": "抓取字母汤的爪夹向右侧移动靠近篮子，进度提升为30", + "state_description": "爪夹目前抓取字母汤位于篮子的正上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：抓取字母汤的爪夹竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中", + "time": 12.703213, + "annotations": { + "point_1767778489620": { + "type": "point", + "instances": [ + { + "id": "point_1767778489620_1767837342698_e9f5sq0pa", + "x": 0.147008547008547, + "y": 0.3076923076923077 + } + ] + }, + "bbox_1767778481804": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778481804_1767837347933_662zj04gr", + "x": 0, + "y": 0.4393162393162393, + "width": 0.22905982905982905, + "height": 0.3384615384615385 + } + ] + }, + "bbox_1767778444648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778444648_1767837376938_sb3pcvt0g", + "x": 0.003418803418803419, + "y": 0.24957264957264957, + "width": 0.1572649572649573, + "height": 0.17264957264957265 + } + ] + }, + "bbox_1767778471878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778471878_1767837381056_d6l3nye1h", + "x": 0.38461538461538464, + "y": 0.46153846153846156, + "width": 0.09572649572649572, + "height": 0.15384615384615385 + } + ] + } + } + }, + { + "action_description": "抓取字母汤的爪夹向爪夹方向的下方移动将抓取的字母汤放在篮子里", + "correction_plan": "爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "error_success_analysis": "抓取字母汤爪夹向下竖直下落后抓取的字母汤被放入篮子中", + "frame": 454, + "progress": 40, + "progress_explanation": "抓取字母汤的爪夹下落，抓取的字母汤进入篮子中，进度提升为40%", + "state_description": "爪夹目前抓取字母汤位于篮子中\n为了完成把字母汤和番茄酱都放进篮子里的任务：爪夹张开，字母汤落入篮子中", + "time": 15.141776, + "annotations": { + "bbox_1767778444648": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778444648_1767837390118_h9xcvghva", + "x": 0.005128205128205128, + "y": 0.4358974358974359, + "width": 0.09230769230769231, + "height": 0.15897435897435896 + } + ] + }, + "bbox_1767778471878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778471878_1767837395060_z2hvlmdbn", + "x": 0.37777777777777777, + "y": 0.4581196581196581, + "width": 0.105982905982906, + "height": 0.1504273504273504 + } + ] + }, + "bbox_1767778481804": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778481804_1767837400930_drrlnieyr", + "x": 0.003418803418803419, + "y": 0.4393162393162393, + "width": 0.22905982905982908, + "height": 0.3350427350427351 + } + ] + }, + "point_1767778489620": { + "type": "point", + "instances": [ + { + "id": "point_1767778489620_1767837408122_6vazmhj9o", + "x": 0.08888888888888889, + "y": 0.48034188034188036 + } + ] + } + } + }, + { + "action_description": "爪夹张开，抓取的字母汤落在篮子里", + "correction_plan": "张开的爪夹竖直上升并向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "error_success_analysis": "爪夹张开成功，抓取的字母汤成功落入篮子中", + "frame": 492, + "progress": 50, + "progress_explanation": "爪夹张开字母汤落入篮子中，进度提升为50%", + "state_description": "爪夹张开位于篮子中字母汤的上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：张开的爪夹竖直向上抬升并向爪夹方向的左后方向移动至番茄酱的正上方", + "time": 16.389413, + "annotations": { + "point_1767778489620": { + "type": "point", + "instances": [ + { + "id": "point_1767778489620_1767837413008_uz9sj9r05", + "x": 0.08717948717948718, + "y": 0.4752136752136752 + } + ] + }, + "bbox_1767778481804": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778481804_1767837421214_aoqg3wfi9", + "x": 0.003418803418803419, + "y": 0.4461538461538462, + "width": 0.22393162393162394, + "height": 0.3316239316239316 + } + ] + }, + "bbox_1767778471878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778471878_1767837426100_4dt2z8q9t", + "x": 0.37606837606837606, + "y": 0.4598290598290598, + "width": 0.10085470085470088, + "height": 0.1487179487179487 + } + ] + } + } + }, + { + "time": 19.685767, + "frame": 591, + "progress": 55, + "action_description": "张开的爪夹竖直向上抬升并向爪夹方向的左后方向移动", + "state_description": "爪夹张开位于番茄酱的上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：张开的爪夹向爪夹方向的下方竖直下降靠近并触及番茄酱", + "progress_explanation": "爪夹向左后方靠近番茄酱上方移动，进度提升为55%", + "error_success_analysis": "爪夹张开向上略微抬升后并向爪夹方向的左后靠近番茄酱移动至番茄酱的上方", + "correction_plan": "爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "annotations": { + "point_1767778485512": { + "type": "point", + "instances": [ + { + "id": "point_1767778485512_1767837430290_p8tofnzo2", + "x": 0.3504273504273504, + "y": 0.3606837606837607 + } + ] + }, + "point_1767778489620": { + "type": "point", + "instances": [ + { + "id": "point_1767778489620_1767837432460_rr47pxuez", + "x": 0.5025641025641026, + "y": 0.3572649572649573 + } + ] + }, + "bbox_1767778481804": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778481804_1767837545714_zuo6pumou", + "x": 0.006837606837606838, + "y": 0.4444444444444444, + "width": 0.2188034188034188, + "height": 0.33333333333333337 + } + ] + }, + "bbox_1767778471878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778471878_1767837550206_oz0mfdjp8", + "x": 0.37777777777777777, + "y": 0.452991452991453, + "width": 0.10427350427350429, + "height": 0.1538461538461538 + } + ] + } + } + }, + { + "time": 22.125693, + "frame": 664, + "progress": 60, + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "state_description": "两侧爪夹目前张开位于番茄酱的上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：爪夹闭合抓取番茄酱后向爪夹方向的上方竖直上升并向爪夹方向的右右前方移动至篮子的上方", + "progress_explanation": "在番茄酱上方的爪夹下落靠近番茄酱，进度提升为60%", + "error_success_analysis": "爪夹向下方的番茄酱下落靠近抓取物番茄酱", + "correction_plan": "爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "annotations": { + "bbox_1767778471878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778471878_1767837556818_fy2wec6mn", + "x": 0.37777777777777777, + "y": 0.46153846153846156, + "width": 0.1076923076923077, + "height": 0.14529914529914523 + } + ] + }, + "point_1767778485512": { + "type": "point", + "instances": [ + { + "id": "point_1767778485512_1767837558948_cfi81v2bm", + "x": 0.3811965811965812, + "y": 0.5264957264957265 + } + ] + }, + "point_1767778489620": { + "type": "point", + "instances": [ + { + "id": "point_1767778489620_1767837561032_aid456c4k", + "x": 0.5111111111111111, + "y": 0.5042735042735043 + } + ] + }, + "bbox_1767778481804": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778481804_1767837565824_p7sc9iwha", + "x": 0.003418803418803419, + "y": 0.4427350427350427, + "width": 0.22735042735042738, + "height": 0.3350427350427351 + } + ] + } + } + }, + { + "time": 23.012939, + "frame": 690, + "progress": 70, + "action_description": "张开的爪夹闭合，抓取桌面上番茄酱", + "state_description": "爪夹目前抓取了在桌面上的番茄酱\n为了完成把字母汤和番茄酱都放进篮子里的任务：抓取番茄酱的爪夹竖直向上抬升并向爪夹方向的右前方向移动至篮子的上方", + "progress_explanation": "爪夹闭合成功抓取番茄酱，进度提升为70%", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的番茄酱", + "correction_plan": "抓取番茄酱的爪夹竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "annotations": { + "bbox_1767778481804": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778481804_1767837574420_ndn0q16rw", + "x": 0, + "y": 0.4427350427350427, + "width": 0.22905982905982905, + "height": 0.3350427350427351 + } + ] + }, + "bbox_1767778471878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778471878_1767837579474_x96fjluqz", + "x": 0.39316239316239315, + "y": 0.4478632478632479, + "width": 0.09743589743589742, + "height": 0.1521367521367521 + } + ] + }, + "point_1767778485512": { + "type": "point", + "instances": [ + { + "id": "point_1767778485512_1767837582340_n3wfed30l", + "x": 0.39316239316239315, + "y": 0.5230769230769231 + } + ] + }, + "point_1767778489620": { + "type": "point", + "instances": [ + { + "id": "point_1767778489620_1767837584472_61trhbfp5", + "x": 0.48717948717948717, + "y": 0.5076923076923077 + } + ] + } + } + }, + { + "time": 26.561922, + "frame": 797, + "progress": 80, + "action_description": "抓取番茄酱的爪夹竖直向上抬升并向爪夹方向的右前方向移动", + "state_description": "爪夹目前抓取番茄酱位于篮子的正上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：抓取番茄酱的爪夹竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "progress_explanation": "抓取番茄酱的爪夹向右前方移动靠近篮子，进度提升为80%", + "error_success_analysis": "抓取番茄酱的爪夹向右前方向移动到篮子的上方", + "correction_plan": "抓取番茄酱的爪夹下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "annotations": { + "point_1767778489620": { + "type": "point", + "instances": [ + { + "id": "point_1767778489620_1767837589200_iu3j7bx3p", + "x": 0.1829059829059829, + "y": 0.37606837606837606 + } + ] + }, + "point_1767778485512": { + "type": "point", + "instances": [ + { + "id": "point_1767778485512_1767837592011_b1sdu0ui7", + "x": 0.04957264957264957, + "y": 0.41367521367521365 + } + ] + }, + "bbox_1767778471878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778471878_1767837597182_enkfhkgfr", + "x": 0.044444444444444446, + "y": 0.3162393162393162, + "width": 0.15213675213675212, + "height": 0.18461538461538463 + } + ] + }, + "bbox_1767778481804": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778481804_1767837602252_6qvp16636", + "x": 0.0017094017094017094, + "y": 0.4376068376068376, + "width": 0.22393162393162394, + "height": 0.3384615384615385 + } + ] + } + } + }, + { + "time": 28.613678, + "frame": 858, + "progress": 90, + "action_description": "抓取番茄酱的爪夹向爪夹方向的下方移动将抓取的番茄酱放在篮子里", + "state_description": "爪夹目前抓取番茄酱位于篮子中\n为了完成把字母汤和番茄酱都放进篮子里的任务：爪夹张开，番茄酱落入篮子中", + "progress_explanation": "抓取番茄酱的爪夹下落，抓取的番茄酱进入篮子中，进度提升为90%", + "error_success_analysis": "抓取番茄酱的爪夹向下竖直下落后抓取的番茄酱被放入篮子中", + "correction_plan": "爪夹张开，番茄酱落入篮子中", + "annotations": { + "bbox_1767778481804": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778481804_1767837610292_2p6ipvjss", + "x": 0, + "y": 0.42905982905982903, + "width": 0.2341880341880342, + "height": 0.34700854700854705 + } + ] + }, + "point_1767778485512": { + "type": "point", + "instances": [ + { + "id": "point_1767778485512_1767837612438_2evru1muc", + "x": 0.07521367521367521, + "y": 0.4888888888888889 + } + ] + }, + "point_1767778489620": { + "type": "point", + "instances": [ + { + "id": "point_1767778489620_1767837615068_a755isc3o", + "x": 0.2, + "y": 0.46153846153846156 + } + ] + }, + "bbox_1767778471878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778471878_1767837621428_gq9wedpgu", + "x": 0.07521367521367521, + "y": 0.4, + "width": 0.11794871794871796, + "height": 0.16923076923076918 + } + ] + } + } + }, + { + "time": 29.675675675675677, + "frame": 890, + "progress": 100, + "action_description": "爪夹张开，抓取的番茄酱落在篮子里", + "state_description": "爪夹张开位于篮子中番茄酱的上方\n把字母汤和番茄酱都放进篮子里已完成", + "progress_explanation": "爪夹张开番茄酱落入篮子中，进度提升为100%", + "error_success_analysis": "爪夹张开成功，抓取的番茄酱成功落入篮子中", + "correction_plan": "已完成把字母汤和番茄酱都放进篮子里的任务", + "annotations": { + "bbox_1767778471878": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778471878_1767837629158_6sp5hsbg5", + "x": 0.06837606837606838, + "y": 0.4222222222222222, + "width": 0.12478632478632479, + "height": 0.16410256410256413 + } + ] + }, + "bbox_1767778481804": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767778481804_1767837634638_iwjj4a6u8", + "x": 0.006837606837606838, + "y": 0.4307692307692308, + "width": 0.22905982905982905, + "height": 0.3487179487179487 + } + ] + }, + "point_1767778485512": { + "type": "point", + "instances": [ + { + "id": "point_1767778485512_1767837637934_w02ao5z3t", + "x": 0.013675213675213675, + "y": 0.4478632478632479 + } + ] + }, + "point_1767778489620": { + "type": "point", + "instances": [ + { + "id": "point_1767778489620_1767837640634_hcaszbn8i", + "x": 0.15897435897435896, + "y": 0.40854700854700854 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767778444648", + "name": "字母汤" + }, + { + "color": "#FF9800", + "id": "bbox_1767778471878", + "name": "番茄酱" + }, + { + "color": "#2196F3", + "id": "bbox_1767778481804", + "name": "篮子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767778485512", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767778489620", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000329.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000329.json new file mode 100644 index 0000000000000000000000000000000000000000..fb922fa085aecee0a65189418edcb221e4af5062 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000329.json @@ -0,0 +1,931 @@ +{ + "task_description": "把奶油奶酪盒和黄油都放进篮子里\n开始移动0%\n爪夹靠近奶油奶酪盒10%\n爪夹抓取奶油奶酪盒20%\n爪夹抓取奶油奶酪盒接近篮子30%\n爪夹将抓取的奶油奶酪盒放进篮子40%\n爪夹松开，奶油奶酪盒落入篮子中50%\n爪夹靠近黄油60%\n爪夹抓取黄油70%\n爪夹抓取黄油接近篮子80%\n爪夹将抓取的黄油放进篮子90%\n爪夹松开，黄油落入篮子中100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1767841999813": { + "instances": [ + { + "height": 0.1367521367521367, + "id": "bbox_1767841999813_1767844889298_u8og96g7d", + "width": 0.11282051282051275, + "x": 0.7726495726495727, + "y": 0.747008547008547 + } + ], + "type": "bbox" + }, + "bbox_1767842004255": { + "instances": [ + { + "height": 0.11794871794871786, + "id": "bbox_1767842004255_1767844894628_nj5duj7hn", + "width": 0.0854700854700855, + "x": 0.39658119658119656, + "y": 0.6786324786324787 + } + ], + "type": "bbox" + }, + "bbox_1767842009015": { + "instances": [ + { + "height": 0.32820512820512826, + "id": "bbox_1767842009015_1767844899429_k31iw1y53", + "width": 0.22564102564102564, + "x": 0.003418803418803419, + "y": 0.441025641025641 + } + ], + "type": "bbox" + }, + "point_1767842012707": { + "instances": [ + { + "id": "point_1767842012707_1767844902342_tm77w3r5e", + "x": 0.4205128205128205, + "y": 0.3128205128205128 + } + ], + "type": "point" + }, + "point_1767842018519": { + "instances": [ + { + "id": "point_1767842018519_1767844904807_e8duetyi1", + "x": 0.5709401709401709, + "y": 0.3162393162393162 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的左前方移动至奶油奶酪盒的正上方后竖直下落，靠近并触及奶油奶酪盒，爪夹闭合，抓取奶油奶酪盒后竖直上升并向爪夹方向的右后方向移动至篮子的正上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中，张开的爪夹竖直上升并向爪夹方向的左侧移动至黄油的正上方，后爪夹竖直下落靠近黄油，爪夹闭合抓取黄油，抓取后竖直上升并向爪夹方向的右后方移动至篮子的上方后竖直下落将抓取的黄油放入篮子中，爪夹松开，黄油落入篮子中", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触奶油奶酪盒。\n为了完成把奶油奶酪盒和黄油都放进篮子里的任务：张开的爪夹向爪夹方向的左前方移动至奶油奶酪盒的正上方后竖直下落", + "time": 0.04658 + }, + { + "action_description": "张开的爪夹向爪夹方向的左前方向移动", + "annotations": { + "bbox_1767841999813": { + "instances": [ + { + "height": 0.1316239316239316, + "id": "bbox_1767841999813_1767844923632_94etcf0et", + "width": 0.11282051282051275, + "x": 0.7777777777777778, + "y": 0.7504273504273504 + } + ], + "type": "bbox" + }, + "bbox_1767842004255": { + "instances": [ + { + "height": 0.10598290598290594, + "id": "bbox_1767842004255_1767844919608_inr2n2dua", + "width": 0.0837606837606838, + "x": 0.39487179487179486, + "y": 0.6871794871794872 + } + ], + "type": "bbox" + }, + "bbox_1767842009015": { + "instances": [ + { + "height": 0.3350427350427351, + "id": "bbox_1767842009015_1767844916180_qvf4lrk13", + "width": 0.22735042735042738, + "x": 0.003418803418803419, + "y": 0.4358974358974359 + } + ], + "type": "bbox" + }, + "point_1767842012707": { + "instances": [ + { + "id": "point_1767842012707_1767844911776_mk7ejwaim", + "x": 0.6923076923076923, + "y": 0.5504273504273505 + } + ], + "type": "point" + }, + "point_1767842018519": { + "instances": [ + { + "id": "point_1767842018519_1767844908338_dqwzsu5n3", + "x": 0.8735042735042735, + "y": 0.5299145299145299 + } + ], + "type": "point" + } + }, + "correction_plan": "在奶油奶酪盒的正上方的爪夹竖直下落，靠近并触及奶油奶酪盒，爪夹闭合，抓取奶油奶酪盒后竖直上升并向爪夹方向的右后方向移动至篮子的正上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中，张开的爪夹竖直上升并向爪夹方向的左侧移动至黄油的正上方，后爪夹竖直下落靠近黄油，爪夹闭合抓取黄油，抓取后竖直上升并向爪夹方向的右后方移动至篮子的上方后竖直下落将抓取的黄油放入篮子中，爪夹松开，黄油落入篮子中", + "error_success_analysis": "爪夹向左前方移动靠近了抓取物奶油奶酪盒", + "frame": 87, + "progress": 5, + "progress_explanation": "张开的爪夹向左边移动靠近奶油奶酪盒，进度提升为5%", + "state_description": "爪夹当前状态张开位于奶油奶酪盒的上方\n为了完成把奶油奶酪盒和黄油都放进篮子里的任务：张开的爪夹竖直下落靠近并触及奶油奶酪盒后爪夹闭合抓取奶油奶酪盒", + "time": 2.887985 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1767842004255": { + "instances": [ + { + "height": 0.11111111111111105, + "id": "bbox_1767842004255_1767844932748_cwr72jyys", + "width": 0.0888888888888889, + "x": 0.39487179487179486, + "y": 0.6854700854700855 + } + ], + "type": "bbox" + }, + "bbox_1767842009015": { + "instances": [ + { + "height": 0.3401709401709402, + "id": "bbox_1767842009015_1767844937515_nz1h9qaj3", + "width": 0.22564102564102564, + "x": 0.005128205128205128, + "y": 0.4307692307692308 + } + ], + "type": "bbox" + }, + "point_1767842012707": { + "instances": [ + { + "id": "point_1767842012707_1767844940050_3dymnof8h", + "x": 0.7829059829059829, + "y": 0.8700854700854701 + } + ], + "type": "point" + }, + "point_1767842018519": { + "instances": [ + { + "id": "point_1767842018519_1767844942204_sfej15iwo", + "x": 0.8888888888888888, + "y": 0.8461538461538461 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹闭合，抓取奶油奶酪盒后竖直上升并向爪夹方向的右后方向移动至篮子的正上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中，张开的爪夹竖直上升并向爪夹方向的左侧移动至黄油的正上方，后爪夹竖直下落靠近黄油，爪夹闭合抓取黄油，抓取后竖直上升并向爪夹方向的右后方移动至篮子的上方后竖直下落将抓取的黄油放入篮子中，爪夹松开，黄油落入篮子中", + "error_success_analysis": "爪夹向下方的奶油奶酪盒下落靠近抓取物奶油奶酪盒", + "frame": 157, + "progress": 10, + "progress_explanation": "在奶油奶酪盒上方的爪夹下落靠近奶油奶酪盒，进度提升为10%", + "state_description": "爪夹当前为张开状态，两侧爪夹位于奶油奶酪盒的上方\n为了完成把奶油奶酪盒和黄油都放进篮子里的任务：爪夹闭合抓取桌面上的奶油奶酪盒后竖直上升", + "time": 5.217005 + }, + { + "action_description": "张开的爪夹闭合，抓取桌面上奶油奶酪盒", + "annotations": { + "bbox_1767842004255": { + "instances": [ + { + "height": 0.11794871794871786, + "id": "bbox_1767842004255_1767844958520_d63dvhs3a", + "width": 0.08205128205128209, + "x": 0.39487179487179486, + "y": 0.6786324786324787 + } + ], + "type": "bbox" + }, + "bbox_1767842009015": { + "instances": [ + { + "height": 0.3367521367521368, + "id": "bbox_1767842009015_1767844954899_6elxog85a", + "width": 0.22222222222222224, + "x": 0.003418803418803419, + "y": 0.4341880341880342 + } + ], + "type": "bbox" + }, + "point_1767842012707": { + "instances": [ + { + "id": "point_1767842012707_1767844948843_2sd09363z", + "x": 0.8034188034188035, + "y": 0.8444444444444444 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪盒的爪夹竖直上升并向爪夹方向的右后方向移动至篮子的正上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中，张开的爪夹竖直上升并向爪夹方向的左侧移动至黄油的正上方，后爪夹竖直下落靠近黄油，爪夹闭合抓取黄油，抓取后竖直上升并向爪夹方向的右后方移动至篮子的上方后竖直下落将抓取的黄油放入篮子中，爪夹松开，黄油落入篮子中", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的奶油奶酪盒", + "frame": 183, + "progress": 20, + "progress_explanation": "爪夹闭合成功抓取奶油奶酪盒，进度提升为20%", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了奶油奶酪盒\n为了完成把奶油奶酪盒和黄油都放进篮子里的任务：抓取奶油奶酪盒的爪夹向竖直上升并向爪夹方向的右后方移动至篮子的上方", + "time": 6.102033 + }, + { + "action_description": "抓取奶油奶酪盒的爪夹向爪夹方向的上方竖直上升", + "annotations": { + "bbox_1767841999813": { + "instances": [ + { + "height": 0.14017094017094023, + "id": "bbox_1767841999813_1767844970012_nysyo5apv", + "width": 0.10769230769230764, + "x": 0.7675213675213676, + "y": 0.5042735042735043 + } + ], + "type": "bbox" + }, + "bbox_1767842004255": { + "instances": [ + { + "height": 0.12136752136752138, + "id": "bbox_1767842004255_1767844966542_lurd0h7pi", + "width": 0.0837606837606838, + "x": 0.39487179487179486, + "y": 0.6820512820512821 + } + ], + "type": "bbox" + }, + "bbox_1767842009015": { + "instances": [ + { + "height": 0.3367521367521368, + "id": "bbox_1767842009015_1767844975350_g8fxy5g03", + "width": 0.22735042735042735, + "x": 0, + "y": 0.4324786324786325 + } + ], + "type": "bbox" + }, + "point_1767842012707": { + "instances": [ + { + "id": "point_1767842012707_1767844977907_a7q512ary", + "x": 0.7658119658119658, + "y": 0.6153846153846154 + } + ], + "type": "point" + }, + "point_1767842018519": { + "instances": [ + { + "id": "point_1767842018519_1767844980458_w6n4e7drf", + "x": 0.8752136752136752, + "y": 0.5965811965811966 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪盒的爪夹向爪夹方向的右后方向移动至篮子的正上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中，张开的爪夹竖直上升并向爪夹方向的左侧移动至黄油的正上方，后爪夹竖直下落靠近黄油，爪夹闭合抓取黄油，抓取后竖直上升并向爪夹方向的右后方移动至篮子的上方后竖直下落将抓取的黄油放入篮子中，爪夹松开，黄油落入篮子中", + "error_success_analysis": "抓取奶油奶酪盒的爪夹向上抬升方便后续继续向右侧的篮子上方移动", + "frame": 231, + "progress": 25, + "progress_explanation": "爪夹抓取奶油奶酪盒竖直上升后靠近篮子，进度提升为25%", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了奶油奶酪盒在篮子的左侧上方\n为了完成把奶油奶酪盒和黄油都放进篮子里的任务：抓取奶油奶酪盒的爪夹向爪夹方向的右后方移动至篮子的上方", + "time": 7.686 + }, + { + "action_description": "抓取奶油奶酪盒的爪夹向爪夹方向的右后方向移动", + "annotations": { + "bbox_1767841999813": { + "instances": [ + { + "height": 0.13333333333333336, + "id": "bbox_1767841999813_1767844998007_21b1c7o1y", + "width": 0.10085470085470084, + "x": 0.08205128205128205, + "y": 0.3623931623931624 + } + ], + "type": "bbox" + }, + "bbox_1767842004255": { + "instances": [ + { + "height": 0.12307692307692308, + "id": "bbox_1767842004255_1767844994404_twl88r2sh", + "width": 0.07863247863247863, + "x": 0.4017094017094017, + "y": 0.676923076923077 + } + ], + "type": "bbox" + }, + "bbox_1767842009015": { + "instances": [ + { + "height": 0.3350427350427351, + "id": "bbox_1767842009015_1767844990382_7nf4es8m3", + "width": 0.2222222222222222, + "x": 0.005128205128205128, + "y": 0.4341880341880342 + } + ], + "type": "bbox" + }, + "point_1767842012707": { + "instances": [ + { + "id": "point_1767842012707_1767844986050_68kdeu2vr", + "x": 0.08205128205128205, + "y": 0.4547008547008547 + } + ], + "type": "point" + }, + "point_1767842018519": { + "instances": [ + { + "id": "point_1767842018519_1767844983888_0789pb6v4", + "x": 0.19487179487179487, + "y": 0.4427350427350427 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪盒的爪夹竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中，张开的爪夹竖直上升并向爪夹方向的左侧移动至黄油的正上方，后爪夹竖直下落靠近黄油，爪夹闭合抓取黄油，抓取后竖直上升并向爪夹方向的右后方移动至篮子的上方后竖直下落将抓取的黄油放入篮子中，爪夹松开，黄油落入篮子中", + "error_success_analysis": "抓取奶油奶酪盒的爪夹向右后侧移动到篮子的上方", + "frame": 323, + "progress": 30, + "progress_explanation": "抓取奶油奶酪盒的爪夹向右侧移动靠近篮子，进度提升为30%", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了奶油奶酪盒在篮子的上方\n为了完成把奶油奶酪盒和黄油都放进篮子里的任务：抓取奶油奶酪盒的爪夹向爪夹方向的下方下落将抓取的奶油奶酪盒放进篮子中", + "time": 10.760073 + }, + { + "action_description": "抓取奶油奶酪盒的爪夹向爪夹方向的右下方移动将抓取的奶油奶酪盒放在篮子里", + "annotations": { + "bbox_1767841999813": { + "instances": [ + { + "height": 0.12478632478632479, + "id": "bbox_1767841999813_1767845004011_seb9cwp3p", + "width": 0.09230769230769231, + "x": 0.015384615384615385, + "y": 0.37435897435897436 + } + ], + "type": "bbox" + }, + "bbox_1767842004255": { + "instances": [ + { + "height": 0.11623931623931616, + "id": "bbox_1767842004255_1767845006949_pl7dfv4hh", + "width": 0.09059829059829061, + "x": 0.38974358974358975, + "y": 0.6786324786324787 + } + ], + "type": "bbox" + }, + "bbox_1767842009015": { + "instances": [ + { + "height": 0.3264957264957265, + "id": "bbox_1767842009015_1767845012525_7ziniz8y8", + "width": 0.2341880341880342, + "x": 0.0017094017094017094, + "y": 0.42905982905982903 + } + ], + "type": "bbox" + }, + "point_1767842012707": { + "instances": [ + { + "id": "point_1767842012707_1767845015297_2w5pddegx", + "x": 0.010256410256410256, + "y": 0.4735042735042735 + } + ], + "type": "point" + }, + "point_1767842018519": { + "instances": [ + { + "id": "point_1767842018519_1767845017160_hi0ad2pqa", + "x": 0.1094017094017094, + "y": 0.46495726495726497 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹松开，抓取的奶油奶酪盒落入篮子中，张开的爪夹竖直上升并向爪夹方向的左侧移动至黄油的正上方，后爪夹竖直下落靠近黄油，爪夹闭合抓取黄油，抓取后竖直上升并向爪夹方向的右后方移动至篮子的上方后竖直下落将抓取的黄油放入篮子中，爪夹松开，黄油落入篮子中", + "error_success_analysis": "抓取奶油奶酪盒的爪夹向下竖直下落后抓取的奶油奶酪盒被放入篮子中", + "frame": 384, + "progress": 40, + "progress_explanation": "抓取奶油奶酪盒的爪夹下落，抓取的奶油奶酪盒放进篮子中，进度提升为40%", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了奶油奶酪盒位于篮子的正上方\n为了完成把奶油奶酪盒和黄油都放进篮子里的任务：抓取奶油奶酪盒的爪夹张开，抓取的奶油奶酪盒落入篮子中", + "time": 12.804324324324325 + }, + { + "action_description": "抓取奶油奶酪盒的爪夹张开，奶油奶酪盒落入篮子中", + "annotations": { + "bbox_1767841999813": { + "instances": [ + { + "height": 0.13846153846153852, + "id": "bbox_1767841999813_1767845034393_da0s2h9up", + "width": 0.08547008547008547, + "x": 0.04786324786324786, + "y": 0.5094017094017094 + } + ], + "type": "bbox" + }, + "bbox_1767842004255": { + "instances": [ + { + "height": 0.11111111111111105, + "id": "bbox_1767842004255_1767845029452_526ddjarf", + "width": 0.07863247863247863, + "x": 0.4, + "y": 0.6837606837606838 + } + ], + "type": "bbox" + }, + "bbox_1767842009015": { + "instances": [ + { + "height": 0.3316239316239316, + "id": "bbox_1767842009015_1767845026103_uokjmhu90", + "width": 0.23931623931623933, + "x": 0.0017094017094017094, + "y": 0.42735042735042733 + } + ], + "type": "bbox" + }, + "point_1767842018519": { + "instances": [ + { + "id": "point_1767842018519_1767845020017_k9ygsktxv", + "x": 0.15555555555555556, + "y": 0.4564102564102564 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹竖直上升并向爪夹方向的左侧移动至黄油的正上方，后爪夹竖直下落靠近黄油，爪夹闭合抓取黄油，抓取后竖直上升并向爪夹方向的右后方移动至篮子的上方后竖直下落将抓取的黄油放入篮子中，爪夹松开，黄油落入篮子中", + "error_success_analysis": "爪夹张开成功，抓取的奶油奶酪盒成功落入篮子中", + "frame": 421, + "progress": 50, + "progress_explanation": "爪夹张开奶油奶酪盒落入篮子中，进度提升为50%", + "state_description": "爪夹当前为张开状态，位于在篮子中奶油奶酪盒的上方\n为了完成把奶油奶酪盒和黄油都放进篮子里的任务：张开的爪夹向爪夹方向的左侧移动至黄油的上方后竖直下落", + "time": 14.020702 + }, + { + "action_description": "张开的爪夹向爪夹方向的左前方向移动", + "annotations": { + "bbox_1767841999813": { + "instances": [ + { + "height": 0.1264957264957265, + "id": "bbox_1767841999813_1767845040546_t9l06s9ig", + "width": 0.08547008547008547, + "x": 0.04786324786324786, + "y": 0.5111111111111111 + } + ], + "type": "bbox" + }, + "bbox_1767842004255": { + "instances": [ + { + "height": 0.11623931623931616, + "id": "bbox_1767842004255_1767845043660_jofdj606h", + "width": 0.08205128205128204, + "x": 0.39316239316239315, + "y": 0.6803418803418804 + } + ], + "type": "bbox" + }, + "bbox_1767842009015": { + "instances": [ + { + "height": 0.3162393162393162, + "id": "bbox_1767842009015_1767845047786_4mgxfhtm8", + "width": 0.22222222222222224, + "x": 0.0017094017094017094, + "y": 0.4324786324786325 + } + ], + "type": "bbox" + }, + "point_1767842012707": { + "instances": [ + { + "id": "point_1767842012707_1767845050272_2gk4zu4nb", + "x": 0.3111111111111111, + "y": 0.588034188034188 + } + ], + "type": "point" + }, + "point_1767842018519": { + "instances": [ + { + "id": "point_1767842018519_1767845052751_jc4lhrivy", + "x": 0.48034188034188036, + "y": 0.5692307692307692 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹竖直下落靠近黄油，爪夹闭合抓取黄油，抓取后竖直上升并向爪夹方向的右后方移动至篮子的上方后竖直下落将抓取的黄油放入篮子中，爪夹松开，黄油落入篮子中", + "error_success_analysis": "爪夹向左前方移动靠近了抓取物黄油", + "frame": 479, + "progress": 55, + "progress_explanation": "张开的爪夹向左前移动靠近黄油，进度提升为55%", + "state_description": "爪夹当前状态张开位于黄油的上方\n为了完成把奶油奶酪盒和黄油都放进篮子里的任务：张开的爪夹竖直下落靠近并触及黄油后爪夹闭合抓取黄油", + "time": 15.977079 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1767841999813": { + "instances": [ + { + "height": 0.1264957264957265, + "id": "bbox_1767841999813_1767845072416_nj97va92j", + "width": 0.08205128205128207, + "x": 0.04957264957264957, + "y": 0.5076923076923077 + } + ], + "type": "bbox" + }, + "bbox_1767842004255": { + "instances": [ + { + "height": 0.11623931623931616, + "id": "bbox_1767842004255_1767845076962_tmzc9vv9n", + "width": 0.07692307692307693, + "x": 0.4, + "y": 0.6803418803418804 + } + ], + "type": "bbox" + }, + "bbox_1767842009015": { + "instances": [ + { + "height": 0.32307692307692304, + "id": "bbox_1767842009015_1767845082854_ezki4mdn0", + "width": 0.2222222222222222, + "x": 0.005128205128205128, + "y": 0.4358974358974359 + } + ], + "type": "bbox" + }, + "point_1767842012707": { + "instances": [ + { + "id": "point_1767842012707_1767845058557_co1r1oicx", + "x": 0.38632478632478634, + "y": 0.7521367521367521 + } + ], + "type": "point" + }, + "point_1767842018519": { + "instances": [ + { + "id": "point_1767842018519_1767845056712_xtq3v5723", + "x": 0.5316239316239316, + "y": 0.7829059829059829 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹闭合抓取黄油，抓取后竖直上升并向爪夹方向的右后方移动至篮子的上方后竖直下落将抓取的黄油放入篮子中，爪夹松开，黄油落入篮子中", + "error_success_analysis": "爪夹向下方的黄油下落靠近抓取物黄油", + "frame": 538, + "progress": 60, + "progress_explanation": "在黄油上方的爪夹下落靠近黄油，进度提升为60%", + "state_description": "爪夹当前为张开状态，两侧爪夹位于黄油的上方\n为了完成把奶油奶酪盒和黄油都放进篮子里的任务：爪夹闭合抓取桌面上的黄油后竖直上升", + "time": 17.933456 + }, + { + "action_description": "张开的爪夹闭合，抓取桌面上黄油", + "annotations": { + "bbox_1767841999813": { + "instances": [ + { + "height": 0.12307692307692308, + "id": "bbox_1767841999813_1767845098568_6i4dh6hwt", + "width": 0.08376068376068377, + "x": 0.04957264957264957, + "y": 0.5094017094017094 + } + ], + "type": "bbox" + }, + "bbox_1767842004255": { + "instances": [ + { + "height": 0.1316239316239316, + "id": "bbox_1767842004255_1767845094661_kp33wyglh", + "width": 0.09401709401709402, + "x": 0.39658119658119656, + "y": 0.6615384615384615 + } + ], + "type": "bbox" + }, + "bbox_1767842009015": { + "instances": [ + { + "height": 0.3333333333333333, + "id": "bbox_1767842009015_1767845090013_ze7t7n02r", + "width": 0.23247863247863249, + "x": 0.0017094017094017094, + "y": 0.42735042735042733 + } + ], + "type": "bbox" + }, + "point_1767842012707": { + "instances": [ + { + "id": "point_1767842012707_1767845101345_gaijabymw", + "x": 0.39658119658119656, + "y": 0.7504273504273504 + } + ], + "type": "point" + }, + "point_1767842018519": { + "instances": [ + { + "id": "point_1767842018519_1767845103437_q191l2r6o", + "x": 0.49401709401709404, + "y": 0.764102564102564 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取黄油的爪夹竖直上升并向爪夹方向的右后方移动至篮子的上方后竖直下落将抓取的黄油放入篮子中，爪夹松开，黄油落入篮子中", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的黄油", + "frame": 574, + "progress": 70, + "progress_explanation": "爪夹闭合成功抓取黄油，进度提升为70%", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了黄油\n为了完成把奶油奶酪盒和黄油都放进篮子里的任务：抓取黄油的爪夹竖直上升并向爪夹方向的右后方移动至篮子的上方", + "time": 19.144547 + }, + { + "action_description": "抓取黄油的爪夹向爪夹方向的右后方向抬升并移动", + "annotations": { + "bbox_1767841999813": { + "instances": [ + { + "height": 0.13333333333333341, + "id": "bbox_1767841999813_1767845127799_13e852iod", + "width": 0.08205128205128204, + "x": 0.05299145299145299, + "y": 0.5094017094017094 + } + ], + "type": "bbox" + }, + "bbox_1767842004255": { + "instances": [ + { + "height": 0.14017094017094023, + "id": "bbox_1767842004255_1767845119095_ra8d6cc4o", + "width": 0.09401709401709402, + "x": 0.018803418803418803, + "y": 0.3384615384615384 + } + ], + "type": "bbox" + }, + "bbox_1767842009015": { + "instances": [ + { + "height": 0.32136752136752134, + "id": "bbox_1767842009015_1767845114652_0dfqkyego", + "width": 0.2239316239316239, + "x": 0.005128205128205128, + "y": 0.4324786324786325 + } + ], + "type": "bbox" + }, + "point_1767842012707": { + "instances": [ + { + "id": "point_1767842012707_1767845109386_uejqc6vky", + "x": 0.005128205128205128, + "y": 0.4427350427350427 + } + ], + "type": "point" + }, + "point_1767842018519": { + "instances": [ + { + "id": "point_1767842018519_1767845107103_etjwu5h9d", + "x": 0.10427350427350428, + "y": 0.441025641025641 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取黄油的爪夹竖直下落将抓取的黄油放入篮子中，爪夹松开，黄油落入篮子中", + "error_success_analysis": "抓取黄油的爪夹向右后侧抬升比移动到篮子的上方", + "frame": 669, + "progress": 80, + "progress_explanation": "抓取黄油的爪夹向右侧移动靠近篮子，进度提升为80%", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了黄油位于篮子的上方\n为了完成把奶油奶酪盒和黄油都放进篮子里的任务：抓取黄油的爪夹向爪夹方向的下方下落将抓取的黄油放进篮子中", + "time": 22.313598 + }, + { + "action_description": "抓取黄油的爪夹向爪夹方向的下方略微移动将抓取的黄油放在篮子里", + "annotations": { + "bbox_1767841999813": { + "instances": [ + { + "height": 0.14188034188034193, + "id": "bbox_1767841999813_1767845132289_83ty6cd3t", + "width": 0.08034188034188035, + "x": 0.05128205128205128, + "y": 0.505982905982906 + } + ], + "type": "bbox" + }, + "bbox_1767842004255": { + "instances": [ + { + "height": 0.14358974358974358, + "id": "bbox_1767842004255_1767845136265_fw83p6rv2", + "width": 0.08205128205128205, + "x": 0.035897435897435895, + "y": 0.3623931623931624 + } + ], + "type": "bbox" + }, + "bbox_1767842009015": { + "instances": [ + { + "height": 0.3282051282051282, + "id": "bbox_1767842009015_1767845140581_fvlgd15ng", + "width": 0.22905982905982908, + "x": 0.0017094017094017094, + "y": 0.4239316239316239 + } + ], + "type": "bbox" + }, + "point_1767842012707": { + "instances": [ + { + "id": "point_1767842012707_1767845142871_jn3bvv9ma", + "x": 0.03076923076923077, + "y": 0.4683760683760684 + } + ], + "type": "point" + }, + "point_1767842018519": { + "instances": [ + { + "id": "point_1767842018519_1767845145119_r8q1eaqv6", + "x": 0.11794871794871795, + "y": 0.46324786324786327 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹张开，抓取的黄油落入篮子中", + "error_success_analysis": "抓取黄油的爪夹向下竖直下落后抓取的黄油被放入篮子中", + "frame": 704, + "progress": 90, + "progress_explanation": "抓取黄油的爪夹下落，抓取的黄油放进篮子中，进度提升为90%", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了黄油位于篮子的正上方\n为了完成把奶油奶酪盒和黄油都放进篮子里的任务：抓取黄油的爪夹张开，抓取的黄油落入篮子中", + "time": 23.476524 + }, + { + "action_description": "抓取黄油的爪夹张开，黄油落入篮子中", + "annotations": { + "bbox_1767841999813": { + "instances": [ + { + "height": 0.1264957264957265, + "id": "bbox_1767841999813_1767845162607_k8p5mloqk", + "width": 0.08547008547008547, + "x": 0.04786324786324786, + "y": 0.5128205128205128 + } + ], + "type": "bbox" + }, + "bbox_1767842009015": { + "instances": [ + { + "height": 0.3299145299145299, + "id": "bbox_1767842009015_1767845155758_mc5s5mt6z", + "width": 0.23760683760683762, + "x": 0.0017094017094017094, + "y": 0.42735042735042733 + } + ], + "type": "bbox" + }, + "point_1767842012707": { + "instances": [ + { + "id": "point_1767842012707_1767845151322_uh9kxsacn", + "x": 0.006837606837606838, + "y": 0.4427350427350427 + } + ], + "type": "point" + }, + "point_1767842018519": { + "instances": [ + { + "id": "point_1767842018519_1767845148589_79twmc4gw", + "x": 0.1623931623931624, + "y": 0.4393162393162393 + } + ], + "type": "point" + } + }, + "correction_plan": "已完成把奶油奶酪盒和黄油都放进篮子里的任务", + "error_success_analysis": "爪夹成功张开，抓取的黄油落入下方的篮子中", + "frame": 748, + "progress": 100, + "progress_explanation": "爪夹完全松开，黄油落入篮子中，进度提升为100%", + "state_description": "爪夹当前为张开状态，位于在篮子的上方\n把奶油奶酪盒和黄油都放进篮子里已完成", + "time": 24.920517 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767841999813", + "name": "奶油奶酪盒" + }, + { + "color": "#FF9800", + "id": "bbox_1767842004255", + "name": "黄油" + }, + { + "color": "#2196F3", + "id": "bbox_1767842009015", + "name": "篮子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767842012707", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767842018519", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000352.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000352.json new file mode 100644 index 0000000000000000000000000000000000000000..0a4d39ab5d11a235e2361adf598a4e8118db32c9 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000352.json @@ -0,0 +1,903 @@ +{ + "task_description": "把字母汤和番茄酱都放进篮子里\n开始移动0%\n爪夹靠近字母汤10%\n爪夹抓取字母汤20%\n爪夹抓取字母汤接近篮子30%\n爪夹将抓取的字母汤放进篮子40%\n爪夹松开，字母汤落入篮子中50%\n爪夹靠近番茄酱60%\n爪夹抓取番茄酱70%\n爪夹抓取番茄酱接近篮子80%\n爪夹将抓取的番茄酱放进篮子90%\n爪夹松开，番茄酱落入篮子中100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹向爪夹方向的左前方移动至字母汤的正上方后竖直下落，靠近并触及字母汤，爪夹闭合，抓取字母汤后竖直上升并向爪夹方向的右前方向移动至篮子的正上方后竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触字母汤。\n为了完成把字母汤和番茄酱都放进篮子里的任务：爪夹向爪夹方向的左前方移动至字母汤的正上方后竖直下落", + "time": 0, + "annotations": { + "bbox_1767845473690": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845473690_1767846787970_xy2c9zob3", + "x": 0.6358974358974359, + "y": 0.4700854700854701, + "width": 0.10769230769230775, + "height": 0.15555555555555556 + } + ] + }, + "bbox_1767845478583": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845478583_1767846791313_acyhemj51", + "x": 0.37777777777777777, + "y": 0.46153846153846156, + "width": 0.10256410256410259, + "height": 0.16068376068376067 + } + ] + }, + "bbox_1767845489248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845489248_1767846795099_661evja0e", + "x": 0.003418803418803419, + "y": 0.4376068376068376, + "width": 0.24444444444444446, + "height": 0.33333333333333337 + } + ] + }, + "point_1767845487017": { + "type": "point", + "instances": [ + { + "id": "point_1767845487017_1767846797988_rlxoe6031", + "x": 0.4324786324786325, + "y": 0.3128205128205128 + } + ] + }, + "point_1767845496796": { + "type": "point", + "instances": [ + { + "id": "point_1767845496796_1767846800246_nyrml3s7f", + "x": 0.5777777777777777, + "y": 0.3111111111111111 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的左侧移动", + "correction_plan": "在字母汤上的爪夹竖直下落，靠近并触及字母汤，爪夹闭合，抓取字母汤后竖直上升并向爪夹方向的右前方向移动至篮子的正上方后竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "error_success_analysis": "爪夹向左移动靠近了抓取物字母汤", + "frame": 89, + "progress": 5, + "progress_explanation": "张开的爪夹向左边移动靠近字母汤，进度提升为5%", + "state_description": "爪夹目前张开位于字母汤的上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：爪夹继续向爪夹方向的下方竖直下落并闭合爪夹抓取字母汤", + "time": 2.971164, + "annotations": { + "point_1767845496796": { + "type": "point", + "instances": [ + { + "id": "point_1767845496796_1767846803642_cn3oa1x0r", + "x": 0.7743589743589744, + "y": 0.3504273504273504 + } + ] + }, + "point_1767845487017": { + "type": "point", + "instances": [ + { + "id": "point_1767845487017_1767846805807_kavw18sw3", + "x": 0.6239316239316239, + "y": 0.3452991452991453 + } + ] + }, + "bbox_1767845489248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845489248_1767846810066_ozwgb04eq", + "x": 0.003418803418803419, + "y": 0.4376068376068376, + "width": 0.24615384615384617, + "height": 0.33162393162393167 + } + ] + }, + "bbox_1767845478583": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845478583_1767846813662_dfafxrmjc", + "x": 0.37435897435897436, + "y": 0.46153846153846156, + "width": 0.10085470085470083, + "height": 0.15897435897435896 + } + ] + }, + "bbox_1767845473690": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845473690_1767846817820_fugbrs1gb", + "x": 0.6358974358974359, + "y": 0.4752136752136752, + "width": 0.10085470085470094, + "height": 0.15726495726495726 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "correction_plan": "爪夹闭合，抓取字母汤后竖直上升并向爪夹方向的右前方向移动至篮子的正上方后竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "error_success_analysis": "爪夹向下方的字母汤下落靠近抓取物字母汤", + "frame": 212, + "progress": 10, + "progress_explanation": "在字母汤上方的爪夹下落靠近字母汤，进度提升为10%", + "state_description": "两侧爪夹目前张开位于字母汤的上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：爪夹闭合抓取字母汤后向爪夹方向的上方竖直上升并向爪夹方向的右侧移动至篮子的上方", + "time": 7.062702702702702, + "annotations": { + "bbox_1767845473690": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845473690_1767847934598_2rsuxhf57", + "x": 0.6410256410256411, + "y": 0.4752136752136752, + "width": 0.09743589743589742, + "height": 0.14529914529914534 + } + ] + }, + "bbox_1767845478583": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845478583_1767847941062_qouthg6gi", + "x": 0.37777777777777777, + "y": 0.46495726495726497, + "width": 0.10427350427350429, + "height": 0.15384615384615385 + } + ] + }, + "bbox_1767845489248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845489248_1767847945521_683xw02op", + "x": 0.0017094017094017094, + "y": 0.4376068376068376, + "width": 0.24444444444444446, + "height": 0.3350427350427351 + } + ] + }, + "point_1767845487017": { + "type": "point", + "instances": [ + { + "id": "point_1767845487017_1767847947810_uvnplms1o", + "x": 0.6478632478632479, + "y": 0.5196581196581197 + } + ] + }, + "point_1767845496796": { + "type": "point", + "instances": [ + { + "id": "point_1767845496796_1767847950050_cqclpvjbs", + "x": 0.7658119658119658, + "y": 0.5162393162393163 + } + ] + } + } + }, + { + "action_description": "张开的爪夹闭合，抓取桌面上字母汤", + "correction_plan": "抓取字母汤的爪夹竖直上升并向爪夹方向的右前方向移动至篮子的正上方后竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的字母汤", + "frame": 256, + "progress": 20, + "progress_explanation": "爪夹闭合成功抓取字母汤，进度提升为20%", + "state_description": "爪夹当前的状态为闭合抓取了在桌面上的字母汤\n为了完成把字母汤和番茄酱都放进篮子里的任务：抓取字母汤的爪夹竖直向上抬升并向爪夹方向的右侧移动至篮子的上方", + "time": 8.548613, + "annotations": { + "point_1767845496796": { + "type": "point", + "instances": [ + { + "id": "point_1767845496796_1767847954130_z9dtzp3sk", + "x": 0.7504273504273504, + "y": 0.5008547008547009 + } + ] + }, + "point_1767845487017": { + "type": "point", + "instances": [ + { + "id": "point_1767845487017_1767847957234_mwug3p36v", + "x": 0.652991452991453, + "y": 0.5025641025641026 + } + ] + }, + "bbox_1767845489248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845489248_1767847963602_yn8qgrwbz", + "x": 0.005128205128205128, + "y": 0.4358974358974359, + "width": 0.2393162393162393, + "height": 0.3384615384615385 + } + ] + }, + "bbox_1767845478583": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845478583_1767847967680_a4cedyf7x", + "x": 0.37264957264957266, + "y": 0.4683760683760684, + "width": 0.1076923076923077, + "height": 0.14871794871794874 + } + ] + }, + "bbox_1767845473690": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845473690_1767847975030_3up9oelnp", + "x": 0.6547008547008547, + "y": 0.4666666666666666, + "width": 0.09059829059829061, + "height": 0.1555555555555556 + } + ] + } + } + }, + { + "time": 9.643253, + "frame": 289, + "progress": 25, + "action_description": "抓取字母汤的爪夹向爪夹方向的上方竖直上升", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了字母汤盒在篮子的左侧上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：抓取字母汤的爪夹向爪夹方向的右前方移动至篮子的上方", + "progress_explanation": "爪夹抓取字母汤竖直上升后靠近篮子，进度提升为25%", + "error_success_analysis": "抓取字母汤的爪夹向上抬升准备向篮子上方移动", + "correction_plan": "抓取字母汤的爪夹继续向爪夹方向的右前方向移动至篮子的正上方后竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "annotations": { + "bbox_1767845473690": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845473690_1767848007620_jkupveu0o", + "x": 0.6341880341880342, + "y": 0.31965811965811963, + "width": 0.10769230769230775, + "height": 0.1760683760683761 + } + ] + }, + "bbox_1767845478583": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845478583_1767848014406_3tt3y45vb", + "x": 0.37094017094017095, + "y": 0.4666666666666667, + "width": 0.11623931623931621, + "height": 0.15042735042735045 + } + ] + }, + "bbox_1767845489248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845489248_1767848019420_oeounkhkr", + "x": 0.003418803418803419, + "y": 0.4358974358974359, + "width": 0.24615384615384617, + "height": 0.3401709401709402 + } + ] + }, + "point_1767845487017": { + "type": "point", + "instances": [ + { + "id": "point_1767845487017_1767848022552_1viu8wyot", + "x": 0.6427350427350428, + "y": 0.3658119658119658 + } + ] + }, + "point_1767845496796": { + "type": "point", + "instances": [ + { + "id": "point_1767845496796_1767848024683_ggezbgro1", + "x": 0.7418803418803419, + "y": 0.3658119658119658 + } + ] + } + } + }, + { + "time": 12.875046, + "frame": 386, + "progress": 30, + "action_description": "抓取字母汤的爪夹竖直向上抬升并向爪夹方向的右前侧移动", + "state_description": "爪夹目前抓取字母汤位于篮子的正上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：抓取字母汤的爪夹竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中", + "progress_explanation": "抓取字母汤的爪夹向右侧移动靠近篮子，进度提升为30%", + "error_success_analysis": "抓取字母汤的爪夹向右侧移动到篮子的上方", + "correction_plan": "抓取字母汤的爪夹竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "annotations": { + "point_1767845496796": { + "type": "point", + "instances": [ + { + "id": "point_1767845496796_1767848028522_3hdfc4a01", + "x": 0.26153846153846155, + "y": 0.3299145299145299 + } + ] + }, + "point_1767845487017": { + "type": "point", + "instances": [ + { + "id": "point_1767845487017_1767848031128_oklut37yt", + "x": 0.11452991452991453, + "y": 0.3162393162393162 + } + ] + }, + "bbox_1767845478583": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845478583_1767848035074_f32yt84ca", + "x": 0.37606837606837606, + "y": 0.46495726495726497, + "width": 0.10427350427350429, + "height": 0.15555555555555556 + } + ] + }, + "bbox_1767845473690": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845473690_1767848039756_o82tmh6ym", + "x": 0.12136752136752137, + "y": 0.25811965811965815, + "width": 0.13675213675213677, + "height": 0.18803418803418803 + } + ] + }, + "bbox_1767845489248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845489248_1767848045002_io2u8zobc", + "x": 0.0017094017094017094, + "y": 0.4358974358974359, + "width": 0.24273504273504273, + "height": 0.3418803418803419 + } + ] + } + } + }, + { + "time": 15.116451, + "frame": 453, + "progress": 40, + "action_description": "抓取字母汤的爪夹向爪夹方向的下方移动将抓取的字母汤放在篮子里", + "state_description": "爪夹目前抓取字母汤位于篮子中\n为了完成把字母汤和番茄酱都放进篮子里的任务：爪夹张开，字母汤落入篮子中", + "progress_explanation": "抓取字母汤的爪夹下落，抓取的字母汤进入篮子中，进度提升为40%", + "error_success_analysis": "抓取字母汤爪夹向下竖直下落后抓取的字母汤被放入篮子中", + "correction_plan": "爪夹张开，抓取的字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "annotations": { + "bbox_1767845489248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845489248_1767848050898_fhqaazl4r", + "x": 0.0017094017094017094, + "y": 0.4358974358974359, + "width": 0.24786324786324787, + "height": 0.33162393162393167 + } + ] + }, + "bbox_1767845478583": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845478583_1767848065474_a4m7p542j", + "x": 0.37777777777777777, + "y": 0.4683760683760684, + "width": 0.09743589743589742, + "height": 0.15213675213675215 + } + ] + }, + "bbox_1767845473690": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845473690_1767848073480_0rpp4yhfm", + "x": 0.05982905982905983, + "y": 0.40341880341880343, + "width": 0.1282051282051282, + "height": 0.16752136752136748 + } + ] + }, + "point_1767845487017": { + "type": "point", + "instances": [ + { + "id": "point_1767845487017_1767848099696_of9t8ed2h", + "x": 0.0547008547008547, + "y": 0.4752136752136752 + } + ] + }, + "point_1767845496796": { + "type": "point", + "instances": [ + { + "id": "point_1767845496796_1767848101976_qiqkzfcux", + "x": 0.19316239316239317, + "y": 0.4700854700854701 + } + ] + } + } + }, + { + "time": 16.002586, + "frame": 480, + "progress": 50, + "action_description": "爪夹张开，抓取的字母汤落在篮子里", + "state_description": "爪夹张开位于篮子中字母汤的上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：张开的爪夹向爪夹方向的左后方向移动至番茄酱的正上方", + "progress_explanation": "爪夹张开字母汤落入篮子中，进度提升为50%", + "error_success_analysis": "爪夹张开成功，抓取的字母汤成功落入篮子中", + "correction_plan": "张开的爪夹向爪夹方向的左后方移动至番茄酱的正上方，后爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "annotations": { + "point_1767845496796": { + "type": "point", + "instances": [ + { + "id": "point_1767845496796_1767848105636_scykqhxzs", + "x": 0.20683760683760682, + "y": 0.4512820512820513 + } + ] + }, + "point_1767845487017": { + "type": "point", + "instances": [ + { + "id": "point_1767845487017_1767848108020_vi6bkmx2q", + "x": 0.044444444444444446, + "y": 0.4564102564102564 + } + ] + }, + "bbox_1767845489248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845489248_1767848112622_513w5065v", + "x": 0.0017094017094017094, + "y": 0.4376068376068376, + "width": 0.24444444444444446, + "height": 0.3401709401709402 + } + ] + }, + "bbox_1767845478583": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845478583_1767848117714_kcqrjc4gv", + "x": 0.37264957264957266, + "y": 0.46495726495726497, + "width": 0.11282051282051281, + "height": 0.15213675213675215 + } + ] + } + } + }, + { + "time": 19.078003, + "frame": 572, + "progress": 55, + "action_description": "张开的爪夹竖直向上抬升并向爪夹方向的左后方向移动", + "state_description": "爪夹张开位于番茄酱的上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：张开的爪夹向爪夹方向的下方竖直下降靠近并触及番茄酱", + "progress_explanation": "爪夹向左后方靠近番茄酱上方移动，进度提升为55%", + "error_success_analysis": "爪夹张开向上略微抬升后并向爪夹方向的左后靠近番茄酱移动至番茄酱的上方", + "correction_plan": "爪夹竖直下落靠近番茄酱，爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "annotations": { + "bbox_1767845478583": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845478583_1767848124786_ke443ozq9", + "x": 0.37264957264957266, + "y": 0.46324786324786327, + "width": 0.1076923076923077, + "height": 0.15042735042735045 + } + ] + }, + "bbox_1767845489248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845489248_1767848129262_bn6fzoeds", + "x": 0.0017094017094017094, + "y": 0.441025641025641, + "width": 0.24444444444444446, + "height": 0.32991452991452996 + } + ] + }, + "point_1767845487017": { + "type": "point", + "instances": [ + { + "id": "point_1767845487017_1767848136056_ibqvmdmy3", + "x": 0.3452991452991453, + "y": 0.39487179487179486 + } + ] + }, + "point_1767845496796": { + "type": "point", + "instances": [ + { + "id": "point_1767845496796_1767848138924_7e3xra4hl", + "x": 0.4905982905982906, + "y": 0.38461538461538464 + } + ] + } + } + }, + { + "time": 21.423659, + "frame": 643, + "progress": 60, + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "state_description": "两侧爪夹目前张开位于番茄酱的上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：爪夹闭合抓取番茄酱后向爪夹方向的上方竖直上升并向爪夹方向的右右前方移动至篮子的上方", + "progress_explanation": "在番茄酱上方的爪夹下落靠近番茄酱，进度提升为60%", + "error_success_analysis": "爪夹向下方的番茄酱下落靠近抓取物番茄酱", + "correction_plan": "爪夹闭合抓取番茄酱，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "annotations": { + "point_1767845496796": { + "type": "point", + "instances": [ + { + "id": "point_1767845496796_1767848143866_8n5uqsp8b", + "x": 0.5008547008547009, + "y": 0.5008547008547009 + } + ] + }, + "point_1767845487017": { + "type": "point", + "instances": [ + { + "id": "point_1767845487017_1767848146100_bg98h58az", + "x": 0.37264957264957266, + "y": 0.5367521367521367 + } + ] + }, + "bbox_1767845489248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845489248_1767848151896_jqys0ix0i", + "x": 0.0017094017094017094, + "y": 0.441025641025641, + "width": 0.24615384615384617, + "height": 0.3350427350427351 + } + ] + }, + "bbox_1767845478583": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845478583_1767848156554_1ky6etqgd", + "x": 0.38803418803418804, + "y": 0.48376068376068376, + "width": 0.09743589743589742, + "height": 0.12991452991452995 + } + ] + } + } + }, + { + "time": 22.61081081081081, + "frame": 678, + "progress": 70, + "action_description": "张开的爪夹闭合，抓取桌面上番茄酱", + "state_description": "爪夹目前抓取了在桌面上的番茄酱\n为了完成把字母汤和番茄酱都放进篮子里的任务：抓取番茄酱的爪夹竖直向上抬升并向爪夹方向的右前方向移动至篮子的上方", + "progress_explanation": "爪夹闭合成功抓取番茄酱，进度提升为70%", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的番茄酱", + "correction_plan": "抓取番茄酱的爪夹竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "annotations": { + "bbox_1767845478583": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845478583_1767848163602_od3wiz6y8", + "x": 0.38632478632478634, + "y": 0.46324786324786327, + "width": 0.09914529914529913, + "height": 0.14017094017094012 + } + ] + }, + "bbox_1767845489248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845489248_1767848167784_4zqyuke2w", + "x": 0.003418803418803419, + "y": 0.4393162393162393, + "width": 0.24102564102564103, + "height": 0.33333333333333337 + } + ] + }, + "point_1767845487017": { + "type": "point", + "instances": [ + { + "id": "point_1767845487017_1767848170470_v2194l35f", + "x": 0.3811965811965812, + "y": 0.5196581196581197 + } + ] + }, + "point_1767845496796": { + "type": "point", + "instances": [ + { + "id": "point_1767845496796_1767848172664_4hywj4622", + "x": 0.48547008547008547, + "y": 0.49914529914529915 + } + ] + } + } + }, + { + "time": 25.333086, + "frame": 760, + "progress": 80, + "action_description": "抓取番茄酱的爪夹竖直向上抬升并向爪夹方向的右前方向移动", + "state_description": "爪夹目前抓取番茄酱位于篮子的正上方\n为了完成把字母汤和番茄酱都放进篮子里的任务：抓取番茄酱的爪夹竖直下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "progress_explanation": "抓取番茄酱的爪夹向右前方移动靠近篮子，进度提升为80%", + "error_success_analysis": "抓取番茄酱的爪夹向右前方向移动到篮子的上方", + "correction_plan": "抓取番茄酱的爪夹下落将抓取的番茄酱放入篮子中，爪夹松开，番茄酱落入篮子中", + "annotations": { + "point_1767845496796": { + "type": "point", + "instances": [ + { + "id": "point_1767845496796_1767848176569_fnly6g11e", + "x": 0.19829059829059828, + "y": 0.30256410256410254 + } + ] + }, + "point_1767845487017": { + "type": "point", + "instances": [ + { + "id": "point_1767845487017_1767848178572_4zie9fdao", + "x": 0.06153846153846154, + "y": 0.3247863247863248 + } + ] + }, + "bbox_1767845489248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845489248_1767848183158_bw8izgyaa", + "x": 0.005128205128205128, + "y": 0.4393162393162393, + "width": 0.24786324786324784, + "height": 0.32649572649572645 + } + ] + }, + "bbox_1767845478583": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845478583_1767848188678_w6l51z4a3", + "x": 0.06666666666666667, + "y": 0.24786324786324787, + "width": 0.13846153846153847, + "height": 0.18290598290598292 + } + ] + } + } + }, + { + "time": 26.792606, + "frame": 804, + "progress": 90, + "action_description": "抓取番茄酱的爪夹向爪夹方向的下方移动将抓取的番茄酱放在篮子里", + "state_description": "爪夹目前抓取番茄酱位于篮子中\n为了完成把字母汤和番茄酱都放进篮子里的任务：爪夹张开，抓取的番茄酱落入篮子中", + "progress_explanation": "抓取番茄酱的爪夹下落，抓取的番茄酱进入篮子中，进度提升为90%", + "error_success_analysis": "抓取番茄酱的爪夹向下竖直下落后抓取的番茄酱被放入篮子中", + "correction_plan": "爪夹张开，抓取的番茄酱落入篮子中", + "annotations": { + "bbox_1767845478583": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845478583_1767848193984_rbsy561yg", + "x": 0.03247863247863248, + "y": 0.3658119658119658, + "width": 0.14188034188034188, + "height": 0.16068376068376072 + } + ] + }, + "bbox_1767845489248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845489248_1767848199719_k06fmyb1y", + "x": 0.003418803418803419, + "y": 0.4427350427350427, + "width": 0.24444444444444446, + "height": 0.33162393162393167 + } + ] + }, + "point_1767845487017": { + "type": "point", + "instances": [ + { + "id": "point_1767845487017_1767848204950_rwzj4jmub", + "x": 0.037606837606837605, + "y": 0.4324786324786325 + } + ] + }, + "point_1767845496796": { + "type": "point", + "instances": [ + { + "id": "point_1767845496796_1767848207768_crxzizm5d", + "x": 0.15384615384615385, + "y": 0.41025641025641024 + } + ] + } + } + }, + { + "time": 27.782994, + "frame": 833, + "progress": 100, + "action_description": "爪夹张开，抓取的番茄酱落在篮子里", + "state_description": "爪夹张开位于篮子中番茄酱的上方\n把字母汤和番茄酱都放进篮子里已完成", + "progress_explanation": "爪夹张开番茄酱落入篮子中，进度提升为100%", + "error_success_analysis": "爪夹张开成功，抓取的番茄酱成功落入篮子中", + "correction_plan": "已完成把字母汤和番茄酱都放进篮子里的任务", + "annotations": { + "point_1767845496796": { + "type": "point", + "instances": [ + { + "id": "point_1767845496796_1767848211790_teujlxruh", + "x": 0.17435897435897435, + "y": 0.37094017094017095 + } + ] + }, + "point_1767845487017": { + "type": "point", + "instances": [ + { + "id": "point_1767845487017_1767848215330_i65reuwla", + "x": 0.018803418803418803, + "y": 0.41196581196581195 + } + ] + }, + "bbox_1767845489248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845489248_1767848226694_mdnymjirr", + "x": 0.005128205128205128, + "y": 0.4393162393162393, + "width": 0.2393162393162393, + "height": 0.33333333333333337 + } + ] + }, + "bbox_1767845478583": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767845478583_1767848231852_setlnjnh9", + "x": 0.06324786324786325, + "y": 0.4222222222222222, + "width": 0.15042735042735042, + "height": 0.15897435897435902 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767845473690", + "name": "字母汤" + }, + { + "color": "#FF9800", + "id": "bbox_1767845478583", + "name": "番茄酱" + }, + { + "color": "#2196F3", + "id": "bbox_1767845489248", + "name": "篮子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767845487017", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767845496796", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000373.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000373.json new file mode 100644 index 0000000000000000000000000000000000000000..d3a5f9b5df1353317f9b4c3b2568146b6a862e85 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000373.json @@ -0,0 +1,917 @@ +{ + "task_description": "把字母汤和奶油奶酪盒都放进篮子里\n开始移动0%\n爪夹靠近字母汤10%\n爪夹抓取字母汤20%\n爪夹抓取字母汤接近篮子30%\n爪夹将抓取的字母汤放进篮子40%\n爪夹松开，字母汤落入篮子中50%\n爪夹靠近奶油奶酪盒60%\n爪夹抓取奶油奶酪盒70%\n爪夹抓取奶油奶酪盒接近篮子80%\n爪夹将抓取的奶油奶酪盒放进篮子90%\n爪夹松开，奶油奶酪盒落入篮子中100%", + "progress_points": [ + { + "time": 0.16864864864864865, + "frame": 5, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动", + "state_description": "爪夹当前处于打开状态，没有移动和接触字母汤。\n为了完成把字母汤和奶油奶酪盒都放进篮子里的任务：爪夹向爪夹方向的左前方移动至字母汤的正上方后竖直下落", + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "张开的爪夹向爪夹方向的左前方移动至字母汤的正上方后竖直下落，靠近并触及字母汤，爪夹闭合，抓取字母汤后竖直上升并向爪夹方向的右后方向移动至篮子的正上方后竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至奶油奶酪盒的正上方，后爪夹竖直下落靠近奶油奶酪盒，爪夹闭合抓取奶油奶酪盒，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中", + "annotations": { + "bbox_1767851476895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851476895_1767851504890_l6j8vo7ps", + "x": 0.588034188034188, + "y": 0.623931623931624, + "width": 0.1282051282051282, + "height": 0.18461538461538451 + } + ] + }, + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851511266_n6e6da4t7", + "x": 0.39487179487179486, + "y": 0.5128205128205128, + "width": 0.06666666666666671, + "height": 0.0854700854700855 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851516106_13y8ftfet", + "x": 0.0017094017094017094, + "y": 0.42905982905982903, + "width": 0.2358974358974359, + "height": 0.3299145299145299 + } + ] + }, + "point_1767851490958": { + "type": "point", + "instances": [ + { + "id": "point_1767851490958_1767851518592_jt0yw0bq7", + "x": 0.4222222222222222, + "y": 0.3282051282051282 + } + ] + }, + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851521238_7khjngmgr", + "x": 0.5641025641025641, + "y": 0.3247863247863248 + } + ] + } + } + }, + { + "time": 3.114232, + "frame": 93, + "progress": 5, + "action_description": "张开的爪夹向爪夹方向的左侧移动并略微下落", + "state_description": "爪夹目前张开位于字母汤的上方\n为了完成把字母汤和奶油奶酪盒都放进篮子里的任务：张开的爪夹竖直下落后爪夹闭合，抓取目标物字母汤", + "progress_explanation": "张开的爪夹向左边移动靠近字母汤，进度提升为5%", + "error_success_analysis": "爪夹向左移动靠近了抓取物字母汤", + "correction_plan": "张开的爪夹竖直下落，靠近并触及字母汤，爪夹闭合，抓取字母汤后竖直上升并向爪夹方向的右后方向移动至篮子的正上方后竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至奶油奶酪盒的正上方，后爪夹竖直下落靠近奶油奶酪盒，爪夹闭合抓取奶油奶酪盒，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中", + "annotations": { + "bbox_1767851476895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851476895_1767851529196_rzoi957wm", + "x": 0.5897435897435898, + "y": 0.6222222222222222, + "width": 0.12307692307692308, + "height": 0.18632478632478633 + } + ] + }, + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851533094_g8bgeyysw", + "x": 0.39487179487179486, + "y": 0.5162393162393163, + "width": 0.06666666666666671, + "height": 0.08376068376068369 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851537822_w41xp6bkc", + "x": 0.0017094017094017094, + "y": 0.4358974358974359, + "width": 0.23076923076923078, + "height": 0.31794871794871793 + } + ] + }, + "point_1767851490958": { + "type": "point", + "instances": [ + { + "id": "point_1767851490958_1767851539960_wewqzs2x5", + "x": 0.5931623931623932, + "y": 0.6444444444444445 + } + ] + }, + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851542106_et5oeyw1y", + "x": 0.7538461538461538, + "y": 0.6136752136752137 + } + ] + } + } + }, + { + "time": 5.075046, + "frame": 152, + "progress": 10, + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "state_description": "两侧爪夹目前张开位于字母汤的上方\n为了完成把字母汤和奶油奶酪盒都放进篮子里的任务：张开的爪夹闭合抓取字母汤，抓取后向爪夹方向的上方抬升", + "progress_explanation": "在字母汤上方的爪夹下落靠近字母汤，进度提升为10%", + "error_success_analysis": "爪夹向下方的字母汤下落靠近抓取物字母汤", + "correction_plan": "张开的爪夹闭合，抓取字母汤后竖直上升并向爪夹方向的右后方向移动至篮子的正上方后竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至奶油奶酪盒的正上方，后爪夹竖直下落靠近奶油奶酪盒，爪夹闭合抓取奶油奶酪盒，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中", + "annotations": { + "bbox_1767851476895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851476895_1767851549886_lke339ns5", + "x": 0.588034188034188, + "y": 0.6547008547008548, + "width": 0.11794871794871797, + "height": 0.15384615384615374 + } + ] + }, + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851557244_f5pvm4aki", + "x": 0.39145299145299145, + "y": 0.5162393162393163, + "width": 0.07350427350427352, + "height": 0.08376068376068369 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851561790_35l1epcvq", + "x": 0.003418803418803419, + "y": 0.4341880341880342, + "width": 0.23931623931623933, + "height": 0.32820512820512815 + } + ] + }, + "point_1767851490958": { + "type": "point", + "instances": [ + { + "id": "point_1767851490958_1767851564381_zcfpv1eqe", + "x": 0.5897435897435898, + "y": 0.7111111111111111 + } + ] + }, + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851566296_m9okbybkb", + "x": 0.747008547008547, + "y": 0.6957264957264957 + } + ] + } + } + }, + { + "time": 6.170794, + "frame": 185, + "progress": 20, + "action_description": "张开的爪夹闭合，抓取桌面上字母汤", + "state_description": "爪夹当前的状态为闭合抓取了在桌面上的字母汤\n为了完成把字母汤和奶油奶酪盒都放进篮子里的任务：抓取字母汤的爪夹向爪夹方向的上方抬升并向爪夹方向的右后方移动至篮子的上方", + "progress_explanation": "爪夹闭合成功抓取字母汤，进度提升为20%", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的字母汤", + "correction_plan": "抓取字母汤的爪夹竖直上升并向爪夹方向的右后方向移动至篮子的正上方后竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至奶油奶酪盒的正上方，后爪夹竖直下落靠近奶油奶酪盒，爪夹闭合抓取奶油奶酪盒，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中", + "annotations": { + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851570525_yz794teak", + "x": 0.7162393162393162, + "y": 0.6957264957264957 + } + ] + }, + "point_1767851490958": { + "type": "point", + "instances": [ + { + "id": "point_1767851490958_1767851572728_y6cqrdkad", + "x": 0.5931623931623932, + "y": 0.7094017094017094 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851577663_40hd0fify", + "x": 0, + "y": 0.4324786324786325, + "width": 0.2376068376068376, + "height": 0.32991452991452985 + } + ] + }, + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851583562_fhmw7ou71", + "x": 0.39145299145299145, + "y": 0.5128205128205128, + "width": 0.07008547008547011, + "height": 0.0871794871794872 + } + ] + }, + "bbox_1767851476895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851476895_1767851589621_xowyvjopm", + "x": 0.5931623931623932, + "y": 0.6427350427350428, + "width": 0.10256410256410253, + "height": 0.15042735042735034 + } + ] + } + } + }, + { + "time": 10.784473, + "frame": 324, + "progress": 30, + "action_description": "抓取字母汤的爪夹竖直向上抬升并向爪夹方向的右后方向移动", + "state_description": "爪夹目前抓取字母汤位于篮子的正上方\n为了完成把字母汤和奶油奶酪盒都放进篮子里的任务：抓取字母汤的爪夹竖直下落将抓取的字母汤放进篮子中，爪夹松开，字母汤落入篮子中", + "progress_explanation": "抓取字母汤的爪夹向右侧移动靠近篮子，进度提升为30", + "error_success_analysis": "抓取字母汤的爪夹向右侧移动到篮子的上方", + "correction_plan": "抓取字母汤的爪夹竖直下落将抓取的字母汤放入篮子中，爪夹松开，字母汤落入篮子中，张开的爪夹竖直上升并向爪夹方向的左后方移动至奶油奶酪盒的正上方，后爪夹竖直下落靠近奶油奶酪盒，爪夹闭合抓取奶油奶酪盒，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中", + "annotations": { + "bbox_1767851476895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851476895_1767851599765_9gvs8aoo5", + "x": 0.0017094017094017094, + "y": 0.335042735042735, + "width": 0.147008547008547, + "height": 0.18119658119658127 + } + ] + }, + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851603654_o238led8t", + "x": 0.39658119658119656, + "y": 0.5128205128205128, + "width": 0.06666666666666671, + "height": 0.09059829059829061 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851611772_aj6z7ea0g", + "x": 0, + "y": 0.4188034188034188, + "width": 0.2376068376068376, + "height": 0.34188034188034183 + } + ] + }, + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851616042_m7vximmtc", + "x": 0.12478632478632479, + "y": 0.36923076923076925 + } + ] + } + } + }, + { + "time": 12.456931, + "frame": 374, + "progress": 40, + "action_description": "抓取字母汤的爪夹向爪夹方向的下方移动将抓取的字母汤放在篮子里", + "state_description": "爪夹目前抓取字母汤位于篮子中\n为了完成把字母汤和奶油奶酪盒都放进篮子里的任务：抓取字母汤的爪夹张开，字母汤落入篮子中", + "progress_explanation": "抓取字母汤的爪夹下落，抓取的字母汤进入篮子中，进度提升为40%", + "error_success_analysis": "抓取字母汤爪夹向下竖直下落后抓取的字母汤被放入篮子中", + "correction_plan": "抓取字母汤的爪夹张开，字母汤落入篮子中，张开的爪夹向爪夹方向的左后方移动至奶油奶酪盒的正上方，后爪夹竖直下落靠近奶油奶酪盒，爪夹闭合抓取奶油奶酪盒，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中", + "annotations": { + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851620390_ltf24p7fq", + "x": 0.12478632478632479, + "y": 0.42905982905982903 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851626440_mwrl45kjm", + "x": 0.003418803418803419, + "y": 0.4222222222222222, + "width": 0.23589743589743592, + "height": 0.3384615384615384 + } + ] + }, + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851630353_0vt6jqc43", + "x": 0.39316239316239315, + "y": 0.5094017094017094, + "width": 0.07008547008547011, + "height": 0.09230769230769231 + } + ] + }, + "bbox_1767851476895": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851476895_1767851634337_wtbx1npcx", + "x": 0.003418803418803419, + "y": 0.38974358974358975, + "width": 0.12991452991452992, + "height": 0.17606837606837605 + } + ] + } + } + }, + { + "time": 13.206654, + "frame": 396, + "progress": 50, + "action_description": "爪夹张开，抓取的字母汤落在篮子里", + "state_description": "爪夹张开位于篮子中字母汤的上方\n为了完成把字母汤和奶油奶酪盒都放进篮子里的任务：张开的爪夹继续向爪夹方向的左后方移动至奶油奶酪盒的上方", + "progress_explanation": "爪夹张开字母汤落入篮子中，进度提升为50%", + "error_success_analysis": "爪夹张开成功，抓取的字母汤成功落入篮子中", + "correction_plan": "张开的爪夹向爪夹方向的左后方移动至奶油奶酪盒的正上方，后爪夹竖直下落靠近奶油奶酪盒，爪夹闭合抓取奶油奶酪盒，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中", + "annotations": { + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851641496_6et8c3zhg", + "x": 0.39829059829059826, + "y": 0.5094017094017094, + "width": 0.06153846153846154, + "height": 0.09572649572649572 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851645440_enygv5aik", + "x": 0, + "y": 0.4376068376068376, + "width": 0.24102564102564103, + "height": 0.32478632478632474 + } + ] + }, + "point_1767851490958": { + "type": "point", + "instances": [ + { + "id": "point_1767851490958_1767851647960_82byomttm", + "x": 0.005128205128205128, + "y": 0.4393162393162393 + } + ] + }, + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851650271_kyarqgrv7", + "x": 0.14358974358974358, + "y": 0.38803418803418804 + } + ] + } + } + }, + { + "time": 16.4939, + "frame": 495, + "progress": 55, + "action_description": "张开的爪夹向爪夹方向的左后方向移动并略微调整爪夹角度", + "state_description": "爪夹当前状态张开位于奶油奶酪盒的上方\n为了完成把字母汤和奶油奶酪盒都放进篮子里的任务：张开的爪夹竖直下落靠近下方的奶油奶酪盒后爪夹闭合", + "progress_explanation": "张开的爪夹向左边移动靠近奶油奶酪盒，进度提升为55%", + "error_success_analysis": "爪夹向左后方移动靠近了抓取物奶油奶酪盒", + "correction_plan": "爪夹竖直下落靠近奶油奶酪盒，爪夹闭合抓取奶油奶酪盒，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中", + "annotations": { + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851654413_yaxsthdhx", + "x": 0.5333333333333333, + "y": 0.39145299145299145 + } + ] + }, + "point_1767851490958": { + "type": "point", + "instances": [ + { + "id": "point_1767851490958_1767851656861_50dqq0ovi", + "x": 0.37948717948717947, + "y": 0.41367521367521365 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851661510_kzernpt29", + "x": 0.003418803418803419, + "y": 0.4358974358974359, + "width": 0.24102564102564103, + "height": 0.32136752136752134 + } + ] + }, + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851670896_n4ex5ax1c", + "x": 0.39316239316239315, + "y": 0.517948717948718, + "width": 0.06837606837606841, + "height": 0.0888888888888888 + } + ] + } + } + }, + { + "time": 19.146765, + "frame": 574, + "progress": 60, + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "state_description": "爪夹当前为张开状态，两侧爪夹位于奶油奶酪盒的上方\n为了完成把字母汤和奶油奶酪盒都放进篮子里的任务：张开的爪夹闭合抓取奶油奶酪盒后竖直向上抬升并向爪夹方向的右前方移动", + "progress_explanation": "在奶油奶酪盒上方的爪夹下落靠近奶油奶酪盒，进度提升为60%", + "error_success_analysis": "爪夹向下方的奶油奶酪盒下落靠近抓取物奶油奶酪盒", + "correction_plan": "爪夹闭合抓取奶油奶酪盒，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中", + "annotations": { + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851682420_7lxvoo5h7", + "x": 0.39145299145299145, + "y": 0.5145299145299145, + "width": 0.06837606837606836, + "height": 0.09059829059829061 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851686601_kw82r3zsq", + "x": 0.0017094017094017094, + "y": 0.4307692307692308, + "width": 0.24444444444444446, + "height": 0.32991452991452985 + } + ] + }, + "point_1767851490958": { + "type": "point", + "instances": [ + { + "id": "point_1767851490958_1767851689491_1ldtt99gh", + "x": 0.3641025641025641, + "y": 0.5504273504273505 + } + ] + }, + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851691472_pt1m8qot5", + "x": 0.49401709401709404, + "y": 0.558974358974359 + } + ] + } + } + }, + { + "time": 21.216, + "frame": 636, + "progress": 57, + "action_description": "张开的爪夹向爪夹方向的下方闭合", + "state_description": "爪夹目前合并位于抓取物奶油奶酪盒子的上方\n为了完成把字母汤和奶油奶酪盒都放进篮子里的任务：爪夹重新张开并向爪夹方向的后方移动至奶油奶酪盒子的上方", + "progress_explanation": "爪夹闭合并向奶油奶酪盒子的上方略微抬升，进度下降为58%", + "error_success_analysis": "爪夹没有向后移动至奶油奶酪盒子的上方后下降抓取，抓取失败", + "correction_plan": "爪夹重新张开并向爪夹方向的后方移动至奶油奶酪盒子的上方后竖直下落，爪夹闭合抓取奶油奶酪盒，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中", + "annotations": { + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851696065_52jbqlc6o", + "x": 0.42905982905982903, + "y": 0.5162393162393163 + } + ] + }, + "point_1767851490958": { + "type": "point", + "instances": [ + { + "id": "point_1767851490958_1767851698338_aqrubz20l", + "x": 0.4205128205128205, + "y": 0.5111111111111111 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851703311_pbrpqctep", + "x": 0.005128205128205128, + "y": 0.4324786324786325, + "width": 0.2341880341880342, + "height": 0.32991452991452985 + } + ] + }, + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851706924_wtd1uejx7", + "x": 0.39829059829059826, + "y": 0.5042735042735043, + "width": 0.0632478632478633, + "height": 0.09401709401709402 + } + ] + } + } + }, + { + "time": 23.329729729729735, + "frame": 700, + "progress": 60, + "action_description": "闭合的爪夹重新张开并向爪夹方向的后方移动后竖直下落", + "state_description": "爪夹当前为张开状态，两侧爪夹位于奶油奶酪盒的上方\n为了完成把字母汤和奶油奶酪盒都放进篮子里的任务：张开的爪夹闭合抓取奶油奶酪盒后竖直向上抬升并向爪夹方向的右前方移动", + "progress_explanation": "在奶油奶酪盒上方的爪夹下落靠近奶油奶酪盒，进度提升为60%", + "error_success_analysis": "爪夹向下方的奶油奶酪盒下落靠近抓取物奶油奶酪盒", + "correction_plan": "爪夹闭合抓取奶油奶酪盒，抓取后竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中", + "annotations": { + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851714045_5844gsjbh", + "x": 0.39487179487179486, + "y": 0.49572649572649574, + "width": 0.06666666666666671, + "height": 0.10427350427350424 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851719431_ygjtlchwo", + "x": 0.0017094017094017094, + "y": 0.4341880341880342, + "width": 0.2358974358974359, + "height": 0.32649572649572645 + } + ] + }, + "point_1767851490958": { + "type": "point", + "instances": [ + { + "id": "point_1767851490958_1767851721291_73ycb8no4", + "x": 0.37777777777777777, + "y": 0.5555555555555556 + } + ] + }, + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851723327_jyt9rmya9", + "x": 0.4905982905982906, + "y": 0.5555555555555556 + } + ] + } + } + }, + { + "time": 24.221811, + "frame": 727, + "progress": 70, + "action_description": "张开的爪夹闭合，抓取桌面上奶油奶酪盒", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了奶油奶酪盒\n为了完成把字母汤和奶油奶酪盒都放进篮子里的任务：抓取奶油奶酪盒的爪夹竖直上升并向爪夹方向的右前方移动至篮子的上方", + "progress_explanation": "爪夹闭合成功抓取奶油奶酪盒，进度提升为70%", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的奶油奶酪盒", + "correction_plan": "抓取奶油奶酪盒的爪夹竖直上升并向爪夹方向的右前方移动至篮子的上方后竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹松开，奶油奶酪盒落入篮子中", + "annotations": { + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851726535_klwcafndj", + "x": 0.48034188034188036, + "y": 0.5521367521367522 + } + ] + }, + "point_1767851490958": { + "type": "point", + "instances": [ + { + "id": "point_1767851490958_1767851728633_37ygazi0j", + "x": 0.40683760683760684, + "y": 0.5572649572649573 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851733029_02y3m13cb", + "x": 0.003418803418803419, + "y": 0.4324786324786325, + "width": 0.22905982905982908, + "height": 0.32649572649572645 + } + ] + }, + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851738139_z79fdkr76", + "x": 0.41367521367521365, + "y": 0.49230769230769234, + "width": 0.06666666666666671, + "height": 0.10085470085470083 + } + ] + } + } + }, + { + "time": 27.336044, + "frame": 820, + "progress": 80, + "action_description": "抓取奶油奶酪盒的爪夹向爪夹方向的右前方向抬升并移动", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了奶油奶酪盒在篮子的左侧上方\n为了完成把字母汤和奶油奶酪盒都放进篮子里的任务：抓取奶油奶酪盒子的爪夹竖直下落将抓取的奶油奶酪盒子放入篮子中", + "progress_explanation": "抓取奶油奶酪盒的爪夹向右侧移动靠近篮子，进度提升为80%", + "error_success_analysis": "抓取奶油奶酪盒的爪夹向右前侧移动到篮子的上方", + "correction_plan": "抓取奶油奶酪盒的爪夹竖直下落将抓取的奶油奶酪盒放入篮子中，爪夹张开，奶油奶酪盒落入篮子中", + "annotations": { + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851748000_q7crs1g02", + "x": 0.1076923076923077, + "y": 0.27008547008547007, + "width": 0.09743589743589742, + "height": 0.12478632478632479 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851752655_ol3wrwdwt", + "x": 0.003418803418803419, + "y": 0.4341880341880342, + "width": 0.24273504273504276, + "height": 0.31965811965811963 + } + ] + }, + "point_1767851490958": { + "type": "point", + "instances": [ + { + "id": "point_1767851490958_1767851754810_xrwv42j76", + "x": 0.09743589743589744, + "y": 0.335042735042735 + } + ] + }, + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851757146_uz3f9nr4t", + "x": 0.19829059829059828, + "y": 0.3299145299145299 + } + ] + } + } + }, + { + "time": 29.642883, + "frame": 889, + "progress": 90, + "action_description": "抓取奶油奶酪盒的爪夹向爪夹方向的右下方下落", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了奶油奶酪盒位于篮子的正上方\n为了完成把字母汤和奶油奶酪盒都放进篮子里的任务：抓取奶油奶酪盒的爪夹张开，奶油奶酪盒落入篮子中", + "progress_explanation": "抓取奶油奶酪盒的爪夹下落，抓取的奶油奶酪盒放进篮子中，进度提升为90%", + "error_success_analysis": "抓取奶油奶酪盒的爪夹向右下方下落后抓取的奶油奶酪盒被放入篮子中", + "correction_plan": "抓取奶油奶酪盒的爪夹张开，奶油奶酪盒落入篮子中", + "annotations": { + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851760881_jdxgb8yoy", + "x": 0.14017094017094017, + "y": 0.4700854700854701 + } + ] + }, + "point_1767851490958": { + "type": "point", + "instances": [ + { + "id": "point_1767851490958_1767851762882_z09vwxfi2", + "x": 0.03418803418803419, + "y": 0.4735042735042735 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851767191_6i0yk2smb", + "x": 0.003418803418803419, + "y": 0.4239316239316239, + "width": 0.23589743589743592, + "height": 0.3316239316239316 + } + ] + }, + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851770977_z9d5whqey", + "x": 0.042735042735042736, + "y": 0.39829059829059826, + "width": 0.0923076923076923, + "height": 0.12478632478632484 + } + ] + } + } + }, + { + "time": 30.796303, + "frame": 924, + "progress": 100, + "action_description": "抓取奶油奶酪盒的爪夹张开，奶油奶酪盒落入篮子中", + "state_description": "爪夹当前为张开状态，位于在篮子中奶油奶酪盒的上方\n把字母汤和奶油奶酪盒都放进篮子里已完成", + "progress_explanation": "爪夹张开奶油奶酪盒落入篮子中，进度提升为100%", + "error_success_analysis": "爪夹张开成功，抓取的奶油奶酪盒成功落入篮子中", + "correction_plan": "已完成把字母汤和奶油奶酪盒都放进篮子里的任务", + "annotations": { + "bbox_1767851481338": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851481338_1767851777549_1pxyihmfi", + "x": 0.05128205128205128, + "y": 0.5094017094017094, + "width": 0.10598290598290598, + "height": 0.058119658119658135 + } + ] + }, + "bbox_1767851487861": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767851487861_1767851781867_ed65vke5l", + "x": 0.0017094017094017094, + "y": 0.4324786324786325, + "width": 0.24273504273504273, + "height": 0.32649572649572645 + } + ] + }, + "point_1767851495300": { + "type": "point", + "instances": [ + { + "id": "point_1767851495300_1767851786369_qumai1hfw", + "x": 0.1606837606837607, + "y": 0.4239316239316239 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767851476895", + "name": "字母汤", + "color": "#4CAF50" + }, + { + "id": "bbox_1767851481338", + "name": "奶油奶酪盒", + "color": "#FF9800" + }, + { + "id": "bbox_1767851487861", + "name": "篮子", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1767851490958", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767851495300", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000393.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000393.json new file mode 100644 index 0000000000000000000000000000000000000000..88f7551a40f24221a53c0e44ca991bebee500b0a --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000393.json @@ -0,0 +1,478 @@ +{ + "task_description": "把奶油奶酪放进碗里\n开始移动0%\n爪夹靠近奶油奶酪20%\n爪夹抓取奶油奶酪40%\n爪夹抓取奶油奶酪接近碗60%\n爪夹将奶油奶酪放入碗里80%\n爪夹松开，奶油奶酪落入碗里100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1767853707142": { + "instances": [ + { + "height": 0.09743589743589742, + "id": "bbox_1767853707142_1767853751631_0btwf23mo", + "width": 0.07692307692307687, + "x": 0.305982905982906, + "y": 0.5623931623931624 + } + ], + "type": "bbox" + }, + "bbox_1767853712324": { + "instances": [ + { + "height": 0.11111111111111116, + "id": "bbox_1767853712324_1767853755583_z4xi9ybvx", + "width": 0.1333333333333333, + "x": 0.4341880341880342, + "y": 0.5076923076923077 + } + ], + "type": "bbox" + }, + "point_1767853715495": { + "instances": [ + { + "id": "point_1767853715495_1767853758120_pts2jm8e8", + "x": 0.4324786324786325, + "y": 0.2547008547008547 + } + ], + "type": "point" + }, + "point_1767853725290": { + "instances": [ + { + "id": "point_1767853725290_1767853760518_6h6z533pt", + "x": 0.5452991452991452, + "y": 0.24786324786324787 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度使其垂直与桌面，爪夹向爪夹方向的右前方移动至桌面上奶油奶酪的上方，后竖直下落靠近并触及桌面上的奶油奶酪，爪夹合并抓取奶油奶酪，抓取奶油奶酪的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至碗的正上方后竖直下落，将抓取的奶油奶酪放在碗里，爪夹张开，奶油奶酪落入碗中", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触奶油奶酪。\n为了完成把奶油奶酪放进碗里的任务：调整爪夹方向使其垂直于桌面，向爪夹方向的右前方移动至奶油奶酪的上方", + "time": 0.034011 + }, + { + "action_description": "张开的爪夹向爪夹方向的右前方向移动", + "annotations": { + "bbox_1767853707142": { + "instances": [ + { + "height": 0.09230769230769231, + "id": "bbox_1767853707142_1767853775211_voraym1se", + "width": 0.07350427350427352, + "x": 0.30427350427350425, + "y": 0.5641025641025641 + } + ], + "type": "bbox" + }, + "bbox_1767853712324": { + "instances": [ + { + "height": 0.12136752136752138, + "id": "bbox_1767853712324_1767853770861_qygk55h8b", + "width": 0.14188034188034188, + "x": 0.42735042735042733, + "y": 0.505982905982906 + } + ], + "type": "bbox" + }, + "point_1767853715495": { + "instances": [ + { + "id": "point_1767853715495_1767853767099_7sg1tfx0a", + "x": 0.28034188034188035, + "y": 0.4444444444444444 + } + ], + "type": "point" + }, + "point_1767853725290": { + "instances": [ + { + "id": "point_1767853725290_1767853764978_fsdost92d", + "x": 0.40854700854700854, + "y": 0.4427350427350427 + } + ], + "type": "point" + } + }, + "correction_plan": "在奶油奶酪上方的爪夹竖直下落靠近并触及桌面上的奶油奶酪，爪夹合并抓取奶油奶酪，抓取奶油奶酪的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至碗的正上方后竖直下落，将抓取的奶油奶酪放在碗里，爪夹张开，奶油奶酪落入碗中", + "error_success_analysis": "张开的爪夹向爪夹方向的右前方移动靠近抓取物奶油奶酪", + "frame": 58, + "progress": 10, + "progress_explanation": "爪夹向右前移动靠近桌面上的奶油奶酪，进度提升为10%", + "state_description": "爪夹目前张开位于桌上奶油奶酪的上方\n为了完成把奶油奶酪放进碗里的任务：张开的爪夹竖向爪夹方向的下方下落靠近并触及奶油奶酪后爪夹闭合抓取桌面上的奶油奶酪", + "time": 1.938632 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1767853707142": { + "instances": [ + { + "height": 0.09401709401709402, + "id": "bbox_1767853707142_1767853780288_3ntyygj5c", + "width": 0.07179487179487176, + "x": 0.3094017094017094, + "y": 0.5606837606837607 + } + ], + "type": "bbox" + }, + "bbox_1767853712324": { + "instances": [ + { + "height": 0.11452991452991457, + "id": "bbox_1767853712324_1767853785530_7u74nnemh", + "width": 0.1367521367521367, + "x": 0.4341880341880342, + "y": 0.5042735042735043 + } + ], + "type": "bbox" + }, + "point_1767853715495": { + "instances": [ + { + "id": "point_1767853715495_1767853787684_wn6yrneyt", + "x": 0.29572649572649573, + "y": 0.6102564102564103 + } + ], + "type": "point" + }, + "point_1767853725290": { + "instances": [ + { + "id": "point_1767853725290_1767853789631_xjh9g1bhm", + "x": 0.41367521367521365, + "y": 0.6085470085470085 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹闭合抓取奶油奶酪，抓取奶油奶酪的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至碗的正上方后竖直下落，将抓取的奶油奶酪放在碗里，爪夹张开，奶油奶酪落入碗中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方下落靠近抓取物奶油奶酪", + "frame": 113, + "progress": 20, + "progress_explanation": "爪夹下落后靠近桌面上的奶油奶酪，进度提升为20%", + "state_description": "爪夹当前的状态为张开，奶油奶酪位于两侧爪夹中间\n为了完成把奶油奶酪放进碗里的任务：爪夹闭合抓取奶油奶酪后向爪夹方向的上方抬升", + "time": 3.758225 + }, + { + "action_description": "张开的爪夹闭合，抓取桌面上的奶油奶酪", + "annotations": { + "bbox_1767853707142": { + "instances": [ + { + "height": 0.0888888888888889, + "id": "bbox_1767853707142_1767853804072_dbjvhi05e", + "width": 0.06666666666666665, + "x": 0.2923076923076923, + "y": 0.5623931623931624 + } + ], + "type": "bbox" + }, + "bbox_1767853712324": { + "instances": [ + { + "height": 0.12136752136752138, + "id": "bbox_1767853712324_1767853800420_dbeefnshv", + "width": 0.13162393162393166, + "x": 0.42905982905982903, + "y": 0.49401709401709404 + } + ], + "type": "bbox" + }, + "point_1767853715495": { + "instances": [ + { + "id": "point_1767853715495_1767853795596_k0zq9jd5p", + "x": 0.2923076923076923, + "y": 0.611965811965812 + } + ], + "type": "point" + }, + "point_1767853725290": { + "instances": [ + { + "id": "point_1767853725290_1767853793410_q40uep3j0", + "x": 0.3623931623931624, + "y": 0.6102564102564103 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至碗的正上方后竖直下落，将抓取的奶油奶酪放在碗里，爪夹张开，奶油奶酪落入碗中", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的目标物奶油奶酪", + "frame": 136, + "progress": 40, + "progress_explanation": "爪夹闭合成功抓取奶油奶酪，进度提升为40%", + "state_description": "爪夹目前闭合并抓取桌上的奶油奶酪位于碗的的右前方\n为了完成把奶油奶酪放进碗里的任务：抓取奶油奶酪的爪夹竖直上升并向爪夹方向的左后方移动至碗的上方", + "time": 4.523475 + }, + { + "action_description": "抓取奶油奶酪的爪夹向爪夹方向的上方抬升", + "annotations": { + "bbox_1767853707142": { + "instances": [ + { + "height": 0.0888888888888889, + "id": "bbox_1767853707142_1767853810287_lgo2cmjq2", + "width": 0.06837606837606841, + "x": 0.30427350427350425, + "y": 0.49401709401709404 + } + ], + "type": "bbox" + }, + "bbox_1767853712324": { + "instances": [ + { + "height": 0.10769230769230775, + "id": "bbox_1767853712324_1767853814945_b1vhhopun", + "width": 0.1384615384615384, + "x": 0.4307692307692308, + "y": 0.5111111111111111 + } + ], + "type": "bbox" + }, + "point_1767853715495": { + "instances": [ + { + "id": "point_1767853715495_1767853817551_srw8f2er9", + "x": 0.30256410256410254, + "y": 0.5418803418803418 + } + ], + "type": "point" + }, + "point_1767853725290": { + "instances": [ + { + "id": "point_1767853725290_1767853819783_jz6bg5g60", + "x": 0.37777777777777777, + "y": 0.5367521367521367 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪的爪夹向爪夹方向的左后方移动至碗的正上方后竖直下落，将抓取的奶油奶酪放在碗里，爪夹张开，奶油奶酪落入碗中", + "error_success_analysis": "夹取奶油奶酪的爪夹向上抬升后靠近了需要放入的碗中", + "frame": 159, + "progress": 50, + "progress_explanation": "爪夹抓取奶油奶酪向上抬升靠近了碗的上方，进度提升为50%", + "state_description": "爪夹抓取奶油奶酪位于碗的的右侧上方\n为了完成把奶油奶酪放进碗里的任务：抓取奶油奶酪的爪夹向爪夹方向的左后方移动至碗的正上方后竖直下落", + "time": 5.3084 + }, + { + "action_description": "抓取奶油奶酪的爪夹继续向爪夹方向的左后方向移动", + "annotations": { + "bbox_1767853707142": { + "instances": [ + { + "height": 0.09401709401709396, + "id": "bbox_1767853707142_1767853833375_7q02h6qoc", + "width": 0.06837606837606836, + "x": 0.4324786324786325, + "y": 0.4478632478632479 + } + ], + "type": "bbox" + }, + "bbox_1767853712324": { + "instances": [ + { + "height": 0.10940170940170946, + "id": "bbox_1767853712324_1767853829575_jcn354k7a", + "width": 0.14700854700854699, + "x": 0.42905982905982903, + "y": 0.5111111111111111 + } + ], + "type": "bbox" + }, + "point_1767853715495": { + "instances": [ + { + "id": "point_1767853715495_1767853825416_6dtszh036", + "x": 0.4256410256410256, + "y": 0.4888888888888889 + } + ], + "type": "point" + }, + "point_1767853725290": { + "instances": [ + { + "id": "point_1767853725290_1767853823277_kf59ckoa9", + "x": 0.5025641025641026, + "y": 0.4905982905982906 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪的爪夹竖直下落，将抓取的奶油奶酪放在碗里，爪夹张开，奶油奶酪落入碗中", + "error_success_analysis": "夹取奶油奶酪的爪夹向左后方靠近碗的上方的方向移动，抓取的奶油奶酪在碗的上方", + "frame": 194, + "progress": 60, + "progress_explanation": "爪夹抓取奶油奶酪向左后方靠近碗的上方，进度提升为60%", + "state_description": "爪夹目前闭合抓取奶油奶酪位于碗的的上方\n为了完成把奶油奶酪放进碗里的任务：抓取奶油奶酪的爪夹向爪夹方向的下方下落将抓取物奶油奶酪放入碗中", + "time": 6.462107 + }, + { + "action_description": "抓取奶油奶酪的爪夹向爪夹方向的左下方向下落将抓取物奶油奶酪放在碗中", + "annotations": { + "bbox_1767853707142": { + "instances": [ + { + "height": 0.0837606837606838, + "id": "bbox_1767853707142_1767853839560_b4su1sp9s", + "width": 0.06324786324786325, + "x": 0.4717948717948718, + "y": 0.5025641025641026 + } + ], + "type": "bbox" + }, + "bbox_1767853712324": { + "instances": [ + { + "height": 0.10940170940170946, + "id": "bbox_1767853712324_1767853843822_0uv0m01aa", + "width": 0.1367521367521367, + "x": 0.4324786324786325, + "y": 0.5111111111111111 + } + ], + "type": "bbox" + }, + "point_1767853715495": { + "instances": [ + { + "id": "point_1767853715495_1767853846363_6caa6430v", + "x": 0.4735042735042735, + "y": 0.5487179487179488 + } + ], + "type": "point" + }, + "point_1767853725290": { + "instances": [ + { + "id": "point_1767853725290_1767853848606_leuei70d6", + "x": 0.5418803418803418, + "y": 0.5470085470085471 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪的爪夹张开，奶油奶酪落入碗里", + "error_success_analysis": "抓取奶油奶酪的爪夹向下竖直下落后抓取的奶油奶酪被放入碗中", + "frame": 236, + "progress": 80, + "progress_explanation": "抓取奶油奶酪的爪夹下落，抓取的奶油奶酪进入碗中，进度提升为80%", + "state_description": "爪夹目前抓取奶油奶酪位于碗中\n为了完成把奶油奶酪放进碗里的任务：爪夹张开，奶油奶酪落入碗里", + "time": 7.856561 + }, + { + "action_description": "爪夹张开并向上抬升，抓取的奶油奶酪落在碗里", + "annotations": { + "bbox_1767853707142": { + "instances": [ + { + "height": 0.07179487179487176, + "id": "bbox_1767853707142_1767853863011_v5x5ddnn5", + "width": 0.058119658119658135, + "x": 0.4735042735042735, + "y": 0.5247863247863248 + } + ], + "type": "bbox" + }, + "bbox_1767853712324": { + "instances": [ + { + "height": 0.10769230769230775, + "id": "bbox_1767853712324_1767853858672_f65fg43t8", + "width": 0.14017094017094017, + "x": 0.42905982905982903, + "y": 0.5128205128205128 + } + ], + "type": "bbox" + }, + "point_1767853715495": { + "instances": [ + { + "id": "point_1767853715495_1767853854386_klj1ll6sh", + "x": 0.4547008547008547, + "y": 0.5145299145299145 + } + ], + "type": "point" + }, + "point_1767853725290": { + "instances": [ + { + "id": "point_1767853725290_1767853852414_ekbxsmg9w", + "x": 0.5606837606837607, + "y": 0.5145299145299145 + } + ], + "type": "point" + } + }, + "correction_plan": "已完成把奶油奶酪放进碗里的任务", + "error_success_analysis": "爪夹完全张开成功，抓取的奶油奶酪成功落入碗中", + "frame": 258, + "progress": 100, + "progress_explanation": "爪夹张开奶油奶酪落入碗中，进度提升为100%", + "state_description": "爪夹张开位于碗中奶油奶酪的上方\n把奶油奶酪放进碗里已完成", + "time": 8.5878 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767853707142", + "name": "奶油奶酪" + }, + { + "color": "#FF9800", + "id": "bbox_1767853712324", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767853715495", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767853725290", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000547.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000547.json new file mode 100644 index 0000000000000000000000000000000000000000..2068e6b8d0ea8912b0167f31a121ca455e6f3fd6 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000547.json @@ -0,0 +1,423 @@ +{ + "task_description": "打开橱柜中间的抽屉\n开始移动0%\n爪夹靠近抽屉20%\n爪夹靠近并触及中间抽屉把手40%\n爪夹触及抽屉把手将抽屉拉开60%\n爪夹触及抽屉把手将橱柜中间的抽屉完全打开80%\n爪夹离开抽屉把手，完全打开橱柜中间的抽屉100%", + "progress_points": [ + { + "time": 0.125693, + "frame": 4, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动", + "state_description": "爪夹当前处于打开状态，没有移动和靠近抽屉。\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹向爪夹方向的左前方向移动并调整两侧爪夹方向使其平行于中间的抽屉把手", + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "张开的爪夹向爪夹方向的左前方向移动，张开的爪夹向爪夹方向的右上方翻转使两侧爪夹在爪夹的左侧，调整爪夹平行于桌面，向左前方向移动至橱柜中间的抽屉把手上方，并调整两侧爪夹方向使其平行于中间的抽屉把手，爪夹向爪夹方向的前下方移动至爪夹卡住中间的抽屉把手后，向爪夹方向的后方移动将橱柜中间抽屉拉开，直至橱柜中间抽屉完全拉开，张开的爪夹向后上方移动离开抽屉把手，完全打开橱柜中间的抽屉", + "annotations": { + "bbox_1767854863487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854863487_1767856087829_o5ujucrqw", + "x": 0.6547008547008547, + "y": 0.5487179487179488, + "width": 0.07350427350427347, + "height": 0.10769230769230764 + } + ] + }, + "point_1767854870280": { + "type": "point", + "instances": [ + { + "id": "point_1767854870280_1767856090181_k9bww7bw5", + "x": 0.4358974358974359, + "y": 0.24957264957264957 + } + ] + }, + "point_1767854874145": { + "type": "point", + "instances": [ + { + "id": "point_1767854874145_1767856092472_9npcy5wdz", + "x": 0.5538461538461539, + "y": 0.24957264957264957 + } + ] + } + } + }, + { + "time": 2.2848, + "frame": 69, + "progress": 5, + "action_description": "张开的爪夹向爪夹方向的下方移动并调整爪夹角度", + "state_description": "爪夹当前张开位于抽屉的右后方\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹向爪夹方向的右侧翻转角度使两侧爪夹位于爪夹的左侧", + "progress_explanation": "爪夹开始向前移动，进度提升为5%", + "error_success_analysis": "爪夹开始向爪夹方向的前方靠近抽屉移动，并准备开始调整爪夹角度", + "correction_plan": "张开的爪夹向爪夹方向的右上方翻转使两侧爪夹在爪夹的左侧，调整爪夹平行于桌面，向左前方向移动至橱柜中间的抽屉把手上方，爪夹向爪夹方向的前下方移动至爪夹卡住中间的抽屉把手后，向爪夹方向的后方移动将橱柜中间抽屉拉开，直至橱柜中间抽屉完全拉开，张开的爪夹向后上方移动离开抽屉把手，完全打开橱柜中间的抽屉", + "annotations": { + "bbox_1767854863487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854863487_1767856104271_8ziuhjnmh", + "x": 0.6564102564102564, + "y": 0.5452991452991452, + "width": 0.0837606837606838, + "height": 0.10940170940170946 + } + ] + }, + "point_1767854870280": { + "type": "point", + "instances": [ + { + "id": "point_1767854870280_1767856106419_r9mxmrv4a", + "x": 0.4393162393162393, + "y": 0.3487179487179487 + } + ] + }, + "point_1767854874145": { + "type": "point", + "instances": [ + { + "id": "point_1767854874145_1767856108619_8b1do04pm", + "x": 0.5521367521367522, + "y": 0.3504273504273504 + } + ] + } + } + }, + { + "time": 5.9704, + "frame": 179, + "progress": 15, + "action_description": "张开的爪夹继续向爪夹方向的下方下落并调整爪夹平行于桌面，向左调整了爪夹的方向", + "state_description": "爪夹当前张开位于中间抽屉的右侧上方\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹向爪夹方向的左下方靠近中间的抽屉把手", + "progress_explanation": "张开的爪夹继续向下靠近下方的抽屉，进度提升为15%", + "error_success_analysis": "爪夹向右调整了爪夹的角度和爪夹的方向，靠近了橱柜中间抽屉的把手", + "correction_plan": "张开的爪夹向左下方向移动至橱柜中间的抽屉把手上方，爪夹向爪夹方向的前下方移动至爪夹卡住中间的抽屉把手后，后向爪夹方向的后方移动将橱柜中间抽屉拉开，直至橱柜中间抽屉完全拉开，张开的爪夹向后上方移动离开抽屉把手，完全打开橱柜中间的抽屉", + "annotations": { + "point_1767854874145": { + "type": "point", + "instances": [ + { + "id": "point_1767854874145_1767857162157_q6twboe3x", + "x": 0.5794871794871795, + "y": 0.5452991452991452 + } + ] + }, + "point_1767854870280": { + "type": "point", + "instances": [ + { + "id": "point_1767854870280_1767857164415_azatkg3eu", + "x": 0.5333333333333333, + "y": 0.4598290598290598 + } + ] + }, + "bbox_1767854863487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854863487_1767857168415_daviiou67", + "x": 0.6547008547008547, + "y": 0.5470085470085471, + "width": 0.07863247863247858, + "height": 0.10598290598290594 + } + ] + } + } + }, + { + "time": 7.767837, + "frame": 233, + "progress": 20, + "action_description": "张开的爪夹向爪夹方向的前方移动", + "state_description": "爪夹当前的状态为张开，左侧爪夹触及了上方的抽屉把手\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹向下略微调整角度后向爪夹方向的左下方移动至两侧爪夹卡住抽屉把手", + "progress_explanation": "爪夹向前方靠近了橱柜的抽屉，进度提升为20%", + "error_success_analysis": "爪夹向前靠近了左侧的抽屉", + "correction_plan": "张开的爪夹向下略微调整角度后向爪夹方向的左下方移动至两侧爪夹卡住中间的抽屉把手，后向爪夹方向的后方移动将橱柜中间抽屉拉开，直至橱柜中间抽屉完全拉开，张开的爪夹向后上方移动离开抽屉把手，完全打开橱柜中间的抽屉", + "annotations": { + "bbox_1767854863487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854863487_1767857442051_actun7i72", + "x": 0.6615384615384615, + "y": 0.5470085470085471, + "width": 0.07521367521367528, + "height": 0.11111111111111105 + } + ] + }, + "point_1767854870280": { + "type": "point", + "instances": [ + { + "id": "point_1767854870280_1767857444223_39fd8v3it", + "x": 0.6735042735042736, + "y": 0.5384615384615384 + } + ] + }, + "point_1767854874145": { + "type": "point", + "instances": [ + { + "id": "point_1767854874145_1767857446495_yktbiivhi", + "x": 0.7008547008547008, + "y": 0.6307692307692307 + } + ] + } + } + }, + { + "time": 9.301293, + "frame": 279, + "progress": 30, + "action_description": "张开的爪夹向爪夹方向的左下方向移动", + "state_description": "爪夹当前状态为张开，位于中间抽屉把手的上方。\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹向爪夹方向的前方移动将左右两侧爪夹卡住中间的抽屉把手", + "progress_explanation": "爪夹从上方的抽屉把手下落靠近中的抽屉把手，进度提升为30%", + "error_success_analysis": "爪夹向爪夹方向的左下方向移动靠近了目标物中间的抽屉把手", + "correction_plan": "张开的爪夹向爪夹方向的前方移动将左右两侧爪夹卡住中间的抽屉把手，后向爪夹方向的后方移动将橱柜中间抽屉拉开，直至橱柜中间抽屉完全拉开，张开的爪夹向后上方移动离开抽屉把手，完全打开橱柜中间的抽屉", + "annotations": { + "point_1767854874145": { + "type": "point", + "instances": [ + { + "id": "point_1767854874145_1767857759922_lqfztcd1g", + "x": 0.6854700854700855, + "y": 0.6444444444444445 + } + ] + }, + "point_1767854870280": { + "type": "point", + "instances": [ + { + "id": "point_1767854870280_1767857762022_ljx3z56ny", + "x": 0.6786324786324787, + "y": 0.5606837606837607 + } + ] + }, + "bbox_1767854863487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854863487_1767857769418_2mveah299", + "x": 0.6581196581196581, + "y": 0.5435897435897435, + "width": 0.06153846153846154, + "height": 0.11452991452991457 + } + ] + } + } + }, + { + "time": 10.414414414414413, + "frame": 312, + "progress": 40, + "action_description": "张开的爪夹继续向爪夹方向的左侧移动并向下调整了爪夹角度", + "state_description": "爪夹当前状态为张开，位于中间的抽屉把手上\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹向爪夹方向的后方移动将中间的抽屉拉开", + "progress_explanation": "爪夹向左靠近并触及了中间的抽屉把手，进度提升为40%", + "error_success_analysis": "爪夹向左靠近中间抽屉把手后向前下方向调整了爪夹的角度使爪夹卡住中间的抽屉把手", + "correction_plan": "向爪夹方向的后方移动将橱柜中间抽屉拉开，直至橱柜中间抽屉完全拉开，张开的爪夹向爪夹方向后上方移动离开抽屉把手，完全打开橱柜中间的抽屉", + "annotations": { + "bbox_1767854863487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854863487_1767858028374_3s02pm4dk", + "x": 0.6581196581196581, + "y": 0.5470085470085471, + "width": 0.07008547008547006, + "height": 0.11282051282051275 + } + ] + }, + "point_1767854874145": { + "type": "point", + "instances": [ + { + "id": "point_1767854874145_1767858034440_tzwrphyvu", + "x": 0.694017094017094, + "y": 0.5982905982905983 + } + ] + } + } + }, + { + "time": 11.94085, + "frame": 358, + "progress": 60, + "action_description": "卡住中间抽屉把手的爪夹向爪夹方向的后方移动，中间的抽屉打开", + "state_description": "爪夹当前状态为张开位于半开的中间抽屉的把手上\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹继续向爪夹方向的后方移动将中间的抽屉全部拉开", + "progress_explanation": "触及抽屉把手的爪夹向后将抽屉拉开，进度提升为60%", + "error_success_analysis": "卡住中间抽屉把手的爪夹向爪夹后方移动将关上的中间抽屉打开", + "correction_plan": "卡住中间抽屉把手的爪夹继续向爪夹方向的后方移动将中间的抽屉全部拉开，张开的爪夹向爪夹方向的后上方移动离开抽屉把手，完全打开橱柜中间的抽屉", + "annotations": { + "point_1767854870280": { + "type": "point", + "instances": [ + { + "id": "point_1767854870280_1767858320377_81g6t6rox", + "x": 0.5658119658119658, + "y": 0.5470085470085471 + } + ] + }, + "point_1767854874145": { + "type": "point", + "instances": [ + { + "id": "point_1767854874145_1767858325557_6zjfbjhbr", + "x": 0.5658119658119658, + "y": 0.6188034188034188 + } + ] + }, + "bbox_1767854863487": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854863487_1767858330349_a2zygsxd4", + "x": 0.5282051282051282, + "y": 0.5282051282051282, + "width": 0.05982905982905984, + "height": 0.1333333333333333 + } + ] + }, + "bbox_1767854850450": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854850450_1767858337137_7i0oqwbgq", + "x": 0.5213675213675214, + "y": 0.4478632478632479, + "width": 0.18974358974358974, + "height": 0.30598290598290595 + } + ] + } + } + }, + { + "time": 12.745286, + "frame": 382, + "progress": 80, + "action_description": "卡住中间抽屉把手张开的爪夹继续向爪夹方向的后方移动将中间的抽屉全部拉开", + "state_description": "爪夹当前状态为张开位于完全打开的中间抽屉的把手上\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹向爪夹方向的后侧上方抬升，离开抽屉把手", + "progress_explanation": "触及抽屉把手的爪夹向后将抽屉全部拉开，进度提升为80%", + "error_success_analysis": "卡住中间抽屉把手的爪夹向爪夹后方移动将关上的中间抽屉完全打开", + "correction_plan": "张开的爪夹向爪夹方向的后侧上方抬升，离开抽屉把手后，完全打开橱柜中间的抽屉", + "annotations": { + "bbox_1767854850450": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854850450_1767858558811_1tmitpnwv", + "x": 0.4307692307692308, + "y": 0.4444444444444444, + "width": 0.28888888888888886, + "height": 0.3076923076923077 + } + ] + }, + "point_1767854870280": { + "type": "point", + "instances": [ + { + "id": "point_1767854870280_1767858571363_q2lng3os6", + "x": 0.4735042735042735, + "y": 0.5418803418803418 + } + ] + }, + "point_1767854874145": { + "type": "point", + "instances": [ + { + "id": "point_1767854874145_1767858573881_290529oc5", + "x": 0.4700854700854701, + "y": 0.6256410256410256 + } + ] + } + } + }, + { + "time": 13.6, + "frame": 408, + "progress": 100, + "action_description": "在抽屉把手上方张开的爪夹向后移动离开抽屉把手", + "state_description": "爪夹张开位于打开橱柜中间抽屉的把手右侧\n打开橱柜中间的抽屉已完成", + "progress_explanation": "爪夹后落离开抽屉把手，进度提升为100%", + "error_success_analysis": "卡住抽屉张开的爪夹向后移动离开了打开橱柜中间抽屉的把手", + "correction_plan": "已完成打开橱柜中间的抽屉的任务", + "annotations": { + "point_1767854874145": { + "type": "point", + "instances": [ + { + "id": "point_1767854874145_1767858581673_byd79y9zo", + "x": 0.4393162393162393, + "y": 0.6376068376068376 + } + ] + }, + "point_1767854870280": { + "type": "point", + "instances": [ + { + "id": "point_1767854870280_1767858583939_l8lfsmefe", + "x": 0.4427350427350427, + "y": 0.5401709401709401 + } + ] + }, + "bbox_1767854850450": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854850450_1767858590482_9a2rms221", + "x": 0.4376068376068376, + "y": 0.4478632478632479, + "width": 0.27350427350427353, + "height": 0.30769230769230765 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767854850450", + "name": "中间的抽屉", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767854870280", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767854874145", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000652.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000652.json new file mode 100644 index 0000000000000000000000000000000000000000..89a0daa4ed335afc1e0befd034f3a4876b017520 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000652.json @@ -0,0 +1,418 @@ +{ + "task_description": "把葡萄酒瓶放到架子上\n开始移动0%\n爪夹靠近葡萄酒瓶20%\n爪夹抓取葡萄酒瓶40%\n爪夹抓取葡萄酒瓶接近架子60%\n爪夹将葡萄酒瓶放到架子上80%\n爪夹松开，葡糖酒瓶被放到架子上100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1767863611092": { + "instances": [ + { + "height": 0.16410256410256407, + "id": "bbox_1767863611092_1767867140018_qrrtkwt68", + "width": 0.06666666666666665, + "x": 0.5247863247863248, + "y": 0.36923076923076925 + } + ], + "type": "bbox" + }, + "bbox_1767863616330": { + "instances": [ + { + "height": 0.38119658119658106, + "id": "bbox_1767863616330_1767867146892_b9w91z7x9", + "width": 0.2991452991452992, + "x": 0.6495726495726495, + "y": 0.10085470085470087 + } + ], + "type": "bbox" + }, + "point_1767863622220": { + "instances": [ + { + "id": "point_1767863622220_1767867156634_4ycqgqssd", + "x": 0.4324786324786325, + "y": 0.24444444444444444 + } + ], + "type": "point" + }, + "point_1767863626608": { + "instances": [ + { + "id": "point_1767863626608_1767867159097_nmipst510", + "x": 0.558974358974359, + "y": 0.24615384615384617 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度使其平行于桌面后向爪夹方向的右侧移动，调整爪夹使张开的爪夹口位于左侧，张开的爪夹向爪夹方向的右侧移动至葡萄酒瓶的右侧，爪夹向前移动靠近并触及葡萄酒瓶，爪夹闭合，抓取葡萄酒瓶，抓取后向爪夹方向的前上方移动至架子的上方，下落将抓取的葡萄酒瓶放在架子上，抓取葡萄酒瓶的爪夹张开，抓取的葡萄酒瓶放到架子上", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触葡萄酒瓶。\n为了完成把葡萄酒瓶放到架子上的任务：调整爪夹使其平行于桌面后向爪夹方向的右侧移动后向左移动调整爪夹角度", + "time": 0.06378378378378377 + }, + { + "action_description": "张开的爪夹向爪夹方向的右下方移动调整角度后爪夹向右下方调整张开的爪夹方向并略微下落", + "annotations": { + "bbox_1767863611092": { + "instances": [ + { + "height": 0.16410256410256407, + "id": "bbox_1767863611092_1767867183831_vteriug5p", + "width": 0.06837606837606836, + "x": 0.5247863247863248, + "y": 0.37094017094017095 + } + ], + "type": "bbox" + }, + "bbox_1767863616330": { + "instances": [ + { + "height": 0.37948717948717947, + "id": "bbox_1767863616330_1767867174074_g6s1r1rjx", + "width": 0.29401709401709386, + "x": 0.6495726495726497, + "y": 0.10427350427350426 + } + ], + "type": "bbox" + }, + "point_1767863622220": { + "instances": [ + { + "id": "point_1767863622220_1767867167507_nqiv82j21", + "x": 0.4717948717948718, + "y": 0.28034188034188035 + } + ], + "type": "point" + }, + "point_1767863626608": { + "instances": [ + { + "id": "point_1767863626608_1767867164855_pgubtmuto", + "x": 0.48205128205128206, + "y": 0.347008547008547 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹继续向爪夹方向的下前方向移动至葡萄酒瓶的右侧，爪夹向前移动靠近并触及葡萄酒瓶，爪夹闭合，抓取葡萄酒瓶，抓取后向爪夹方向的前上方移动至架子的上方，下落将抓取的葡萄酒瓶放在架子上，抓取葡萄酒瓶的爪夹张开，抓取的葡萄酒瓶放到架子上", + "error_success_analysis": "张开的爪夹向爪夹方向的下前方向移动靠近抓取物葡萄酒瓶", + "frame": 125, + "progress": 10, + "progress_explanation": "爪夹向下移动靠近桌面上的葡萄酒瓶，进度提升为10%", + "state_description": "爪夹当前的状态张开位于桌上葡萄酒瓶的右侧上方\n为了完成把葡萄酒瓶放到架子上的任务：张开的爪夹竖直下落", + "time": 4.155083 + }, + { + "action_description": "张开的爪夹向爪夹方向的左下方向移动并调整爪夹方向", + "annotations": { + "bbox_1767863611092": { + "instances": [ + { + "height": 0.15897435897435896, + "id": "bbox_1767863611092_1767867191585_rvrew7kfa", + "width": 0.07008547008547006, + "x": 0.5247863247863248, + "y": 0.37094017094017095 + } + ], + "type": "bbox" + }, + "bbox_1767863616330": { + "instances": [ + { + "height": 0.37777777777777777, + "id": "bbox_1767863616330_1767867197991_7i3w8kyu7", + "width": 0.3042735042735042, + "x": 0.6461538461538462, + "y": 0.10256410256410257 + } + ], + "type": "bbox" + }, + "point_1767863622220": { + "instances": [ + { + "id": "point_1767863622220_1767867205429_ai65j0mei", + "x": 0.5777777777777777, + "y": 0.4427350427350427 + } + ], + "type": "point" + }, + "point_1767863626608": { + "instances": [ + { + "id": "point_1767863626608_1767867207337_h2eqayr22", + "x": 0.6085470085470085, + "y": 0.37264957264957266 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹闭合，抓取中间的葡萄酒瓶后向爪夹方向的前上方移动至架子的上方，抓取葡萄酒瓶的爪夹下落将抓取的葡萄酒瓶放在架子上，抓取葡萄酒瓶的爪夹张开，把抓取的葡萄酒瓶放到架子上", + "error_success_analysis": "张开的爪夹向爪夹方向的左下下落靠近抓取物葡萄酒瓶，并在靠近前调整爪夹角度方便抓取", + "frame": 231, + "progress": 20, + "progress_explanation": "爪夹下落后靠近并触及桌面上的葡萄酒瓶，进度提升为20%", + "state_description": "爪夹当前状态张开，葡萄酒瓶位于张开的爪夹中间\n为了完成把葡萄酒瓶放到架子上的任务：张开的爪夹闭合，抓取张开的爪夹中间的葡萄酒瓶", + "time": 7.688539 + }, + { + "action_description": "张开的爪夹闭合，抓取在两侧爪夹中间的葡萄酒瓶", + "annotations": { + "bbox_1767863611092": { + "instances": [ + { + "height": 0.16239316239316243, + "id": "bbox_1767863611092_1767867229149_o4jt0u1s5", + "width": 0.06153846153846154, + "x": 0.5367521367521367, + "y": 0.3572649572649573 + } + ], + "type": "bbox" + }, + "bbox_1767863616330": { + "instances": [ + { + "height": 0.3829059829059829, + "id": "bbox_1767863616330_1767867217927_zjhsc1k9s", + "width": 0.3008547008547008, + "x": 0.6512820512820513, + "y": 0.09914529914529915 + } + ], + "type": "bbox" + }, + "point_1767863622220": { + "instances": [ + { + "id": "point_1767863622220_1767867213413_eg0v3bw6i", + "x": 0.5931623931623932, + "y": 0.42905982905982903 + } + ], + "type": "point" + }, + "point_1767863626608": { + "instances": [ + { + "id": "point_1767863626608_1767867211289_tya74ylxn", + "x": 0.6, + "y": 0.4017094017094017 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取葡萄酒瓶的爪夹向爪夹方向的前上方移动至架子的上方，抓取葡萄酒瓶的爪夹下落将抓取的葡萄酒瓶放在架子上，抓取葡萄酒瓶的爪夹张开，把抓取的葡萄酒瓶放到架子上", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的目标物葡萄酒瓶", + "frame": 267, + "progress": 40, + "progress_explanation": "爪夹闭合成功抓取葡萄酒瓶，进度提升为40%", + "state_description": "爪夹当前的状态为闭合并抓住了桌上的葡萄酒瓶位于架子的右下方\n为了完成把葡萄酒瓶放到架子上的任务：抓取葡萄酒瓶的爪夹向爪夹方向的上方竖直上升", + "time": 8.899075 + }, + { + "action_description": "抓取葡萄酒瓶的爪夹向爪夹方向的上方抬升", + "annotations": { + "bbox_1767863611092": { + "instances": [ + { + "height": 0.18803418803418803, + "id": "bbox_1767863611092_1767867241987_clpdekfmb", + "width": 0.07179487179487176, + "x": 0.5299145299145299, + "y": 0.26153846153846155 + } + ], + "type": "bbox" + }, + "bbox_1767863616330": { + "instances": [ + { + "height": 0.37777777777777777, + "id": "bbox_1767863616330_1767867254478_98uo2v06b", + "width": 0.3094017094017093, + "x": 0.6427350427350428, + "y": 0.10256410256410256 + } + ], + "type": "bbox" + }, + "point_1767863622220": { + "instances": [ + { + "id": "point_1767863622220_1767867311679_mvy2xk94k", + "x": 0.5948717948717949, + "y": 0.3487179487179487 + } + ], + "type": "point" + }, + "point_1767863626608": { + "instances": [ + { + "id": "point_1767863626608_1767867314245_m6dfwjpod", + "x": 0.5965811965811966, + "y": 0.3162393162393162 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取葡萄酒瓶的爪夹继续向爪夹方向的前上方移动至架子的上方后下落，抓取葡萄酒瓶的爪夹下落将抓取的葡萄酒瓶放在架子上，抓取葡萄酒瓶的爪夹张开，把抓取的葡萄酒瓶放到架子上", + "error_success_analysis": "夹取葡萄酒瓶的爪夹向上抬升后靠近了需要放到的架子上", + "frame": 298, + "progress": 50, + "progress_explanation": "爪夹抓取葡萄酒瓶向上抬升靠近了架子，进度提升为50%", + "state_description": "爪夹当前状态为爪夹抓取葡萄酒瓶位于架子的右侧方向\n为了完成把葡萄酒瓶放到架子上的任务：抓取葡萄酒瓶的爪夹继续向爪夹方向的前上方移动至架子的上方后下落", + "time": 9.918378378378378 + }, + { + "action_description": "抓取葡萄酒瓶子的爪夹向爪夹方向的前上方移动", + "annotations": { + "bbox_1767863611092": { + "instances": [ + { + "height": 0.17606837606837608, + "id": "bbox_1767863611092_1767867325627_730ul2r5n", + "width": 0.19829059829059825, + "x": 0.7042735042735043, + "y": 0.08888888888888888 + } + ], + "type": "bbox" + }, + "bbox_1767863616330": { + "instances": [ + { + "height": 0.3777777777777778, + "id": "bbox_1767863616330_1767867339193_l2yiu59hr", + "width": 0.2991452991452991, + "x": 0.6512820512820513, + "y": 0.10427350427350426 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取葡萄酒瓶子的爪夹向爪夹方向的下方下落，将抓取的葡萄酒瓶放在架子上，抓取葡萄酒瓶的爪夹张开，把抓取的葡萄酒瓶放到架子上", + "error_success_analysis": "夹取葡萄酒瓶的爪夹向前上方靠近架子的上方的方向移动", + "frame": 362, + "progress": 60, + "progress_explanation": "爪夹抓取葡萄酒瓶向前上方移动到架子上方，进度提升为60%", + "state_description": "爪夹当前状态为爪夹抓取葡萄酒瓶位于架子的上方\n为了完成把葡萄酒瓶放到架子上的任务：抓取葡萄酒瓶子的爪夹向爪夹方向的下方下落", + "time": 12.072643 + }, + { + "action_description": "抓取葡萄酒瓶的爪夹向爪夹方向的下前方下落", + "annotations": { + "bbox_1767863611092": { + "instances": [ + { + "height": 0.12478632478632479, + "id": "bbox_1767863611092_1767867372078_mjttx9571", + "width": 0.2205128205128205, + "x": 0.7230769230769231, + "y": 0.16923076923076924 + } + ], + "type": "bbox" + }, + "bbox_1767863616330": { + "instances": [ + { + "height": 0.3606837606837607, + "id": "bbox_1767863616330_1767867362067_ghnxxwkfj", + "width": 0.2957264957264957, + "x": 0.652991452991453, + "y": 0.11794871794871793 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取葡萄酒瓶的爪夹张开，把抓取的葡萄酒瓶放到架子上", + "error_success_analysis": "抓取葡萄酒瓶的爪夹向下下落后抓取的葡萄酒瓶放在架子上", + "frame": 439, + "progress": 78, + "progress_explanation": "抓取葡萄酒瓶的爪夹下落，抓取的葡萄酒瓶放在架子上，进度提升为78%", + "state_description": "爪夹当前的状态是闭合，爪夹抓取架子上的葡萄酒瓶。\n为了完成把葡萄酒瓶放到架子上的任务：抓取葡萄酒瓶的爪夹张开，葡糖酒瓶被放到架子上", + "time": 14.624584 + }, + { + "action_description": "抓取葡萄酒瓶的爪夹向爪夹方向的左侧移动", + "annotations": { + "bbox_1767863611092": { + "instances": [ + { + "height": 0.12478632478632476, + "id": "bbox_1767863611092_1767867383443_2593hqznv", + "width": 0.2102564102564103, + "x": 0.7213675213675214, + "y": 0.17606837606837608 + } + ], + "type": "bbox" + }, + "bbox_1767863616330": { + "instances": [ + { + "height": 0.3572649572649573, + "id": "bbox_1767863616330_1767867389105_9qftmox66", + "width": 0.29401709401709397, + "x": 0.652991452991453, + "y": 0.12136752136752137 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取葡萄酒瓶的爪夹张开，把抓取的葡萄酒瓶放到架子上", + "error_success_analysis": "抓取葡萄酒瓶的爪夹向左调整后葡萄酒瓶放到架子上", + "frame": 531, + "progress": 80, + "progress_explanation": "抓取葡萄酒瓶的爪夹向左调整位置，抓取的葡萄酒瓶放在架子上，进度提升为80%", + "state_description": "爪夹当前的状态是闭合，爪夹抓取架子上的葡萄酒瓶。\n为了完成把葡萄酒瓶放到架子上的任务：抓取葡萄酒瓶的爪夹张开，葡糖酒瓶被放到架子上", + "time": 17.7 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767863611092", + "name": "葡萄酒瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1767863616330", + "name": "架子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767863622220", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767863626608", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000720.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000720.json new file mode 100644 index 0000000000000000000000000000000000000000..2642590fcda6ae5789a0255e353001c1e4bc87a7 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000720.json @@ -0,0 +1,478 @@ +{ + "task_description": "把奶油奶酪放进碗里\n开始移动0%\n爪夹靠近奶油奶酪20%\n爪夹抓取奶油奶酪40%\n爪夹抓取奶油奶酪接近碗60%\n爪夹将奶油奶酪放入碗里80%\n爪夹松开，奶油奶酪落入碗里100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1767854013255": { + "instances": [ + { + "height": 0.09572649572649572, + "id": "bbox_1767854013255_1767854320293_86fda58bj", + "width": 0.07521367521367517, + "x": 0.2905982905982906, + "y": 0.5811965811965812 + } + ], + "type": "bbox" + }, + "bbox_1767854018451": { + "instances": [ + { + "height": 0.11623931623931627, + "id": "bbox_1767854018451_1767854323579_vtjtvzz7c", + "width": 0.13846153846153847, + "x": 0.4188034188034188, + "y": 0.49572649572649574 + } + ], + "type": "bbox" + }, + "point_1767854024303": { + "instances": [ + { + "id": "point_1767854024303_1767854325773_gundw6x4j", + "x": 0.4444444444444444, + "y": 0.24444444444444444 + } + ], + "type": "point" + }, + "point_1767854027329": { + "instances": [ + { + "id": "point_1767854027329_1767854328245_4it9xi53c", + "x": 0.5692307692307692, + "y": 0.25982905982905985 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度使其垂直与桌面，爪夹向爪夹方向的右前方移动至桌面上奶油奶酪的上方，后竖直下落靠近并触及桌面上的奶油奶酪，爪夹合并抓取奶油奶酪，抓取奶油奶酪的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至碗的正上方后竖直下落，将抓取的奶油奶酪放在碗里，爪夹张开，奶油奶酪落入碗中", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触奶油奶酪。\n为了完成把奶油奶酪放进碗里的任务：调整爪夹方向使其垂直于桌面，向爪夹方向的右前方移动至奶油奶酪的上方", + "time": 0 + }, + { + "action_description": "张开的爪夹向爪夹方向的右前方向移动", + "annotations": { + "bbox_1767854013255": { + "instances": [ + { + "height": 0.09059829059829061, + "id": "bbox_1767854013255_1767854340553_ox2o8iatw", + "width": 0.07863247863247863, + "x": 0.28547008547008546, + "y": 0.588034188034188 + } + ], + "type": "bbox" + }, + "bbox_1767854018451": { + "instances": [ + { + "height": 0.11282051282051286, + "id": "bbox_1767854018451_1767854337543_iw4zeze93", + "width": 0.13504273504273506, + "x": 0.4188034188034188, + "y": 0.49914529914529915 + } + ], + "type": "bbox" + }, + "point_1767854024303": { + "instances": [ + { + "id": "point_1767854024303_1767854333709_zuh21g6k5", + "x": 0.27008547008547007, + "y": 0.37948717948717947 + } + ], + "type": "point" + }, + "point_1767854027329": { + "instances": [ + { + "id": "point_1767854027329_1767854331776_ae2c06355", + "x": 0.39658119658119656, + "y": 0.3641025641025641 + } + ], + "type": "point" + } + }, + "correction_plan": "在奶油奶酪上方的爪夹竖直下落靠近并触及桌面上的奶油奶酪，爪夹合并抓取奶油奶酪，抓取奶油奶酪的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至碗的正上方后竖直下落，将抓取的奶油奶酪放在碗里，爪夹张开，奶油奶酪落入碗中", + "error_success_analysis": "张开的爪夹向爪夹方向的右前方移动靠近抓取物奶油奶酪", + "frame": 62, + "progress": 10, + "progress_explanation": "爪夹向右前移动靠近桌面上的奶油奶酪，进度提升为10%", + "state_description": "爪夹目前张开位于桌上奶油奶酪的上方\n为了完成把奶油奶酪放进碗里的任务：张开的爪夹竖向爪夹方向的下方下落靠近并触及奶油奶酪后爪夹闭合抓取桌面上的奶油奶酪", + "time": 2.056191 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1767854013255": { + "instances": [ + { + "height": 0.09914529914529924, + "id": "bbox_1767854013255_1767854345367_osvn1vhd3", + "width": 0.07179487179487176, + "x": 0.2905982905982906, + "y": 0.576068376068376 + } + ], + "type": "bbox" + }, + "bbox_1767854018451": { + "instances": [ + { + "height": 0.11965811965811968, + "id": "bbox_1767854018451_1767854349637_8xvqr3r4a", + "width": 0.13846153846153847, + "x": 0.4205128205128205, + "y": 0.49401709401709404 + } + ], + "type": "bbox" + }, + "point_1767854024303": { + "instances": [ + { + "id": "point_1767854024303_1767854351656_df803p98h", + "x": 0.28034188034188035, + "y": 0.6324786324786325 + } + ], + "type": "point" + }, + "point_1767854027329": { + "instances": [ + { + "id": "point_1767854027329_1767854354412_lm6ga4rng", + "x": 0.39145299145299145, + "y": 0.6358974358974359 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹闭合抓取奶油奶酪，抓取奶油奶酪的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至碗的正上方后竖直下落，将抓取的奶油奶酪放在碗里，爪夹张开，奶油奶酪落入碗中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方下落靠近抓取物奶油奶酪", + "frame": 123, + "progress": 20, + "progress_explanation": "爪夹下落后靠近桌面上的奶油奶酪，进度提升为20%", + "state_description": "爪夹当前的状态为张开，奶油奶酪位于两侧爪夹中间\n为了完成把奶油奶酪放进碗里的任务：爪夹闭合抓取奶油奶酪后向爪夹方向的上方抬升", + "time": 4.093345 + }, + { + "action_description": "张开的爪夹闭合，抓取桌面上的奶油奶酪", + "annotations": { + "bbox_1767854013255": { + "instances": [ + { + "height": 0.08547008547008539, + "id": "bbox_1767854013255_1767854367828_m8f14adbs", + "width": 0.07521367521367522, + "x": 0.28547008547008546, + "y": 0.5846153846153846 + } + ], + "type": "bbox" + }, + "bbox_1767854018451": { + "instances": [ + { + "height": 0.11965811965811973, + "id": "bbox_1767854018451_1767854364144_avogcdbnf", + "width": 0.13675213675213677, + "x": 0.4205128205128205, + "y": 0.4905982905982906 + } + ], + "type": "bbox" + }, + "point_1767854024303": { + "instances": [ + { + "id": "point_1767854024303_1767854360217_g1wdvzew4", + "x": 0.28547008547008546, + "y": 0.6324786324786325 + } + ], + "type": "point" + }, + "point_1767854027329": { + "instances": [ + { + "id": "point_1767854027329_1767854358143_693dt5acy", + "x": 0.3572649572649573, + "y": 0.6358974358974359 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左后方移动至碗的正上方后竖直下落，将抓取的奶油奶酪放在碗里，爪夹张开，奶油奶酪落入碗中", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的目标物奶油奶酪", + "frame": 153, + "progress": 40, + "progress_explanation": "爪夹闭合成功抓取奶油奶酪，进度提升为40%", + "state_description": "爪夹目前闭合并抓取桌上的奶油奶酪位于碗的的右前方\n为了完成把奶油奶酪放进碗里的任务：抓取奶油奶酪的爪夹竖直上升并向爪夹方向的左后方移动至碗的上方", + "time": 5.102402 + }, + { + "action_description": "抓取奶油奶酪的爪夹向爪夹方向的上方抬升", + "annotations": { + "bbox_1767854013255": { + "instances": [ + { + "height": 0.09572649572649566, + "id": "bbox_1767854013255_1767854397140_chqggpdf5", + "width": 0.07521367521367522, + "x": 0.28034188034188035, + "y": 0.47692307692307695 + } + ], + "type": "bbox" + }, + "bbox_1767854018451": { + "instances": [ + { + "height": 0.10598290598290594, + "id": "bbox_1767854018451_1767854374323_f7tkik9y2", + "width": 0.13504273504273506, + "x": 0.4170940170940171, + "y": 0.5008547008547009 + } + ], + "type": "bbox" + }, + "point_1767854024303": { + "instances": [ + { + "id": "point_1767854024303_1767854376366_wfxnf3mee", + "x": 0.28205128205128205, + "y": 0.5367521367521367 + } + ], + "type": "point" + }, + "point_1767854027329": { + "instances": [ + { + "id": "point_1767854027329_1767854378513_3307l244k", + "x": 0.3606837606837607, + "y": 0.535042735042735 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪的爪夹向爪夹方向的左后方移动至碗的正上方后竖直下落，将抓取的奶油奶酪放在碗里，爪夹张开，奶油奶酪落入碗中", + "error_success_analysis": "夹取奶油奶酪的爪夹向上抬升后靠近了需要放入的碗中", + "frame": 183, + "progress": 50, + "progress_explanation": "爪夹抓取奶油奶酪向上抬升靠近了碗的上方，进度提升为50%", + "state_description": "爪夹抓取奶油奶酪位于碗的的右侧上方\n为了完成把奶油奶酪放进碗里的任务：抓取奶油奶酪的爪夹向爪夹方向的左后方移动至碗的正上方后竖直下落", + "time": 6.11146 + }, + { + "action_description": "抓取奶油奶酪的爪夹继续向爪夹方向的左后方向移动", + "annotations": { + "bbox_1767854013255": { + "instances": [ + { + "height": 0.09914529914529913, + "id": "bbox_1767854013255_1767854391517_6flg5cafn", + "width": 0.06324786324786325, + "x": 0.4376068376068376, + "y": 0.41025641025641024 + } + ], + "type": "bbox" + }, + "bbox_1767854018451": { + "instances": [ + { + "height": 0.10427350427350424, + "id": "bbox_1767854018451_1767854387779_62nlezghr", + "width": 0.13675213675213677, + "x": 0.4205128205128205, + "y": 0.5042735042735043 + } + ], + "type": "bbox" + }, + "point_1767854024303": { + "instances": [ + { + "id": "point_1767854024303_1767854383851_2ievt4n6p", + "x": 0.4324786324786325, + "y": 0.4666666666666667 + } + ], + "type": "point" + }, + "point_1767854027329": { + "instances": [ + { + "id": "point_1767854027329_1767854381798_8bwaxarxq", + "x": 0.505982905982906, + "y": 0.4717948717948718 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪的爪夹竖直下落，将抓取的奶油奶酪放在碗里，爪夹张开，奶油奶酪落入碗中", + "error_success_analysis": "夹取书的爪夹向左后方靠近碗的上方的方向移动，抓取的奶油奶酪在碗的上方", + "frame": 223, + "progress": 60, + "progress_explanation": "爪夹抓取书向左后方靠近手推车隔间上方，进度提升为60%", + "state_description": "爪夹目前闭合抓取奶油奶酪位于碗的的上方\n为了完成把奶油奶酪放进碗里的任务：抓取奶油奶酪的爪夹向爪夹方向的下方下落将抓取物奶油奶酪放入碗中", + "time": 7.444177 + }, + { + "action_description": "抓取奶油奶酪的爪夹向爪夹方向的左下方向下落将抓取物奶油奶酪放在碗中", + "annotations": { + "bbox_1767854013255": { + "instances": [ + { + "height": 0.09743589743589737, + "id": "bbox_1767854013255_1767854405251_fnel5ywxv", + "width": 0.06324786324786319, + "x": 0.4495726495726496, + "y": 0.47863247863247865 + } + ], + "type": "bbox" + }, + "bbox_1767854018451": { + "instances": [ + { + "height": 0.10598290598290594, + "id": "bbox_1767854018451_1767854409280_bjkmj86zf", + "width": 0.13675213675213677, + "x": 0.4188034188034188, + "y": 0.5025641025641026 + } + ], + "type": "bbox" + }, + "point_1767854024303": { + "instances": [ + { + "id": "point_1767854024303_1767854411056_17k1id3im", + "x": 0.4512820512820513, + "y": 0.5333333333333333 + } + ], + "type": "point" + }, + "point_1767854027329": { + "instances": [ + { + "id": "point_1767854027329_1767854413313_rkuq07mv0", + "x": 0.5128205128205128, + "y": 0.5435897435897435 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪的爪夹张开，奶油奶酪落入碗里", + "error_success_analysis": "抓取奶油奶酪的爪夹向下竖直下落后抓取的奶油奶酪被放入碗中", + "frame": 272, + "progress": 80, + "progress_explanation": "抓取奶油奶酪的爪夹下落，抓取的奶油奶酪进入碗中，进度提升为80%", + "state_description": "爪夹目前抓取奶油奶酪位于碗中\n为了完成把奶油奶酪放进碗里的任务：爪夹张开，奶油奶酪落入碗里", + "time": 9.081515 + }, + { + "action_description": "爪夹张开并向上抬升，抓取的奶油奶酪落在碗里", + "annotations": { + "bbox_1767854013255": { + "instances": [ + { + "height": 0.07008547008547006, + "id": "bbox_1767854013255_1767854429960_qmfkkhvrj", + "width": 0.0632478632478633, + "x": 0.4564102564102564, + "y": 0.5162393162393163 + } + ], + "type": "bbox" + }, + "bbox_1767854018451": { + "instances": [ + { + "height": 0.10940170940170935, + "id": "bbox_1767854018451_1767854425810_eahpnzmb7", + "width": 0.13333333333333336, + "x": 0.4222222222222222, + "y": 0.49914529914529915 + } + ], + "type": "bbox" + }, + "point_1767854024303": { + "instances": [ + { + "id": "point_1767854024303_1767854420583_ukb13e33g", + "x": 0.4239316239316239, + "y": 0.5008547008547009 + } + ], + "type": "point" + }, + "point_1767854027329": { + "instances": [ + { + "id": "point_1767854027329_1767854418534_n7agulfq9", + "x": 0.5213675213675214, + "y": 0.5094017094017094 + } + ], + "type": "point" + } + }, + "correction_plan": "已完成把奶油奶酪放进碗里的任务", + "error_success_analysis": "爪夹完全张开成功，抓取的奶油奶酪成功落入碗中", + "frame": 306, + "progress": 100, + "progress_explanation": "爪夹张开奶油奶酪落入碗中，进度提升为100%", + "state_description": "爪夹张开位于碗中奶油奶酪的上方\n把奶油奶酪放进碗里已完成", + "time": 10.207207207207208 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767854013255", + "name": "奶油奶酪" + }, + { + "color": "#FF9800", + "id": "bbox_1767854018451", + "name": "碗" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767854024303", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767854027329", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000780.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000780.json new file mode 100644 index 0000000000000000000000000000000000000000..e238ddb264864fdb93a0e2ab9524f1ac959e412b --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000780.json @@ -0,0 +1,307 @@ +{ + "task_description": "打开橱柜中间的抽屉\n开始移动0%\n爪夹靠近抽屉20%\n爪夹靠近并触及中间抽屉把手40%\n爪夹触及抽屉把手将抽屉拉开60%\n爪夹触及抽屉把手将橱柜中间的抽屉完全打开80%\n爪夹离开抽屉把手，完全打开橱柜中间的抽屉100%", + "progress_points": [ + { + "time": 0.089463, + "frame": 3, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动", + "state_description": "爪夹当前处于打开状态，没有移动和靠近抽屉。\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹向爪夹方向的左前方向移动并调整两侧爪夹方向使其平行于中间的抽屉把手", + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "张开的爪夹向爪夹方向的左前方向移动，张开的爪夹向爪夹方向的右上方翻转使两侧爪夹在爪夹的左侧，调整爪夹平行于桌面，向左前方向移动至橱柜中间的抽屉把手上方，并调整两侧爪夹方向使其平行于中间的抽屉把手，爪夹向爪夹方向的前下方移动至爪夹卡住中间的抽屉把手后，向爪夹方向的后方移动将橱柜中间抽屉拉开，直至橱柜中间抽屉完全拉开，张开的爪夹向后上方移动离开抽屉把手，完全打开橱柜中间的抽屉", + "annotations": { + "point_1767859750707": { + "type": "point", + "instances": [ + { + "id": "point_1767859750707_1767859833794_e3s2vmwsb", + "x": 0.4444444444444444, + "y": 0.2547008547008547 + } + ] + }, + "point_1767859760724": { + "type": "point", + "instances": [ + { + "id": "point_1767859760724_1767859835958_nh8btml5k", + "x": 0.5623931623931624, + "y": 0.24786324786324787 + } + ] + } + } + }, + { + "time": 1.945841, + "frame": 58, + "progress": 5, + "action_description": "张开的爪夹向爪夹方向的下方移动并调整爪夹角度", + "state_description": "爪夹当前张开位于抽屉的右后方\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹向爪夹方向的右侧翻转角度使两侧爪夹位于爪夹的左侧", + "progress_explanation": "爪夹开始向前移动，进度提升为5%", + "error_success_analysis": "爪夹开始向爪夹方向的前方靠近抽屉移动，并准备开始调整爪夹角度", + "correction_plan": "张开的爪夹向爪夹方向的右上方翻转使两侧爪夹在爪夹的左侧，调整爪夹平行于桌面，向左前方向移动至橱柜中间的抽屉把手上方，爪夹向爪夹方向的前下方移动至爪夹卡住中间的抽屉把手后，向爪夹方向的后方移动将橱柜中间抽屉拉开，直至橱柜中间抽屉完全拉开，张开的爪夹向后上方移动离开抽屉把手，完全打开橱柜中间的抽屉", + "annotations": { + "point_1767859760724": { + "type": "point", + "instances": [ + { + "id": "point_1767859760724_1767859826961_28gwkia0x", + "x": 0.5931623931623932, + "y": 0.3247863247863248 + } + ] + }, + "point_1767859750707": { + "type": "point", + "instances": [ + { + "id": "point_1767859750707_1767859829741_d5w2rvfpp", + "x": 0.4717948717948718, + "y": 0.30085470085470084 + } + ] + } + } + }, + { + "time": 5.680961, + "frame": 170, + "progress": 15, + "action_description": "张开的爪夹继续向爪夹方向的下方下落并调整爪夹平行于桌面，向左调整了爪夹的方向", + "state_description": "爪夹当前张开位于中间抽屉的右侧上方\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹向爪夹方向的左下方靠近中间的抽屉把手", + "progress_explanation": "张开的爪夹继续向下靠近下方的抽屉，进度提升为15%", + "error_success_analysis": "爪夹向右调整了爪夹的角度和爪夹的方向，靠近了橱柜中间抽屉的把手", + "correction_plan": "张开的爪夹向左下方向移动至橱柜中间的抽屉把手上方，爪夹向爪夹方向的前下方移动至爪夹卡住中间的抽屉把手后，后向爪夹方向的后方移动将橱柜中间抽屉拉开，直至橱柜中间抽屉完全拉开，张开的爪夹向后上方移动离开抽屉把手，完全打开橱柜中间的抽屉", + "annotations": { + "point_1767859750707": { + "type": "point", + "instances": [ + { + "id": "point_1767859750707_1767859820854_qb5c4q47i", + "x": 0.5675213675213675, + "y": 0.4307692307692308 + } + ] + }, + "point_1767859760724": { + "type": "point", + "instances": [ + { + "id": "point_1767859760724_1767859823223_1vx05sg48", + "x": 0.5811965811965812, + "y": 0.48717948717948717 + } + ] + } + } + }, + { + "time": 7.157116, + "frame": 215, + "progress": 20, + "action_description": "张开的爪夹向爪夹方向的下前方向移动", + "state_description": "爪夹当前的状态为张开，位于中间抽屉的把手后侧上方\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹继续向爪夹方向的下前方移动至两侧爪夹卡住抽屉把手", + "progress_explanation": "爪夹向下前方向靠近了橱柜的抽屉，进度提升为20%", + "error_success_analysis": "爪夹向前靠近了桌上左侧的抽屉", + "correction_plan": "张开的爪夹继续向爪夹方向的下前方移动至两侧爪夹卡住抽屉把手，后向爪夹方向的后方移动将橱柜中间抽屉拉开，直至橱柜中间抽屉完全拉开，张开的爪夹向后上方移动离开抽屉把手，完全打开橱柜中间的抽屉", + "annotations": { + "point_1767859760724": { + "type": "point", + "instances": [ + { + "id": "point_1767859760724_1767859807436_5n58i4jnx", + "x": 0.7008547008547008, + "y": 0.6034188034188034 + } + ] + }, + "point_1767859750707": { + "type": "point", + "instances": [ + { + "id": "point_1767859750707_1767859811445_urj279ce9", + "x": 0.6854700854700855, + "y": 0.5196581196581197 + } + ] + } + } + }, + { + "time": 8.610905, + "frame": 258, + "progress": 40, + "action_description": "张开的爪夹向爪夹方向的前下方移动触及抽屉表面后下落触及中间的抽屉把手", + "state_description": "爪夹当前状态为张开，左侧爪夹位于中间的抽屉把手上\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹向爪夹方向的后方移动将中间的抽屉拉开", + "progress_explanation": "爪夹向下靠近并触及了中间的抽屉把手，进度提升为40%", + "error_success_analysis": "爪夹向前下方靠近中间抽屉表面后下落左侧的爪夹卡在了中间抽屉的把手上", + "correction_plan": "向爪夹方向的后方移动将橱柜中间抽屉拉开，直至橱柜中间抽屉完全拉开，张开的爪夹向爪夹方向后上方移动离开抽屉把手，完全打开橱柜中间的抽屉", + "annotations": { + "point_1767859760724": { + "type": "point", + "instances": [ + { + "id": "point_1767859760724_1767859803089_jfjs6otyg", + "x": 0.7452991452991453, + "y": 0.6615384615384615 + } + ] + } + } + }, + { + "time": 10.109426, + "frame": 303, + "progress": 60, + "action_description": "卡住中间抽屉把手的爪夹向爪夹方向的后方移动，中间的抽屉打开", + "state_description": "爪夹当前状态为张开位于半开的中间抽屉的把手上\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹继续向爪夹方向的后方移动将中间的抽屉全部拉开", + "progress_explanation": "触及抽屉把手的爪夹向后将抽屉拉开，进度提升为60%", + "error_success_analysis": "卡住中间抽屉把手的爪夹向爪夹后方移动将关上的中间抽屉打开", + "correction_plan": "卡住中间抽屉把手的爪夹继续向爪夹方向的后方移动将中间的抽屉全部拉开，张开的爪夹向爪夹方向的后上方移动离开抽屉把手，完全打开橱柜中间的抽屉", + "annotations": { + "bbox_1767859739991": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859739991_1767859792603_op0z4x2g5", + "x": 0.5811965811965812, + "y": 0.4427350427350427, + "width": 0.15042735042735034, + "height": 0.3076923076923077 + } + ] + }, + "point_1767859750707": { + "type": "point", + "instances": [ + { + "id": "point_1767859750707_1767859795407_s9ehj8062", + "x": 0.6188034188034188, + "y": 0.5675213675213675 + } + ] + }, + "point_1767859760724": { + "type": "point", + "instances": [ + { + "id": "point_1767859760724_1767859797301_fl42loyf0", + "x": 0.6273504273504273, + "y": 0.6564102564102564 + } + ] + } + } + }, + { + "time": 11.250092, + "frame": 338, + "progress": 80, + "action_description": "卡住中间抽屉把手张开的爪夹继续向爪夹方向的后方移动将中间的抽屉全部拉开", + "state_description": "爪夹当前状态为张开位于完全打开的中间抽屉的把手上\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹向爪夹方向的后侧上方抬升，离开抽屉把手", + "progress_explanation": "触及抽屉把手的爪夹向后将抽屉全部拉开，进度提升为80%", + "error_success_analysis": "卡住中间抽屉把手的爪夹向爪夹后方移动将关上的中间抽屉完全打开", + "correction_plan": "张开的爪夹向爪夹方向的后侧上方抬升，离开抽屉把手后，完全打开橱柜中间的抽屉", + "annotations": { + "point_1767859750707": { + "type": "point", + "instances": [ + { + "id": "point_1767859750707_1767859779489_5ksfiq728", + "x": 0.49743589743589745, + "y": 0.5709401709401709 + } + ] + }, + "point_1767859760724": { + "type": "point", + "instances": [ + { + "id": "point_1767859760724_1767859781104_0kw3g241e", + "x": 0.49914529914529915, + "y": 0.6615384615384615 + } + ] + }, + "bbox_1767859739991": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859739991_1767859785744_oyybjfk3u", + "x": 0.46153846153846156, + "y": 0.4376068376068376, + "width": 0.2649572649572649, + "height": 0.3076923076923077 + } + ] + } + } + }, + { + "time": 12.1, + "frame": 363, + "progress": 90, + "action_description": "在抽屉把手上方张开的爪夹向爪夹方向的上方略微抬升", + "state_description": "爪夹张开位于打开橱柜中间抽屉的把手上方\n为了完成打开橱柜中间的抽屉的任务：张开的爪夹继续向爪夹方向的上方抬升离开抽屉把手", + "progress_explanation": "触及抽屉把手的爪夹略微向上抬升，进度提升为90%", + "error_success_analysis": "卡住抽屉张开的爪夹向上略微移动做离开抽屉把手的动作", + "correction_plan": "张开的爪夹继续向爪夹方向的后侧上方抬升，离开抽屉把手后，完全打开橱柜中间的抽屉", + "annotations": { + "point_1767859760724": { + "type": "point", + "instances": [ + { + "id": "point_1767859760724_1767859768543_vt1j6kjv7", + "x": 0.4905982905982906, + "y": 0.6717948717948717 + } + ] + }, + "point_1767859750707": { + "type": "point", + "instances": [ + { + "id": "point_1767859750707_1767859771013_l9qyyi3rp", + "x": 0.49401709401709404, + "y": 0.5726495726495726 + } + ] + }, + "bbox_1767859739991": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767859739991_1767859775401_nscvj8kxc", + "x": 0.4564102564102564, + "y": 0.4427350427350427, + "width": 0.2769230769230769, + "height": 0.3076923076923077 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767859739991", + "name": "橱柜中间的抽屉", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1767859750707", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767859760724", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000806.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000806.json new file mode 100644 index 0000000000000000000000000000000000000000..37bae05e107b9c76263e29097114b067e6002761 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000806.json @@ -0,0 +1,478 @@ +{ + "task_description": "把碗放在盘子上\n开始移动0%\n爪夹靠近碗20%\n爪夹抓取碗40%\n爪夹抓取碗接近盘子60%\n爪夹将碗放入盘子上80%\n爪夹松开，碗落在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "调整爪夹角度使其垂直与桌面，爪夹向爪夹方向的前方移动至桌面上碗的侧边上方，后竖直下落靠近并触及桌面上的碗，爪夹合并抓取碗，抓取碗的爪夹向爪夹方向的上方竖直上升并向爪夹方向的前方移动至盘子的正上方后竖直下落，将抓取的碗放在盘子里，爪夹张开，抓取的碗放在盘子中", + "error_success_analysis": "", + "frame": 5, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触碗。\n为了完成把碗放在盘子上的任务：调整爪夹方向使其垂直于桌面，向爪夹方向的前方移动至碗的侧边上方", + "time": 0.170055, + "annotations": { + "bbox_1767861508644": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861508644_1767863255179_hk265l4pz", + "x": 0.4170940170940171, + "y": 0.5008547008547009, + "width": 0.13675213675213677, + "height": 0.11111111111111116 + } + ] + }, + "bbox_1767861513539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861513539_1767863259272_7pdvf593x", + "x": 0.4153846153846154, + "y": 0.6410256410256411, + "width": 0.18632478632478627, + "height": 0.14017094017094012 + } + ] + }, + "point_1767861517849": { + "type": "point", + "instances": [ + { + "id": "point_1767861517849_1767863261672_vvbklqyvt", + "x": 0.4461538461538462, + "y": 0.2512820512820513 + } + ] + }, + "point_1767861522435": { + "type": "point", + "instances": [ + { + "id": "point_1767861522435_1767863263867_buzfmv9sw", + "x": 0.5658119658119658, + "y": 0.24615384615384617 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右前方移动", + "correction_plan": "在碗上方的爪夹竖直下落靠近并触及桌面上的碗，爪夹合并抓取碗，抓取碗的爪夹向爪夹方向的上方竖直上升并向爪夹方向的前方移动至盘子的正上方后竖直下落，将抓取的碗放在盘子里，爪夹张开，抓取的碗放在盘子中", + "error_success_analysis": "张开的爪夹向爪夹方向的前方移动靠近抓取物碗", + "frame": 52, + "progress": 10, + "progress_explanation": "爪夹向前方移动靠近桌面上的碗，进度提升为10%", + "state_description": "爪夹当前状态张开位于桌上碗的右侧边的上方\n为了完成把碗放在盘子上的任务：张开的爪夹竖直下落靠近并触及碗后爪夹闭合抓取桌面上的碗", + "time": 1.734565, + "annotations": { + "point_1767861522435": { + "type": "point", + "instances": [ + { + "id": "point_1767861522435_1767863239592_iwt4ws0pl", + "x": 0.5025641025641026, + "y": 0.3658119658119658 + } + ] + }, + "point_1767861517849": { + "type": "point", + "instances": [ + { + "id": "point_1767861517849_1767863242104_yf59mfoqm", + "x": 0.37777777777777777, + "y": 0.36752136752136755 + } + ] + }, + "bbox_1767861513539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861513539_1767863246560_qeu40si14", + "x": 0.4188034188034188, + "y": 0.6410256410256411, + "width": 0.18461538461538457, + "height": 0.1384615384615384 + } + ] + }, + "bbox_1767861508644": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861508644_1767863250315_i5ahamloj", + "x": 0.4188034188034188, + "y": 0.5008547008547009, + "width": 0.13675213675213677, + "height": 0.10598290598290594 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "correction_plan": "张开的爪夹闭合抓取碗，抓取碗的爪夹向爪夹方向的上方竖直上升并向爪夹方向的前方移动至盘子的正上方后竖直下落，将抓取的碗放在盘子里，爪夹张开，抓取的碗放在盘子中", + "error_success_analysis": "张开的爪夹向爪夹方向的下方下落靠近抓取物碗", + "frame": 116, + "progress": 20, + "progress_explanation": "爪夹下落后靠近桌面上的碗，进度提升为20%", + "state_description": "爪夹当前的状态为张开，碗的右侧边位于两侧爪夹下方\n为了完成把碗放在盘子上的任务：张开的爪夹闭合，抓取桌面上的碗后向爪夹方向的上方抬升", + "time": 3.862342342342342, + "annotations": { + "bbox_1767861508644": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861508644_1767863227300_rf7ipg6uh", + "x": 0.4256410256410256, + "y": 0.49230769230769234, + "width": 0.12649572649572655, + "height": 0.11965811965811968 + } + ] + }, + "bbox_1767861513539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861513539_1767863231458_h2f8p44al", + "x": 0.41196581196581195, + "y": 0.6393162393162393, + "width": 0.18974358974358974, + "height": 0.14358974358974363 + } + ] + }, + "point_1767861517849": { + "type": "point", + "instances": [ + { + "id": "point_1767861517849_1767863233430_l1sbbcwic", + "x": 0.39487179487179486, + "y": 0.5743589743589743 + } + ] + }, + "point_1767861522435": { + "type": "point", + "instances": [ + { + "id": "point_1767861522435_1767863235814_tej84ye18", + "x": 0.49743589743589745, + "y": 0.5641025641025641 + } + ] + } + } + }, + { + "action_description": "张开的爪夹闭合，抓取桌面上的碗", + "correction_plan": "抓取碗的爪夹向爪夹方向的上方竖直上升并向爪夹方向的左前方移动至盘子的正上方后竖直下落，将抓取的碗放在盘子里，爪夹张开，抓取的碗放在盘子中", + "error_success_analysis": "爪夹成功闭合后抓取桌面上的目标物碗", + "frame": 149, + "progress": 40, + "progress_explanation": "爪夹闭合成功抓取碗，进度提升为40%", + "state_description": "爪夹目前闭合并抓取桌上的碗位于盘子的正后方\n为了完成把碗放在盘子上的任务：抓取碗的爪夹竖直上升并向爪夹方向的左前方移动至盘子的正上方", + "time": 4.982624, + "annotations": { + "point_1767861522435": { + "type": "point", + "instances": [ + { + "id": "point_1767861522435_1767863206952_0upbz628l", + "x": 0.4547008547008547, + "y": 0.5641025641025641 + } + ] + }, + "point_1767861517849": { + "type": "point", + "instances": [ + { + "id": "point_1767861517849_1767863209970_1qonoi7wa", + "x": 0.4153846153846154, + "y": 0.5692307692307692 + } + ] + }, + "bbox_1767861513539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861513539_1767863215991_z88t0mk9u", + "x": 0.41196581196581195, + "y": 0.6410256410256411, + "width": 0.19145299145299144, + "height": 0.1384615384615384 + } + ] + }, + "bbox_1767861508644": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861508644_1767863221454_ckjjfjizu", + "x": 0.4222222222222222, + "y": 0.4905982905982906, + "width": 0.13504273504273506, + "height": 0.11965811965811973 + } + ] + } + } + }, + { + "action_description": "抓取碗的爪夹向爪夹方向的上方抬升并向前略微移动", + "correction_plan": "爪夹继续向爪夹方向的前方移动至盘子的上方，后竖直下落，将抓取的碗放在盘子里，爪夹张开，抓取的碗放在盘子中", + "error_success_analysis": "夹取碗的爪夹向上抬升后靠近了需要放入的盘子上方", + "frame": 178, + "progress": 50, + "progress_explanation": "爪夹抓取碗向上抬升靠近了盘子的上方，进度提升为50%", + "state_description": "爪夹当前状态为抓取碗位于盘子的的后侧上方\n为了完成把碗放在盘子上的任务：爪夹继续向爪夹方向的前方移动至盘子的上方", + "time": 5.934935, + "annotations": { + "bbox_1767861508644": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861508644_1767863195144_6dadii9n8", + "x": 0.4153846153846154, + "y": 0.4461538461538462, + "width": 0.14358974358974358, + "height": 0.12649572649572643 + } + ] + }, + "bbox_1767861513539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861513539_1767863198708_k5p0qhzaz", + "x": 0.4170940170940171, + "y": 0.6393162393162393, + "width": 0.18632478632478627, + "height": 0.14358974358974363 + } + ] + }, + "point_1767861517849": { + "type": "point", + "instances": [ + { + "id": "point_1767861517849_1767863201108_7bu2ybo8d", + "x": 0.41367521367521365, + "y": 0.5282051282051282 + } + ] + }, + "point_1767861522435": { + "type": "point", + "instances": [ + { + "id": "point_1767861522435_1767863203396_abz14m9jb", + "x": 0.4444444444444444, + "y": 0.5264957264957265 + } + ] + } + } + }, + { + "action_description": "抓取碗的爪夹继续向爪夹方向的左前方向移动", + "correction_plan": "抓取碗的爪夹竖直下落，将抓取的碗放在盘子里，爪夹张开，抓取的碗放在盘子中", + "error_success_analysis": "夹取碗的爪夹向前靠近盘子的上方的方向移动，抓取的盘子在碗的上方", + "frame": 208, + "progress": 60, + "progress_explanation": "爪夹抓取碗向前方靠近盘子上方，进度提升为60%", + "state_description": "爪夹当前的状态为闭合抓取碗位于盘子的正上方", + "time": 6.921256, + "annotations": { + "point_1767861522435": { + "type": "point", + "instances": [ + { + "id": "point_1767861522435_1767863169786_45988ye2r", + "x": 0.46324786324786327, + "y": 0.588034188034188 + } + ] + }, + "point_1767861517849": { + "type": "point", + "instances": [ + { + "id": "point_1767861517849_1767863171901_cz3s28vry", + "x": 0.4239316239316239, + "y": 0.6034188034188034 + } + ] + }, + "bbox_1767861513539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861513539_1767863176345_kkfsvw380", + "x": 0.4170940170940171, + "y": 0.6444444444444444, + "width": 0.18290598290598287, + "height": 0.13675213675213682 + } + ] + }, + "bbox_1767861508644": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861508644_1767863184725_gv8ajua4q", + "x": 0.4307692307692308, + "y": 0.5076923076923077, + "width": 0.16581196581196578, + "height": 0.13504273504273512 + } + ] + } + } + }, + { + "time": 8.400739, + "frame": 252, + "progress": 80, + "action_description": "抓取碗的爪夹向爪夹方向的下方下落将抓取物碗放在盘子中", + "state_description": "爪夹当前的状态闭合抓取在盘子上方的碗\n为了完成把碗放在盘子上的任务：爪夹张开，抓取的碗落入盘子中", + "progress_explanation": "抓取碗的爪夹下落，抓取的碗放在盘子上，进度提升为80%", + "error_success_analysis": "抓取碗的爪夹向下竖直下落后抓取的碗被放在盘子中", + "correction_plan": "爪夹张开，抓取的碗落入盘子中", + "annotations": { + "bbox_1767861508644": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861508644_1767863150002_vjogvi1fl", + "x": 0.4324786324786325, + "y": 0.6307692307692307, + "width": 0.15042735042735045, + "height": 0.12136752136752138 + } + ] + }, + "bbox_1767861513539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861513539_1767863156085_c8aqpzcb9", + "x": 0.41025641025641024, + "y": 0.6205128205128205, + "width": 0.19316239316239314, + "height": 0.16068376068376067 + } + ] + }, + "point_1767861517849": { + "type": "point", + "instances": [ + { + "id": "point_1767861517849_1767863164156_byvfeaq8y", + "x": 0.42735042735042733, + "y": 0.7162393162393162 + } + ] + }, + "point_1767861522435": { + "type": "point", + "instances": [ + { + "id": "point_1767861522435_1767863165953_5ue4yxbs5", + "x": 0.4495726495726496, + "y": 0.7145299145299145 + } + ] + } + } + }, + { + "time": 9.2, + "frame": 276, + "progress": 100, + "action_description": "爪夹微微张开，抓取的碗落在盘子上", + "state_description": "爪夹当前状态略微张开位于盘子上碗的右侧上方\n把碗放在盘子上已完成", + "progress_explanation": "爪夹张开碗落在盘子上，进度提升为100%", + "error_success_analysis": "爪夹张开，抓取的碗成功落在盘子上", + "correction_plan": "已完成把碗放在盘子上的任务", + "annotations": { + "point_1767861522435": { + "type": "point", + "instances": [ + { + "id": "point_1767861522435_1767863123361_yp8wrdzw4", + "x": 0.4598290598290598, + "y": 0.6923076923076923 + } + ] + }, + "point_1767861517849": { + "type": "point", + "instances": [ + { + "id": "point_1767861517849_1767863127826_xz1bbcn21", + "x": 0.4188034188034188, + "y": 0.6957264957264957 + } + ] + }, + "bbox_1767861513539": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861513539_1767863132087_xp7id31ti", + "x": 0.41025641025641024, + "y": 0.6273504273504273, + "width": 0.18632478632478633, + "height": 0.15213675213675215 + } + ] + }, + "bbox_1767861508644": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767861508644_1767863141885_36lsj11e5", + "x": 0.42735042735042733, + "y": 0.6376068376068376, + "width": 0.1487179487179487, + "height": 0.11794871794871797 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767861508644", + "name": "碗" + }, + { + "color": "#FF9800", + "id": "bbox_1767861513539", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767861517849", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767861522435", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000846.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000846.json new file mode 100644 index 0000000000000000000000000000000000000000..192ff1c21328a416ccf0927a1e7350715ad6885a --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000846.json @@ -0,0 +1,466 @@ +{ + "task_description": "拿起烧烤酱放到篮子里\n开始移动0%\n爪夹靠近烧烤酱20%\n爪夹抓取烧烤酱40%\n爪夹抓取烧烤酱接近篮子60%\n爪夹将烧烤酱放入篮子80%\n爪夹松开，烧烤酱落入篮子100%", + "progress_points": [ + { + "time": 0.172088, + "frame": 5, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动", + "state_description": "爪夹当前处于打开状态，没有移动和接触烧烤酱。\n为了完成拿起烧烤酱放进篮子里的任务：张开的爪夹向爪夹方向的左前方向移动至烧烤酱的正上方", + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "张开的爪夹向爪夹方向的左前方向移动至烧烤酱的正上方后竖直下落，靠近并触及烧烤酱，在烧烤酱两侧张开的爪夹闭合做抓取烧烤酱的动作，抓取烧烤酱后的爪夹向爪夹方向的上方竖直上升并向爪夹方向的右后方移动至篮子的正上方，后抓取烧烤酱的爪夹竖直下落将抓取的烧烤酱放入篮子中，抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子中", + "annotations": { + "bbox_1767934256715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934256715_1767935241521_sq5p1qawk", + "x": 0.588034188034188, + "y": 0.5008547008547009, + "width": 0.06666666666666665, + "height": 0.1316239316239316 + } + ] + }, + "bbox_1767934260731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934260731_1767935248141_buavrurcd", + "x": 0.08547008547008547, + "y": 0.39829059829059826, + "width": 0.23931623931623933, + "height": 0.2341880341880342 + } + ] + }, + "point_1767934265689": { + "type": "point", + "instances": [ + { + "id": "point_1767934265689_1767935250281_khwtfmcin", + "x": 0.4495726495726496, + "y": 0.2512820512820513 + } + ] + }, + "point_1767934269554": { + "type": "point", + "instances": [ + { + "id": "point_1767934269554_1767935252799_4zt8tenvn", + "x": 0.5538461538461539, + "y": 0.24957264957264957 + } + ] + } + } + }, + { + "time": 2.310905, + "frame": 69, + "progress": 10, + "action_description": "张开的爪夹向爪夹方向的左前方向移动", + "state_description": "爪夹当前状态为爪夹张开位于烧烤酱的上方\n为了完成拿起烧烤酱放进篮子里的任务：张开的爪夹向爪夹方向的下方下落靠近或触及爪夹下方的烧烤酱", + "progress_explanation": "张开的爪夹向左前方移动靠近烧烤酱上方，进度提升为10%", + "error_success_analysis": "爪夹向左前方向移动后靠近了抓取物烧烤酱", + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落，靠近或触及烧烤酱，在烧烤酱两侧张开的爪夹做闭合动作，抓取烧烤酱，抓取烧烤酱后的爪夹向爪夹方向的上方竖直上升并向爪夹方向的右后方移动至篮子的正上方，后抓取烧烤酱的爪夹竖直下落将抓取的烧烤酱放入篮子中，抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子中", + "annotations": { + "bbox_1767934256715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934256715_1767935390941_kegit20c6", + "x": 0.5863247863247864, + "y": 0.49914529914529915, + "width": 0.06837606837606836, + "height": 0.1316239316239316 + } + ] + }, + "bbox_1767934260731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934260731_1767935395441_8w5rwc4zd", + "x": 0.09230769230769231, + "y": 0.40683760683760684, + "width": 0.22905982905982908, + "height": 0.23247863247863243 + } + ] + }, + "point_1767934265689": { + "type": "point", + "instances": [ + { + "id": "point_1767934265689_1767935402132_iu50hmn2i", + "x": 0.5692307692307692, + "y": 0.37094017094017095 + } + ] + }, + "point_1767934269554": { + "type": "point", + "instances": [ + { + "id": "point_1767934269554_1767935404493_5ipue7hly", + "x": 0.6854700854700855, + "y": 0.3658119658119658 + } + ] + } + } + }, + { + "time": 4.154713, + "frame": 125, + "progress": 20, + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "state_description": "爪夹当前的状态为两侧爪夹张开位于烧烤酱的上方两侧\n为了完成拿起烧烤酱放进篮子里的任务：张开的爪夹做闭合抓取烧烤酱的动作，抓取烧烤酱后竖直上升", + "progress_explanation": "在烧烤酱上方的爪夹下落后两侧爪夹靠近下方的烧烤酱，进度提升为20%", + "error_success_analysis": "爪夹向下方的抓取物烧烤酱下落靠近抓取物烧烤酱。", + "correction_plan": "张开的爪夹做闭合抓取烧烤酱的动作，抓取烧烤酱后的爪夹竖直上升，并向爪夹方向的右后方移动至篮子的正上方，后抓取烧烤酱的爪夹竖直下落将抓取的烧烤酱放入篮子中，抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子中", + "annotations": { + "point_1767934269554": { + "type": "point", + "instances": [ + { + "id": "point_1767934269554_1767935407748_8xnjak4a4", + "x": 0.6803418803418804, + "y": 0.5316239316239316 + } + ] + }, + "point_1767934265689": { + "type": "point", + "instances": [ + { + "id": "point_1767934265689_1767935410155_sfb4rjd5y", + "x": 0.5726495726495726, + "y": 0.5452991452991452 + } + ] + }, + "bbox_1767934260731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934260731_1767935414837_5vhhpgg15", + "x": 0.08717948717948718, + "y": 0.40341880341880343, + "width": 0.23418803418803422, + "height": 0.23076923076923073 + } + ] + }, + "bbox_1767934256715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934256715_1767935419028_wyzt2kd83", + "x": 0.588034188034188, + "y": 0.49743589743589745, + "width": 0.06666666666666665, + "height": 0.1299145299145299 + } + ] + } + } + }, + { + "time": 5.33475, + "frame": 160, + "progress": 40, + "action_description": "张开的爪夹闭合，抓取爪夹中间的烧烤酱", + "state_description": "爪夹当前的状态为爪夹闭合抓取烧烤酱位于篮子的左侧下方\n为了完成拿起烧烤酱放进篮子里的任务：抓取烧烤酱的爪夹向爪夹方向的上方竖直向上抬升", + "progress_explanation": "爪夹闭合成功抓取中间的烧烤酱，进度提升为40%", + "error_success_analysis": "张开的爪夹成功闭合后抓取目标物烧烤酱", + "correction_plan": "抓取烧烤酱的爪夹竖直向上抬升向爪夹方向的右后方移动至篮子的正上方，后抓取烧烤酱的爪夹竖直下落将抓取的烧烤酱放入篮子中，抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子中", + "annotations": { + "bbox_1767934256715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934256715_1767935423662_jq3efeauk", + "x": 0.5897435897435898, + "y": 0.49230769230769234, + "width": 0.06495726495726495, + "height": 0.1316239316239316 + } + ] + }, + "bbox_1767934260731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934260731_1767935429158_dce5ukdv3", + "x": 0.08888888888888889, + "y": 0.4, + "width": 0.2341880341880342, + "height": 0.23589743589743584 + } + ] + }, + "point_1767934265689": { + "type": "point", + "instances": [ + { + "id": "point_1767934265689_1767935431069_17kd92dps", + "x": 0.5897435897435898, + "y": 0.5384615384615384 + } + ] + }, + "point_1767934269554": { + "type": "point", + "instances": [ + { + "id": "point_1767934269554_1767935434095_pptpa381r", + "x": 0.6495726495726496, + "y": 0.5316239316239316 + } + ] + } + } + }, + { + "time": 6.613123, + "frame": 198, + "progress": 50, + "action_description": "抓取烧烤酱的爪夹向爪夹方向的上方竖直向上抬升并向右侧略微移动", + "state_description": "爪夹当前的状态为爪夹闭合抓取烧烤酱位于篮子的左上方\n为了完成拿起烧烤酱放进篮子里的任务：抓取烧烤酱的爪夹继续向爪夹方向的右后方移动至篮子的正上方", + "progress_explanation": "抓取烧烤酱的爪夹向上抬升后靠近篮子上方，进度提升为50%", + "error_success_analysis": "抓取烧烤酱的爪夹向上抬升后抓取的烧烤酱向右侧篮子上方靠近", + "correction_plan": "抓取烧烤酱的爪夹继续向爪夹方向的右后方移动至篮子的正上方，后抓取烧烤酱的爪夹竖直下落将抓取的烧烤酱放入篮子中，抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子中", + "annotations": { + "point_1767934269554": { + "type": "point", + "instances": [ + { + "id": "point_1767934269554_1767935438261_ckejo7ici", + "x": 0.629059829059829, + "y": 0.4 + } + ] + }, + "point_1767934265689": { + "type": "point", + "instances": [ + { + "id": "point_1767934265689_1767935440658_uxnk3n0wu", + "x": 0.5641025641025641, + "y": 0.4017094017094017 + } + ] + }, + "bbox_1767934260731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934260731_1767935446250_nik92nsps", + "x": 0.08547008547008546, + "y": 0.40683760683760684, + "width": 0.23931623931623935, + "height": 0.22905982905982902 + } + ] + }, + "bbox_1767934256715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934256715_1767935453879_xl322g07b", + "x": 0.5641025641025641, + "y": 0.35042735042735046, + "width": 0.07008547008547006, + "height": 0.14188034188034188 + } + ] + } + } + }, + { + "time": 9.415711, + "frame": 282, + "progress": 60, + "action_description": "抓取烧烤酱的爪夹向爪夹方向的右后方向抬升并移动", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了烧烤酱位于篮子的上方\n为了完成拿起烧烤酱放进篮子里的任务：抓取烧烤酱的爪夹向爪夹方向的下方向下落缩短抓取的烧烤酱与下方篮子的距离", + "progress_explanation": "抓取烧烤酱的爪夹向右侧移动靠近篮子上方，进度提升为60%", + "error_success_analysis": "抓取烧烤酱的爪夹向右后方向移动和抬升到篮子的上方", + "correction_plan": "抓取烧烤酱的爪夹向爪夹方向的下方向下落缩短抓取的烧烤酱与下方篮子的距离，将抓取的烧烤酱放入篮子中，抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子中", + "annotations": { + "bbox_1767934256715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934256715_1767935465537_4grqo4n3b", + "x": 0.19658119658119658, + "y": 0.25982905982905985, + "width": 0.08034188034188036, + "height": 0.15555555555555556 + } + ] + }, + "bbox_1767934260731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934260731_1767935471555_qo3aniabz", + "x": 0.08888888888888889, + "y": 0.39829059829059826, + "width": 0.2358974358974359, + "height": 0.2358974358974359 + } + ] + }, + "point_1767934265689": { + "type": "point", + "instances": [ + { + "id": "point_1767934265689_1767935474035_h4cfwgiiw", + "x": 0.20341880341880342, + "y": 0.3128205128205128 + } + ] + }, + "point_1767934269554": { + "type": "point", + "instances": [ + { + "id": "point_1767934269554_1767935476505_pywpohbjk", + "x": 0.27008547008547007, + "y": 0.3111111111111111 + } + ] + } + } + }, + { + "time": 11.997042, + "frame": 360, + "progress": 80, + "action_description": "抓取烧烤酱的爪夹向爪夹方向的右下方向下落", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了烧烤酱位于篮子上\n为了完成拿起烧烤酱放进篮子里的任务：抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子中", + "progress_explanation": "抓取烧烤酱的爪夹下落，抓取的烧烤酱下落进入篮子中，进度提升为80%", + "error_success_analysis": "抓取烧烤酱的爪夹向右下方下落后抓取的烧烤酱进入下方的篮子中", + "correction_plan": "抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子中", + "annotations": { + "point_1767934269554": { + "type": "point", + "instances": [ + { + "id": "point_1767934269554_1767935480306_db2teniu0", + "x": 0.2222222222222222, + "y": 0.4324786324786325 + } + ] + }, + "point_1767934265689": { + "type": "point", + "instances": [ + { + "id": "point_1767934265689_1767935482890_da7aqvn1w", + "x": 0.15726495726495726, + "y": 0.4324786324786325 + } + ] + }, + "bbox_1767934260731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934260731_1767935488710_pb00dhxud", + "x": 0.08205128205128205, + "y": 0.39658119658119656, + "width": 0.2358974358974359, + "height": 0.2376068376068376 + } + ] + }, + "bbox_1767934256715": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934256715_1767935494143_8uy9sa7qs", + "x": 0.14871794871794872, + "y": 0.37948717948717947, + "width": 0.07521367521367522, + "height": 0.18119658119658122 + } + ] + } + } + }, + { + "time": 12.759149, + "frame": 383, + "progress": 100, + "action_description": "抓取烧烤酱的爪夹张开，烧烤酱落入篮子中", + "state_description": "爪夹当前为张开状态，位于在篮子的正上方。\n拿起烧烤酱放到篮子里已完成", + "progress_explanation": "爪夹张开烧烤酱落入篮子中，进度提升为100%", + "error_success_analysis": "爪夹张开成功，抓取的烧烤酱成功落入篮子中", + "correction_plan": "已完成拿起烧烤酱放到篮子里的任务", + "annotations": { + "bbox_1767934260731": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767934260731_1767935502507_rbvzn0mt0", + "x": 0.08547008547008547, + "y": 0.40512820512820513, + "width": 0.23931623931623933, + "height": 0.22564102564102562 + } + ] + }, + "point_1767934265689": { + "type": "point", + "instances": [ + { + "id": "point_1767934265689_1767935505145_zepavhb1z", + "x": 0.12478632478632479, + "y": 0.37094017094017095 + } + ] + }, + "point_1767934269554": { + "type": "point", + "instances": [ + { + "id": "point_1767934269554_1767935508131_z3uwrnkmc", + "x": 0.23247863247863249, + "y": 0.3811965811965812 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767934256715", + "name": "烧烤酱", + "color": "#4CAF50" + }, + { + "id": "bbox_1767934260731", + "name": "篮子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767934265689", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767934269554", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000897.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000897.json new file mode 100644 index 0000000000000000000000000000000000000000..28f5adb327683206eac67b8e7e690dceb7c6dbe9 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000897.json @@ -0,0 +1,454 @@ +{ + "task_description": "拿起沙拉酱放到篮子里\n开始移动0%\n爪夹靠近沙拉酱20%\n爪夹抓取沙拉酱40%\n爪夹抓取沙拉酱接近篮子60%\n爪夹将沙拉酱放入篮子80%\n爪夹松开，沙拉酱落入篮子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "correction_plan": "张开的爪夹向爪夹方向的左前方向移动至沙拉酱的正上方后竖直下落，靠近并触及沙拉酱，在沙拉酱两侧张开的爪夹闭合做抓取沙拉酱的动作，抓取沙拉酱后的爪夹向爪夹方向的上方竖直上升并向爪夹方向的右后方移动至篮子的正上方，后抓取沙拉酱的爪夹竖直下落将抓取的沙拉酱放入篮子中，抓取沙拉酱的爪夹张开，抓取的沙拉酱落入篮子中", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触沙拉酱。\n为了完成拿起沙拉酱放进篮子里的任务：张开的爪夹向爪夹方向的左前方向移动至沙拉酱的正上方", + "time": 0.139741, + "annotations": { + "bbox_1767932547156": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767932547156_1767933838012_or7t61g1z", + "x": 0.5777777777777777, + "y": 0.4598290598290598, + "width": 0.07521367521367528, + "height": 0.17094017094017094 + } + ] + }, + "bbox_1767932552798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767932552798_1767933847334_fckt5gzi3", + "x": 0.07179487179487179, + "y": 0.4, + "width": 0.23760683760683762, + "height": 0.23418803418803413 + } + ] + }, + "point_1767932556307": { + "type": "point", + "instances": [ + { + "id": "point_1767932556307_1767933849536_fhzsczsp0", + "x": 0.4598290598290598, + "y": 0.25811965811965815 + } + ] + }, + "point_1767932563237": { + "type": "point", + "instances": [ + { + "id": "point_1767932563237_1767933859408_ge23hnjwe", + "x": 0.558974358974359, + "y": 0.26153846153846155 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的左前方向移动", + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落，靠近或触及沙拉酱，在沙拉酱两侧张开的爪夹做闭合动作，抓取沙拉酱，抓取沙拉酱后的爪夹向爪夹方向的上方竖直上升并向爪夹方向的右后方移动至篮子的正上方，后抓取沙拉酱的爪夹竖直下落将抓取的沙拉酱放入篮子中，抓取沙拉酱的爪夹张开，抓取的沙拉酱落入篮子中", + "error_success_analysis": "爪夹向左前方向移动后靠近了抓取物沙拉酱", + "frame": 70, + "progress": 10, + "progress_explanation": "张开的爪夹向左前方移动靠近沙拉酱上方，进度提升为10%", + "state_description": "爪夹当前状态为爪夹张开位于沙拉酱的上方\n为了完成拿起沙拉酱放进篮子里的任务：张开的爪夹向爪夹方向的下方下落靠近或触及爪夹下方的沙拉酱", + "time": 2.32902, + "annotations": { + "point_1767932563237": { + "type": "point", + "instances": [ + { + "id": "point_1767932563237_1767933864502_94d7gc4o3", + "x": 0.6666666666666666, + "y": 0.37435897435897436 + } + ] + }, + "point_1767932556307": { + "type": "point", + "instances": [ + { + "id": "point_1767932556307_1767933867290_fqvphwknh", + "x": 0.5521367521367522, + "y": 0.3811965811965812 + } + ] + }, + "bbox_1767932552798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767932552798_1767933872674_h2v98k6u6", + "x": 0.08034188034188035, + "y": 0.40341880341880343, + "width": 0.23076923076923078, + "height": 0.23247863247863243 + } + ] + }, + "bbox_1767932547156": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767932547156_1767933879018_8m607p6fp", + "x": 0.5726495726495726, + "y": 0.4683760683760684, + "width": 0.0854700854700855, + "height": 0.16239316239316237 + } + ] + } + } + }, + { + "time": 4.052495, + "frame": 122, + "progress": 20, + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "state_description": "爪夹当前的状态为两侧爪夹张开位于沙拉酱的上方两侧\n为了完成拿起沙拉酱放进篮子里的任务：张开的爪夹做闭合抓取沙拉酱的动作，抓取沙拉酱后竖直上升", + "progress_explanation": "在沙拉酱上方的爪夹下落后两侧爪夹靠近下方的沙拉酱，进度提升为20%", + "error_success_analysis": "爪夹向下方的抓取物沙拉酱下落靠近抓取物沙拉酱。", + "correction_plan": "张开的爪夹做闭合抓取沙拉酱的动作，抓取沙拉酱后的爪夹竖直上升，并向爪夹方向的右后方移动至篮子的正上方，后抓取沙拉酱的爪夹竖直下落将抓取的沙拉酱放入篮子中，抓取沙拉酱的爪夹张开，抓取的沙拉酱落入篮子中", + "annotations": { + "bbox_1767932547156": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767932547156_1767933888048_fifdwhh94", + "x": 0.5811965811965812, + "y": 0.46324786324786327, + "width": 0.07179487179487176, + "height": 0.1726495726495726 + } + ] + }, + "bbox_1767932552798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767932552798_1767933894004_zhbk8eoln", + "x": 0.08034188034188035, + "y": 0.4068376068376068, + "width": 0.23076923076923075, + "height": 0.22735042735042738 + } + ] + }, + "point_1767932556307": { + "type": "point", + "instances": [ + { + "id": "point_1767932556307_1767933901330_7uyrcji0x", + "x": 0.5777777777777777, + "y": 0.5094017094017094 + } + ] + }, + "point_1767932563237": { + "type": "point", + "instances": [ + { + "id": "point_1767932563237_1767933903856_t3emtt1xd", + "x": 0.6837606837606838, + "y": 0.5162393162393163 + } + ] + } + } + }, + { + "time": 4.984103, + "frame": 150, + "progress": 40, + "action_description": "张开的爪夹闭合，抓取爪夹中间的沙拉酱", + "state_description": "爪夹当前的状态为爪夹闭合抓取沙拉酱位于篮子的左侧下方\n为了完成拿起沙拉酱放进篮子里的任务：抓取沙拉酱的爪夹向爪夹方向的上方竖直向上抬升", + "progress_explanation": "爪夹闭合成功抓取中间的沙拉酱，进度提升为40%", + "error_success_analysis": "张开的爪夹成功闭合后抓取目标物沙拉酱", + "correction_plan": "抓取沙拉酱的爪夹竖直向上抬升向爪夹方向的右后方移动至篮子的正上方，后抓取沙拉酱的爪夹竖直下落将抓取的沙拉酱放入篮子中，抓取沙拉酱的爪夹张开，抓取的沙拉酱落入篮子中", + "annotations": { + "point_1767932563237": { + "type": "point", + "instances": [ + { + "id": "point_1767932563237_1767933907310_hdlw65w7w", + "x": 0.67008547008547, + "y": 0.505982905982906 + } + ] + }, + "point_1767932556307": { + "type": "point", + "instances": [ + { + "id": "point_1767932556307_1767933909368_omt3oyxe3", + "x": 0.6017094017094017, + "y": 0.49743589743589745 + } + ] + }, + "bbox_1767932552798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767932552798_1767933914492_ubpzeig0d", + "x": 0.08205128205128205, + "y": 0.40341880341880343, + "width": 0.23076923076923078, + "height": 0.23247863247863243 + } + ] + }, + "bbox_1767932547156": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767932547156_1767933920338_7y56ij3fp", + "x": 0.5863247863247864, + "y": 0.45982905982905986, + "width": 0.08205128205128198, + "height": 0.16581196581196578 + } + ] + } + } + }, + { + "time": 6.311645, + "frame": 189, + "progress": 50, + "action_description": "抓取沙拉酱的爪夹向爪夹方向的上方竖直向上抬升并向右侧略微移动", + "state_description": "爪夹当前的状态为爪夹闭合抓取沙拉酱位于篮子的左上方\n为了完成拿起沙拉酱放进篮子里的任务：抓取沙拉酱的爪夹继续向爪夹方向的右后方移动至篮子的正上方", + "progress_explanation": "抓取沙拉酱的爪夹向上抬升后靠近篮子上方，进度提升为50%", + "error_success_analysis": "抓取沙拉酱的爪夹向上抬升后抓取的沙拉酱向右侧篮子上方靠近", + "correction_plan": "抓取沙拉酱的爪夹继续向爪夹方向的右后方移动至篮子的正上方，后抓取沙拉酱的爪夹竖直下落将抓取的沙拉酱放入篮子中，抓取沙拉酱的爪夹张开，抓取的沙拉酱落入篮子中", + "annotations": { + "bbox_1767932547156": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767932547156_1767933936700_pt5ynnjk2", + "x": 0.5743589743589743, + "y": 0.28717948717948716, + "width": 0.08034188034188039, + "height": 0.1982905982905983 + } + ] + }, + "bbox_1767932552798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767932552798_1767933942196_ws635zpl1", + "x": 0.08034188034188035, + "y": 0.4017094017094017, + "width": 0.2341880341880342, + "height": 0.23418803418803413 + } + ] + }, + "point_1767932556307": { + "type": "point", + "instances": [ + { + "id": "point_1767932556307_1767933945444_z9069o98w", + "x": 0.5811965811965812, + "y": 0.3418803418803419 + } + ] + }, + "point_1767932563237": { + "type": "point", + "instances": [ + { + "id": "point_1767932563237_1767933947836_53emqezp8", + "x": 0.6512820512820513, + "y": 0.3367521367521368 + } + ] + } + } + }, + { + "time": 9.758595, + "frame": 293, + "progress": 60, + "action_description": "抓取沙拉酱的爪夹向爪夹方向的右后方向抬升并移动", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了沙拉酱位于篮子的上方\n为了完成拿起沙拉酱放进篮子里的任务：抓取沙拉酱的爪夹向爪夹方向的下方向下落缩短抓取的沙拉酱与下方篮子的距离", + "progress_explanation": "抓取沙拉酱的爪夹向右侧移动靠近篮子上方，进度提升为60%", + "error_success_analysis": "抓取沙拉酱的爪夹向右后方向移动和抬升到篮子的上方", + "correction_plan": "抓取沙拉酱的爪夹向爪夹方向的下方向下落缩短抓取的沙拉酱与下方篮子的距离，将抓取的沙拉酱放入篮子中，抓取沙拉酱的爪夹张开，抓取的沙拉酱落入篮子中", + "annotations": { + "point_1767932563237": { + "type": "point", + "instances": [ + { + "id": "point_1767932563237_1767933952952_o6xey77xg", + "x": 0.23076923076923078, + "y": 0.26837606837606837 + } + ] + }, + "point_1767932556307": { + "type": "point", + "instances": [ + { + "id": "point_1767932556307_1767933956120_nxu372mav", + "x": 0.1606837606837607, + "y": 0.26666666666666666 + } + ] + }, + "bbox_1767932552798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767932552798_1767933961292_dvxd8i3iz", + "x": 0.07179487179487179, + "y": 0.4, + "width": 0.23931623931623933, + "height": 0.23247863247863243 + } + ] + }, + "bbox_1767932547156": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767932547156_1767933968363_3qbq41awz", + "x": 0.15726495726495726, + "y": 0.20854700854700856, + "width": 0.09230769230769231, + "height": 0.21025641025641026 + } + ] + } + } + }, + { + "time": 11.601081081081082, + "frame": 348, + "progress": 80, + "action_description": "抓取沙拉酱的爪夹向爪夹方向的下方向下落", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了沙拉酱位于篮子上\n为了完成拿起沙拉酱放进篮子里的任务：抓取沙拉酱的爪夹张开，抓取的沙拉酱落入篮子中", + "progress_explanation": "抓取沙拉酱的爪夹下落，抓取的沙拉酱下落进入篮子中，进度提升为80%", + "error_success_analysis": "抓取沙拉酱的爪夹向右下方下落后抓取的沙拉酱进入下方的篮子中", + "correction_plan": "抓取沙拉酱的爪夹张开，抓取的沙拉酱落入篮子中", + "annotations": { + "bbox_1767932552798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767932552798_1767933977600_7exhftjao", + "x": 0.07179487179487179, + "y": 0.40341880341880343, + "width": 0.24102564102564106, + "height": 0.23076923076923073 + } + ] + }, + "point_1767932556307": { + "type": "point", + "instances": [ + { + "id": "point_1767932556307_1767933985274_tlmonpzgh", + "x": 0.15726495726495726, + "y": 0.4324786324786325 + } + ] + }, + "point_1767932563237": { + "type": "point", + "instances": [ + { + "id": "point_1767932563237_1767933987310_tfhxji8ze", + "x": 0.2153846153846154, + "y": 0.4222222222222222 + } + ] + } + } + }, + { + "time": 12.6, + "frame": 378, + "progress": 100, + "action_description": "抓取沙拉酱的爪夹张开，沙拉酱落入篮子中", + "state_description": "爪夹当前为张开状态，位于在篮子的正上方。\n拿起沙拉酱放到篮子里已完成", + "progress_explanation": "爪夹张开沙拉酱落入篮子中，进度提升为100%", + "error_success_analysis": "爪夹张开成功，抓取的沙拉酱成功落入篮子中", + "correction_plan": "已完成拿起沙拉酱放到篮子里的任务", + "annotations": { + "point_1767932563237": { + "type": "point", + "instances": [ + { + "id": "point_1767932563237_1767933991911_9kf2av8em", + "x": 0.2376068376068376, + "y": 0.3811965811965812 + } + ] + }, + "point_1767932556307": { + "type": "point", + "instances": [ + { + "id": "point_1767932556307_1767933994500_jjycm32mw", + "x": 0.11965811965811966, + "y": 0.40341880341880343 + } + ] + }, + "bbox_1767932552798": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767932552798_1767933999388_pl535k7b4", + "x": 0.08034188034188035, + "y": 0.40683760683760684, + "width": 0.22564102564102567, + "height": 0.22905982905982902 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767932547156", + "name": "沙拉酱" + }, + { + "color": "#FF9800", + "id": "bbox_1767932552798", + "name": "篮子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767932556307", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767932563237", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000931.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000931.json new file mode 100644 index 0000000000000000000000000000000000000000..3be8a851781c8578282949d22d8aeaa91eb699ab --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000931.json @@ -0,0 +1,466 @@ +{ + "task_description": "拿起奶油奶酪放到篮子里\n开始移动0%\n爪夹靠近奶油奶酪20%\n爪夹抓取奶油奶酪40%\n爪夹抓取奶油奶酪接近篮子60%\n爪夹将奶油奶酪放入篮子80%\n爪夹松开，奶油奶酪落入篮子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1767928955874": { + "instances": [ + { + "height": 0.07863247863247869, + "id": "bbox_1767928955874_1767929998513_y9hgjsi2e", + "width": 0.06153846153846154, + "x": 0.5794871794871795, + "y": 0.5675213675213675 + } + ], + "type": "bbox" + }, + "bbox_1767928960214": { + "instances": [ + { + "height": 0.22735042735042738, + "id": "bbox_1767928960214_1767930003574_w4rhucz0b", + "width": 0.2376068376068376, + "x": 0.0735042735042735, + "y": 0.4085470085470085 + } + ], + "type": "bbox" + }, + "point_1767928961782": { + "instances": [ + { + "id": "point_1767928961782_1767930011487_8uvyk52ag", + "x": 0.46153846153846156, + "y": 0.26324786324786326 + } + ], + "type": "point" + }, + "point_1767928965131": { + "instances": [ + { + "id": "point_1767928965131_1767930014030_z46vj4o7k", + "x": 0.5623931623931624, + "y": 0.27008547008547007 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的左前方向移动至奶油奶酪的正上方后竖直下落，靠近并触及奶油奶酪，在奶油奶酪两侧张开的爪夹闭合做抓取奶油奶酪的动作，抓取奶油奶酪后的爪夹向爪夹方向的上方竖直上升并向爪夹方向的右后方移动至篮子的正上方，后抓取奶油奶酪的爪夹竖直下落将抓取的奶油奶酪放入篮子中，抓取奶油奶酪的爪夹张开，抓取的奶油奶酪落入篮子中", + "error_success_analysis": "", + "frame": 4, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触奶油奶酪。\n为了完成拿起奶油奶酪放进篮子里的任务：张开的爪夹向爪夹方向的左前方向移动至奶油奶酪的正上方", + "time": 0.14085 + }, + { + "action_description": "张开的爪夹向爪夹方向的左前方向移动", + "annotations": { + "bbox_1767928955874": { + "instances": [ + { + "height": 0.08034188034188039, + "id": "bbox_1767928955874_1767930032466_hdaqv58l3", + "width": 0.058119658119658024, + "x": 0.5794871794871795, + "y": 0.5675213675213675 + } + ], + "type": "bbox" + }, + "bbox_1767928960214": { + "instances": [ + { + "height": 0.22564102564102562, + "id": "bbox_1767928960214_1767930026581_tbqoqj59v", + "width": 0.24273504273504273, + "x": 0.06837606837606838, + "y": 0.40683760683760684 + } + ], + "type": "bbox" + }, + "point_1767928961782": { + "instances": [ + { + "id": "point_1767928961782_1767930020595_kz27lud8n", + "x": 0.5743589743589743, + "y": 0.3641025641025641 + } + ], + "type": "point" + }, + "point_1767928965131": { + "instances": [ + { + "id": "point_1767928965131_1767930018123_w2603un4i", + "x": 0.6837606837606838, + "y": 0.358974358974359 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落，靠近或触及奶油奶酪，在奶油奶酪两侧张开的爪夹做闭合动作，抓取奶油奶酪，抓取奶油奶酪后的爪夹向爪夹方向的上方竖直上升并向爪夹方向的右后方移动至篮子的正上方，后抓取奶油奶酪的爪夹竖直下落将抓取的奶油奶酪放入篮子中，抓取奶油奶酪的爪夹张开，抓取的奶油奶酪落入篮子中", + "error_success_analysis": "爪夹向左前方向移动后靠近了抓取物奶油奶酪", + "frame": 61, + "progress": 10, + "progress_explanation": "张开的爪夹向左前方移动靠近奶油奶酪上方，进度提升为10%", + "state_description": "爪夹当前状态为爪夹张开位于奶油奶酪的上方\n为了完成拿起奶油奶酪放进篮子里的任务：张开的爪夹向爪夹方向的下方下落靠近或触及爪夹下方的奶油奶酪", + "time": 2.042329 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1767928955874": { + "instances": [ + { + "height": 0.08034188034188039, + "id": "bbox_1767928955874_1767930038342_lne9wm09g", + "width": 0.058119658119658135, + "x": 0.582905982905983, + "y": 0.5641025641025641 + } + ], + "type": "bbox" + }, + "bbox_1767928960214": { + "instances": [ + { + "height": 0.22905982905982902, + "id": "bbox_1767928960214_1767930043580_qgyv96bnb", + "width": 0.23418803418803413, + "x": 0.07521367521367521, + "y": 0.40683760683760684 + } + ], + "type": "bbox" + }, + "point_1767928961782": { + "instances": [ + { + "id": "point_1767928961782_1767930051030_6o4jeo1l3", + "x": 0.5452991452991452, + "y": 0.5965811965811966 + } + ], + "type": "point" + }, + "point_1767928965131": { + "instances": [ + { + "id": "point_1767928965131_1767930053265_hzerite5g", + "x": 0.6512820512820513, + "y": 0.588034188034188 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹做闭合抓取奶油奶酪的动作，抓取奶油奶酪后的爪夹竖直上升，并向爪夹方向的右后方移动至篮子的正上方，后抓取奶油奶酪的爪夹竖直下落将抓取的奶油奶酪放入篮子中，抓取奶油奶酪的爪夹张开，抓取的奶油奶酪落入篮子中", + "error_success_analysis": "爪夹向下方的抓取物奶油奶酪下落靠近抓取物奶油奶酪。", + "frame": 128, + "progress": 20, + "progress_explanation": "在奶油奶酪上方的爪夹下落后两侧爪夹靠近下方的奶油奶酪，进度提升为20%", + "state_description": "爪夹当前的状态为两侧爪夹张开位于奶油奶酪的上方两侧\n为了完成拿起奶油奶酪放进篮子里的任务：张开的爪夹做闭合抓取奶油奶酪的动作，抓取奶油奶酪后竖直上升", + "time": 4.272458 + }, + { + "action_description": "张开的爪夹闭合，抓取爪夹中间的奶油奶酪", + "annotations": { + "bbox_1767928955874": { + "instances": [ + { + "height": 0.07521367521367517, + "id": "bbox_1767928955874_1767930068717_72yqq3p5q", + "width": 0.06495726495726495, + "x": 0.5692307692307692, + "y": 0.558974358974359 + } + ], + "type": "bbox" + }, + "bbox_1767928960214": { + "instances": [ + { + "height": 0.23589743589743584, + "id": "bbox_1767928960214_1767930064026_2x7orqbl1", + "width": 0.2358974358974359, + "x": 0.0735042735042735, + "y": 0.40341880341880343 + } + ], + "type": "bbox" + }, + "point_1767928961782": { + "instances": [ + { + "id": "point_1767928961782_1767930059283_1o0bto1iv", + "x": 0.5606837606837607, + "y": 0.576068376068376 + } + ], + "type": "point" + }, + "point_1767928965131": { + "instances": [ + { + "id": "point_1767928965131_1767930057327_zltrth11w", + "x": 0.6324786324786325, + "y": 0.5794871794871795 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪的爪夹竖直向上抬升向爪夹方向的右后方移动至篮子的正上方，后抓取奶油奶酪的爪夹竖直下落将抓取的奶油奶酪放入篮子中，抓取奶油奶酪的爪夹张开，抓取的奶油奶酪落入篮子中", + "error_success_analysis": "张开的爪夹成功闭合后抓取目标物奶油奶酪", + "frame": 156, + "progress": 40, + "progress_explanation": "爪夹闭合成功抓取中间的奶油奶酪，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合抓取奶油奶酪位于篮子的左侧下方\n为了完成拿起奶油奶酪放进篮子里的任务：抓取奶油奶酪的爪夹向爪夹方向的上方竖直向上抬升", + "time": 5.187985 + }, + { + "action_description": "抓取奶油奶酪的爪夹向爪夹方向的上方竖直向上抬升并向右侧略微移动", + "annotations": { + "bbox_1767928955874": { + "instances": [ + { + "height": 0.07350427350427347, + "id": "bbox_1767928955874_1767930076469_far13tpux", + "width": 0.06837606837606836, + "x": 0.5606837606837607, + "y": 0.4170940170940171 + } + ], + "type": "bbox" + }, + "bbox_1767928960214": { + "instances": [ + { + "height": 0.23076923076923078, + "id": "bbox_1767928960214_1767930081753_x58m4sqlw", + "width": 0.23247863247863249, + "x": 0.07692307692307693, + "y": 0.4068376068376068 + } + ], + "type": "bbox" + }, + "point_1767928961782": { + "instances": [ + { + "id": "point_1767928961782_1767930088342_aevpj8n1n", + "x": 0.5521367521367522, + "y": 0.441025641025641 + } + ], + "type": "point" + }, + "point_1767928965131": { + "instances": [ + { + "id": "point_1767928965131_1767930091114_hf7kzcwvg", + "x": 0.6205128205128205, + "y": 0.4324786324786325 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪的爪夹继续向爪夹方向的右后方移动至篮子的正上方，后抓取奶油奶酪的爪夹竖直下落将抓取的奶油奶酪放入篮子中，抓取奶油奶酪的爪夹张开，抓取的奶油奶酪落入篮子中", + "error_success_analysis": "抓取奶油奶酪的爪夹向上抬升后抓取的奶油奶酪向右侧篮子上方靠近", + "frame": 192, + "progress": 50, + "progress_explanation": "抓取奶油奶酪的爪夹向上抬升后靠近篮子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合抓取奶油奶酪位于篮子的左上方\n为了完成拿起奶油奶酪放进篮子里的任务：抓取奶油奶酪的爪夹继续向爪夹方向的右后方移动至篮子的正上方", + "time": 6.385212 + }, + { + "action_description": "抓取奶油奶酪的爪夹向爪夹方向的右后方向提升并移动", + "annotations": { + "bbox_1767928955874": { + "instances": [ + { + "height": 0.07179487179487182, + "id": "bbox_1767928955874_1767930109393_n7uyrqjfj", + "width": 0.07179487179487179, + "x": 0.21196581196581196, + "y": 0.30085470085470084 + } + ], + "type": "bbox" + }, + "bbox_1767928960214": { + "instances": [ + { + "height": 0.23418803418803413, + "id": "bbox_1767928960214_1767930104054_vew5vf2y0", + "width": 0.23760683760683762, + "x": 0.07179487179487179, + "y": 0.4017094017094017 + } + ], + "type": "bbox" + }, + "point_1767928961782": { + "instances": [ + { + "id": "point_1767928961782_1767930098194_n27lvuwdt", + "x": 0.21196581196581196, + "y": 0.3282051282051282 + } + ], + "type": "point" + }, + "point_1767928965131": { + "instances": [ + { + "id": "point_1767928965131_1767930095722_fc2wv4xyb", + "x": 0.294017094017094, + "y": 0.3213675213675214 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪的爪夹向爪夹方向的右下方向下落缩短抓取的奶油奶酪与下方篮子的距离，将抓取的奶油奶酪放入篮子中，抓取奶油奶酪的爪夹张开，抓取的奶油奶酪落入篮子中", + "error_success_analysis": "抓取奶油奶酪的爪夹向右后方向移动和抬升到篮子的上方", + "frame": 282, + "progress": 60, + "progress_explanation": "抓取奶油奶酪的爪夹向右侧移动靠近篮子上方，进度提升为60%", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了奶油奶酪位于篮子的上方\n为了完成拿起奶油奶酪放进篮子里的任务：抓取奶油奶酪的爪夹向爪夹方向的右下方向下落缩短抓取的奶油奶酪与下方篮子的距离", + "time": 9.390018 + }, + { + "action_description": "抓取奶油奶酪的爪夹向爪夹方向右下方向下落", + "annotations": { + "bbox_1767928955874": { + "instances": [ + { + "height": 0.07179487179487182, + "id": "bbox_1767928955874_1767930116261_jcjryfo16", + "width": 0.07008547008547009, + "x": 0.15384615384615385, + "y": 0.38974358974358975 + } + ], + "type": "bbox" + }, + "bbox_1767928960214": { + "instances": [ + { + "height": 0.22905982905982897, + "id": "bbox_1767928960214_1767930125067_9vohshvrc", + "width": 0.24273504273504273, + "x": 0.07008547008547009, + "y": 0.4068376068376069 + } + ], + "type": "bbox" + }, + "point_1767928961782": { + "instances": [ + { + "id": "point_1767928961782_1767930132377_etrjcl3fj", + "x": 0.1641025641025641, + "y": 0.41025641025641024 + } + ], + "type": "point" + }, + "point_1767928965131": { + "instances": [ + { + "id": "point_1767928965131_1767930135269_w0vv5xlcy", + "x": 0.22564102564102564, + "y": 0.4153846153846154 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取奶油奶酪的爪夹张开，抓取的奶油奶酪落入篮子中", + "error_success_analysis": "抓取奶油奶酪的爪夹向右下方下落后抓取的奶油奶酪进入下方的篮子中", + "frame": 327, + "progress": 80, + "progress_explanation": "抓取奶油奶酪的爪夹下落，抓取的奶油奶酪下落进入篮子中，进度提升为80%", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了奶油奶酪位于篮子上\n为了完成拿起奶油奶酪放进篮子里的任务：抓取奶油奶酪的爪夹张开，抓取的奶油奶酪落入篮子中", + "time": 10.915896 + }, + { + "action_description": "抓取奶油奶酪的爪夹张开，奶油奶酪落入篮子中", + "annotations": { + "bbox_1767928960214": { + "instances": [ + { + "height": 0.22564102564102562, + "id": "bbox_1767928960214_1767930147020_yr2foih6a", + "width": 0.24615384615384617, + "x": 0.06666666666666667, + "y": 0.40854700854700854 + } + ], + "type": "bbox" + }, + "point_1767928961782": { + "instances": [ + { + "id": "point_1767928961782_1767930141659_13hzwniw8", + "x": 0.13504273504273503, + "y": 0.3829059829059829 + } + ], + "type": "point" + }, + "point_1767928965131": { + "instances": [ + { + "id": "point_1767928965131_1767930138911_8hmw3kmsd", + "x": 0.24102564102564103, + "y": 0.37435897435897436 + } + ], + "type": "point" + } + }, + "correction_plan": "已完成拿起奶油奶酪放到篮子里的任务", + "error_success_analysis": "爪夹张开成功，抓取的奶油奶酪成功落入篮子中", + "frame": 375, + "progress": 100, + "progress_explanation": "爪夹张开奶油奶酪落入篮子中，进度提升为100%", + "state_description": "爪夹当前为张开状态，位于在篮子的正上方。\n拿起奶油奶酪放到篮子里已完成", + "time": 12.512199 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767928955874", + "name": "奶油奶酪" + }, + { + "color": "#FF9800", + "id": "bbox_1767928960214", + "name": "篮子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767928961782", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767928965131", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000941.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000941.json new file mode 100644 index 0000000000000000000000000000000000000000..a3f9d8977d5db6ffb5844c1aee4b39a774f63d5a --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000941.json @@ -0,0 +1,478 @@ +{ + "task_description": "拿起牛奶放进篮子里\n开始移动0%\n爪夹靠近牛奶20%\n爪夹抓取牛奶40%\n爪夹抓取牛奶接近篮子60%\n爪夹将牛奶放入篮子80%\n爪夹松开，牛奶落入篮子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1767926875827": { + "instances": [ + { + "height": 0.14529914529914534, + "id": "bbox_1767926875827_1767928749956_u18vrvjgp", + "width": 0.07863247863247858, + "x": 0.7111111111111111, + "y": 0.3863247863247863 + } + ], + "type": "bbox" + }, + "bbox_1767926880633": { + "instances": [ + { + "height": 0.22564102564102562, + "id": "bbox_1767926880633_1767928759982_q3jspnw0v", + "width": 0.23418803418803422, + "x": 0.07521367521367521, + "y": 0.40512820512820513 + } + ], + "type": "bbox" + }, + "point_1767926885295": { + "instances": [ + { + "id": "point_1767926885295_1767928768266_lox6vz536", + "x": 0.4700854700854701, + "y": 0.26153846153846155 + } + ], + "type": "point" + }, + "point_1767926895931": { + "instances": [ + { + "id": "point_1767926895931_1767928771276_t8k2c5gkx", + "x": 0.5658119658119658, + "y": 0.26495726495726496 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的左前方向移动至牛奶的正上方后竖直下落，靠近并触及牛奶，在牛奶两侧张开的爪夹闭合，抓取牛奶后的爪夹向爪夹方向的上方竖直上升并向爪夹方向的右前方移动至篮子的正上方，后抓取牛奶的爪夹竖直下落将抓取的牛奶放入篮子中，抓取牛奶的爪夹张开，抓取的牛奶落入篮子中", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触牛奶。\n为了完成拿起牛奶放进篮子里的任务：张开的爪夹向爪夹方向的左前方向移动至牛奶的正上方", + "time": 0 + }, + { + "action_description": "张开的爪夹向爪夹方向的左前方向移动", + "annotations": { + "bbox_1767926875827": { + "instances": [ + { + "height": 0.14871794871794874, + "id": "bbox_1767926875827_1767928737038_u8979pl46", + "width": 0.08034188034188028, + "x": 0.7094017094017094, + "y": 0.3829059829059829 + } + ], + "type": "bbox" + }, + "bbox_1767926880633": { + "instances": [ + { + "height": 0.22564102564102567, + "id": "bbox_1767926880633_1767928726678_fi98hwixq", + "width": 0.2341880341880342, + "x": 0.07692307692307693, + "y": 0.4085470085470085 + } + ], + "type": "bbox" + }, + "point_1767926885295": { + "instances": [ + { + "id": "point_1767926885295_1767928721166_2z10k524d", + "x": 0.6991452991452991, + "y": 0.3094017094017094 + } + ], + "type": "point" + }, + "point_1767926895931": { + "instances": [ + { + "id": "point_1767926895931_1767928718442_3hh9oeuc6", + "x": 0.7982905982905983, + "y": 0.3145299145299145 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落，靠近或触及牛奶，在牛奶两侧张开的爪夹做闭合动作，抓取牛奶，抓取牛奶后的爪夹向爪夹方向的上方竖直上升并向爪夹方向的右前方移动至篮子的正上方，后抓取牛奶的爪夹竖直下落将抓取的牛奶放入篮子中，抓取牛奶的爪夹张开，抓取的牛奶落入篮子中", + "error_success_analysis": "爪夹向左前方向移动后靠近了抓取物牛奶", + "frame": 72, + "progress": 10, + "progress_explanation": "张开的爪夹向左前方移动靠近牛奶上方，进度提升为10%", + "state_description": "爪夹当前状态为爪夹张开位于牛奶的上方\n为了完成拿起牛奶放进篮子里的任务：张开的爪夹向爪夹方向的下方下落靠近或触及爪夹下方的牛奶", + "time": 2.39889 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1767926875827": { + "instances": [ + { + "height": 0.14871794871794874, + "id": "bbox_1767926875827_1767928704691_ch14wik10", + "width": 0.0905982905982905, + "x": 0.7042735042735043, + "y": 0.3829059829059829 + } + ], + "type": "bbox" + }, + "bbox_1767926880633": { + "instances": [ + { + "height": 0.23076923076923073, + "id": "bbox_1767926880633_1767928710045_rx4t4pdyo", + "width": 0.24273504273504273, + "x": 0.06837606837606838, + "y": 0.4 + } + ], + "type": "bbox" + }, + "point_1767926885295": { + "instances": [ + { + "id": "point_1767926885295_1767928712827_sdrf7g21v", + "x": 0.7111111111111111, + "y": 0.42735042735042733 + } + ], + "type": "point" + }, + "point_1767926895931": { + "instances": [ + { + "id": "point_1767926895931_1767928715336_m2fo5wlps", + "x": 0.8051282051282052, + "y": 0.4205128205128205 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹做闭合抓取牛奶的动作，抓取牛奶后的爪夹竖直上升，并向爪夹方向的右前方移动至篮子的正上方，后抓取牛奶的爪夹竖直下落将抓取的牛奶放入篮子中，抓取牛奶的爪夹张开，抓取的牛奶落入篮子中", + "error_success_analysis": "爪夹向下方的抓取物牛奶下落靠近抓取物牛奶。", + "frame": 126, + "progress": 20, + "progress_explanation": "在牛奶上方的爪夹下落后两侧爪夹靠近下方的牛奶，进度提升为20%", + "state_description": "爪夹当前的状态为两侧爪夹张开位于牛奶的上方两侧\n为了完成拿起牛奶放进篮子里的任务：张开的爪夹做闭合抓取牛奶的动作，抓取牛奶后竖直上升", + "time": 4.192236 + }, + { + "action_description": "张开的爪夹闭合，抓取爪夹中间的牛奶", + "annotations": { + "bbox_1767926875827": { + "instances": [ + { + "height": 0.14700854700854704, + "id": "bbox_1767926875827_1767928691410_w15b5in65", + "width": 0.09230769230769231, + "x": 0.7111111111111111, + "y": 0.37948717948717947 + } + ], + "type": "bbox" + }, + "bbox_1767926880633": { + "instances": [ + { + "height": 0.2393162393162393, + "id": "bbox_1767926880633_1767928685946_28ulikwr4", + "width": 0.23247863247863249, + "x": 0.08034188034188035, + "y": 0.39829059829059826 + } + ], + "type": "bbox" + }, + "point_1767926885295": { + "instances": [ + { + "id": "point_1767926885295_1767928679371_8txyg8xy5", + "x": 0.7213675213675214, + "y": 0.4205128205128205 + } + ], + "type": "point" + }, + "point_1767926895931": { + "instances": [ + { + "id": "point_1767926895931_1767928677242_lzii5org3", + "x": 0.7982905982905983, + "y": 0.4153846153846154 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取牛奶的爪夹竖直向上抬升向爪夹方向的右前方移动至篮子的正上方，后抓取牛奶的爪夹竖直下落将抓取的牛奶放入篮子中，抓取牛奶的爪夹张开，抓取的牛奶落入篮子中", + "error_success_analysis": "张开的爪夹成功闭合后抓取目标物牛奶", + "frame": 147, + "progress": 40, + "progress_explanation": "爪夹闭合成功抓取中间的牛奶，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合抓取牛奶位于篮子的左侧下方\n为了完成拿起牛奶放进篮子里的任务：抓取牛奶的爪夹向爪夹方向的上方竖直向上抬升", + "time": 4.890942 + }, + { + "action_description": "抓取牛奶的爪夹向爪夹方向的上方竖直向上抬升并向右前方向略微移动", + "annotations": { + "bbox_1767926875827": { + "instances": [ + { + "height": 0.15384615384615385, + "id": "bbox_1767926875827_1767928659762_miztuyzrc", + "width": 0.08205128205128198, + "x": 0.7042735042735043, + "y": 0.29914529914529914 + } + ], + "type": "bbox" + }, + "bbox_1767926880633": { + "instances": [ + { + "height": 0.23247863247863249, + "id": "bbox_1767926880633_1767928665013_jx72jfa7s", + "width": 0.23760683760683762, + "x": 0.07179487179487179, + "y": 0.40170940170940167 + } + ], + "type": "bbox" + }, + "point_1767926885295": { + "instances": [ + { + "id": "point_1767926885295_1767928671730_damzbun52", + "x": 0.7111111111111111, + "y": 0.3487179487179487 + } + ], + "type": "point" + }, + "point_1767926895931": { + "instances": [ + { + "id": "point_1767926895931_1767928673860_5jlh5aae8", + "x": 0.7897435897435897, + "y": 0.3418803418803419 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取牛奶的爪夹继续向爪夹方向的右前方移动至篮子的正上方，后抓取牛奶的爪夹竖直下落将抓取的牛奶放入篮子中，抓取牛奶的爪夹张开，抓取的牛奶落入篮子中", + "error_success_analysis": "抓取牛奶的爪夹向上抬升后抓取的牛奶向右侧篮子上方靠近", + "frame": 174, + "progress": 50, + "progress_explanation": "抓取牛奶的爪夹向上抬升后靠近篮子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合抓取牛奶位于篮子的左上方\n为了完成拿起牛奶放进篮子里的任务：抓取牛奶的爪夹继续向爪夹方向的右侧移动至篮子的正上方", + "time": 5.79926 + }, + { + "action_description": "抓取牛奶的爪夹向爪夹方向的右前方向提升并移动", + "annotations": { + "bbox_1767926875827": { + "instances": [ + { + "height": 0.2, + "id": "bbox_1767926875827_1767928652301_urmlapdw8", + "width": 0.10085470085470086, + "x": 0.1811965811965812, + "y": 0.18632478632478633 + } + ], + "type": "bbox" + }, + "bbox_1767926880633": { + "instances": [ + { + "height": 0.22735042735042732, + "id": "bbox_1767926880633_1767928643819_hpheacadr", + "width": 0.2376068376068376, + "x": 0.07521367521367522, + "y": 0.40341880341880343 + } + ], + "type": "bbox" + }, + "point_1767926885295": { + "instances": [ + { + "id": "point_1767926885295_1767928638536_m2naroydi", + "x": 0.1829059829059829, + "y": 0.24444444444444444 + } + ], + "type": "point" + }, + "point_1767926895931": { + "instances": [ + { + "id": "point_1767926895931_1767928636349_ofawmicrr", + "x": 0.27350427350427353, + "y": 0.2512820512820513 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取牛奶的爪夹向爪夹方向的右下方向下落缩短抓取的牛奶与下方篮子的距离，将抓取的牛奶放入篮子中，抓取牛奶的爪夹张开，抓取的牛奶落入篮子中", + "error_success_analysis": "抓取牛奶的爪夹向右上方向移动和抬升到篮子的上方", + "frame": 303, + "progress": 60, + "progress_explanation": "抓取牛奶的爪夹向右侧移动靠近篮子上方，进度提升为60%", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了牛奶位于篮子的上方\n为了完成拿起牛奶放进篮子里的任务：抓取牛奶的爪夹向爪夹方向的右下方向下落缩短抓取的牛奶与下方篮子的距离", + "time": 10.107948 + }, + { + "action_description": "抓取牛奶的爪夹向爪夹方向右下方向下落", + "annotations": { + "bbox_1767926875827": { + "instances": [ + { + "height": 0.17777777777777787, + "id": "bbox_1767926875827_1767928613580_dbww1lcfm", + "width": 0.09401709401709402, + "x": 0.11282051282051281, + "y": 0.3692307692307692 + } + ], + "type": "bbox" + }, + "bbox_1767926880633": { + "instances": [ + { + "height": 0.2222222222222222, + "id": "bbox_1767926880633_1767928622728_c8zuquq2j", + "width": 0.24102564102564103, + "x": 0.07008547008547009, + "y": 0.3982905982905983 + } + ], + "type": "bbox" + }, + "point_1767926885295": { + "instances": [ + { + "id": "point_1767926885295_1767928629190_1scuh5hd8", + "x": 0.11623931623931624, + "y": 0.4222222222222222 + } + ], + "type": "point" + }, + "point_1767926895931": { + "instances": [ + { + "id": "point_1767926895931_1767928631440_8j4nf47n2", + "x": 0.19487179487179487, + "y": 0.40683760683760684 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取牛奶的爪夹张开，抓取的牛奶落入篮子中", + "error_success_analysis": "抓取牛奶爪夹向右下方下落后抓取的牛奶进入下方的篮子中", + "frame": 367, + "progress": 80, + "progress_explanation": "抓取牛奶的爪夹下落，抓取的牛奶下落进入篮子中，进度提升为80%", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了牛奶位于篮子上\n为了完成拿起牛奶放进篮子里的任务：抓取牛奶的爪夹张开，抓取的牛奶落入篮子中", + "time": 12.227356 + }, + { + "action_description": "抓取牛奶的爪夹略微张开", + "annotations": { + "bbox_1767926875827": { + "instances": [ + { + "height": 0.17264957264957265, + "id": "bbox_1767926875827_1767928605772_o7zf1xi9o", + "width": 0.10256410256410256, + "x": 0.1094017094017094, + "y": 0.358974358974359 + } + ], + "type": "bbox" + }, + "bbox_1767926880633": { + "instances": [ + { + "height": 0.23076923076923073, + "id": "bbox_1767926880633_1767928598991_9xn2j4snb", + "width": 0.23247863247863249, + "x": 0.08034188034188035, + "y": 0.4 + } + ], + "type": "bbox" + }, + "point_1767926885295": { + "instances": [ + { + "id": "point_1767926885295_1767928592236_nz8udaysl", + "x": 0.1111111111111111, + "y": 0.41196581196581195 + } + ], + "type": "point" + }, + "point_1767926895931": { + "instances": [ + { + "id": "point_1767926895931_1767928589852_5qluhd5km", + "x": 0.20683760683760682, + "y": 0.40341880341880343 + } + ], + "type": "point" + } + }, + "correction_plan": "微张的爪夹继续张开，牛奶完全落入篮子中", + "error_success_analysis": "爪夹略微张开成功，抓取的牛奶开始落入篮子中", + "frame": 378, + "progress": 85, + "progress_explanation": "爪夹微微张开牛奶准备落入篮子中，进度提升为85%", + "state_description": "爪夹当前为轻微张开状态，位于在篮子中牛奶的上方。\n为了完成拿起牛奶放进篮子里的任务：微张的爪夹继续张开，牛奶落入篮子", + "time": 12.6 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767926875827", + "name": "牛奶" + }, + { + "color": "#FF9800", + "id": "bbox_1767926880633", + "name": "篮子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767926885295", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767926895931", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000954.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000954.json new file mode 100644 index 0000000000000000000000000000000000000000..cfef4f76a0b1b35e7286ca26de1aad74169decf7 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000954.json @@ -0,0 +1,466 @@ +{ + "task_description": "拿起烧烤酱并把它放进篮子里\n开始移动0%\n爪夹靠近烧烤酱20%\n爪夹抓取烧烤酱40%\n爪夹抓取烧烤酱接近篮子60%\n爪夹将烧烤酱放入篮子80%\n爪夹松开，烧烤酱落入篮子100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动", + "annotations": { + "bbox_1767924902901": { + "instances": [ + { + "height": 0.1316239316239316, + "id": "bbox_1767924902901_1767926509265_ktcqon3cs", + "width": 0.06495726495726495, + "x": 0.5863247863247864, + "y": 0.49572649572649574 + } + ], + "type": "bbox" + }, + "bbox_1767924904557": { + "instances": [ + { + "height": 0.23076923076923073, + "id": "bbox_1767924904557_1767926519813_0fimiz11a", + "width": 0.2427350427350427, + "x": 0.07692307692307693, + "y": 0.4017094017094017 + } + ], + "type": "bbox" + }, + "point_1767924909014": { + "instances": [ + { + "id": "point_1767924909014_1767926526839_7p3ndfps0", + "x": 0.4564102564102564, + "y": 0.26153846153846155 + } + ], + "type": "point" + }, + "point_1767924913664": { + "instances": [ + { + "id": "point_1767924913664_1767926529454_kalt9z4mq", + "x": 0.5538461538461539, + "y": 0.25811965811965815 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的左前方向移动至烧烤酱的正上方后竖直下落，靠近并触及烧烤酱，在烧烤酱两侧张开的爪夹闭合，抓取烧烤酱后竖直上升并向爪夹方向的右侧移动至篮子的正上方，后抓取烧烤酱的爪夹竖直下落将抓取的烧烤酱放入篮子中，抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子中", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "state_description": "爪夹当前处于打开状态，没有移动和接触烧烤酱。\n为了完成拿起烧烤酱并把它放进篮子里的任务：张开的爪夹向爪夹方向的左前方向移动至烧烤酱的正上方", + "time": 0 + }, + { + "action_description": "张开的爪夹向爪夹方向的左前方向移动并略微下落", + "annotations": { + "bbox_1767924902901": { + "instances": [ + { + "height": 0.1316239316239316, + "id": "bbox_1767924902901_1767926554829_28pwdlqft", + "width": 0.07008547008546995, + "x": 0.5846153846153848, + "y": 0.49914529914529915 + } + ], + "type": "bbox" + }, + "bbox_1767924904557": { + "instances": [ + { + "height": 0.23076923076923078, + "id": "bbox_1767924904557_1767926543353_jls6459t6", + "width": 0.2427350427350427, + "x": 0.0735042735042735, + "y": 0.40170940170940167 + } + ], + "type": "bbox" + }, + "point_1767924909014": { + "instances": [ + { + "id": "point_1767924909014_1767926535645_gcgctv6ty", + "x": 0.5504273504273505, + "y": 0.37435897435897436 + } + ], + "type": "point" + }, + "point_1767924913664": { + "instances": [ + { + "id": "point_1767924913664_1767926533515_qksm709em", + "x": 0.6615384615384615, + "y": 0.37264957264957266 + } + ], + "type": "point" + } + }, + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落，靠近或触及烧烤酱，后在烧烤酱两侧张开的爪夹闭合，抓取烧烤酱后竖直上升并向爪夹方向的右侧移动至篮子的正上方，后抓取烧烤酱的爪夹竖直下落将抓取的烧烤酱放入篮子中，抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子中", + "error_success_analysis": "爪夹向左前方向移动后靠近了抓取物烧烤酱", + "frame": 77, + "progress": 10, + "progress_explanation": "张开的爪夹向左前方移动靠近烧烤酱上方，进度提升为10%", + "state_description": "爪夹当前状态为爪夹张开位于烧烤酱的上方\n为了完成拿起烧烤酱并把它放进篮子里的任务：张开的爪夹向爪夹方向的下方下落靠近或触及爪夹下方的烧烤酱", + "time": 2.57597 + }, + { + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "annotations": { + "bbox_1767924902901": { + "instances": [ + { + "height": 0.1282051282051282, + "id": "bbox_1767924902901_1767926567501_rrgbzbuid", + "width": 0.058119658119658135, + "x": 0.5897435897435898, + "y": 0.49914529914529915 + } + ], + "type": "bbox" + }, + "bbox_1767924904557": { + "instances": [ + { + "height": 0.22905982905982902, + "id": "bbox_1767924904557_1767926572181_yqs0y2q3y", + "width": 0.2341880341880342, + "x": 0.08205128205128205, + "y": 0.4017094017094017 + } + ], + "type": "bbox" + }, + "point_1767924909014": { + "instances": [ + { + "id": "point_1767924909014_1767926578271_qtezaautv", + "x": 0.5675213675213675, + "y": 0.5452991452991452 + } + ], + "type": "point" + }, + "point_1767924913664": { + "instances": [ + { + "id": "point_1767924913664_1767926580473_bh9pb1aib", + "x": 0.6632478632478632, + "y": 0.5470085470085471 + } + ], + "type": "point" + } + }, + "correction_plan": "在烧烤酱两侧张开的爪夹闭合，抓取两侧爪夹中间的烧烤酱后竖直上升并向爪夹方向的右侧移动至篮子的正上方，后抓取烧烤酱的爪夹竖直下落将抓取的烧烤酱放入篮子中，抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子中", + "error_success_analysis": "爪夹向下方的抓取物烧烤酱下落靠近抓取物烧烤酱", + "frame": 149, + "progress": 20, + "progress_explanation": "在烧烤酱上方的爪夹下落后两侧爪夹靠近烧烤酱，进度提升为20%", + "state_description": "爪夹当前的状态为两侧爪夹张开位于烧烤酱的上方两侧\n为了完成拿起烧烤酱并把它放进篮子里的任务：张开的爪夹做闭合抓取烧烤酱的动作，抓取烧烤酱后竖直上升", + "time": 4.978558 + }, + { + "action_description": "张开的爪夹闭合，抓取爪夹中间的烧烤酱", + "annotations": { + "bbox_1767924902901": { + "instances": [ + { + "height": 0.1333333333333333, + "id": "bbox_1767924902901_1767926603013_8q3r1vyud", + "width": 0.058119658119658135, + "x": 0.5931623931623932, + "y": 0.4683760683760684 + } + ], + "type": "bbox" + }, + "bbox_1767924904557": { + "instances": [ + { + "height": 0.22564102564102562, + "id": "bbox_1767924904557_1767926594009_u9yyeng5p", + "width": 0.2393162393162393, + "x": 0.07692307692307693, + "y": 0.40341880341880343 + } + ], + "type": "bbox" + }, + "point_1767924909014": { + "instances": [ + { + "id": "point_1767924909014_1767926588139_huz1bh5jh", + "x": 0.5931623931623932, + "y": 0.5094017094017094 + } + ], + "type": "point" + }, + "point_1767924913664": { + "instances": [ + { + "id": "point_1767924913664_1767926584385_hdh3l9i0c", + "x": 0.6512820512820513, + "y": 0.5076923076923077 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取烧烤酱的爪夹向爪夹方向的上方竖直向上抬升并向爪夹方向的右侧移动至篮子的正上方，后抓取烧烤酱的爪夹竖直下落将抓取的烧烤酱放入篮子中，抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子中", + "error_success_analysis": "张开的爪夹成功闭合后抓取目标物烧烤酱", + "frame": 180, + "progress": 40, + "progress_explanation": "爪夹闭合成功抓取中间的烧烤酱，进度提升为40%", + "state_description": "爪夹当前的状态为爪夹闭合抓取烧烤酱位于篮子的左侧下方\n为了完成拿起烧烤酱并把它放进篮子里的任务：抓取烧烤酱的爪夹向爪夹方向的上方竖直向上抬升", + "time": 5.994085 + }, + { + "action_description": "抓取烧烤酱的爪夹向爪夹方向的上方竖直向上抬升", + "annotations": { + "bbox_1767924902901": { + "instances": [ + { + "height": 0.14188034188034182, + "id": "bbox_1767924902901_1767926610149_chs8lnfoq", + "width": 0.06324786324786325, + "x": 0.582905982905983, + "y": 0.36752136752136755 + } + ], + "type": "bbox" + }, + "bbox_1767924904557": { + "instances": [ + { + "height": 0.22905982905982902, + "id": "bbox_1767924904557_1767926615837_77h95l01l", + "width": 0.23247863247863246, + "x": 0.08034188034188035, + "y": 0.40341880341880343 + } + ], + "type": "bbox" + }, + "point_1767924909014": { + "instances": [ + { + "id": "point_1767924909014_1767926622133_6pr4fivom", + "x": 0.582905982905983, + "y": 0.4170940170940171 + } + ], + "type": "point" + }, + "point_1767924913664": { + "instances": [ + { + "id": "point_1767924913664_1767926624461_uxkfw0tw3", + "x": 0.6427350427350428, + "y": 0.4188034188034188 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取烧烤酱的爪夹继续向爪夹方向的右侧移动至篮子的正上方，后抓取烧烤酱的爪夹竖直下落将抓取的烧烤酱放入篮子中，抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子中", + "error_success_analysis": "抓取烧烤酱的爪夹向上抬升后抓取的烧烤酱向右侧篮子上方靠近", + "frame": 204, + "progress": 50, + "progress_explanation": "抓取烧烤酱的爪夹向上抬升后靠近篮子上方，进度提升为50%", + "state_description": "爪夹当前的状态为爪夹闭合抓取烧烤酱位于篮子的左上方\n为了完成拿起烧烤酱并把它放进篮子里的任务：抓取烧烤酱的爪夹继续向爪夹方向的右侧移动至篮子的正上方", + "time": 6.81146 + }, + { + "action_description": "抓取烧烤酱的爪夹向爪夹方向的右上方向移动", + "annotations": { + "bbox_1767924902901": { + "instances": [ + { + "height": 0.16581196581196583, + "id": "bbox_1767924902901_1767926677247_exg72rqcb", + "width": 0.07863247863247866, + "x": 0.21196581196581196, + "y": 0.2222222222222222 + } + ], + "type": "bbox" + }, + "bbox_1767924904557": { + "instances": [ + { + "height": 0.22564102564102562, + "id": "bbox_1767924904557_1767926682411_920ym4tj5", + "width": 0.23076923076923075, + "x": 0.08376068376068377, + "y": 0.40341880341880343 + } + ], + "type": "bbox" + }, + "point_1767924909014": { + "instances": [ + { + "id": "point_1767924909014_1767926632175_by2z06wt6", + "x": 0.2170940170940171, + "y": 0.28717948717948716 + } + ], + "type": "point" + }, + "point_1767924913664": { + "instances": [ + { + "id": "point_1767924913664_1767926628033_85uvi1j4e", + "x": 0.28717948717948716, + "y": 0.28376068376068375 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取烧烤酱的爪夹向爪夹方向的右下方向下落缩短抓取的烧烤酱与下方篮子的距离，将抓取的烧烤酱放入篮子中，抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子中", + "error_success_analysis": "抓取烧烤酱的爪夹向右侧方向移动到篮子的上方", + "frame": 292, + "progress": 60, + "progress_explanation": "抓取烧烤酱的爪夹向右侧移动靠近篮子上方，进度提升为60%", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了烧烤酱在篮子的上方\n为了完成拿起烧烤酱并把它放进篮子里的任务：抓取烧烤酱的爪夹向爪夹方向的右下方向下落缩短抓取的烧烤酱与下方篮子的距离", + "time": 9.734195 + }, + { + "action_description": "抓取烧烤酱的爪夹向爪夹方向右下方向下落", + "annotations": { + "bbox_1767924902901": { + "instances": [ + { + "height": 0.14871794871794874, + "id": "bbox_1767924902901_1767926703637_h06ewhzki", + "width": 0.07350427350427349, + "x": 0.1641025641025641, + "y": 0.3452991452991453 + } + ], + "type": "bbox" + }, + "bbox_1767924904557": { + "instances": [ + { + "height": 0.22393162393162397, + "id": "bbox_1767924904557_1767926711881_guq1br89t", + "width": 0.2376068376068376, + "x": 0.07692307692307693, + "y": 0.4068376068376068 + } + ], + "type": "bbox" + }, + "point_1767924909014": { + "instances": [ + { + "id": "point_1767924909014_1767926720920_h9ep7zsjw", + "x": 0.17094017094017094, + "y": 0.4 + } + ], + "type": "point" + }, + "point_1767924913664": { + "instances": [ + { + "id": "point_1767924913664_1767926724119_o63p6mon2", + "x": 0.22905982905982905, + "y": 0.39829059829059826 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子", + "error_success_analysis": "抓取烧烤酱爪夹向右下方下落后抓取的烧烤酱进入下方的篮子", + "frame": 356, + "progress": 80, + "progress_explanation": "抓取烧烤酱的爪夹下落，抓取的烧烤酱下落进入篮子中，进度提升为80%", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了烧烤酱位于篮子上\n为了完成拿起烧烤酱并把它放进篮子里的任务：抓取烧烤酱的爪夹张开，抓取的烧烤酱落入篮子", + "time": 11.854774774774773 + }, + { + "action_description": "抓取烧烤酱的爪夹张开，烧烤酱落入篮子中", + "annotations": { + "bbox_1767924904557": { + "instances": [ + { + "height": 0.22564102564102562, + "id": "bbox_1767924904557_1767926738619_7jx2sr0pg", + "width": 0.2376068376068376, + "x": 0.07692307692307693, + "y": 0.40512820512820513 + } + ], + "type": "bbox" + }, + "point_1767924909014": { + "instances": [ + { + "id": "point_1767924909014_1767926733345_gvsx39md2", + "x": 0.13846153846153847, + "y": 0.35555555555555557 + } + ], + "type": "point" + }, + "point_1767924913664": { + "instances": [ + { + "id": "point_1767924913664_1767926730549_xodpmbmgq", + "x": 0.2512820512820513, + "y": 0.3487179487179487 + } + ], + "type": "point" + } + }, + "correction_plan": "已完成拿起烧烤酱并把它放进篮子里的任务", + "error_success_analysis": "爪夹张开成功，抓取的烧烤酱成功落入篮子中", + "frame": 398, + "progress": 100, + "progress_explanation": "爪夹张开烧烤酱落入篮子中，进度提升为100%", + "state_description": "爪夹当前为张开状态，位于在篮子中烧烤酱的上方。\n拿起烧烤酱并把它放进篮子里已完成", + "time": 13.276155 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767924902901", + "name": "烧烤酱" + }, + { + "color": "#FF9800", + "id": "bbox_1767924904557", + "name": "篮子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767924909014", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767924913664", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000958.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000958.json new file mode 100644 index 0000000000000000000000000000000000000000..8f2da3e7285d37dd1165259e04aaabb7ed12df4d --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.image/episode_000958.json @@ -0,0 +1,454 @@ +{ + "task_description": "拿起黄油放进篮子里\n开始移动0%\n爪夹靠近黄油20%\n爪夹抓取黄油40%\n爪夹抓取黄油接近篮子60%\n爪夹将黄油放入篮子80%\n爪夹松开，黄油落入篮子100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹保持打开状态，暂未移动", + "state_description": "爪夹当前处于打开状态，没有移动和接触黄油。\n为了完成拿起黄油放进篮子里的任务：张开的爪夹向爪夹方向的左侧移动至黄油的正上方", + "progress_explanation": "目前爪夹处于初始状态，暂未移动，进度为0%", + "error_success_analysis": "", + "correction_plan": "张开的爪夹向爪夹方向的左侧方向移动至黄油的正上方后竖直下落，靠近并触及黄油，在黄油上方张开的爪夹闭合，抓取黄油后竖直上升并向爪夹方向的右前方向移动至篮子的正上方后竖直下落将抓取的黄油放入篮子中，抓取黄油的爪夹松开，抓取的黄油落入篮子中", + "annotations": { + "bbox_1767921636953": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767921636953_1767924718860_02b6lfhci", + "x": 0.7145299145299145, + "y": 0.4735042735042735, + "width": 0.06153846153846154, + "height": 0.06666666666666665 + } + ] + }, + "bbox_1767921641431": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767921641431_1767924723777_82tuutc51", + "x": 0.09743589743589745, + "y": 0.40683760683760684, + "width": 0.23247863247863249, + "height": 0.2239316239316239 + } + ] + }, + "point_1767921644994": { + "type": "point", + "instances": [ + { + "id": "point_1767921644994_1767924732957_ks0kq9m7q", + "x": 0.4495726495726496, + "y": 0.2564102564102564 + } + ] + }, + "point_1767921649359": { + "type": "point", + "instances": [ + { + "id": "point_1767921649359_1767924735833_oj8u9og77", + "x": 0.5555555555555556, + "y": 0.2564102564102564 + } + ] + } + } + }, + { + "time": 2.368946, + "frame": 71, + "progress": 10, + "action_description": "张开的爪夹向爪夹方向的左侧方向移动", + "state_description": "爪夹当前状态为爪夹张开位于黄油的正上方\n为了完成拿起黄油放进篮子里的任务：张开的爪夹向爪夹方向的下方竖直下落靠近并触及爪夹下方的黄油", + "progress_explanation": "张开的爪夹向左边移动靠近黄油上方，进度提升为10%", + "error_success_analysis": "爪夹向左移动后靠近了抓取物黄油", + "correction_plan": "张开的爪夹向爪夹方向的下方竖直下落，靠近并触及黄油，在黄油上方张开的爪夹闭合，抓取黄油后竖直上升并向爪夹方向的右前方向移动至篮子的正上方后竖直下落将抓取的黄油放入篮子中，抓取黄油的爪夹松开，抓取的黄油落入篮子中", + "annotations": { + "point_1767921649359": { + "type": "point", + "instances": [ + { + "id": "point_1767921649359_1767924691013_0nqomec56", + "x": 0.8051282051282052, + "y": 0.29743589743589743 + } + ] + }, + "point_1767921644994": { + "type": "point", + "instances": [ + { + "id": "point_1767921644994_1767924693667_jrdgqdw34", + "x": 0.7025641025641025, + "y": 0.294017094017094 + } + ] + }, + "bbox_1767921641431": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767921641431_1767924700437_llbw259yx", + "x": 0.0905982905982906, + "y": 0.39829059829059826, + "width": 0.23760683760683762, + "height": 0.23076923076923078 + } + ] + }, + "bbox_1767921636953": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767921636953_1767924711889_k5e790bbd", + "x": 0.7162393162393162, + "y": 0.4752136752136752, + "width": 0.05982905982905984, + "height": 0.06837606837606836 + } + ] + } + } + }, + { + "time": 4.592432432432433, + "frame": 138, + "progress": 20, + "action_description": "张开的爪夹向爪夹方向的下方竖直下落", + "state_description": "爪夹当前的状态为两侧爪夹张开位于黄油的上方两侧\n为了完成拿起黄油放进篮子里的任务：张开的爪夹做闭合抓取黄油的动作，抓取黄油后竖直上升", + "progress_explanation": "在黄油上方的爪夹下落后两侧爪夹靠近黄油，进度提升为20%", + "error_success_analysis": "爪夹向下方的抓取物黄油下落靠近抓取物黄油", + "correction_plan": "黄油两侧张开的爪夹闭合做闭合抓取黄油的动作，抓取黄油的爪夹竖直上升并向爪夹方向的右前方向移动至篮子的正上方，后抓取黄油的爪夹竖直下落将抓取的黄油放入篮子中，抓取黄油的爪夹松开，抓取的黄油落入篮子中", + "annotations": { + "bbox_1767921636953": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767921636953_1767924671856_vmf9gu8nq", + "x": 0.717948717948718, + "y": 0.4598290598290598, + "width": 0.05641025641025643, + "height": 0.07863247863247863 + } + ] + }, + "bbox_1767921641431": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767921641431_1767924677032_4vshuefaq", + "x": 0.0905982905982906, + "y": 0.40341880341880343, + "width": 0.241025641025641, + "height": 0.22735042735042732 + } + ] + }, + "point_1767921644994": { + "type": "point", + "instances": [ + { + "id": "point_1767921644994_1767924684653_eo3y338iw", + "x": 0.6905982905982906, + "y": 0.517948717948718 + } + ] + }, + "point_1767921649359": { + "type": "point", + "instances": [ + { + "id": "point_1767921649359_1767924687234_yegjfu8o1", + "x": 0.7811965811965812, + "y": 0.5145299145299145 + } + ] + } + } + }, + { + "time": 5.642883, + "frame": 169, + "progress": 40, + "action_description": "张开的爪夹闭合，抓取爪夹中间的黄油", + "state_description": "爪夹当前的状态为爪夹闭合抓取黄油位于篮子的左侧下方\n为了完成拿起黄油放进篮子里的任务：抓取黄油的爪夹向爪夹方向的上方竖直上升并向爪夹方向的右前方移动至篮子的正上方", + "progress_explanation": "爪夹闭合成功抓取下方的黄油，进度提升为40%", + "error_success_analysis": "张开的爪夹成功闭合后抓取目标物黄油", + "correction_plan": "抓取黄油的爪夹竖直上升并向爪夹方向的右前方向移动至篮子的正上方，后抓取黄油的爪夹竖直下落将抓取的黄油放入篮子中，抓取黄油的爪夹松开，抓取的黄油落入篮子中", + "annotations": { + "point_1767921649359": { + "type": "point", + "instances": [ + { + "id": "point_1767921649359_1767924645520_p6zsk7cft", + "x": 0.7863247863247863, + "y": 0.5145299145299145 + } + ] + }, + "point_1767921644994": { + "type": "point", + "instances": [ + { + "id": "point_1767921644994_1767924648689_b43rb6o2m", + "x": 0.7316239316239316, + "y": 0.5128205128205128 + } + ] + }, + "bbox_1767921641431": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767921641431_1767924654645_ok4o0scmh", + "x": 0.0923076923076923, + "y": 0.40512820512820513, + "width": 0.2376068376068376, + "height": 0.2222222222222222 + } + ] + } + } + }, + { + "time": 7.239926, + "frame": 217, + "progress": 50, + "action_description": "抓取黄油的爪夹向爪夹方向的上方竖直上升", + "state_description": "爪夹当前的状态为爪夹闭合抓取黄油位于篮子的左上方\n为了完成拿起黄油放进篮子里的任务：抓取黄油的爪夹继续向爪夹方向的右前方移动至篮子的正上方", + "progress_explanation": "抓取黄油的爪夹向上抬升后靠近篮子上方，进度提升为50%", + "error_success_analysis": "抓取黄油的爪夹向上抬升后抓取的黄油向右侧篮子上方靠近", + "correction_plan": "抓取黄油的爪夹继续向爪夹方向的右前方向移动至篮子的正上方，后抓取黄油的爪夹竖直下落将抓取的黄油放入篮子中，抓取黄油的爪夹松开，抓取的黄油落入篮子中", + "annotations": { + "bbox_1767921636953": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767921636953_1767924623488_t59ti85ej", + "x": 0.7162393162393162, + "y": 0.3111111111111111, + "width": 0.07350427350427347, + "height": 0.08717948717948715 + } + ] + }, + "bbox_1767921641431": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767921641431_1767924629798_y9mglhq67", + "x": 0.09059829059829061, + "y": 0.4017094017094017, + "width": 0.2376068376068376, + "height": 0.23076923076923073 + } + ] + }, + "point_1767921644994": { + "type": "point", + "instances": [ + { + "id": "point_1767921644994_1767924638875_y3um580ro", + "x": 0.7247863247863248, + "y": 0.37435897435897436 + } + ] + }, + "point_1767921649359": { + "type": "point", + "instances": [ + { + "id": "point_1767921649359_1767924641378_nt0injeec", + "x": 0.788034188034188, + "y": 0.37435897435897436 + } + ] + } + } + }, + { + "time": 11.791497, + "frame": 354, + "progress": 60, + "action_description": "抓取黄油的爪夹向爪夹方向的右前方向移动", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了黄油在篮子的上方\n为了完成拿起黄油放进篮子里的任务：抓取黄油的爪夹向爪夹方向的下方竖直下落将抓取的黄油放现在篮子中", + "progress_explanation": "抓取黄油的爪夹向右侧移动靠近篮子上方，进度提升为60%", + "error_success_analysis": "抓取黄油的爪夹向右前方向移动到篮子的上方", + "correction_plan": "抓取黄油的爪夹竖直下落将抓取的黄油放入篮子中，抓取黄油的爪夹松开，抓取的黄油落入篮子中", + "annotations": { + "point_1767921649359": { + "type": "point", + "instances": [ + { + "id": "point_1767921649359_1767924589061_g5b0nylpe", + "x": 0.27008547008547007, + "y": 0.37606837606837606 + } + ] + }, + "point_1767921644994": { + "type": "point", + "instances": [ + { + "id": "point_1767921644994_1767924591327_nrv72fp4n", + "x": 0.20341880341880342, + "y": 0.37094017094017095 + } + ] + }, + "bbox_1767921641431": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767921641431_1767924596697_wp8f1axop", + "x": 0.09401709401709402, + "y": 0.40341880341880343, + "width": 0.2341880341880342, + "height": 0.22735042735042732 + } + ] + }, + "bbox_1767921636953": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767921636953_1767924608852_vugojnu25", + "x": 0.2, + "y": 0.3111111111111111, + "width": 0.07863247863247863, + "height": 0.0888888888888889 + } + ] + } + } + }, + { + "time": 13.069131, + "frame": 392, + "progress": 80, + "action_description": "抓取黄油的爪夹向爪夹方向下方竖直下落", + "state_description": "爪夹当前为闭合状态，两侧爪夹抓取了黄油位于篮子上\n为了完成拿起黄油放进篮子里的任务：抓取黄油的爪夹张开，抓取的黄油落入篮子里", + "progress_explanation": "抓取黄油的爪夹下落，抓取的黄油下落进篮子中，进度提升为80%", + "error_success_analysis": "抓取黄油爪夹向下竖直下落后抓取的黄油进入下方的篮子", + "correction_plan": "抓取黄油的爪夹张开，抓取的黄油落入篮子中", + "annotations": { + "bbox_1767921636953": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767921636953_1767924564310_y9ptzq28s", + "x": 0.17094017094017094, + "y": 0.358974358974359, + "width": 0.06324786324786325, + "height": 0.0871794871794872 + } + ] + }, + "bbox_1767921641431": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767921641431_1767924569934_z6qpkz0ja", + "x": 0.09401709401709402, + "y": 0.39829059829059826, + "width": 0.2376068376068376, + "height": 0.2358974358974359 + } + ] + }, + "point_1767921644994": { + "type": "point", + "instances": [ + { + "id": "point_1767921644994_1767924581592_fzbeg81u7", + "x": 0.17264957264957265, + "y": 0.4222222222222222 + } + ] + }, + "point_1767921649359": { + "type": "point", + "instances": [ + { + "id": "point_1767921649359_1767924583763_rwg033eq7", + "x": 0.2341880341880342, + "y": 0.4205128205128205 + } + ] + } + } + }, + { + "time": 14.4, + "frame": 432, + "progress": 100, + "action_description": "抓取黄油的爪夹张开，黄油落入篮子中", + "state_description": "爪夹当前为张开状态，位于在篮子中黄油的上方\n拿起黄油放进篮子里已完成", + "progress_explanation": "爪夹张开黄油落入篮子中，进度提升为100%", + "error_success_analysis": "爪夹张开成功，抓取的黄油成功落入篮子中", + "correction_plan": "已完成拿起黄油放进篮子里的任务", + "annotations": { + "point_1767921649359": { + "type": "point", + "instances": [ + { + "id": "point_1767921649359_1767924537501_k3rflxbij", + "x": 0.2547008547008547, + "y": 0.38632478632478634 + } + ] + }, + "point_1767921644994": { + "type": "point", + "instances": [ + { + "id": "point_1767921644994_1767924540106_faf1vgh1q", + "x": 0.14871794871794872, + "y": 0.38461538461538464 + } + ] + }, + "bbox_1767921641431": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767921641431_1767924549881_pn0kgph65", + "x": 0.09401709401709402, + "y": 0.4, + "width": 0.2341880341880342, + "height": 0.23418803418803413 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767921636953", + "name": "黄油", + "color": "#4CAF50" + }, + { + "id": "bbox_1767921641431", + "name": "篮子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767921644994", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767921649359", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000252.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000252.json new file mode 100644 index 0000000000000000000000000000000000000000..d75a42fac27af2729cb4794fe3e4230dbee67905 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000252.json @@ -0,0 +1,639 @@ +{ + "task_description": "将白色马克杯放在盘子上，并把巧克力放在盘子的右边。\n开始移动0%\n爪夹靠近白色马克杯20%\n爪夹夹取白色马克杯40%\n爪夹将白色马克杯放到盘子上60%\n爪夹夹取巧克力80%\n爪夹将巧克力移动到盘子右边后张开爪夹100%", + "progress_points": [ + { + "time": 1.0043290043290043, + "frame": 30, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离白色马克杯，未开始移动。\n为完成将白色马克杯放在盘子上，并把巧克力布丁放在盘子的右边的任务应当：爪夹向爪夹方向左下方白色马克杯位置移动，移动至白色马克杯上方后下降", + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向左下方白色马克杯位置移动，移动至白色马克杯上方时爪夹下降，下降至白色马克杯位置合拢爪夹，夹取白色马克杯，之后保持爪夹合拢状态抬升并向爪夹方向右前方盘子方向移动，移动至盘子正上方后下降爪夹，至白色马克杯贴近盘子后张开爪夹，使白色马克杯放在盘子上。保持爪夹张开状态向爪夹方向右后方巧克力位置移动，移动至巧克力正上方后爪夹下降，下降至巧克力位置后合拢爪夹夹取巧克力，保持爪夹合拢状态向爪夹方向前方移动，移动至盘子右边后，张开爪夹，使巧克力落于盘子右侧", + "annotations": { + "bbox_1767682056978": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682056978_1767682087469_kanmphs6t", + "x": 0.006777770582411463, + "y": 0.5859305214886156, + "width": 0.26299998394775487, + "height": 0.24599998498535247 + } + ] + }, + "bbox_1767682057187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682057187_1767682091920_xrl5w4z8c", + "x": 0.415777745619034, + "y": 0.16293054730648512, + "width": 0.2899999822998057, + "height": 0.11899999273681686 + } + ] + }, + "bbox_1767682058584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682058584_1767682095895_sx0wmqzuo", + "x": 0.6187777332288981, + "y": 0.48993052734799025, + "width": 0.10999999328613319, + "height": 0.17599998925781313 + } + ] + }, + "point_1767682059438": { + "type": "point", + "instances": [ + { + "id": "point_1767682059438_1767682098360_ip4jvf517", + "x": 0.22877775703260758, + "y": 0.7749305099529717 + } + ] + }, + "point_1767682059569": { + "type": "point", + "instances": [ + { + "id": "point_1767682059569_1767682099736_i0rlvmcdb", + "x": 0.8057777218153245, + "y": 0.7729305100750421 + } + ] + } + } + }, + { + "time": 3.387199, + "frame": 102, + "progress": 10, + "action_description": "爪夹向爪夹方向右方移动", + "state_description": "当前状态为爪夹张开，位于被色马克杯上方，靠近白色马克杯。\n为完成将白色马克杯放在盘子上，并把巧克力放在盘子的右边的任务应当：爪夹向爪夹方向下方移动，移动至可夹取白色马克杯的位置后合拢爪夹，夹取白色马克杯", + "progress_explanation": "爪夹已向爪夹方向左方白色马克杯位置靠近，但还未靠近至可抓取白色马克杯的位置，因此进度提升至10%", + "error_success_analysis": "爪夹成功向爪夹方向左下方白色马克杯位置靠近", + "correction_plan": "爪夹下降，下降至白色马克杯位置合拢爪夹，夹取白色马克杯，之后保持爪夹合拢状态抬升并向爪夹方向右前方盘子方向移动，移动至盘子正上方后下降爪夹，至白色马克杯贴近盘子后张开爪夹，使白色马克杯放在盘子上。保持爪夹张开状态向爪夹方向右后方巧克力位置移动，移动至巧克力正上方后爪夹下降，下降至巧克力位置后合拢爪夹夹取巧克力，保持爪夹合拢状态向爪夹方向前方移动，移动至盘子右边后，张开爪夹，使巧克力落于盘子右侧", + "annotations": { + "point_1767682059569": { + "type": "point", + "instances": [ + { + "id": "point_1767682059569_1767682104712_y7l1u38g6", + "x": 0.7787777234632737, + "y": 0.7809305095867608 + } + ] + }, + "point_1767682059438": { + "type": "point", + "instances": [ + { + "id": "point_1767682059438_1767682106144_woa34fyf5", + "x": 0.21677775776502942, + "y": 0.7829305094646906 + } + ] + }, + "bbox_1767682056978": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682056978_1767682112153_m7dfddmeu", + "x": 0.006777770582411463, + "y": 0.5303749981460572, + "width": 0.5199999682617207, + "height": 0.31699998065185664 + } + ] + }, + "bbox_1767682058584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682058584_1767682119056_relvp1uuk", + "x": 0.9037777158338796, + "y": 0.38237500717925976, + "width": 0.08899999456787144, + "height": 0.21799998669433673 + } + ] + } + } + }, + { + "time": 5.452, + "frame": 164, + "progress": 20, + "action_description": "爪夹向爪夹方向下方移动", + "state_description": "当前状态为爪夹张开，位于白色马克杯位置，白色马克杯尚未被夹取。\n为完成将白色马克杯放在盘子上，并把巧克力放在盘子的右边的任务应当：爪夹合拢，夹取白色马克杯，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动", + "progress_explanation": "爪夹已完全白色马克杯，但还为夹取白色马克杯，因此进度提升至20%", + "error_success_analysis": "爪夹成功下降至可抓取白色马克杯处，", + "correction_plan": "合拢爪夹，夹取白色马克杯，之后保持爪夹合拢状态抬升并向爪夹方向右前方盘子方向移动，移动至盘子正上方后下降爪夹，至白色马克杯贴近盘子后张开爪夹，使白色马克杯放在盘子上。保持爪夹张开状态向爪夹方向右后方巧克力位置移动，移动至巧克力正上方后爪夹下降，下降至巧克力位置后合拢爪夹夹取巧克力，保持爪夹合拢状态向爪夹方向前方移动，移动至盘子右边后，张开爪夹，使巧克力落于盘子右侧", + "annotations": { + "bbox_1767682056978": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682056978_1767682128748_lgvxb1csb", + "x": 0.010777770338270853, + "y": 0.34093053644222804, + "width": 0.6139999625244162, + "height": 0.5259999678955096 + } + ] + }, + "point_1767682059438": { + "type": "point", + "instances": [ + { + "id": "point_1767682059438_1767682134460_25w24d8sx", + "x": 0.20877775825331063, + "y": 0.7729305100750421 + } + ] + }, + "point_1767682059569": { + "type": "point", + "instances": [ + { + "id": "point_1767682059569_1767682136055_2f3mf84d9", + "x": 0.80277772199843, + "y": 0.7739305100140069 + } + ] + } + } + }, + { + "time": 6.426399, + "frame": 193, + "progress": 40, + "action_description": "爪夹由张开变为合拢", + "state_description": "当前状态为爪夹合拢，抓紧白色马克杯，白色马克杯尚未被移动。\n为完成将白色马克杯放在盘子上，并把巧克力放在盘子的右边的任务应当：保持爪夹合拢状态抬升并向爪夹方向右前方盘子位置移动", + "progress_explanation": "白色马克杯已被成功夹取，因此进度提升至40%", + "error_success_analysis": "爪夹成功合拢，白色马克杯被成功抓取", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向右前方盘子方向移动，移动至盘子正上方后下降爪夹，至白色马克杯贴近盘子后张开爪夹，使白色马克杯放在盘子上。保持爪夹张开状态向爪夹方向右后方巧克力位置移动，移动至巧克力正上方后爪夹下降，下降至巧克力位置后合拢爪夹夹取巧克力，保持爪夹合拢状态向爪夹方向前方移动，移动至盘子右边后，张开爪夹，使巧克力落于盘子右侧", + "annotations": { + "point_1767682059569": { + "type": "point", + "instances": [ + { + "id": "point_1767682059569_1767682140476_zt9cq1ln9", + "x": 0.572777736036515, + "y": 0.7740416397679662 + } + ] + }, + "point_1767682059438": { + "type": "point", + "instances": [ + { + "id": "point_1767682059438_1767682142106_5umcfaqwx", + "x": 0.44777774366590917, + "y": 0.7770416395848608 + } + ] + }, + "bbox_1767682056978": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682056978_1767682191640_fsorlj5rm", + "x": 0.008777770460341158, + "y": 0.44004166015370727, + "width": 0.6979999573974636, + "height": 0.40499997528076315 + } + ] + } + } + }, + { + "time": 10.672, + "frame": 320, + "progress": 50, + "action_description": "爪夹向爪夹方向右上方移动", + "state_description": "当前状态为爪夹合拢，抓紧白色马克杯，白色马克杯已被抬升至空中。\n为完成将白色马克杯放在盘子上，并把巧克力放在盘子的右边的任务应当：保持爪夹合拢，向爪夹方向下方下降，至白色马克杯贴近盘子时张开爪夹", + "progress_explanation": "白色马克杯已被成功抓取并且移动至了盘子正上方，因此进度提升至50%", + "error_success_analysis": "爪夹保持合拢，成功抓取白色马克杯并使白色马克杯抬升移动至盘子上方", + "correction_plan": "保持爪夹合拢状态下降爪夹，至白色马克杯贴近盘子后张开爪夹，使白色马克杯放在盘子上。保持爪夹张开状态向爪夹方向右后方巧克力位置移动，移动至巧克力正上方后爪夹下降，下降至巧克力位置后合拢爪夹夹取巧克力，保持爪夹合拢状态向爪夹方向前方移动，移动至盘子右边后，张开爪夹，使巧克力落于盘子右侧", + "annotations": { + "bbox_1767682056978": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682056978_1767682202674_rxyr67y2c", + "x": 0.004777770704481768, + "y": 0.46204165881093384, + "width": 0.680999958435061, + "height": 0.3849999765014662 + } + ] + }, + "bbox_1767682057187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682057187_1767682211516_67p83zd01", + "x": 0.32877775092909234, + "y": 0.44904165960439085, + "width": 0.22599998620605555, + "height": 0.11999999267578171 + } + ] + }, + "point_1767682059438": { + "type": "point", + "instances": [ + { + "id": "point_1767682059438_1767682213401_obkowo704", + "x": 0.44677774372694434, + "y": 0.769041640073142 + } + ] + }, + "point_1767682059569": { + "type": "point", + "instances": [ + { + "id": "point_1767682059569_1767682215325_921lxtccy", + "x": 0.566777736402726, + "y": 0.7820416392796851 + } + ] + } + } + }, + { + "time": 12.968799, + "frame": 389, + "progress": 60, + "action_description": "爪夹向爪夹方向下方移动", + "state_description": "当前状态为爪夹合拢，抓紧白色马克杯，白色马克杯已被放置在盘子上方。\n为完成将白色马克杯放在盘子上，并把巧克力放在盘子的右边的任务应当：张开爪夹将白色马克杯放置于盘子上，之后保持爪夹张开状态向爪夹方向右后方移动", + "progress_explanation": "白色马克杯已被放置在盘子上，因此进度提升至60%", + "error_success_analysis": "爪夹保持合拢，成功将白色马克杯下降至盘子上方", + "correction_plan": "张开爪夹，使白色马克杯放在盘子上。保持爪夹张开状态向爪夹方向右后方巧克力位置移动，移动至巧克力正上方后爪夹下降，下降至巧克力位置后合拢爪夹夹取巧克力，保持爪夹合拢状态向爪夹方向前方移动，移动至盘子右边后，张开爪夹，使巧克力落于盘子右侧", + "annotations": { + "point_1767682059569": { + "type": "point", + "instances": [ + { + "id": "point_1767682059569_1767682228264_7wcu0njws", + "x": 0.5707777361585854, + "y": 0.7810416393407202 + } + ] + }, + "point_1767682059438": { + "type": "point", + "instances": [ + { + "id": "point_1767682059438_1767682229987_radtbnj8h", + "x": 0.448777743604874, + "y": 0.7780416395238257 + } + ] + }, + "bbox_1767682057187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682057187_1767682236125_cs7e7yb4a", + "x": 0.17977776002333007, + "y": 0.363041664853414, + "width": 0.4209999743042007, + "height": 0.39999997558593897 + } + ] + }, + "bbox_1767682056978": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682056978_1767682242018_h1xszl0gd", + "x": 0.006777770582411463, + "y": 0.4620416588109339, + "width": 0.6519999602050804, + "height": 0.3789999768676771 + } + ] + } + } + }, + { + "time": 14.379620223722055, + "frame": 431, + "progress": 65, + "action_description": "爪夹由合拢变为张开同时向上抬升", + "state_description": "当前状态为爪夹张开，位于白色马克杯上方，白色马克杯已被放置在杯子上\n为完成将白色马克杯放在盘子上，并把巧克力放在盘子的右边的任务应当：保持爪夹张开状态，向爪夹方向右后方巧克力位置移动", + "progress_explanation": "杯子已被放置在盘子上，爪夹已抬升向巧克力靠近，因此进度提升至65%", + "error_success_analysis": "爪夹成功张开并抬升，白色马克杯成功被放在盘子上", + "correction_plan": "保持爪夹张开状态向爪夹方向右后方巧克力位置移动，移动至巧克力正上方后爪夹下降，下降至巧克力位置后合拢爪夹夹取巧克力，保持爪夹合拢状态向爪夹方向前方移动，移动至盘子右边后，张开爪夹，使巧克力落于盘子右侧", + "annotations": { + "bbox_1767682056978": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682056978_1767682480459_40x4olkpw", + "x": 0.03877776862928658, + "y": 0.4429305302166424, + "width": 0.5419999669189473, + "height": 0.3879999763183608 + } + ] + }, + "bbox_1767682057187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682057187_1767682484349_in4dz2e0p", + "x": 0.18977775941297853, + "y": 0.366930534855314, + "width": 0.3779999769287123, + "height": 0.3149999807739269 + } + ] + }, + "point_1767682059438": { + "type": "point", + "instances": [ + { + "id": "point_1767682059438_1767682487559_ox0pfiovc", + "x": 0.22777775709364273, + "y": 0.785930509281585 + } + ] + }, + "point_1767682059569": { + "type": "point", + "instances": [ + { + "id": "point_1767682059569_1767682488792_s7upwdisc", + "x": 0.7727777238294846, + "y": 0.7749305099529717 + } + ] + } + } + }, + { + "time": 15.892, + "frame": 477, + "progress": 70, + "action_description": "爪夹向爪夹方向后方移动", + "state_description": "当前状态为爪夹张开，位于巧克力上方，巧克力未被抓取。\n为完成将白色马克杯放在盘子上，并把巧克力放在盘子的右边的任务应当：保持爪夹张开状态下降，下降至巧克力处合拢爪夹夹取巧克力", + "progress_explanation": "爪夹已移动至巧克力上方，接近巧克力，因此进度提升至70%", + "error_success_analysis": "爪夹保持张开，成功向爪夹方向右后方巧克力靠近", + "correction_plan": "后爪夹下降，下降至巧克力位置后合拢爪夹夹取巧克力，保持爪夹合拢状态向爪夹方向前方移动，移动至盘子右边后，张开爪夹，使巧克力落于盘子右侧", + "annotations": { + "point_1767682059569": { + "type": "point", + "instances": [ + { + "id": "point_1767682059569_1767682491436_pnijw2u2w", + "x": 0.7907777227308518, + "y": 0.7720416398900366 + } + ] + }, + "point_1767682059438": { + "type": "point", + "instances": [ + { + "id": "point_1767682059438_1767682492742_wv9ivbwed", + "x": 0.21377775794813486, + "y": 0.7740416397679662 + } + ] + }, + "bbox_1767682058584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682058584_1767682495968_4k2ox433c", + "x": 0.5107777398206945, + "y": 0.7450416415379857, + "width": 0.12699999224853564, + "height": 0.10299999371337931 + } + ] + }, + "bbox_1767682057187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682057187_1767682501223_jtpxx3yln", + "x": 0.20877775825331063, + "y": 0.19104165627797506, + "width": 0.31599998071289176, + "height": 0.3529999784545911 + } + ] + }, + "bbox_1767682056978": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682056978_1767682510854_jqzbvy1vz", + "x": 0.01577777003309509, + "y": 0.12393054205746203, + "width": 0.5099999688720721, + "height": 0.4069999751586929 + } + ] + } + } + }, + { + "time": 18.513599, + "frame": 555, + "progress": 75, + "action_description": "爪夹向爪夹方向下方下降", + "state_description": "当前状态为爪夹张开，位于巧克力位置，巧克力未被夹取。\n为完成将白色马克杯放在盘子上，并把巧克力放在盘子的右边的任务应当：合拢爪夹，夹取巧克力后向爪夹方向前方移动", + "progress_explanation": "爪夹已移动至可抓取巧克力的位置，但还为进行抓取动作，因此进度提升至75%", + "error_success_analysis": "爪夹成功下降，下降至可抓取巧克力的位置", + "correction_plan": "合拢爪夹夹取巧克力，保持爪夹合拢状态向爪夹方向前方移动，移动至盘子右边后，张开爪夹，使巧克力落于盘子右侧", + "annotations": { + "bbox_1767682058584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682058584_1767682520846_pjt7geu90", + "x": 0.2837777536756742, + "y": 0.39493053314632975, + "width": 0.39999997558593897, + "height": 0.44699997271728675 + } + ] + }, + "point_1767682059438": { + "type": "point", + "instances": [ + { + "id": "point_1767682059438_1767682551399_3m2b56dqb", + "x": 0.21677775776502942, + "y": 0.7735971817872813 + } + ] + }, + "point_1767682059569": { + "type": "point", + "instances": [ + { + "id": "point_1767682059569_1767682552832_o29zgu8ss", + "x": 0.7947777224867112, + "y": 0.7725971818483165 + } + ] + } + } + }, + { + "time": 20.2536, + "frame": 608, + "progress": 80, + "action_description": "爪夹由张开变为合拢", + "state_description": "当前状态为爪夹合拢，抓紧巧克力，巧克力尚未移动\n为完成将白色马克杯放在盘子上，并把巧克力放在盘子的右边的任务应当：保持爪夹合拢状态，向爪夹方向前方移动，移动至盘子右侧，张开爪夹放下巧克力", + "progress_explanation": "巧克力已被抓取成功，因此进度提升至80%", + "error_success_analysis": "爪夹成功合拢，巧克力被成功夹取", + "correction_plan": "保持爪夹合拢状态向爪夹方向前方移动，移动至盘子右边后，张开爪夹，使巧克力落于盘子右侧", + "annotations": { + "point_1767682059569": { + "type": "point", + "instances": [ + { + "id": "point_1767682059569_1767682558547_dy8r3uf72", + "x": 0.7147777273695234, + "y": 0.779930509647796 + } + ] + }, + "point_1767682059438": { + "type": "point", + "instances": [ + { + "id": "point_1767682059438_1767682560227_xk6zhc8l7", + "x": 0.2977777528211821, + "y": 0.7709305101971123 + } + ] + }, + "bbox_1767682058584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682058584_1767682566457_9vqlcoz1k", + "x": 0.2777777540418851, + "y": 0.35293053570980615, + "width": 0.4289999738159196, + "height": 0.4869999702758807 + } + ] + } + } + }, + { + "time": 23.178110536449775, + "frame": 695, + "progress": 95, + "action_description": "爪夹向爪夹方向前方移动", + "state_description": "当前状态为爪夹合拢，抓紧巧克力，巧克力已被移动至盘子右侧。\n为完成将白色马克杯放在盘子上，并把巧克力放在盘子的右边的任务应当：张开爪夹，放下巧克力", + "progress_explanation": "巧克力已被移动至盘子右侧，但爪夹尚未张开，巧克力未被放下，因此进度提升至95%", + "error_success_analysis": "爪夹成功向爪夹方向前方，盘子右侧位置移动", + "correction_plan": "张开爪夹，使巧克力落下即可", + "annotations": { + "bbox_1767682058584": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682058584_1767682572460_spvlbrrz6", + "x": 0.3137777518446196, + "y": 0.3649305349773843, + "width": 0.39199997607422016, + "height": 0.4769999708862322 + } + ] + }, + "point_1767682059438": { + "type": "point", + "instances": [ + { + "id": "point_1767682059438_1767682575395_f02j0f2js", + "x": 0.2967777528822172, + "y": 0.7829305094646906 + } + ] + }, + "point_1767682059569": { + "type": "point", + "instances": [ + { + "id": "point_1767682059569_1767682576866_nknm3snbm", + "x": 0.7247777267591718, + "y": 0.7729305100750421 + } + ] + }, + "bbox_1767682056978": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682056978_1767682585763_2jg7g6qvn", + "x": 0.004777770704481768, + "y": 0.16626388297949932, + "width": 0.14199999133300834, + "height": 0.3206666445515963 + } + ] + }, + "bbox_1767682057187": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767682057187_1767682594108_fjddf5gcn", + "x": 0.009777770399306005, + "y": 0.21726387986670653, + "width": 0.20999998718261798, + "height": 0.6249999618530296 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767682056978", + "name": "白色马克杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1767682057187", + "name": "盘子", + "color": "#FF9800" + }, + { + "id": "bbox_1767682058584", + "name": "巧克力", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1767682059438", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767682059569", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000327.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000327.json new file mode 100644 index 0000000000000000000000000000000000000000..3b02f73d45f21f81ea7b938c874752280a7fcef8 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000327.json @@ -0,0 +1,662 @@ +{ + "task_description": "将碗放入抽屉里，然后关好抽屉。\n开始移动0%\n爪夹靠近碗20%\n爪夹夹取碗40%\n爪夹夹取碗移动至抽屉上方60%\n爪夹张开将碗放入抽屉80%\n爪夹关上抽屉100%", + "progress_points": [ + { + "time": 0.423, + "frame": 13, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离碗，未开始移动。\n为完成将碗放入抽屉里，然后关好抽屉的任务应当；保持爪夹张开状态，向爪夹方向前下方碗的位置移动，移动至碗的正上方后下降爪夹", + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向前下方碗的位置移动，移动至碗的正上方后爪夹下降，下降至可抓取碗的位置后合拢爪夹，夹取碗，之后保持爪夹合拢状态抬升并向爪夹方向右方抽屉移动，移动至抽屉正上方后下降，至盘子进入抽屉内部后张开爪夹，放下盘子，之后抬升爪夹并向左下方抽屉门的位置移动，移动到抽屉门位置后向爪夹方向右方移动，直至关上抽屉", + "annotations": { + "bbox_1767686108653": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108653_1767686132753_3awrp4t9e", + "x": 0.2687777545912015, + "y": 0.008708327715556168, + "width": 0.22999998596191484, + "height": 0.21899998663330159 + } + ] + }, + "bbox_1767686108830": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108830_1767686142457_j7qe44nn6", + "x": 0.5937777347547769, + "y": 0.003708328020731932, + "width": 0.3999999755859389, + "height": 0.36999997741699353 + } + ] + }, + "point_1767686118104": { + "type": "point", + "instances": [ + { + "id": "point_1767686118104_1767686144493_avil1z51b", + "x": 0.22677775715467788, + "y": 0.7801527538969266 + } + ] + }, + "point_1767686118240": { + "type": "point", + "instances": [ + { + "id": "point_1767686118240_1767686145880_pp2mhu2v9", + "x": 0.7777777235243089, + "y": 0.7761527541410672 + } + ] + } + } + }, + { + "time": 1.4335, + "frame": 43, + "progress": 5, + "action_description": "爪夹向爪夹方向前方移动", + "state_description": "当前状态为爪夹张开，位于碗的后上方，碗尚未被夹取。\n为完成将碗放入抽屉里，然后关好抽屉的任务应当；保持爪夹张开状态，向爪夹方向前方碗的位置移动，移动至碗的正上方后下降爪夹", + "progress_explanation": "为完成将碗放入抽屉里，然后关好抽屉的任务应当；保持爪夹张开状态，向爪夹方向前下方碗的位置移动，移动至碗的正上方后下降爪夹", + "error_success_analysis": "爪夹成功向爪夹方向前方盘子位置移动，成功靠近了盘子", + "correction_plan": "爪夹向爪夹方向前方碗的位置移动，移动至碗的正上方后爪夹下降，下降至可抓取碗的位置后合拢爪夹，夹取碗，之后保持爪夹合拢状态抬升并向爪夹方向右方抽屉移动，移动至抽屉正上方后下降，至盘子进入抽屉内部后张开爪夹，放下盘子，之后抬升爪夹并向左下方抽屉门的位置移动，移动到抽屉门位置后向爪夹方向右方移动，直至关上抽屉", + "annotations": { + "point_1767686118240": { + "type": "point", + "instances": [ + { + "id": "point_1767686118240_1767686148521_v7oxd2a31", + "x": 0.7667777241956955, + "y": 0.7648193960681521 + } + ] + }, + "point_1767686118104": { + "type": "point", + "instances": [ + { + "id": "point_1767686118104_1767686150676_iz15lcmes", + "x": 0.2207777575208888, + "y": 0.7763749831314096 + } + ] + }, + "bbox_1767686108830": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108830_1767686154966_mqsqgfgha", + "x": 0.6467777315199138, + "y": 0.038041665616353415, + "width": 0.346999978820802, + "height": 0.4729999711303728 + } + ] + }, + "bbox_1767686108653": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108653_1767686161989_obawrir6x", + "x": 0.31077775202772506, + "y": 0.09604166207631457, + "width": 0.24799998486328212, + "height": 0.22899998602295005 + } + ] + } + } + }, + { + "time": 4.088999, + "frame": 123, + "progress": 10, + "action_description": "爪夹向爪夹方向前方移动并调整角度", + "state_description": "当前状态为爪夹张开，位于碗的正上方。\n为完成将碗放入抽屉里，然后关好抽屉的任务应当；保持爪夹张开状态，下降，下降至碗的位置合拢爪夹夹取碗\n", + "progress_explanation": "爪夹向前移动，更加靠近碗，因此进度进一步提升至10%", + "error_success_analysis": "爪夹成功向爪夹方向前下方的碗靠近，已成功移动至碗的正上方", + "correction_plan": "爪夹下降，下降至可抓取碗的位置后合拢爪夹，夹取碗，之后保持爪夹合拢状态抬升并向爪夹方向右方抽屉移动，移动至抽屉正上方后下降，至盘子进入抽屉内部后张开爪夹，放下盘子，之后抬升爪夹并向左下方抽屉门的位置移动，移动到抽屉门位置后向爪夹方向右方移动，直至关上抽屉", + "annotations": { + "bbox_1767686108653": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108653_1767686166253_ut5o95y0a", + "x": 0.44777774366590917, + "y": 0.43181941639285787, + "width": 0.26099998406982516, + "height": 0.2649999838256845 + } + ] + }, + "point_1767686118104": { + "type": "point", + "instances": [ + { + "id": "point_1767686118104_1767686171296_l07z615s5", + "x": 0.22577775721571305, + "y": 0.7780416242650375 + } + ] + }, + "point_1767686118240": { + "type": "point", + "instances": [ + { + "id": "point_1767686118240_1767686172908_8vlx9q1xh", + "x": 0.795777722425676, + "y": 0.788041623654686 + } + ] + }, + "bbox_1767686108830": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108830_1767686177901_erh1tllrm", + "x": 0.7097777276746992, + "y": 0.6305971905153082, + "width": 0.2879999824218761, + "height": 0.21399998693847733 + } + ] + } + } + }, + { + "time": 7.3555, + "frame": 221, + "progress": 20, + "action_description": "爪夹向爪夹方向下方移动", + "state_description": "当前状态为爪夹张开，位于碗的位置，碗尚未被夹取。\n为完成将碗放入抽屉里，然后关好抽屉的任务应当；合拢爪夹，夹取碗，保持爪夹合拢状态抬升并向爪夹方向右上方抽屉移动", + "progress_explanation": "爪夹已的移动至可抓取碗的位置，因此进度提升至20%", + "error_success_analysis": "爪夹成功向爪夹方向下方碗的位置靠近，", + "correction_plan": "合拢爪夹，夹取碗，之后保持爪夹合拢状态抬升并向爪夹方向右方抽屉移动，移动至抽屉正上方后下降，至盘子进入抽屉内部后张开爪夹，放下盘子，之后抬升爪夹并向左下方抽屉门的位置移动，移动到抽屉门位置后向爪夹方向右方移动，直至关上抽屉", + "annotations": { + "point_1767686118104": { + "type": "point", + "instances": [ + { + "id": "point_1767686118104_1767686181849_2o5hswqnz", + "x": 0.2037777585584864, + "y": 0.7781527540189969 + } + ] + }, + "point_1767686118240": { + "type": "point", + "instances": [ + { + "id": "point_1767686118240_1767686183321_c2fjnppa0", + "x": 0.7797777234022385, + "y": 0.7821527537748563 + } + ] + }, + "bbox_1767686108653": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108653_1767686188260_uhd3dexzw", + "x": 0.5707777361585854, + "y": 0.45715277361128087, + "width": 0.4229999741821304, + "height": 0.3699999774169936 + } + ] + } + } + }, + { + "time": 8.97877129669848, + "frame": 269, + "progress": 40, + "action_description": "爪夹由张开变为合拢", + "state_description": "当前状态为爪夹合拢，抓紧碗，碗尚未被移动。\n为完成将碗放入抽屉里，然后关好抽屉的任务应当；保持爪夹合拢状态，抬升并向爪夹方向右方抽屉上方移动，移动至抽屉上方后下降", + "progress_explanation": "碗已被爪夹成功夹取，因此进度提升至40%", + "error_success_analysis": "爪夹成功合拢，碗已被爪夹成功夹取", + "correction_plan": "保持爪夹合拢状态抬升并向爪夹方向右方抽屉移动，移动至抽屉正上方后下降，至盘子进入抽屉内部后张开爪夹，放下盘子，之后抬升爪夹并向左下方抽屉门的位置移动，移动到抽屉门位置后向爪夹方向右方移动，直至关上抽屉", + "annotations": { + "bbox_1767686108653": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108653_1767686195177_kdnifascg", + "x": 0.44777774366590917, + "y": 0.4491527740995621, + "width": 0.5499999664306661, + "height": 0.3839999765625014 + } + ] + }, + "point_1767686118104": { + "type": "point", + "instances": [ + { + "id": "point_1767686118104_1767686197204_byz2sg20o", + "x": 0.4507777434828037, + "y": 0.7731527543241726 + } + ] + }, + "point_1767686118240": { + "type": "point", + "instances": [ + { + "id": "point_1767686118240_1767686198876_hdrogau9p", + "x": 0.5447777377454993, + "y": 0.7801527538969266 + } + ] + } + } + }, + { + "time": 11.1625, + "frame": 335, + "progress": 50, + "action_description": "爪夹向爪夹方向上方抬升移动", + "state_description": "当前状态为爪夹合拢，抓紧碗，碗已被抬升至空中。\n为完成将碗放入抽屉里，然后关好抽屉的任务应当；保持爪夹合拢，向爪夹方向后方，抽屉上方移动，移动至抽屉上方后下降爪夹\n", + "progress_explanation": "碗已被成功夹取并抬升，但还未移动至抽屉正上方，所以进度提升至50%", + "error_success_analysis": "爪夹保持合拢，成功抓取碗使碗移动并抬升", + "correction_plan": "爪夹保持合拢，向爪夹方向后方抽屉移动，移动至抽屉正上方后下降，至盘子进入抽屉内部后张开爪夹，放下盘子，之后抬升爪夹并向左下方抽屉门的位置移动，移动到抽屉门位置后向爪夹方向右方移动，直至关上抽屉", + "annotations": { + "point_1767686118240": { + "type": "point", + "instances": [ + { + "id": "point_1767686118240_1767686201384_uupbxt5ic", + "x": 0.5577777369520424, + "y": 0.7698193957629763 + } + ] + }, + "point_1767686118104": { + "type": "point", + "instances": [ + { + "id": "point_1767686118104_1767686203635_4e8incs6x", + "x": 0.46877774238417097, + "y": 0.7791527539579617 + } + ] + }, + "bbox_1767686108653": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108653_1767686208598_kxzaz7mly", + "x": 0.46577774256727644, + "y": 0.4581527735502457, + "width": 0.52399996801758, + "height": 0.3749999771118178 + } + ] + } + } + }, + { + "time": 12.9485, + "frame": 388, + "progress": 60, + "action_description": "爪夹向爪夹方向后方移动", + "state_description": "当前状态为爪夹合拢，抓紧碗，碗已被移动至抽屉上方。\n为完成将碗放入抽屉里，然后关好抽屉的任务应当；保持爪夹合拢状态，下降，直至碗下降至抽屉内部后张开爪夹，使碗落入抽屉", + "progress_explanation": "碗已被成功抓取并开始移动，已移动至抽屉上方，因此进度提升至60%", + "error_success_analysis": "爪夹保持合拢，抓取碗成功移动至抽屉上方", + "correction_plan": "爪夹保持合拢状态下降，至盘子进入抽屉内部后张开爪夹，放下盘子，之后抬升爪夹并向左下方抽屉门的位置移动，移动到抽屉门位置后向爪夹方向右方移动，直至关上抽屉", + "annotations": { + "bbox_1767686108653": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108653_1767686216061_99pjcm8h8", + "x": 0.46577774256727644, + "y": 0.4440416446507785, + "width": 0.5249999679565449, + "height": 0.3939999759521499 + } + ] + }, + "bbox_1767686108830": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108830_1767686227577_it8vm3czw", + "x": 0.14377776222059555, + "y": 0.37104164910634463, + "width": 0.8459999483642608, + "height": 0.46199997180175945 + } + ] + }, + "point_1767686118104": { + "type": "point", + "instances": [ + { + "id": "point_1767686118104_1767686229817_ckmpqvcwd", + "x": 0.4677777424452061, + "y": 0.7670416249364242 + } + ] + }, + "point_1767686118240": { + "type": "point", + "instances": [ + { + "id": "point_1767686118240_1767686231490_gt23yqquy", + "x": 0.5387777381117103, + "y": 0.7640416251195297 + } + ] + } + } + }, + { + "time": 13.582999, + "frame": 407, + "progress": 70, + "action_description": "爪夹向爪夹方向下方移动", + "state_description": "当前状态为爪夹合拢，抓紧碗，碗已被移动至抽屉上方。\n为完成将碗放入抽屉里，然后关好抽屉的任务应当；爪夹继续向爪夹方向后下方移动，直至碗进入抽屉内部后张开爪夹", + "progress_explanation": "碗已被抓取并成功向抽屉内部移动，但还为完全移动至抽屉内部，因此进度提升至70%", + "error_success_analysis": "爪夹保持合拢，抓取碗成功向抽屉内下降，但尚未完全移动至可裸图抽屉的位置，因此进度小幅提升至70%", + "correction_plan": "爪夹保持合拢状态向爪夹方向后方下降，至盘子进入抽屉内部后张开爪夹，放下盘子，之后抬升爪夹并向左下方抽屉门的位置移动，移动到抽屉门位置后向爪夹方向右方移动，直至关上抽屉", + "annotations": { + "point_1767686118240": { + "type": "point", + "instances": [ + { + "id": "point_1767686118240_1767686234251_naf4uo0dn", + "x": 0.5777777357313393, + "y": 0.7798193951526248 + } + ] + }, + "point_1767686118104": { + "type": "point", + "instances": [ + { + "id": "point_1767686118104_1767686236268_3m5clmy7z", + "x": 0.4187777454359286, + "y": 0.7821527537748563 + } + ] + }, + "bbox_1767686108653": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108653_1767686244200_iso6jzjia", + "x": 0.40077774653456133, + "y": 0.37815277843305795, + "width": 0.5889999640502951, + "height": 0.4569999721069352 + } + ] + }, + "bbox_1767686108830": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108830_1767686248654_zoii34iiz", + "x": 0.1367777626478416, + "y": 0.3091527826444835, + "width": 0.8489999481811554, + "height": 0.5249999679565449 + } + ] + } + } + }, + { + "time": 15.533499, + "frame": 466, + "progress": 80, + "action_description": "爪夹向爪夹方向后方下降", + "state_description": "当前状态为爪夹合拢，抓紧碗，碗已被放入抽屉。\n为完成将碗放入抽屉里，然后关好抽屉的任务应当；张开爪夹，爪夹抬升并向爪夹方向左前方抽屉把手位置移动", + "progress_explanation": "碗已被抓取成功并移动进入抽屉内，因此进度提升至80%", + "error_success_analysis": "爪夹保持合拢，成功将碗下降移动至抽屉内部", + "correction_plan": "张开爪夹，放下盘子，之后抬升爪夹并向左下方抽屉门的位置移动，移动到抽屉门位置后向爪夹方向右方移动，直至关上抽屉", + "annotations": { + "bbox_1767686108830": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108830_1767686254954_so1gi4efy", + "x": 0.11377776405165013, + "y": 0.20181943043094294, + "width": 0.8789999463501008, + "height": 0.6329999613647483 + } + ] + }, + "bbox_1767686108653": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108653_1767686260016_b905oplem", + "x": 0.40577774622938556, + "y": 0.3850416482518525, + "width": 0.5789999646606466, + "height": 0.451999972412111 + } + ] + }, + "point_1767686118104": { + "type": "point", + "instances": [ + { + "id": "point_1767686118104_1767686261568_u962j1d2c", + "x": 0.41977774537489343, + "y": 0.775041624448143 + } + ] + }, + "point_1767686118240": { + "type": "point", + "instances": [ + { + "id": "point_1767686118240_1767686262793_y0qjbqao5", + "x": 0.5627777366468666, + "y": 0.7640416251195297 + } + ] + } + } + }, + { + "time": 17.014, + "frame": 510, + "progress": 85, + "action_description": "爪夹张开并抬升移动", + "state_description": "当前状态为爪夹张开，位于碗的上方，碗已被放进抽屉内。\n为完成将碗放入抽屉里，然后关好抽屉的任务应当；爪夹向爪夹方向左下方抽屉把手位置移动，至抽屉把手位置后，向爪夹方向后方移动关闭抽屉", + "progress_explanation": "碗已被放进抽屉，并且爪夹已抬升将向抽屉把手位置移动，因此进度提升至85%", + "error_success_analysis": "爪夹成功张开，碗已成功被放进抽屉内部", + "correction_plan": "爪夹向爪夹方向左下方抽屉门的位置移动，移动到抽屉门位置后向爪夹方向右方移动，直至关上抽屉", + "annotations": { + "point_1767686118240": { + "type": "point", + "instances": [ + { + "id": "point_1767686118240_1767686265064_zq41bdhh7", + "x": 0.7647777243177658, + "y": 0.7808193950915896 + } + ] + }, + "point_1767686118104": { + "type": "point", + "instances": [ + { + "id": "point_1767686118104_1767686266936_c6ixobtcf", + "x": 0.24477775605604515, + "y": 0.775041624448143 + } + ] + }, + "bbox_1767686108653": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108653_1767686272592_nl0xuv7kq", + "x": 0.5067777400648351, + "y": 0.4740416428197239, + "width": 0.4819999705810565, + "height": 0.36099997796630995 + } + ] + }, + "bbox_1767686108830": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108830_1767686277988_rvxj49d5w", + "x": 0.21777775770399424, + "y": 0.20504165923817996, + "width": 0.7719999528808621, + "height": 0.6369999611206077 + } + ] + } + } + }, + { + "time": 18.8705, + "frame": 566, + "progress": 90, + "action_description": "爪夹向爪夹方向前方移动", + "state_description": "当前状态为爪夹张开，位于抽屉把手上方，抽屉尚未被关上。\n为完成将碗放入抽屉里，然后关好抽屉的任务应当；爪夹向爪夹方向下方抽屉把手位置下降，下降至抽屉把手位置后爪夹向爪夹方向后方移动关闭抽屉", + "progress_explanation": "爪夹已移动至抽屉上方，但还未移动至可推动抽屉的位置，因此进度提升至90%", + "error_success_analysis": "爪夹成功向爪夹方向左下方抽屉把手位置靠近", + "correction_plan": "爪夹向爪夹方向下方下降，移动到抽屉门位置后向爪夹方向右方移动，直至关上抽屉", + "annotations": { + "bbox_1767686108830": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767686108830_1767686288073_he2r6a0cr", + "x": 0.38877774726698316, + "y": 0.7291527570097194, + "width": 0.6099999627685568, + "height": 0.10399999365234414 + } + ] + }, + "point_1767686118104": { + "type": "point", + "instances": [ + { + "id": "point_1767686118104_1767686290002_c3z6nxnjs", + "x": 0.25077775568983424, + "y": 0.7501527557279811 + } + ] + }, + "point_1767686118240": { + "type": "point", + "instances": [ + { + "id": "point_1767686118240_1767686291896_ldimyucrp", + "x": 0.7657777242567306, + "y": 0.764152754873489 + } + ] + } + } + }, + { + "time": 20.6565, + "frame": 620, + "progress": 95, + "action_description": "爪夹向爪夹方向下方移动下降", + "state_description": "当前状态为爪夹张开，位于抽屉把手位置，\n为完成将碗放入抽屉里，然后关好抽屉的任务应当；爪夹向爪夹方向后方移动，推动抽屉直至抽屉关上", + "progress_explanation": "爪夹已移动至抽屉把手位置可以推动抽屉，因此进度提升至95%", + "error_success_analysis": "爪夹成功下降至抽屉把手，可推动抽屉闭合的位置", + "correction_plan": "爪夹向爪夹后方移动，直至抽屉关上", + "annotations": { + "point_1767686118240": { + "type": "point", + "instances": [ + { + "id": "point_1767686118240_1767686295592_hpd8eczip", + "x": 0.7737777237684494, + "y": 0.7798193951526248 + } + ] + }, + "point_1767686118104": { + "type": "point", + "instances": [ + { + "id": "point_1767686118104_1767686298569_ns9o3bchr", + "x": 0.24577775599500998, + "y": 0.7781527540189969 + } + ] + } + } + }, + { + "time": 23.077, + "frame": 692, + "progress": 100, + "action_description": "爪夹向爪夹方向后方移动", + "state_description": "当前状态为爪夹张开，碗在抽屉内，抽屉已被关上。\n将碗放入抽屉里，然后关好抽屉的任务已完成", + "progress_explanation": "将碗放入抽屉里，然后关好抽屉的任务已完成，因此进度提升至100%", + "error_success_analysis": "爪夹成功向爪夹方向后方移动，抽屉门被成功关上", + "correction_plan": "将碗放入抽屉里，然后关好抽屉的任务已完成，无需后续动作规划", + "annotations": { + "point_1767686118104": { + "type": "point", + "instances": [ + { + "id": "point_1767686118104_1767686301325_v4lp0vdxe", + "x": 0.22677775715467788, + "y": 0.7730416245702133 + } + ] + }, + "point_1767686118240": { + "type": "point", + "instances": [ + { + "id": "point_1767686118240_1767686302724_la8jlwety", + "x": 0.7257777266981368, + "y": 0.7690416248143539 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767686108653", + "name": "碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767686108830", + "name": "抽屉", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767686118104", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767686118240", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000539.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000539.json new file mode 100644 index 0000000000000000000000000000000000000000..b28eec93f02cc6927d853d527abbb36ff36463ac --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000539.json @@ -0,0 +1,454 @@ +{ + "task_description": "将酒瓶放在架子上。 \n开始移动0%\n爪夹靠近酒瓶20%\n爪夹夹取酒瓶40%\n爪夹夹取酒瓶靠近架子60%\n爪夹将酒瓶移动到架子上方80%\n爪夹张开，酒瓶落在架子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹调整角度并向爪夹方向下方酒瓶位置移动，移动至酒瓶位置后合拢爪夹，抓取酒瓶，之后保持爪夹合拢状态向爪夹方向后方架子位置抬升，抬升至架子上方后继续向后方移动，移动至架子上后张开爪夹，使酒瓶落在架子上", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离酒瓶，未开始移动。\n为完成将酒瓶放在架子上的任务应当：爪夹调整角度并向下移动至酒瓶处", + "time": 0.0179, + "annotations": { + "bbox_1767690204819": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690204819_1767690226322_funbs0l5o", + "x": 0.3707777483656159, + "y": 0.5251527694608905, + "width": 0.0989999939575199, + "height": 0.13099999200439494 + } + ] + }, + "bbox_1767690204994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690204994_1767690232541_hmoj93r0n", + "x": 0.016777769972059937, + "y": 0.39915277715131975, + "width": 0.14799999096679742, + "height": 0.438999973205568 + } + ] + }, + "point_1767690206589": { + "type": "point", + "instances": [ + { + "id": "point_1767690206589_1767690234509_lxf4u2pq5", + "x": 0.22377775733778335, + "y": 0.7791527539579617 + } + ] + }, + "point_1767690206867": { + "type": "point", + "instances": [ + { + "id": "point_1767690206867_1767690236126_3o809qtfw", + "x": 0.7667777241956955, + "y": 0.7761527541410672 + } + ] + } + } + }, + { + "action_description": "爪夹旋转并调整角度", + "correction_plan": "爪夹继续调整角度并向爪夹方向下方酒瓶位置移动，移动至酒瓶位置后合拢爪夹，抓取酒瓶，之后保持爪夹合拢状态向爪夹方向后方架子位置抬升，抬升至架子上方后继续向后方移动，移动至架子上后张开爪夹，使酒瓶落在架子上", + "error_success_analysis": "爪夹成功调整角度使其爪夹口对准酒瓶", + "frame": 107, + "progress": 5, + "progress_explanation": "爪夹调整角度使其对准酒瓶，但未向酒瓶明显靠近，因此进度小幅提升至5%", + "state_description": "当前状态为爪夹张开，位于酒瓶上方，靠近酒瓶。\n为完成将酒瓶放在架子上的任务应当：爪夹向爪夹方向下方酒瓶位置移动，移动至酒瓶位置后合拢爪夹，抓取酒瓶", + "time": 3.58, + "annotations": { + "point_1767690206867": { + "type": "point", + "instances": [ + { + "id": "point_1767690206867_1767690238948_op5bbtrwx", + "x": 0.7757777236463791, + "y": 0.781041624081932 + } + ] + }, + "point_1767690206589": { + "type": "point", + "instances": [ + { + "id": "point_1767690206589_1767690240446_uypd5qlai", + "x": 0.23577775660536152, + "y": 0.7760416243871078 + } + ] + }, + "bbox_1767690204819": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690204819_1767690247710_docvorg08", + "x": 0.4547777432386631, + "y": 0.3061527828275889, + "width": 0.09799999401855503, + "height": 0.32299998028564575 + } + ] + }, + "bbox_1767690204994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690204994_1767690254871_8j9dms3p8", + "x": 0.10177776478407195, + "y": 0.5661527669584493, + "width": 0.5889999640502951, + "height": 0.2739999832763681 + } + ] + } + } + }, + { + "action_description": "爪夹调整角度并向下移动", + "correction_plan": "爪夹向爪夹方向前方酒瓶位置移动，移动至酒瓶位置后合拢爪夹，抓取酒瓶，之后保持爪夹合拢状态向爪夹方向后方架子位置抬升，抬升至架子上方后继续向后方移动，移动至架子上后张开爪夹，使酒瓶落在架子上", + "error_success_analysis": "爪夹调整角度，成功使爪夹口对准酒瓶", + "frame": 157, + "progress": 10, + "progress_explanation": "爪夹继续调整角度，比之上一步更加接近酒瓶，但还未至可抓取酒瓶的位置，因此进度提升至10%", + "state_description": "当前状态为爪夹张开，位于酒瓶左上方，未抓取酒瓶。\n为完成将酒瓶放在架子上的任务应当，向爪夹方向右前方酒瓶处移动，移动到酒瓶位置后合拢爪夹，抓取酒瓶", + "time": 5.218017171664913, + "annotations": { + "bbox_1767690204994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690204994_1767690265966_xhq8zltom", + "x": 0.4157777456190341, + "y": 0.5577083094660454, + "width": 0.5579999659423849, + "height": 0.2799999829101574 + } + ] + }, + "bbox_1767690204819": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690204819_1767690276135_d8ujqdxv9", + "x": 0.4707777422621007, + "y": 0.26926388432227266, + "width": 0.2519999846191415, + "height": 0.4449999728393571 + } + ] + }, + "point_1767690206589": { + "type": "point", + "instances": [ + { + "id": "point_1767690206589_1767690278542_26oay8wda", + "x": 0.22877775703260758, + "y": 0.7725971818483165 + } + ] + }, + "point_1767690206867": { + "type": "point", + "instances": [ + { + "id": "point_1767690206867_1767690280155_grr3r45e6", + "x": 0.763777724378801, + "y": 0.7715971819093517 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "合拢爪夹，抓取酒瓶，之后保持爪夹合拢状态向爪夹方向后方架子位置抬升，抬升至架子上方后继续向后方移动，移动至架子上后张开爪夹，使酒瓶落在架子上", + "error_success_analysis": "爪夹成功向爪夹方向前方酒瓶位置移动靠近酒瓶", + "frame": 227, + "progress": 20, + "progress_explanation": "爪夹已完全移动至酒瓶处，因此进度提升至20%", + "state_description": "当前状态为爪夹张开，位于酒瓶位置，酒瓶尚未被夹取。\n为完成将酒瓶放在架子上的任务应当：合拢爪夹，夹取酒瓶，之后保持爪夹合拢状态抬升并向爪夹方向后上方架子位置移动", + "time": 7.5538, + "annotations": { + "point_1767690206867": { + "type": "point", + "instances": [ + { + "id": "point_1767690206867_1767690282761_0jv5xn1lk", + "x": 0.8067777217542894, + "y": 0.7851527535917509 + } + ] + }, + "point_1767690206589": { + "type": "point", + "instances": [ + { + "id": "point_1767690206589_1767690284197_4zkvd5mnq", + "x": 0.23477775666639666, + "y": 0.7831527537138211 + } + ] + }, + "bbox_1767690204819": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690204819_1767690288398_7xg2v50lb", + "x": 0.3747777481214753, + "y": 0.3651527792265149, + "width": 0.2989999817504894, + "height": 0.47699997088623225 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态向爪夹方向后方架子位置抬升，抬升至架子上方后继续向后方移动，移动至架子上后张开爪夹，使酒瓶落在架子上", + "error_success_analysis": "爪夹成功合拢，酒瓶成功被爪夹夹取", + "frame": 274, + "progress": 40, + "progress_explanation": "酒瓶已被爪夹夹取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧酒瓶，酒瓶未被移动。\n为完成将酒瓶放在架子上的任务应当：保持爪夹合拢状态，抬升并向爪夹方向后方架子位置移动", + "time": 9.11886611596259, + "annotations": { + "bbox_1767690204819": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690204819_1767690294533_07d8l907q", + "x": 0.34877774970838926, + "y": 0.4071527766630385, + "width": 0.30999998107910265, + "height": 0.43499997344970864 + } + ] + }, + "point_1767690206867": { + "type": "point", + "instances": [ + { + "id": "point_1767690206867_1767690296473_4apvsdbbg", + "x": 0.6797777295057538, + "y": 0.7731527543241726 + } + ] + }, + "point_1767690206589": { + "type": "point", + "instances": [ + { + "id": "point_1767690206589_1767690298013_2nowhhaqd", + "x": 0.32977775086805716, + "y": 0.7721527543852078 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方移动", + "correction_plan": "保持爪夹合拢状态继续向后方移动，移动至架子上后张开爪夹，使酒瓶落在架子上", + "error_success_analysis": "爪夹保持合拢，抓取酒瓶成功使酒瓶抬升并移动至架子处", + "frame": 334, + "progress": 60, + "progress_explanation": "酒瓶已被成功抓取并且移动，已完全靠近架子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧酒瓶，酒瓶已被移动至架子位置\n为完成将酒瓶放在架子上的任务应当：爪夹保持合拢状态，向爪夹方向后方移动，移动至架子正上方后张开爪夹使酒瓶落在架子上", + "time": 11.145281151961383, + "annotations": { + "point_1767690206589": { + "type": "point", + "instances": [ + { + "id": "point_1767690206589_1767690304400_f8llmwnqz", + "x": 0.32677775105116263, + "y": 0.7780416242650375 + } + ] + }, + "point_1767690206867": { + "type": "point", + "instances": [ + { + "id": "point_1767690206867_1767690305934_bpkvtfc51", + "x": 0.6647777304212811, + "y": 0.7680416248753891 + } + ] + }, + "bbox_1767690204994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690204994_1767690310734_4bbxh8b62", + "x": 0.09077776545545864, + "y": 0.16304166180165636, + "width": 0.9029999448852571, + "height": 0.6759999587402369 + } + ] + }, + "bbox_1767690204819": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690204819_1767690325375_iiqw5wxhc", + "x": 0.34477774995252986, + "y": 0.40904164678700883, + "width": 0.3119999809570324, + "height": 0.42699997393798983 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后方移动", + "correction_plan": "张开爪夹，使酒瓶落在架子上", + "error_success_analysis": "爪夹保持合拢，抓取酒瓶成功使酒瓶移动到架子上方", + "frame": 435, + "progress": 80, + "progress_explanation": "酒瓶已被成功移动至架子上方，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧酒瓶，酒瓶已被移动到架子上方。\n为完成将酒瓶放在架子上的任务应当：张开爪夹，使酒瓶落在架子上", + "time": 14.499, + "annotations": { + "bbox_1767690204819": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690204819_1767690340452_8ypf1a7g3", + "x": 0.3937777469618074, + "y": 0.3901527777006361, + "width": 0.3059999813232433, + "height": 0.44799997265625163 + } + ] + }, + "point_1767690206589": { + "type": "point", + "instances": [ + { + "id": "point_1767690206589_1767690342039_pbo50r9p7", + "x": 0.3787777478773347, + "y": 0.777152754080032 + } + ] + }, + "point_1767690206867": { + "type": "point", + "instances": [ + { + "id": "point_1767690206867_1767690343562_bebdca4rs", + "x": 0.710777727613664, + "y": 0.7671527546903836 + } + ] + }, + "bbox_1767690204994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690204994_1767690350653_twsz8gt8r", + "x": 0.13277776289198223, + "y": 0.43815277477094877, + "width": 0.8609999474487335, + "height": 0.3939999759521499 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "将酒瓶放在架子上的任务已完成，因此无需后续动作规划", + "error_success_analysis": "爪夹成功张开，酒瓶成功落在架子上", + "frame": 454, + "progress": 100, + "progress_explanation": "将酒瓶放在架子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，酒瓶已被放在架子上。\n将酒瓶放在架子上的任务已完成", + "time": 15.147450848059, + "annotations": { + "bbox_1767690204994": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690204994_1767690356885_xa1m3jc6r", + "x": 0.1467777620374901, + "y": 0.46704164324697, + "width": 0.8439999484863312, + "height": 0.3399999792480481 + } + ] + }, + "point_1767690206589": { + "type": "point", + "instances": [ + { + "id": "point_1767690206589_1767690358693_xvd8qoyp9", + "x": 0.2607777550794827, + "y": 0.7840416238988266 + } + ] + }, + "point_1767690206867": { + "type": "point", + "instances": [ + { + "id": "point_1767690206867_1767690359893_fgo1saxbc", + "x": 0.762777724439836, + "y": 0.7670416249364242 + } + ] + }, + "bbox_1767690204819": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767690204819_1767690364257_3pqcdv8i9", + "x": 0.36777774854872136, + "y": 0.39304164776357126, + "width": 0.33999997924804815, + "height": 0.4439999729003922 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767690204819", + "name": "酒瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1767690204994", + "name": "架子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767690206589", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767690206867", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000732.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000732.json new file mode 100644 index 0000000000000000000000000000000000000000..ac371eee69f90273a91118e1bc17c579f1710108 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000732.json @@ -0,0 +1,454 @@ +{ + "task_description": "将碗放在橱柜顶部\n开始移动0%\n爪夹靠近碗20%\n爪夹夹取碗40%\n爪夹夹取碗靠近橱柜上方60%\n爪夹将碗移动至橱柜顶部80%\n爪夹张开，碗落在橱柜顶部100%", + "progress_points": [ + { + "time": 0, + "frame": 0, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离碗，未开始移动。\n为完成将碗放在橱柜顶部的任务应当：爪夹向爪夹方向前方碗的位置移动，移动至碗的正上方后下降", + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0\n%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向前方碗的位置移动，移动到碗的正上方后下降，下降至碗的位置合拢爪夹夹取碗，之后保持爪夹合拢状态抬升，抬升至橱柜顶部位置后向爪夹方向左方橱柜顶部移动，移动至橱柜顶部后张开爪夹，使碗落在橱柜顶部", + "annotations": { + "point_1767692015907": { + "type": "point", + "instances": [ + { + "id": "point_1767692015907_1767692043922_7faaobl0h", + "x": 0.24277775617811545, + "y": 0.7715971819093517 + } + ] + }, + "point_1767692016255": { + "type": "point", + "instances": [ + { + "id": "point_1767692016255_1767692045168_6e1y1kyp5", + "x": 0.7577777247450118, + "y": 0.7765971816041759 + } + ] + }, + "bbox_1767692015311": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692015311_1767692079930_ogluyiuzb", + "x": 0.009777770399306005, + "y": 0.007708327776591322, + "width": 0.19899998785400463, + "height": 0.3679999775390639 + } + ] + }, + "bbox_1767692015150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692015150_1767692089635_vvg82mv7k", + "x": 0.376777747999405, + "y": 0.2399305349773843, + "width": 0.23699998553466883, + "height": 0.21399998693847733 + } + ] + } + } + }, + { + "time": 1.568, + "frame": 47, + "progress": 10, + "action_description": "爪夹向爪夹方向前方移动", + "state_description": "当前状态为爪夹张开，位于碗的上方碗尚未被夹取。\n为完成将碗放在橱柜顶部的任务应当：保持爪夹张开状态，向爪夹方向下方碗移动，移动至碗的位置后合拢爪夹，抓取碗", + "progress_explanation": "爪夹向爪夹方向前方碗的位置接近，但还未移动至可抓取碗的位置，因此进度小幅提升至10%", + "error_success_analysis": "爪夹保持张开，成功向爪夹方向前下方碗的位置移动靠近", + "correction_plan": "爪夹保持张开并下降，下降至碗的位置合拢爪夹夹取碗，之后保持爪夹合拢状态抬升，抬升至橱柜顶部位置后向爪夹方向左方橱柜顶部移动，移动至橱柜顶部后张开爪夹，使碗落在橱柜顶部", + "annotations": { + "bbox_1767692015150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692015150_1767692094751_62r88o4hq", + "x": 0.31477775178358447, + "y": 0.46581941431766266, + "width": 0.2819999827880869, + "height": 0.2759999831542979 + } + ] + }, + "point_1767692015907": { + "type": "point", + "instances": [ + { + "id": "point_1767692015907_1767692100746_vuzzfode4", + "x": 0.23877775642225607, + "y": 0.7671527546903836 + } + ] + }, + "point_1767692016255": { + "type": "point", + "instances": [ + { + "id": "point_1767692016255_1767692101947_shmadnaem", + "x": 0.723777726820207, + "y": 0.7541527554838405 + } + ] + }, + "bbox_1767692015311": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692015311_1767692109511_qa2jta57f", + "x": 0.00777777052137631, + "y": 0.004819442454868014, + "width": 0.0969999940795902, + "height": 0.5809999645385764 + } + ] + } + } + }, + { + "time": 3.0282, + "frame": 91, + "progress": 20, + "action_description": "爪夹向爪夹方向下方移动下降", + "state_description": "当前状态为爪夹张开，位于碗的位置，碗尚未被夹取。\n为完成将碗放在橱柜顶部的任务应当：合拢爪夹，抓取碗后保持爪夹合拢状态抬升并向爪夹方向左方橱柜移动", + "progress_explanation": "爪夹已完全靠近碗，因此进度提升至20%", + "error_success_analysis": "爪夹保持张开成功下降至可抓取碗的位置", + "correction_plan": "合拢爪夹夹取碗，之后保持爪夹合拢状态抬升，抬升至橱柜顶部位置后向爪夹方向左方橱柜顶部移动，移动至橱柜顶部后张开爪夹，使碗落在橱柜顶部", + "annotations": { + "point_1767692015907": { + "type": "point", + "instances": [ + { + "id": "point_1767692015907_1767692116770_pwgik32eo", + "x": 0.25277775556776394, + "y": 0.7830416239598618 + } + ] + }, + "point_1767692016255": { + "type": "point", + "instances": [ + { + "id": "point_1767692016255_1767692118390_t945bzr4w", + "x": 0.7497777252332931, + "y": 0.7770416243260727 + } + ] + }, + "bbox_1767692015150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692015150_1767692126468_cqsi2gnf4", + "x": 0.0017777708875872517, + "y": 0.5283749982681275, + "width": 0.6319999614257835, + "height": 0.31299998089599723 + } + ] + } + } + }, + { + "time": 4.0768, + "frame": 122, + "progress": 40, + "action_description": "爪夹由张开变为合拢", + "state_description": "当前状态为爪夹合拢，抓紧碗，碗尚未被移动。\n为完成将碗放在橱柜顶部的任务应当：保持爪夹合拢状态，抬升并向爪夹方向左上方橱柜顶部抬升移动", + "progress_explanation": "碗已被爪夹夹取，因此进度提升至40%", + "error_success_analysis": "爪夹成功合拢，碗成功被爪夹抓取 ", + "correction_plan": "保持爪夹合拢状态抬升，抬升至橱柜顶部位置后向爪夹方向左方橱柜顶部移动，移动至橱柜顶部后张开爪夹，使碗落在橱柜顶部", + "annotations": { + "bbox_1767692015150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692015150_1767692137702_e6bpxyyu6", + "x": 0.005777770643446603, + "y": 0.44804164440663785, + "width": 0.5719999650878926, + "height": 0.3879999763183608 + } + ] + }, + "point_1767692015907": { + "type": "point", + "instances": [ + { + "id": "point_1767692015907_1767692144372_djxzpr5wf", + "x": 0.4727777421400303, + "y": 0.7660416249974593 + } + ] + }, + "point_1767692016255": { + "type": "point", + "instances": [ + { + "id": "point_1767692016255_1767692145860_zwkdz77vd", + "x": 0.5697777362196206, + "y": 0.7680416248753891 + } + ] + } + } + }, + { + "time": 5.3998, + "frame": 162, + "progress": 60, + "action_description": "爪夹向爪夹方向上方移动", + "state_description": "当前状态为爪夹合拢，抓紧碗，碗已被移动至橱柜上方\n为完成将碗放在橱柜顶部的任务应当：继续保持爪夹合拢状态向爪夹方向左方橱柜顶部移动，移动至橱柜顶部后张开爪夹", + "progress_explanation": "碗已被成功抓取并且移动至橱柜上方，因此进度提升至60%", + "error_success_analysis": "爪夹保持合拢，抓取碗成功使碗移动至橱柜上方", + "correction_plan": "保持爪夹合拢状态向爪夹方向左方橱柜顶部移动，移动至橱柜顶部后张开爪夹，使碗落在橱柜顶部", + "annotations": { + "point_1767692016255": { + "type": "point", + "instances": [ + { + "id": "point_1767692016255_1767692148838_stxquhexo", + "x": 0.5307777385999914, + "y": 0.7708193957019411 + } + ] + }, + "point_1767692015907": { + "type": "point", + "instances": [ + { + "id": "point_1767692015907_1767692151098_22e26pkdi", + "x": 0.46677774250624127, + "y": 0.7753749831924448 + } + ] + }, + "bbox_1767692015150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692015150_1767692156047_n9ftl7xjy", + "x": 0.0077777705213763065, + "y": 0.4753750015029906, + "width": 0.5009999694213886, + "height": 0.3569999782104505 + } + ] + }, + "bbox_1767692015311": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692015311_1767692170257_0w9qpfj1r", + "x": 0.0037777707655169204, + "y": 0.03704166567738855, + "width": 0.07999999511718778, + "height": 0.43299997357177894 + } + ] + } + } + }, + { + "time": 7.488678183251776, + "frame": 225, + "progress": 80, + "action_description": "爪夹向爪夹方向左方移动", + "state_description": "当前状态为爪夹合拢，抓紧碗，碗已被移动至橱柜顶部。\n为完成将碗放在橱柜顶部的任务应当：张开爪夹使碗落在橱柜顶部", + "progress_explanation": "碗已被移动至橱柜顶部，因此进度提升至80\n%", + "error_success_analysis": "爪夹保持合拢，抓取碗成功移动至橱柜顶部", + "correction_plan": "张开爪夹使碗落在橱柜顶部", + "annotations": { + "bbox_1767692015311": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692015311_1767692182970_9rluc04tv", + "x": 0.008777770460341158, + "y": 0.0040416715062456254, + "width": 0.6399999609375023, + "height": 0.8289999494018585 + } + ] + }, + "bbox_1767692015150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692015150_1767692194529_een6jnam2", + "x": 0.003777770765516955, + "y": 0.47415277257368327, + "width": 0.517999968383791, + "height": 0.3659999776611341 + } + ] + }, + "point_1767692015907": { + "type": "point", + "instances": [ + { + "id": "point_1767692015907_1767692202619_8a9m077n6", + "x": 0.45777774305555763, + "y": 0.7761527541410672 + } + ] + }, + "point_1767692016255": { + "type": "point", + "instances": [ + { + "id": "point_1767692016255_1767692204052_99zs8bzpg", + "x": 0.5287777387220618, + "y": 0.7671527546903836 + } + ] + } + } + }, + { + "time": 8.2908, + "frame": 249, + "progress": 90, + "action_description": "爪夹向爪夹方向下方移动", + "state_description": "当前状态为爪夹合拢，抓紧碗，碗已被移动至橱柜顶部\n为完成将碗放在橱柜顶部的任务应当：张开爪夹使碗落在橱柜顶部", + "progress_explanation": "碗已被移动至橱柜顶部，但爪夹尚未张开，因此进度提升至80\n%", + "error_success_analysis": "爪夹保持合拢，抓取碗成功移动至橱柜顶部", + "correction_plan": "张开爪夹使碗落在橱柜顶部", + "annotations": { + "point_1767692016255": { + "type": "point", + "instances": [ + { + "id": "point_1767692016255_1767692206562_pi9itbq3o", + "x": 0.5627777366468666, + "y": 0.7780416242650375 + } + ] + }, + "point_1767692015907": { + "type": "point", + "instances": [ + { + "id": "point_1767692015907_1767692208452_m4hmxn8gm", + "x": 0.4507777434828037, + "y": 0.7793749829483042 + } + ] + }, + "bbox_1767692015311": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692015311_1767692214980_bkdsc12ir", + "x": 0.008777770460341158, + "y": -6.94503741790543e-05, + "width": 0.740999954772952, + "height": 0.8369999489135772 + } + ] + }, + "bbox_1767692015150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692015150_1767692219566_ch5a8z0ke", + "x": 0.004777770704481793, + "y": 0.5792638654013754, + "width": 0.5529999662475605, + "height": 0.2589999841918954 + } + ] + } + } + }, + { + "time": 9.2316, + "frame": 277, + "progress": 100, + "action_description": "爪夹由合拢变为张开", + "state_description": "当前状态为爪夹张开，碗已被放在橱柜顶部。\n将碗放在橱柜顶部的任务已完成", + "progress_explanation": "将碗放在橱柜顶部的任务已完成，因此进度提升至100%", + "error_success_analysis": "爪夹成功张开，碗成功落于橱柜顶部", + "correction_plan": "将碗放在橱柜顶部的任务已完成，无需后续动作规划", + "annotations": { + "bbox_1767692015150": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692015150_1767692229886_ilb82ab77", + "x": 0.010777770338270834, + "y": 0.5291527692167499, + "width": 0.5399999670410176, + "height": 0.3089999811401378 + } + ] + }, + "point_1767692015907": { + "type": "point", + "instances": [ + { + "id": "point_1767692015907_1767692236805_uetkqh82r", + "x": 0.2857777535536039, + "y": 0.7704860827340037 + } + ] + }, + "point_1767692016255": { + "type": "point", + "instances": [ + { + "id": "point_1767692016255_1767692238766_d9s5zmp03", + "x": 0.7207777270033126, + "y": 0.7745971817262461 + } + ] + }, + "bbox_1767692015311": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767692015311_1767692248330_j52s96kmp", + "x": 0.00777777052137631, + "y": 0.0013749846572885336, + "width": 0.700999957214358, + "height": 0.8367777504408112 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767692015150", + "name": "碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767692015311", + "name": "橱柜", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767692015907", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767692016255", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000842.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000842.json new file mode 100644 index 0000000000000000000000000000000000000000..839eabaf7cc0df2db6736542f67050d2a550860b --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-000/observation.images.wrist_image/episode_000842.json @@ -0,0 +1,486 @@ +{ + "task_description": "拿起牛奶并把它放进篮子里\n开始移动0%\n爪夹靠近牛奶20%\n爪夹夹取牛奶40%\n爪夹夹取牛奶靠近篮子60%\n牛奶被移动至篮子上方80%\n张开爪夹，牛奶落入篮子100%", + "progress_points": [ + { + "time": 0.1426400543028618, + "frame": 4, + "progress": 0, + "action_description": "爪夹张开，未开始移动", + "state_description": "当前为初始状态，爪夹张开，远离牛奶，未开始移动。\n为完成拿起牛奶并把它放进篮子里的任务应当：爪夹向爪夹方向左前方牛奶位置移动，移动至牛奶正上方后下降。", + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹方向左前方牛奶移动，移动至牛奶正上方后爪夹下降，下降至牛奶位置合拢爪夹，抓取牛奶，之后保持爪夹合拢状态抬升，并向爪夹方向右前方篮子位置移动，移动至篮子上方后下降，至牛奶进入篮子中张开爪夹，使牛奶落入篮子中", + "annotations": { + "bbox_1767750210892": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767750210892_1767750233182_nhuu3j2wz", + "x": 0.005777770643446603, + "y": 0.45359720131853015, + "width": 0.09399999426269562, + "height": 0.09999999389648478 + } + ] + }, + "bbox_1767750211054": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767750211054_1767750255039_mqclgw2lf", + "x": 0.8567777187025317, + "y": 0.26059721309831463, + "width": 0.13799999157714893, + "height": 0.17199998950195372 + } + ] + }, + "point_1767750212002": { + "type": "point", + "instances": [ + { + "id": "point_1767750212002_1767750257040_r110ghh5n", + "x": 0.23677775654432637, + "y": 0.7785971814821055 + } + ] + }, + "point_1767750212165": { + "type": "point", + "instances": [ + { + "id": "point_1767750212165_1767750258432_1twat41bo", + "x": 0.76977772401259, + "y": 0.7745971817262461 + } + ] + } + } + }, + { + "time": 3.1416, + "frame": 94, + "progress": 10, + "action_description": "爪夹向爪夹方向左方移动", + "state_description": "当前状态为爪夹张开，位于牛奶正上方，牛奶尚未被夹取。\n为完成拿起牛奶并把它放进篮子里的任务应当：保持爪夹张开状态，下降，下降至可抓取牛奶的位置后合拢爪夹，抓取牛奶，保持爪夹合拢状态抬升并移动", + "progress_explanation": "爪夹已移动至牛奶上方，但还未左移动至可抓取牛奶的位置，因此进度小幅提升至10%", + "error_success_analysis": "爪夹成功向爪夹方向左前方牛奶位置靠近，成功移动至了牛奶正上方", + "correction_plan": "爪夹下降，下降至牛奶位置合拢爪夹，抓取牛奶，之后保持爪夹合拢状态抬升，并向爪夹方向右前方篮子位置移动，移动至篮子上方后下降，至牛奶进入篮子中张开爪夹，使牛奶落入篮子中", + "annotations": { + "point_1767750212165": { + "type": "point", + "instances": [ + { + "id": "point_1767750212165_1767750260703_ya1uhw55t", + "x": 0.7667777241956955, + "y": 0.77881939521366 + } + ] + }, + "point_1767750212002": { + "type": "point", + "instances": [ + { + "id": "point_1767750212002_1767750263220_18b35pd81", + "x": 0.24677775593397483, + "y": 0.7653749838027963 + } + ] + }, + "bbox_1767750210892": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767750210892_1767750273573_lzx9gia7n", + "x": 0.32877775092909234, + "y": 0.5770416365331031, + "width": 0.17999998901367253, + "height": 0.22199998645019614 + } + ] + } + } + }, + { + "time": 4.9728, + "frame": 149, + "progress": 20, + "action_description": "爪夹向爪夹方向下方下降", + "state_description": "当前状态为爪夹张开，位于可抓取牛奶的位置，牛奶尚未被抓取。\n为完成拿起牛奶并把它放进篮子里的任务应当：合拢爪夹，抓取牛奶，保持爪夹合拢状态抬升并向爪夹方向右前方篮子移动\n", + "progress_explanation": "爪夹已移动至可抓取牛奶的位置，因此进度提升至20%", + "error_success_analysis": "爪夹成功下降，成功下降至可抓取牛奶的位置", + "correction_plan": "合拢爪夹，抓取牛奶，之后保持爪夹合拢状态抬升，并向爪夹方向右前方篮子位置移动，移动至篮子上方后下降，至牛奶进入篮子中张开爪夹，使牛奶落入篮子中", + "annotations": { + "bbox_1767750210892": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767750210892_1767750283602_vhr7i2h6h", + "x": 0.40077774653456133, + "y": 0.5559305233196702, + "width": 0.33699997943115356, + "height": 0.28699998248291114 + } + ] + }, + "point_1767750212165": { + "type": "point", + "instances": [ + { + "id": "point_1767750212165_1767750291711_dxf4rkhp7", + "x": 0.7887777228529221, + "y": 0.7710416246922835 + } + ] + }, + "point_1767750212002": { + "type": "point", + "instances": [ + { + "id": "point_1767750212002_1767750293230_z5p6yqeog", + "x": 0.2437777561170803, + "y": 0.7730416245702133 + } + ] + } + } + }, + { + "time": 5.594399, + "frame": 168, + "progress": 40, + "action_description": "爪夹由张开变为合拢", + "state_description": "当前状态为爪夹合拢，牛奶已被抓取。\n为完成拿起牛奶并把它放进篮子里的任务应当：保持爪夹合拢状态，抬升并向爪夹方向右前方篮子位置移动", + "progress_explanation": "牛奶已被成功抓取，因此进度提升至40%", + "error_success_analysis": "爪夹成功合拢，牛奶成功被爪夹抓紧", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向右前方篮子位置移动，移动至篮子上方后下降，至牛奶进入篮子中张开爪夹，使牛奶落入篮子中", + "annotations": { + "point_1767750212002": { + "type": "point", + "instances": [ + { + "id": "point_1767750212002_1767750296466_1ixily7c0", + "x": 0.30877775214979536, + "y": 0.777152754080032 + } + ] + }, + "point_1767750212165": { + "type": "point", + "instances": [ + { + "id": "point_1767750212165_1767750297662_x3a8r7pgy", + "x": 0.7377777259657149, + "y": 0.7761527541410672 + } + ] + }, + "bbox_1767750210892": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767750210892_1767750302430_py7z1pp7q", + "x": 0.30377775245497113, + "y": 0.5141527701322772, + "width": 0.43299997357177894, + "height": 0.32899997991943475 + } + ] + } + } + }, + { + "time": 7.0392, + "frame": 211, + "progress": 50, + "action_description": "爪夹向爪夹方向上方抬升并移动", + "state_description": "当前状态为爪夹合拢，抓紧牛奶，牛奶已被抬升至空中。\n为完成拿起牛奶并把它放进篮子里的任务应当：保持爪夹合拢状态，向爪夹方向右前方篮子位置移动，移动至篮子上方后下降", + "progress_explanation": "爪夹已夹取牛奶，牛奶已被抬升靠近篮子，因此进度小幅提升至50%", + "error_success_analysis": "爪夹保持合拢，抓取牛奶成功使牛奶抬升并移动", + "correction_plan": "继续保持爪夹合拢状态，并向爪夹方向右前方篮子位置移动，移动至篮子上方后下降，至牛奶进入篮子中张开爪夹，使牛奶落入篮子中", + "annotations": { + "bbox_1767750210892": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767750210892_1767750308343_qoi1s0rpu", + "x": 0.3027777525160063, + "y": 0.515819411265905, + "width": 0.42199997424316554, + "height": 0.32899997991943475 + } + ] + }, + "point_1767750212002": { + "type": "point", + "instances": [ + { + "id": "point_1767750212002_1767750310446_kqb07oza4", + "x": 0.2997777526991118, + "y": 0.7821527537748563 + } + ] + }, + "point_1767750212165": { + "type": "point", + "instances": [ + { + "id": "point_1767750212165_1767750312019_lfd9h1zbu", + "x": 0.743777725599504, + "y": 0.7741527542631375 + } + ] + } + } + }, + { + "time": 10.460375606310125, + "frame": 314, + "progress": 60, + "action_description": "爪夹向爪夹方向右前方移动", + "state_description": "当前状态为爪夹合拢，爪夹牛奶，牛奶已被移动靠近篮子\n为完成拿起牛奶并把它放进篮子里的任务应当：爪夹保持合拢状态，继续向爪夹方向右方移动，移动至篮子正上方后下降", + "progress_explanation": "爪夹夹取牛奶成功靠近篮子，已完全靠近篮子，因此进度提升至60%", + "error_success_analysis": "爪夹保持合拢，抓取牛奶成功使牛奶抬升并移动靠近至篮子", + "correction_plan": "保持爪夹合拢状态，继续向爪夹方向右前方篮子位置移动，移动至篮子上方后下降，至牛奶进入篮子中张开爪夹，使牛奶落入篮子中", + "annotations": { + "point_1767750212165": { + "type": "point", + "instances": [ + { + "id": "point_1767750212165_1767750316386_xu6d1fx9o", + "x": 0.7277777265760664, + "y": 0.7730416245702133 + } + ] + }, + "point_1767750212002": { + "type": "point", + "instances": [ + { + "id": "point_1767750212002_1767750317861_hey51jxge", + "x": 0.2977777528211821, + "y": 0.7730416245702133 + } + ] + }, + "bbox_1767750210892": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767750210892_1767750322554_4njbfc8al", + "x": 0.3027777525160063, + "y": 0.5180416401341772, + "width": 0.4269999739379898, + "height": 0.3279999799804699 + } + ] + }, + "bbox_1767750211054": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767750211054_1767750333582_hpmw2x2mo", + "x": 0.5747777359144448, + "y": 0.25604165612538715, + "width": 0.4229999741821304, + "height": 0.44099997308349775 + } + ] + } + } + }, + { + "time": 13.170564207528624, + "frame": 395, + "progress": 80, + "action_description": "爪夹向爪夹方向右方移动", + "state_description": "当前状态为爪夹合拢，抓紧牛奶，牛奶已被移动至篮子上方\n为完成拿起牛奶并把它放进篮子里的任务应当：张开爪夹使牛奶落入篮子中", + "progress_explanation": "爪夹夹取牛奶，成功使牛奶移动至篮子上方，因此进度提升至80%", + "error_success_analysis": "爪夹保持合拢，抓取牛奶成功使牛奶移动至篮子上方", + "correction_plan": "张开爪夹，使牛奶落入篮子中", + "annotations": { + "bbox_1767750211054": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767750211054_1767750341259_4pbkst7d8", + "x": 0.00777777052137631, + "y": 0.2169305440105869, + "width": 0.6789999585571314, + "height": 0.6149999624633812 + } + ] + }, + "bbox_1767750210892": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767750210892_1767750345557_qj79f5436", + "x": 0.27277775434706086, + "y": 0.5883749946060184, + "width": 0.43499997344970864, + "height": 0.2469999849243173 + } + ] + }, + "point_1767750212002": { + "type": "point", + "instances": [ + { + "id": "point_1767750212002_1767750347261_r464yvm4p", + "x": 0.2797777539198148, + "y": 0.7753749831924448 + } + ] + }, + "point_1767750212165": { + "type": "point", + "instances": [ + { + "id": "point_1767750212165_1767750348646_808o6lrg7", + "x": 0.7127777274915937, + "y": 0.7703749834976206 + } + ] + } + } + }, + { + "time": 14.8344, + "frame": 445, + "progress": 90, + "action_description": "爪夹向爪夹方向左前方移动", + "state_description": "当前状态为爪夹合拢，抓紧牛奶，牛奶已被移动至篮子正上方。\n为完成拿起牛奶并把它放进篮子里的任务应当：张开爪夹，使牛奶落入篮子中", + "progress_explanation": "牛奶已被抓取并成功移动至篮子正上方，但爪夹尚未张开，因此进度小幅提升至90%", + "error_success_analysis": "爪夹保持合拢，成功使牛奶移动至篮子正上方", + "correction_plan": "张开爪夹，使牛奶落入篮子中", + "annotations": { + "point_1767750212165": { + "type": "point", + "instances": [ + { + "id": "point_1767750212165_1767750350552_1wgl9h12s", + "x": 0.6987777283460859, + "y": 0.7698193957629763 + } + ] + }, + "point_1767750212002": { + "type": "point", + "instances": [ + { + "id": "point_1767750212002_1767750352437_z18qr5bja", + "x": 0.2827777537367093, + "y": 0.7731527543241726 + } + ] + }, + "bbox_1767750210892": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767750210892_1767750356989_jh3qit2pf", + "x": 0.27277775434706086, + "y": 0.5841527658598165, + "width": 0.4399999731445329, + "height": 0.2579999842529307 + } + ] + }, + "bbox_1767750211054": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767750211054_1767750362097_udsjyn9gt", + "x": 0.09777776502821257, + "y": 0.3431527805692883, + "width": 0.648999960388186, + "height": 0.49099997003174006 + } + ] + } + } + }, + { + "time": 15.9432, + "frame": 478, + "progress": 100, + "action_description": "爪夹由合拢变为张开", + "state_description": "当前状态为爪夹张开，牛奶已被放进篮子中。\n拿起牛奶并把它放进篮子里的任务已完成", + "progress_explanation": "拿起牛奶并把它放进篮子里的任务已完成，因此进度提升至100%", + "error_success_analysis": "爪夹成功张开，牛奶成功落入篮子中", + "correction_plan": "拿起牛奶并把它放进篮子里的任务已完成，无需后续动作规划", + "annotations": { + "bbox_1767750211054": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767750211054_1767750368905_0gllbsv2z", + "x": 0.11377776405165013, + "y": 0.2520416563695278, + "width": 0.7449999545288113, + "height": 0.5919999638671897 + } + ] + }, + "bbox_1767750210892": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767750210892_1767750372632_ltqm6ri5p", + "x": 0.2607777550794827, + "y": 0.5570416377538062, + "width": 0.29699998187255966, + "height": 0.23099998590087967 + } + ] + }, + "point_1767750212002": { + "type": "point", + "instances": [ + { + "id": "point_1767750212002_1767750380246_b5axd4wbh", + "x": 0.23677775654432637, + "y": 0.7721527543852078 + } + ] + }, + "point_1767750212165": { + "type": "point", + "instances": [ + { + "id": "point_1767750212165_1767750381789_ds3tiifr2", + "x": 0.7767777235853439, + "y": 0.7801527538969266 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767750210892", + "name": "牛奶", + "color": "#4CAF50" + }, + { + "id": "bbox_1767750211054", + "name": "篮子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767750212002", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767750212165", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001034.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001034.json new file mode 100644 index 0000000000000000000000000000000000000000..ff51bcea1df2fc8be97e5a10176fb872d0fb853b --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001034.json @@ -0,0 +1,534 @@ +{ + "task_description": "拿起烧烤酱并把它放进篮子里。\n开始移动0%\n爪夹靠近烧烤酱20%\n爪夹夹取烧烤酱40%\n爪夹夹取烧烤酱靠近篮子60%\n烧烤酱被移动至篮子上方80%\n张开爪夹，烧烤酱落入篮子100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向左前方烧烤酱移动，移动至烧烤酱正上方后下降，下降至可抓取烧烤酱的位置合拢爪夹，抓取烧烤酱，之后保持爪夹合拢状态抬升，并向爪夹方向右方篮子移动，移动至篮子正上方后张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离烧烤酱，未开始移动\n为完成拿起烧烤酱并把它放进篮子里的任务应当：爪夹向爪夹方向左前方移动，移动至烧烤酱正上方后下降，下降至烧烤酱位置合拢爪夹，抓取烧烤酱", + "time": 0.03735734939985889, + "annotations": { + "bbox_1767769909064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909064_1767769984568_nl5sjsdov", + "x": 0.5955, + "y": 0.505, + "width": 0.05799999999999994, + "height": 0.125 + } + ] + }, + "bbox_1767769909228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909228_1767769990156_qhlce0f4n", + "x": 0.05750000000000001, + "y": 0.41100000000000003, + "width": 0.24, + "height": 0.235 + } + ] + }, + "point_1767769910396": { + "type": "point", + "instances": [ + { + "id": "point_1767769910396_1767770005295_otecn1q6m", + "x": 0.4525, + "y": 0.266 + } + ] + }, + "point_1767769910565": { + "type": "point", + "instances": [ + { + "id": "point_1767769910565_1767770008179_nkqpyq6ru", + "x": 0.5615, + "y": 0.262 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动", + "correction_plan": "爪夹下降，下降至可抓取烧烤酱的位置合拢爪夹，抓取烧烤酱，之后保持爪夹合拢状态抬升，并向爪夹方向右方篮子移动，移动至篮子正上方后张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹成功向爪夹方向左前方烧烤酱位置移动靠近", + "frame": 62, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向左前方移动到了烧烤酱上方，尚未完全靠近烧烤酱，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于烧烤酱上方，烧烤酱尚未被移动。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：爪夹下降，下降至烧烤酱位置合拢爪夹，抓取烧烤酱，之后保持爪夹合拢状态抬升并移动", + "time": 2.0616494845360824, + "annotations": { + "point_1767769910565": { + "type": "point", + "instances": [ + { + "id": "point_1767769910565_1767770012080_6f3ngbcjw", + "x": 0.6885, + "y": 0.34400000000000003 + } + ] + }, + "point_1767769910396": { + "type": "point", + "instances": [ + { + "id": "point_1767769910396_1767770014427_5dl13o9k6", + "x": 0.5835, + "y": 0.341 + } + ] + }, + "bbox_1767769909064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909064_1767770018636_d0v60t098", + "x": 0.5925, + "y": 0.503, + "width": 0.05599999999999994, + "height": 0.122 + } + ] + }, + "bbox_1767769909228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909228_1767770021484_fu03li02h", + "x": 0.055499999999999966, + "y": 0.41300000000000003, + "width": 0.23600000000000002, + "height": 0.22399999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方下降", + "correction_plan": "合拢爪夹，抓取烧烤酱，之后保持爪夹合拢状态抬升，并向爪夹方向右方篮子移动，移动至篮子正上方后张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹成功下降至可抓取烧烤酱的位置", + "frame": 106, + "progress": 20, + "progress_explanation": "爪夹已移动至烧烤酱位置，因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于烧烤酱位置，烧烤酱尚未被夹取。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：合拢爪夹，抓取烧烤酱，之后保持爪夹合拢状态抬升并向爪夹方向右方移动", + "time": 3.5490553615050304, + "annotations": { + "bbox_1767769909228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909228_1767770035899_vqz4oilqm", + "x": 0.0525, + "y": 0.40700000000000003, + "width": 0.242, + "height": 0.22899999999999998 + } + ] + }, + "point_1767769910396": { + "type": "point", + "instances": [ + { + "id": "point_1767769910396_1767770038911_8rknf3w84", + "x": 0.5615, + "y": 0.47700000000000004 + } + ] + }, + "point_1767769910565": { + "type": "point", + "instances": [ + { + "id": "point_1767769910565_1767770040592_xyjv2pk66", + "x": 0.6735, + "y": 0.47800000000000004 + } + ] + }, + "bbox_1767769909064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909064_1767770044731_elbxto4dr", + "x": 0.5915, + "y": 0.5, + "width": 0.06499999999999995, + "height": 0.126 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左下方调整角度", + "correction_plan": "合拢爪夹，抓取烧烤酱，之后保持爪夹合拢状态抬升，并向爪夹方向右方篮子移动，移动至篮子正上方后张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹成功调整角度至可抓取烧烤酱的位置", + "frame": 168, + "progress": 30, + "progress_explanation": "爪夹已移动至烧烤酱位置，但还未夹取烧烤酱，因此进度提升至30%", + "state_description": "当前状态为爪夹张开，爪夹位于烧烤酱位置，烧烤酱尚未被夹取。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：合拢爪夹，抓取烧烤酱，之后保持爪夹合拢状态抬升并向爪夹方向右方移动", + "time": 5.60377228348146, + "annotations": { + "bbox_1767769909228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909228_1767770058423_hyazwl3dg", + "x": 0.0605, + "y": 0.41100000000000003, + "width": 0.237, + "height": 0.22699999999999998 + } + ] + }, + "point_1767769910396": { + "type": "point", + "instances": [ + { + "id": "point_1767769910396_1767770060894_wod4ww2bt", + "x": 0.5805, + "y": 0.54 + } + ] + }, + "point_1767769910565": { + "type": "point", + "instances": [ + { + "id": "point_1767769910565_1767770062514_l5p16y0t4", + "x": 0.6735, + "y": 0.54 + } + ] + }, + "bbox_1767769909064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909064_1767770067019_a01tjgx6f", + "x": 0.5885, + "y": 0.511, + "width": 0.06399999999999995, + "height": 0.118 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向右方篮子移动，移动至篮子正上方后张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹成功合拢，烧烤酱成功被爪夹夹取", + "frame": 195, + "progress": 40, + "progress_explanation": "烧烤酱已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧烧烤酱，烧烤酱尚未移动。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：保持爪夹合拢状态，抬升并向爪夹方向右方篮子位置移动，移动至篮子正上方后张开爪夹，使烧烤酱落如篮子", + "time": 6.497938144329898, + "annotations": { + "bbox_1767769909228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909228_1767770082811_mx0kftc4k", + "x": 0.0505, + "y": 0.41100000000000003, + "width": 0.244, + "height": 0.236 + } + ] + }, + "point_1767769910396": { + "type": "point", + "instances": [ + { + "id": "point_1767769910396_1767770090164_q2qs9eday", + "x": 0.5965, + "y": 0.528 + } + ] + }, + "point_1767769910565": { + "type": "point", + "instances": [ + { + "id": "point_1767769910565_1767770092067_722a7csls", + "x": 0.6575, + "y": 0.518 + } + ] + }, + "bbox_1767769909064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909064_1767770095371_5ud1mbaiq", + "x": 0.5955, + "y": 0.489, + "width": 0.05999999999999994, + "height": 0.119 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右方篮子移动，移动至篮子正上方后张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹保持合拢，抓取烧烤酱成功使烧烤酱抬升并移动", + "frame": 245, + "progress": 50, + "progress_explanation": "烧烤酱已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧烧烤酱，烧烤酱已被抬升至空中\n为完成拿起烧烤酱并把它放进篮子里的任务应当：保持爪夹合拢状态，向爪夹方向右方篮子位置移动，移动至篮子正上方后张开爪夹，使烧烤酱落入盘中", + "time": 8.157598, + "annotations": { + "bbox_1767769909064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909064_1767770100053_dy19xlzat", + "x": 0.5375, + "y": 0.322, + "width": 0.06900000000000006, + "height": 0.132 + } + ] + }, + "bbox_1767769909228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909228_1767770105551_uh81r92tf", + "x": 0.05550000000000002, + "y": 0.41000000000000003, + "width": 0.23600000000000002, + "height": 0.23399999999999999 + } + ] + }, + "point_1767769910396": { + "type": "point", + "instances": [ + { + "id": "point_1767769910396_1767770113508_vj8y3h865", + "x": 0.5445, + "y": 0.361 + } + ] + }, + "point_1767769910565": { + "type": "point", + "instances": [ + { + "id": "point_1767769910565_1767770115679_4cpb353xc", + "x": 0.6105, + "y": 0.357 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "爪夹保持合拢继续向爪夹方向右方篮子移动，移动至篮子正上方后张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹保持合拢，抓取烧烤酱成功使烧烤酱靠近篮子", + "frame": 313, + "progress": 60, + "progress_explanation": "烧烤酱已被抓取成功并已完全靠近篮子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧烧烤酱，烧烤酱已完全靠近篮子。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：爪夹保持合拢状态，继续向爪夹方向右方移动，移动至篮子正上方后张开爪夹，使烧烤酱落入篮子中", + "time": 10.42301742775345, + "annotations": { + "point_1767769910565": { + "type": "point", + "instances": [ + { + "id": "point_1767769910565_1767770118819_v6vt6f04d", + "x": 0.3225, + "y": 0.303 + } + ] + }, + "point_1767769910396": { + "type": "point", + "instances": [ + { + "id": "point_1767769910396_1767770121579_vl19v4pri", + "x": 0.2555, + "y": 0.3 + } + ] + }, + "bbox_1767769909064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909064_1767770125416_x112086s4", + "x": 0.2505, + "y": 0.254, + "width": 0.07, + "height": 0.14700000000000002 + } + ] + }, + "bbox_1767769909228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909228_1767770132888_9spdf5p1c", + "x": 0.059500000000000004, + "y": 0.41000000000000003, + "width": 0.244, + "height": 0.22399999999999998 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左下方移动", + "correction_plan": "张开爪使烧烤酱落下", + "error_success_analysis": "爪夹保持合拢，抓取烧烤酱并成功使烧烤酱移动至蓝子内", + "frame": 368, + "progress": 80, + "progress_explanation": "烧烤酱成功被抓取并移动至篮子内部，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧烧烤酱，烧烤酱已被移动至篮子内\n为完成拿起烧烤酱并把它放进篮子里的任务应当：张开爪夹，使烧烤酱落入篮子中", + "time": 12.253583412786995, + "annotations": { + "bbox_1767769909228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909228_1767770145981_i0igzj8wr", + "x": 0.053499999999999964, + "y": 0.41400000000000003, + "width": 0.23600000000000002, + "height": 0.22099999999999997 + } + ] + }, + "bbox_1767769909064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909064_1767770155836_np8e2w56t", + "x": 0.1655, + "y": 0.387, + "width": 0.056999999999999995, + "height": 0.12 + } + ] + }, + "point_1767769910396": { + "type": "point", + "instances": [ + { + "id": "point_1767769910396_1767770159152_wrvd034in", + "x": 0.1635, + "y": 0.43 + } + ] + }, + "point_1767769910565": { + "type": "point", + "instances": [ + { + "id": "point_1767769910565_1767770160979_tslnd6lsu", + "x": 0.2165, + "y": 0.427 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起烧烤酱并把它放进篮子里的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，烧烤酱成功落入蓝子中", + "frame": 390, + "progress": 100, + "progress_explanation": "拿起烧烤酱并把它放进篮子里的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，烧烤酱已落入蓝子。\n拿起烧烤酱并把它放进篮子里的任务已完成", + "time": 13.000753202596607, + "annotations": { + "point_1767769910565": { + "type": "point", + "instances": [ + { + "id": "point_1767769910565_1767770165747_tbe1cqhcq", + "x": 0.2315, + "y": 0.40800000000000003 + } + ] + }, + "point_1767769910396": { + "type": "point", + "instances": [ + { + "id": "point_1767769910396_1767770168251_wvfrcsm1f", + "x": 0.1355, + "y": 0.41400000000000003 + } + ] + }, + "bbox_1767769909228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909228_1767770172953_06w9iw8zk", + "x": 0.056500000000000036, + "y": 0.41300000000000003, + "width": 0.245, + "height": 0.22699999999999998 + } + ] + }, + "bbox_1767769909064": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767769909064_1767770184803_ehlhcf07g", + "x": 0.1665, + "y": 0.445, + "width": 0.05199999999999999, + "height": 0.05299999999999999 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767769909064", + "name": "烧烤酱", + "color": "#4CAF50" + }, + { + "id": "bbox_1767769909228", + "name": "篮子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767769910396", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767769910565", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001074.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001074.json new file mode 100644 index 0000000000000000000000000000000000000000..040c7a4b3cc0380f1379deb340bced0574776a35 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001074.json @@ -0,0 +1,446 @@ +{ + "task_description": "拿起字母汤并把它放进篮子里\n开始移动0%\n爪夹靠近字母汤20%\n爪夹夹取字母汤40%\n爪夹夹取字母汤靠近篮子60%\n字母汤被移动至篮子上方80%\n张开爪夹，字母汤落入篮子100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向左前方字母汤移动，移动至字母汤正上方后下降，下降至可抓取字母汤的位置合拢爪夹，抓取字母汤，之后保持爪夹合拢状态抬升，并向爪夹方向右方篮子移动，移动至篮子正上方后张开爪夹，使字母汤落入篮子中", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离字母汤，未开始移动\n为完成拿起字母汤并把它放进篮子里的任务应当：爪夹向爪夹方向左前方移动，移动至字母汤正上方后下降，下降至字母汤位置合拢爪夹，抓取字母汤", + "time": 0, + "annotations": { + "bbox_1767770196455": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196455_1767770221545_mzq6gt4va", + "x": 0.7065, + "y": 0.429, + "width": 0.08099999999999996, + "height": 0.09300000000000003 + } + ] + }, + "bbox_1767770196636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196636_1767770225524_dxmjde49r", + "x": 0.07050000000000003, + "y": 0.41600000000000004, + "width": 0.233, + "height": 0.22999999999999998 + } + ] + }, + "point_1767770197323": { + "type": "point", + "instances": [ + { + "id": "point_1767770197323_1767770231537_izji7i3wk", + "x": 0.4555, + "y": 0.264 + } + ] + }, + "point_1767770197495": { + "type": "point", + "instances": [ + { + "id": "point_1767770197495_1767770234379_natz7354j", + "x": 0.5625, + "y": 0.266 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动", + "correction_plan": "爪夹下降，下降至可抓取字母汤的位置合拢爪夹，抓取字母汤，之后保持爪夹合拢状态抬升，并向爪夹方向右方篮子移动，移动至篮子正上方后张开爪夹，使字母汤落入篮子中", + "error_success_analysis": "爪夹成功向爪夹方向左前方字母汤位置移动靠近", + "frame": 70, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向左前方移动到了字母汤上方，尚未完全靠近字母汤，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于字母汤上方，字母汤尚未被移动。\n为完成拿起字母汤并把它放进篮子里的任务应当：爪夹下降，下降至字母汤位置合拢爪夹，抓取字母汤，之后保持爪夹合拢状态抬升并移动", + "time": 2.3393, + "annotations": { + "point_1767770197495": { + "type": "point", + "instances": [ + { + "id": "point_1767770197495_1767770238252_uein306tf", + "x": 0.7935, + "y": 0.307 + } + ] + }, + "point_1767770197323": { + "type": "point", + "instances": [ + { + "id": "point_1767770197323_1767770241411_6jrsarvno", + "x": 0.6905, + "y": 0.314 + } + ] + }, + "bbox_1767770196636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196636_1767770244863_wnogy53ep", + "x": 0.06849999999999998, + "y": 0.41600000000000004, + "width": 0.23800000000000002, + "height": 0.23399999999999999 + } + ] + }, + "bbox_1767770196455": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196455_1767770253247_k22cbhsc3", + "x": 0.7105, + "y": 0.427, + "width": 0.07699999999999996, + "height": 0.09900000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方下降", + "correction_plan": "合拢爪夹，抓取字母汤，之后保持爪夹合拢状态抬升，并向爪夹方向右方篮子移动，移动至篮子正上方后张开爪夹，使字母汤落入篮子中", + "error_success_analysis": "爪夹成功下降至可抓取字母汤的位置", + "frame": 137, + "progress": 20, + "progress_explanation": "爪夹已移动至字母汤位置，因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于字母汤位置，字母汤尚未被夹取。\n为完成拿起字母汤并把它放进篮子里的任务应当：合拢爪夹，抓取字母汤，之后保持爪夹合拢状态抬升并向爪夹方向右方移动", + "time": 4.5594, + "annotations": { + "bbox_1767770196455": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196455_1767770259687_ctx71wgfe", + "x": 0.7055, + "y": 0.448, + "width": 0.08099999999999996, + "height": 0.08100000000000002 + } + ] + }, + "point_1767770197323": { + "type": "point", + "instances": [ + { + "id": "point_1767770197323_1767770262157_0b1hphozr", + "x": 0.7075, + "y": 0.49 + } + ] + }, + "point_1767770197495": { + "type": "point", + "instances": [ + { + "id": "point_1767770197495_1767770264259_1eo1xenst", + "x": 0.7975, + "y": 0.487 + } + ] + }, + "bbox_1767770196636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196636_1767770268280_vjntlzdbx", + "x": 0.06950000000000005, + "y": 0.421, + "width": 0.241, + "height": 0.22700000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向右方篮子移动，移动至篮子正上方后张开爪夹，使字母汤落入篮子中", + "error_success_analysis": "爪夹成功合拢，字母汤成功被爪夹夹取", + "frame": 166, + "progress": 40, + "progress_explanation": "字母汤已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧字母汤，字母汤尚未移动。\n为完成拿起字母汤并把它放进篮子里的任务应当：保持爪夹合拢状态，抬升并向爪夹方向右方篮子位置移动，移动至篮子正上方后张开爪夹，使字母汤落如盘中", + "time": 5.5428, + "annotations": { + "bbox_1767770196636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196636_1767770275716_ii9n6o7sd", + "x": 0.0695, + "y": 0.4130000000000001, + "width": 0.23600000000000002, + "height": 0.23799999999999993 + } + ] + }, + "point_1767770197323": { + "type": "point", + "instances": [ + { + "id": "point_1767770197323_1767770284511_zzuqb3ahc", + "x": 0.7205, + "y": 0.47900000000000004 + } + ] + }, + "point_1767770197495": { + "type": "point", + "instances": [ + { + "id": "point_1767770197495_1767770286519_25ef10vug", + "x": 0.7975, + "y": 0.48 + } + ] + }, + "bbox_1767770196455": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196455_1767770290995_b4emu2jbp", + "x": 0.7095, + "y": 0.447, + "width": 0.07499999999999996, + "height": 0.07800000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右方篮子移动，移动至篮子正上方后张开爪夹，使字母汤落入篮子中", + "error_success_analysis": "爪夹保持合拢，抓取字母汤成功使字母汤抬升并移动", + "frame": 212, + "progress": 50, + "progress_explanation": "字母汤已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧字母汤，字母汤已被抬升至空中\n为完成拿起字母汤并把它放进篮子里的任务应当：保持爪夹合拢状态，向爪夹方向右方篮子位置移动，移动至篮子正上方后张开爪夹，使字母汤落入盘中", + "time": 7.0775, + "annotations": { + "bbox_1767770196455": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196455_1767770296682_n6hq6h1c1", + "x": 0.6635, + "y": 0.306, + "width": 0.07100000000000006, + "height": 0.08400000000000002 + } + ] + }, + "point_1767770197323": { + "type": "point", + "instances": [ + { + "id": "point_1767770197323_1767770299859_lr2epwta5", + "x": 0.6695, + "y": 0.338 + } + ] + }, + "point_1767770197495": { + "type": "point", + "instances": [ + { + "id": "point_1767770197495_1767770302020_7l10whobz", + "x": 0.7465, + "y": 0.34400000000000003 + } + ] + }, + "bbox_1767770196636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196636_1767770307019_fbp8sg6gt", + "x": 0.0735, + "y": 0.42, + "width": 0.236, + "height": 0.23100000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "爪夹保持合拢继续向爪夹方向右方篮子移动，移动至篮子正上方后张开爪夹，使字母汤落入篮子中", + "error_success_analysis": "爪夹保持合拢，抓取字母汤成功使字母汤靠近篮子", + "frame": 312, + "progress": 60, + "progress_explanation": "字母汤已被抓取成功并已完全靠近篮子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧字母汤，字母汤已完全靠近篮子。\n为完成拿起字母汤并把它放进篮子里的任务应当：爪夹保持合拢状态，继续向爪夹方向右方移动，移动至篮子正上方后张开爪夹，使字母汤落入篮子中", + "time": 10.415941809429189, + "annotations": { + "bbox_1767770196636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196636_1767770315081_fxej6wt8f", + "x": 0.06950000000000005, + "y": 0.421, + "width": 0.242, + "height": 0.21900000000000003 + } + ] + }, + "bbox_1767770196455": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196455_1767770324669_m43ez3xxn", + "x": 0.2645, + "y": 0.315, + "width": 0.07700000000000001, + "height": 0.08000000000000002 + } + ] + }, + "point_1767770197323": { + "type": "point", + "instances": [ + { + "id": "point_1767770197323_1767770326527_kjet47p5q", + "x": 0.2555, + "y": 0.34500000000000003 + } + ] + }, + "point_1767770197495": { + "type": "point", + "instances": [ + { + "id": "point_1767770197495_1767770328584_l4hnr0odc", + "x": 0.34550000000000003, + "y": 0.35000000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左下方移动", + "correction_plan": "张开并抬升爪夹，使字母汤落入篮子", + "error_success_analysis": "爪夹保持合拢，抓取字母汤并成功使字母汤移动至蓝子内", + "frame": 388, + "progress": 80, + "progress_explanation": "字母汤成功被抓取并移动至篮子内部，但爪夹阻挡字母汤落进篮子，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，字母汤位于篮子内部。\n为完成拿起字母汤并把它放进篮子里的任务应当：张开爪夹，使字母汤落入篮子中", + "time": 12.946130415829916, + "annotations": { + "bbox_1767770196636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196636_1767770336547_0dlwwayjl", + "x": 0.07549999999999998, + "y": 0.393, + "width": 0.23299999999999998, + "height": 0.20399999999999996 + } + ] + } + } + }, + { + "action_description": "爪夹张开并抬升移动", + "correction_plan": "拿起字母汤并把它放进篮子里的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开并抬升，字母汤成功落入蓝子中", + "frame": 436, + "progress": 100, + "progress_explanation": "拿起字母汤并把它放进篮子里的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，字母汤已落入蓝子。\n拿起字母汤并把它放进篮子里的任务已完成", + "time": 14.548583199883712, + "annotations": { + "bbox_1767770196636": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196636_1767770349355_pvkrqwi8x", + "x": 0.05650000000000001, + "y": 0.418, + "width": 0.241, + "height": 0.22800000000000004 + } + ] + }, + "bbox_1767770196455": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770196455_1767770362667_haqufpkxr", + "x": 0.1665, + "y": 0.491, + "width": 0.05299999999999999, + "height": 0.020000000000000018 + } + ] + }, + "point_1767770197323": { + "type": "point", + "instances": [ + { + "id": "point_1767770197323_1767770364852_q477m2xin", + "x": 0.1075, + "y": 0.34400000000000003 + } + ] + }, + "point_1767770197495": { + "type": "point", + "instances": [ + { + "id": "point_1767770197495_1767770367250_v9w3dbm1j", + "x": 0.2155, + "y": 0.318 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767770196455", + "name": "字母汤", + "color": "#4CAF50" + }, + { + "id": "bbox_1767770196636", + "name": "篮子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767770197323", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767770197495", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001290.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001290.json new file mode 100644 index 0000000000000000000000000000000000000000..a396ba7da33a2108e8e06103c0907964ba056844 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001290.json @@ -0,0 +1,626 @@ +{ + "task_description": "拿起木柜上的碗并把它放在盘子上\n开始移动0%\n爪夹靠近木柜上的碗20%\n爪夹夹取木柜上的碗40%\n爪夹夹取木柜上的碗靠近盘子60%\n爪夹下降木柜上的碗被移动至盘子上方80%\n张开爪夹，木柜上的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向左前方木柜上的碗移动，移动至木柜上的碗正上方后下降，下降至可抓取木柜上的碗的位置合拢爪夹，抓取木柜上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗落入盘子上", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离木柜上的碗，未开始移动\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：爪夹向爪夹方向左前方移动，移动至木柜上的碗正上方后下降，下降至木柜上的碗位置合拢爪夹，抓取木柜上的碗", + "time": 0, + "annotations": { + "bbox_1767770383355": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770383355_1767770417246_do9x6fipy", + "x": 0.8765000000000001, + "y": 0.371, + "width": 0.118, + "height": 0.16500000000000004 + } + ] + }, + "point_1767770384306": { + "type": "point", + "instances": [ + { + "id": "point_1767770384306_1767770421037_e3frb2l3t", + "x": 0.4615, + "y": 0.251 + } + ] + }, + "point_1767770384471": { + "type": "point", + "instances": [ + { + "id": "point_1767770384471_1767770423183_ogg1pd2ru", + "x": 0.5715, + "y": 0.255 + } + ] + }, + "bbox_1767770429615": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770429615_1767770442272_ad3307eij", + "x": 0.14350000000000002, + "y": 0.651, + "width": 0.17900000000000002, + "height": 0.136 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动", + "correction_plan": "爪夹向爪夹方向左下方木柜上的碗移动，移动至木柜上的碗正上方后下降，下降至可抓取木柜上的碗的位置合拢爪夹，抓取木柜上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗落入盘子上", + "error_success_analysis": "爪夹成功向爪夹方向左前方木柜上的碗位置移动靠近", + "frame": 79, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向左前方移动到了木柜上的碗左上方，尚未完全靠近木柜上的碗，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于木柜上的碗右上方，木柜上的碗尚未被移动。\n为完成拿起木柜上的碗并把它放盘子上的任务应当：爪夹下降，下降至木柜上的碗位置合拢爪夹，抓取木柜上的碗，之后保持爪夹合拢状态抬升并移动", + "time": 2.6456588847132587, + "annotations": { + "bbox_1767770429615": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770429615_1767770450672_1366fyv3l", + "x": 0.1345, + "y": 0.649, + "width": 0.19, + "height": 0.134 + } + ] + }, + "bbox_1767770383355": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770383355_1767770455736_bhsloh7ea", + "x": 0.8755000000000001, + "y": 0.363, + "width": 0.121, + "height": 0.15900000000000003 + } + ] + }, + "point_1767770384306": { + "type": "point", + "instances": [ + { + "id": "point_1767770384306_1767770458379_uemfybenc", + "x": 0.6645, + "y": 0.20400000000000001 + } + ] + }, + "point_1767770384471": { + "type": "point", + "instances": [ + { + "id": "point_1767770384471_1767770460923_p9nnpth43", + "x": 0.8105, + "y": 0.209 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左下方移动", + "correction_plan": "合拢爪夹，抓取木柜上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗落入盘子上", + "error_success_analysis": "爪夹成功向爪夹方向左下方移动，移动至木柜上的碗的位置", + "frame": 148, + "progress": 20, + "progress_explanation": "爪夹已移动至木柜上的碗位置，但还角度稍有偏差。因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于木柜上的碗位置，木柜上的碗尚未被夹取。\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：调整角度使其对准碗的边缘合拢爪夹，抓取木柜上的碗，之后保持爪夹合拢状态并向爪夹方向右方盘子的位置移动", + "time": 4.91999844187615, + "annotations": { + "point_1767770384471": { + "type": "point", + "instances": [ + { + "id": "point_1767770384471_1767770466425_oc81yf8bv", + "x": 0.9235, + "y": 0.456 + } + ] + }, + "point_1767770384306": { + "type": "point", + "instances": [ + { + "id": "point_1767770384306_1767770479484_a7cd0ul3n", + "x": 0.7755, + "y": 0.456 + } + ] + }, + "bbox_1767770383355": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770383355_1767770484567_v9q3cmeec", + "x": 0.8695, + "y": 0.425, + "width": 0.123, + "height": 0.10500000000000004 + } + ] + }, + "bbox_1767770429615": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770429615_1767770488472_j7wce3a3y", + "x": 0.1385, + "y": 0.638, + "width": 0.185, + "height": 0.15400000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后方调整角度", + "correction_plan": "合拢爪夹，抓取木柜上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至至木柜上的碗贴合盘子后，使木柜上的碗落入盘子上", + "error_success_analysis": "爪夹调整角度成功使其爪夹口对准碗的边缘", + "frame": 175, + "progress": 30, + "progress_explanation": "爪夹已移动至木柜上的碗位置，但还未夹取木柜上的碗，因此进度提升至30%", + "state_description": "当前状态为爪夹张开，爪夹位于木柜上的碗位置，木柜上的碗尚未被夹取。\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：合拢爪夹，抓取木柜上的碗，之后保持爪夹合拢状态抬升并向爪夹方向右方移动", + "time": 5.8384, + "annotations": { + "bbox_1767770429615": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770429615_1767770494020_5ta4t8vnl", + "x": 0.1375, + "y": 0.638, + "width": 0.182, + "height": 0.15400000000000003 + } + ] + }, + "bbox_1767770383355": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770383355_1767770498623_pijnoig3l", + "x": 0.8805000000000001, + "y": 0.445, + "width": 0.11299999999999999, + "height": 0.07600000000000001 + } + ] + }, + "point_1767770384306": { + "type": "point", + "instances": [ + { + "id": "point_1767770384306_1767770500855_7pp7ges1w", + "x": 0.8155, + "y": 0.465 + } + ] + }, + "point_1767770384471": { + "type": "point", + "instances": [ + { + "id": "point_1767770384471_1767770503503_zz33k7ifl", + "x": 0.9195, + "y": 0.458 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗落入盘子上", + "error_success_analysis": "爪夹成功合拢，木柜上的碗成功被爪夹夹取", + "frame": 205, + "progress": 40, + "progress_explanation": "木柜上的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧木柜上的碗，木柜上的碗尚未移动。\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，抬升并向爪夹方向右方盘子位置移动，移动至盘子正上方后张开爪夹，使木柜上的碗放在盘子上", + "time": 6.823017255012447, + "annotations": { + "point_1767770384306": { + "type": "point", + "instances": [ + { + "id": "point_1767770384306_1767770509039_tqfep1mft", + "x": 0.8525, + "y": 0.431 + } + ] + }, + "bbox_1767770383355": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770383355_1767770514871_386vooavz", + "x": 0.8505, + "y": 0.41500000000000004, + "width": 0.131, + "height": 0.08699999999999997 + } + ] + }, + "bbox_1767770429615": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770429615_1767770519588_a8gwigjap", + "x": 0.14150000000000001, + "y": 0.637, + "width": 0.182, + "height": 0.14800000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态，继续向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗落入盘子上", + "error_success_analysis": "爪夹保持合拢，抓取木柜上的碗成功使木柜上的碗抬升并移动", + "frame": 249, + "progress": 50, + "progress_explanation": "木柜上的碗已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧木柜上的碗，木柜上的碗已被抬升至空中\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向右方盘子位置移动，移动至盘子正上方后张开爪夹，使木柜上的碗放在盘子上", + "time": 8.308300231118825, + "annotations": { + "bbox_1767770429615": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770429615_1767770523803_b7nh1k58s", + "x": 0.1365, + "y": 0.644, + "width": 0.185, + "height": 0.14300000000000002 + } + ] + }, + "bbox_1767770383355": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770383355_1767770530284_qczmb7yw6", + "x": 0.6885, + "y": 0.267, + "width": 0.17700000000000005, + "height": 0.119 + } + ] + }, + "point_1767770384306": { + "type": "point", + "instances": [ + { + "id": "point_1767770384306_1767770537575_ldtr5udqg", + "x": 0.6835, + "y": 0.322 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "保持爪夹合拢状态，爪夹下降，下降至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗落入盘子上", + "error_success_analysis": "爪夹保持合拢，抓取木柜上的碗成功使木柜上的碗靠近盘子", + "frame": 322, + "progress": 60, + "progress_explanation": "木柜上的碗已被抓取成功并已完全靠近盘子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧木柜上的碗，木柜上的碗已完全靠近盘子。\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：爪夹保持合拢状态，继续向爪夹方向右方移动，移动至盘子正上方后下降，下降至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗放在盘子上", + "time": 10.721885067291689, + "annotations": { + "point_1767770384306": { + "type": "point", + "instances": [ + { + "id": "point_1767770384306_1767770541610_qpghiihrv", + "x": 0.20750000000000002, + "y": 0.499 + } + ] + }, + "point_1767770384471": { + "type": "point", + "instances": [ + { + "id": "point_1767770384471_1767770543886_kb092pygv", + "x": 0.23850000000000002, + "y": 0.486 + } + ] + }, + "bbox_1767770383355": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770383355_1767770548094_pbbk829tu", + "x": 0.2225, + "y": 0.444, + "width": 0.171, + "height": 0.10500000000000004 + } + ] + }, + "bbox_1767770429615": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770429615_1767770552551_p2wyj8wlp", + "x": 0.1375, + "y": 0.647, + "width": 0.186, + "height": 0.14300000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "correction_plan": "张开爪夹，使木柜上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取木柜上的碗并成功使木柜上的碗移动至盘子上", + "frame": 379, + "progress": 80, + "progress_explanation": "木柜上的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧木柜上的碗，木柜上的碗已被移动至贴合盘子位置\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：张开爪夹，使木柜上的碗放在盘子上", + "time": 12.627999, + "annotations": { + "bbox_1767770429615": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770429615_1767770563396_mv993ujtl", + "x": 0.1225, + "y": 0.646, + "width": 0.181, + "height": 0.125 + } + ] + }, + "bbox_1767770383355": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770383355_1767770570384_ev4opjyre", + "x": 0.1445, + "y": 0.612, + "width": 0.13800000000000004, + "height": 0.10299999999999998 + } + ] + }, + "point_1767770384471": { + "type": "point", + "instances": [ + { + "id": "point_1767770384471_1767770572243_m3akrr227", + "x": 0.1635, + "y": 0.671 + } + ] + }, + "point_1767770384306": { + "type": "point", + "instances": [ + { + "id": "point_1767770384306_1767770574111_caxrzei86", + "x": 0.1375, + "y": 0.679 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方移动", + "correction_plan": "保持爪夹合拢状态，爪夹下降，下降至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗放在盘子上", + "error_success_analysis": "爪夹应张开爪夹使木柜上的碗放在盘子上，而爪夹却向上抬升使得木柜上的碗远离了盘子", + "frame": 425, + "progress": 70, + "progress_explanation": "爪夹向上抬升，使得木柜上的碗远离了盘子，因此进度降低至70%", + "state_description": "当前状态为爪夹张开，抓紧木柜上的碗，木柜上的碗已被抬升至空中。\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：爪夹向爪夹方向下方下降，下降至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗放在盘子上\n", + "time": 14.153199, + "annotations": { + "point_1767770384306": { + "type": "point", + "instances": [ + { + "id": "point_1767770384306_1767770583495_q8mxtw2md", + "x": 0.1255, + "y": 0.653 + } + ] + }, + "point_1767770384471": { + "type": "point", + "instances": [ + { + "id": "point_1767770384471_1767770585215_8hw7ez00v", + "x": 0.1505, + "y": 0.635 + } + ] + }, + "bbox_1767770383355": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770383355_1767770588639_x50lya0k1", + "x": 0.1365, + "y": 0.583, + "width": 0.127, + "height": 0.09700000000000009 + } + ] + }, + "bbox_1767770429615": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770429615_1767770594199_undq96gno", + "x": 0.1205, + "y": 0.642, + "width": 0.195, + "height": 0.15300000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "correction_plan": "张开爪夹，使木柜上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取木柜上的碗并成功使木柜上的碗移动至盘子上", + "frame": 450, + "progress": 80, + "progress_explanation": "木柜上的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧木柜上的碗，木柜上的碗已被移动至贴合盘子位置\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：张开爪夹，使木柜上的碗放在盘子上", + "time": 14.992073623597525, + "annotations": { + "bbox_1767770429615": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770429615_1767770599200_xan29e7yp", + "x": 0.1145, + "y": 0.66, + "width": 0.196, + "height": 0.134 + } + ] + }, + "bbox_1767770383355": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770383355_1767770602748_jgwgvlfsm", + "x": 0.1245, + "y": 0.651, + "width": 0.14400000000000002, + "height": 0.09299999999999997 + } + ] + }, + "point_1767770384306": { + "type": "point", + "instances": [ + { + "id": "point_1767770384306_1767770605199_uywq1fnoj", + "x": 0.1165, + "y": 0.718 + } + ] + }, + "point_1767770384471": { + "type": "point", + "instances": [ + { + "id": "point_1767770384471_1767770606799_8z5zv42cx", + "x": 0.1655, + "y": 0.6960000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起木柜上的碗并把它放在盘子上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，木柜上的碗成功被放置在盘子上", + "frame": 472, + "progress": 100, + "progress_explanation": "拿起木柜上的碗并把它放在盘子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于木柜上的碗上方，木柜上的碗已被放在盘子上。\n拿起木柜上的碗并把它放在盘子上的任务已完成", + "time": 15.734715111650715, + "annotations": { + "bbox_1767770383355": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770383355_1767770618724_5y3a3me9r", + "x": 0.1135, + "y": 0.615, + "width": 0.14, + "height": 0.11699999999999999 + } + ] + }, + "bbox_1767770429615": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770429615_1767770623683_azr1cofap", + "x": 0.1215, + "y": 0.652, + "width": 0.19, + "height": 0.14500000000000002 + } + ] + }, + "point_1767770384306": { + "type": "point", + "instances": [ + { + "id": "point_1767770384306_1767770625812_rjyaw9ysu", + "x": 0.0795, + "y": 0.6900000000000001 + } + ] + }, + "point_1767770384471": { + "type": "point", + "instances": [ + { + "id": "point_1767770384471_1767770627655_xnnuzylmy", + "x": 0.1565, + "y": 0.663 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767770383355", + "name": "木柜上的碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767770429615", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767770384306", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767770384471", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001324.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001324.json new file mode 100644 index 0000000000000000000000000000000000000000..4007a50933d89585b242b608e0f68524c860b873 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001324.json @@ -0,0 +1,478 @@ +{ + "task_description": "拿起饼干盒上的碗并把它放在盘子上\n开始移动0%\n爪夹靠近饼干盒上的碗20%\n爪夹夹取饼干盒上的碗40%\n爪夹夹取饼干盒上的碗靠近盘子60%\n爪夹下降饼干盒上的碗贴近盘子80%\n张开爪夹，饼干盒上的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1767770643688": { + "instances": [ + { + "height": 0.11499999999999999, + "id": "bbox_1767770643688_1767770665272_n8dsvf6l2", + "width": 0.15599999999999997, + "x": 0.3655, + "y": 0.621 + } + ], + "type": "bbox" + }, + "bbox_1767770643835": { + "instances": [ + { + "height": 0.14300000000000002, + "id": "bbox_1767770643835_1767770670144_5sgyell6i", + "width": 0.19700000000000004, + "x": 0.1465, + "y": 0.637 + } + ], + "type": "bbox" + }, + "point_1767770649727": { + "instances": [ + { + "id": "point_1767770649727_1767770673179_blnjgxjkm", + "x": 0.4455, + "y": 0.23900000000000002 + } + ], + "type": "point" + }, + "point_1767770649903": { + "instances": [ + { + "id": "point_1767770649903_1767770675377_sn1585ut3", + "x": 0.5605, + "y": 0.251 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方饼干盒上的碗移动，移动至饼干盒上的碗正上方后下降，下降至可抓取饼干盒上的碗的位置合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "", + "frame": 3, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离饼干盒上的碗，未开始移动\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：爪夹向爪夹方向右前方移动，移动至饼干盒上的碗正上方后下降，下降至饼干盒上的碗位置合拢爪夹，抓取饼干盒上的碗", + "time": 0.08571428571428572 + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "annotations": { + "bbox_1767770643688": { + "instances": [ + { + "height": 0.11399999999999999, + "id": "bbox_1767770643688_1767770683927_lta35zajg", + "width": 0.14899999999999997, + "x": 0.3695, + "y": 0.621 + } + ], + "type": "bbox" + }, + "bbox_1767770643835": { + "instances": [ + { + "height": 0.138, + "id": "bbox_1767770643835_1767770689396_byfxszfw8", + "width": 0.19200000000000003, + "x": 0.1505, + "y": 0.637 + } + ], + "type": "bbox" + }, + "point_1767770649727": { + "instances": [ + { + "id": "point_1767770649727_1767770680835_v1k279pwk", + "x": 0.28350000000000003, + "y": 0.374 + } + ], + "type": "point" + }, + "point_1767770649903": { + "instances": [ + { + "id": "point_1767770649903_1767770678740_7xvu7mcnf", + "x": 0.41250000000000003, + "y": 0.368 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持张开状态下降，下降至可抓取饼干盒上的碗的位置合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向右前方饼干盒上的碗位置移动靠近", + "frame": 62, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向右前方移动到了饼干盒上的碗上方，尚未完全靠近饼干盒上的碗，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于饼干盒上的碗上方，饼干盒上的碗尚未被移动。\n为完成拿起饼干盒上的碗并把它放盘子上的任务应当：爪夹下降，下降至饼干盒上的碗位置合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态抬升并向爪夹方向右方移动", + "time": 2.079 + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "annotations": { + "bbox_1767770643688": { + "instances": [ + { + "height": 0.06799999999999995, + "id": "bbox_1767770643688_1767770700145_tjr0aucxf", + "width": 0.15199999999999997, + "x": 0.3705, + "y": 0.668 + } + ], + "type": "bbox" + }, + "bbox_1767770643835": { + "instances": [ + { + "height": 0.127, + "id": "bbox_1767770643835_1767770696359_eppbt9my2", + "width": 0.18200000000000002, + "x": 0.1565, + "y": 0.649 + } + ], + "type": "bbox" + }, + "point_1767770649727": { + "instances": [ + { + "id": "point_1767770649727_1767770701913_tcl5xdwf9", + "x": 0.3265, + "y": 0.706 + } + ], + "type": "point" + }, + "point_1767770649903": { + "instances": [ + { + "id": "point_1767770649903_1767770703595_7ho0f8zel", + "x": 0.4635, + "y": 0.6900000000000001 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向下方移动，移动至可抓取饼干盒上的碗的位置", + "frame": 119, + "progress": 20, + "progress_explanation": "爪夹已移动至饼干盒上的碗位置。因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于饼干盒上的碗位置，饼干盒上的碗尚未被夹取。\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态并向爪夹方向右方盘子的位置移动", + "time": 3.9501 + }, + { + "action_description": "爪夹由张开变为合拢", + "annotations": { + "bbox_1767770643688": { + "instances": [ + { + "height": 0.08999999999999997, + "id": "bbox_1767770643688_1767770711812_k3wgkgzdm", + "width": 0.14799999999999996, + "x": 0.3975, + "y": 0.65 + } + ], + "type": "bbox" + }, + "bbox_1767770643835": { + "instances": [ + { + "height": 0.133, + "id": "bbox_1767770643835_1767770715713_l4jji2l7j", + "width": 0.18100000000000002, + "x": 0.1545, + "y": 0.646 + } + ], + "type": "bbox" + }, + "point_1767770649727": { + "instances": [ + { + "id": "point_1767770649727_1767770708817_vomvmig4y", + "x": 0.3885, + "y": 0.71 + } + ], + "type": "point" + }, + "point_1767770649903": { + "instances": [ + { + "id": "point_1767770649903_1767770706887_gi4b5kgsf", + "x": 0.4165, + "y": 0.6970000000000001 + } + ], + "type": "point" + } + }, + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹成功合拢，饼干盒上的碗成功被爪夹夹取", + "frame": 151, + "progress": 40, + "progress_explanation": "饼干盒上的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒上的碗，饼干盒上的碗尚未移动。\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向右方盘子位置移动，移动至盘子正上方后张开爪夹，使木柜上的碗放在盘子上", + "time": 5.043395226146908 + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "annotations": { + "bbox_1767770643688": { + "instances": [ + { + "height": 0.11199999999999999, + "id": "bbox_1767770643688_1767770725029_0gr2ps17z", + "width": 0.16000000000000003, + "x": 0.2945, + "y": 0.521 + } + ], + "type": "bbox" + }, + "bbox_1767770643835": { + "instances": [ + { + "height": 0.134, + "id": "bbox_1767770643835_1767770720244_osegs3v0d", + "width": 0.18800000000000003, + "x": 0.1565, + "y": 0.643 + } + ], + "type": "bbox" + }, + "point_1767770649727": { + "instances": [ + { + "id": "point_1767770649727_1767770727052_doh78e321", + "x": 0.2955, + "y": 0.599 + } + ], + "type": "point" + }, + "point_1767770649903": { + "instances": [ + { + "id": "point_1767770649903_1767770728550_8x4vooz6n", + "x": 0.3325, + "y": 0.585 + } + ], + "type": "point" + } + }, + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取饼干盒上的碗成功使饼干盒上的碗抬升并移动", + "frame": 192, + "progress": 50, + "progress_explanation": "饼干盒上的碗已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒上的碗，饼干盒上的碗已被抬升至空中\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向右方盘子位置移动，移动至盘子正上方后张开爪夹，使木柜上的碗放在盘子上", + "time": 6.388300847804207 + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "annotations": { + "bbox_1767770643688": { + "instances": [ + { + "height": 0.119, + "id": "bbox_1767770643688_1767770738461_toei8yrm4", + "width": 0.15300000000000002, + "x": 0.1845, + "y": 0.551 + } + ], + "type": "bbox" + }, + "bbox_1767770643835": { + "instances": [ + { + "height": 0.129, + "id": "bbox_1767770643835_1767770743176_23zaz7694", + "width": 0.19100000000000003, + "x": 0.1575, + "y": 0.644 + } + ], + "type": "bbox" + }, + "point_1767770649727": { + "instances": [ + { + "id": "point_1767770649727_1767770733895_b2nylhk3l", + "x": 0.1795, + "y": 0.633 + } + ], + "type": "point" + }, + "point_1767770649903": { + "instances": [ + { + "id": "point_1767770649903_1767770731997_7lugdbcfg", + "x": 0.2125, + "y": 0.631 + } + ], + "type": "point" + } + }, + "correction_plan": "保持爪夹合拢状态，并向爪夹方向下方下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取饼干盒上的碗成功使饼干盒上的碗靠近盘子", + "frame": 224, + "progress": 60, + "progress_explanation": "饼干盒上的碗已被抓取成功并已完全靠近盘子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒上的碗，饼干盒上的碗已完全靠近盘子。\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：爪夹保持合拢状态，下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "time": 7.4547 + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "annotations": { + "bbox_1767770643688": { + "instances": [ + { + "height": 0.09999999999999998, + "id": "bbox_1767770643688_1767770752825_2w673724x", + "width": 0.148, + "x": 0.1715, + "y": 0.645 + } + ], + "type": "bbox" + }, + "bbox_1767770643835": { + "instances": [ + { + "height": 0.136, + "id": "bbox_1767770643835_1767770747891_1y3p19aph", + "width": 0.19100000000000003, + "x": 0.1555, + "y": 0.646 + } + ], + "type": "bbox" + }, + "point_1767770649727": { + "instances": [ + { + "id": "point_1767770649727_1767770754659_7cbgeagxd", + "x": 0.1775, + "y": 0.72 + } + ], + "type": "point" + }, + "point_1767770649903": { + "instances": [ + { + "id": "point_1767770649903_1767770756148_3i72iberl", + "x": 0.2155, + "y": 0.7010000000000001 + } + ], + "type": "point" + } + }, + "correction_plan": "张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取饼干盒上的碗并成功使饼干盒上的碗移动至盘子上", + "frame": 254, + "progress": 80, + "progress_explanation": "饼干盒上的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒上的碗，饼干盒上的碗已被移动至贴合盘子位置\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：张开爪夹，使饼干盒上的碗放在盘子上", + "time": 8.4744 + }, + { + "action_description": "爪夹由合拢变为张开", + "annotations": { + "bbox_1767770643688": { + "instances": [ + { + "height": 0.11699999999999999, + "id": "bbox_1767770643688_1767770764495_5zgkqwnun", + "width": 0.162, + "x": 0.1695, + "y": 0.626 + } + ], + "type": "bbox" + }, + "bbox_1767770643835": { + "instances": [ + { + "height": 0.14100000000000001, + "id": "bbox_1767770643835_1767770768973_anw8dspss", + "width": 0.19100000000000003, + "x": 0.1535, + "y": 0.63 + } + ], + "type": "bbox" + }, + "point_1767770649727": { + "instances": [ + { + "id": "point_1767770649727_1767770760943_a9g19n5fs", + "x": 0.14250000000000002, + "y": 0.661 + } + ], + "type": "point" + }, + "point_1767770649903": { + "instances": [ + { + "id": "point_1767770649903_1767770758976_ds1ty9pyt", + "x": 0.2455, + "y": 0.633 + } + ], + "type": "point" + } + }, + "correction_plan": "拿起饼干盒上的碗并把它放在盘子上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，饼干盒上的碗成功被放置在盘子上", + "frame": 289, + "progress": 100, + "progress_explanation": "拿起饼干盒上的碗并把它放在盘子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于饼干盒上的碗上方，饼干盒上的碗已被放在盘子上。\n拿起饼干盒上的碗并把它放在盘子上的任务已完成", + "time": 9.6228 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767770643688", + "name": "饼干盒上的碗" + }, + { + "color": "#FF9800", + "id": "bbox_1767770643835", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767770649727", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767770649903", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001354.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001354.json new file mode 100644 index 0000000000000000000000000000000000000000..0f54cf52def96c399dd8a5ae75c3e24d8b5e786b --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001354.json @@ -0,0 +1,478 @@ +{ + "task_description": "拿起桌子中央的碗并把它放在盘子上\n开始移动0%\n爪夹靠近桌子中央的碗20%\n爪夹夹取桌子中央的碗40%\n爪夹夹取桌子中央的碗靠近盘子60%\n爪夹下降桌子中央的碗被移动至盘子上方80%\n张开爪夹，桌子中央的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向前方桌子中央的碗移动，移动至桌子中央的碗正上方后下降，下降至可抓取桌子中央的碗的位置合拢爪夹，抓取桌子中央的碗，之后保持爪夹合拢状态抬升，并向爪夹方向右前方盘子移动，移动至盘子正上方后下降，下降至桌子中央的碗贴合盘子后张开爪夹，使桌子中央的碗放在盘子上", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离桌子中央的碗，未开始移动\n为完成拿起桌子中央的碗并把它放在盘子上的任务应当：爪夹向爪夹方向前方移动，移动至桌子中央的碗正上方后下降，下降至桌子中央的碗位置合拢爪夹，抓取桌子中央的碗", + "time": 0.42364248854536934, + "annotations": { + "bbox_1767770780823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780823_1767770800878_a99t0azns", + "x": 0.4375, + "y": 0.521, + "width": 0.125, + "height": 0.10799999999999998 + } + ] + }, + "bbox_1767770780983": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780983_1767770804655_9qj9ubkvp", + "x": 0.1615, + "y": 0.643, + "width": 0.17700000000000002, + "height": 0.135 + } + ] + }, + "point_1767770786300": { + "type": "point", + "instances": [ + { + "id": "point_1767770786300_1767770806659_ndp5o355j", + "x": 0.4535, + "y": 0.254 + } + ] + }, + "point_1767770786464": { + "type": "point", + "instances": [ + { + "id": "point_1767770786464_1767770809336_an1iu33s6", + "x": 0.5705, + "y": 0.249 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "爪夹保持张开状态下降，下降至可抓取桌子中央的碗的位置合拢爪夹，抓取桌子中央的碗，之后保持爪夹合拢状态抬升，并向爪夹方向右前方盘子移动，移动至盘子正上方后下降，下降至桌子中央的碗贴合盘子后张开爪夹，使桌子中央的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向前方桌子中央的碗位置移动靠近", + "frame": 72, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向前方移动到了桌子中央的碗上方，尚未完全靠近桌子中央的碗，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于桌子中央的碗上方，桌子中央的碗尚未被移动。\n为完成拿起桌子中央的碗并把它放盘子上的任务应当：爪夹下降，下降至桌子中央的碗位置合拢爪夹，抓取桌子中央的碗，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动", + "time": 2.3896103896103895, + "annotations": { + "point_1767770786464": { + "type": "point", + "instances": [ + { + "id": "point_1767770786464_1767770812548_r3i4ctvwv", + "x": 0.5255, + "y": 0.417 + } + ] + }, + "point_1767770786300": { + "type": "point", + "instances": [ + { + "id": "point_1767770786300_1767770814858_faneok4yl", + "x": 0.4045, + "y": 0.418 + } + ] + }, + "bbox_1767770780823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780823_1767770819193_j92lpmtbv", + "x": 0.4345, + "y": 0.524, + "width": 0.131, + "height": 0.10399999999999998 + } + ] + }, + "bbox_1767770780983": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780983_1767770823963_o5xyolsea", + "x": 0.1565, + "y": 0.641, + "width": 0.18700000000000003, + "height": 0.14200000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "correction_plan": "合拢爪夹，抓取桌子中央的碗，之后保持爪夹合拢状态抬升，并向爪夹方向右前方盘子移动，移动至盘子正上方后下降，下降至桌子中央的碗贴合盘子后张开爪夹，使桌子中央的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向下方移动，移动至可抓取桌子中央的碗的位置", + "frame": 122, + "progress": 20, + "progress_explanation": "爪夹已移动至桌子中央的碗位置。因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于桌子中央的碗位置，桌子中央的碗尚未被夹取。\n为完成拿起桌子中央的碗并把它放在盘子上的任务应当：合拢爪夹，抓取桌子中央的碗，之后保持爪夹合拢状态抬升并向爪夹方向右前方盘子的位置移动", + "time": 4.062337662337663, + "annotations": { + "bbox_1767770780983": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780983_1767770829116_2zy7u4h5h", + "x": 0.1675, + "y": 0.64, + "width": 0.169, + "height": 0.14500000000000002 + } + ] + }, + "bbox_1767770780823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780823_1767770832713_nmblrd7ur", + "x": 0.4325, + "y": 0.531, + "width": 0.132, + "height": 0.09899999999999998 + } + ] + }, + "point_1767770786300": { + "type": "point", + "instances": [ + { + "id": "point_1767770786300_1767770834515_j1hv91xn7", + "x": 0.3725, + "y": 0.562 + } + ] + }, + "point_1767770786464": { + "type": "point", + "instances": [ + { + "id": "point_1767770786464_1767770836212_hp8axikmp", + "x": 0.4975, + "y": 0.554 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向右前方盘子移动，移动至盘子正上方后下降，下降至桌子中央的碗贴合盘子后张开爪夹，使桌子中央的碗放在盘子上", + "error_success_analysis": "爪夹成功合拢，桌子中央的碗成功被爪夹夹取", + "frame": 156, + "progress": 40, + "progress_explanation": "桌子中央的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧桌子中央的碗，桌子中央的碗尚未移动。\n为完成拿起桌子中央的碗并把它放在盘子上的任务应当：保持爪夹合拢状态抬升并向爪夹方向右前方盘子位置移动，移动至盘子正上方后保持爪夹合拢状态下降", + "time": 5.197402597402598, + "annotations": { + "point_1767770786464": { + "type": "point", + "instances": [ + { + "id": "point_1767770786464_1767770839196_s0t0ncwvw", + "x": 0.4835, + "y": 0.59 + } + ] + }, + "point_1767770786300": { + "type": "point", + "instances": [ + { + "id": "point_1767770786300_1767770840751_55orcjwlj", + "x": 0.4315, + "y": 0.587 + } + ] + }, + "bbox_1767770780823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780823_1767770844310_5k959qk7k", + "x": 0.4315, + "y": 0.551, + "width": 0.135, + "height": 0.07899999999999996 + } + ] + }, + "bbox_1767770780983": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780983_1767770847811_12ef4ut07", + "x": 0.1565, + "y": 0.643, + "width": 0.18400000000000002, + "height": 0.136 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右前方盘子移动，移动至盘子正上方后下降，下降至桌子中央的碗贴合盘子后张开爪夹，使桌子中央的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取桌子中央的碗成功使桌子中央的碗抬升并移动", + "frame": 224, + "progress": 50, + "progress_explanation": "桌子中央的碗已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧桌子中央的碗，桌子中央的碗已被抬升至空中\n为完成拿起桌子中央的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向右前方盘子位置移动，移动至盘子正上方后张开爪夹，使桌子中央的碗放在盘子上", + "time": 7.476185567010309, + "annotations": { + "bbox_1767770780983": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780983_1767770852508_8y1lysnfo", + "x": 0.1585, + "y": 0.645, + "width": 0.18200000000000002, + "height": 0.134 + } + ] + }, + "bbox_1767770780823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780823_1767770856416_tcw02e46p", + "x": 0.3595, + "y": 0.436, + "width": 0.15000000000000008, + "height": 0.10200000000000004 + } + ] + }, + "point_1767770786300": { + "type": "point", + "instances": [ + { + "id": "point_1767770786300_1767770858299_awgtlvqsn", + "x": 0.3525, + "y": 0.487 + } + ] + }, + "point_1767770786464": { + "type": "point", + "instances": [ + { + "id": "point_1767770786464_1767770859953_0jh9aqodm", + "x": 0.3865, + "y": 0.47500000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向下方下降，下降至桌子中央的碗贴合盘子后张开爪夹，使桌子中央的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取桌子中央的碗成功使桌子中央的碗靠近盘子", + "frame": 294, + "progress": 60, + "progress_explanation": "桌子中央的碗已被抓取成功并已完全靠近盘子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧桌子中央的碗，桌子中央的碗已完全靠近盘子。\n为完成拿起桌子中央的碗并把它放在盘子上的任务应当：爪夹保持合拢状态，下降，下降至桌子中央的碗贴合盘子后张开爪夹，使桌子中央的碗放在盘子上", + "time": 9.797402597402598, + "annotations": { + "point_1767770786464": { + "type": "point", + "instances": [ + { + "id": "point_1767770786464_1767770863807_1j3e2hv4s", + "x": 0.1935, + "y": 0.654 + } + ] + }, + "point_1767770786300": { + "type": "point", + "instances": [ + { + "id": "point_1767770786300_1767770865831_zz1gzob8z", + "x": 0.1555, + "y": 0.668 + } + ] + }, + "bbox_1767770780823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780823_1767770871363_pyhvua7t4", + "x": 0.1645, + "y": 0.606, + "width": 0.162, + "height": 0.10599999999999998 + } + ] + }, + "bbox_1767770780983": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780983_1767770875572_a3abmkmmo", + "x": 0.1555, + "y": 0.649, + "width": 0.18400000000000002, + "height": 0.131 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方下降移动", + "correction_plan": "张开爪夹，使桌子中央的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取桌子中央的碗并成功使桌子中央的碗移动至盘子上", + "frame": 349, + "progress": 80, + "progress_explanation": "桌子中央的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧桌子中央的碗，桌子中央的碗已被移动至贴合盘子位置\n为完成拿起桌子中央的碗并把它放在盘子上的任务应当：张开爪夹，使桌子中央的碗放在盘子上", + "time": 11.638866397530427, + "annotations": { + "bbox_1767770780983": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780983_1767770882279_38oc4opu9", + "x": 0.1605, + "y": 0.642, + "width": 0.18900000000000003, + "height": 0.139 + } + ] + }, + "bbox_1767770780823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780823_1767770887627_37j04i6xz", + "x": 0.1685, + "y": 0.638, + "width": 0.13899999999999998, + "height": 0.10799999999999998 + } + ] + }, + "point_1767770786300": { + "type": "point", + "instances": [ + { + "id": "point_1767770786300_1767770889529_y2td9f7v6", + "x": 0.1605, + "y": 0.718 + } + ] + }, + "point_1767770786464": { + "type": "point", + "instances": [ + { + "id": "point_1767770786464_1767770891115_mk1x96yzk", + "x": 0.1855, + "y": 0.705 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起桌子中央的碗并把它放在盘子上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，桌子中央的碗成功被放置在盘子上", + "frame": 392, + "progress": 100, + "progress_explanation": "拿起桌子中央的碗并把它放在盘子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于桌子中央的碗上方，桌子中央的碗已被放在盘子上。\n拿起桌子中央的碗并把它放在盘子上的任务已完成", + "time": 13.0548, + "annotations": { + "point_1767770786464": { + "type": "point", + "instances": [ + { + "id": "point_1767770786464_1767770893908_0e9nx428k", + "x": 0.2325, + "y": 0.684 + } + ] + }, + "point_1767770786300": { + "type": "point", + "instances": [ + { + "id": "point_1767770786300_1767770895820_pp9vprv5x", + "x": 0.17250000000000001, + "y": 0.72 + } + ] + }, + "bbox_1767770780983": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780983_1767770898941_xoniuam39", + "x": 0.1645, + "y": 0.638, + "width": 0.17500000000000002, + "height": 0.135 + } + ] + }, + "bbox_1767770780823": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770780823_1767770902349_tfaiaxj2b", + "x": 0.1885, + "y": 0.625, + "width": 0.138, + "height": 0.10699999999999998 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767770780823", + "name": "桌子中央的碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767770780983", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767770786300", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767770786464", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001369.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001369.json new file mode 100644 index 0000000000000000000000000000000000000000..da76a31ec904c452f01a360ec861ae92203c449e --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001369.json @@ -0,0 +1,458 @@ +{ + "task_description": "拿起炉子上的碗并把它放在盘子上\n开始移动0%\n爪夹靠近炉子上的碗20%\n爪夹夹取炉子上的碗40%\n爪夹夹取炉子上的碗靠近盘子60%\n爪夹下降炉子上的碗被移动至盘子上方80%\n张开爪夹，炉子上的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向左后方炉子上的碗移动，移动至炉子上的碗正上方后下降，下降至可抓取炉子上的碗的位置合拢爪夹，抓取炉子上的碗，之后保持爪夹合拢状态抬升，并向爪夹方向右前方盘子移动，移动至盘子正上方后下降，下降至炉子上的碗贴合盘子后张开爪夹，使炉子上的碗放在盘子上", + "error_success_analysis": "", + "frame": 7, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离炉子上的碗，未开始移动\n为完成拿起炉子上的碗并把它放在盘子上的任务应当：爪夹向爪夹方向左后方移动，移动至炉子上的碗正上方后下降，下降至炉子上的碗位置合拢爪夹，抓取炉子上的碗", + "time": 0.23030303030303031, + "annotations": { + "bbox_1767770912853": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912853_1767770930423_ex0lmzqbl", + "x": 0.5695, + "y": 0.377, + "width": 0.11599999999999999, + "height": 0.08400000000000002 + } + ] + }, + "bbox_1767770912997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912997_1767770934575_apiewmbjh", + "x": 0.1375, + "y": 0.661, + "width": 0.181, + "height": 0.14 + } + ] + }, + "point_1767770916879": { + "type": "point", + "instances": [ + { + "id": "point_1767770916879_1767770936765_47q0f9cgf", + "x": 0.4435, + "y": 0.266 + } + ] + }, + "point_1767770917031": { + "type": "point", + "instances": [ + { + "id": "point_1767770917031_1767770940124_k5p0549oz", + "x": 0.5595, + "y": 0.27 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "爪夹继续向爪夹方向左后方炉子上的碗移动，移动至炉子上的碗正上方后下降，下降至可抓取炉子上的碗的位置合拢爪夹，抓取炉子上的碗，之后保持爪夹合拢状态抬升，并向爪夹方向右前方盘子移动，移动至盘子正上方后下降，下降至炉子上的碗贴合盘子后张开爪夹，使炉子上的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方左下方炉子上的碗位置移动靠近", + "frame": 33, + "progress": 10, + "progress_explanation": "爪夹向爪夹方下方移动接近炉子上的碗，尚未完全靠近炉子上的碗，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于炉子上的碗右上方，炉子上的碗尚未被移动。\n为完成拿起炉子上的碗并把它放盘子上的任务应当：爪夹向爪夹方向左下方移动下降，下降至炉子上的碗位置合拢爪夹，抓取炉子上的碗，之后保持爪夹合拢状态抬升并向爪夹方向右前方移动", + "time": 1.093939393939394, + "annotations": { + "point_1767770917031": { + "type": "point", + "instances": [ + { + "id": "point_1767770917031_1767770945051_1i896qsoc", + "x": 0.6015, + "y": 0.305 + } + ] + }, + "point_1767770916879": { + "type": "point", + "instances": [ + { + "id": "point_1767770916879_1767770947915_7cnhselaq", + "x": 0.47950000000000004, + "y": 0.325 + } + ] + }, + "bbox_1767770912997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912997_1767770952351_ybfyuaknn", + "x": 0.1345, + "y": 0.661, + "width": 0.195, + "height": 0.14200000000000002 + } + ] + }, + "bbox_1767770912853": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912853_1767770956513_hd3ggt38q", + "x": 0.5735, + "y": 0.378, + "width": 0.11699999999999999, + "height": 0.08400000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左下方移动", + "correction_plan": "合拢爪夹，抓取炉子上的碗，之后保持爪夹合拢状态抬升，并向爪夹方向右前方盘子移动，移动至盘子正上方后下降，下降至炉子上的碗贴合盘子后张开爪夹，使炉子上的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向左下方移动，移动至可抓取炉子上的碗的位置", + "frame": 87, + "progress": 20, + "progress_explanation": "爪夹已移动至炉子上的碗位置。因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于炉子上的碗位置，炉子上的碗尚未被夹取。\n为完成拿起炉子上的碗并把它放在盘子上的任务应当：合拢爪夹，抓取炉子上的碗，之后保持爪夹合拢状态抬升并向爪夹方向右前方盘子的位置移动", + "time": 2.8861, + "annotations": { + "bbox_1767770912853": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912853_1767770961595_msizmgfib", + "x": 0.5785, + "y": 0.393, + "width": 0.11199999999999999, + "height": 0.068 + } + ] + }, + "point_1767770916879": { + "type": "point", + "instances": [ + { + "id": "point_1767770916879_1767770964191_qimm34fnf", + "x": 0.5545, + "y": 0.428 + } + ] + }, + "point_1767770917031": { + "type": "point", + "instances": [ + { + "id": "point_1767770917031_1767770966208_vk2qflzv2", + "x": 0.6555, + "y": 0.429 + } + ] + }, + "bbox_1767770912997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912997_1767770970272_kwl6fpap8", + "x": 0.1335, + "y": 0.661, + "width": 0.183, + "height": 0.134 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向右前方盘子移动，移动至盘子正上方后下降，下降至炉子上的碗贴合盘子后张开爪夹，使炉子上的碗放在盘子上", + "error_success_analysis": "爪夹成功合拢，炉子上的碗成功被爪夹夹取", + "frame": 148, + "progress": 40, + "progress_explanation": "炉子上的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧炉子上的碗，炉子上的碗尚未移动。\n为完成拿起炉子上的碗并把它放在盘子上的任务应当：保持爪夹合拢状态抬升，并向爪夹方向右前方盘子位置移动，移动至盘子正上方后下降", + "time": 4.9476, + "annotations": { + "bbox_1767770912997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912997_1767770974863_vvzmd6cxm", + "x": 0.1265, + "y": 0.66, + "width": 0.201, + "height": 0.139 + } + ] + }, + "bbox_1767770912853": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912853_1767770978167_tu24pjmc0", + "x": 0.5785, + "y": 0.398, + "width": 0.11699999999999999, + "height": 0.062 + } + ] + }, + "point_1767770916879": { + "type": "point", + "instances": [ + { + "id": "point_1767770916879_1767770981303_wh993k0kc", + "x": 0.5795, + "y": 0.431 + } + ] + }, + "point_1767770917031": { + "type": "point", + "instances": [ + { + "id": "point_1767770917031_1767770983100_ff4fppbq0", + "x": 0.6225, + "y": 0.427 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "继续保持爪夹合拢状态，并向爪夹方向右前方盘子移动，移动至盘子正上方后下降，下降至炉子上的碗贴合盘子后张开爪夹，使炉子上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取炉子上的碗成功使炉子上的碗抬升并移动", + "frame": 210, + "progress": 50, + "progress_explanation": "炉子上的碗已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧炉子上的碗，炉子上的碗已被抬升至空中\n为完成拿起炉子上的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向右前方盘子位置移动，移动至盘子正上方后下降", + "time": 7.013350515463918, + "annotations": { + "point_1767770917031": { + "type": "point", + "instances": [ + { + "id": "point_1767770917031_1767770986734_4f4x4p0j7", + "x": 0.5245, + "y": 0.364 + } + ] + }, + "point_1767770916879": { + "type": "point", + "instances": [ + { + "id": "point_1767770916879_1767770989443_p5rsqqy8x", + "x": 0.4985, + "y": 0.379 + } + ] + }, + "bbox_1767770912853": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912853_1767770993385_s02klyjtg", + "x": 0.4985, + "y": 0.313, + "width": 0.13100000000000006, + "height": 0.09400000000000003 + } + ] + }, + "bbox_1767770912997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912997_1767770998947_mdq54wqye", + "x": 0.1265, + "y": 0.65, + "width": 0.198, + "height": 0.15300000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "correction_plan": "继续保持爪夹合拢状态抬，下降，下降至炉子上的碗贴合盘子后张开爪夹，使炉子上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取炉子上的碗成功使炉子上的碗靠近盘子", + "frame": 318, + "progress": 60, + "progress_explanation": "炉子上的碗已被抓取成功并已完全靠近盘子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧炉子上的碗，炉子上的碗已完全靠近盘子。\n为完成拿起炉子上的碗并把它放在盘子上的任务应当：爪夹保持合拢状态，下降，下降至炉子上的碗贴合盘子后张开爪夹，使炉子上的碗放在盘子上", + "time": 10.593939393939396, + "annotations": { + "bbox_1767770912997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912997_1767771003560_508ykko53", + "x": 0.1305, + "y": 0.662, + "width": 0.19, + "height": 0.138 + } + ] + }, + "point_1767770916879": { + "type": "point", + "instances": [ + { + "id": "point_1767770916879_1767771006605_qo28cmk9i", + "x": 0.1795, + "y": 0.5710000000000001 + } + ] + }, + "bbox_1767770912853": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912853_1767771012119_om5rypt85", + "x": 0.1865, + "y": 0.504, + "width": 0.16999999999999998, + "height": 0.10999999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方下降移动", + "correction_plan": "张开爪夹，使炉子上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取炉子上的碗并成功使炉子上的碗移动至盘子上", + "frame": 361, + "progress": 80, + "progress_explanation": "炉子上的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧炉子上的碗，炉子上的碗已被移动至贴合盘子位置\n为完成拿起炉子上的碗并把它放在盘子上的任务应当：张开爪夹，使炉子上的碗放在盘子上", + "time": 12.0498, + "annotations": { + "bbox_1767770912853": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912853_1767771017256_2d5vac5ze", + "x": 0.1655, + "y": 0.633, + "width": 0.155, + "height": 0.10499999999999998 + } + ] + }, + "bbox_1767770912997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912997_1767771021367_nxghu292r", + "x": 0.1255, + "y": 0.674, + "width": 0.194, + "height": 0.12 + } + ] + }, + "point_1767770916879": { + "type": "point", + "instances": [ + { + "id": "point_1767770916879_1767771022928_a1lq5wv5l", + "x": 0.1625, + "y": 0.715 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起炉子上的碗并把它放在盘子上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，炉子上的碗成功被放置在盘子上", + "frame": 393, + "progress": 100, + "progress_explanation": "拿起炉子上的碗并把它放在盘子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于炉子上的碗上方，炉子上的碗已被放在盘子上。\n拿起炉子上的碗并把它放在盘子上的任务已完成", + "time": 13.10118556701031, + "annotations": { + "point_1767770916879": { + "type": "point", + "instances": [ + { + "id": "point_1767770916879_1767771051571_qid02f7q2", + "x": 0.1355, + "y": 0.741 + } + ] + }, + "bbox_1767770912997": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912997_1767771030636_2sjsitq2f", + "x": 0.1305, + "y": 0.68, + "width": 0.201, + "height": 0.12 + } + ] + }, + "point_1767770917031": { + "type": "point", + "instances": [ + { + "id": "point_1767770917031_1767771052995_4nv1hah1q", + "x": 0.2005, + "y": 0.7010000000000001 + } + ] + }, + "bbox_1767770912853": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767770912853_1767771060564_31xk73v41", + "x": 0.1525, + "y": 0.636, + "width": 0.13699999999999998, + "height": 0.11099999999999999 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767770912853", + "name": "炉子上的碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767770912997", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767770916879", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767770917031", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001436.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001436.json new file mode 100644 index 0000000000000000000000000000000000000000..a758260935f1359f89466e8618e51b51452b93af --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001436.json @@ -0,0 +1,534 @@ +{ + "task_description": "拿起烤盘旁边的碗并把它放在盘子上\n开始移动0%\n爪夹靠近烤盘旁边的碗20%\n爪夹夹取烤盘旁边的碗40%\n爪夹夹取烤盘旁边的碗靠近盘子60%\n爪夹下降烤盘旁边的碗被移动至盘子上方80%\n张开爪夹，烤盘旁边的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1767771081303": { + "instances": [ + { + "height": 0.10700000000000004, + "id": "bbox_1767771081303_1767771102259_z6axycdkp", + "width": 0.129, + "x": 0.07450000000000001, + "y": 0.441 + } + ], + "type": "bbox" + }, + "bbox_1767771081471": { + "instances": [ + { + "height": 0.14500000000000002, + "id": "bbox_1767771081471_1767771110241_w4y5cpu16", + "width": 0.17500000000000002, + "x": 0.1475, + "y": 0.65 + } + ], + "type": "bbox" + }, + "point_1767771087589": { + "instances": [ + { + "id": "point_1767771087589_1767771112463_q04da9g7t", + "x": 0.4225, + "y": 0.244 + } + ], + "type": "point" + }, + "point_1767771087720": { + "instances": [ + { + "id": "point_1767771087720_1767771115757_0xyxbqmss", + "x": 0.5365, + "y": 0.245 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方烤盘旁边的碗移动，移动至烤盘旁边的碗正上方后下降，下降至可抓取烤盘旁边的碗的位置合拢爪夹，抓取烤盘旁边的碗，之后保持爪夹合拢状态抬升，并向爪夹方向左前方盘子移动，移动至盘子正上方后下降，下降至烤盘旁边的碗贴合盘子后张开爪夹，使烤盘旁边的碗放在盘子上", + "error_success_analysis": "", + "frame": 3, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离烤盘旁边的碗，未开始移动\n为完成拿起烤盘旁边的碗并把它放在盘子上的任务应当：爪夹向爪夹方向右前方移动，移动至烤盘旁边的碗正上方后下降，下降至烤盘旁边的碗位置合拢爪夹，抓取烤盘旁边的碗", + "time": 0.08427835051546392 + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "annotations": { + "bbox_1767771081303": { + "instances": [ + { + "height": 0.10300000000000004, + "id": "bbox_1767771081303_1767771129604_4gz8jro75", + "width": 0.136, + "x": 0.07150000000000001, + "y": 0.443 + } + ], + "type": "bbox" + }, + "bbox_1767771081471": { + "instances": [ + { + "height": 0.139, + "id": "bbox_1767771081471_1767771126920_skniyyh2z", + "width": 0.17800000000000002, + "x": 0.1445, + "y": 0.65 + } + ], + "type": "bbox" + }, + "point_1767771087589": { + "instances": [ + { + "id": "point_1767771087589_1767771121147_vpidzfhwt", + "x": 0.1855, + "y": 0.26 + } + ], + "type": "point" + }, + "point_1767771087720": { + "instances": [ + { + "id": "point_1767771087720_1767771118304_vo4xn89zv", + "x": 0.3065, + "y": 0.261 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向继续爪夹方向右前方烤盘旁边的碗移动，移动至烤盘旁边的碗正上方后下降，下降至可抓取烤盘旁边的碗的位置合拢爪夹，抓取烤盘旁边的碗，之后保持爪夹合拢状态抬升，并向爪夹方向左前方盘子移动，移动至盘子正上方后下降，下降至烤盘旁边的碗贴合盘子后张开爪夹，使烤盘旁边的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向右前方烤盘旁边的碗位置移动靠近", + "frame": 58, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向右方移动到烤盘旁边的碗左后方，尚未完全靠近烤盘旁边的碗，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于烤盘旁边的碗左后方，烤盘旁边的碗尚未被移动。\n为完成拿起烤盘旁边的碗并把它放盘子上的任务应当：爪夹向爪夹方向右前方继续移动，移动至烤盘旁边的碗上方后下降至烤盘旁边的碗位置合拢爪夹，抓取烤盘旁边的碗", + "time": 1.9402 + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "annotations": { + "bbox_1767771081303": { + "instances": [ + { + "height": 0.09600000000000003, + "id": "bbox_1767771081303_1767771139487_ot4s72cog", + "width": 0.12100000000000001, + "x": 0.07549999999999997, + "y": 0.445 + } + ], + "type": "bbox" + }, + "bbox_1767771081471": { + "instances": [ + { + "height": 0.14, + "id": "bbox_1767771081471_1767771153052_hr611tpnr", + "width": 0.185, + "x": 0.1395, + "y": 0.653 + } + ], + "type": "bbox" + }, + "point_1767771087589": { + "instances": [ + { + "id": "point_1767771087589_1767771147004_rcs4yv6h7", + "x": 0.025500000000000002, + "y": 0.393 + } + ], + "type": "point" + }, + "point_1767771087720": { + "instances": [ + { + "id": "point_1767771087720_1767771149156_g3b1zn2pc", + "x": 0.1685, + "y": 0.401 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持张开状态下降，下降至可抓取烤盘旁边的碗的位置合拢爪夹，抓取烤盘旁边的碗，之后保持爪夹合拢状态抬升，并向爪夹方向左前方盘子移动，移动至盘子正上方后下降，下降至烤盘旁边的碗贴合盘子后张开爪夹，使烤盘旁边的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向右前方烤盘旁边的碗位置移动靠近", + "frame": 106, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向右前方移动到了烤盘旁边的碗上方，比之前更加接近烤盘旁边的碗，因此进度小幅提升至15%", + "state_description": "当前状态为爪夹张开，位于烤盘旁边的碗上方，烤盘旁边的碗尚未被移动。\n为完成拿起烤盘旁边的碗并把它放盘子上的任务应当：爪夹下降，下降至烤盘旁边的碗位置合拢爪夹，抓取烤盘旁边的碗", + "time": 3.538961038961039 + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "annotations": { + "bbox_1767771081303": { + "instances": [ + { + "height": 0.08500000000000002, + "id": "bbox_1767771081303_1767771177097_eyf9lq73o", + "width": 0.114, + "x": 0.0795, + "y": 0.46 + } + ], + "type": "bbox" + }, + "bbox_1767771081471": { + "instances": [ + { + "height": 0.137, + "id": "bbox_1767771081471_1767771189669_ywgof7klt", + "width": 0.182, + "x": 0.1395, + "y": 0.655 + } + ], + "type": "bbox" + }, + "point_1767771087589": { + "instances": [ + { + "id": "point_1767771087589_1767771184639_i0g52wby4", + "x": 0.0275, + "y": 0.497 + } + ], + "type": "point" + }, + "point_1767771087720": { + "instances": [ + { + "id": "point_1767771087720_1767771170726_sgpwm76rd", + "x": 0.1695, + "y": 0.503 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，抓取烤盘旁边的碗，之后保持爪夹合拢状态抬升，并向爪夹方向左前方盘子移动，移动至盘子正上方后下降，下降至烤盘旁边的碗贴合盘子后张开爪夹，使烤盘旁边的碗放在盘子上", + "error_success_analysis": "爪夹成功向下方移动下降至可夹取烤盘旁边的碗的位置，", + "frame": 143, + "progress": 20, + "progress_explanation": "爪夹已移动至烤盘旁边的碗位置。因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于烤盘旁边的碗位置，烤盘旁边的碗尚未被夹取。\n为完成拿起烤盘旁边的碗并把它放在盘子上的任务应当：合拢爪夹，抓取烤盘旁边的碗，之后保持爪夹合拢状态抬升并向爪夹方向左前方盘子的位置移动", + "time": 4.765800865800866 + }, + { + "action_description": "爪夹由张开变为合拢", + "annotations": { + "bbox_1767771081303": { + "instances": [ + { + "height": 0.07600000000000001, + "id": "bbox_1767771081303_1767771199372_5pb7amko0", + "width": 0.117, + "x": 0.1155, + "y": 0.463 + } + ], + "type": "bbox" + }, + "bbox_1767771081471": { + "instances": [ + { + "height": 0.139, + "id": "bbox_1767771081471_1767771203120_h20ave6q7", + "width": 0.185, + "x": 0.1385, + "y": 0.657 + } + ], + "type": "bbox" + }, + "point_1767771087589": { + "instances": [ + { + "id": "point_1767771087589_1767771194147_d6726b5mk", + "x": 0.1105, + "y": 0.517 + } + ], + "type": "point" + }, + "point_1767771087720": { + "instances": [ + { + "id": "point_1767771087720_1767771195891_ltoli5t9n", + "x": 0.1495, + "y": 0.51 + } + ], + "type": "point" + } + }, + "correction_plan": "继续保持爪夹合拢状态抬升，并向爪夹方向左前方盘子移动，移动至盘子正上方后下降，下降至烤盘旁边的碗贴合盘子后张开爪夹，使烤盘旁边的碗放在盘子上", + "error_success_analysis": "爪夹成功合拢，烤盘旁边的碗成功被爪夹夹取", + "frame": 170, + "progress": 40, + "progress_explanation": "烤盘旁边的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧烤盘旁边的碗，烤盘旁边的碗尚未移动。\n为完成拿起烤盘旁边的碗并把它放在盘子上的任务应当：保持爪夹合拢状态抬升，向爪夹方向左前方盘子位置移动，移动至盘子正上方后保持爪夹合拢状态下降", + "time": 5.678 + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "annotations": { + "bbox_1767771081303": { + "instances": [ + { + "height": 0.09400000000000003, + "id": "bbox_1767771081303_1767771229244_vvj7q87b4", + "width": 0.139, + "x": 0.0915, + "y": 0.378 + } + ], + "type": "bbox" + }, + "bbox_1767771081471": { + "instances": [ + { + "height": 0.14, + "id": "bbox_1767771081471_1767771207276_1s8nm2cdt", + "width": 0.181, + "x": 0.14350000000000002, + "y": 0.653 + } + ], + "type": "bbox" + }, + "point_1767771087589": { + "instances": [ + { + "id": "point_1767771087589_1767771221827_askqjakt3", + "x": 0.1015, + "y": 0.429 + } + ], + "type": "point" + }, + "point_1767771087720": { + "instances": [ + { + "id": "point_1767771087720_1767771223887_2xf35rnb8", + "x": 0.1215, + "y": 0.43 + } + ], + "type": "point" + } + }, + "correction_plan": "保持爪夹合拢状态向爪夹方向左前方盘子移动，移动至盘子正上方后下降，下降至烤盘旁边的碗贴合盘子后张开爪夹，使烤盘旁边的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取烤盘旁边的碗成功使烤盘旁边的碗抬升并移动", + "frame": 214, + "progress": 50, + "progress_explanation": "烤盘旁边的碗已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧烤盘旁边的碗，烤盘旁边的碗已被抬升至空中\n为完成拿起烤盘旁边的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向左前方盘子位置移动，移动至盘子正上方后保持爪夹合拢状态下降", + "time": 7.1251082251082245 + }, + { + "action_description": "爪夹向爪夹方向左前方移动", + "annotations": { + "bbox_1767771081303": { + "instances": [ + { + "height": 0.09699999999999998, + "id": "bbox_1767771081303_1767771233923_7h76g5y0i", + "width": 0.165, + "x": 0.1605, + "y": 0.5740000000000001 + } + ], + "type": "bbox" + }, + "bbox_1767771081471": { + "instances": [ + { + "height": 0.126, + "id": "bbox_1767771081471_1767771241412_mdoput2au", + "width": 0.188, + "x": 0.1365, + "y": 0.665 + } + ], + "type": "bbox" + }, + "point_1767771087589": { + "instances": [ + { + "id": "point_1767771087589_1767771235996_zpb2lqdaq", + "x": 0.1575, + "y": 0.626 + } + ], + "type": "point" + }, + "point_1767771087720": { + "instances": [ + { + "id": "point_1767771087720_1767771237824_om1gfjbvz", + "x": 0.1925, + "y": 0.619 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持合拢状态下降，下降至烤盘旁边的碗贴合盘子后张开爪夹，使烤盘旁边的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取烤盘旁边的碗成功使烤盘旁边的碗靠近盘子", + "frame": 266, + "progress": 60, + "progress_explanation": "烤盘旁边的碗已被抓取成功并已完全靠近盘子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧烤盘旁边的碗，烤盘旁边的碗已完全靠近盘子。\n为完成拿起烤盘旁边的碗并把它放在盘子上的任务应当：爪夹保持合拢状态，下降，下降至烤盘旁边的碗贴合盘子后张开爪夹，使烤盘旁边的碗放在盘子上", + "time": 8.8508 + }, + { + "action_description": "爪夹向爪夹方向下方下降移动", + "annotations": { + "bbox_1767771081303": { + "instances": [ + { + "height": 0.07899999999999996, + "id": "bbox_1767771081303_1767771248959_zeknonzgc", + "width": 0.145, + "x": 0.1705, + "y": 0.667 + } + ], + "type": "bbox" + }, + "bbox_1767771081471": { + "instances": [ + { + "height": 0.11199999999999999, + "id": "bbox_1767771081471_1767771246188_dogvioun2", + "width": 0.18400000000000002, + "x": 0.1535, + "y": 0.678 + } + ], + "type": "bbox" + }, + "point_1767771087589": { + "instances": [ + { + "id": "point_1767771087589_1767771250844_6nxl24aj5", + "x": 0.1795, + "y": 0.707 + } + ], + "type": "point" + }, + "point_1767771087720": { + "instances": [ + { + "id": "point_1767771087720_1767771252587_10xmjwvar", + "x": 0.2205, + "y": 0.7020000000000001 + } + ], + "type": "point" + } + }, + "correction_plan": "张开爪夹，使烤盘旁边的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取烤盘旁边的碗并成功使烤盘旁边的碗移动至盘子上", + "frame": 302, + "progress": 80, + "progress_explanation": "烤盘旁边的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧烤盘旁边的碗，烤盘旁边的碗已被移动至贴合盘子位置\n为完成拿起烤盘旁边的碗并把它放在盘子上的任务应当：张开爪夹，使烤盘旁边的碗放在盘子上", + "time": 10.0825 + }, + { + "action_description": "爪夹由合拢变为张开", + "annotations": { + "bbox_1767771081303": { + "instances": [ + { + "height": 0.10899999999999999, + "id": "bbox_1767771081303_1767771273853_q00p2hpsm", + "width": 0.14700000000000002, + "x": 0.1765, + "y": 0.646 + } + ], + "type": "bbox" + }, + "bbox_1767771081471": { + "instances": [ + { + "height": 0.11199999999999999, + "id": "bbox_1767771081471_1767771270949_cqy6ajmjn", + "width": 0.18200000000000002, + "x": 0.1545, + "y": 0.679 + } + ], + "type": "bbox" + }, + "point_1767771087589": { + "instances": [ + { + "id": "point_1767771087589_1767771267831_p3zao00ep", + "x": 0.1405, + "y": 0.68 + } + ], + "type": "point" + }, + "point_1767771087720": { + "instances": [ + { + "id": "point_1767771087720_1767771266376_rfpgxz9qd", + "x": 0.2165, + "y": 0.68 + } + ], + "type": "point" + } + }, + "correction_plan": "拿起烤盘旁边的碗并把它放在盘子上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，烤盘旁边的碗成功被放置在盘子上", + "frame": 324, + "progress": 100, + "progress_explanation": "拿起烤盘旁边的碗并把它放在盘子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于烤盘旁边的碗上方，烤盘旁边的碗已被放在盘子上。\n拿起烤盘旁边的碗并把它放在盘子上的任务已完成", + "time": 10.804484536082475 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767771081303", + "name": "烤盘旁边的碗" + }, + { + "color": "#FF9800", + "id": "bbox_1767771081471", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767771087589", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767771087720", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001500.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001500.json new file mode 100644 index 0000000000000000000000000000000000000000..bf4ed656b3513e1b430f4a1c0e2464ea29a7ba10 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001500.json @@ -0,0 +1,422 @@ +{ + "task_description": "拿起盘子和烤盘之间的碗并把它放在盘子上\n开始移动0%\n爪夹靠近盘子和烤盘之间的碗20%\n爪夹夹取盘子和烤盘之间的碗40%\n爪夹夹取盘子和烤盘之间的碗靠近盘子60%\n爪夹下降盘子和烤盘之间的碗被移动至盘子上方80%\n张开爪夹，盘子和烤盘之间的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向右前方盘子和烤盘之间的碗移动，移动至盘子和烤盘之间的碗正上方后下降，下降至可抓取盘子和烤盘之间的碗的位置合拢爪夹，抓取盘子和烤盘之间的碗，之后保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离盘子和烤盘之间的碗，未开始移动\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：爪夹向爪夹方向右前方移动，移动至盘子和烤盘之间的碗正上方后下降，下降至盘子和烤盘之间的碗位置合拢爪夹，抓取盘子和烤盘之间的碗", + "time": 0, + "annotations": { + "bbox_1767771286591": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771286591_1767771306391_o3i947azw", + "x": 0.1145, + "y": 0.687, + "width": 0.197, + "height": 0.14400000000000002 + } + ] + }, + "bbox_1767771285960": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771285960_1767771309908_s1vwcflam", + "x": 0.1905, + "y": 0.526, + "width": 0.14300000000000002, + "height": 0.10399999999999998 + } + ] + }, + "point_1767771290425": { + "type": "point", + "instances": [ + { + "id": "point_1767771290425_1767771312232_amoq0jjmh", + "x": 0.4595, + "y": 0.25 + } + ] + }, + "point_1767771290575": { + "type": "point", + "instances": [ + { + "id": "point_1767771290575_1767771315363_7t40967zx", + "x": 0.5745, + "y": 0.243 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "correction_plan": "爪夹继续向爪夹方向右前方盘子和烤盘之间的碗移动，移动至盘子和烤盘之间的碗正上方后下降，下降至可抓取盘子和烤盘之间的碗的位置合拢爪夹，抓取盘子和烤盘之间的碗，之后保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向右前方盘子和烤盘之间的碗位置移动靠近", + "frame": 54, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向右前方移动到盘子和烤盘之间的碗左后方，尚未完全靠近盘子和烤盘之间的碗，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于盘子和烤盘之间的碗左后方，盘子和烤盘之间的碗尚未被移动。\n为完成拿起盘子和烤盘之间的碗并把它放盘子上的任务应当：爪夹向爪夹方向右前方继续移动，移动至盘子和烤盘之间的碗上方后下降至盘子和烤盘之间的碗位置合拢爪夹，抓取盘子和烤盘之间的碗", + "time": 1.792699, + "annotations": { + "point_1767771290575": { + "type": "point", + "instances": [ + { + "id": "point_1767771290575_1767771318387_w57ng6nrm", + "x": 0.4405, + "y": 0.367 + } + ] + }, + "point_1767771290425": { + "type": "point", + "instances": [ + { + "id": "point_1767771290425_1767771320700_bf1mjdbwl", + "x": 0.3155, + "y": 0.365 + } + ] + }, + "bbox_1767771286591": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771286591_1767771324053_r6fgw15tf", + "x": 0.11850000000000001, + "y": 0.685, + "width": 0.186, + "height": 0.14300000000000002 + } + ] + }, + "bbox_1767771285960": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771285960_1767771326711_t2jnn1kcm", + "x": 0.1945, + "y": 0.529, + "width": 0.136, + "height": 0.09599999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "合拢爪夹，抓取盘子和烤盘之间的碗，之后保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹成功向下方移动下降至可夹取盘子和烤盘之间的碗的位置", + "frame": 118, + "progress": 20, + "progress_explanation": "爪夹已移动至盘子和烤盘之间的碗位置。因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于盘子和烤盘之间的碗位置，盘子和烤盘之间的碗尚未被夹取。\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：合拢爪夹，抓取盘子和烤盘之间的碗，之后保持爪夹合拢状态抬升并向爪夹方向前方盘子的位置移动", + "time": 3.9393939393939386, + "annotations": { + "bbox_1767771285960": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771285960_1767771330553_hqs0eq25l", + "x": 0.1915, + "y": 0.546, + "width": 0.135, + "height": 0.08299999999999996 + } + ] + }, + "bbox_1767771286591": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771286591_1767771333516_gvje0gzwn", + "x": 0.1225, + "y": 0.6880000000000001, + "width": 0.186, + "height": 0.14 + } + ] + }, + "point_1767771290425": { + "type": "point", + "instances": [ + { + "id": "point_1767771290425_1767771334920_5fy58ymsa", + "x": 0.28350000000000003, + "y": 0.584 + } + ] + }, + "point_1767771290575": { + "type": "point", + "instances": [ + { + "id": "point_1767771290575_1767771336367_x5puu0e11", + "x": 0.3785, + "y": 0.597 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹成功合拢，盘子和烤盘之间的碗成功被爪夹夹取", + "frame": 152, + "progress": 40, + "progress_explanation": "盘子和烤盘之间的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧盘子和烤盘之间的碗，盘子和烤盘之间的碗尚未移动。\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：保持爪夹合拢状态抬升，向爪夹方向前方盘子位置移动，移动至盘子正上方后保持爪夹合拢状态下降", + "time": 5.081818181818181, + "annotations": { + "point_1767771290425": { + "type": "point", + "instances": [ + { + "id": "point_1767771290425_1767771343303_d687bjdjp", + "x": 0.28350000000000003, + "y": 0.584 + } + ] + }, + "point_1767771290575": { + "type": "point", + "instances": [ + { + "id": "point_1767771290575_1767771344863_e3z0co01o", + "x": 0.3235, + "y": 0.586 + } + ] + }, + "bbox_1767771286591": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771286591_1767771347965_2e903tm5r", + "x": 0.11950000000000001, + "y": 0.6880000000000001, + "width": 0.192, + "height": 0.139 + } + ] + }, + "bbox_1767771285960": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771285960_1767771350608_68frjbqo3", + "x": 0.1765, + "y": 0.537, + "width": 0.133, + "height": 0.08799999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取盘子和烤盘之间的碗成功使盘子和烤盘之间的碗抬升并移动", + "frame": 190, + "progress": 50, + "progress_explanation": "盘子和烤盘之间的碗已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧盘子和烤盘之间的碗，盘子和烤盘之间的碗已被抬升至空中\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向前方盘子位置移动，移动至盘子正上方后保持爪夹合拢状态下降", + "time": 6.3245, + "annotations": { + "bbox_1767771285960": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771285960_1767771358299_otrir285k", + "x": 0.0805, + "y": 0.498, + "width": 0.15400000000000003, + "height": 0.08199999999999985 + } + ] + }, + "point_1767771290425": { + "type": "point", + "instances": [ + { + "id": "point_1767771290425_1767771365836_5mazv0xwu", + "x": 0.2135, + "y": 0.533 + } + ] + }, + "point_1767771290575": { + "type": "point", + "instances": [ + { + "id": "point_1767771290575_1767771367647_cagt470un", + "x": 0.2535, + "y": 0.53 + } + ] + }, + "bbox_1767771286591": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771286591_1767771370645_r70vt1vb2", + "x": 0.11950000000000001, + "y": 0.677, + "width": 0.191, + "height": 0.15699999999999992 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "保持爪夹合拢下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取盘子和烤盘之间的碗成功使盘子和烤盘之间的碗靠近盘子", + "frame": 216, + "progress": 60, + "progress_explanation": "盘子和烤盘之间的碗已被抓取成功并已完全靠近盘子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧盘子和烤盘之间的碗，盘子和烤盘之间的碗已完全靠近盘子。\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：爪夹保持合拢状态，下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "time": 7.209090909090909, + "annotations": { + "bbox_1767771286591": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771286591_1767771377472_xlxe2vlsu", + "x": 0.1225, + "y": 0.679, + "width": 0.193, + "height": 0.14900000000000002 + } + ] + }, + "bbox_1767771285960": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771285960_1767771381319_gsblf9mrb", + "x": 0.0675, + "y": 0.635, + "width": 0.158, + "height": 0.08299999999999996 + } + ] + }, + "point_1767771290425": { + "type": "point", + "instances": [ + { + "id": "point_1767771290425_1767771382895_cz0wm9mlu", + "x": 0.2105, + "y": 0.668 + } + ] + }, + "point_1767771290575": { + "type": "point", + "instances": [ + { + "id": "point_1767771290575_1767771384727_g16oray3v", + "x": 0.2445, + "y": 0.672 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方下降移动", + "correction_plan": "张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取盘子和烤盘之间的碗并成功使盘子和烤盘之间的碗移动至盘子上", + "frame": 265, + "progress": 80, + "progress_explanation": "盘子和烤盘之间的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧盘子和烤盘之间的碗，盘子和烤盘之间的碗已被移动至贴合盘子位置\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "time": 8.823247422680412, + "annotations": { + "point_1767771290575": { + "type": "point", + "instances": [ + { + "id": "point_1767771290575_1767771390276_2wieev3wu", + "x": 0.2765, + "y": 0.732 + } + ] + }, + "point_1767771290425": { + "type": "point", + "instances": [ + { + "id": "point_1767771290425_1767771391856_8tvjpug0c", + "x": 0.23450000000000001, + "y": 0.724 + } + ] + }, + "bbox_1767771286591": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771286591_1767771405123_nu45fn7v4", + "x": 0.1235, + "y": 0.72, + "width": 0.192, + "height": 0.1090000000000001 + } + ] + }, + "bbox_1767771285960": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767771285960_1767771407369_1h7ybfvg6", + "x": 0.1095, + "y": 0.682, + "width": 0.15900000000000003, + "height": 0.08499999999999996 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767771285960", + "name": "盘子和烤盘之间的碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767771286591", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767771290425", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767771290575", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001570.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001570.json new file mode 100644 index 0000000000000000000000000000000000000000..db3b0d091eeca73d794e282b280760223426f526 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001570.json @@ -0,0 +1,468 @@ +{ + "task_description": "拿起饼干盒上的碗并把它放在盘子上\n开始移动0%\n爪夹靠近饼干盒上的碗20%\n爪夹夹取饼干盒上的碗40%\n爪夹夹取饼干盒上的碗靠近盘子60%\n爪夹下降饼干盒上的碗被移动至盘子上方80%\n张开爪夹，饼干盒上的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1767774856344": { + "instances": [ + { + "height": 0.123, + "id": "bbox_1767774856344_1767774880163_6i4uy9xsz", + "width": 0.15099999999999997, + "x": 0.3955, + "y": 0.61 + } + ], + "type": "bbox" + }, + "bbox_1767774856488": { + "instances": [ + { + "height": 0.14300000000000002, + "id": "bbox_1767774856488_1767774883572_8ug9idqt0", + "width": 0.18900000000000003, + "x": 0.1545, + "y": 0.648 + } + ], + "type": "bbox" + }, + "point_1767774863968": { + "instances": [ + { + "id": "point_1767774863968_1767774885451_eb9c9e3wp", + "x": 0.4465, + "y": 0.242 + } + ], + "type": "point" + }, + "point_1767774864124": { + "instances": [ + { + "id": "point_1767774864124_1767774888195_m8uue07vd", + "x": 0.5645, + "y": 0.242 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹方向右前方饼干盒上的碗移动，移动至饼干盒上的碗正上方后下降，下降至可抓取饼干盒上的碗的位置合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离饼干盒上的碗，未开始移动\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：爪夹向爪夹方向右前方移动，移动至饼干盒上的碗正上方后下降，下降至饼干盒上的碗位置合拢爪夹，抓取饼干盒上的碗", + "time": 0.3212121212121212 + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "annotations": { + "bbox_1767774856344": { + "instances": [ + { + "height": 0.118, + "id": "bbox_1767774856344_1767774903668_mv0rj6w7z", + "width": 0.14599999999999996, + "x": 0.3995, + "y": 0.62 + } + ], + "type": "bbox" + }, + "bbox_1767774856488": { + "instances": [ + { + "height": 0.136, + "id": "bbox_1767774856488_1767774906316_eicw4iztk", + "width": 0.18300000000000002, + "x": 0.1585, + "y": 0.649 + } + ], + "type": "bbox" + }, + "point_1767774863968": { + "instances": [ + { + "id": "point_1767774863968_1767774893171_s7abz26tb", + "x": 0.3365, + "y": 0.41200000000000003 + } + ], + "type": "point" + }, + "point_1767774864124": { + "instances": [ + { + "id": "point_1767774864124_1767774891067_u6sr8n5wg", + "x": 0.47350000000000003, + "y": 0.41100000000000003 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹保持张开状态下降，下降至可抓取饼干盒上的碗的位置合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向右前方饼干盒上的碗位置移动靠近", + "frame": 70, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向右前方移动到了饼干盒上的碗上方，尚未完全靠近饼干盒上的碗，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于饼干盒上的碗上方，饼干盒上的碗尚未被移动。\n为完成拿起饼干盒上的碗并把它放盘子上的任务应当：爪夹下降，下降至饼干盒上的碗位置合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态抬升并向爪夹方向右方移动", + "time": 2.3402597402597403 + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "annotations": { + "bbox_1767774856344": { + "instances": [ + { + "height": 0.09199999999999997, + "id": "bbox_1767774856344_1767774917232_suh94hlcc", + "width": 0.14999999999999997, + "x": 0.3955, + "y": 0.641 + } + ], + "type": "bbox" + }, + "bbox_1767774856488": { + "instances": [ + { + "height": 0.14, + "id": "bbox_1767774856488_1767774911411_ex6xrm41z", + "width": 0.18100000000000002, + "x": 0.1605, + "y": 0.649 + } + ], + "type": "bbox" + }, + "point_1767774863968": { + "instances": [ + { + "id": "point_1767774863968_1767774924895_o69mwkw9l", + "x": 0.3585, + "y": 0.675 + } + ], + "type": "point" + }, + "point_1767774864124": { + "instances": [ + { + "id": "point_1767774864124_1767774926443_qq9zra772", + "x": 0.47850000000000004, + "y": 0.677 + } + ], + "type": "point" + } + }, + "correction_plan": "合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹成功合拢，饼干盒上的碗被成功抓取", + "frame": 121, + "progress": 20, + "progress_explanation": "爪夹已移动至饼干盒上的碗位置。因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于饼干盒上的碗位置，饼干盒上的碗尚未被夹取。\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态并向爪夹方向右方盘子的位置移动", + "time": 4.027999 + }, + { + "action_description": "爪夹由张开变为合拢", + "annotations": { + "bbox_1767774856344": { + "instances": [ + { + "height": 0.09899999999999998, + "id": "bbox_1767774856344_1767774939683_22vf6ivtk", + "width": 0.16899999999999998, + "x": 0.3975, + "y": 0.61 + } + ], + "type": "bbox" + }, + "bbox_1767774856488": { + "instances": [ + { + "height": 0.14, + "id": "bbox_1767774856488_1767774943183_qdiv3ybya", + "width": 0.18700000000000003, + "x": 0.1595, + "y": 0.646 + } + ], + "type": "bbox" + }, + "point_1767774863968": { + "instances": [ + { + "id": "point_1767774863968_1767774932844_e3be5qto3", + "x": 0.3995, + "y": 0.656 + } + ], + "type": "point" + }, + "point_1767774864124": { + "instances": [ + { + "id": "point_1767774864124_1767774930883_usnqx5paq", + "x": 0.4365, + "y": 0.653 + } + ], + "type": "point" + } + }, + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹成功合拢，饼干盒上的碗成功被爪夹夹取", + "frame": 163, + "progress": 40, + "progress_explanation": "饼干盒上的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒上的碗，饼干盒上的碗尚未移动。\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向右方盘子位置移动，移动至盘子正上方后张开爪夹，使饼干盒上的碗放在盘子上", + "time": 5.4272 + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "annotations": { + "bbox_1767774856344": { + "instances": [ + { + "height": 0.10899999999999999, + "id": "bbox_1767774856344_1767774961795_qrigf87cl", + "width": 0.16500000000000004, + "x": 0.3065, + "y": 0.534 + } + ], + "type": "bbox" + }, + "bbox_1767774856488": { + "instances": [ + { + "height": 0.135, + "id": "bbox_1767774856488_1767774965099_daoy7jiv9", + "width": 0.17800000000000002, + "x": 0.1655, + "y": 0.655 + } + ], + "type": "bbox" + }, + "point_1767774863968": { + "instances": [ + { + "id": "point_1767774863968_1767774966911_j9di09h98", + "x": 0.3075, + "y": 0.593 + } + ], + "type": "point" + }, + "point_1767774864124": { + "instances": [ + { + "id": "point_1767774864124_1767774968572_7btymlvwe", + "x": 0.3385, + "y": 0.587 + } + ], + "type": "point" + } + }, + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取饼干盒上的碗成功使饼干盒上的碗抬升并移动", + "frame": 190, + "progress": 50, + "progress_explanation": "饼干盒上的碗已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒上的碗，饼干盒上的碗已被抬升至空中\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向右方盘子位置移动，移动至盘子正上方后张开爪夹，使饼干盒上的碗放在盘子上", + "time": 6.3176 + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "annotations": { + "bbox_1767774856344": { + "instances": [ + { + "height": 0.11699999999999999, + "id": "bbox_1767774856344_1767774978572_o7o3dupzx", + "width": 0.162, + "x": 0.2095, + "y": 0.5750000000000001 + } + ], + "type": "bbox" + }, + "bbox_1767774856488": { + "instances": [ + { + "height": 0.135, + "id": "bbox_1767774856488_1767774982300_ld31ndt9h", + "width": 0.18900000000000003, + "x": 0.1535, + "y": 0.654 + } + ], + "type": "bbox" + }, + "point_1767774863968": { + "instances": [ + { + "id": "point_1767774863968_1767774973695_g867u4e9r", + "x": 0.2025, + "y": 0.631 + } + ], + "type": "point" + }, + "point_1767774864124": { + "instances": [ + { + "id": "point_1767774864124_1767774971807_x63lx2786", + "x": 0.2455, + "y": 0.627 + } + ], + "type": "point" + } + }, + "correction_plan": "保持爪夹合拢状态，并向爪夹方向下方下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取饼干盒上的碗成功使饼干盒上的碗靠近盘子", + "frame": 215, + "progress": 60, + "progress_explanation": "饼干盒上的碗已被抓取成功并已完全靠近盘子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒上的碗，饼干盒上的碗已完全靠近盘子。\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：爪夹保持合拢状态，下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "time": 7.165599 + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "annotations": { + "bbox_1767774856344": { + "instances": [ + { + "height": 0.08899999999999997, + "id": "bbox_1767774856344_1767774993855_vomnj8dt3", + "width": 0.14700000000000002, + "x": 0.1765, + "y": 0.68 + } + ], + "type": "bbox" + }, + "bbox_1767774856488": { + "instances": [ + { + "height": 0.125, + "id": "bbox_1767774856488_1767774990340_b2sm0ra84", + "width": 0.19599999999999998, + "x": 0.1565, + "y": 0.663 + } + ], + "type": "bbox" + }, + "point_1767774864124": { + "instances": [ + { + "id": "point_1767774864124_1767774995663_thyddz093", + "x": 0.2225, + "y": 0.714 + } + ], + "type": "point" + } + }, + "correction_plan": "张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取饼干盒上的碗并成功使饼干盒上的碗移动至盘子上", + "frame": 248, + "progress": 80, + "progress_explanation": "饼干盒上的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒上的碗，饼干盒上的碗已被移动至贴合盘子位置\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：张开爪夹，使饼干盒上的碗放在盘子上", + "time": 8.2574 + }, + { + "action_description": "爪夹由合拢变为张开", + "annotations": { + "bbox_1767774856344": { + "instances": [ + { + "height": 0.11199999999999999, + "id": "bbox_1767774856344_1767775007600_7rhdx2ce7", + "width": 0.155, + "x": 0.1675, + "y": 0.62 + } + ], + "type": "bbox" + }, + "bbox_1767774856488": { + "instances": [ + { + "height": 0.13, + "id": "bbox_1767774856488_1767775003876_u0813y836", + "width": 0.19000000000000003, + "x": 0.1585, + "y": 0.661 + } + ], + "type": "bbox" + }, + "point_1767774863968": { + "instances": [ + { + "id": "point_1767774863968_1767775000599_2i0ahbbwi", + "x": 0.1315, + "y": 0.685 + } + ], + "type": "point" + }, + "point_1767774864124": { + "instances": [ + { + "id": "point_1767774864124_1767774998495_bg3xv9pyg", + "x": 0.2205, + "y": 0.68 + } + ], + "type": "point" + } + }, + "correction_plan": "拿起饼干盒上的碗并把它放在盘子上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，饼干盒上的碗成功被放置在盘子上", + "frame": 311, + "progress": 100, + "progress_explanation": "拿起饼干盒上的碗并把它放在盘子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于饼干盒上的碗上方，饼干盒上的碗已被放在盘子上。\n拿起饼干盒上的碗并把它放在盘子上的任务已完成", + "time": 10.3562 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1767774856344", + "name": "饼干盒上的碗" + }, + { + "color": "#FF9800", + "id": "bbox_1767774856488", + "name": "盘子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1767774863968", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1767774864124", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001594.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001594.json new file mode 100644 index 0000000000000000000000000000000000000000..3d4a59737da55199f8ea780839d4dcd777dcd6ef --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001594.json @@ -0,0 +1,478 @@ +{ + "task_description": "拿起烤盘上的碗并把它放在盘子上\n开始移动0%\n爪夹靠近烤盘上的碗20%\n爪夹夹取烤盘上的碗40%\n爪夹夹取烤盘上的碗靠近盘子60%\n爪夹下降烤盘上的碗被移动至盘子上方80%\n张开爪夹，烤盘上的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向右前方烤盘上的碗移动，移动至烤盘上的碗正上方后下降，下降至可抓取烤盘上的碗的位置合拢爪夹，抓取烤盘上的碗，之后保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至烤盘上的碗贴合盘子后张开爪夹，使烤盘上的碗放在盘子上", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离烤盘上的碗，未开始移动\n为完成拿起烤盘上的碗并把它放在盘子上的任务应当：爪夹向爪夹方向右前方移动，移动至烤盘上的碗正上方后下降，下降至烤盘上的碗位置合拢爪夹，抓取烤盘上的碗", + "time": 0, + "annotations": { + "bbox_1767853296251": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296251_1767853344315_atl04q68t", + "x": 0.20833331298828126, + "y": 0.399, + "width": 0.13199999999999998, + "height": 0.10099999999999998 + } + ] + }, + "bbox_1767853296420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296420_1767853356183_447iujyq0", + "x": 0.13733331298828125, + "y": 0.6486666717529297, + "width": 0.18400000000000002, + "height": 0.14600000000000002 + } + ] + }, + "point_1767853308516": { + "type": "point", + "instances": [ + { + "id": "point_1767853308516_1767853361954_h49j1jkou", + "x": 0.43333331298828126, + "y": 0.25066667175292967 + } + ] + }, + "point_1767853308671": { + "type": "point", + "instances": [ + { + "id": "point_1767853308671_1767853364557_djbz5gmr7", + "x": 0.5483333129882813, + "y": 0.2496666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "correction_plan": "爪夹保持张开状态下降，下降至可抓取烤盘上的碗的位置合拢爪夹，抓取烤盘上的碗，之后保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至烤盘上的碗贴合盘子后张开爪夹，使烤盘上的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向右前方烤盘上的碗位置移动靠近", + "frame": 40, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向右前方移动到了烤盘上的碗上方，但还为至可抓取烤盘上的碗的位置，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于烤盘上的碗上方，烤盘上的碗尚未被移动。\n为完成拿起烤盘上的碗并把它放盘子上的任务应当：爪夹向爪夹方向下方下降，下降至烤盘上的碗位置合拢爪夹，抓取烤盘上的碗", + "time": 1.31924375553721, + "annotations": { + "point_1767853308671": { + "type": "point", + "instances": [ + { + "id": "point_1767853308671_1767853369006_mvhq9o8k0", + "x": 0.42733331298828126, + "y": 0.3296666717529297 + } + ] + }, + "point_1767853308516": { + "type": "point", + "instances": [ + { + "id": "point_1767853308516_1767853371181_t0ktp75xj", + "x": 0.30833331298828126, + "y": 0.3366666717529297 + } + ] + }, + "bbox_1767853296251": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296251_1767853375866_17ufd949t", + "x": 0.21233331298828126, + "y": 0.4006666717529297, + "width": 0.12899999999999998, + "height": 0.10099999999999998 + } + ] + }, + "bbox_1767853296420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296420_1767853380702_zmia4hm23", + "x": 0.13633331298828125, + "y": 0.6506666717529297, + "width": 0.18900000000000003, + "height": 0.138 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "合拢爪夹，抓取烤盘上的碗，之后保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至烤盘上的碗贴合盘子后张开爪夹，使烤盘上的碗放在盘子上", + "error_success_analysis": "爪夹成功向下方移动下降至可夹取烤盘上的碗的位置，", + "frame": 93, + "progress": 20, + "progress_explanation": "爪夹已移动至烤盘上的碗位置。因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于烤盘上的碗位置，烤盘上的碗尚未被夹取。\n为完成拿起烤盘上的碗并把它放在盘子上的任务应当：合拢爪夹，抓取烤盘上的碗，之后保持爪夹合拢状态抬升并向爪夹方向前方盘子的位置移动", + "time": 3.102, + "annotations": { + "bbox_1767853296420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296420_1767853387482_okyz24qtj", + "x": 0.12833331298828124, + "y": 0.6506666717529297, + "width": 0.19500000000000003, + "height": 0.138 + } + ] + }, + "bbox_1767853296251": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296251_1767853393075_um04qkgj2", + "x": 0.21233331298828126, + "y": 0.4346666717529297, + "width": 0.13199999999999998, + "height": 0.07199999999999995 + } + ] + }, + "point_1767853308516": { + "type": "point", + "instances": [ + { + "id": "point_1767853308516_1767853395811_pebh8lo4h", + "x": 0.28933331298828124, + "y": 0.4736666717529297 + } + ] + }, + "point_1767853308671": { + "type": "point", + "instances": [ + { + "id": "point_1767853308671_1767853397926_sdy9573cz", + "x": 0.38133331298828127, + "y": 0.4696666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至烤盘上的碗贴合盘子后张开爪夹，使烤盘上的碗放在盘子上", + "error_success_analysis": "爪夹成功合拢，烤盘上的碗成功被爪夹夹取", + "frame": 124, + "progress": 40, + "progress_explanation": "烤盘上的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧烤盘上的碗，烤盘上的碗尚未移动。\n为完成拿起烤盘上的碗并把它放在盘子上的任务应当：保持爪夹合拢状态抬升，向爪夹方向前方盘子位置移动，移动至盘子正上方后保持爪夹合拢状态下降", + "time": 4.136, + "annotations": { + "point_1767853308671": { + "type": "point", + "instances": [ + { + "id": "point_1767853308671_1767853402767_rrfaty1hk", + "x": 0.35333331298828125, + "y": 0.4666666717529297 + } + ] + }, + "point_1767853308516": { + "type": "point", + "instances": [ + { + "id": "point_1767853308516_1767853404842_cv37kund3", + "x": 0.31733331298828127, + "y": 0.4686666717529297 + } + ] + }, + "bbox_1767853296251": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296251_1767853413395_4mrzj60cb", + "x": 0.21333331298828126, + "y": 0.4406666717529297, + "width": 0.12200000000000003, + "height": 0.06 + } + ] + }, + "bbox_1767853296420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296420_1767853418971_9cwcp5sy6", + "x": 0.13633331298828125, + "y": 0.6486666717529297, + "width": 0.18300000000000002, + "height": 0.137 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至烤盘上的碗贴合盘子后张开爪夹，使烤盘上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取烤盘上的碗成功使烤盘上的碗抬升并移动", + "frame": 183, + "progress": 50, + "progress_explanation": "烤盘上的碗已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧烤盘上的碗，烤盘上的碗已被抬升至空中\n为完成拿起烤盘上的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向前方盘子位置移动，移动至盘子正上方后保持爪夹合拢状态下降", + "time": 6.093999, + "annotations": { + "bbox_1767853296420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296420_1767853432031_k2o0xf7hv", + "x": 0.13133331298828124, + "y": 0.6496666717529297, + "width": 0.19800000000000004, + "height": 0.136 + } + ] + }, + "bbox_1767853296251": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296251_1767853437012_nrplwa15s", + "x": 0.17633331298828125, + "y": 0.3686666717529297, + "width": 0.14700000000000002, + "height": 0.07699999999999996 + } + ] + }, + "point_1767853308516": { + "type": "point", + "instances": [ + { + "id": "point_1767853308516_1767853439195_ugyb8vvff", + "x": 0.29733331298828125, + "y": 0.3966666717529297 + } + ] + }, + "point_1767853308671": { + "type": "point", + "instances": [ + { + "id": "point_1767853308671_1767853441219_qa0use7ph", + "x": 0.33633331298828123, + "y": 0.3856666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "保持爪夹合拢状态下降，下降至烤盘上的碗贴合盘子后张开爪夹，使烤盘上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取烤盘上的碗成功使烤盘上的碗靠近盘子", + "frame": 236, + "progress": 60, + "progress_explanation": "烤盘上的碗已被抓取成功并已完全靠近盘子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧烤盘上的碗，烤盘上的碗已完全靠近盘子。\n为完成拿起烤盘上的碗并把它放在盘子上的任务应当：爪夹保持合拢状态，下降，下降至烤盘上的碗贴合盘子后张开爪夹，使烤盘上的碗放在盘子上", + "time": 7.854, + "annotations": { + "point_1767853308671": { + "type": "point", + "instances": [ + { + "id": "point_1767853308671_1767853445339_alu7rznpt", + "x": 0.30933331298828126, + "y": 0.5666666717529297 + } + ] + }, + "point_1767853308516": { + "type": "point", + "instances": [ + { + "id": "point_1767853308516_1767853447155_5rfmkycop", + "x": 0.2693333129882813, + "y": 0.5786666717529297 + } + ] + }, + "bbox_1767853296251": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296251_1767853472219_n43s2fkp8", + "x": 0.12433331298828125, + "y": 0.5496666717529297, + "width": 0.173, + "height": 0.09099999999999997 + } + ] + }, + "bbox_1767853296420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296420_1767853476728_8jm7e1i0o", + "x": 0.13533331298828125, + "y": 0.6576666717529297, + "width": 0.18800000000000003, + "height": 0.128 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方下降移动", + "correction_plan": "张开爪夹，使烤盘上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取烤盘上的碗并成功使烤盘上的碗移动至盘子上", + "frame": 280, + "progress": 80, + "progress_explanation": "烤盘上的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧烤盘上的碗，烤盘上的碗已被移动至贴合盘子位置\n为完成拿起烤盘上的碗并把它放在盘子上的任务应当：张开爪夹，使烤盘上的碗放在盘子上", + "time": 9.333333333333332, + "annotations": { + "bbox_1767853296420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296420_1767853482231_xv3j9sghu", + "x": 0.13533331298828125, + "y": 0.6606666717529297, + "width": 0.19700000000000004, + "height": 0.126 + } + ] + }, + "bbox_1767853296251": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296251_1767853485143_6j9k2k817", + "x": 0.17133331298828125, + "y": 0.6576666717529297, + "width": 0.133, + "height": 0.08299999999999996 + } + ] + }, + "point_1767853308516": { + "type": "point", + "instances": [ + { + "id": "point_1767853308516_1767853486716_h4t44yd3j", + "x": 0.28333331298828124, + "y": 0.6866666717529297 + } + ] + }, + "point_1767853308671": { + "type": "point", + "instances": [ + { + "id": "point_1767853308671_1767853488415_o7u0kwnnp", + "x": 0.3253333129882813, + "y": 0.6736666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起烤盘上的碗并把它放在盘子上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，烤盘上的碗成功被放置在盘子上", + "frame": 329, + "progress": 100, + "progress_explanation": "拿起烤盘上的碗并把它放在盘子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于烤盘上的碗上方，烤盘上的碗已被放在盘子上。\n拿起烤盘上的碗并把它放在盘子上的任务已完成", + "time": 10.952380952380953, + "annotations": { + "point_1767853308671": { + "type": "point", + "instances": [ + { + "id": "point_1767853308671_1767853491579_q8osd59p1", + "x": 0.34133331298828123, + "y": 0.6033333358764649 + } + ] + }, + "point_1767853308516": { + "type": "point", + "instances": [ + { + "id": "point_1767853308516_1767853493106_q25c1zpt6", + "x": 0.23533331298828125, + "y": 0.6673333358764648 + } + ] + }, + "bbox_1767853296420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296420_1767853496361_au7y23ldy", + "x": 0.14133331298828125, + "y": 0.6653333358764648, + "width": 0.18200000000000002, + "height": 0.12 + } + ] + }, + "bbox_1767853296251": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853296251_1767853499377_s22f31agq", + "x": 0.13633331298828125, + "y": 0.6273333358764649, + "width": 0.145, + "height": 0.11599999999999999 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767853296251", + "name": "烤盘上的碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767853296420", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767853308516", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767853308671", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001597.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001597.json new file mode 100644 index 0000000000000000000000000000000000000000..7b0a2769f5cbb483e75dbb755ed9c1db102ea3c3 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001597.json @@ -0,0 +1,478 @@ +{ + "task_description": "拿起盘子和烤盘之间的碗并把它放在盘子上\n开始移动0%\n爪夹靠近盘子和烤盘之间的碗20%\n爪夹夹取盘子和烤盘之间的碗40%\n爪夹夹取盘子和烤盘之间的碗靠近盘子60%\n爪夹下降盘子和烤盘之间的碗被移动至盘子上方80%\n张开爪夹，盘子和烤盘之间的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向右前方盘子和烤盘之间的碗移动，移动至盘子和烤盘之间的碗正上方后下降，下降至可抓取盘子和烤盘之间的碗的位置合拢爪夹，抓取盘子和烤盘之间的碗，之后保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离盘子和烤盘之间的碗，未开始移动\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：爪夹向爪夹方向右前方移动，移动至盘子和烤盘之间的碗正上方后下降，下降至盘子和烤盘之间的碗位置合拢爪夹，抓取盘子和烤盘之间的碗", + "time": 0.2688, + "annotations": { + "bbox_1767853517144": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853517144_1767853605900_7p1yiwszn", + "x": 0.12733331298828127, + "y": 0.6616666717529297, + "width": 0.197, + "height": 0.14500000000000002 + } + ] + }, + "bbox_1767853516964": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853516964_1767853608669_t9edeqoz0", + "x": 0.18833331298828127, + "y": 0.5456666717529297, + "width": 0.137, + "height": 0.10899999999999999 + } + ] + }, + "point_1767853527636": { + "type": "point", + "instances": [ + { + "id": "point_1767853527636_1767853611088_frovxeu2c", + "x": 0.43633331298828126, + "y": 0.2466666717529297 + } + ] + }, + "point_1767853527772": { + "type": "point", + "instances": [ + { + "id": "point_1767853527772_1767853612895_3qc3b3s9k", + "x": 0.5453333129882812, + "y": 0.2466666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "correction_plan": "爪夹继续向爪夹方向右前方盘子和烤盘之间的碗移动，移动至盘子和烤盘之间的碗正上方后下降，下降至可抓取盘子和烤盘之间的碗的位置合拢爪夹，抓取盘子和烤盘之间的碗，之后保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向右前方盘子和烤盘之间的碗位置移动靠近", + "frame": 66, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向右前方移动到盘子和烤盘之间的碗左后方，尚未完全靠近盘子和烤盘之间的碗，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于盘子和烤盘之间的碗左后方，盘子和烤盘之间的碗尚未被移动。\n为完成拿起盘子和烤盘之间的碗并把它放盘子上的任务应当：爪夹向爪夹方向右前方继续移动，移动至盘子和烤盘之间的碗上方后下降至盘子和烤盘之间的碗位置合拢爪夹，抓取盘子和烤盘之间的碗", + "time": 2.2025974025974024, + "annotations": { + "point_1767853527772": { + "type": "point", + "instances": [ + { + "id": "point_1767853527772_1767853615361_es1daq7iz", + "x": 0.40033331298828123, + "y": 0.456 + } + ] + }, + "point_1767853527636": { + "type": "point", + "instances": [ + { + "id": "point_1767853527636_1767853617660_g4x8cp9yd", + "x": 0.2603333129882813, + "y": 0.45933333587646485 + } + ] + }, + "bbox_1767853516964": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853516964_1767853620804_lnjhs2dls", + "x": 0.18933331298828127, + "y": 0.5403333358764648, + "width": 0.136, + "height": 0.11599999999999999 + } + ] + }, + "bbox_1767853517144": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853517144_1767853625372_9qj3466cg", + "x": 0.13233331298828124, + "y": 0.6643333358764648, + "width": 0.19100000000000003, + "height": 0.14300000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "合拢爪夹，抓取盘子和烤盘之间的碗，之后保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹成功向下方移动下降至可夹取盘子和烤盘之间的碗的位置", + "frame": 130, + "progress": 20, + "progress_explanation": "爪夹已移动至盘子和烤盘之间的碗位置。因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于盘子和烤盘之间的碗位置，盘子和烤盘之间的碗尚未被夹取。\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：合拢爪夹，抓取盘子和烤盘之间的碗，之后保持爪夹合拢状态抬升并向爪夹方向前方盘子的位置移动", + "time": 4.322077922077922, + "annotations": { + "bbox_1767853517144": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853517144_1767853629704_7qichmkpy", + "x": 0.14133331298828125, + "y": 0.6683333358764648, + "width": 0.18000000000000002, + "height": 0.136 + } + ] + }, + "bbox_1767853516964": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853516964_1767853632299_rrx6ra1t4", + "x": 0.18033331298828126, + "y": 0.5773333358764648, + "width": 0.14500000000000002, + "height": 0.08399999999999996 + } + ] + }, + "point_1767853527636": { + "type": "point", + "instances": [ + { + "id": "point_1767853527636_1767853633889_l1dlk777p", + "x": 0.27233331298828123, + "y": 0.6253333358764649 + } + ] + }, + "point_1767853527772": { + "type": "point", + "instances": [ + { + "id": "point_1767853527772_1767853635424_eqhh9q5ec", + "x": 0.37533331298828126, + "y": 0.6283333358764649 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹成功合拢，盘子和烤盘之间的碗成功被爪夹夹取", + "frame": 160, + "progress": 40, + "progress_explanation": "盘子和烤盘之间的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧盘子和烤盘之间的碗，盘子和烤盘之间的碗尚未移动。\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：保持爪夹合拢状态抬升，向爪夹方向前方盘子位置移动，移动至盘子正上方后保持爪夹合拢状态下降", + "time": 5.3194805194805195, + "annotations": { + "point_1767853527772": { + "type": "point", + "instances": [ + { + "id": "point_1767853527772_1767853639764_pynj2b94a", + "x": 0.3353333129882813, + "y": 0.6326666717529297 + } + ] + }, + "point_1767853527636": { + "type": "point", + "instances": [ + { + "id": "point_1767853527636_1767853641418_g3f5a60lb", + "x": 0.28933331298828124, + "y": 0.6256666717529297 + } + ] + }, + "bbox_1767853517144": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853517144_1767853644537_o2ll7jv10", + "x": 0.13333331298828124, + "y": 0.6686666717529297, + "width": 0.18800000000000003, + "height": 0.133 + } + ] + }, + "bbox_1767853516964": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853516964_1767853647065_qx84tp2k7", + "x": 0.17933331298828126, + "y": 0.5946666717529298, + "width": 0.14200000000000002, + "height": 0.06399999999999995 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取盘子和烤盘之间的碗成功使盘子和烤盘之间的碗抬升并移动", + "frame": 196, + "progress": 50, + "progress_explanation": "盘子和烤盘之间的碗已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧盘子和烤盘之间的碗，盘子和烤盘之间的碗已被抬升至空中\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向前方盘子位置移动，移动至盘子正上方后保持爪夹合拢状态下降", + "time": 6.537599, + "annotations": { + "bbox_1767853516964": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853516964_1767853652592_knrkot1ht", + "x": 0.14433331298828125, + "y": 0.5576666717529297, + "width": 0.13999999999999999, + "height": 0.08399999999999996 + } + ] + }, + "bbox_1767853517144": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853517144_1767853655525_22zku8rlh", + "x": 0.13533331298828125, + "y": 0.6696666717529297, + "width": 0.18600000000000003, + "height": 0.135 + } + ] + }, + "point_1767853527636": { + "type": "point", + "instances": [ + { + "id": "point_1767853527636_1767853659470_n19feloar", + "x": 0.2693333129882813, + "y": 0.5856666717529297 + } + ] + }, + "point_1767853527772": { + "type": "point", + "instances": [ + { + "id": "point_1767853527772_1767853661192_kszfnsdq0", + "x": 0.30133331298828125, + "y": 0.5896666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "保持爪夹合拢下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取盘子和烤盘之间的碗成功使盘子和烤盘之间的碗靠近盘子", + "frame": 218, + "progress": 60, + "progress_explanation": "盘子和烤盘之间的碗已被抓取成功并已完全靠近盘子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧盘子和烤盘之间的碗，盘子和烤盘之间的碗已完全靠近盘子。\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：爪夹保持合拢状态，下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "time": 7.257599, + "annotations": { + "point_1767853527772": { + "type": "point", + "instances": [ + { + "id": "point_1767853527772_1767853663770_vcla2w0dw", + "x": 0.29933331298828125, + "y": 0.667 + } + ] + }, + "point_1767853527636": { + "type": "point", + "instances": [ + { + "id": "point_1767853527636_1767853665608_sk28ga4pb", + "x": 0.2643333129882813, + "y": 0.6646666717529297 + } + ] + }, + "bbox_1767853517144": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853517144_1767853668789_bussilmj2", + "x": 0.13133331298828124, + "y": 0.6826666717529297, + "width": 0.19200000000000003, + "height": 0.123 + } + ] + }, + "bbox_1767853516964": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853516964_1767853672525_o61k7hpwu", + "x": 0.13133331298828124, + "y": 0.6376666717529297, + "width": 0.157, + "height": 0.07900000000000007 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方下降移动", + "correction_plan": "张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取盘子和烤盘之间的碗并成功使盘子和烤盘之间的碗移动至盘子上", + "frame": 251, + "progress": 80, + "progress_explanation": "盘子和烤盘之间的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧盘子和烤盘之间的碗，盘子和烤盘之间的碗已被移动至贴合盘子位置\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "time": 8.380799, + "annotations": { + "bbox_1767853516964": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853516964_1767853676456_eodov7qk8", + "x": 0.14833331298828126, + "y": 0.6653333358764648, + "width": 0.149, + "height": 0.08700000000000008 + } + ] + }, + "bbox_1767853517144": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853517144_1767853680469_94iriev0e", + "x": 0.12533331298828126, + "y": 0.6866666717529297, + "width": 0.198, + "height": 0.119 + } + ] + }, + "point_1767853527636": { + "type": "point", + "instances": [ + { + "id": "point_1767853527636_1767853681884_9jnutpnuo", + "x": 0.27933331298828123, + "y": 0.7056666717529297 + } + ] + }, + "point_1767853527772": { + "type": "point", + "instances": [ + { + "id": "point_1767853527772_1767853683501_0qeym7zc1", + "x": 0.30933331298828126, + "y": 0.7176666717529298 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起盘子和烤盘之间的碗并把它放在盘子上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，盘子和烤盘之间的碗成功被放在盘子上", + "frame": 271, + "progress": 100, + "progress_explanation": "拿起盘子和烤盘之间的碗并把它放在盘子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于盘子和烤盘之间的碗的上方。\n拿起盘子和烤盘之间的碗并把它放在盘子上的任务已完成", + "time": 9.018181818181818, + "annotations": { + "point_1767853527772": { + "type": "point", + "instances": [ + { + "id": "point_1767853527772_1767853685826_accfoh4jr", + "x": 0.35533331298828125, + "y": 0.6883333358764648 + } + ] + }, + "point_1767853527636": { + "type": "point", + "instances": [ + { + "id": "point_1767853527636_1767853687224_kcvu90cy9", + "x": 0.23933331298828125, + "y": 0.6813333358764648 + } + ] + }, + "bbox_1767853516964": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853516964_1767853690928_fuud5f5fp", + "x": 0.14933331298828126, + "y": 0.6523333358764648, + "width": 0.148, + "height": 0.1130000000000001 + } + ] + }, + "bbox_1767853517144": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853517144_1767853694545_gwbu4oz48", + "x": 0.12733331298828127, + "y": 0.6913333358764648, + "width": 0.192, + "height": 0.11699999999999999 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767853516964", + "name": "盘子和烤盘之间的碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767853517144", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767853527636", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767853527772", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001624.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001624.json new file mode 100644 index 0000000000000000000000000000000000000000..b23098d1ca87a272a34d07db398f7ac3ad517e53 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.image/episode_001624.json @@ -0,0 +1,478 @@ +{ + "task_description": "拿起饼干盒旁边的碗并把它放在盘子上\n开始移动0%\n爪夹靠近饼干盒旁边的碗20%\n爪夹夹取饼干盒旁边的碗40%\n爪夹夹取饼干盒旁边的碗靠近盘子60%\n爪夹下降饼干盒旁边的碗被移动至盘子上方80%\n张开爪夹，饼干盒旁边的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向前方饼干盒旁边的碗移动，移动至饼干盒旁边的碗正上方后下降，下降至可抓取饼干盒旁边的碗的位置合拢爪夹，抓取饼干盒旁边的碗，之后保持爪夹合拢状态，并向爪夹方向右后方盘子移动，移动至盘子正上方后下降，下降至饼干盒旁边的碗贴合盘子后张开爪夹，使饼干盒旁边的碗放在盘子上", + "error_success_analysis": "", + "frame": 6, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离饼干盒旁边的碗，未开始移动\n为完成拿起饼干盒旁边的碗并把它放在盘子上的任务应当：爪夹向爪夹方向前方移动，移动至饼干盒旁边的碗正上方后下降，下降至饼干盒旁边的碗位置合拢爪夹，抓取饼干盒旁边的碗", + "time": 0.2052, + "annotations": { + "bbox_1767853712141": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712141_1767853740277_hugkkhbd6", + "x": 0.5163333129882812, + "y": 0.6926666717529297, + "width": 0.15200000000000002, + "height": 0.136 + } + ] + }, + "bbox_1767853712307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712307_1767853743961_nvqvpkleq", + "x": 0.13933331298828125, + "y": 0.6446666717529297, + "width": 0.17600000000000002, + "height": 0.134 + } + ] + }, + "point_1767853719107": { + "type": "point", + "instances": [ + { + "id": "point_1767853719107_1767853745973_70tty3h1w", + "x": 0.42833331298828126, + "y": 0.2586666717529297 + } + ] + }, + "point_1767853719318": { + "type": "point", + "instances": [ + { + "id": "point_1767853719318_1767853748050_m3osa8lik", + "x": 0.5443333129882812, + "y": 0.2566666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "爪夹保持张开状态向爪夹方向下方下降，下降至可抓取饼干盒旁边的碗的位置合拢爪夹，抓取饼干盒旁边的碗，之后保持爪夹合拢状态，并向爪夹方向右后方盘子移动，移动至盘子正上方后下降，下降至饼干盒旁边的碗贴合盘子后张开爪夹，使饼干盒旁边的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向前方饼旁边盒旁边的碗位置移动靠近", + "frame": 76, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向前方移动到了饼干盒旁边的碗上方，尚未完全靠近饼干盒旁边的碗，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于饼干盒旁边的碗上方，饼干盒旁边的碗尚未被移动。\n为完成拿起饼干盒旁边的碗并把它放盘子上的任务应当：爪夹下降，下降至饼干盒旁边的碗位置合拢爪夹，抓取饼干盒旁边的碗，之后保持爪夹合拢状态抬升并向爪夹方向右后方移动", + "time": 2.5246753246753246, + "annotations": { + "point_1767853719318": { + "type": "point", + "instances": [ + { + "id": "point_1767853719318_1767853751510_wm75tgz9s", + "x": 0.5973333129882813, + "y": 0.522 + } + ] + }, + "point_1767853719107": { + "type": "point", + "instances": [ + { + "id": "point_1767853719107_1767853753617_2rj4dbdyb", + "x": 0.4523333129882813, + "y": 0.5273333358764648 + } + ] + }, + "bbox_1767853712141": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712141_1767853757706_49t1emuhn", + "x": 0.5113333129882812, + "y": 0.6973333358764648, + "width": 0.15600000000000003, + "height": 0.13 + } + ] + }, + "bbox_1767853712307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712307_1767853761693_ujul1pfd1", + "x": 0.13533331298828125, + "y": 0.6363333358764649, + "width": 0.18800000000000003, + "height": 0.1489999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "correction_plan": "合拢爪夹，抓取饼干盒旁边的碗，之后保持爪夹合拢状态，并向爪夹方向右后方盘子移动，移动至盘子正上方后下降，下降至饼干盒旁边的碗贴合盘子后张开爪夹，使饼干盒旁边的碗放在盘子上", + "error_success_analysis": "爪夹成功合拢，饼干盒旁边的碗被成功抓取", + "frame": 142, + "progress": 20, + "progress_explanation": "爪夹已移动至饼干盒旁边的碗位置。因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于饼干盒旁边的碗位置，饼干盒旁边的碗尚未被夹取。\n为完成拿起饼干盒旁边的碗并把它放在盘子上的任务应当：合拢爪夹，抓取饼干盒旁边的碗，之后保持爪夹合拢状态并向爪夹方向右后方盘子的位置移动", + "time": 4.7196, + "annotations": { + "bbox_1767853712307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712307_1767853767154_vq331rxe6", + "x": 0.13233331298828124, + "y": 0.6433333358764649, + "width": 0.18700000000000003, + "height": 0.1369999999999999 + } + ] + }, + "bbox_1767853712141": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712141_1767853770318_3ay0avg1g", + "x": 0.5043333129882812, + "y": 0.7406666717529297, + "width": 0.15600000000000003, + "height": 0.08900000000000008 + } + ] + }, + "point_1767853719107": { + "type": "point", + "instances": [ + { + "id": "point_1767853719107_1767853772165_e5wdg5das", + "x": 0.48033331298828125, + "y": 0.7746666717529297 + } + ] + }, + "point_1767853719318": { + "type": "point", + "instances": [ + { + "id": "point_1767853719318_1767853773982_ai076pg2a", + "x": 0.5963333129882813, + "y": 0.7766666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向右后方盘子移动，移动至盘子正上方后下降，下降至饼干盒旁边的碗贴合盘子后张开爪夹，使饼干盒旁边的碗放在盘子上", + "error_success_analysis": "爪夹成功合拢，饼干盒旁边的碗成功被爪夹夹取", + "frame": 173, + "progress": 40, + "progress_explanation": "饼干盒旁边的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒旁边的碗，饼干盒旁边的碗尚未移动。\n为完成拿起饼干盒旁边的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向右后方盘子位置移动，移动至盘子正上方后张开爪夹，使饼干盒旁边的碗放在盘子上", + "time": 5.750649350649351, + "annotations": { + "point_1767853719318": { + "type": "point", + "instances": [ + { + "id": "point_1767853719318_1767853776701_sbi5majn9", + "x": 0.5433333129882812, + "y": 0.7603333358764649 + } + ] + }, + "point_1767853719107": { + "type": "point", + "instances": [ + { + "id": "point_1767853719107_1767853778665_c43c0ktvm", + "x": 0.5133333129882812, + "y": 0.7633333358764649 + } + ] + }, + "bbox_1767853712141": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712141_1767853813089_n5p0rp82c", + "x": 0.5153333129882812, + "y": 0.7216666717529298, + "width": 0.14800000000000002, + "height": 0.09999999999999998 + } + ] + }, + "bbox_1767853712307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712307_1767853816365_10vt8zqqe", + "x": 0.14133331298828125, + "y": 0.6416666717529297, + "width": 0.17500000000000002, + "height": 0.14500000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒旁边的碗贴合盘子后张开爪夹，使饼干盒旁边的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取饼干盒旁边的碗成功使饼干盒旁边的碗抬升并移动", + "frame": 209, + "progress": 50, + "progress_explanation": "饼干盒旁边的碗已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒旁边的碗，饼干盒旁边的碗已被抬升至空中\n为完成拿起饼干盒旁边的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向右方盘子位置移动，移动至盘子正上方后张开爪夹，使饼干盒旁边的碗放在盘子上", + "time": 6.966233766233767, + "annotations": { + "bbox_1767853712307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712307_1767853821125_nstw9f6t8", + "x": 0.14433331298828125, + "y": 0.6416666717529297, + "width": 0.17700000000000002, + "height": 0.14700000000000002 + } + ] + }, + "bbox_1767853712141": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712141_1767853829201_j8grts9uf", + "x": 0.47733331298828124, + "y": 0.6206666717529297, + "width": 0.15999999999999998, + "height": 0.10399999999999998 + } + ] + }, + "point_1767853719107": { + "type": "point", + "instances": [ + { + "id": "point_1767853719107_1767853831036_k13f6kmpk", + "x": 0.46733331298828124, + "y": 0.6616666717529297 + } + ] + }, + "point_1767853719318": { + "type": "point", + "instances": [ + { + "id": "point_1767853719318_1767853832797_bn9t4mg0o", + "x": 0.5053333129882812, + "y": 0.6546666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "保持爪夹合拢状态下降，下降至饼干盒旁边的碗贴合盘子后张开爪夹，使饼干盒旁边的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取饼干盒旁边的碗成功使饼干盒旁边的碗靠近盘子", + "frame": 264, + "progress": 60, + "progress_explanation": "饼干盒旁边的碗已被抓取成功并已完全靠近盘子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒旁边的碗，饼干盒旁边的碗已完全靠近盘子。\n为完成拿起饼干盒旁边的碗并把它放在盘子上的任务应当：爪夹保持合拢状态，下降，下降至饼干盒旁边的碗贴合盘子后张开爪夹，使饼干盒旁边的碗放在盘子上", + "time": 8.78961038961039, + "annotations": { + "point_1767853719318": { + "type": "point", + "instances": [ + { + "id": "point_1767853719318_1767853836081_c3rd9rty7", + "x": 0.22833331298828125, + "y": 0.6226666717529297 + } + ] + }, + "point_1767853719107": { + "type": "point", + "instances": [ + { + "id": "point_1767853719107_1767853838050_aiot79gc3", + "x": 0.18533331298828126, + "y": 0.6256666717529297 + } + ] + }, + "bbox_1767853712307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712307_1767853841114_r4idrjwjs", + "x": 0.13633331298828125, + "y": 0.6426666717529297, + "width": 0.18800000000000003, + "height": 0.136 + } + ] + }, + "bbox_1767853712141": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712141_1767853844655_ex808xymp", + "x": 0.19333331298828124, + "y": 0.5736666717529297, + "width": 0.166, + "height": 0.11599999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "correction_plan": "张开爪夹，使饼干盒旁边的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取饼干盒旁边的碗并成功使饼干盒旁边的碗移动至盘子上", + "frame": 303, + "progress": 80, + "progress_explanation": "饼干盒旁边的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒旁边的碗，饼干盒旁边的碗已被移动至贴合盘子位置\n为完成拿起饼干盒旁边的碗并把它放在盘子上的任务应当：张开爪夹，使饼干盒旁边的碗放在盘子上", + "time": 10.0872, + "annotations": { + "bbox_1767853712141": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712141_1767853851190_ao9iv6pd8", + "x": 0.17333331298828125, + "y": 0.6656666717529297, + "width": 0.14400000000000002, + "height": 0.07699999999999996 + } + ] + }, + "bbox_1767853712307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712307_1767853854542_ea6818qvo", + "x": 0.13633331298828125, + "y": 0.6686666717529297, + "width": 0.19300000000000003, + "height": 0.11599999999999999 + } + ] + }, + "point_1767853719107": { + "type": "point", + "instances": [ + { + "id": "point_1767853719107_1767853856321_0jffmv6u0", + "x": 0.16933331298828125, + "y": 0.7176666717529298 + } + ] + }, + "point_1767853719318": { + "type": "point", + "instances": [ + { + "id": "point_1767853719318_1767853858266_72vqu0hco", + "x": 0.20033331298828125, + "y": 0.7126666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起饼干盒旁边的碗并把它放在盘子上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，饼干盒旁边的碗成功被放置在盘子上", + "frame": 324, + "progress": 100, + "progress_explanation": "拿起饼干盒旁边的碗并把它放在盘子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于饼干盒旁边的碗上方，饼干盒旁边的碗已被放在盘子上。\n拿起饼干盒旁边的碗并把它放在盘子上的任务已完成", + "time": 10.8, + "annotations": { + "point_1767853719318": { + "type": "point", + "instances": [ + { + "id": "point_1767853719318_1767853863223_w54brfgvw", + "x": 0.20733331298828125, + "y": 0.7046666717529297 + } + ] + }, + "point_1767853719107": { + "type": "point", + "instances": [ + { + "id": "point_1767853719107_1767853865141_cwnbar72z", + "x": 0.16533331298828124, + "y": 0.7126666717529297 + } + ] + }, + "bbox_1767853712141": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712141_1767853869954_1gkm6sdhx", + "x": 0.17333331298828125, + "y": 0.6566666717529297, + "width": 0.14800000000000002, + "height": 0.08799999999999997 + } + ] + }, + "bbox_1767853712307": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853712307_1767853873778_qa6jn7hl1", + "x": 0.14333331298828125, + "y": 0.6766666717529297, + "width": 0.18100000000000002, + "height": 0.10499999999999998 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767853712141", + "name": "饼干盒旁边的碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767853712307", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767853719107", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767853719318", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001067.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001067.json new file mode 100644 index 0000000000000000000000000000000000000000..26b6726f99ad96a0255074506ecd8d51d4850344 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001067.json @@ -0,0 +1,518 @@ +{ + "task_description": "拿起烧烤酱，把它放进篮子里\n开始移动0%\n爪夹靠近烧烤酱20%\n爪夹夹取烧烤酱40%\n爪夹夹取烧烤酱靠近篮子60%\n烧烤酱被移动至篮子上方80%\n张开爪夹，烧烤酱落入篮子100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向左前方烧烤酱移动，移动至烧烤酱正上方后爪夹下降，下降至烧烤酱位置合拢爪夹，抓取烧烤酱，之后保持爪夹合拢状态抬升，并向爪夹方向右后方篮子位置移动，移动至篮子上方后下降，至烧烤酱进入篮子中张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离烧烤酱，未开始移动。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：爪夹向爪夹方向左前方烧烤酱位置移动，移动至烧烤酱正上方后下降", + "time": 0.005566670525934278, + "annotations": { + "bbox_1767853898933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853898933_1767853923062_ifd03e0pj", + "x": 0.18733331298828126, + "y": 0.012, + "width": 0.16899999999999998, + "height": 0.207 + } + ] + }, + "bbox_1767853899104": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853899104_1767853929662_691kyx5da", + "x": 0.8393333129882813, + "y": 0.06133333587646485, + "width": 0.15800000000000003, + "height": 0.343 + } + ] + }, + "point_1767853903590": { + "type": "point", + "instances": [ + { + "id": "point_1767853903590_1767853931686_ihqnkeku3", + "x": 0.23333331298828125, + "y": 0.7793333358764648 + } + ] + }, + "point_1767853903730": { + "type": "point", + "instances": [ + { + "id": "point_1767853903730_1767853933086_lmfxwwz6v", + "x": 0.7563333129882812, + "y": 0.7753333358764649 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动", + "correction_plan": "爪夹继续向爪夹方向前方烧烤酱移动，移动至烧烤酱正上方后爪夹下降，下降至烧烤酱位置合拢爪夹，抓取烧烤酱，之后保持爪夹合拢状态抬升，并向爪夹方向右后方篮子位置移动，移动至篮子上方后下降，至烧烤酱进入篮子中张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹成功向爪夹方向左前方烧烤酱位置靠近，成功靠近了烧烤酱", + "frame": 74, + "progress": 10, + "progress_explanation": "爪夹已移动烧烤酱上方，但还未移动至可抓取牛奶的位置，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于烧烤酱上方，烧烤酱尚未被夹取。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：保持爪夹张开状态，继续向左前方移动，移动至烧烤酱正上方后下降", + "time": 2.4545454545454546, + "annotations": { + "point_1767853903730": { + "type": "point", + "instances": [ + { + "id": "point_1767853903730_1767853938683_3mgwwwtaq", + "x": 0.7643333129882812, + "y": 0.7733333358764649 + } + ] + }, + "point_1767853903590": { + "type": "point", + "instances": [ + { + "id": "point_1767853903590_1767853940753_2qeoylon6", + "x": 0.24033331298828126, + "y": 0.7763333358764649 + } + ] + }, + "bbox_1767853898933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853898933_1767853953214_9j80yf63r", + "x": 0.43533331298828126, + "y": 0.5306666717529297, + "width": 0.11399999999999999, + "height": 0.09499999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方下降", + "correction_plan": "爪夹继续向爪夹方向前方烧烤酱移动，移动至烧烤酱正上方后爪夹下降，下降至烧烤酱位置合拢爪夹，抓取烧烤酱，之后保持爪夹合拢状态抬升，并向爪夹方向右后方篮子位置移动，移动至篮子上方后下降，至烧烤酱进入篮子中张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹尚未移动至烧烤酱位置，提前下降", + "frame": 139, + "progress": 18, + "progress_explanation": "爪夹靠近烧烤酱，但还为完全靠近至可抓取烧烤酱的位置，因此进度提升至18%", + "state_description": "当前状态为爪夹张开，位于烧烤酱后方，烧烤酱尚未被抓取。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：爪夹继续向爪夹方向前方移动，移动至烧烤酱位置合拢爪夹，", + "time": 4.628571428571428, + "annotations": { + "bbox_1767853898933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853898933_1767853958563_6a3rlm8wm", + "x": 0.49133331298828126, + "y": 0.586, + "width": 0.39299999999999996, + "height": 0.29300000000000004 + } + ] + }, + "point_1767853903590": { + "type": "point", + "instances": [ + { + "id": "point_1767853903590_1767853960575_7y1x011vh", + "x": 0.23533331298828125, + "y": 0.7766666717529297 + } + ] + }, + "point_1767853903730": { + "type": "point", + "instances": [ + { + "id": "point_1767853903730_1767853962256_gbamxwbr8", + "x": 0.8173333129882813, + "y": 0.7666666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "张开爪夹，向爪夹方向前方移动至烧烤酱位置合拢爪夹，抓取烧烤酱，之后保持爪夹合拢状态抬升，并向爪夹方向右后方篮子位置移动，移动至篮子上方后下降，至烧烤酱进入篮子中张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹尚未移动至可抓取烧烤酱的位置，提前进行抓取动作，导致抓取失败", + "frame": 210, + "progress": 10, + "progress_explanation": "爪夹尚未移动至可抓取烧烤酱的位置，提前进行抓取动作，因此进度降低至10%", + "state_description": "当前状态为爪夹合拢，烧烤酱尚未被抓取。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：张开爪夹，并向爪夹方向前方烧烤酱位置移动，移动至烧烤酱位置后合拢爪夹，抓取烧烤酱", + "time": 7.012987012987011, + "annotations": { + "point_1767853903730": { + "type": "point", + "instances": [ + { + "id": "point_1767853903730_1767853966103_0rcg8a0ei", + "x": 0.5493333129882813, + "y": 0.7816666717529297 + } + ] + }, + "point_1767853903590": { + "type": "point", + "instances": [ + { + "id": "point_1767853903590_1767853967488_670bngeu4", + "x": 0.46933331298828124, + "y": 0.7766666717529297 + } + ] + }, + "bbox_1767853898933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853898933_1767853972730_f1c4c8kr2", + "x": 0.42433331298828125, + "y": 0.4586666717529297, + "width": 0.139, + "height": 0.15399999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹张开并向爪夹方向前下方移动", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向右后方篮子位置移动，移动至篮子上方后下降，至烧烤酱进入篮子中张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹成功向爪夹方向前下方移动，成功移动至可抓取烧烤酱的位置", + "frame": 256, + "progress": 20, + "progress_explanation": "爪夹已移动至可抓取烧烤酱的位置，因此进度提升至20%", + "state_description": "当前状态为爪夹张开，位于可抓取烧烤酱的位置，烧烤酱尚未被抓取。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：合拢爪夹，抓取烧烤酱，保持爪夹合拢状态抬升并向爪夹方向右后方篮子移动", + "time": 8.5212, + "annotations": { + "bbox_1767853898933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853898933_1767853980399_8c9d73c4z", + "x": 0.36933331298828126, + "y": 0.5786666717529297, + "width": 0.306, + "height": 0.2919999999999999 + } + ] + }, + "point_1767853903590": { + "type": "point", + "instances": [ + { + "id": "point_1767853903590_1767853982194_zxfc69rw3", + "x": 0.24433331298828126, + "y": 0.7806666717529297 + } + ] + }, + "point_1767853903730": { + "type": "point", + "instances": [ + { + "id": "point_1767853903730_1767853983560_cyvvs1aad", + "x": 0.7613333129882812, + "y": 0.7736666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向右后方篮子位置移动，移动至篮子上方后下降，至烧烤酱进入篮子中张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹成功合拢，烧烤酱成功被爪夹抓紧", + "frame": 295, + "progress": 40, + "progress_explanation": "烧烤酱已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，烧烤酱已被抓取。\n为完成拿起牛奶并把它放进篮子里的任务应当：保持爪夹合拢状态，抬升并向爪夹方向右后方篮子位置移动", + "time": 9.8172, + "annotations": { + "point_1767853903730": { + "type": "point", + "instances": [ + { + "id": "point_1767853903730_1767853986402_4pl97363g", + "x": 0.6773333129882813, + "y": 0.7833333358764648 + } + ] + }, + "point_1767853903590": { + "type": "point", + "instances": [ + { + "id": "point_1767853903590_1767853987767_qd3la43l8", + "x": 0.3853333129882813, + "y": 0.7733333358764649 + } + ] + }, + "bbox_1767853898933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853898933_1767853994080_o1u8nsy31", + "x": 0.38033331298828127, + "y": 0.6073333358764649, + "width": 0.299, + "height": 0.25 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升并移动", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右后方篮子位置移动，移动至篮子上方后下降，至烧烤酱进入篮子中张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹保持合拢，抓取烧烤酱成功使烧烤酱抬升并移动", + "frame": 358, + "progress": 50, + "progress_explanation": "爪夹已夹取烧烤酱，烧烤酱已被抬升靠近篮子，因此进度小幅提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧烧烤酱，烧烤酱已被抬升至空中。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：保持爪夹合拢状态，向爪夹方向右后方篮子位置移动，移动至篮子上方后下降", + "time": 11.9394, + "annotations": { + "bbox_1767853898933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853898933_1767854000943_kjyoizd5p", + "x": 0.36033331298828125, + "y": 0.6003333358764649, + "width": 0.285, + "height": 0.245 + } + ] + }, + "point_1767853903590": { + "type": "point", + "instances": [ + { + "id": "point_1767853903590_1767854002794_j3778yb5f", + "x": 0.35633331298828125, + "y": 0.7753333358764649 + } + ] + }, + "point_1767853903730": { + "type": "point", + "instances": [ + { + "id": "point_1767853903730_1767854004518_22t4667fz", + "x": 0.6563333129882812, + "y": 0.7723333358764649 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右后方移动", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右方篮子位置移动，移动至篮子上方后下降，至烧烤酱进入篮子中张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹保持合拢，抓取烧烤酱成功使烧烤酱抬升并移动靠近至篮子", + "frame": 400, + "progress": 60, + "progress_explanation": "爪夹夹取烧烤酱成功靠近篮子，已完全靠近篮子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧烧烤酱，烧烤酱已被移动靠近篮子\n为完成拿起烧烤酱并把它放进篮子里的任务应当：爪夹保持合拢状态，继续向爪夹方向右方移动，移动至篮子正上方后下降", + "time": 13.324675324675324, + "annotations": { + "point_1767853903730": { + "type": "point", + "instances": [ + { + "id": "point_1767853903730_1767854007847_8s5qvrqle", + "x": 0.6413333129882812, + "y": 0.7746666717529297 + } + ] + }, + "point_1767853903590": { + "type": "point", + "instances": [ + { + "id": "point_1767853903590_1767854009595_fcbclw482", + "x": 0.35533331298828125, + "y": 0.7786666717529297 + } + ] + }, + "bbox_1767853898933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853898933_1767854014646_d8a3lpy8q", + "x": 0.34733331298828124, + "y": 0.5936666717529298, + "width": 0.286, + "height": 0.248 + } + ] + }, + "bbox_1767853899104": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853899104_1767854022899_h6b11wvu1", + "x": 0.5123333129882812, + "y": 0.5656666717529297, + "width": 0.43600000000000005, + "height": 0.269 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右后方移动", + "correction_plan": "张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹保持合拢，抓取烧烤酱成功使烧烤酱移动至篮子上方", + "frame": 444, + "progress": 80, + "progress_explanation": "爪夹夹取烧烤酱，成功使烧烤酱移动至篮子上方，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧烧烤酱，烧烤酱已被移动至篮子上方\n为完成拿起烧烤酱并把它放进篮子里的任务应当：张开爪夹使烧烤酱落入篮子中", + "time": 14.797402597402597, + "annotations": { + "bbox_1767853899104": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853899104_1767854034351_dnm7nxbov", + "x": 0.00733331298828125, + "y": 0.23533333587646485, + "width": 0.9880000000000001, + "height": 0.6 + } + ] + }, + "bbox_1767853898933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853898933_1767854038206_921hgdtsg", + "x": 0.34033331298828123, + "y": 0.5923333358764649, + "width": 0.287, + "height": 0.241 + } + ] + }, + "point_1767853903590": { + "type": "point", + "instances": [ + { + "id": "point_1767853903590_1767854039991_ceo70ace7", + "x": 0.34433331298828124, + "y": 0.7673333358764649 + } + ] + }, + "point_1767853903730": { + "type": "point", + "instances": [ + { + "id": "point_1767853903730_1767854041342_ao38u00ez", + "x": 0.6393333129882812, + "y": 0.7693333358764649 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起烧烤酱并把它放进篮子里的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，烧烤酱成功落入篮子中", + "frame": 477, + "progress": 100, + "progress_explanation": "拿起烧烤酱并把它放进篮子里的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，烧烤酱已被放进篮子中。\n拿起烧烤酱并把它放进篮子里的任务已完成", + "time": 15.904948113824902, + "annotations": { + "point_1767853903730": { + "type": "point", + "instances": [ + { + "id": "point_1767853903730_1767854044238_543ljofj4", + "x": 0.6433333129882812, + "y": 0.77 + } + ] + }, + "point_1767853903590": { + "type": "point", + "instances": [ + { + "id": "point_1767853903590_1767854046005_m57uwmqyt", + "x": 0.34733331298828124, + "y": 0.7776666717529297 + } + ] + }, + "bbox_1767853898933": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853898933_1767854050170_058bzo6lb", + "x": 0.44233331298828127, + "y": 0.5786666717529297, + "width": 0.14900000000000013, + "height": 0.16099999999999992 + } + ] + }, + "bbox_1767853899104": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767853899104_1767854081024_6fceaurby", + "x": 0.00933331298828125, + "y": 0.12466667175292971, + "width": 0.9920000000000001, + "height": 0.7120000000000001 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767853898933", + "name": "烧烤酱", + "color": "#4CAF50" + }, + { + "id": "bbox_1767853899104", + "name": "篮子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767853903590", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767853903730", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001076.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001076.json new file mode 100644 index 0000000000000000000000000000000000000000..e30ddd59c680b91dbdda118f2548da6bd327c9cb --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001076.json @@ -0,0 +1,486 @@ +{ + "task_description": "拿起黄油，把它放进篮子里\n开始移动0%\n爪夹靠近黄油20%\n爪夹夹取黄油40%\n爪夹夹取黄油靠近篮子60%\n黄油被移动至篮子上方80%\n张开爪夹，黄油落入篮子100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向左前方黄油移动，移动至黄油正上方后爪夹下降，下降至黄油位置合拢爪夹，抓取黄油，之后保持爪夹合拢状态抬升，并向爪夹方向右方篮子位置移动，移动至篮子上方后下降，至黄油进入篮子中张开爪夹，使黄油落入篮子中", + "error_success_analysis": "", + "frame": 7, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离黄油，未开始移动。\n为完成拿起黄油并把它放进篮子里的任务应当：爪夹向爪夹方向左前方黄油位置移动，移动至黄油正上方后下降。", + "time": 0.2422, + "annotations": { + "bbox_1767854111264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854111264_1767854137863_xmkpoo1bu", + "x": 0.02033331298828125, + "y": 0.452, + "width": 0.10099999999999999, + "height": 0.14799999999999996 + } + ] + }, + "bbox_1767854111415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854111415_1767854142933_tozvlh425", + "x": 0.8173333129882813, + "y": 0.046, + "width": 0.18000000000000005, + "height": 0.42200000000000004 + } + ] + }, + "point_1767854116419": { + "type": "point", + "instances": [ + { + "id": "point_1767854116419_1767854145040_yjmklot52", + "x": 0.23233331298828125, + "y": 0.7883333358764648 + } + ] + }, + "point_1767854116591": { + "type": "point", + "instances": [ + { + "id": "point_1767854116591_1767854146249_hpaem4ydg", + "x": 0.7643333129882812, + "y": 0.7793333358764648 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动", + "correction_plan": "爪夹保持张开状态下降，下降至黄油位置合拢爪夹，抓取黄油，之后保持爪夹合拢状态抬升，并向爪夹方向右方篮子位置移动，移动至篮子上方后下降，至黄油进入篮子中张开爪夹，使黄油落入篮子中", + "error_success_analysis": "爪夹成功向爪夹方向左前方黄油位置靠近，成功移动至了黄油正上方", + "frame": 76, + "progress": 10, + "progress_explanation": "爪夹已移动至黄油上方，但还未下降移动至可抓取黄油的位置，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于黄油正上方，黄油尚未被夹取。\n为完成拿起黄油并把它放进篮子里的任务应当：保持爪夹张开状态，下降，下降至可抓取牛黄油的位置后合拢爪夹，抓取黄油，保持爪夹合拢状态抬升并移动", + "time": 2.5463203463203468, + "annotations": { + "point_1767854116591": { + "type": "point", + "instances": [ + { + "id": "point_1767854116591_1767854149028_u09giugxa", + "x": 0.7763333129882812, + "y": 0.7786666717529297 + } + ] + }, + "point_1767854116419": { + "type": "point", + "instances": [ + { + "id": "point_1767854116419_1767854150204_micmbhkco", + "x": 0.24833331298828126, + "y": 0.7896666717529297 + } + ] + }, + "bbox_1767854111264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854111264_1767854154220_fu2xwqe6a", + "x": 0.36533331298828126, + "y": 0.5246666717529297, + "width": 0.09599999999999997, + "height": 0.15300000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方下降", + "correction_plan": "合拢爪夹，抓取黄油，之后保持爪夹合拢状态抬升，并向爪夹方向右方篮子位置移动，移动至篮子上方后下降，至黄油进入篮子中张开爪夹，使黄油落入篮子中", + "error_success_analysis": "爪夹成功下降，成功下降至可抓取黄油的位置", + "frame": 158, + "progress": 20, + "progress_explanation": "爪夹已移动至可抓取黄油的位置，因此进度提升至20%", + "state_description": "当前状态为爪夹张开，位于可抓取黄油的位置，黄油尚未被抓取。\n为完成拿起黄油并把它放进篮子里的任务应当：合拢爪夹，抓取黄油，保持爪夹合拢状态抬升并向爪夹方向右方篮子移动\n", + "time": 5.2765, + "annotations": { + "bbox_1767854111264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854111264_1767854165577_s4b9ceomc", + "x": 0.35733331298828125, + "y": 0.5953333358764649, + "width": 0.27499999999999997, + "height": 0.244 + } + ] + }, + "point_1767854116419": { + "type": "point", + "instances": [ + { + "id": "point_1767854116419_1767854167356_i1senp5lp", + "x": 0.23233331298828125, + "y": 0.7713333358764649 + } + ] + }, + "point_1767854116591": { + "type": "point", + "instances": [ + { + "id": "point_1767854116591_1767854168713_3bmdbe7ih", + "x": 0.7653333129882812, + "y": 0.7733333358764649 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向右方篮子位置移动，移动至篮子上方后下降，至黄油进入篮子中张开爪夹，使黄油落入篮子中", + "error_success_analysis": "爪夹成功合拢，黄油成功被爪夹抓紧", + "frame": 200, + "progress": 40, + "progress_explanation": "黄油已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，黄油已被抓取。\n为完成拿起黄油并把它放进篮子里的任务应当：保持爪夹合拢状态，抬升并向爪夹方向右方篮子位置移动", + "time": 6.665367965367966, + "annotations": { + "point_1767854116591": { + "type": "point", + "instances": [ + { + "id": "point_1767854116591_1767854171288_o1y511fgi", + "x": 0.7173333129882813, + "y": 0.7923333358764648 + } + ] + }, + "point_1767854116419": { + "type": "point", + "instances": [ + { + "id": "point_1767854116419_1767854172664_e8rjak0q4", + "x": 0.37133331298828126, + "y": 0.7793333358764648 + } + ] + }, + "bbox_1767854111264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854111264_1767854175521_ofgcsupa2", + "x": 0.3923333129882813, + "y": 0.5353333358764648, + "width": 0.35300000000000004, + "height": 0.31400000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升并移动", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右方篮子位置移动，移动至篮子上方后下降，至黄油进入篮子中张开爪夹，使黄油落入篮子中", + "error_success_analysis": "爪夹保持合拢，抓取黄油成功使黄油抬升并移动", + "frame": 276, + "progress": 50, + "progress_explanation": "爪夹已夹取黄油，黄油已被抬升靠近篮子，因此进度小幅提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧黄油，黄油已被抬升至空中。\n为完成拿起黄油并把它放进篮子里的任务应当：保持爪夹合拢状态，向爪夹方向右方篮子位置移动，移动至篮子上方后下降", + "time": 9.1863, + "annotations": { + "bbox_1767854111264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854111264_1767854180336_qvbwguw06", + "x": 0.37333331298828126, + "y": 0.5493333358764648, + "width": 0.303, + "height": 0.29400000000000004 + } + ] + }, + "point_1767854116591": { + "type": "point", + "instances": [ + { + "id": "point_1767854116591_1767854182188_1adyfe9l7", + "x": 0.6753333129882813, + "y": 0.7813333358764648 + } + ] + }, + "point_1767854116419": { + "type": "point", + "instances": [ + { + "id": "point_1767854116419_1767854183696_bghjxbg2p", + "x": 0.36133331298828125, + "y": 0.7813333358764648 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "继续保持爪夹合拢状态，向爪夹方向右方篮子位置移动，移动至篮子上方后下降，至黄油进入篮子中张开爪夹，使黄油落入篮子中", + "error_success_analysis": "爪夹保持合拢，抓取黄油成功使黄油抬升并移动靠近至篮子", + "frame": 350, + "progress": 60, + "progress_explanation": "爪夹夹取黄油成功靠近篮子，已完全靠近篮子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，爪夹黄油，黄油已被移动靠近篮子\n为完成拿起黄油并把它放进篮子里的任务应当：爪夹保持合拢状态，继续向爪夹方向右方移动，移动至篮子正上方后下降", + "time": 11.683116883116883, + "annotations": { + "point_1767854116419": { + "type": "point", + "instances": [ + { + "id": "point_1767854116419_1767854188127_lgbtvvee3", + "x": 0.35533331298828125, + "y": 0.7786666717529297 + } + ] + }, + "point_1767854116591": { + "type": "point", + "instances": [ + { + "id": "point_1767854116591_1767854189491_9a4dwgjrw", + "x": 0.6493333129882812, + "y": 0.7846666717529297 + } + ] + }, + "bbox_1767854111264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854111264_1767854192621_egzaojdq7", + "x": 0.36433331298828125, + "y": 0.5496666717529297, + "width": 0.27699999999999997, + "height": 0.29600000000000004 + } + ] + }, + "bbox_1767854111415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854111415_1767854198796_6dqp87ncs", + "x": 0.6053333129882813, + "y": 0.3546666717529297, + "width": 0.394, + "height": 0.44 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "爪夹保持合拢状态下降，至黄油进入篮子中张开爪夹，使黄油落入篮子中", + "error_success_analysis": "爪夹保持合拢，抓取黄油成功使黄油移动至篮子上方", + "frame": 409, + "progress": 80, + "progress_explanation": "爪夹夹取黄油，成功使黄油移动至篮子上方，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧黄油，黄油已被移动至篮子上方\n为完成拿起黄油并把它放进篮子里的任务应当：爪夹下降并张开使牛奶落入篮子中", + "time": 13.63030303030303, + "annotations": { + "bbox_1767854111415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854111415_1767854211258_6300ztuw7", + "x": 0.22033331298828127, + "y": 0.4266666717529297, + "width": 0.5399999999999999, + "height": 0.40700000000000003 + } + ] + }, + "bbox_1767854111264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854111264_1767854214760_dibfy014r", + "x": 0.35933331298828125, + "y": 0.5506666717529297, + "width": 0.284, + "height": 0.28800000000000003 + } + ] + }, + "point_1767854116419": { + "type": "point", + "instances": [ + { + "id": "point_1767854116419_1767854216633_kgc83k5uj", + "x": 0.34533331298828124, + "y": 0.7776666717529297 + } + ] + }, + "point_1767854116591": { + "type": "point", + "instances": [ + { + "id": "point_1767854116591_1767854217933_du0qvwdkw", + "x": 0.6563333129882812, + "y": 0.7786666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方下降移动", + "correction_plan": "张开爪夹，使黄油落入篮子中", + "error_success_analysis": "爪夹保持合拢，成功使黄油移动至篮子正上方", + "frame": 443, + "progress": 90, + "progress_explanation": "黄油已被抓取并成功移动至篮子内，但爪夹尚未张开，因此进度小幅提升至90%", + "state_description": "当前状态为爪夹合拢，抓紧黄油，黄油已被移动至篮子内。\n为完成拿起黄油并把它放进篮子里的任务应当：张开爪夹，使黄油落入篮子中", + "time": 14.753679653679654, + "annotations": { + "point_1767854116591": { + "type": "point", + "instances": [ + { + "id": "point_1767854116591_1767854220168_bpabj56ol", + "x": 0.6573333129882812, + "y": 0.771 + } + ] + }, + "point_1767854116419": { + "type": "point", + "instances": [ + { + "id": "point_1767854116419_1767854222264_lhndsqbr1", + "x": 0.34833331298828124, + "y": 0.7706666717529297 + } + ] + }, + "bbox_1767854111264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854111264_1767854225244_bysc0n4ca", + "x": 0.34833331298828124, + "y": 0.5526666717529297, + "width": 0.297, + "height": 0.29300000000000004 + } + ] + }, + "bbox_1767854111415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854111415_1767854230593_utkgi6z2t", + "x": 0.02033331298828125, + "y": 0.4546666717529297, + "width": 0.86, + "height": 0.38200000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起黄油并把它放进篮子里的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，黄油成功落入篮子中", + "frame": 485, + "progress": 100, + "progress_explanation": "拿起黄油并把它放进篮子里的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，黄油已被放进篮子中。\n拿起黄油并把它放进篮子里的任务已完成", + "time": 16.176623376623375, + "annotations": { + "bbox_1767854111415": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854111415_1767854237454_h8ba4cmux", + "x": 0.07233331298828125, + "y": 0.4446666717529297, + "width": 0.671, + "height": 0.39200000000000007 + } + ] + }, + "point_1767854116419": { + "type": "point", + "instances": [ + { + "id": "point_1767854116419_1767854242157_gxgj8fdhx", + "x": 0.28433331298828124, + "y": 0.7786666717529297 + } + ] + }, + "point_1767854116591": { + "type": "point", + "instances": [ + { + "id": "point_1767854116591_1767854243686_rrw4q6bb0", + "x": 0.7153333129882813, + "y": 0.7726666717529297 + } + ] + }, + "bbox_1767854111264": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854111264_1767854248608_6dvebnd9f", + "x": 0.40333331298828123, + "y": 0.5016666717529297, + "width": 0.17300000000000004, + "height": 0.279 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767854111264", + "name": "黄油", + "color": "#4CAF50" + }, + { + "id": "bbox_1767854111415", + "name": "篮子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767854116419", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767854116591", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001251.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001251.json new file mode 100644 index 0000000000000000000000000000000000000000..bb4c05d5f47346fe44d690522aaea3a993dae8b4 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001251.json @@ -0,0 +1,498 @@ +{ + "task_description": "拿起烧烤酱，把它放进篮子里\n开始移动0%\n爪夹靠近烧烤酱20%\n爪夹夹取烧烤酱40%\n爪夹夹取烧烤酱靠近篮子60%\n烧烤酱被移动至篮子上方80%\n张开爪夹，烧烤酱落入篮子100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向左前方烧烤酱移动，移动至烧烤酱正上方后爪夹下降，下降至烧烤酱位置合拢爪夹，抓取烧烤酱，之后保持爪夹合拢状态抬升，并向爪夹方向右后方篮子位置移动，移动至篮子上方后下降，至烧烤酱进入篮子中张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "", + "frame": 5, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离烧烤酱，未开始移动。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：爪夹向爪夹方向左前方烧烤酱位置移动，移动至烧烤酱正上方后下降", + "time": 0.17927805477810888, + "annotations": { + "bbox_1767854267557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267557_1767854285201_g1s932mrh", + "x": 0.14033331298828125, + "y": 0.004, + "width": 0.19100000000000003, + "height": 0.198 + } + ] + }, + "bbox_1767854267713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267713_1767854290968_tks2xgkmt", + "x": 0.8043333129882813, + "y": 0.003, + "width": 0.19100000000000006, + "height": 0.417 + } + ] + }, + "point_1767854271268": { + "type": "point", + "instances": [ + { + "id": "point_1767854271268_1767854293081_9n6zhcyk1", + "x": 0.24733331298828126, + "y": 0.7753333358764649 + } + ] + }, + "point_1767854271424": { + "type": "point", + "instances": [ + { + "id": "point_1767854271424_1767854294480_8oi8xmp0q", + "x": 0.7523333129882812, + "y": 0.7753333358764649 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动", + "correction_plan": "爪夹继续向爪夹方向前方烧烤酱移动，移动至烧烤酱正上方后爪夹下降，下降至烧烤酱位置合拢爪夹，抓取烧烤酱，之后保持爪夹合拢状态抬升，并向爪夹方向右后方篮子位置移动，移动至篮子上方后下降，至烧烤酱进入篮子中张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹成功向爪夹方向左前方烧烤酱位置靠近，成功靠近了烧烤酱", + "frame": 85, + "progress": 10, + "progress_explanation": "爪夹已移动烧烤酱上方，但还未移动至可抓取牛奶的位置，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于烧烤酱上方，烧烤酱尚未被夹取。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：保持爪夹张开状态，继续向左前方移动，移动至烧烤酱正上方后下降", + "time": 2.8482, + "annotations": { + "point_1767854271424": { + "type": "point", + "instances": [ + { + "id": "point_1767854271424_1767854297228_1eixqrkcu", + "x": 0.7733333129882812, + "y": 0.7766666717529297 + } + ] + }, + "point_1767854271268": { + "type": "point", + "instances": [ + { + "id": "point_1767854271268_1767854298552_qtc8kn2h9", + "x": 0.24733331298828126, + "y": 0.7806666717529297 + } + ] + }, + "bbox_1767854267557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267557_1767854301468_xmvhu7r1u", + "x": 0.5003333129882812, + "y": 0.5706666717529297, + "width": 0.1150000000000001, + "height": 0.119 + } + ] + } + } + }, + { + "action_description": "爪夹张开并向爪夹方向下方移动", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向右后方篮子位置移动，移动至篮子上方后下降，至烧烤酱进入篮子中张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹成功向爪夹方向下方移动，成功移动至可抓取烧烤酱的位置", + "frame": 159, + "progress": 20, + "progress_explanation": "爪夹已移动至可抓取烧烤酱的位置，因此进度提升至20%", + "state_description": "当前状态为爪夹张开，位于可抓取烧烤酱的位置，烧烤酱尚未被抓取。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：合拢爪夹，抓取烧烤酱，保持爪夹合拢状态抬升并向爪夹方向右后方篮子移动", + "time": 5.3016, + "annotations": { + "bbox_1767854267557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267557_1767854307637_flqydg9z6", + "x": 0.42633331298828125, + "y": 0.5700000000000001, + "width": 0.271, + "height": 0.2759999999999999 + } + ] + }, + "point_1767854271268": { + "type": "point", + "instances": [ + { + "id": "point_1767854271268_1767854313025_1okw25m56", + "x": 0.23933331298828125, + "y": 0.7803333435058594 + } + ] + }, + "point_1767854271424": { + "type": "point", + "instances": [ + { + "id": "point_1767854271424_1767854314373_8pl1g0fgc", + "x": 0.7633333129882812, + "y": 0.7793333435058594 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向右后方篮子位置移动，移动至篮子上方后下降，至烧烤酱进入篮子中张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹成功合拢，烧烤酱成功被爪夹抓紧", + "frame": 195, + "progress": 40, + "progress_explanation": "烧烤酱已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，烧烤酱已被抓取。\n为完成拿起牛奶并把它放进篮子里的任务应当：保持爪夹合拢状态，抬升并向爪夹方向右后方篮子位置移动", + "time": 6.486, + "annotations": { + "point_1767854271424": { + "type": "point", + "instances": [ + { + "id": "point_1767854271424_1767854316078_j5jnvlp8u", + "x": 0.6933333129882813, + "y": 0.786 + } + ] + }, + "point_1767854271268": { + "type": "point", + "instances": [ + { + "id": "point_1767854271268_1767854317769_oalpg97l1", + "x": 0.40533331298828124, + "y": 0.7786666717529297 + } + ] + }, + "bbox_1767854267557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267557_1767854321698_gf83o8ea0", + "x": 0.41433331298828124, + "y": 0.5576666717529297, + "width": 0.259, + "height": 0.2909999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升并移动", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右后方篮子位置移动，移动至篮子上方后下降，至烧烤酱进入篮子中张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹保持合拢，抓取烧烤酱成功使烧烤酱抬升并移动", + "frame": 255, + "progress": 50, + "progress_explanation": "爪夹已夹取烧烤酱，烧烤酱已被抬升靠近篮子，因此进度小幅提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧烧烤酱，烧烤酱已被抬升至空中。\n为完成拿起烧烤酱并把它放进篮子里的任务应当：保持爪夹合拢状态，向爪夹方向右后方篮子位置移动，移动至篮子上方后下降", + "time": 8.484415584415585, + "annotations": { + "bbox_1767854267557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267557_1767854331069_n3148lcfa", + "x": 0.41133331298828124, + "y": 0.5516666717529297, + "width": 0.253, + "height": 0.30099999999999993 + } + ] + }, + "bbox_1767854267713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267713_1767854341130_4agb4o0zg", + "x": 0.8753333129882813, + "y": 0.5176666717529297, + "width": 0.124, + "height": 0.32700000000000007 + } + ] + }, + "point_1767854271268": { + "type": "point", + "instances": [ + { + "id": "point_1767854271268_1767854342894_qht6tfp37", + "x": 0.3923333129882813, + "y": 0.7696666717529297 + } + ] + }, + "point_1767854271424": { + "type": "point", + "instances": [ + { + "id": "point_1767854271424_1767854344217_3z0lstpqi", + "x": 0.6773333129882813, + "y": 0.7766666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右后方移动", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右方篮子位置移动，移动至篮子上方后下降，至烧烤酱进入篮子中张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹保持合拢，抓取烧烤酱成功使烧烤酱抬升并移动靠近至篮子", + "frame": 300, + "progress": 60, + "progress_explanation": "爪夹夹取烧烤酱成功靠近篮子，已完全靠近篮子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧烧烤酱，烧烤酱已被移动靠近篮子\n为完成拿起烧烤酱并把它放进篮子里的任务应当：爪夹保持合拢状态，继续向爪夹方向右方移动，移动至篮子正上方后下降", + "time": 10.01038961038961, + "annotations": { + "point_1767854271424": { + "type": "point", + "instances": [ + { + "id": "point_1767854271424_1767854347141_d9dads1aa", + "x": 0.6643333129882812, + "y": 0.788 + } + ] + }, + "point_1767854271268": { + "type": "point", + "instances": [ + { + "id": "point_1767854271268_1767854349113_q8t1ufpwb", + "x": 0.37633331298828127, + "y": 0.7906666717529297 + } + ] + }, + "bbox_1767854267557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267557_1767854352341_3hu851wnn", + "x": 0.40433331298828123, + "y": 0.5576666717529297, + "width": 0.252, + "height": 0.30099999999999993 + } + ] + }, + "bbox_1767854267713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267713_1767854360910_mbsns1ohx", + "x": 0.6223333129882813, + "y": 0.37266667175292967, + "width": 0.371, + "height": 0.4660000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "爪夹下降并张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹保持合拢，抓取烧烤酱成功使烧烤酱移动至篮子上方", + "frame": 339, + "progress": 80, + "progress_explanation": "爪夹夹取烧烤酱，成功使烧烤酱移动至篮子上方，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧烧烤酱，烧烤酱已被移动至篮子上方\n为完成拿起烧烤酱并把它放进篮子里的任务应当：爪夹下降并张开爪夹使烧烤酱落入篮子中", + "time": 11.292207792207792, + "annotations": { + "bbox_1767854267713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267713_1767854372525_5b8x2w1d3", + "x": 0.33733331298828123, + "y": 0.24700000000000003, + "width": 0.613, + "height": 0.56 + } + ] + }, + "bbox_1767854267557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267557_1767854376296_qy23rk7xu", + "x": 0.40133331298828123, + "y": 0.5526666717529297, + "width": 0.248, + "height": 0.29400000000000004 + } + ] + }, + "point_1767854271268": { + "type": "point", + "instances": [ + { + "id": "point_1767854271268_1767854378244_one7yzp8g", + "x": 0.37633331298828127, + "y": 0.7806666717529297 + } + ] + }, + "point_1767854271424": { + "type": "point", + "instances": [ + { + "id": "point_1767854271424_1767854379549_bv0pfuler", + "x": 0.6773333129882813, + "y": 0.7826666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹，使烧烤酱落入篮子中", + "error_success_analysis": "爪夹成功下降，使烧烤酱进入篮子内部", + "frame": 383, + "progress": 90, + "progress_explanation": "爪夹夹取烧烤酱，成功使烧烤酱移动至篮子内，但爪夹尚未张开，因此进度提升至90%", + "state_description": "当前状态为爪夹合拢，抓紧烧烤酱，烧烤酱已被移动至篮子内\n为完成拿起烧烤酱并把它放进篮子里的任务应当：张开爪夹使烧烤酱落入篮子中", + "time": 12.774599, + "annotations": { + "bbox_1767854267713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267713_1767854396908_0m1ftdf6n", + "x": 0.12633331298828124, + "y": 0.031333335876464835, + "width": 0.86, + "height": 0.8029999999999999 + } + ] + }, + "bbox_1767854267557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267557_1767854411729_6pmp3iw99", + "x": 0.3893333129882813, + "y": 0.5573333358764648, + "width": 0.25199999999999995, + "height": 0.28400000000000003 + } + ] + }, + "point_1767854271268": { + "type": "point", + "instances": [ + { + "id": "point_1767854271268_1767854416441_3z18xoltd", + "x": 0.37933331298828127, + "y": 0.7746666717529297 + } + ] + }, + "point_1767854271424": { + "type": "point", + "instances": [ + { + "id": "point_1767854271424_1767854418020_3emc9fknp", + "x": 0.6523333129882812, + "y": 0.7766666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起烧烤酱并把它放进篮子里的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，烧烤酱成功落入篮子中", + "frame": 409, + "progress": 100, + "progress_explanation": "拿起烧烤酱并把它放进篮子里的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，烧烤酱已被放进篮子中。\n拿起烧烤酱并把它放进篮子里的任务已完成", + "time": 13.6347, + "annotations": { + "point_1767854271424": { + "type": "point", + "instances": [ + { + "id": "point_1767854271424_1767854420652_g19lhzelo", + "x": 0.7633333129882812, + "y": 0.7733333358764649 + } + ] + }, + "point_1767854271268": { + "type": "point", + "instances": [ + { + "id": "point_1767854271268_1767854422298_nygf867ef", + "x": 0.24933331298828126, + "y": 0.7793333358764648 + } + ] + }, + "bbox_1767854267557": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267557_1767854427108_j9ao9vdgy", + "x": 0.44433331298828127, + "y": 0.47933333587646487, + "width": 0.127, + "height": 0.18399999999999994 + } + ] + }, + "bbox_1767854267713": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854267713_1767854433338_lx3bs7ndu", + "x": 0.18333331298828126, + "y": 0.09033333587646485, + "width": 0.809, + "height": 0.745 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767854267557", + "name": "烧烤酱", + "color": "#4CAF50" + }, + { + "id": "bbox_1767854267713", + "name": "篮子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767854271268", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767854271424", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001284.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001284.json new file mode 100644 index 0000000000000000000000000000000000000000..28f1a2034914552c92632a986973bfd127fc3647 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001284.json @@ -0,0 +1,498 @@ +{ + "task_description": "拿起木柜抽屉里的碗，把它放在盘子上\n开始移动0%\n爪夹靠近木柜抽屉里的碗20%\n爪夹夹取木柜抽屉里的碗40%\n爪夹夹取木柜抽屉里的碗靠近盘子60%\n爪夹下降木柜抽屉里的碗被移动至盘子上方80%\n张开爪夹，木柜抽屉里的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向左前方木柜抽屉里的碗移动，移动至木柜抽屉里的碗正上方后下降，下降至可抓取木柜抽屉里的碗的位置合拢爪夹，抓取木柜抽屉里的碗，之后保持爪夹合拢状态抬升，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至木柜抽屉里的碗贴合盘子后张开爪夹，使木柜抽屉里的碗落放在盘子上", + "error_success_analysis": "", + "frame": 8, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离木柜抽屉里的碗，未开始移动\n为完成拿起木柜抽屉里的碗并把它放在盘子上的任务应当：爪夹向爪夹方向左前方移动，移动至木柜抽屉里的碗正上方后下降，下降至木柜抽屉里的碗位置合拢爪夹，抓取木柜抽屉里的碗", + "time": 0.2831, + "annotations": { + "bbox_1767854459481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459481_1767854483274_s7w6j64th", + "x": 0.7563333129882812, + "y": 0.003, + "width": 0.2360000000000001, + "height": 0.213 + } + ] + }, + "point_1767854463927": { + "type": "point", + "instances": [ + { + "id": "point_1767854463927_1767854486167_vg76vml9h", + "x": 0.23733331298828125, + "y": 0.7896666717529297 + } + ] + }, + "point_1767854464086": { + "type": "point", + "instances": [ + { + "id": "point_1767854464086_1767854487690_yrhkplhcs", + "x": 0.7633333129882812, + "y": 0.7826666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动", + "correction_plan": "爪夹调整角度使其爪夹口对准碗，之后下降，下降至可抓取木柜抽屉里的碗的位置合拢爪夹，抓取木柜抽屉里的碗，之后保持爪夹合拢状态抬升，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至木柜抽屉里的碗贴合盘子后张开爪夹，使木柜抽屉里的碗落放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向左前方木柜抽屉里的碗位置移动靠近", + "frame": 81, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向左前方移动到了木柜抽屉里的碗左上方，尚未完全靠近木柜抽屉里的碗，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于木柜抽屉里的碗右上方，木柜上的碗尚未被移动。\n为完成拿起木柜上的碗并把它放盘子上的任务应当：爪夹调整角度使其爪夹口对准碗并下降，下降至木柜抽屉里的碗位置合拢爪夹，抓取木柜抽屉里的碗，之后保持爪夹合拢状态抬升并移动", + "time": 2.7090909090909094, + "annotations": { + "bbox_1767854459481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459481_1767854493842_pz3vsb34b", + "x": 0.8693333129882813, + "y": 0.4286666717529297, + "width": 0.127, + "height": 0.23399999999999999 + } + ] + }, + "bbox_1767854459333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459333_1767854498078_iz78m0xfp", + "x": 0.12833331298828127, + "y": 0.3876666717529297, + "width": 0.361, + "height": 0.362 + } + ] + }, + "point_1767854463927": { + "type": "point", + "instances": [ + { + "id": "point_1767854463927_1767854503342_kpmdtxwut", + "x": 0.22433331298828124, + "y": 0.7826666717529297 + } + ] + }, + "point_1767854464086": { + "type": "point", + "instances": [ + { + "id": "point_1767854464086_1767854504566_232fr00mp", + "x": 0.7833333129882812, + "y": 0.7846666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹旋转调整角度", + "correction_plan": "爪夹保持张开状态下降，下降至可抓取木柜抽屉里的碗的位置合拢爪夹，抓取木柜抽屉里的碗，之后保持爪夹合拢状态抬升，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至木柜抽屉里的碗贴合盘子后张开爪夹，使木柜抽屉里的碗落放在盘子上", + "error_success_analysis": "爪夹成功调整爪夹角度使其对准了碗", + "frame": 97, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向左前方移动到了木柜抽屉里的碗左上方，并成功调整爪夹角度使其对准碗，因此进度小幅提升至15%", + "state_description": "当前状态为爪夹张开，位于木柜抽屉里的碗右上方，木柜抽屉里的碗尚未被移动。\n为完成拿起木柜抽屉里的碗并把它放盘子上的任务应当：爪夹下降，下降至木柜抽屉里的碗位置合拢爪夹，抓取木柜抽屉里的碗，之后保持爪夹合拢状态抬升并移动", + "time": 3.2251082251082246, + "annotations": { + "point_1767854464086": { + "type": "point", + "instances": [ + { + "id": "point_1767854464086_1767854506590_crwaeeh0m", + "x": 0.7853333129882812, + "y": 0.7833333435058594 + } + ] + }, + "point_1767854463927": { + "type": "point", + "instances": [ + { + "id": "point_1767854463927_1767854507842_tl3jl87vq", + "x": 0.24033331298828126, + "y": 0.7866666717529297 + } + ] + }, + "bbox_1767854459333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459333_1767854511571_et8bm5x1w", + "x": 0.16833331298828125, + "y": 0.4616666717529297, + "width": 0.396, + "height": 0.38400000000000006 + } + ] + }, + "bbox_1767854459481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459481_1767854519798_2sxph1gil", + "x": 0.9053333129882812, + "y": 0.3996666717529297, + "width": 0.09799999999999998, + "height": 0.21599999999999997 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "合拢爪夹，抓取木柜抽屉里的碗，之后保持爪夹合拢状态抬升，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至木柜抽屉里的碗贴合盘子后张开爪夹，使木柜抽屉里的碗落放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向下方移动下降，下降至木柜抽屉里的碗的位置", + "frame": 155, + "progress": 20, + "progress_explanation": "爪夹已移动至木柜抽屉里的碗位置，因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于木柜抽屉里的碗位置，木柜抽屉里的碗尚未被夹取。\n为完成拿起木柜抽屉里的碗并把它放在盘子上的任务应当：调整角度使其对准碗的边缘合拢爪夹，抓取木柜抽屉里的碗，之后保持爪夹合拢状态并向爪夹方向右方盘子的位置移动", + "time": 5.1703, + "annotations": { + "bbox_1767854459333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459333_1767854533701_n4qbef9xj", + "x": 0.008333312988281251, + "y": 0.2746666717529297, + "width": 0.5830000000000001, + "height": 0.5640000000000001 + } + ] + }, + "point_1767854463927": { + "type": "point", + "instances": [ + { + "id": "point_1767854463927_1767854534894_5wsjkgps9", + "x": 0.21333331298828126, + "y": 0.7936666717529297 + } + ] + }, + "point_1767854464086": { + "type": "point", + "instances": [ + { + "id": "point_1767854464086_1767854535913_gkyfs9ebe", + "x": 0.7793333129882812, + "y": 0.7846666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至木柜抽屉里的碗贴合盘子后张开爪夹，使木柜抽屉里的碗落放在盘子上", + "error_success_analysis": "爪夹成功合拢，木柜抽屉里的碗成功被爪夹夹取", + "frame": 187, + "progress": 40, + "progress_explanation": "木柜抽屉里的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧木柜抽屉里的碗，木柜抽屉里的碗尚未移动。\n为完成拿起木柜抽屉里的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，抬升并向爪夹方向右方盘子位置移动，移动至盘子正上方后下降爪夹", + "time": 6.2282, + "annotations": { + "bbox_1767854459333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459333_1767854547150_1uhul9d3w", + "x": 0.008333312988281251, + "y": 0.3956666717529297, + "width": 0.537, + "height": 0.44300000000000006 + } + ] + }, + "point_1767854463927": { + "type": "point", + "instances": [ + { + "id": "point_1767854463927_1767854551313_qmquh2mc5", + "x": 0.4523333129882813, + "y": 0.7776666717529297 + } + ] + }, + "point_1767854464086": { + "type": "point", + "instances": [ + { + "id": "point_1767854464086_1767854552639_9okahvfyo", + "x": 0.5773333129882813, + "y": 0.7746666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至木柜抽屉里的碗贴合盘子后张开爪夹，使木柜抽屉里的碗落放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取木柜抽屉里的碗成功使木柜抽屉里的碗抬升并移动", + "frame": 223, + "progress": 50, + "progress_explanation": "木柜抽屉里的碗已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧木柜抽屉里的碗，木柜抽屉里的碗已被抬升至空中\n为完成拿起木柜抽屉里的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向右方盘子位置移动，移动至盘子正上方后下降", + "time": 7.439759137655043, + "annotations": { + "point_1767854464086": { + "type": "point", + "instances": [ + { + "id": "point_1767854464086_1767854555324_ja8b2bymm", + "x": 0.5443333129882812, + "y": 0.7853333358764648 + } + ] + }, + "point_1767854463927": { + "type": "point", + "instances": [ + { + "id": "point_1767854463927_1767854556574_m6ww22do2", + "x": 0.4603333129882813, + "y": 0.7833333358764648 + } + ] + }, + "bbox_1767854459333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459333_1767854559882_hom2myfvr", + "x": -0.0066666870117187416, + "y": 0.45433333587646485, + "width": 0.523, + "height": 0.393 + } + ] + }, + "bbox_1767854459481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459481_1767854570178_cgjgsegjx", + "x": 0.8363333129882813, + "y": 0.18533333587646486, + "width": 0.16100000000000003, + "height": 0.24 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "保持爪夹合拢状态，下降，下降至木柜抽屉里的碗贴合盘子后张开爪夹，使木柜抽屉里的碗落放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取木柜抽屉里的碗成功使木柜抽屉里的碗靠近盘子", + "frame": 300, + "progress": 60, + "progress_explanation": "木柜抽屉里的碗已被抓取成功并已完全靠近盘子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧木柜抽屉里的碗，木柜抽屉里的碗已完全靠近盘子。\n为完成拿起木柜抽屉里的碗并把它放在盘子上的任务应当：爪夹保持合拢状态，下降，下降至木柜抽屉里的碗贴合盘子后张开爪夹，使木柜抽屉里的碗放在盘子上", + "time": 9.997835497835501, + "annotations": { + "bbox_1767854459481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459481_1767854603526_9vg2fz09d", + "x": 0.5003333129882812, + "y": 0.46033333587646486, + "width": 0.2510000000000001, + "height": 0.264 + } + ] + }, + "bbox_1767854459333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459333_1767854608087_z41vhbunz", + "x": 0.002333312988281211, + "y": 0.46233333587646475, + "width": 0.522, + "height": 0.383 + } + ] + }, + "point_1767854463927": { + "type": "point", + "instances": [ + { + "id": "point_1767854463927_1767854616523_cep0q78si", + "x": 0.4573333129882813, + "y": 0.7753333358764649 + } + ] + }, + "point_1767854464086": { + "type": "point", + "instances": [ + { + "id": "point_1767854464086_1767854618003_8d7dsu7qw", + "x": 0.5373333129882812, + "y": 0.7733333358764649 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹，使木柜抽屉里的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取木柜抽屉里的碗并成功使木柜抽屉里的碗移动至盘子上", + "frame": 382, + "progress": 80, + "progress_explanation": "木柜抽屉里的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧木柜抽屉里的碗，木柜抽屉里的碗已被移动至贴合盘子位置\n为完成拿起木柜抽屉里的碗并把它放在盘子上的任务应当：张开爪夹，使木柜抽屉里的碗放在盘子上", + "time": 12.7246, + "annotations": { + "point_1767854464086": { + "type": "point", + "instances": [ + { + "id": "point_1767854464086_1767854620703_xdiazn4o4", + "x": 0.5413333129882812, + "y": 0.7723333358764649 + } + ] + }, + "point_1767854463927": { + "type": "point", + "instances": [ + { + "id": "point_1767854463927_1767854622010_b3zqeen09", + "x": 0.4563333129882813, + "y": 0.7853333358764648 + } + ] + }, + "bbox_1767854459481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459481_1767854630283_9vt9vp29r", + "x": 0.23633331298828125, + "y": 0.4426666717529297, + "width": 0.457, + "height": 0.3950000000000001 + } + ] + }, + "bbox_1767854459333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459333_1767854633763_4ftbmfrxg", + "x": 0.005333312988281269, + "y": 0.4586666717529297, + "width": 0.537, + "height": 0.38300000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起木柜抽屉里的碗并把它放在盘子上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，木柜抽屉里的碗成功被放置在盘子上", + "frame": 409, + "progress": 100, + "progress_explanation": "拿起木柜上的碗并把它放在盘子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于木柜抽屉里的碗上方，木柜抽屉里的碗已被放在盘子上。\n拿起木柜抽屉里的碗并把它放在盘子上的任务已完成", + "time": 13.6335, + "annotations": { + "bbox_1767854459333": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459333_1767854644975_khvlqegf6", + "x": 0.00733331298828125, + "y": 0.267, + "width": 0.381, + "height": 0.571 + } + ] + }, + "bbox_1767854459481": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854459481_1767854649094_g66c6i6gf", + "x": 0.07933331298828125, + "y": 0.2846666717529297, + "width": 0.47, + "height": 0.552 + } + ] + }, + "point_1767854463927": { + "type": "point", + "instances": [ + { + "id": "point_1767854463927_1767854651766_11zb3gsyu", + "x": 0.25233331298828127, + "y": 0.7766666717529297 + } + ] + }, + "point_1767854464086": { + "type": "point", + "instances": [ + { + "id": "point_1767854464086_1767854653610_zya06vvlg", + "x": 0.7613333129882812, + "y": 0.7656666717529297 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767854459333", + "name": "木柜抽屉里的碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767854459481", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767854463927", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767854464086", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001417.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001417.json new file mode 100644 index 0000000000000000000000000000000000000000..e99d901d4d437bf54672dd14ebf8ea99727eaab0 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001417.json @@ -0,0 +1,478 @@ +{ + "task_description": "拿起盘子旁边的碗，把它放在盘子上\n开始移动0%\n爪夹靠近盘子旁边的碗20%\n爪夹夹取盘子旁边的碗40%\n爪夹夹取盘子旁边的碗靠近盘子60%\n爪夹下降盘子旁边的碗被移动至盘子上方80%\n张开爪夹，盘子旁边的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向右前方盘子旁边的碗移动，移动至盘子旁边的碗正上方后下降，下降至可抓取盘子旁边的碗的位置合拢爪夹，抓取盘子旁边的碗，之后保持爪夹合拢状态抬升，并向爪夹方向左前方盘子移动，移动至盘子正上方后下降，下降至盘子旁边的碗贴合盘子后张开爪夹，使盘子 旁边的碗放在盘子上", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离盘子旁边的碗，未开始移动\n为完成拿起盘子旁边的碗并把它放在盘子上的任务应当：爪夹向爪夹方向右前方移动，移动至盘子旁边的碗正上方后下降，下降至盘子旁边的碗位置合拢爪夹，抓取盘子旁边的碗", + "time": 0, + "annotations": { + "bbox_1767854675567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675567_1767854695941_1a2bq06qu", + "x": 0.9633333129882813, + "y": 0.05, + "width": 0.03400000000000003, + "height": 0.174 + } + ] + }, + "bbox_1767854675703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675703_1767854702376_yr7uqq3m5", + "x": 0.6763333129882813, + "y": 0.004, + "width": 0.28, + "height": 0.156 + } + ] + }, + "point_1767854679729": { + "type": "point", + "instances": [ + { + "id": "point_1767854679729_1767854704347_2y5tk9msk", + "x": 0.23933331298828125, + "y": 0.7806666717529297 + } + ] + }, + "point_1767854680104": { + "type": "point", + "instances": [ + { + "id": "point_1767854680104_1767854705619_unp2y795b", + "x": 0.7723333129882812, + "y": 0.7706666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "correction_plan": "爪夹保持张开状态下降，下降至可抓取盘子旁边的碗的位置合拢爪夹，抓取盘子旁边的碗，之后保持爪夹合拢状态抬升，并向爪夹方向左前方盘子移动，移动至盘子正上方后下降，下降至盘子旁边的碗贴合盘子后张开爪夹，使盘子 旁边的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向右前方盘子旁边的碗位置移动靠近", + "frame": 74, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向右前方移动到盘子旁边上方，尚未完全靠近盘子旁边的碗，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于盘子旁边的碗上方，盘子旁边的碗尚未被移动。\n为完成拿起盘子旁边的碗并把它放盘子上的任务应当：爪夹下降，下降至盘子旁边的碗位置合拢爪夹，抓取盘子旁边的碗", + "time": 2.4768, + "annotations": { + "point_1767854680104": { + "type": "point", + "instances": [ + { + "id": "point_1767854680104_1767854708178_qif06r4lt", + "x": 0.7933333129882812, + "y": 0.7786666717529297 + } + ] + }, + "point_1767854679729": { + "type": "point", + "instances": [ + { + "id": "point_1767854679729_1767854709815_b0ze43212", + "x": 0.23233331298828125, + "y": 0.7846666717529297 + } + ] + }, + "bbox_1767854675567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675567_1767854712816_h8678a166", + "x": 0.6013333129882813, + "y": 0.4406666717529297, + "width": 0.268, + "height": 0.2770000000000001 + } + ] + }, + "bbox_1767854675703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675703_1767854719512_ph60r10aw", + "x": 0.3323333129882813, + "y": 0.2976666717529297, + "width": 0.28500000000000003, + "height": 0.28800000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "合拢爪夹，抓取盘子旁边的碗，之后保持爪夹合拢状态抬升，并向爪夹方向左前方盘子移动，移动至盘子正上方后下降，下降至盘子旁边的碗贴合盘子后张开爪夹，使盘子旁边的碗放在盘子上", + "error_success_analysis": "爪夹成功向下方移动下降至可夹取盘子旁边的碗的位置", + "frame": 135, + "progress": 20, + "progress_explanation": "爪夹已移动至盘子旁边的碗位置。因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于盘子旁边的碗位置，盘子旁边的碗尚未被夹取。\n为完成拿起盘子旁边的碗并把它放在盘子上的任务应当：合拢爪夹，抓取盘子旁边的碗，之后保持爪夹合拢状态抬升并向爪夹方向左前方盘子的位置移动", + "time": 4.5024, + "annotations": { + "bbox_1767854675703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675703_1767854727687_nbtyhmhvs", + "x": 0.00133331298828125, + "y": 0.004, + "width": 0.66, + "height": 0.506 + } + ] + }, + "bbox_1767854675567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675567_1767854734567_ocf8fvgn2", + "x": 0.36033331298828125, + "y": 0.27633333587646486, + "width": 0.639, + "height": 0.5589999999999999 + } + ] + }, + "point_1767854679729": { + "type": "point", + "instances": [ + { + "id": "point_1767854679729_1767854735934_55qbq1cw9", + "x": 0.22933331298828125, + "y": 0.7833333358764648 + } + ] + }, + "point_1767854680104": { + "type": "point", + "instances": [ + { + "id": "point_1767854680104_1767854737186_urqphdyqf", + "x": 0.7713333129882812, + "y": 0.7833333358764648 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向左前方盘子移动，移动至盘子正上方后下降，下降至盘子旁边的碗贴合盘子后张开爪夹，使盘子旁边的碗放在盘子上", + "error_success_analysis": "爪夹成功合拢，盘子旁边的碗成功被爪夹夹取", + "frame": 169, + "progress": 40, + "progress_explanation": "盘子旁边的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧盘子旁边的碗，盘子旁边的碗尚未移动。\n为完成拿起盘子旁边的碗并把它放在盘子上的任务应当：保持爪夹合拢状态抬升，向爪夹方向左前方盘子位置移动，移动至盘子正上方后保持爪夹合拢状态下降", + "time": 5.6352, + "annotations": { + "point_1767854680104": { + "type": "point", + "instances": [ + { + "id": "point_1767854680104_1767854739602_jl1622hds", + "x": 0.5563333129882813, + "y": 0.783 + } + ] + }, + "point_1767854679729": { + "type": "point", + "instances": [ + { + "id": "point_1767854679729_1767854741106_ir4jf0qr0", + "x": 0.40933331298828124, + "y": 0.7773333358764649 + } + ] + }, + "bbox_1767854675567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675567_1767854746934_rxrdwlxuw", + "x": 0.41933331298828125, + "y": 0.40933333587646487, + "width": 0.5800000000000001, + "height": 0.428 + } + ] + }, + "bbox_1767854675703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675703_1767854752338_qaznfqjr6", + "x": 0.08333331298828126, + "y": 0.004666656494140625, + "width": 0.661, + "height": 0.5459999999999999 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "继续保持爪夹合拢状态，并向爪夹方向左前方盘子移动，移动至盘子正上方后下降，下降至盘子旁边的碗贴合盘子后张开爪夹，使盘子旁边的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取盘子旁边的碗成功使盘子旁边的碗抬升并移动", + "frame": 197, + "progress": 50, + "progress_explanation": "盘子旁边的碗已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧盘子旁边的碗，盘子旁边的碗已被抬升至空中\n为完成拿起盘子旁边的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向左前方盘子位置移动，移动至盘子正上方后保持爪夹合拢状态下降", + "time": 6.576, + "annotations": { + "bbox_1767854675703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675703_1767854760258_qfx5788ce", + "x": 0.32133331298828127, + "y": 0.276, + "width": 0.45499999999999996, + "height": 0.42700000000000005 + } + ] + }, + "bbox_1767854675567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675567_1767854765027_pjs7evjs2", + "x": 0.4633333129882813, + "y": 0.4536666717529297, + "width": 0.533, + "height": 0.38500000000000006 + } + ] + }, + "point_1767854679729": { + "type": "point", + "instances": [ + { + "id": "point_1767854679729_1767854766683_mgt6kuc2s", + "x": 0.4573333129882813, + "y": 0.7786666717529297 + } + ] + }, + "point_1767854680104": { + "type": "point", + "instances": [ + { + "id": "point_1767854680104_1767854768079_z8l9aq8ub", + "x": 0.5373333129882812, + "y": 0.7786666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动", + "correction_plan": "爪夹保持合拢状态下降，下降至盘子旁边的碗贴合盘子后张开爪夹，使盘子旁边的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取盘子旁边的碗成功使盘子旁边的碗靠近盘子", + "frame": 227, + "progress": 60, + "progress_explanation": "盘子旁边的碗已被抓取成功并已完全靠近盘子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧盘子旁边的碗，盘子旁边的碗已完全靠近盘子。\n为完成拿起盘子旁边的碗并把它放在盘子上的任务应当：爪夹保持合拢状态，下降，下降至盘子旁边的碗贴合盘子后张开爪夹，使盘子旁边的碗放在盘子上", + "time": 7.5744, + "annotations": { + "point_1767854680104": { + "type": "point", + "instances": [ + { + "id": "point_1767854680104_1767854770867_s4flmo1t7", + "x": 0.5483333129882813, + "y": 0.7803333358764648 + } + ] + }, + "point_1767854679729": { + "type": "point", + "instances": [ + { + "id": "point_1767854679729_1767854772263_ydpajik8e", + "x": 0.46433331298828123, + "y": 0.7773333358764649 + } + ] + }, + "bbox_1767854675567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675567_1767854776966_xocmaslrk", + "x": 0.4553333129882813, + "y": 0.44833333587646484, + "width": 0.541, + "height": 0.391 + } + ] + }, + "bbox_1767854675703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675703_1767854780539_cn05qtqgb", + "x": 0.3853333129882813, + "y": 0.5633333358764648, + "width": 0.179, + "height": 0.268 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方下降移动", + "correction_plan": "张开爪夹，使盘子旁边的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取盘子旁边的碗并成功使盘子旁边的碗移动至盘子上", + "frame": 259, + "progress": 80, + "progress_explanation": "盘子旁边的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧盘子旁边的碗，盘子旁边的碗已被移动至贴合盘子位置\n为完成拿起盘子旁边的碗并把它放在盘子上的任务应当：张开爪夹，使盘子旁边的碗放在盘子上", + "time": 8.644155844155843, + "annotations": { + "bbox_1767854675703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675703_1767854787131_bhghti4bc", + "x": 0.41333331298828124, + "y": 0.5363333358764648, + "width": 0.136, + "height": 0.29600000000000004 + } + ] + }, + "bbox_1767854675567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675567_1767854793568_lbafos7la", + "x": 0.4563333129882813, + "y": 0.4233333358764649, + "width": 0.539, + "height": 0.408 + } + ] + }, + "point_1767854679729": { + "type": "point", + "instances": [ + { + "id": "point_1767854679729_1767854795173_tww5jfjzg", + "x": 0.43133331298828126, + "y": 0.7833333358764648 + } + ] + }, + "point_1767854680104": { + "type": "point", + "instances": [ + { + "id": "point_1767854680104_1767854796503_keklb4exg", + "x": 0.5563333129882813, + "y": 0.7763333358764649 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起盘子旁边的碗并把它放在盘子上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，盘子旁边的碗成功被放置在盘子上", + "frame": 285, + "progress": 100, + "progress_explanation": "拿起盘子旁边的碗并把它放在盘子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于盘子旁边的碗上方，盘子旁边的碗已被放在盘子上。\n拿起盘子旁边的碗并把它放在盘子上的任务已完成", + "time": 9.504329695554123, + "annotations": { + "point_1767854680104": { + "type": "point", + "instances": [ + { + "id": "point_1767854680104_1767854805595_nbd1hti76", + "x": 0.6193333129882813, + "y": 0.7813333435058594 + } + ] + }, + "point_1767854679729": { + "type": "point", + "instances": [ + { + "id": "point_1767854679729_1767854807275_i9f7bbbol", + "x": 0.37633331298828127, + "y": 0.7776666717529297 + } + ] + }, + "bbox_1767854675567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675567_1767854812845_p59mdey00", + "x": 0.3893333129882813, + "y": 0.3946666717529297, + "width": 0.6080000000000001, + "height": 0.44400000000000006 + } + ] + }, + "bbox_1767854675703": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854675703_1767854815892_g6yakgryd", + "x": 0.36433331298828125, + "y": 0.5816666717529297, + "width": 0.09900000000000003, + "height": 0.17899999999999994 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767854675567", + "name": "盘子旁边的碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767854675703", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767854679729", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767854680104", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001506.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001506.json new file mode 100644 index 0000000000000000000000000000000000000000..04838a8bc175b8a0778ad670c853ddace19dbf32 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001506.json @@ -0,0 +1,478 @@ +{ + "task_description": "拿起盘子和烤盘之间的碗并把它放在盘子上\n开始移动0%\n爪夹靠近盘子和烤盘之间的碗20%\n爪夹夹取盘子和烤盘之间的碗40%\n爪夹夹取盘子和烤盘之间的碗靠近盘子60%\n爪夹下降盘子和烤盘之间的碗被移动至盘子上方80%\n张开爪夹，盘子和烤盘之间的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向右前方盘子和烤盘之间的碗移动，移动至盘子和烤盘之间的碗正上方后下降，下降至可抓取盘子和烤盘之间的碗的位置合拢爪夹，抓取盘子和烤盘之间的碗，之后保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离盘子和烤盘之间的碗，未开始移动\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：爪夹向爪夹方向右前方移动，移动至盘子和烤盘之间的碗正上方后下降，下降至盘子和烤盘之间的碗位置合拢爪夹，抓取盘子和烤盘之间的碗", + "time": 0.0395, + "annotations": { + "bbox_1767854831695": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831695_1767854856088_btandtu71", + "x": 0.7793333129882812, + "y": 0.152, + "width": 0.22000000000000008, + "height": 0.23500000000000001 + } + ] + }, + "bbox_1767854831835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831835_1767854865896_8ltbonxs6", + "x": 0.7553333129882812, + "y": -0.00066668701171875, + "width": 0.2410000000000001, + "height": 0.16999999999999998 + } + ] + }, + "point_1767854835596": { + "type": "point", + "instances": [ + { + "id": "point_1767854835596_1767854869060_b40nqxeat", + "x": 0.23733331298828125, + "y": 0.7873333358764648 + } + ] + }, + "point_1767854835761": { + "type": "point", + "instances": [ + { + "id": "point_1767854835761_1767854870323_cdv8yy9pl", + "x": 0.7713333129882812, + "y": 0.7853333358764648 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "correction_plan": "爪夹保持张开状态下降，下降至可抓取盘子和烤盘之间的碗的位置合拢爪夹，抓取盘子和烤盘之间的碗，之后保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向右前方盘子和烤盘之间的碗位置移动靠近", + "frame": 48, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向右前方移动到盘子和烤盘之间的碗上方，尚未完全靠近盘子和烤盘之间的碗，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于盘子和烤盘之间的碗上方，盘子和烤盘之间的碗尚未被移动。\n为完成拿起盘子和烤盘之间的碗并把它放盘子上的任务应当：爪夹保持张开状态下降，下降至盘子和烤盘之间的碗位置合拢爪夹，抓取盘子和烤盘之间的碗", + "time": 1.6073593073593073, + "annotations": { + "point_1767854835761": { + "type": "point", + "instances": [ + { + "id": "point_1767854835761_1767854872559_sqj1ddh8e", + "x": 0.7643333129882812, + "y": 0.7833333358764648 + } + ] + }, + "point_1767854835596": { + "type": "point", + "instances": [ + { + "id": "point_1767854835596_1767854874304_by7q09gui", + "x": 0.23133331298828125, + "y": 0.7726666717529297 + } + ] + }, + "bbox_1767854831835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831835_1767854878017_ab9013u5t", + "x": 0.5253333129882812, + "y": 0.2126666717529297, + "width": 0.28800000000000003, + "height": 0.266 + } + ] + }, + "bbox_1767854831695": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831695_1767854883292_3glsxz1g0", + "x": 0.5283333129882812, + "y": 0.4766666717529297, + "width": 0.28, + "height": 0.25799999999999995 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动下降", + "correction_plan": "保持爪夹张开状态向爪夹方向后下方移动，移动至盘子和烤盘之间的碗的位置合拢爪夹，抓取盘子和烤盘之间的碗，之后保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹向爪夹方向前方移动方向略微超出，未成功移动至可抓取盘子和烤盘之间的碗的位置", + "frame": 85, + "progress": 18, + "progress_explanation": "爪夹向盘子和烤盘之间的碗靠近，但位置略微有偏差，可调整，因此进度提升至18%", + "state_description": "当前状态为爪夹张开，位于盘子和烤盘之间的碗的前上方，\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上应当，爪夹向爪夹方向后下方略微移动，移动至爪夹口对准碗边沿时合拢爪夹，抓取盘子和烤盘之间的碗。", + "time": 2.8203, + "annotations": { + "bbox_1767854831695": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831695_1767854888615_ug5kl5try", + "x": 0.5953333129882813, + "y": 0.7843333358764648, + "width": 0.19599999999999995, + "height": 0.052000000000000046 + } + ] + }, + "point_1767854835596": { + "type": "point", + "instances": [ + { + "id": "point_1767854835596_1767854893896_kvuu2qolp", + "x": 0.23533331298828125, + "y": 0.7803333358764648 + } + ] + }, + "point_1767854835761": { + "type": "point", + "instances": [ + { + "id": "point_1767854835761_1767854895308_1xz04r1a9", + "x": 0.8113333129882813, + "y": 0.7873333358764648 + } + ] + }, + "bbox_1767854831835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831835_1767854902749_3xidjv9xi", + "x": 0.5153333129882812, + "y": 0.29133333587646487, + "width": 0.4800000000000001, + "height": 0.48100000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向后下方移动", + "correction_plan": "合拢爪夹，抓取盘子和烤盘之间的碗，之后保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向后下方移动下降至可夹取盘子和烤盘之间的碗的位置", + "frame": 102, + "progress": 20, + "progress_explanation": "爪夹已移动至盘子和烤盘之间的碗位置。因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于盘子和烤盘之间的碗位置，盘子和烤盘之间的碗尚未被夹取。\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：合拢爪夹，抓取盘子和烤盘之间的碗，之后保持爪夹合拢状态抬升并向爪夹方向前方盘子的位置移动", + "time": 3.4128, + "annotations": { + "bbox_1767854831835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831835_1767854911016_85vh75yhg", + "x": 0.5533333129882813, + "y": 0.106, + "width": 0.44300000000000006, + "height": 0.496 + } + ] + }, + "point_1767854835596": { + "type": "point", + "instances": [ + { + "id": "point_1767854835596_1767854913178_2fyf7f0ni", + "x": 0.27333331298828123, + "y": 0.7856666717529297 + } + ] + }, + "point_1767854835761": { + "type": "point", + "instances": [ + { + "id": "point_1767854835761_1767854914592_ui5w7gygu", + "x": 0.7433333129882813, + "y": 0.7906666717529297 + } + ] + }, + "bbox_1767854831695": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831695_1767854918388_qen1o0moo", + "x": 0.5883333129882813, + "y": 0.5746666717529297, + "width": 0.40900000000000003, + "height": 0.266 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态抬升，并向爪夹方向前方盘子移动，移动至盘子正上方后下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹成功合拢，盘子和烤盘之间的碗成功被爪夹夹取", + "frame": 122, + "progress": 40, + "progress_explanation": "盘子和烤盘之间的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧盘子和烤盘之间的碗，盘子和烤盘之间的碗尚未移动。\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：保持爪夹合拢状态抬升，向爪夹方向前方盘子位置移动，移动至盘子正上方后保持爪夹合拢状态下降", + "time": 4.076399, + "annotations": { + "bbox_1767854831695": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831695_1767854925012_mvy5jgt0i", + "x": 0.43133331298828126, + "y": 0.4986666717529297, + "width": 0.5660000000000001, + "height": 0.34 + } + ] + }, + "point_1767854835596": { + "type": "point", + "instances": [ + { + "id": "point_1767854835596_1767854926573_ixjuyuqes", + "x": 0.42033331298828125, + "y": 0.7776666717529297 + } + ] + }, + "point_1767854835761": { + "type": "point", + "instances": [ + { + "id": "point_1767854835761_1767854928051_45ypg9vnr", + "x": 0.5643333129882813, + "y": 0.7776666717529297 + } + ] + }, + "bbox_1767854831835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831835_1767854935405_i5csg5660", + "x": 0.5353333129882812, + "y": 0.095, + "width": 0.4600000000000001, + "height": 0.43700000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前上方抬升移动", + "correction_plan": "保持爪夹合拢下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取盘子和烤盘之间的碗成功使盘子和烤盘之间的碗靠近盘子", + "frame": 166, + "progress": 60, + "progress_explanation": "盘子和烤盘之间的碗已被抓取成功并已完全靠近盘子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧盘子和烤盘之间的碗，盘子和烤盘之间的碗已完全靠近盘子。\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：爪夹保持合拢状态，下降，下降至盘子和烤盘之间的碗贴合盘子后张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "time": 5.53, + "annotations": { + "bbox_1767854831835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831835_1767854942752_ke5tr7k26", + "x": 0.3993333129882813, + "y": 0.3656666717529297, + "width": 0.38599999999999995, + "height": 0.36299999999999993 + } + ] + }, + "bbox_1767854831695": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831695_1767854949045_r8o0fkq7a", + "x": 0.4613333129882813, + "y": 0.4886666717529297, + "width": 0.536, + "height": 0.35000000000000003 + } + ] + }, + "point_1767854835596": { + "type": "point", + "instances": [ + { + "id": "point_1767854835596_1767854950516_4haef7qcy", + "x": 0.4513333129882813, + "y": 0.7786666717529297 + } + ] + }, + "point_1767854835761": { + "type": "point", + "instances": [ + { + "id": "point_1767854835761_1767854951729_ws59p31ni", + "x": 0.5523333129882813, + "y": 0.7816666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方下降移动", + "correction_plan": "张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取盘子和烤盘之间的碗并成功使盘子和烤盘之间的碗移动至盘子上", + "frame": 207, + "progress": 80, + "progress_explanation": "盘子和烤盘之间的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧盘子和烤盘之间的碗，盘子和烤盘之间的碗已被移动至贴合盘子位置\n为完成拿起盘子和烤盘之间的碗并把它放在盘子上的任务应当：张开爪夹，使盘子和烤盘之间的碗放在盘子上", + "time": 6.908225108225109, + "annotations": { + "point_1767854835761": { + "type": "point", + "instances": [ + { + "id": "point_1767854835761_1767854954052_iipl8pixz", + "x": 0.5433333129882812, + "y": 0.78 + } + ] + }, + "point_1767854835596": { + "type": "point", + "instances": [ + { + "id": "point_1767854835596_1767854955881_s6j1oybf1", + "x": 0.3993333129882813, + "y": 0.7706666717529297 + } + ] + }, + "bbox_1767854831835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831835_1767854959604_uw80ohryz", + "x": 0.34733331298828124, + "y": 0.3936666717529297, + "width": 0.2730000000000001, + "height": 0.379 + } + ] + }, + "bbox_1767854831695": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831695_1767854965681_daibpl02v", + "x": 0.41133331298828124, + "y": 0.3346666717529297, + "width": 0.5860000000000001, + "height": 0.49800000000000005 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起盘子和烤盘之间的碗并把它放在盘子上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，盘子和烤箱之间的碗成功被放置在盘子上", + "frame": 236, + "progress": 100, + "progress_explanation": "拿起盘子和烤盘之间的碗并把它放在盘子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于盘子和烤盘之间的碗正上方。\n拿起盘子和烤盘之间的碗并把它放在盘子上的任务已完成", + "time": 7.865800865800867, + "annotations": { + "bbox_1767854831695": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831695_1767854973640_t5day94lj", + "x": 0.42333331298828125, + "y": 0.3553333358764649, + "width": 0.5760000000000001, + "height": 0.485 + } + ] + }, + "bbox_1767854831835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767854831835_1767854977256_ggi296x9c", + "x": 0.36433331298828125, + "y": 0.38033333587646484, + "width": 0.25100000000000006, + "height": 0.453 + } + ] + }, + "point_1767854835596": { + "type": "point", + "instances": [ + { + "id": "point_1767854835596_1767854979160_tl4zmhlua", + "x": 0.35333331298828125, + "y": 0.7723333358764649 + } + ] + }, + "point_1767854835761": { + "type": "point", + "instances": [ + { + "id": "point_1767854835761_1767854980588_hjqytf2d6", + "x": 0.6403333129882812, + "y": 0.7813333358764648 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767854831695", + "name": "盘子和烤盘之间的碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767854831835", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767854835596", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767854835761", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001608.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001608.json new file mode 100644 index 0000000000000000000000000000000000000000..22b3ff73e29cd0e46ba1480c5a948f727d2055d8 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001608.json @@ -0,0 +1,478 @@ +{ + "task_description": "拿起饼干盒上的碗并把它放在盘子上\n开始移动0%\n爪夹靠近饼干盒上的碗20%\n爪夹夹取饼干盒上的碗40%\n爪夹夹取饼干盒上的碗靠近盘子60%\n爪夹下降饼干盒上的碗贴近盘子80%\n张开爪夹，饼干盒上的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向右方饼干盒上的碗移动，移动至饼干盒上的碗正上方后下降，下降至可抓取饼干盒上的碗的位置合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离饼干盒上的碗，未开始移动\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：爪夹向爪夹方向前方移动，移动至饼干盒上的碗正上方后下降，下降至饼干盒上的碗位置合拢爪夹，抓取饼干盒上的碗", + "time": 0.0801, + "annotations": { + "bbox_1767855002248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002248_1767855024769_2gc2gzqqt", + "x": 0.42733331298828126, + "y": 0.002, + "width": 0.24, + "height": 0.085 + } + ] + }, + "bbox_1767855002412": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002412_1767855029601_lad67qcvx", + "x": 0.7483333129882813, + "y": 0.002666656494140625, + "width": 0.249, + "height": 0.19999999999999998 + } + ] + }, + "point_1767855007436": { + "type": "point", + "instances": [ + { + "id": "point_1767855007436_1767855031596_ywdozh8k3", + "x": 0.24433331298828126, + "y": 0.7803333358764648 + } + ] + }, + "point_1767855007803": { + "type": "point", + "instances": [ + { + "id": "point_1767855007803_1767855033029_3zdrocb1s", + "x": 0.7563333129882812, + "y": 0.7813333358764648 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前方移动", + "correction_plan": "爪夹保持张开状态向爪夹方向前下方下降，下降至可抓取饼干盒上的碗的位置合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向前方饼干盒上的碗位置移动靠近", + "frame": 61, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向右前方移动到了饼干盒上的碗上方，尚未完全靠近饼干盒上的碗，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于饼干盒上的碗上方，木柜上的碗尚未被移动。\n为完成拿起饼干盒上的碗并把它放盘子上的任务应当：爪夹下降，下降至饼干盒上的碗位置合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态抬升并向爪夹方向右方移动", + "time": 2.047, + "annotations": { + "point_1767855007803": { + "type": "point", + "instances": [ + { + "id": "point_1767855007803_1767855035972_vllwa0af8", + "x": 0.7793333129882812, + "y": 0.7723333358764649 + } + ] + }, + "point_1767855007436": { + "type": "point", + "instances": [ + { + "id": "point_1767855007436_1767855037840_chdl721tm", + "x": 0.24033331298828126, + "y": 0.7753333358764649 + } + ] + }, + "bbox_1767855002248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002248_1767855041936_1062tgs7v", + "x": 0.28033331298828124, + "y": 0.32933333587646485, + "width": 0.256, + "height": 0.259 + } + ] + }, + "bbox_1767855002412": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002412_1767855050152_45nkt1l9s", + "x": 0.6553333129882812, + "y": 0.34533333587646486, + "width": 0.28800000000000003, + "height": 0.30000000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向前下方移动", + "correction_plan": "合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹成功向爪夹方向下方移动，移动至可抓取饼干盒上的碗的位置", + "frame": 124, + "progress": 20, + "progress_explanation": "爪夹已移动至饼干盒上的碗位置。因此进度提升至20%", + "state_description": "当前状态为爪夹张开，爪夹位于饼干盒上的碗位置，饼干盒上的碗尚未被夹取。\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：合拢爪夹，抓取饼干盒上的碗，之后保持爪夹合拢状态并向爪夹方向右方盘子的位置移动", + "time": 4.138499, + "annotations": { + "bbox_1767855002412": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002412_1767855055525_850wy8p6d", + "x": 0.8533333129882813, + "y": 0.514, + "width": 0.14400000000000002, + "height": 0.32499999999999996 + } + ] + }, + "bbox_1767855002248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002248_1767855063476_1ulfdjqv3", + "x": -0.00066668701171875, + "y": 0.3653333358764648, + "width": 0.5810000000000001, + "height": 0.47800000000000004 + } + ] + }, + "point_1767855007436": { + "type": "point", + "instances": [ + { + "id": "point_1767855007436_1767855065336_w1rk25jht", + "x": 0.2643333129882813, + "y": 0.7803333358764648 + } + ] + }, + "point_1767855007803": { + "type": "point", + "instances": [ + { + "id": "point_1767855007803_1767855066909_g6dx0iidi", + "x": 0.7313333129882813, + "y": 0.7793333358764648 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹成功合拢，饼干盒上的碗成功被爪夹夹取", + "frame": 152, + "progress": 40, + "progress_explanation": "饼干盒上的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒上的碗，饼干盒上的碗尚未移动。\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向右方盘子位置移动，移动至盘子正上方后张开爪夹，使木柜上的碗放在盘子上", + "time": 5.0552, + "annotations": { + "point_1767855007803": { + "type": "point", + "instances": [ + { + "id": "point_1767855007803_1767855069433_6k9sppttb", + "x": 0.5453333129882812, + "y": 0.7766666717529297 + } + ] + }, + "point_1767855007436": { + "type": "point", + "instances": [ + { + "id": "point_1767855007436_1767855070804_0fso5woap", + "x": 0.44533331298828127, + "y": 0.7816666717529297 + } + ] + }, + "bbox_1767855002248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002248_1767855078945_oe1l5uql3", + "x": 0.00733331298828125, + "y": 0.4506666717529297, + "width": 0.51, + "height": 0.38800000000000007 + } + ] + }, + "bbox_1767855002412": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002412_1767855083245_dvz5znd6l", + "x": 0.8493333129882813, + "y": 0.4526666717529297, + "width": 0.14800000000000002, + "height": 0.38200000000000006 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取饼干盒上的碗成功使饼干盒上的碗抬升并移动", + "frame": 179, + "progress": 50, + "progress_explanation": "饼干盒上的碗已被抓取成功并开始抬升，因此进度提升至50%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒上的碗，饼干盒上的碗已被抬升至空中\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，向爪夹方向右方盘子位置移动，移动至盘子正上方后张开爪夹，使木柜上的碗放在盘子上", + "time": 5.969716040565462, + "annotations": { + "bbox_1767855002412": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002412_1767855090748_mldw8i3hh", + "x": 0.6173333129882813, + "y": 0.5093333358764649, + "width": 0.382, + "height": 0.33099999999999996 + } + ] + }, + "bbox_1767855002248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002248_1767855097332_at564tdmn", + "x": 0.00533331298828125, + "y": 0.46033333587646486, + "width": 0.503, + "height": 0.377 + } + ] + }, + "point_1767855007436": { + "type": "point", + "instances": [ + { + "id": "point_1767855007436_1767855099420_y8msss15a", + "x": 0.4523333129882813, + "y": 0.7843333358764648 + } + ] + }, + "point_1767855007803": { + "type": "point", + "instances": [ + { + "id": "point_1767855007803_1767855100936_uwc77rdp1", + "x": 0.5373333129882812, + "y": 0.7683333358764649 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 60, + "progress_explanation": "", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒上的碗，饼干盒上的碗已完全靠近盘子。\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：爪夹保持合拢状态，下降，下降至饼干盒上的碗贴合盘子后张开爪夹，使饼干盒上的碗放在盘子上", + "time": 7.2268, + "annotations": { + "point_1767855007803": { + "type": "point", + "instances": [ + { + "id": "point_1767855007803_1767855103953_yga8xj2jt", + "x": 0.5323333129882812, + "y": 0.779 + } + ] + }, + "point_1767855007436": { + "type": "point", + "instances": [ + { + "id": "point_1767855007436_1767855105648_djnfoaw8v", + "x": 0.4573333129882813, + "y": 0.7846666717529297 + } + ] + }, + "bbox_1767855002248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002248_1767855112628_b3yh78pw8", + "x": 0.00433331298828125, + "y": 0.4566666717529297, + "width": 0.511, + "height": 0.38000000000000006 + } + ] + }, + "bbox_1767855002412": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002412_1767855116914_3re6juhj9", + "x": 0.35733331298828125, + "y": 0.5066666717529297, + "width": 0.426, + "height": 0.33100000000000007 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "张开爪夹，使饼干盒上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取饼干盒上的碗并成功使饼干盒上的碗移动至盘子上", + "frame": 244, + "progress": 80, + "progress_explanation": "饼干盒上的碗成功被抓取并移动至盘子上，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧饼干盒上的碗，饼干盒上的碗已被移动至贴合盘子位置\n为完成拿起饼干盒上的碗并把它放在盘子上的任务应当：张开爪夹，使饼干盒上的碗放在盘子上", + "time": 8.143499, + "annotations": { + "bbox_1767855002412": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002412_1767855122820_dj2pvmzcm", + "x": 0.21733331298828126, + "y": 0.4273333358764648, + "width": 0.51, + "height": 0.405 + } + ] + }, + "bbox_1767855002248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002248_1767855128120_uie5hgcvy", + "x": 0.00733331298828125, + "y": 0.43133333587646483, + "width": 0.526, + "height": 0.41000000000000003 + } + ] + }, + "point_1767855007436": { + "type": "point", + "instances": [ + { + "id": "point_1767855007436_1767855129692_5msfjbjzh", + "x": 0.41533331298828124, + "y": 0.7853333358764648 + } + ] + }, + "point_1767855007803": { + "type": "point", + "instances": [ + { + "id": "point_1767855007803_1767855130868_ghxxabqcg", + "x": 0.5273333129882812, + "y": 0.7723333358764649 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起饼干盒上的碗并把它放在盘子上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，饼干盒上的碗成功被放置在盘子上", + "frame": 261, + "progress": 100, + "progress_explanation": "拿起饼干盒上的碗并把它放在盘子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于饼干盒上的碗上方，饼干盒上的碗已被放在盘子上。\n拿起饼干盒上的碗并把它放在盘子上的任务已完成", + "time": 8.6953, + "annotations": { + "point_1767855007803": { + "type": "point", + "instances": [ + { + "id": "point_1767855007803_1767855134527_i8piwi1g2", + "x": 0.6243333129882812, + "y": 0.7816666717529297 + } + ] + }, + "point_1767855007436": { + "type": "point", + "instances": [ + { + "id": "point_1767855007436_1767855135907_72q2hqmup", + "x": 0.37733331298828127, + "y": 0.7786666717529297 + } + ] + }, + "bbox_1767855002248": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002248_1767855140960_4yrmtm7yo", + "x": 0.00433331298828125, + "y": 0.4126666717529297, + "width": 0.481, + "height": 0.42500000000000004 + } + ] + }, + "bbox_1767855002412": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855002412_1767855145136_uub2ixruq", + "x": 0.30533331298828126, + "y": 0.4546666717529297, + "width": 0.41100000000000003, + "height": 0.37800000000000006 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767855002248", + "name": "饼干盒上的碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767855002412", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767855007436", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767855007803", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001690.json b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001690.json new file mode 100644 index 0000000000000000000000000000000000000000..3050804e95ccd4128bf276bf51a810693069b790 --- /dev/null +++ b/annotation_files_raw/0109/project-1/libero/annotations/chunk-001/observation.images.wrist_image/episode_001690.json @@ -0,0 +1,442 @@ +{ + "task_description": "拿起木柜上的碗并把它放在盘子上\n开始移动0%\n爪夹靠近木柜上的碗20%\n爪夹夹取木柜上的碗40%\n爪夹夹取木柜上的碗靠近盘子60%\n爪夹下降木柜上的碗被移动至贴合盘子位置80%\n张开爪夹，木柜上的碗被放在盘子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向左上方木柜上的碗移动，移动至木柜上的碗正上方后下降，下降至可抓取木柜上的碗的位置合拢爪夹，抓取木柜上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗落入盘子上", + "error_success_analysis": "", + "frame": 3, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离木柜上的碗，未开始移动\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：爪夹向爪夹方向左上方移动，移动至木柜上的碗正上方后下降，下降至木柜上的碗位置合拢爪夹，抓取木柜上的碗", + "time": 0.1064, + "annotations": { + "bbox_1767855159938": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855159938_1767855182142_5vgt9rmcq", + "x": 0.7273333129882813, + "y": 0.004666656494140625, + "width": 0.264, + "height": 0.182 + } + ] + }, + "point_1767855165160": { + "type": "point", + "instances": [ + { + "id": "point_1767855165160_1767855184217_zrtafz8ja", + "x": 0.23633331298828125, + "y": 0.7856666717529297 + } + ] + }, + "point_1767855165305": { + "type": "point", + "instances": [ + { + "id": "point_1767855165305_1767855186180_ky3d4rmrm", + "x": 0.7753333129882812, + "y": 0.7936666717529297 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "爪夹向爪夹方向左前方木柜上的碗移动，移动至木柜上的碗正上方后下降，下降至可抓取木柜上的碗的位置合拢爪夹，抓取木柜上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗落入盘子上", + "error_success_analysis": "爪夹成功向爪夹方向左上方木柜上的碗位置移动靠近", + "frame": 52, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向上方抬升移动到了木柜上的碗右后方，尚未完全靠近木柜上的碗，因此进度小幅提升至10%", + "state_description": "当前状态为爪夹张开，位于木柜上的碗右后方，木柜上的碗尚未被移动。\n为完成拿起木柜上的碗并把它放盘子上的任务应当：爪夹向爪夹方向左前方移动移动至木柜上的碗位置下降，下降至木柜上的碗位置合拢爪夹，抓取木柜上的碗，", + "time": 1.7423, + "annotations": { + "point_1767855165305": { + "type": "point", + "instances": [ + { + "id": "point_1767855165305_1767855190013_nfghgrorp", + "x": 0.7613333129882812, + "y": 0.7793333358764648 + } + ] + }, + "point_1767855165160": { + "type": "point", + "instances": [ + { + "id": "point_1767855165160_1767855191582_58jumnek4", + "x": 0.23733331298828125, + "y": 0.7763333358764649 + } + ] + }, + "bbox_1767855159785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855159785_1767855194621_cqqhpt7kn", + "x": 0.00933331298828125, + "y": 0.00133331298828125, + "width": 0.056, + "height": 0.18300000000000002 + } + ] + }, + "bbox_1767855159938": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855159938_1767855201470_4ssefyt8y", + "x": 0.8273333129882813, + "y": 0.22433333587646484, + "width": 0.16900000000000004, + "height": 0.208 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向左前方移动", + "correction_plan": "保持爪夹张开状态下降，下降至可抓取木柜上的碗的位置合拢爪夹，抓取木柜上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗落入盘子上", + "error_success_analysis": "爪夹成功向爪夹方向左前方木柜上的碗的位置靠近", + "frame": 103, + "progress": 20, + "progress_explanation": "爪夹已完全靠近木柜上的碗，因此进度提升至20%", + "state_description": "当前状态为爪夹张开，位于木柜上的碗的正上方，木柜上的碗尚未被抓取。\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：爪夹保持张开状态下降爪夹，下降至木柜上的碗位置，合拢爪夹抓取木柜上的碗", + "time": 3.4253761111457073, + "annotations": { + "bbox_1767855159938": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855159938_1767855208934_kma9loist", + "x": 0.9263333129882813, + "y": 0.4816666717529297, + "width": 0.06900000000000006, + "height": 0.192 + } + ] + }, + "point_1767855165160": { + "type": "point", + "instances": [ + { + "id": "point_1767855165160_1767855214766_b3psobqqg", + "x": 0.23333331298828125, + "y": 0.7856666717529297 + } + ] + }, + "point_1767855165305": { + "type": "point", + "instances": [ + { + "id": "point_1767855165305_1767855216253_2809wxl7q", + "x": 0.7853333129882812, + "y": 0.7896666717529297 + } + ] + }, + "bbox_1767855159785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855159785_1767855220786_22kvvly0u", + "x": 0.06733331298828125, + "y": 0.4406666717529297, + "width": 0.396, + "height": 0.3980000000000001 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动下降", + "correction_plan": "合拢爪夹，抓取木柜上的碗，之后保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗落入盘子上", + "error_success_analysis": "爪夹成功下降至可抓取木柜上的碗的位置", + "frame": 159, + "progress": 30, + "progress_explanation": "爪夹已移动至木柜上的碗位置，但还未夹取木柜上的碗，因此进度提升至30%", + "state_description": "当前状态为爪夹张开，爪夹位于木柜上的碗位置，木柜上的碗尚未被夹取。\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：合拢爪夹，抓取木柜上的碗，之后保持爪夹合拢状态抬升并向爪夹方向右方移动", + "time": 5.3067, + "annotations": { + "bbox_1767855159785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855159785_1767855229069_wc3fdax1p", + "x": 0.00533331298828125, + "y": 0.06933333587646484, + "width": 0.635, + "height": 0.772 + } + ] + }, + "point_1767855165305": { + "type": "point", + "instances": [ + { + "id": "point_1767855165305_1767855230653_co7dl3rv7", + "x": 0.7843333129882812, + "y": 0.7753333358764649 + } + ] + }, + "point_1767855165160": { + "type": "point", + "instances": [ + { + "id": "point_1767855165160_1767855232253_pib1q1mkd", + "x": 0.22733331298828124, + "y": 0.7793333358764648 + } + ] + } + } + }, + { + "action_description": "爪夹由张开变为合拢", + "correction_plan": "保持爪夹合拢状态，并向爪夹方向右方盘子移动，移动至盘子正上方后下降，下降至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗落入盘子上", + "error_success_analysis": "爪夹成功合拢，木柜上的碗成功被爪夹夹取", + "frame": 201, + "progress": 40, + "progress_explanation": "木柜上的碗已被成功抓取，因此进度提升至40%", + "state_description": "当前状态为爪夹合拢，抓紧木柜上的碗，木柜上的碗尚未移动。\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：保持爪夹合拢状态，并向爪夹方向右方盘子位置移动，移动至盘子正上方后下降", + "time": 6.7165, + "annotations": { + "point_1767855165160": { + "type": "point", + "instances": [ + { + "id": "point_1767855165160_1767855237002_irppe5lmj", + "x": 0.44333331298828127, + "y": 0.7896666717529297 + } + ] + }, + "point_1767855165305": { + "type": "point", + "instances": [ + { + "id": "point_1767855165305_1767855238373_6lnj7jar2", + "x": 0.5393333129882812, + "y": 0.8006666717529297 + } + ] + }, + "bbox_1767855159785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855159785_1767855244210_xo9i1yn42", + "x": 0.00133331298828125, + "y": 0.4946666717529297, + "width": 0.512, + "height": 0.34700000000000003 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向右方移动", + "correction_plan": "保持爪夹合拢状态，爪夹下降，下降至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗落入盘子上", + "error_success_analysis": "爪夹保持合拢，抓取木柜上的碗成功使木柜上的碗靠近盘子", + "frame": 283, + "progress": 60, + "progress_explanation": "木柜上的碗已被抓取成功并已移动至盘子上方完全靠近了盘子，因此进度提升至60%", + "state_description": "当前状态为爪夹合拢，抓紧木柜上的碗，木柜上的碗已移动至盘子正上方。\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：爪夹保持合拢状态下降，下降至木柜上的碗贴合盘子后张开爪夹，使木柜上的碗放在盘子上", + "time": 9.443, + "annotations": { + "bbox_1767855159785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855159785_1767855250610_noqydbava", + "x": 0.00533331298828125, + "y": 0.4886666717529297, + "width": 0.49499999999999994, + "height": 0.34800000000000003 + } + ] + }, + "point_1767855165160": { + "type": "point", + "instances": [ + { + "id": "point_1767855165160_1767855252693_1bjacfxii", + "x": 0.4473333129882813, + "y": 0.7806666717529297 + } + ] + }, + "point_1767855165305": { + "type": "point", + "instances": [ + { + "id": "point_1767855165305_1767855254162_8zn1ebqp5", + "x": 0.5313333129882812, + "y": 0.7746666717529297 + } + ] + }, + "bbox_1767855159938": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855159938_1767855259101_iexc5pulr", + "x": 0.6363333129882812, + "y": 0.4936666717529297, + "width": 0.20900000000000007, + "height": 0.21200000000000002 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "correction_plan": "张开爪夹，使木柜上的碗放在盘子上", + "error_success_analysis": "爪夹保持合拢，抓取木柜上的碗并成功使木柜上的碗移动至贴合盘子处", + "frame": 368, + "progress": 80, + "progress_explanation": "木柜上的碗成功被抓取并移动至贴合盘子处，但爪夹尚未张开，因此进度提升至80%", + "state_description": "当前状态为爪夹合拢，抓紧木柜上的碗，木柜上的碗已被移动至贴合盘子位置\n为完成拿起木柜上的碗并把它放在盘子上的任务应当：张开爪夹，使木柜上的碗放在盘子上", + "time": 12.2626, + "annotations": { + "bbox_1767855159938": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855159938_1767855267767_s87ci85bp", + "x": 0.19533331298828124, + "y": 0.4166666717529297, + "width": 0.43699999999999994, + "height": 0.43200000000000005 + } + ] + }, + "point_1767855165160": { + "type": "point", + "instances": [ + { + "id": "point_1767855165160_1767855269374_k5dn26v5e", + "x": 0.4493333129882813, + "y": 0.7826666717529297 + } + ] + }, + "point_1767855165305": { + "type": "point", + "instances": [ + { + "id": "point_1767855165305_1767855270583_sz469cynu", + "x": 0.5533333129882813, + "y": 0.7786666717529297 + } + ] + }, + "bbox_1767855159785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855159785_1767855276078_xjqdwxqtt", + "x": 0.00733331298828125, + "y": 0.4506666717529297, + "width": 0.513, + "height": 0.39100000000000007 + } + ] + } + } + }, + { + "action_description": "爪夹由合拢变为张开", + "correction_plan": "拿起木柜上的碗并把它放在盘子上的任务已完成，无需后续动作规划", + "error_success_analysis": "爪夹成功张开，木柜上的碗成功被放置在盘子上", + "frame": 392, + "progress": 100, + "progress_explanation": "拿起木柜上的碗并把它放在盘子上的任务已完成，因此进度提升至100%", + "state_description": "当前状态为爪夹张开，位于木柜上的碗上方，木柜上的碗已被放在盘子上。\n拿起木柜上的碗并把它放在盘子上的任务已完成", + "time": 13.071477384272312, + "annotations": { + "bbox_1767855159785": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855159785_1767855288990_51pjm24wy", + "x": 0.11633331298828126, + "y": 0.37266667175292967, + "width": 0.5129999999999999, + "height": 0.4760000000000001 + } + ] + }, + "bbox_1767855159938": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1767855159938_1767855293243_8hpkgbyhj", + "x": 0.6053333129882813, + "y": 0.5386666717529297, + "width": 0.05499999999999994, + "height": 0.30200000000000005 + } + ] + }, + "point_1767855165160": { + "type": "point", + "instances": [ + { + "id": "point_1767855165160_1767855294982_xg45a17ac", + "x": 0.24133331298828126, + "y": 0.7806666717529297 + } + ] + }, + "point_1767855165305": { + "type": "point", + "instances": [ + { + "id": "point_1767855165305_1767855296454_fqe5ntq3f", + "x": 0.7473333129882813, + "y": 0.7776666717529297 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1767855159785", + "name": "木柜上的碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1767855159938", + "name": "盘子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1767855165160", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1767855165305", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..1048a5193b3267ab66b3568b9dc22abf9b5203eb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取苦瓜使其掉入盘中：\n开始移动：0%\n爪夹靠近苦瓜：20%\n爪夹抓取苦瓜：40%\n爪夹抓住苦瓜接近盘子：60%\n爪夹将苦瓜放入盘中：80%\n爪夹松开，苦瓜落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.447447879137819 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 7.2 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..12664a381d74a7a8b3f4133c4b618a1587d9c2ed --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取黄瓜使其掉入盘中：\n开始移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓住黄瓜接近盘子：60%\n爪夹将黄瓜放入盘中：80%\n爪夹松开，黄瓜落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.1255115093760653 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.368096437517298 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 7.7 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..e8575967f1dbaa8209534fc062294204c8f21ebc --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取茭白使其掉入盘中：\n开始移动：0%\n爪夹靠近茭白：20%\n爪夹抓取茭白：40%\n爪夹抓住茭白接近盘子：60%\n爪夹将茭白放入盘中：80%\n爪夹松开，茭白落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.7336174475686987 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.922811467529051 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 176, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.866666666666666 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.566644601190907 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.2 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 308, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.266666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..7e4ccb300935cef4ae7ce46efc1f4871d480a56f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取胡萝卜使其掉入盘中：\n开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓住胡萝卜接近盘子：60%\n爪夹将胡萝卜放入盘中：80%\n爪夹松开，胡萝卜落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 2.6639907253274853 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.864765367358083 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.550701480916194 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 53, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 67, + "progress_explanation": "", + "state_description": "", + "time": 9.634574289065805 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.366666666666667 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 352, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000013.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000013.json new file mode 100644 index 0000000000000000000000000000000000000000..66140168d80da212514402269d0c79bd5b78e3b0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000013.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取胡萝卜使其掉入盘中：\n开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓住胡萝卜接近盘子：60%\n爪夹将胡萝卜放入盘中：80%\n爪夹松开，胡萝卜落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 2.427194707909916 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 67, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 7.633333333333334 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000015.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000015.json new file mode 100644 index 0000000000000000000000000000000000000000..77951b90aec6c76788eda5e67aad2daff41e3bd8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000015.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取黄瓜使其掉入盘中：\n开始移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓住黄瓜接近盘子：60%\n爪夹将黄瓜放入盘中：80%\n爪夹松开，黄瓜落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.78601183305967 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 2.6 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.7102052776314407 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.922447147711655 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 5.8941648372204 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 7.2 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000017.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000017.json new file mode 100644 index 0000000000000000000000000000000000000000..4ae64faecfbcbe93e8e4e93ee4f6c4553ed7138e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000017.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取苦瓜使其掉入盘中：\n开始移动：0%\n爪夹靠近苦瓜：20%\n爪夹抓取苦瓜：40%\n爪夹抓住苦瓜接近盘子：60%\n爪夹将苦瓜放入盘中：80%\n爪夹松开，苦瓜落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 5.211749294417561 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.375783290004067 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 9.396474172157323 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 346, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 11.533333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 393, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 13.1 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 528, + "progress": 4, + "progress_explanation": "", + "state_description": "", + "time": 17.6 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 577, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 19.233333333333334 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 597, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 19.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000018.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000018.json new file mode 100644 index 0000000000000000000000000000000000000000..e6a506084330e89b26157e2623076a29c6cf795d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000018.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取黄瓜使其掉入盘中：\n开始移动：0%\n爪夹靠近并抓取黄瓜：30%\n爪夹抓住黄瓜接近盘子：50%\n爪夹将黄瓜放入盘中：80%\n爪夹松开，黄瓜落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 3, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.11243866065141787 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.4671036406021614 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 3.432685682740236 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.7540084772449696 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.176971486711608 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 271, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 9.033333333333333 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 10.033333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 355, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 11.818003417097202 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 432, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 14.392888862798735 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 470, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 15.666666666666666 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 491, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 16.35793301872885 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000025.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000025.json new file mode 100644 index 0000000000000000000000000000000000000000..c24b9f55459a0da0c939f84e16ae53d7dbcdb04b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-104824-bad-cucumber/annotations/chunk-000/observation.images.front/episode_000025.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取黄瓜使其掉入盘中：\n开始移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓住黄瓜接近盘子：60%\n爪夹将黄瓜放入盘中：80%\n爪夹松开，黄瓜落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 7, + "progress_explanation": "", + "state_description": "", + "time": 2.303134839058245 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.6226288972666807 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.3 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.838895664149743 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 10.033333333333333 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 417, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 13.9 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 446, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 14.871315743493595 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 478, + "progress": 11, + "progress_explanation": "", + "state_description": "", + "time": 15.926910990060342 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..7c6652b57264f692c3161f640371d16809ee95a1 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取胡萝卜使其掉入盘中：\n开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓住胡萝卜接近盘子：60%\n爪夹将胡萝卜放入盘中：80%\n爪夹松开，胡萝卜落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.8221464841807142 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.628755112668886 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 285, + "progress": 67, + "progress_explanation": "", + "state_description": "", + "time": 9.5 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 308, + "progress": 72, + "progress_explanation": "", + "state_description": "", + "time": 10.266666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 364, + "progress": 64, + "progress_explanation": "", + "state_description": "", + "time": 12.133333333333333 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 448, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 14.933333333333334 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 483, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 16.1 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 504, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 16.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000015.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000015.json new file mode 100644 index 0000000000000000000000000000000000000000..37c1f319d435c8ed07089eab06738d634e2bc6d3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000015.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取胡萝卜使其掉入盘中：\n开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓住胡萝卜接近盘子：60%\n爪夹将胡萝卜放入盘中：80%\n爪夹松开，胡萝卜落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.566666666666666 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 6.193913155144706 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.2 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 310, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 10.333333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000020.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000020.json new file mode 100644 index 0000000000000000000000000000000000000000..40e6304a6c8321104309187d4f487ddff093395e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-111414-bad-carrot/annotations/chunk-000/observation.images.front/episode_000020.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取胡萝卜使其掉入盘中：\n开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓住胡萝卜接近盘子：60%\n爪夹将胡萝卜放入盘中：80%\n爪夹松开，胡萝卜落入盘子：100%.", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.7638624193991963 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 7, + "progress_explanation": "", + "state_description": "", + "time": 3.8798946172508226 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.466666666666667 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 7.824491178622952 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.786587900908836 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.883378164314747 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 340, + "progress": 67, + "progress_explanation": "", + "state_description": "", + "time": 11.333333333333334 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 388, + "progress": 74, + "progress_explanation": "", + "state_description": "", + "time": 12.923603806738145 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 423, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 14.1 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 456, + "progress": 72, + "progress_explanation": "", + "state_description": "", + "time": 15.194152071332832 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 530, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 17.666666666666668 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 560, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 18.666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-142701-bad-chilli/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-142701-bad-chilli/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e72f97777d074a7e5970c05a25d5a1787610b634 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-142701-bad-chilli/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取黄瓜使其掉入盘中：\n开始移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓住黄瓜接近盘子：60%\n爪夹将黄瓜放入盘中：80%\n爪夹松开，黄瓜落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 123, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.083780015952326 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.8618918472062385 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.9 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.733333333333333 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 7.660771717835982 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.4 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 9.533333333333333 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 302, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 10.066666666666666 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 337, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 11.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-150558-bad-chilli/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-150558-bad-chilli/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..568a3e5b39aff1b9fa2e5ca35d2f16e71d63fef8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-150558-bad-chilli/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取辣椒使其掉入盘中：\n开始移动：0%\n爪夹靠近辣椒：20%\n爪夹抓取辣椒：40%\n爪夹抓住辣椒接近盘子：60%\n爪夹将辣椒放入盘中：80%\n爪夹松开，辣椒落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.741760498545107 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 10.633333333333333 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 355, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 11.833333333333334 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 432, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 14.4 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 454, + "progress": -11, + "progress_explanation": "", + "state_description": "", + "time": 15.133333333333333 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 473, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 15.766666666666667 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 483, + "progress": -14, + "progress_explanation": "", + "state_description": "", + "time": 16.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-150558-bad-chilli/annotations/chunk-000/observation.images.front/episode_000011.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-150558-bad-chilli/annotations/chunk-000/observation.images.front/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..0af17a545836d575064246ede011b6a00b5180da --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-150558-bad-chilli/annotations/chunk-000/observation.images.front/episode_000011.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取辣椒使其掉入盘中：\n开始移动：0%\n爪夹靠近辣椒：20%\n爪夹抓取辣椒：40%\n爪夹抓住辣椒接近盘子：60%\n爪夹将辣椒放入盘中：80%\n爪夹松开，辣椒落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.38513680374757 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.859259071902307 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 7.8 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 283, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 9.433333333333334 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 310, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.333333333333334 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 337, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 11.233333333333333 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 394, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 13.133333333333333 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 428, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 14.266666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-155207-bad-eggplant/annotations/chunk-000/observation.images.front/episode_000010.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-155207-bad-eggplant/annotations/chunk-000/observation.images.front/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..ef845f7145ef7d8e1785df26a469164443d1a285 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-155207-bad-eggplant/annotations/chunk-000/observation.images.front/episode_000010.json @@ -0,0 +1,188 @@ +{ + "task_description": "抓取茭白使其掉入盘中：\n开始移动：0%\n爪夹靠近茭白：20%\n爪夹抓取茭白：40%\n爪夹抓住茭白接近盘子：60%\n爪夹将茭白放入盘中：80%\n爪夹松开，茭白落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.752352646696247 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 190, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.324199352607623 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.1 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 248, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 8.266666666666667 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 44, + "progress_explanation": "", + "state_description": "", + "time": 9.1 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 10.406309873649198 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 344, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 11.464634823548865 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 372, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 12.4 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 453, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 15.1 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 466, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 15.5278466847708 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 482, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 16.07590781954027 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 503, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 16.766666666666666 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 527, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 17.568901945291586 + }, + { + "action_description": "关键帧 18/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 549, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 18.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-155207-bad-eggplant/annotations/chunk-000/observation.images.front/episode_000011.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-155207-bad-eggplant/annotations/chunk-000/observation.images.front/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..17392a4a371dee9258bf88f52f2c5bf8cad5207d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-155207-bad-eggplant/annotations/chunk-000/observation.images.front/episode_000011.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取茄子使其掉入盘中：\n开始移动：0%\n爪夹靠近茄子：20%\n爪夹抓取茄子：40%\n爪夹抓住茄子接近盘子：60%\n爪夹将茄子放入盘中：80%\n爪夹松开，茄子落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 10.010282569337472 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 342, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 11.388499267409845 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 381, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 12.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-155207-bad-eggplant/annotations/chunk-000/observation.images.front/episode_000023.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-155207-bad-eggplant/annotations/chunk-000/observation.images.front/episode_000023.json new file mode 100644 index 0000000000000000000000000000000000000000..f5fd44a10383c2ec113a825f43a034ad61844514 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-155207-bad-eggplant/annotations/chunk-000/observation.images.front/episode_000023.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取茭白使其掉入盘中：\n开始移动：0%\n爪夹靠近茭白：20%\n爪夹抓取茭白：40%\n爪夹抓住茭白接近盘子：60%\n爪夹将茭白放入盘中：80%\n爪夹松开，茭白落入盘子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.496683587306519 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.697118047275234 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 271, + "progress": 68, + "progress_explanation": "", + "state_description": "", + "time": 9.033333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 66, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 321, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 10.7 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 341, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 11.366666666666667 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 396, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 13.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d2ba70d5526c57f2b9e2a5588bea6657b93eae4b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取橙色立方体放在蓝色立方体上： \n开始移动：0%\n爪夹靠近橙色立方体：20%\n爪夹抓取橙色立方体：40%\n爪夹抓住橙色立方体接近蓝色立方体：60%\n爪夹将橙色立方体放在蓝色立方体上：80%\n爪夹松开，橙色立方体放在蓝色立方体上：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.1283917756365813 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 3.988235144357099 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.586545733010764 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 218, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.266666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 8.4 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 10.033333333333333 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 355, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.833333333333334 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 397, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 13.219075393521432 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000011.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..929034d7cb4dc523faf2afcfed8266f46f820cc5 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000011.json @@ -0,0 +1,208 @@ +{ + "task_description": "抓取橙色立方体放在蓝色立方体上，然后把黄色立方体放在橙色立方体上： \n开始移动：0%\n爪夹靠近橙色立方体：10%\n爪夹抓取橙色立方体：20%\n爪夹抓住橙色立方体接近蓝色立方体：30%\n爪夹将橙色立方体放在蓝色立方体上：40%\n爪夹松开，橙色立方体放在蓝色立方体上：50%\n爪夹靠近黄色立方体：60%\n爪夹抓取黄色立方体：70%\n爪夹抓住黄色立方体接近橙色立方体：80%\n爪夹将黄色立方体放在橙色立方体上：90%\n爪夹松开，黄色立方体放在橙色立方体上：100%", + "progress_points": [ + { + "action_description": "关键帧 1/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.8083531072587864 + }, + { + "action_description": "关键帧 3/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 5/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 6/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 7/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.739531252534431 + }, + { + "action_description": "关键帧 8/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 9/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 7.56445544803014 + }, + { + "action_description": "关键帧 10/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 9 + }, + { + "action_description": "关键帧 11/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 10.360084002832082 + }, + { + "action_description": "关键帧 12/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 360, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 12 + }, + { + "action_description": "关键帧 13/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 374, + "progress": 69, + "progress_explanation": "", + "state_description": "", + "time": 12.47621950611966 + }, + { + "action_description": "关键帧 14/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 399, + "progress": 71, + "progress_explanation": "", + "state_description": "", + "time": 13.3 + }, + { + "action_description": "关键帧 15/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 429, + "progress": 76, + "progress_explanation": "", + "state_description": "", + "time": 14.301143701615372 + }, + { + "action_description": "关键帧 16/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 451, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 15.033333333333333 + }, + { + "action_description": "关键帧 17/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 475, + "progress": 68, + "progress_explanation": "", + "state_description": "", + "time": 15.834856589319214 + }, + { + "action_description": "关键帧 18/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 508, + "progress": 72, + "progress_explanation": "", + "state_description": "", + "time": 16.92204547174219 + }, + { + "action_description": "关键帧 19/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 550, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 18.31985974914316 + }, + { + "action_description": "关键帧 20/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 564, + "progress": 52, + "progress_explanation": "", + "state_description": "", + "time": 18.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000016.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000016.json new file mode 100644 index 0000000000000000000000000000000000000000..42dbd14e510041e46a0d0c3241db7dff122e46be --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000016.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取蓝色立方体放在红色立方体上： \n开始移动：0%\n爪夹靠近蓝色立方体：20%\n爪夹抓取蓝色立方体：40%\n爪夹抓住蓝色立方体接近红色立方体：60%\n爪夹将蓝色立方体放在红色立方体上：80%\n爪夹松开，蓝色立方体放在红色立方体上：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.762085610900032 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.882244540210413 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.966666666666667 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 9.2 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 10.2 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 336, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 11.2 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 362, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 12.054351991967588 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 377, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 12.566666666666666 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 392, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 13.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000020.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000020.json new file mode 100644 index 0000000000000000000000000000000000000000..c4b11ab3aa5ccb1359af014db3b31d9d9cef1a00 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-173759-bad-bule-red-yellow/annotations/chunk-000/observation.images.front/episode_000020.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取蓝色立方体放在橙色立方体上： \n开始移动：0%\n爪夹靠近蓝色立方体：20%\n爪夹抓取蓝色立方体：40%\n爪夹抓住蓝色立方体接近橙色立方体：60%\n爪夹将蓝色立方体放在橙色立方体上：80%\n爪夹松开，蓝色立方体放在橙色立方体上：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.442118384580668 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 8.7 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 9.884997356484277 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 307, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.233333333333333 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 339, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 11.3 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 368, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 12.266666666666667 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 394, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 13.14526821935386 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-180206-bad-red-yellow-blue/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-180206-bad-red-yellow-blue/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f28cda4714ec022831b21d1f28a1119720786633 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-180206-bad-red-yellow-blue/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,128 @@ +{ + "task_description": "把蓝色立方体放在红色立方体上，然后把黄色立方体放在蓝色立方体上。\n开始移动:0%\n爪夹靠近蓝色立体方块:10%\n爪夹抓取蓝色立体方块:20%\n爪夹抓住蓝色立体方块接近红色立方体:30%\n爪夹把蓝色立方体放在红色立方体上：40%\n抓夹松开，蓝色立方体落在红色立方体上：50%\n爪夹靠近黄色立体方块:60%\n爪夹抓取黄色立体方块:70%\n爪夹抓住黄色立体方块接近蓝色立方体:80%\n爪夹把黄色立方体放在蓝色立方体上：90%\n抓夹松开，黄色立方体落在蓝色立方体上：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 29, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 10.1 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 330, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 11 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 367, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 12.225114136568202 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 391, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 13.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-180206-bad-red-yellow-blue/annotations/chunk-000/observation.images.front/episode_000013.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-180206-bad-red-yellow-blue/annotations/chunk-000/observation.images.front/episode_000013.json new file mode 100644 index 0000000000000000000000000000000000000000..d8fe6b67749de27f4e27455e0f14c84c93aa57eb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-180206-bad-red-yellow-blue/annotations/chunk-000/observation.images.front/episode_000013.json @@ -0,0 +1,188 @@ +{ + "task_description": "把蓝色立方体放在红色立方体上，然后把黄色立方体放在蓝色立方体上。\n开始移动:0%\n爪夹靠近蓝色立体方块:10%\n爪夹抓取蓝色立体方块:20%\n爪夹抓住蓝色立体方块接近红色立方体:30%\n爪夹把蓝色立方体放在红色立方体上：40%\n抓夹松开，蓝色立方体落在红色立方体上：50%\n爪夹靠近黄色立体方块:60%\n爪夹抓取黄色立体方块:70%\n爪夹抓住黄色立体方块接近蓝色立方体:80%\n爪夹把黄色立方体放在蓝色立方体上：90%\n抓夹松开，黄色立方体落在蓝色立方体上：100%", + "progress_points": [ + { + "action_description": "关键帧 1/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 4.350143628904735 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.2 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 8.6 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 291, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 9.7 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 318, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 10.6 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": -7, + "progress_explanation": "", + "state_description": "", + "time": 11.1 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 377, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 12.566666666666666 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 383, + "progress": 7, + "progress_explanation": "", + "state_description": "", + "time": 12.766666666666667 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 390, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 13 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 406, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 13.533333333333333 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 423, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 14.088413539716953 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 443, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 14.766666666666667 + }, + { + "action_description": "关键帧 18/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 480, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 16 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-180206-bad-red-yellow-blue/annotations/chunk-000/observation.images.front/episode_000014.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-180206-bad-red-yellow-blue/annotations/chunk-000/observation.images.front/episode_000014.json new file mode 100644 index 0000000000000000000000000000000000000000..23f5d42f64ba1826fccc707edd9d4c4958467e35 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-180206-bad-red-yellow-blue/annotations/chunk-000/observation.images.front/episode_000014.json @@ -0,0 +1,108 @@ +{ + "task_description": "把黄色立方体放在红色立方体上，然后把蓝色立方体放在黄色立方体上。\n开始移动:0%\n爪夹靠近黄色立体方块:10%\n爪夹抓取黄色立体方块:20%\n爪夹抓住黄色立体方块接近红色立方体:30%\n爪夹把黄色立方体放在红色立方体上：40%\n抓夹松开，黄色立方体落在红色立方体上：50%\n爪夹靠近蓝色立体方块:60%\n爪夹抓取蓝色立体方块:70%\n爪夹抓住蓝色立体方块接近黄色立方体:80%\n爪夹把蓝色立方体放在黄色立方体上：90%\n抓夹松开，蓝色立方体落在黄色立方体上：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 8.892927749127148 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 302, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 10.056205949034284 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 336, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 11.2 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 366, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 12.2 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 447, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 14.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..78a324f70acecfa821fe83105ee9d0b8257bcf77 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,78 @@ +{ + "task_description": "把蓝色立方体放在红色立方体上，然后把黄色立方体放在蓝色立方体上。\n开始移动:0%\n爪夹靠近蓝色立体方块:10%\n爪夹抓取蓝色立体方块:20%\n爪夹抓住蓝色立体方块接近红色立方体:30%\n爪夹把蓝色立方体放在红色立方体上：40%\n抓夹松开，蓝色立方体落在红色立方体上：50%\n爪夹靠近黄色立体方块:60%\n爪夹抓取黄色立体方块:70%\n爪夹抓住黄色立体方块接近蓝色立方体:80%\n爪夹把黄色立方体放在蓝色立方体上：90%\n抓夹松开，黄色立方体落在蓝色立方体上：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.039665366579913854 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.515012522572719 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 6.411076093345302 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 7.873367079816047 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 9 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 295, + "progress": 4, + "progress_explanation": "", + "state_description": "", + "time": 9.81873633860302 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..6ecec7a9012a6f00bc3f88c225c375739b797f90 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,98 @@ +{ + "task_description": "把蓝色立方体放在红色立方体上，然后把黄色立方体放在蓝色立方体上。\n开始移动:0%\n爪夹靠近蓝色立体方块:10%\n爪夹抓取蓝色立体方块:20%\n爪夹抓住蓝色立体方块接近红色立方体:30%\n爪夹把蓝色立方体放在红色立方体上：40%\n抓夹松开，蓝色立方体落在红色立方体上：50%\n爪夹靠近黄色立体方块:60%\n爪夹抓取黄色立体方块:70%\n爪夹抓住黄色立体方块接近蓝色立方体:80%\n爪夹把黄色立方体放在蓝色立方体上：90%\n抓夹松开，黄色立方体落在蓝色立方体上：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.280543468788491 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 294, + "progress": 4, + "progress_explanation": "", + "state_description": "", + "time": 9.783742998346165 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 325, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 10.849232256183985 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 365, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 12.166666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..1d4098a20346f2fdf67a56d0cd223b2f13c7754a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,108 @@ +{ + "task_description": "把蓝色立方体放在红色立方体上，然后把黄色立方体放在蓝色立方体上。\n开始移动:0%\n爪夹靠近蓝色立体方块:10%\n爪夹抓取蓝色立体方块:20%\n爪夹抓住蓝色立体方块接近红色立方体:30%\n爪夹把蓝色立方体放在红色立方体上：40%\n抓夹松开，蓝色立方体落在红色立方体上：50%\n爪夹靠近黄色立体方块:60%\n爪夹抓取黄色立体方块:70%\n爪夹抓住黄色立体方块接近蓝色立方体:80%\n爪夹把黄色立方体放在蓝色立方体上：90%\n抓夹松开，黄色立方体落在蓝色立方体上：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.933333333333334 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 10.1 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 324, + "progress": 4, + "progress_explanation": "", + "state_description": "", + "time": 10.787156237201208 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 356, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 11.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000014.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000014.json new file mode 100644 index 0000000000000000000000000000000000000000..45d0c50da1f4c4b42030f77b7810c9678035f134 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000014.json @@ -0,0 +1,108 @@ +{ + "task_description": "把蓝色立方体放在红色立方体上，然后把黄色立方体放在蓝色立方体上。\n开始移动:0%\n爪夹靠近蓝色立体方块:10%\n爪夹抓取蓝色立体方块:20%\n爪夹抓住蓝色立体方块接近红色立方体:30%\n爪夹把蓝色立方体放在红色立方体上：40%\n抓夹松开，蓝色立方体落在红色立方体上：50%\n爪夹靠近黄色立体方块:60%\n爪夹抓取黄色立体方块:70%\n爪夹抓住黄色立体方块接近蓝色立方体:80%\n爪夹把黄色立方体放在蓝色立方体上：90%\n抓夹松开，黄色立方体落在蓝色立方体上：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.824023825358467 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 8.6 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.575847195383245 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 9.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000018.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000018.json new file mode 100644 index 0000000000000000000000000000000000000000..9fae3adc0e2f4253336b5174205f45e8c470c26f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000018.json @@ -0,0 +1,148 @@ +{ + "task_description": "把蓝色立方体放在红色立方体上，然后把黄色立方体放在蓝色立方体上。\n开始移动:0%\n爪夹靠近蓝色立体方块:10%\n爪夹抓取蓝色立体方块:20%\n爪夹抓住蓝色立体方块接近红色立方体:30%\n爪夹把蓝色立方体放在红色立方体上：40%\n抓夹松开，蓝色立方体落在红色立方体上：50%\n爪夹靠近黄色立体方块:60%\n爪夹抓取黄色立体方块:70%\n爪夹抓住黄色立体方块接近蓝色立方体:80%\n爪夹把黄色立方体放在蓝色立方体上：90%\n抓夹松开，黄色立方体落在蓝色立方体上：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 9.9 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 316, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 10.533333333333333 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 344, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 11.475160972634946 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 367, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 12.233333333333333 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 381, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 12.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000025.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000025.json new file mode 100644 index 0000000000000000000000000000000000000000..d51abb82f635746cef0d0ceaf999a8556ea233f3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251124-183048-bad-yellow-blue-red/annotations/chunk-000/observation.images.front/episode_000025.json @@ -0,0 +1,128 @@ +{ + "task_description": "把红色立方体放在蓝色立方体上，然后把黄色立方体放在红色立方体上。\n开始移动:0%\n爪夹靠近红色立体方块:10%\n爪夹抓取红色立体方块:20%\n爪夹抓住红色立体方块接近蓝色立方体:30%\n爪夹把红色立方体放在蓝色立方体上：40%\n抓夹松开，红色立方体落在蓝色立方体上：50%\n爪夹靠近黄色立体方块:60%\n爪夹抓取黄色立体方块:70%\n爪夹抓住黄色立体方块接近红色立方体:80%\n爪夹把黄色立方体放在红色立方体上：90%\n抓夹松开，黄色立方体落在红色立方体上：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.4760858484555115 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 6.7919117082294855 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 9.133333333333333 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 10.4 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 11.597199451538295 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 386, + "progress": 7, + "progress_explanation": "", + "state_description": "", + "time": 12.866666666666667 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 401, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 13.366666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-003348-good-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-003348-good-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..b4b669cffbd0ba3612fc5d7017be02ea6f530137 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-003348-good-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,118 @@ +{ + "task_description": "将白色小药瓶放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近黄色的硬纸箱:60%\n爪夹将白色小药瓶放入黄色的硬纸箱:80%\n爪夹松开,白色小药瓶落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.02593450235719313 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.319387691045874 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.12582230907733 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.033333333333333 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 334, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 11.137647680247001 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 359, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-003348-good-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-003348-good-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..88c3b64ba28d24eb385e8e13825451cb44e13a81 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-003348-good-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,118 @@ +{ + "task_description": "将白色小药瓶放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近黄色的硬纸箱:60%\n爪夹将白色小药瓶放入黄色的硬纸箱:80%\n爪夹松开,白色小药瓶落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 176, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.866666666666666 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.733333333333333 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.724680350844051 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 8.533333333333333 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 9.629499694631678 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 337, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.21903859530963 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 368, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.266666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-024748-bad-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-024748-bad-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..0b0073a359591fdf21ebbe36071217983b7da481 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-024748-bad-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "将白色小药瓶放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近黄色的硬纸箱:60%\n爪夹将白色小药瓶放入黄色的硬纸箱:80%\n爪夹松开,白色小药瓶落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.373406114283434 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.654561285473718 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 308, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.266666666666667 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 323, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.773972272583322 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 340, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 11.333333333333334 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 386, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 12.866667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-024748-bad-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-024748-bad-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..8c123c32a4abcca0b274a4af8a97691195e76a85 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-024748-bad-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,158 @@ +{ + "task_description": "将白色小药瓶放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近黄色的硬纸箱:60%\n爪夹将白色小药瓶放入黄色的硬纸箱:80%\n爪夹松开,白色小药瓶落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 8.7 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 11.1 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 347, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.566666666666666 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 365, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 12.176975395498488 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 429, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 14.3 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 456, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 15.2 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 478, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 15.933333333333334 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 489, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 16.333333333333332 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 502, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 16.733333333333334 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 570, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 19 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-034756-bad-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-034756-bad-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..36ba2dc5246175aa80c845572060d7241c397b8f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-034756-bad-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,128 @@ +{ + "task_description": "将白色小药瓶放进白色托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色托盘:60%\n爪夹将白色小药瓶放入白色托盘:80%\n爪夹松开,白色小药瓶落入白色托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.00044956406297555924 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 325, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 10.833333333333334 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 367, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 12.233333333333333 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 388, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 12.933333333333334 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 449, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 14.979830968509548 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 466, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 15.533333333333333 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 488, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 16.266666666666666 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 535, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 17.833333333333332 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..693766f588012b778869abf9a0b23c6e83548a68 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,168 @@ +{ + "task_description": "将白色小药瓶放进蓝色碗里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近蓝色碗:60%\n爪夹将白色小药瓶放入蓝色碗:80%\n爪夹松开,白色小药瓶落入蓝色碗里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.016543537909575384 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.283509657716823 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.09373770854414 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.2 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 259, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.633333333333333 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 335, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.166666666666666 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 368, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.267908381901595 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 392, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.066666666666666 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 414, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.8 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 443, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.766666666666667 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 453, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..a1bdcaa22a0ea7515c3ba19144fd4ca961a2e7f6 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-044346-bad-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,138 @@ +{ + "task_description": "将白色小药瓶放进蓝色碗里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近蓝色碗:60%\n爪夹将白色小药瓶放入蓝色碗:80%\n爪夹松开,白色小药瓶落入蓝色碗里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2010632384582736 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.633333333333333 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 339, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 11.283745976579237 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 385, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 12.833333333333334 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 418, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 13.933333333333334 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 440, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 14.666666666666666 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 478, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 15.922170652816783 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 553, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 18.433333333333334 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 572, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 19.066666666666666 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 605, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 20.166666666666668 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-051152-good-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-051152-good-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..9be350793782a7c328d9ea5f88c37eb768c0062b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-051152-good-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,118 @@ +{ + "task_description": "拿起白色小药瓶并将其放入透明的塑料圆形容器中。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近透明的塑料圆形容器:60%\n爪夹将白色小药瓶放入透明的塑料圆形容器:80%\n爪夹松开,白色小药瓶落入透明的塑料圆形容器里面：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.3363930797475785 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 9.566666666666666 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 364, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 12.121421625145766 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 384, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 12.8 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 423, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-052809-bad-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-052809-bad-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..c49e14800e5e7a4bd3828f4214820769e4d1d1cc --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-052809-bad-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,128 @@ +{ + "task_description": "拿起勺子并将其放入电饭煲内胆中。\n爪夹开始移动:0%\n爪夹靠近勺子:20%\n爪夹抓取勺子:40%\n爪夹抓住勺子接近电饭煲内胆:60%\n爪夹将勺子方入电饭煲内胆:80%\n爪夹松开,勺子落入电饭煲内胆里面：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 218, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 7.256991849558973 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 8.971089699159464 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 10.033333333333333 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 347, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.57080477105354 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 388, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.933333333333334 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 423, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.084814950467592 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 456, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 15.198978552707912 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 520, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.333333333333332 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-052809-bad-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-052809-bad-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..6605d7f5a36331d3db832b2c0cd3d1b0c4a7dc67 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-052809-bad-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,168 @@ +{ + "task_description": "拿起黄色方块并将其放入透明的塑料圆形容器中。\n爪夹开始移动:0%\n爪夹靠近黄色方块:20%\n爪夹抓取黄色方块:40%\n爪夹抓住黄色方块接近透明的塑料圆形容器:60%\n爪夹将黄色方块放入透明的塑料圆形容器:80%\n爪夹松开,黄色方块落入透明的塑料圆形容器里面：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8734972721897092 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 5.295977988710652 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 190, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 6.333333333333333 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 7, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 9.533333333333333 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 322, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.741812084810014 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 358, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.933333333333334 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 393, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 13.1 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 430, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 14.336493088954652 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 459, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.3 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 487, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.233333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-052809-bad-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-052809-bad-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..9d2424623a4aaadfcd844e2ce9050a8cb77209e9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-052809-bad-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,178 @@ +{ + "task_description": "拿起白色小药瓶并将其放入透明的塑料圆形容器中。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近透明的塑料圆形容器:60%\n爪夹将白色小药瓶放入透明的塑料圆形容器:80%\n爪夹松开,白色小药瓶落入透明的塑料圆形容器里面：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5892835014447317 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 222, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.4 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 295, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 9.833333333333334 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 366, + "progress": -7, + "progress_explanation": "", + "state_description": "", + "time": 12.2 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 379, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 12.633333333333333 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 396, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 13.2 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 426, + "progress": -12, + "progress_explanation": "", + "state_description": "", + "time": 14.2 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 445, + "progress": -14, + "progress_explanation": "", + "state_description": "", + "time": 14.833333333333334 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 465, + "progress": -16, + "progress_explanation": "", + "state_description": "", + "time": 15.5 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 480, + "progress": -18, + "progress_explanation": "", + "state_description": "", + "time": 16.006646686709505 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 504, + "progress": -20, + "progress_explanation": "", + "state_description": "", + "time": 16.788605367944204 + }, + { + "action_description": "关键帧 17/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 553, + "progress": -22, + "progress_explanation": "", + "state_description": "", + "time": 18.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-105107-bad-metal/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-105107-bad-metal/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..2684ee7be19ad31ff54d9e0210c6d959228d2a56 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-105107-bad-metal/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,118 @@ +{ + "task_description": "将桌面上的黄黑色物体放进白色箱子里。\n爪夹开始移动:0%\n爪夹靠近黄黑色物体:20%\n爪夹抓取黄黑色物体:40%\n爪夹抓住黄黑色物体接近白色箱子:60%\n爪夹将黄黑色物体放入白色箱子:80%\n爪夹松开,黄黑色物体落入白色箱子里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.917789682688073 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 7.839163754198893 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 10.371884121190428 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 382, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 12.733333333333333 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 438, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 14.6 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 457, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 15.233333333333333 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 493, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 16.466666666666665 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-105107-bad-metal/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-105107-bad-metal/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..74794f2f34091525581771627cf79adffff92e31 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-105107-bad-metal/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,68 @@ +{ + "task_description": "将桌面上的黄黑色物体放进白色箱子里。\n爪夹开始移动:0%\n爪夹靠近黄黑色物体:20%\n爪夹抓取黄黑色物体:40%\n爪夹抓住黄黑色物体接近白色箱子:60%\n爪夹将黄黑色物体放入白色箱子:80%\n爪夹松开,黄黑色物体落入白色箱子里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.046487569113984946 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.0512149135903055 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.031341745965505 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-105107-bad-metal/annotations/chunk-000/observation.images.front/episode_000023.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-105107-bad-metal/annotations/chunk-000/observation.images.front/episode_000023.json new file mode 100644 index 0000000000000000000000000000000000000000..1605387a56e1470c312b21280d1573e1a1936a5c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-105107-bad-metal/annotations/chunk-000/observation.images.front/episode_000023.json @@ -0,0 +1,138 @@ +{ + "task_description": "将桌面上的黄黑色物体放进白色箱子里。\n爪夹开始移动:0%\n爪夹靠近黄黑色物体:20%\n爪夹抓取黄黑色物体:40%\n爪夹抓住黄黑色物体接近白色箱子:60%\n爪夹将黄黑色物体放入白色箱子:80%\n爪夹松开,黄黑色物体落入白色箱子里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.3714885871119495 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 9.9 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 343, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 11.433333333333334 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 381, + "progress": 41, + "progress_explanation": "", + "state_description": "", + "time": 12.7 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 406, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 13.533333333333333 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 447, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 14.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-112529-bad-rubbish/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-112529-bad-rubbish/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..ee80a8aeee28ba85f6b0318bf5694136626997eb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-112529-bad-rubbish/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取黄色海绵，用它把白色纸团推出桌面，掉到地上.然后把黄色海绵放回桌面。\n爪夹开始移动:0%\n爪夹靠近黄色海绵:20%\n爪夹抓取黄色海绵:40%\n爪夹抓住黄色海绵接近白色纸团:50%\n爪夹抓住黄色海绵推动白色纸团移动:60%\n爪夹抓住黄色海绵将白色纸团推出桌面，掉到地上：80%\n爪夹抓住黄色海绵接近桌面：90%\n爪夹松开,黄色海绵放回桌面：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.214974944413448 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.732422280355955 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.439220230956102 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.51920527185212 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 290, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 9.666666666666666 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 339, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 11.3 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 383, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-142022-good-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-142022-good-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..aac249dedd1f0b17022fef9d1e5cee17fe788bc2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-142022-good-bottles-delivery-box/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,148 @@ +{ + "task_description": "将饮料瓶放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近黄色的硬纸箱:60%\n爪夹将饮料瓶放入黄色的硬纸箱:80%\n爪夹松开,饮料瓶落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.03818135141293717 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.1 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 7.359124389394187 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.1 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.466666666666667 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 373, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.433333333333334 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 434, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 14.453646508674982 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 471, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 15.7 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 504, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.8 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 524, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.453723681455962 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..5243027094740b8e6e0c2a2185c5c509536de65c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-150627-bad-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,228 @@ +{ + "task_description": "将饮料瓶放进白色塑料箱子里。\n爪夹开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近白色塑料箱子:60%\n爪夹将饮料瓶放入白色塑料箱子:80%\n爪夹松开,饮料瓶落入白色塑料箱子里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 3/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.875767483583153 + }, + { + "action_description": "关键帧 4/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.6886399268445835 + }, + { + "action_description": "关键帧 5/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 6/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 7/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + }, + { + "action_description": "关键帧 8/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.466666666666667 + }, + { + "action_description": "关键帧 9/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 8.6 + }, + { + "action_description": "关键帧 10/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 278, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.263410421478685 + }, + { + "action_description": "关键帧 11/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 304, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 10.133333333333333 + }, + { + "action_description": "关键帧 12/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 334, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 11.133333333333333 + }, + { + "action_description": "关键帧 13/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 356, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.853259833730224 + }, + { + "action_description": "关键帧 14/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 395, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 13.176540555318601 + }, + { + "action_description": "关键帧 15/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 410, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 13.66804482333714 + }, + { + "action_description": "关键帧 16/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 432, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 14.4 + }, + { + "action_description": "关键帧 17/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 454, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 15.133333333333333 + }, + { + "action_description": "关键帧 18/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 474, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 15.8 + }, + { + "action_description": "关键帧 19/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 491, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 16.352414287130706 + }, + { + "action_description": "关键帧 20/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 506, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 16.9 + }, + { + "action_description": "关键帧 21/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 516, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 17.2 + }, + { + "action_description": "关键帧 22/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 531, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 17.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..2719888cf8f46631d448ba44d2e80a891acc103b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取饮料瓶使其掉入白色透明盘里：\n开始移动：0%\n爪夹靠近饮料瓶：20%\n爪夹抓取饮料瓶：40%\n爪夹抓住饮料瓶靠近白色透明盘：60%\n爪夹将饮料瓶放入白色透明盘里：80%\n爪夹松开饮料瓶掉入白色透明盘里：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.9389999999999996 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.2844375 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.859875000000001 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.352875 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..175a13a7563561da0d6acd197a248d9aeaf3b0a3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-152118-good-bottles-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取饮料瓶使其掉入白色透明盘里：\n开始移动：0%\n爪夹靠近饮料瓶：20%\n爪夹抓取饮料瓶：40%\n爪夹抓住饮料瓶靠近白色透明盘：60%\n爪夹将饮料瓶放入白色透明盘里：80%\n爪夹松开饮料瓶掉入白色透明盘里：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 7.633333333333334 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.353208333333335 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 8.79588988095238 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 291, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.7 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 318, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.585863095238095 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 336, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.2 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 372, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.4 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 387, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-161507-good-bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-161507-good-bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..10f5096b0feeb7023dfe9f360c1f0acf3cdd9c08 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-161507-good-bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取饮料瓶使其掉入电饭煲的内锅里：\n开始移动：0%\n爪夹靠近饮料瓶：20%\n爪夹抓取饮料瓶：40%\n爪夹抓住饮料瓶靠近电饭煲的内锅：60%\n爪夹将饮料瓶放入电饭煲的内锅里：80%\n爪夹松开饮料瓶掉入电饭煲的内锅里：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 259, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.633333333333333 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.133333333333333 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 327, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 10.899020833333335 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 381, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 12.7 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 473, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 15.766666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 531, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-163127-bad--bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-163127-bad--bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b249a0e56047bf4d80dbfff1914814d051d1f454 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-163127-bad--bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取饮料瓶使其掉入电饭煲的内锅里：\n开始移动：0%\n爪夹靠近饮料瓶：20%\n爪夹抓取饮料瓶：40%\n爪夹抓住饮料瓶靠近电饭煲的内锅：60%\n爪夹将饮料瓶放入电饭煲的内锅里：80%\n爪夹松开饮料瓶掉入电饭煲的内锅里：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.1690476190476193 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 5.15952380952381 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 21, + "progress_explanation": "", + "state_description": "", + "time": 7.778571428571429 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 9 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 290, + "progress": 24, + "progress_explanation": "", + "state_description": "", + "time": 9.666666666666666 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.633333333333333 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 391, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 13.033333333333333 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 439, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 14.633333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 491, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 16.366666666666667 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 527, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 17.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-173429-good-red square - express box/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-173429-good-red square - express box/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..3e0ea369b2bfcaf4d4e0748d95f6abe212e2a1d3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-173429-good-red square - express box/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取红色的方块使其放入纸箱里：\n开始移动：0%\n爪夹靠近红色的方块：20%\n爪夹抓取红色的方块：40%\n爪夹抓住红色的方块靠近纸箱：60%\n爪夹将红色的方块放入纸箱里：80%\n爪夹松开红色的方块掉入纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.6540952380952376 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.815261904761905 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 308, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.266666666666667 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 374, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.466666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 417, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-183332-bad-red-square-white-tary/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-183332-bad-red-square-white-tary/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..16a66e560d54031bd2cb018517834507483af90f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-183332-bad-red-square-white-tary/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,208 @@ +{ + "task_description": "抓取红色的方块使其放入白色的托盘里：\n开始移动：0%\n爪夹靠近红色的方块：30%\n爪夹抓取红色的方块：40%\n爪夹抓住红色的方块靠近白色的托盘：60%\n爪夹将红色的方块放入白色的托盘里：80%\n爪夹松开红色的方块掉入白色的托盘里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 3/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 4/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 5/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 4.147491071428571 + }, + { + "action_description": "关键帧 6/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 7/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 8/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 7.9 + }, + { + "action_description": "关键帧 9/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 9.1 + }, + { + "action_description": "关键帧 10/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 302, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 10.077375 + }, + { + "action_description": "关键帧 11/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 335, + "progress": 29, + "progress_explanation": "", + "state_description": "", + "time": 11.174232142857143 + }, + { + "action_description": "关键帧 12/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 351, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 11.7 + }, + { + "action_description": "关键帧 13/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 377, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 12.566666666666666 + }, + { + "action_description": "关键帧 14/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 435, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.5 + }, + { + "action_description": "关键帧 15/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 469, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 15.633333333333333 + }, + { + "action_description": "关键帧 16/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 515, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 17.166666666666668 + }, + { + "action_description": "关键帧 17/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 568, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 18.933333333333334 + }, + { + "action_description": "关键帧 18/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 597, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 19.9 + }, + { + "action_description": "关键帧 19/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 631, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 21.033333333333335 + }, + { + "action_description": "关键帧 20/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 690, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 23 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-183332-bad-red-square-white-tary/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-183332-bad-red-square-white-tary/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..76a3ab750f2fd64c8aab2af6080efcdc88fa0b43 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-183332-bad-red-square-white-tary/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取红色的方块使其放入白色的托盘里：\n开始移动：0%\n爪夹靠近红色的方块：20%\n爪夹抓取红色的方块：40%\n爪夹抓住红色的方块靠近白色的托盘：60%\n爪夹将红色的方块放入白色的托盘里：80%\n爪夹松开红色的方块掉入白色的托盘里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.901227678571429 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.9 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 370, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 12.333333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-214322-bad-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-214322-bad-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..382159af440ec96817fee9b6a24a053837b4721d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-214322-bad-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取黄色的正方形使其放入纸箱里：\n开始移动：0%\n爪夹靠近黄色的正方形：20%\n爪夹抓取黄色的正方形：40%\n爪夹抓住黄色的正方形靠近纸箱：60%\n爪夹将黄色的正方形放入纸箱里：80%\n爪夹松开黄色的正方形掉入纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.050199404761904765 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 250, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 8.33310119047619 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 277, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.233333333333333 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 11.1 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 366, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 12.2 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 418, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 13.933333333333334 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 449, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 14.959422619047618 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 504, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 16.833333333333332 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-223657-bad-yellow square-white tray/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-223657-bad-yellow square-white tray/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..df025e265f1472acc006415606335e43ba5c3d1c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251125-223657-bad-yellow square-white tray/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,168 @@ +{ + "task_description": "取黄色的方块使其放入白色的托盘里：\n开始移动：0%\n爪夹靠近黄色的方块：20%\n爪夹抓取黄色的方块：40%\n爪夹抓住黄色的方块靠近白色的托盘：60%\n爪夹将黄色的方块放入白色的托盘里：80%\n爪夹松开黄色的方块掉入白色的托盘里：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.903125000000003 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 304, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 10.140625 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 349, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 11.633333333333333 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 407, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 13.566666666666666 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 479, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 15.950000000000001 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 506, + "progress": 21, + "progress_explanation": "", + "state_description": "", + "time": 16.9 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 537, + "progress": 24, + "progress_explanation": "", + "state_description": "", + "time": 17.9 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 544, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 18.133333333333333 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 566, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 18.866666666666667 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 584, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 19.466666666666665 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 623, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 20.766666666666666 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 692, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 23.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-102939-good-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-102939-good-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..efb939c969fb3f71307a5e871622e472500816a3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-102939-good-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取红色方块使其掉入电饭煲的内锅里：\n开始移动：0%\n爪夹靠近红色方块：20%\n爪夹抓取红色方块：40%\n爪夹抓住红色方块靠近电饭煲的内锅：60%\n爪夹将红色方块放入电饭煲的内锅里：80%\n爪夹松开红色方块掉入电饭煲的内锅里：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 123, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 4.113244047619047 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.577380952380953 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 308, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.266666666666667 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 350, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.657440476190473 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 392, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-104556-bad-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-104556-bad-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..dd30a575cf04451ef787e37b4dd1de8ef7fc2332 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-104556-bad-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取红色方块使其掉入电饭煲的内锅里：\n开始移动：0%\n爪夹靠近红色方块：20%\n爪夹抓取红色方块：40%\n爪夹抓住红色方块靠近电饭煲的内锅：60%\n爪夹将红色方块放入电饭煲的内锅里：80%\n爪夹松开红色方块掉入电饭煲的内锅里：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 2.439434523809523 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 5.3 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 8.1 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.366666666666667 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 328, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.939732142857142 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 352, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 11.744494047619046 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 387, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 12.9 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 422, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 14.066666666666666 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 475, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 15.833333333333334 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 506, + "progress": -20, + "progress_explanation": "", + "state_description": "", + "time": 16.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-104556-bad-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-104556-bad-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..26147b966c9f2089ef22ae5832ae48fa5cb1747c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-104556-bad-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取红色方块使其掉入电饭煲的内锅里：\n开始移动：0%\n爪夹靠近红色方块：20%\n爪夹抓取红色方块：40%\n爪夹抓住红色方块靠近电饭煲的内锅：60%\n爪夹将红色方块放入电饭煲的内锅里：80%\n爪夹松开红色方块掉入电饭煲的内锅里：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.132675595238095 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 3.717772321428572 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 7.9543035714285715 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 285, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 9.5 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 373, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 12.421394345238099 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 397, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.233333333333333 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 440, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 14.666666666666666 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 480, + "progress": 47, + "progress_explanation": "", + "state_description": "", + "time": 16 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 514, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 17.133333333333333 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 580, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 19.333333333333332 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-111521-good-red-square-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-111521-good-red-square-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..e4f1f8ee950b0faf8956de32a06806d3a3e65e90 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-111521-good-red-square-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取红色方块使其掉入白色透明盘里：\n开始移动：0%\n爪夹靠近红色方块：20%\n爪夹抓取红色方块：40%\n爪夹抓住红色方块靠近白色透明盘：60%\n爪夹将红色方块放入白色透明盘里：80%\n爪夹松开红色方块掉入白色透明盘里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 2.6861607142857147 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 3.778532738095238 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.360080357142858 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.07638988095238 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.633333333333333 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 320, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.666666666666666 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 349, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.633333333333333 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 360, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-112931-bad-red-square-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-112931-bad-red-square-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..1d830f576eddccff40dc2d2dabfffa42a922fa41 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-112931-bad-red-square-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,248 @@ +{ + "task_description": "将红色方块放入电饭煲内胆中。\n爪夹开始移动:0%\n爪夹靠近红色方块:20%\n爪夹抓取红色方块:40%\n爪夹抓住红色方块接近电饭煲内胆:60%\n爪夹将红色方块放入电饭煲内胆:80%\n爪夹松开,红色方块落入电饭煲内胆里面：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 3/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.9480595581910642 + }, + { + "action_description": "关键帧 4/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.400927111308106 + }, + { + "action_description": "关键帧 5/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 6/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.966666666666667 + }, + { + "action_description": "关键帧 7/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 8/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 294, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.8 + }, + { + "action_description": "关键帧 9/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 326, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 10.866666666666667 + }, + { + "action_description": "关键帧 10/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 366, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 12.2 + }, + { + "action_description": "关键帧 11/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 395, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 13.166666666666666 + }, + { + "action_description": "关键帧 12/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 414, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 13.8 + }, + { + "action_description": "关键帧 13/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 447, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 14.885685099581625 + }, + { + "action_description": "关键帧 14/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 486, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 16.20148967598951 + }, + { + "action_description": "关键帧 15/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 511, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 17.033333333333335 + }, + { + "action_description": "关键帧 16/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 531, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 17.7 + }, + { + "action_description": "关键帧 17/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 567, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 18.9 + }, + { + "action_description": "关键帧 18/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 582, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 19.408763330983735 + }, + { + "action_description": "关键帧 19/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 615, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 20.5 + }, + { + "action_description": "关键帧 20/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 634, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 21.135756837519086 + }, + { + "action_description": "关键帧 21/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 676, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 22.533799199952465 + }, + { + "action_description": "关键帧 22/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 726, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 24.2 + }, + { + "action_description": "关键帧 23/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 753, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 25.1 + }, + { + "action_description": "关键帧 24/24 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 769, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 25.633333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-131821-good-socket-express-box/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-131821-good-socket-express-box/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..1d7c7ee20bf72b2e19599f14925eb3e8aa9d549e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-131821-good-socket-express-box/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "将插座放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近黄色的硬纸箱:60%\n爪夹将插座放入黄色的硬纸箱:80%\n爪夹松开,插座落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.2 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 382, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.733333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 436, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.533172399762172 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-140411-bad-cocket-express-box/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-140411-bad-cocket-express-box/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..fbc917aa794b6bad5ef3a3cd34c52f8425c7e6d4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-140411-bad-cocket-express-box/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,178 @@ +{ + "task_description": "将插座放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近黄色的硬纸箱:60%\n爪夹将插座放入黄色的硬纸箱:80%\n爪夹松开,插座落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.06508555690949 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.366666666666666 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.533333333333333 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 299, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 9.966666666666667 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.4 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 360, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 12.00414886329258 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 412, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.74459943948339 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 435, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 14.5 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 469, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 15.633333333333333 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 488, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 16.266666666666666 + }, + { + "action_description": "关键帧 17/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 503, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 16.766666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-142516-good-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-142516-good-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..8b10c76daa046d3ef920c0e5263de9f0e4275540 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-142516-good-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,98 @@ +{ + "task_description": "将插座放进白色塑料箱子里。\n爪夹开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近白色塑料箱子:60%\n爪夹将插座放入白色塑料箱子:80%\n爪夹松开,插座落入白色塑料箱子里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 278, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 9.266666666666667 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.414283340452272 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 339, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 11.3 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 410, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.67047233646185 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-145413-mix-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-145413-mix-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..4fb7e50649e1d32760c2d8beb14082946627d8f3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-145413-mix-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,218 @@ +{ + "task_description": "拿起黄色小方块并将其放入透明的塑料圆形容器中。\n爪夹开始移动:0%\n爪夹靠近黄色小方块:20%\n爪夹抓取黄色小方块:40%\n爪夹抓住黄色小方块接近透明的塑料圆形容器:60%\n爪夹将黄色小方块放入透明的塑料圆形容器:80%\n爪夹松开,黄色小方块落入透明的塑料圆形容器里面：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 3/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 4/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.998718257517442 + }, + { + "action_description": "关键帧 5/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.137836199327258 + }, + { + "action_description": "关键帧 6/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 7/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 7.7 + }, + { + "action_description": "关键帧 8/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 250, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 8.346330168142208 + }, + { + "action_description": "关键帧 9/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 285, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.5 + }, + { + "action_description": "关键帧 10/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 317, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.566666666666666 + }, + { + "action_description": "关键帧 11/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 351, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.7 + }, + { + "action_description": "关键帧 12/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 380, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.666666666666666 + }, + { + "action_description": "关键帧 13/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 403, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 13.433333333333334 + }, + { + "action_description": "关键帧 14/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 447, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 14.9 + }, + { + "action_description": "关键帧 15/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 485, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 16.166666666666668 + }, + { + "action_description": "关键帧 16/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 514, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 17.133333333333333 + }, + { + "action_description": "关键帧 17/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 535, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 17.833333333333332 + }, + { + "action_description": "关键帧 18/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 555, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 18.5 + }, + { + "action_description": "关键帧 19/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 598, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 19.933333333333334 + }, + { + "action_description": "关键帧 20/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 632, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 21.066666666666666 + }, + { + "action_description": "关键帧 21/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 651, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 21.71353050570637 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..216c168751c4b956f6620cc7cf9b299f69c90cea --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,138 @@ +{ + "task_description": "把插座放入电饭煲内胆中。\n爪夹开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近电饭煲内胆:60%\n爪夹将插座放入电饭煲内胆:80%\n爪夹松开,插座落入电饭煲内胆里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.3124356255467835 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 277, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 9.233333333333333 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 310, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 10.345884745786451 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 370, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.333333333333334 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 393, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.1 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 420, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 14 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 474, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.807474255589677 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 496, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.533333333333335 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 526, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.533333333333335 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..5581f571ef7cc8603ea64b837290241d0a171fed --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,108 @@ +{ + "task_description": "把插座放入电饭煲内胆中。\n爪夹开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近电饭煲内胆:60%\n爪夹将插座放入电饭煲内胆:80%\n爪夹松开,插座落入电饭煲内胆里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.112010447363927 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.833333333333333 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 271, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 9.040452801768865 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 318, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.610776962826586 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 354, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 11.8 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 386, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..5860ecd67c440877971bb8bcf26db9c043a48dd3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-150505-good-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,118 @@ +{ + "task_description": "把插座放入电饭煲内胆中。\n爪夹开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近电饭煲内胆:60%\n爪夹将插座放入电饭煲内胆:80%\n爪夹松开,插座落入电饭煲内胆里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.300918951928662 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 5.320165789513991 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 218, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.266666666666667 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 302, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 10.066666666666666 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 321, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 10.7 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 370, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 12.333333333333334 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 394, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 13.133333333333333 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 436, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..b4d7bf329db0161114b1448298c84d804ac3bf96 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,148 @@ +{ + "task_description": "拿起黄色小方块并将其放入透明的塑料圆形容器中。\n爪夹开始移动:0%\n爪夹靠近黄色小方块:20%\n爪夹抓取黄色小方块:40%\n爪夹抓住黄色小方块接近透明的塑料圆形容器:60%\n爪夹将黄色小方块放入透明的塑料圆形容器:80%\n爪夹松开,黄色小方块落入透明的塑料圆形容器里面：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.566666666666666 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 8.452169812165334 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 292, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.733333333333333 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.466666666666667 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.1 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 364, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.133333333333333 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 396, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..36c47416c2f04e7e38b7b219b66cad471f9b5c23 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,128 @@ +{ + "task_description": "拿起黄色小方块并将其放入透明的塑料圆形容器中。\n爪夹开始移动:0%\n爪夹靠近黄色小方块:20%\n爪夹抓取黄色小方块:40%\n爪夹抓住黄色小方块接近透明的塑料圆形容器:60%\n爪夹将黄色小方块放入透明的塑料圆形容器:80%\n爪夹松开,黄色小方块落入透明的塑料圆形容器里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.8 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 8.459078879711608 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 308, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.266666666666667 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 353, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.766666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 371, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.375163779784232 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 399, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..b02382b96b36122c07514db5627de10a310dca1d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,118 @@ +{ + "task_description": "拿起黄色小方块并将其放入透明的塑料圆形容器中。\n爪夹开始移动:0%\n爪夹靠近黄色小方块:20%\n爪夹抓取黄色小方块:40%\n爪夹抓住黄色小方块接近透明的塑料圆形容器:60%\n爪夹将黄色小方块放入透明的塑料圆形容器:80%\n爪夹松开,黄色小方块落入透明的塑料圆形容器里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.1387533163051953 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.899903751450981 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.870523218585376 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 9.175744453029566 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 323, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.766666666666667 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 373, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 12.433333333333334 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 425, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.166666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..aa1827705b9a356091ec9c8c710166ca18267236 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-151913-good-yellow square-round container/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,118 @@ +{ + "task_description": "拿起黄色小方块并将其放入透明的塑料圆形容器中。\n爪夹开始移动:0%\n爪夹靠近黄色小方块:20%\n爪夹抓取黄色小方块:40%\n爪夹抓住黄色小方块接近透明的塑料圆形容器:60%\n爪夹将黄色小方块放入透明的塑料圆形容器:80%\n爪夹松开,黄色小方块落入透明的塑料圆形容器里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.923584558017081 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 190, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.333333333333333 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.533333333333333 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 281, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.366666666666667 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.633333333333333 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 394, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.120322276516443 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 405, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.498616087320805 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 482, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-162355-mix-yellow square-white tray/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-162355-mix-yellow square-white tray/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..42f7ed7fd3aede61ba22cf16adade733c0e37793 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-162355-mix-yellow square-white tray/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,268 @@ +{ + "task_description": "拿起黄色小方块并将其放入白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近黄色小方块:20%\n爪夹抓取黄色小方块:40%\n爪夹抓住黄色小方块接近白色塑料托盘:60%\n爪夹将黄色小方块放入白色塑料托盘:80%\n爪夹松开,黄色小方块落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 3/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 4, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 4/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 5/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 6/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + }, + { + "action_description": "关键帧 7/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.333333333333333 + }, + { + "action_description": "关键帧 8/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 21, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 9/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.566666666666666 + }, + { + "action_description": "关键帧 10/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 277, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 9.233333333333333 + }, + { + "action_description": "关键帧 11/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10 + }, + { + "action_description": "关键帧 12/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 345, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 11.5 + }, + { + "action_description": "关键帧 13/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 381, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 12.7 + }, + { + "action_description": "关键帧 14/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 398, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 13.266666666666667 + }, + { + "action_description": "关键帧 15/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 412, + "progress": 24, + "progress_explanation": "", + "state_description": "", + "time": 13.733333333333333 + }, + { + "action_description": "关键帧 16/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 429, + "progress": 26, + "progress_explanation": "", + "state_description": "", + "time": 14.3 + }, + { + "action_description": "关键帧 17/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 446, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 14.866666666666667 + }, + { + "action_description": "关键帧 18/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 472, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 15.733333333333333 + }, + { + "action_description": "关键帧 19/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 522, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 17.4 + }, + { + "action_description": "关键帧 20/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 561, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 18.7 + }, + { + "action_description": "关键帧 21/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 580, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 19.333333333333332 + }, + { + "action_description": "关键帧 22/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 606, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 20.2 + }, + { + "action_description": "关键帧 23/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 633, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 21.1 + }, + { + "action_description": "关键帧 24/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 661, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 22.033333333333335 + }, + { + "action_description": "关键帧 25/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 690, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 23 + }, + { + "action_description": "关键帧 26/26 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 707, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 23.575639625810282 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..e1744df05c53173c89196069350343814d92b447 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,158 @@ +{ + "task_description": "拿起饮料瓶并将其放入白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近饮料瓶:20%\n爪夹抓取饮料瓶:40%\n爪夹抓住饮料瓶接近白色塑料托盘:60%\n爪夹将饮料瓶放入白色塑料托盘:80%\n爪夹松开,饮料瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.939694077706697 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 7.712750587668504 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 9.566666666666666 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 343, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 11.433333333333334 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 372, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 12.4 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 394, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 13.133333333333333 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 429, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.3 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 444, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.8 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 469, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.633333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..125144b7eaa3b731371227d93bc3de09d7884a3a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-162831-mix-bottles-white-tray/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,188 @@ +{ + "task_description": "依次拿起黄色海绵和饮料瓶并其放入白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近黄色海绵:10%\n爪夹抓取黄色海绵:20%\n爪夹抓住黄色海绵接近白色塑料托盘:30%\n爪夹将黄色海绵放入白色塑料托盘:40%\n爪夹松开,黄色海绵落入白色塑料托盘里面：50%\n爪夹靠近饮料瓶:60%\n爪夹抓取饮料瓶:70%\n爪夹抓住饮料瓶接近白色塑料托盘:80%\n爪夹将饮料瓶放入白色塑料托盘:90%\n爪夹松开,饮料瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.0957835865726855 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.066666666666666 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 302, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 10.066666666666666 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 325, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 10.833333333333334 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 344, + "progress": 48, + "progress_explanation": "", + "state_description": "", + "time": 11.47250313965192 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 368, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.266666666666667 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 413, + "progress": 62, + "progress_explanation": "", + "state_description": "", + "time": 13.766666666666667 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 449, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 14.966666666666667 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 494, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 16.45091527714087 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 521, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.366666666666667 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 565, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.833333333333332 + }, + { + "action_description": "关键帧 18/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 607, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 20.233333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-165551-mix-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-165551-mix-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..febcbde310b50b9d3672ea1eb437612c5094a463 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-165551-mix-yellow square-delivery box/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,278 @@ +{ + "task_description": "拿起黄色小方块并将其放入黄色的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近黄色小方块:20%\n爪夹抓取黄色小方块:40%\n爪夹抓住黄色小方块接近黄色的硬纸箱:60%\n爪夹将黄色小方块放入黄色的硬纸箱:80%\n爪夹松开,黄色小方块落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 3/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 4/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 5/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 6/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 7/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 8/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 7.34478970750167 + }, + { + "action_description": "关键帧 9/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 7.966666666666667 + }, + { + "action_description": "关键帧 10/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 8.723678852437644 + }, + { + "action_description": "关键帧 11/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + }, + { + "action_description": "关键帧 12/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 310, + "progress": -3, + "progress_explanation": "", + "state_description": "", + "time": 10.333333333333334 + }, + { + "action_description": "关键帧 13/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": -7, + "progress_explanation": "", + "state_description": "", + "time": 11.091771079610293 + }, + { + "action_description": "关键帧 14/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 354, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 11.8 + }, + { + "action_description": "关键帧 15/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 393, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 13.1 + }, + { + "action_description": "关键帧 16/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 418, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 13.933333333333334 + }, + { + "action_description": "关键帧 17/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 464, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 15.466666666666667 + }, + { + "action_description": "关键帧 18/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 489, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 16.3 + }, + { + "action_description": "关键帧 19/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 513, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 17.1 + }, + { + "action_description": "关键帧 20/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 558, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 18.6 + }, + { + "action_description": "关键帧 21/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 594, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 19.8 + }, + { + "action_description": "关键帧 22/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 654, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 21.8 + }, + { + "action_description": "关键帧 23/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 690, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 23 + }, + { + "action_description": "关键帧 24/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 715, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 23.833333333333332 + }, + { + "action_description": "关键帧 25/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 772, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 25.733333333333334 + }, + { + "action_description": "关键帧 26/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 818, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 27.266666666666666 + }, + { + "action_description": "关键帧 27/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 842, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 28.066667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-165645-mix-bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-165645-mix-bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..939f2e5e6beb1797fe547bf571793044569db3d7 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-165645-mix-bottles-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,158 @@ +{ + "task_description": "拿起饮料瓶并将其放入盘子中，然后再放入电饭煲内胆中。\n爪夹开始移动:0%\n爪夹靠近饮料瓶:10%\n爪夹抓取饮料瓶:20%\n爪夹抓住饮料瓶接近盘子:30%\n爪夹将饮料瓶放入盘子:40%\n爪夹松开,饮料瓶落入盘子中：50%\n爪夹靠近饮料瓶:60%\n爪夹抓取饮料瓶:70%\n爪夹抓住饮料瓶接近电饭煲内胆:80%\n爪夹将饮料瓶放入电饭煲内胆:90%\n爪夹松开,饮料瓶落入电饭煲内胆中：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.31502042535666 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.027285084942849 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 7.7 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 315, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 10.5 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 343, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 11.433333333333334 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 375, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 12.5 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 407, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 13.566666666666666 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 444, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.8 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 456, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.195409677565081 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 489, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.3 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 512, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-174002-mix-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-174002-mix-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..32670b096a54c41a077195db9cfffbbb0b1f6ef4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-174002-mix-medicine bottle-white tray/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,168 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 283, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.433333333333334 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 324, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.787086892363808 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 372, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.4 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 397, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.233333333333333 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 430, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.343373842906855 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 469, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 15.633333333333333 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 504, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.833333333333332 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 535, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.833333333333332 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-182720-mix-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-182720-mix-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..8ba9ba0f5771376575d27da706b19c1a507e1619 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-182720-mix-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,208 @@ +{ + "task_description": "拿起白色小药瓶并将其放入透明的塑料圆形容器中。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近透明的塑料圆形容器:60%\n爪夹将白色小药瓶放入透明的塑料圆形容器:80%\n爪夹松开,白色小药瓶落入透明的塑料圆形容器里面：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 3/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.966666666666667 + }, + { + "action_description": "关键帧 4/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 5/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 6/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.767512522645761 + }, + { + "action_description": "关键帧 7/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.733333333333333 + }, + { + "action_description": "关键帧 8/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.689758652592718 + }, + { + "action_description": "关键帧 9/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 8.7 + }, + { + "action_description": "关键帧 10/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 283, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.440375663794413 + }, + { + "action_description": "关键帧 11/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.092566315026417 + }, + { + "action_description": "关键帧 12/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 320, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.676105318760314 + }, + { + "action_description": "关键帧 13/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 351, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 11.7 + }, + { + "action_description": "关键帧 14/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 375, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 12.5 + }, + { + "action_description": "关键帧 15/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 414, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 13.8 + }, + { + "action_description": "关键帧 16/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 447, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 14.9 + }, + { + "action_description": "关键帧 17/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 462, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 15.4 + }, + { + "action_description": "关键帧 18/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 496, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 16.533333333333335 + }, + { + "action_description": "关键帧 19/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 550, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 18.333333333333332 + }, + { + "action_description": "关键帧 20/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 625, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 20.833333333333332 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-182720-mix-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-182720-mix-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..70958a49483a1545fa4f49fd092220d250b380ad --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-182720-mix-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,258 @@ +{ + "task_description": "拿起白色小药瓶并将其放入透明的塑料圆形容器中。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近透明的塑料圆形容器:60%\n爪夹将白色小药瓶放入透明的塑料圆形容器:80%\n爪夹松开,白色小药瓶落入透明的塑料圆形容器里面：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.217564344012545 + }, + { + "action_description": "关键帧 3/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 4/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 5/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 6/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.166666666666667 + }, + { + "action_description": "关键帧 7/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 8/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": -6, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 9/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 10/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + }, + { + "action_description": "关键帧 11/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.866666666666667 + }, + { + "action_description": "关键帧 12/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.633333333333333 + }, + { + "action_description": "关键帧 13/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 339, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.3 + }, + { + "action_description": "关键帧 14/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 367, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.233333333333333 + }, + { + "action_description": "关键帧 15/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 412, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.733333333333333 + }, + { + "action_description": "关键帧 16/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 453, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 15.1 + }, + { + "action_description": "关键帧 17/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 479, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 15.966666666666667 + }, + { + "action_description": "关键帧 18/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 489, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 16.3 + }, + { + "action_description": "关键帧 19/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 510, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 17 + }, + { + "action_description": "关键帧 20/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 539, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 17.966666666666665 + }, + { + "action_description": "关键帧 21/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 565, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 18.833333333333332 + }, + { + "action_description": "关键帧 22/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 585, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 19.5 + }, + { + "action_description": "关键帧 23/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 630, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 21 + }, + { + "action_description": "关键帧 24/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 662, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 22.066666666666666 + }, + { + "action_description": "关键帧 25/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 696, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 23.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..29c6d149a5b84887282722bdf2254d35637e82e0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,238 @@ +{ + "task_description": "把红色小方块放入电饭煲内胆中。\n爪夹开始移动:0%\n爪夹靠近红色小方块:20%\n爪夹抓取红色小方块:40%\n爪夹抓住红色小方块接近电饭煲内胆:60%\n爪夹将红色小方块放入电饭煲内胆:80%\n爪夹松开,红色小方块落入电饭煲内胆里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.718332535770855 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 6.5 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 7.416916603256049 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.1 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.366666666666667 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 341, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 11.366666666666667 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 358, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.933333333333334 + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 434, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 14.466666666666667 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 454, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 15.133333333333333 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 485, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 16.166666666666668 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 497, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 16.57970107997195 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 525, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 17.5 + }, + { + "action_description": "关键帧 19/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 553, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 18.433333333333334 + }, + { + "action_description": "关键帧 20/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 585, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 19.5 + }, + { + "action_description": "关键帧 21/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 600, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 20 + }, + { + "action_description": "关键帧 22/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 640, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 21.333333333333332 + }, + { + "action_description": "关键帧 23/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 670, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 22.345317421717468 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..9248ae5f9a24031a645a347ea93196db7ea3514b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,238 @@ +{ + "task_description": "把红色小方块放入电饭煲内胆中。\n爪夹开始移动:0%\n爪夹靠近红色小方块:20%\n爪夹抓取红色小方块:40%\n爪夹抓住红色小方块接近电饭煲内胆:60%\n爪夹将红色小方块放入电饭煲内胆:80%\n爪夹松开,红色小方块落入电饭煲内胆里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 5.285453796752659 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 222, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 7.4 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 281, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 9.366666666666667 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.2 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 338, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 11.266666666666667 + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 366, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.2 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 384, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12.8 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 413, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.766666666666667 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 429, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 14.3 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 450, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 15 + }, + { + "action_description": "关键帧 19/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 465, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.5 + }, + { + "action_description": "关键帧 20/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 491, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.366666666666667 + }, + { + "action_description": "关键帧 21/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 506, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.9 + }, + { + "action_description": "关键帧 22/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 525, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.490395502986182 + }, + { + "action_description": "关键帧 23/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 533, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.766666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-104329-mix-red-square-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-104329-mix-red-square-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..a8e989d6837e50e25b984e8080cd5c7de633c515 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-104329-mix-red-square-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,168 @@ +{ + "task_description": "把红色小方块放入蓝色的碗中，再夹起来放入透明的塑料圆形容器中。\n爪夹开始移动:0%\n爪夹靠近红色小方块:10%\n爪夹抓取红色小方块:20%\n爪夹抓住红色小方块接近蓝色的碗:30%\n爪夹将红色小方块放入蓝色的碗:40%\n爪夹松开,红色小方块落入蓝色的碗里面：50%\n爪夹靠近红色小方块:60%\n爪夹抓取红色小方块:70%\n爪夹抓住红色小方块接近透明的塑料圆形容器:80%\n爪夹将红色小方块放入透明的塑料圆形容器:90%\n爪夹松开,红色小方块落入透明的塑料圆形容器里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 190, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.333333333333333 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.833333333333333 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 316, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.533333333333333 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 440, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 14.666666666666666 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 504, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 16.8 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 549, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 18.3 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 605, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 20.166666666666668 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 615, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 20.5 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 646, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 21.533333333333335 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 681, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 22.70510296645642 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 719, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 23.959353807206693 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-104329-mix-red-square-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-104329-mix-red-square-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..294bfd9ea95ba9135399968b59e6471bf4c49959 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-104329-mix-red-square-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,198 @@ +{ + "task_description": "把红色小方块放入透明的塑料圆形容器中。\n爪夹开始移动:0%\n爪夹靠近红色小方块:20%\n爪夹抓取红色小方块:40%\n爪夹抓住红色小方块接近透明的塑料圆形容器:60%\n爪夹将红色小方块放入透明的塑料圆形容器:80%\n爪夹松开,红色小方块落入透明的塑料圆形容器里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.466666666666667 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 21, + "progress_explanation": "", + "state_description": "", + "time": 8.300461865011542 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 295, + "progress": 24, + "progress_explanation": "", + "state_description": "", + "time": 9.833333333333334 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 321, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 10.7 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 349, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 11.633333333333333 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 405, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 13.5 + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 442, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 14.733333333333333 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 464, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 15.466666666666667 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 489, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 16.3 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 506, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 16.9 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 554, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 18.466666666666665 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 593, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 19.76901533102729 + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 613, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 20.448074417830853 + }, + { + "action_description": "关键帧 18/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 658, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 21.933333333333334 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 686, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 22.862506726465746 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-110507-mix-blue square-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-110507-mix-blue square-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..aee6b190ff8f506102fd6c06c279a6618e4d2e35 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-110507-mix-blue square-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,158 @@ +{ + "task_description": "将蓝色小方块放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近蓝色小方块:20%\n爪夹抓取蓝色小方块:40%\n爪夹抓住蓝色小方块接近黄色的硬纸箱:60%\n爪夹将蓝色小方块放入黄色的硬纸箱:80%\n爪夹松开,蓝色小方块落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7907052785075785 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 10.2 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 11.1 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 406, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.533333333333333 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 455, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 15.166666666666666 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 495, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 16.5 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 522, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.4 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 543, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.1 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 573, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 19.096169990142172 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-112152-mix-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-112152-mix-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..a18e94342ef6f981d9f3cf8aa545b65f8ada8e31 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-112152-mix-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,358 @@ +{ + "task_description": "将插座放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近白色塑料托盘:60%\n爪夹将插座放入白色塑料托盘:80%\n爪夹松开,插座落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 3/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 4/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 5/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + }, + { + "action_description": "关键帧 6/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 7 + }, + { + "action_description": "关键帧 7/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 8 + }, + { + "action_description": "关键帧 8/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": -6, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 9/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + }, + { + "action_description": "关键帧 10/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 298, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.933333333333334 + }, + { + "action_description": "关键帧 11/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 322, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.733333333333333 + }, + { + "action_description": "关键帧 12/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 355, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 11.833333333333334 + }, + { + "action_description": "关键帧 13/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 407, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 13.566666666666666 + }, + { + "action_description": "关键帧 14/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 457, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 15.233333333333333 + }, + { + "action_description": "关键帧 15/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 495, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 16.5 + }, + { + "action_description": "关键帧 16/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 584, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 19.466666666666665 + }, + { + "action_description": "关键帧 17/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 620, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 20.666666666666668 + }, + { + "action_description": "关键帧 18/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 670, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 22.333333333333332 + }, + { + "action_description": "关键帧 19/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 715, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 23.833333333333332 + }, + { + "action_description": "关键帧 20/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 750, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 25.015907678113955 + }, + { + "action_description": "关键帧 21/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 781, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 26.033333333333335 + }, + { + "action_description": "关键帧 22/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 790, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 26.333333333333332 + }, + { + "action_description": "关键帧 23/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 809, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 26.966666666666665 + }, + { + "action_description": "关键帧 24/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 859, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 28.633333333333333 + }, + { + "action_description": "关键帧 25/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 889, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 29.633333333333333 + }, + { + "action_description": "关键帧 26/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 931, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 31.033333333333335 + }, + { + "action_description": "关键帧 27/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 968, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 32.3 + }, + { + "action_description": "关键帧 28/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 987, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 32.9 + }, + { + "action_description": "关键帧 29/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1008, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 33.6 + }, + { + "action_description": "关键帧 30/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1036, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 34.53333333333333 + }, + { + "action_description": "关键帧 31/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1091, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 36.36666666666667 + }, + { + "action_description": "关键帧 32/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1118, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 37.266666666666666 + }, + { + "action_description": "关键帧 33/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1156, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 38.53333333333333 + }, + { + "action_description": "关键帧 34/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1189, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 39.63333333333333 + }, + { + "action_description": "关键帧 35/35 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1221, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 40.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-112152-mix-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-112152-mix-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..134ffb11a0df04140ff651aa347bf73dc4f26e61 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-112152-mix-cocket-white-tray/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,198 @@ +{ + "task_description": "将插座放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近白色塑料托盘:60%\n爪夹将插座放入白色塑料托盘:80%\n爪夹松开,插座落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.02649152458092769 + }, + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.766666666666667 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 291, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.7 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 335, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 11.155648928014754 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 386, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 12.866666666666667 + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 439, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 14.633333333333333 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 485, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 16.166666666666668 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 515, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 17.166666666666668 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 551, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 18.366666666666667 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 606, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 20.2 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 639, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 21.3 + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 666, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 22.2 + }, + { + "action_description": "关键帧 18/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 680, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 22.666666666666668 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 726, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 24.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-113602-good-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-113602-good-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..71a021fba7905a04d1a795497c58f1c6222c822c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-113602-good-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,128 @@ +{ + "task_description": "将蓝色方块放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近蓝色方块:20%\n爪夹抓取蓝色方块:40%\n爪夹抓住蓝色方块接近白色塑料托盘:60%\n爪夹将蓝色方块放入白色塑料托盘:80%\n爪夹松开,蓝色方块落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.1321108494327854 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.573016558939997 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 5.793375476175698 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.160765588259072 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.4 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 281, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.351530391489426 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 11.1 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 371, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.366666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 389, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.966666666666667 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 412, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-113602-good-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-113602-good-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..61b4ed7770eae9c3588f17e0400f9864efb19132 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-113602-good-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,108 @@ +{ + "task_description": "将蓝色方块放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近蓝色方块:20%\n爪夹抓取蓝色方块:40%\n爪夹抓住蓝色方块接近白色塑料托盘:60%\n爪夹将蓝色方块放入白色塑料托盘:80%\n爪夹松开,蓝色方块落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.0003287856602503792 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.108042978044836 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.566666666666666 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 277, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 9.233333333333333 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.480911732329167 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 391, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-135404-mix-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-135404-mix-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..980f782e8399459db6bea3b896a99a1b5455aae2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-135404-mix-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,258 @@ +{ + "task_description": "将蓝色方块放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近蓝色方块:20%\n爪夹抓取蓝色方块:40%\n爪夹抓住蓝色方块接近白色塑料托盘:60%\n爪夹将蓝色方块放入白色塑料托盘:80%\n爪夹松开,蓝色方块落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 3/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 4/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 5/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 6/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": -2, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + }, + { + "action_description": "关键帧 7/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 8/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 7.833333333333333 + }, + { + "action_description": "关键帧 9/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 10/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 11/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 315, + "progress": 11, + "progress_explanation": "", + "state_description": "", + "time": 10.5 + }, + { + "action_description": "关键帧 12/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 340, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 11.333333333333334 + }, + { + "action_description": "关键帧 13/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 361, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 12.033333333333333 + }, + { + "action_description": "关键帧 14/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 387, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 12.9 + }, + { + "action_description": "关键帧 15/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 462, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 15.4 + }, + { + "action_description": "关键帧 16/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 489, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 16.3 + }, + { + "action_description": "关键帧 17/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 528, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 17.6 + }, + { + "action_description": "关键帧 18/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 562, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 18.733333333333334 + }, + { + "action_description": "关键帧 19/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 597, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 19.9 + }, + { + "action_description": "关键帧 20/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 636, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 21.2 + }, + { + "action_description": "关键帧 21/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 656, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 21.866666666666667 + }, + { + "action_description": "关键帧 22/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 688, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 22.933333333333334 + }, + { + "action_description": "关键帧 23/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 710, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 23.659951969141666 + }, + { + "action_description": "关键帧 24/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 742, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 24.733333333333334 + }, + { + "action_description": "关键帧 25/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 762, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 25.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-135404-mix-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-135404-mix-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..977828d1a08e0e1527acb6b50944552a64a6ac7e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-135404-mix-blue square-white tray/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,198 @@ +{ + "task_description": "将蓝色方块放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近蓝色方块:20%\n爪夹抓取蓝色方块:40%\n爪夹抓住蓝色方块接近白色塑料托盘:60%\n爪夹将蓝色方块放入白色塑料托盘:80%\n爪夹松开,蓝色方块落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8097387360165982 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 328, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.933333333333334 + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 361, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 12.033333333333333 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 392, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 13.074357418883007 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 426, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 14.2 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 466, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 15.533333333333333 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 489, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 16.3 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 508, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 16.966666666666665 + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 533, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.766666666666666 + }, + { + "action_description": "关键帧 18/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 572, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 19.066666666666666 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 604, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 20.133333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..436e075e64c538343fc68ce63252961ec905dbaa --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,108 @@ +{ + "task_description": "将插座放进电饭煲内胆里。\n爪夹开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近电饭煲内胆:60%\n爪夹将插座放入电饭煲内胆:80%\n爪夹松开,插座落入电饭煲内胆里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.8040891837273 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.245208502142859 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 9.013854938380135 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 325, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 10.833333333333334 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 367, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..f256efa5fc158139c0f2cbbff2db46bb7983064b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,98 @@ +{ + "task_description": "将插座放进电饭煲内胆里。\n爪夹开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近电饭煲内胆:60%\n爪夹将插座放入电饭煲内胆:80%\n爪夹松开,插座落入电饭煲内胆里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.9 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 304, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.133333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 381, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..65b6944e5547dba8c7e9b3d2ddc0a1f146c94913 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-141304-good-socket-rice cooker/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,118 @@ +{ + "task_description": "将插座放进电饭煲内胆里。\n爪夹开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近电饭煲内胆:60%\n爪夹将插座放入电饭煲内胆:80%\n爪夹松开,插座落入电饭煲内胆里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 222, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.4 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 41, + "progress_explanation": "", + "state_description": "", + "time": 8.899767538230297 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 336, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 11.203920700364154 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 366, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 12.2 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 393, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 13.107351573431256 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 468, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-150600-mix-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-150600-mix-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..a94f8134ae92a46f7c8734ffaecd14ff6de68814 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-150600-mix-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,368 @@ +{ + "task_description": "将蓝色小方块放进电饭煲内胆里。\n爪夹开始移动:0%\n爪夹靠近蓝色小方块:20%\n爪夹抓取蓝色小方块:40%\n爪夹抓住蓝色小方块接近电饭煲内胆:60%\n爪夹将蓝色小方块放入电饭煲内胆:80%\n爪夹松开,蓝色小方块落入电饭煲内胆里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 3/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 4/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 5/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 6/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 7/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + }, + { + "action_description": "关键帧 8/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 9.133333333333333 + }, + { + "action_description": "关键帧 9/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 295, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.833333333333334 + }, + { + "action_description": "关键帧 10/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 320, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 10.666666666666666 + }, + { + "action_description": "关键帧 11/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 347, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 11.566666666666666 + }, + { + "action_description": "关键帧 12/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 363, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 12.1 + }, + { + "action_description": "关键帧 13/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 380, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 12.666666666666666 + }, + { + "action_description": "关键帧 14/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 411, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 13.7 + }, + { + "action_description": "关键帧 15/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 415, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 13.833333333333334 + }, + { + "action_description": "关键帧 16/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 427, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 14.233333333333333 + }, + { + "action_description": "关键帧 17/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 437, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 14.566666666666666 + }, + { + "action_description": "关键帧 18/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 465, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 15.5 + }, + { + "action_description": "关键帧 19/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 481, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 16.033333333333335 + }, + { + "action_description": "关键帧 20/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 496, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 16.533333333333335 + }, + { + "action_description": "关键帧 21/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 521, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 17.366666666666667 + }, + { + "action_description": "关键帧 22/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 573, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 19.1 + }, + { + "action_description": "关键帧 23/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 585, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 19.5 + }, + { + "action_description": "关键帧 24/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 602, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 20.066666666666666 + }, + { + "action_description": "关键帧 25/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 631, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 21.033333333333335 + }, + { + "action_description": "关键帧 26/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 649, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 21.633333333333333 + }, + { + "action_description": "关键帧 27/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 670, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 22.333333333333332 + }, + { + "action_description": "关键帧 28/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 680, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 22.666666666666668 + }, + { + "action_description": "关键帧 29/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 699, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 23.3 + }, + { + "action_description": "关键帧 30/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 724, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 24.133333333333333 + }, + { + "action_description": "关键帧 31/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 761, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 25.366666666666667 + }, + { + "action_description": "关键帧 32/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 828, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 27.608625655925746 + }, + { + "action_description": "关键帧 33/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 852, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 28.4 + }, + { + "action_description": "关键帧 34/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 863, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 28.766666666666666 + }, + { + "action_description": "关键帧 35/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 885, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 29.5 + }, + { + "action_description": "关键帧 36/36 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 903, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 30.094947993727317 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-150600-mix-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-150600-mix-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..e15156c2000b694cee63fb2c80d65d2bce70d41d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-150600-mix-blue square-rice cooker/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,388 @@ +{ + "task_description": "把蓝色小方块放入电饭煲内胆中。\n爪夹开始移动:0%\n爪夹靠近蓝色小方块:20%\n爪夹抓取蓝色小方块:40%\n爪夹抓住蓝色小方块接近电饭煲内胆:60%\n爪夹将蓝色小方块放入电饭煲内胆:80%\n爪夹松开,蓝色小方块落入电饭煲内胆里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 3/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 4/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 5/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.461396693310663 + }, + { + "action_description": "关键帧 6/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 278, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.266666666666667 + }, + { + "action_description": "关键帧 7/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 8/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 313, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 10.433333333333334 + }, + { + "action_description": "关键帧 9/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 338, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 11.266666666666667 + }, + { + "action_description": "关键帧 10/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 352, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 11.733333333333333 + }, + { + "action_description": "关键帧 11/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 391, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 13.020787622093842 + }, + { + "action_description": "关键帧 12/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 418, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.933333333333334 + }, + { + "action_description": "关键帧 13/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 467, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 15.566666666666666 + }, + { + "action_description": "关键帧 14/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 501, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 16.7 + }, + { + "action_description": "关键帧 15/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 541, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 18.03611764375534 + }, + { + "action_description": "关键帧 16/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 590, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 19.666666666666668 + }, + { + "action_description": "关键帧 17/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 647, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 21.58231058836448 + }, + { + "action_description": "关键帧 18/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 692, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 23.066666666666666 + }, + { + "action_description": "关键帧 19/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 706, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 23.533333333333335 + }, + { + "action_description": "关键帧 20/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 740, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 24.6725644400953 + }, + { + "action_description": "关键帧 21/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 795, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 26.5 + }, + { + "action_description": "关键帧 22/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 835, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 27.833333333333332 + }, + { + "action_description": "关键帧 23/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 855, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 28.5 + }, + { + "action_description": "关键帧 24/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 895, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 29.833333333333332 + }, + { + "action_description": "关键帧 25/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 912, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 30.4 + }, + { + "action_description": "关键帧 26/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 934, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 31.133333333333333 + }, + { + "action_description": "关键帧 27/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 966, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 32.2 + }, + { + "action_description": "关键帧 28/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 987, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 32.9 + }, + { + "action_description": "关键帧 29/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1007, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 33.56666666666667 + }, + { + "action_description": "关键帧 30/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1022, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 34.06666666666667 + }, + { + "action_description": "关键帧 31/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1062, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 35.4 + }, + { + "action_description": "关键帧 32/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1180, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 39.333333333333336 + }, + { + "action_description": "关键帧 33/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1241, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 41.36666666666667 + }, + { + "action_description": "关键帧 34/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1266, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 42.2 + }, + { + "action_description": "关键帧 35/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1292, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 43.06210785285412 + }, + { + "action_description": "关键帧 36/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1350, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 45 + }, + { + "action_description": "关键帧 37/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1391, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 46.36666666666667 + }, + { + "action_description": "关键帧 38/38 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1422, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 47.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..284f94a8d12c452f916151c02d898e2e467ab177 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,138 @@ +{ + "task_description": "拿起插座并将其放入透明的塑料圆形容器中。\n爪夹开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近透明的塑料圆形容器:60%\n爪夹将插座放入透明的塑料圆形容器:80%\n爪夹松开,插座落入透明的塑料圆形容器里面：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 318, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 10.6 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 342, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.4 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 363, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 12.1 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 424, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.133333333333333 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 480, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..846048094fb82823537767aa4a6b5ed167814dd3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-151107-mix-cocket-cylindrical-container/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,138 @@ +{ + "task_description": "拿起插座并将其放入透明的塑料圆形容器中。\n爪夹开始移动:0%\n爪夹靠近插座:20%\n爪夹抓取插座:40%\n爪夹抓住插座接近透明的塑料圆形容器:60%\n爪夹将插座放入透明的塑料圆形容器:80%\n爪夹松开,插座落入透明的塑料圆形容器里面：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.633333333333333 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 338, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 11.266666666666667 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 391, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.033333333333333 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 420, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 14 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 460, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 15.333333333333334 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 524, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 17.466666666666665 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 555, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 18.5 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 588, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 19.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-153653-good-blue square-round container/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-153653-good-blue square-round container/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..d7bbc37d223cf8baeb10f6c00c1b82244787f966 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-153653-good-blue square-round container/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,108 @@ +{ + "task_description": "将蓝色方块放进透明的塑料圆形容器里。\n爪夹开始移动:0%\n爪夹靠近蓝色方块:20%\n爪夹抓取蓝色方块:40%\n爪夹抓住蓝色方块接近透明的塑料圆形容器:60%\n爪夹将蓝色方块放入透明的塑料圆形容器:80%\n爪夹松开,蓝色方块落入透明的塑料圆形容器里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 9 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.9 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 347, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 11.566666666666666 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 385, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.842091107350896 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 407, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..30658adf6e4a35ddf0355b700ed6ce3364107ba4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,278 @@ +{ + "task_description": "将蓝色方块放进透明的塑料圆形容器里。\n爪夹开始移动:0%\n爪夹靠近蓝色方块:20%\n爪夹抓取蓝色方块:40%\n爪夹抓住蓝色方块接近透明的塑料圆形容器:60%\n爪夹将蓝色方块放入透明的塑料圆形容器:80%\n爪夹松开,蓝色方块落入透明的塑料圆形容器里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 3/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 4/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 5/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 6/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 7/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 6.933333333333334 + }, + { + "action_description": "关键帧 8/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.766666666666667 + }, + { + "action_description": "关键帧 9/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 10/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 9.128171083735992 + }, + { + "action_description": "关键帧 11/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 292, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 9.733333333333333 + }, + { + "action_description": "关键帧 12/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 10.2 + }, + { + "action_description": "关键帧 13/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 322, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.733333333333333 + }, + { + "action_description": "关键帧 14/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 337, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 11.233333333333333 + }, + { + "action_description": "关键帧 15/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 364, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.133051409516556 + }, + { + "action_description": "关键帧 16/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 385, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 12.833333333333334 + }, + { + "action_description": "关键帧 17/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 403, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 13.433333333333334 + }, + { + "action_description": "关键帧 18/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 407, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 13.566666666666666 + }, + { + "action_description": "关键帧 19/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 425, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 14.166666666666666 + }, + { + "action_description": "关键帧 20/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 457, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 15.233333333333333 + }, + { + "action_description": "关键帧 21/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 495, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 16.5 + }, + { + "action_description": "关键帧 22/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 529, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 17.633333333333333 + }, + { + "action_description": "关键帧 23/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 574, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 19.133333333333333 + }, + { + "action_description": "关键帧 24/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 619, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 20.633333333333333 + }, + { + "action_description": "关键帧 25/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 642, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 21.4 + }, + { + "action_description": "关键帧 26/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 671, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 22.366666666666667 + }, + { + "action_description": "关键帧 27/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 684, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 22.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..b9292b80b778fd758734e8ec1afb274647f263b0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-155055-mix-blue square-round container/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,318 @@ +{ + "task_description": "将蓝色方块放进透明的塑料圆形容器里。\n爪夹开始移动:0%\n爪夹靠近蓝色方块:20%\n爪夹抓取蓝色方块:40%\n爪夹抓住蓝色方块接近透明的塑料圆形容器:60%\n爪夹将蓝色方块放入透明的塑料圆形容器:80%\n爪夹松开,蓝色方块落入透明的塑料圆形容器里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.04681863083602907 + }, + { + "action_description": "关键帧 2/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 3/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.9844182067518097 + }, + { + "action_description": "关键帧 4/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 5/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 6/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 7/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": -6, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 8/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": -7, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 9/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 9.133333333333333 + }, + { + "action_description": "关键帧 10/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 298, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 9.933333333333334 + }, + { + "action_description": "关键帧 11/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 307, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 10.233333333333333 + }, + { + "action_description": "关键帧 12/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 344, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 11.466666666666667 + }, + { + "action_description": "关键帧 13/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 393, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.1 + }, + { + "action_description": "关键帧 14/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 422, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 14.066666666666666 + }, + { + "action_description": "关键帧 15/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 438, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 14.6 + }, + { + "action_description": "关键帧 16/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 450, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 15 + }, + { + "action_description": "关键帧 17/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 471, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 15.7 + }, + { + "action_description": "关键帧 18/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 480, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 16 + }, + { + "action_description": "关键帧 19/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 508, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 16.941867974009554 + }, + { + "action_description": "关键帧 20/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 548, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 18.266666666666666 + }, + { + "action_description": "关键帧 21/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 582, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 19.4 + }, + { + "action_description": "关键帧 22/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 605, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 20.166666666666668 + }, + { + "action_description": "关键帧 23/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 642, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 21.4 + }, + { + "action_description": "关键帧 24/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 661, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 22.033333333333335 + }, + { + "action_description": "关键帧 25/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 681, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 22.7 + }, + { + "action_description": "关键帧 26/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 702, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 23.4 + }, + { + "action_description": "关键帧 27/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 736, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 24.533333333333335 + }, + { + "action_description": "关键帧 28/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 757, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 25.233333333333334 + }, + { + "action_description": "关键帧 29/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 793, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 26.433333333333334 + }, + { + "action_description": "关键帧 30/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 815, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 27.166666666666668 + }, + { + "action_description": "关键帧 31/31 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 834, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 27.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-155615-mix-blue items-express box/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-155615-mix-blue items-express box/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..4a9990176128e99f0fd9bf91249b99424f2794e8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-155615-mix-blue items-express box/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,228 @@ +{ + "task_description": "将蓝色带透明包装物体放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近蓝色带透明包装物体:20%\n爪夹抓取蓝色带透明包装物体:40%\n爪夹抓住蓝色带透明包装物体接近黄色的硬纸箱:60%\n爪夹将蓝色带透明包装物体放入黄色的硬纸箱:80%\n爪夹松开,蓝色带透明包装物体落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 3/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 4/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 5/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 6/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + }, + { + "action_description": "关键帧 7/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 9.066666666666666 + }, + { + "action_description": "关键帧 8/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.54279073596797 + }, + { + "action_description": "关键帧 9/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 427, + "progress": 41, + "progress_explanation": "", + "state_description": "", + "time": 14.233333333333333 + }, + { + "action_description": "关键帧 10/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 457, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 15.233333333333333 + }, + { + "action_description": "关键帧 11/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 489, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 16.3 + }, + { + "action_description": "关键帧 12/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 545, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 18.166666666666668 + }, + { + "action_description": "关键帧 13/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 579, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 19.3 + }, + { + "action_description": "关键帧 14/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 618, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 20.6 + }, + { + "action_description": "关键帧 15/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 648, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 21.6 + }, + { + "action_description": "关键帧 16/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 682, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 22.733333333333334 + }, + { + "action_description": "关键帧 17/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 703, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 23.4186547092919 + }, + { + "action_description": "关键帧 18/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 813, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 27.1 + }, + { + "action_description": "关键帧 19/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 898, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 29.933333333333334 + }, + { + "action_description": "关键帧 20/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 940, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 31.333333333333332 + }, + { + "action_description": "关键帧 21/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 970, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 32.34145437717737 + }, + { + "action_description": "关键帧 22/22 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1022, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 34.06666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-155615-mix-blue items-express box/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-155615-mix-blue items-express box/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..a12050559fc88af250d541729feb4f51a8873224 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-155615-mix-blue items-express box/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,178 @@ +{ + "task_description": "将蓝色带透明包装物体放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近蓝色带透明包装物体:20%\n爪夹抓取蓝色带透明包装物体:40%\n爪夹抓住蓝色带透明包装物体接近黄色的硬纸箱:60%\n爪夹将蓝色带透明包装物体放入黄色的硬纸箱:80%\n爪夹松开,蓝色带透明包装物体落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.166666666666667 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.1 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 360, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 12 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 399, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 13.3 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 419, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 13.966666666666667 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 467, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 15.574904871037049 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 538, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 17.933333333333334 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 571, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 19.033333333333335 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 586, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 19.546242268255952 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 622, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 20.733333333333334 + }, + { + "action_description": "关键帧 17/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 671, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 22.366666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-164125-mix-mouse-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-164125-mix-mouse-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..414a807fffe28ab84bd39483d25870658fb00d4b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-164125-mix-mouse-delivery box/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,298 @@ +{ + "task_description": "将黑色鼠标电源线放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色鼠标电源线:20%\n爪夹抓取黑色鼠标电源线:40%\n爪夹抓住黑色鼠标电源线接近黄色的硬纸箱:60%\n爪夹将黑色鼠标电源线放入黄色的硬纸箱:80%\n爪夹松开,黑色鼠标电源线落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 3/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 4/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 5/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 6/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 7/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 8/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.456577954080478 + }, + { + "action_description": "关键帧 9/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 322, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.723538238647121 + }, + { + "action_description": "关键帧 10/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 330, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 11 + }, + { + "action_description": "关键帧 11/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 352, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 11.733333333333333 + }, + { + "action_description": "关键帧 12/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 380, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 12.666666666666666 + }, + { + "action_description": "关键帧 13/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 396, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 13.2 + }, + { + "action_description": "关键帧 14/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 415, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 13.833333333333334 + }, + { + "action_description": "关键帧 15/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 452, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 15.066666666666666 + }, + { + "action_description": "关键帧 16/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 477, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 15.914985258334823 + }, + { + "action_description": "关键帧 17/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 512, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 17.066666666666666 + }, + { + "action_description": "关键帧 18/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 552, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 18.4 + }, + { + "action_description": "关键帧 19/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 569, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 18.966666666666665 + }, + { + "action_description": "关键帧 20/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 587, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 19.566666666666666 + }, + { + "action_description": "关键帧 21/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 616, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 20.533333333333335 + }, + { + "action_description": "关键帧 22/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 638, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 21.266666666666666 + }, + { + "action_description": "关键帧 23/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 686, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 22.866666666666667 + }, + { + "action_description": "关键帧 24/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 713, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 23.766666666666666 + }, + { + "action_description": "关键帧 25/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 744, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 24.8 + }, + { + "action_description": "关键帧 26/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 773, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 25.766666666666666 + }, + { + "action_description": "关键帧 27/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 802, + "progress": 96, + "progress_explanation": "", + "state_description": "", + "time": 26.733333333333334 + }, + { + "action_description": "关键帧 28/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 840, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 28 + }, + { + "action_description": "关键帧 29/29 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 868, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 28.924504277909357 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-184224-good-blue-items-rice-cooker/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-184224-good-blue-items-rice-cooker/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..5303e3855781ab0ada58082c125470d68938789f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1128/20251127-184224-good-blue-items-rice-cooker/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,148 @@ +{ + "task_description": "将蓝色带透明包装物体放进电饭煲内胆上面。\n爪夹开始移动:0%\n爪夹靠近蓝色带透明包装物体:20%\n爪夹抓取蓝色带透明包装物体:40%\n爪夹抓住蓝色带透明包装物体接近电饭煲内胆:60%\n爪夹将蓝色带透明包装物体放在电饭煲内胆上:80%\n爪夹松开,蓝色带透明包装物体落在电饭煲内胆上面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.333333333333333 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 298, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.933333333333334 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 315, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 10.506061546530681 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 349, + "progress": 92, + "progress_explanation": "", + "state_description": "", + "time": 11.633333333333333 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 375, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 12.5 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 386, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.866666666666667 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 410, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.666666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..20b086675a12dd27ed9506fb97043b2fb608619a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,78 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 92, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..8a7c1e8dc0b1a5e8e8a7a695d49aab80ce13b917 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,78 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.166666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..8ba366825c2836bd69ccf2553b8038f033de6380 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,108 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.026398909962525658 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 21, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.7 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.274084893105009 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..48c89e7043b5cd60269d72b9a7fa8f319a69dbee --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..bf78bd75c688486115a33cddf8f9c40a029857b1 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,88 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..c4945392c892d2c5b7ab19f6d77c9b22b0961b5e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,78 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.166666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..b405b654b93da55a16a40f4bc21e29f569f452a2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000009.json @@ -0,0 +1,108 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 21, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.7 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 48, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.266666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..bf8d4715007bd2fb96c8d9895cf26a4d045b3e2d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,78 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 36, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.1853136468613072 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.5923317218479465 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..142202dc8981f2eb07a19bd64b6a98856e8011df --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-151147-put-potato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,88 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.9053225892834886 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.405956121706235 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..99b83d87420fe4ac5335004c01d378b378773fea --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,118 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.5283492658308875 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.966666666666667 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 271, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..3952d29a132021cbf63484809eb5985d8565a70b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,138 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.1704312417984952 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 248, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.266666666666667 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 281, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 9.366666666666667 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 328, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.933333333333334 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 353, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 11.766666666666667 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 387, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.9 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 412, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..fd1fafbb41293aa3169ebaff0b609bfa92393b0b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,98 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.43333333333333335 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 3.2856610606092262 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 6.466666666666667 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..454ccf81234cf4de659a77b4faf80c80c43d92e4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,168 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 31, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.533333333333333 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..f0472c84621f6fbf15bb1716b1e4ba0a8d0ce690 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,98 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.43333333333333335 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.8840394268630494 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.466666666666667 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..94afab9029132ced3d3472aa6404538442783821 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,108 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.833333333333333 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 259, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.633333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..7ffaf328bfd67eb90aba8cc23a92b449a5f89f56 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,138 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 248, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 8.266666666666667 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 281, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.366666666666667 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 328, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.933333333333334 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 353, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.766666666666667 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 387, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 12.9 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 412, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..95d7a30d5e32016daf2bcfa41021c8892a1c856f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,118 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.5666666666666667 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.333333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.466666666666667 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 337, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.233333333333333 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 365, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.166666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..e52910483e25ac6303b39f7512d694f27b54ae45 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,118 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..af29a50df6d4dc708b83c1d7f3d254e6bba5c103 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,108 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.5666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8480004428214054 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..03d2a8c40eb87bb14cd34af6c69ff24096f21904 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-152041-put-potato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,118 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.04844681710298697 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.6 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.719700549871426 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 7.966666666666667 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 271, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-153158-put-potato-purple-plate-bad/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-153158-put-potato-purple-plate-bad/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4281344b7a2d595a39541b9f2373b5c15b2ff9ab --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-153158-put-potato-purple-plate-bad/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,148 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 15, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.5 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 31, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 9 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 291, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 9.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-153158-put-potato-purple-plate-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-153158-put-potato-purple-plate-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..52cd834befb6d48f719094424ca01fd1bebe8c29 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-153158-put-potato-purple-plate-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,148 @@ +{ + "task_description": "把土豆放在盘子上。\n爪夹开始移动:0%\n爪夹靠近土豆:20%\n爪夹抓取土豆:40%\n爪夹抓住土豆接近盘子:60%\n爪夹将土豆放入盘子:80%\n爪夹松开,土豆落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 15, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.5 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.826749122648283 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 8.977664687718505 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 291, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 9.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..2e5c741fe67715f4f26da109432b260324fa50ec --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,98 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.5 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.2489277103981875 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..242ded85f1de261e811809a917ee25977fbeb7d4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,88 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.00018284509029078665 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.266666666666667 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..cd5bdd112bce173914f210e0a22b0a8ee564fafd --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,78 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.01232398418466568 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 6.083692023691163 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.666666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..13c72cb81b17e0805ac07c2e38d61fb21b5df832 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,78 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..c8c4918b5e9c3221881244a15760ab242f50e9b9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,98 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.013366311818392837 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.796299619181526 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.5 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..fb36fb5daed5b5683fc52ef42ac164d5a6e66235 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 21, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.7 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..2e44855ca36e9dd15d6cae9da8fb432743e423be --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,78 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.3724949169985647 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..f21691a39f6619561389d4e3490c69bd9f2bc9be --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000009.json @@ -0,0 +1,88 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9964008580807373 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..53a6de013f5d7c1046ee0cc97d4e46ad4f322e64 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,88 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 6.266666666666667 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..35cc05ac4bd3f5205f5b8123d836b86d895be5b0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-154550-put-white radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,88 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.026528369009198385 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.424024423324025 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.802951610984103 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..f5bc63ca01f09e7878fc3a2094718005e1014feb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,118 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.7233102327568846 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.2 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.7 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..6e9d217685362036c4cb0499cdc6c3b1ec076389 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,118 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.675427984571574 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.066666666666666 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 288, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d5ed18688945c8e4f7355b1746bb39e1911435bb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9039299231967024 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8367018658971046 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.633333333333334 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..565a4e78a27f4c5b6a808f283fa838f6c857ba3d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,138 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.5666666666666667 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.008474852597613 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 7 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..37a81839178073eaf729d678eb0651ba815d1ea4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,148 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.4642557311213182 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.6884508536004437 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.566666666666666 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..5466fe3ceceb715c6d6dc6890415b8697241067e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,118 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.533333333333333 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 88, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..becd291657b683d25cb5cfc5e460bd4e45c60f87 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,148 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8588709947869697 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 7.1503029393945665 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.566666666666666 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..29e39cabac68dfddb78df0576b8971f8ff550b26 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000006.json @@ -0,0 +1,118 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.533333333333333 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 248, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.281397732520384 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..eb8544dead7f9d4b9236635e115c091093b31671 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,88 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.142954487583337 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..82e8806fce2292f759f19d1d6462cff7dd907ecd --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,108 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.6333333333333333 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 7.1 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 248, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 8.266666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..8d5b318126838d8e6a35b789e409f2cf5dbe3c6b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,138 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.5666666666666667 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..418d416216da7f115116142448821aea1c4c3a9b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,148 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 21, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.522487833504671 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..27d612fe451df1d9d55c75f921383f52ca98e679 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-155638-put-white radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,88 @@ +{ + "task_description": "把白萝卜放在盘子上。\n爪夹开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近盘子:60%\n爪夹将白萝卜放入盘子:80%\n爪夹松开,白萝卜落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.0885609870686923 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-160624-put-white radish-purple-plate-bad/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-160624-put-white radish-purple-plate-bad/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..b4a74fe3a1b24fb1daae41131832eb166aca21a7 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-160624-put-white radish-purple-plate-bad/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取白萝卜把它放到电饭锅内胆里\n开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近电饭锅内胆:60%\n爪夹将白萝卜放入电饭锅内胆里:80%\n爪夹松开,白萝卜落入电饭锅内胆里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 36, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.2 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.2986770726804124 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.079845509793815 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.8 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.993728786082473 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 307, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.233333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 322, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.733333333333333 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 338, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.278780399484535 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-160624-put-white radish-purple-plate-bad/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-160624-put-white radish-purple-plate-bad/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b18d8aab59774941bf5e97d78a1fc7398b9af1c8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-160624-put-white radish-purple-plate-bad/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取白萝卜把它放到电饭锅内胆里\n开始移动:0%\n爪夹靠近白萝卜:20%\n爪夹抓取白萝卜:40%\n爪夹抓住白萝卜接近电饭锅内胆:60%\n爪夹将白萝卜放入电饭锅内胆里:80%\n爪夹松开,白萝卜落入电饭锅内胆里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 5.94201030927835 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 6.933333333333334 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": -20, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": -30, + "progress_explanation": "", + "state_description": "", + "time": 7.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..4a324ad15a29cb5e91e0470220fbcc3a977e5c52 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取红萝卜把它放到盘子里\n开始移动:0%\n爪夹靠近红萝卜:20%\n爪夹抓取红萝卜:40%\n爪夹抓住红萝卜接近盘子:60%\n爪夹将红萝卜放入盘子里:80%\n爪夹松开,红萝卜落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.602147794329897 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.1067870860824747 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.638402370618557 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..b02f1197eaa44d86cc744164a26f37af7a762f6e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取红萝卜把它放到盘子里\n开始移动:0%\n爪夹靠近红萝卜:20%\n爪夹抓取红萝卜:40%\n爪夹抓住红萝卜接近盘子:60%\n爪夹将红萝卜放入盘子里:80%\n爪夹松开,红萝卜落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.533333333333333 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.366666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..a74a0bd53f6e8d192cbda1201f2f9a7e2e5aa7ed --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取红萝卜把它放到盘子里\n开始移动:0%\n爪夹靠近红萝卜:20%\n爪夹抓取红萝卜:40%\n爪夹抓住红萝卜接近盘子:60%\n爪夹将红萝卜放入盘子里:80%\n爪夹松开,红萝卜落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.89592816443299 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..7a610e397eb46cd765d07cc9abd4401c1a085419 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取红萝卜把它放到盘子里\n开始移动:0%\n爪夹靠近红萝卜:20%\n爪夹抓取红萝卜:40%\n爪夹抓住红萝卜接近盘子:60%\n爪夹将红萝卜放入盘子里:80%\n爪夹松开,红萝卜落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.46915809742268044 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..af323a7eb6993aa7b317bb13b646570814dd0f95 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-161129-put-water radish-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取红萝卜把它放到盘子里\n开始移动:0%\n爪夹靠近红萝卜:20%\n爪夹抓取红萝卜:40%\n爪夹抓住红萝卜接近盘子:60%\n爪夹将红萝卜放入盘子里:80%\n爪夹松开,红萝卜落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.0036941582474226808 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..349915330cb7a0c8de7b7e2f2132a110c2e92471 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取红萝卜把它放到盘子里\n开始移动:0%\n爪夹靠近红萝卜:20%\n爪夹抓取红萝卜:40%\n爪夹抓住红萝卜接近盘子:60%\n爪夹将红萝卜放入盘子里:80%\n爪夹松开,红萝卜落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.9266150860824742 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 250, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.333333333333334 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..46c9938bc854e39d4be1a5f23cbb1601c35cd677 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取红萝卜把它放到盘子里\n开始移动:0%\n爪夹靠近红萝卜:20%\n爪夹抓取红萝卜:40%\n爪夹抓住红萝卜接近盘子:60%\n爪夹将红萝卜放入盘子里:80%\n爪夹松开,红萝卜落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.8787455613402066 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 250, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.333333333333334 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..61a6f250e358e3c14f9ccd3ef91a3a130f5c5b0f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取红萝卜把它放到盘子里\n开始移动:0%\n爪夹靠近红萝卜:20%\n爪夹抓取红萝卜:40%\n爪夹抓住红萝卜接近盘子:60%\n爪夹将红萝卜放入盘子里:80%\n爪夹松开,红萝卜落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 35, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.1666666666666667 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.3 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.733333333333333 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.7975257731958765 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4ce2395403fb8ae407e637b0a7d17003862fdbf5 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取红萝卜把它放到盘子里\n开始移动:0%\n爪夹靠近红萝卜:20%\n爪夹抓取红萝卜:40%\n爪夹抓住红萝卜接近盘子:60%\n爪夹将红萝卜放入盘子里:80%\n爪夹松开,红萝卜落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.966666666666667 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..e8c16d5c9079f333672ae52471b6313b9db493e5 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000005.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取红萝卜把它放到盘子里\n开始移动:0%\n爪夹靠近红萝卜:20%\n爪夹抓取红萝卜:40%\n爪夹抓住红萝卜接近盘子:60%\n爪夹将红萝卜放入盘子里:80%\n爪夹松开,红萝卜落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 250, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.333333333333334 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.991425785051547 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..920f12c41d8d00372349557c444cc441ed324381 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取红萝卜把它放到盘子里\n开始移动:0%\n爪夹靠近红萝卜:20%\n爪夹抓取红萝卜:40%\n爪夹抓住红萝卜接近盘子:60%\n爪夹将红萝卜放入盘子里:80%\n爪夹松开,红萝卜落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.2421134020618565 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.633333333333334 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.1 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 248, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.266666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..5225ba862b3897ea5cb6060af938234ae5650e07 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取红萝卜把它放到盘子里\n开始移动:0%\n爪夹靠近红萝卜:20%\n爪夹抓取红萝卜:40%\n爪夹抓住红萝卜接近盘子:60%\n爪夹将红萝卜放入盘子里:80%\n爪夹松开,红萝卜落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.966666666666667 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f8480b210569305745c792667d62bd5a26df4c78 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取红萝卜把它放到盘子里\n开始移动:0%\n爪夹靠近红萝卜:20%\n爪夹抓取红萝卜:40%\n爪夹抓住红萝卜接近盘子:60%\n爪夹将红萝卜放入盘子里:80%\n爪夹松开,红萝卜落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.566666666666666 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 6.666666666666667 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.1 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.366666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..d3f8b64c8abc7068be12a07611b7b3d36f6a2812 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-163743-put-water radish-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取红萝卜把它放到盘子里\n开始移动:0%\n爪夹靠近红萝卜:20%\n爪夹抓取红萝卜:40%\n爪夹抓住红萝卜接近盘子:60%\n爪夹将红萝卜放入盘子里:80%\n爪夹松开,红萝卜落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.5603609737113406 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.166666666666667 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.366666666666666 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.64225117886598 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.921495176804124 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d763386a61a853f6c5a94350434e420fe2165914 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取西红柿把它放到盘子里\n开始移动:0%\n爪夹靠近西红柿:20%\n爪夹抓取西红柿:40%\n爪夹抓住西红柿接近盘子:60%\n爪夹将西红柿放入盘子里:80%\n爪夹松开,西红柿落入盘子里:100%\n\n", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.2984020618556698 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..18efc29fba41b43dc68eaf360ea1680cd21d434b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取西红柿把它放到盘子里\n开始移动:0%\n爪夹靠近西红柿:20%\n爪夹抓取西红柿:40%\n爪夹抓住西红柿接近盘子:60%\n爪夹将西红柿放入盘子里:80%\n爪夹松开,西红柿落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.432680412371134 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..bd725f3d1e0fcb80dedebf1336139da16f2ecabe --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取西红柿把它放到盘子里\n开始移动:0%\n爪夹靠近西红柿:20%\n爪夹抓取西红柿:40%\n爪夹抓住西红柿接近盘子:60%\n爪夹将西红柿放入盘子里:80%\n爪夹松开,西红柿落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.5666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.966666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..e7d97faa80e93dd1f47c67bbe94082b248d06af3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取西红柿把它放到盘子里\n开始移动:0%\n爪夹靠近西红柿:20%\n爪夹抓取西红柿:40%\n爪夹抓住西红柿接近盘子:60%\n爪夹将西红柿放入盘子里:80%\n爪夹松开,西红柿落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.47288659793814425 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.187525773195876 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..0fbe3144af482f0565412d043370b72bbf4b7ced --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-165842-put-tomato-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取西红柿把它放到盘子里\n开始移动:0%\n爪夹靠近西红柿:20%\n爪夹抓取西红柿:40%\n爪夹抓住西红柿接近盘子:60%\n爪夹将西红柿放入盘子里:80%\n爪夹松开,西红柿落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.3 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.666666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..be330ea645eb85d4a034da819c5c3ba0e284fa0e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取西红柿把它放到盘子里\n开始移动:0%\n爪夹靠近西红柿:20%\n爪夹抓取西红柿:40%\n爪夹抓住西红柿接近盘子:60%\n爪夹将西红柿放入盘子里:80%\n爪夹松开,西红柿落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.6 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.301082474226805 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 347, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.566666666666666 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 364, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.133333333333333 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 368, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.266666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..cd45cbae3232c0fe03948af14061bb718580bf46 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取西红柿把它放到盘子里\n开始移动:0%\n爪夹靠近西红柿:20%\n爪夹抓取西红柿:40%\n爪夹抓住西红柿接近盘子:60%\n爪夹将西红柿放入盘子里:80%\n爪夹松开,西红柿落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.606563444845361 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..7d41ac53f957cbf71e0647744806a49aa32b85e9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取西红柿把它放到盘子里\n开始移动:0%\n爪夹靠近西红柿:20%\n爪夹抓取西红柿:40%\n爪夹抓住西红柿接近盘子:60%\n爪夹将西红柿放入盘子里:80%\n爪夹松开,西红柿落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 268, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.933333333333334 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.633333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..360d484024dae698bbc865576e23db600200fc43 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取西红柿把它放到盘子里\n开始移动:0%\n爪夹靠近西红柿:20%\n爪夹抓取西红柿:40%\n爪夹抓住西红柿接近盘子:60%\n爪夹将西红柿放入盘子里:80%\n爪夹松开,西红柿落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 21, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.7 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 176, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.866666666666666 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.628831336597939 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..f734b312f50f2e0c21ed32221d359c09c78f855c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取西红柿把它放到盘子里\n开始移动:0%\n爪夹靠近西红柿:20%\n爪夹抓取西红柿:40%\n爪夹抓住西红柿接近盘子:60%\n爪夹将西红柿放入盘子里:80%\n爪夹松开,西红柿落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.054123920103093 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 65, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 268, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.933333333333334 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.633333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..7f0506cdcc16f9af902829846c5ca2d8b668239c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-171524-put-tomato-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取西红柿把它放到盘子里\n开始移动:0%\n爪夹靠近西红柿:20%\n爪夹抓取西红柿:40%\n爪夹抓住西红柿接近盘子:60%\n爪夹将西红柿放入盘子里:80%\n爪夹松开,西红柿落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 19, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.6333333333333333 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.733333333333333 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-173718-put-tomato-purple-plate-bad/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-173718-put-tomato-purple-plate-bad/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..53a70658f7e141d8babb786ed7671b940006dda9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-173718-put-tomato-purple-plate-bad/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取西红柿把它放到盘子里\n开始移动:0%\n爪夹靠近西红柿:20%\n爪夹抓取西红柿:40%\n爪夹抓住西红柿接近盘子:60%\n爪夹将西红柿放入盘子里:80%\n爪夹松开,西红柿落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.3214948453608247 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.8 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": -20, + "progress_explanation": "", + "state_description": "", + "time": 7.640463917525773 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-173718-put-tomato-purple-plate-bad/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-173718-put-tomato-purple-plate-bad/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..6885cc19ed0e7234101163d53317069cb0f47183 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-173718-put-tomato-purple-plate-bad/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取西红柿把它放到电饭锅内胆里\n开始移动:0%\n爪夹靠近西红柿:20%\n爪夹抓取西红柿:40%\n爪夹抓住西红柿接近电饭锅内胆:60%\n爪夹将西红柿放入电饭锅内胆里:80%\n爪夹松开,西红柿落入电饭锅内胆里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-173718-put-tomato-purple-plate-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-173718-put-tomato-purple-plate-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..df1561db2797cd95e64573ee76adeac8146d0589 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-173718-put-tomato-purple-plate-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取西红柿把它放到盘子里\n开始移动:0%\n爪夹靠近西红柿:20%\n爪夹抓取西红柿:40%\n爪夹抓住西红柿接近盘子:60%\n爪夹将西红柿放入盘子里:80%\n爪夹松开,西红柿落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 18, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.6 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.2306873654639174 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 123, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.084020765463918 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.9 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 222, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 7.4 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": -30, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 277, + "progress": -50, + "progress_explanation": "", + "state_description": "", + "time": 9.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..67955b88cd14ca636672a6a30f02b0fddfd0009e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.769072079896907 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.466666666666667 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.915463585051547 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..06c75bca8892112da8640431ae74719ca49d1e58 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8205669159793814 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..0f80313b4e6907d056a340880eaa35c79ee5c189 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..10faed3f85c7016c4e9517fea96e32d82d4032e1 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..c949871982697bc0872ad67a77b458b2865c05f3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 15, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.5137113402061856 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.8 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.5 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..be08c150ce546209650dd00448ea04e818412065 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.396855338659794 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..3113636f323d4df1612389d425787d854456ebd4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.639913856185567 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..f472eea72256a978cb03356a64cdfdce5bb9f1af --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.7358246005154645 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..9d6b3abf7122b6f800fa0c8d032bce79478eb7c9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 105, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.5 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.536203080927835 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..c4ce404b031fa49985cd3de4ca62a1511dfce637 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..c04734b025cd1f5b6ca5f756ef708f8273a40b88 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8650686850515465 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.605721418041236 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..8427b053b1de8ef0dc1dc66ea6224fd911d6a04c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8588831170103093 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.40348764072165 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..19339c51dcb6c394fabed5238a0e1eec2a5e75ef --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.600858917010309 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..1c5618d758e9b7ffc92a340a53370d82c02bd2cb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-174252-put-onion-purple-plate-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.659192198453608 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..4a8024f9c75561db78a1d29f79b1b3d3a295e0e9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 250, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.33659793814433 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..4c4db1a4a2153fa0ca1148b473d9ed02a53c16a8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.4882474226804123 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 190, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.333333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..480101549551abdb98430b2c3996c0ae41d644b6 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.1297938144329898 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..54be283a14a9cd14e2f867cc5e32bfb77eabc5c9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.466666666666667 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.366666666666667 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..1dbe9d7f014877ce12e51ba4b7eabe1c6efc2b70 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8449313015463917 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.333333333333333 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.303900674742268 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..114faddce3b621c155a8d4862a4c93a99a949cc5 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 4.566666666666666 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.080653139690722 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.666666666666667 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.5231961469072175 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 277, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..474adb4b0c8b453c3c73b6ce2c8d323386c16be2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.right/episode_000006.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6283505154639175 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.356185567010309 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..97ad99c2d5c3f93c43f6baa132d5276d9fcb3a89 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.6989175257731963 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.6 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 278, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.266666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..28192909bf2ebe618e2c14d8dc78ba03edaf49ce --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.365463917525773 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..604a71093692180c5a12d185dc4268e3399efea3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-175050-put-onion-purple-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 218, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.266666666666667 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 268, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-180353-put-onion-purple-plate-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-180353-put-onion-purple-plate-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..66fd2ee6b03ab161123f7578fb857b41d425ac6b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251225-yangzhou/20251225-180353-put-onion-purple-plate-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取葱头把它放进盘子里\n开始移动:0%\n爪夹靠近葱头:20%\n爪夹抓取葱头:40%\n爪夹抓住葱头接近盘子:60%\n爪夹将葱头放入盘子里:80%\n爪夹松开,葱头落入盘子里:100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.5965120530927835 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.3580241561855666 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.8473025706185564 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.297405768556701 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 27, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-010553-put-pillbottle-white-box-good1/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-010553-put-pillbottle-white-box-good1/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..195ade920bafd06994edf578365f6c2460c9bfc1 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-010553-put-pillbottle-white-box-good1/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,68 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.3368900621470126 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.724253077196678 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-010553-put-pillbottle-white-box-good1/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-010553-put-pillbottle-white-box-good1/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e131b892ab3f41d77f3d524536131196e648e66e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-010553-put-pillbottle-white-box-good1/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,68 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.8883424441135883 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-010553-put-pillbottle-white-box-good1/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-010553-put-pillbottle-white-box-good1/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..4fdc3f02a9b17b73b72e86018f96acf5963503b4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-010553-put-pillbottle-white-box-good1/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,88 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 105, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.5 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.566666666666666 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.3229174068828256 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..ff6d3d1c40f486acbf6a16bd3690ce3387b53f32 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,158 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.305551993988968 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.2369388558539525 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": -18, + "progress_explanation": "", + "state_description": "", + "time": 7.917268041237113 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.414951209753607 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 9.088415556025211 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 291, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 9.7 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 332, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.08015053755187 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 349, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 11.624653626026785 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 369, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.3 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 394, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.143530662298911 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 416, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..2189f7c7764f73c5e3873f353b7c799ca2992698 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,128 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.373298969072166 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 302, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.066666666666666 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 318, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.6 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 353, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..3cfa92b2085f7bb2b18d63e1a40ec772a1750d95 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,128 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.166666666666667 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.300967009516189 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 299, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.966667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.left/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.left/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..bedd3425014a811203c11d257dfe3e6f4ef9e2c1 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.left/episode_000006.json @@ -0,0 +1,138 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.0023398495350566897 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.723351344014636 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.5822845253523745 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.9 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.455985348813721 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..e552925d35672592c452a2edd56b98f483c19ded --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,128 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 302, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.063038373749476 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 318, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.6 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 353, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..63ca181541a6a2b6731d3571d5b079c43bd397b4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,158 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 8.533333333333333 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 351, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 11.7 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 400, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 13.333333333333334 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 413, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 13.766666666666667 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 433, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 14.433333333333334 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 468, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.6 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 481, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.033333333333335 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..46d615d8550bfbfe638c14ba3428c4f42a6353c9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,128 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.166666666666667 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 298, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.92769881330521 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..68f1ca7301b418ce595e4143d18e4c45f417a09a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,138 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.448773739443492 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 281, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.366666666666667 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..ce8ed4029205a98ad28eb98c992d3343975d50e3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,158 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.41881443298969 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.977680412371134 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 292, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.737164948453607 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 332, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.066666666666666 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 349, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 11.633333333333333 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 369, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.3 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 394, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.133333333333333 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 416, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..21380bc1bca2b0fd8fbe11f90ae9afe0c22b836e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,108 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.652576738721748 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.3 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 7.633333333333334 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..fb12dc433c323ec35a9ffa16fa0deaf050898105 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,138 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 5.125862751698923 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.679093816459404 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.04692277363426 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.743993915232464 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.075932554088753 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.9 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 321, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..76781e4ad24cf88f5d33bc52b745f762e8c5c178 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-014225-put-pillbottle-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,98 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 295, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.833333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-015742-put-pillbottle-white-box-bad1/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-015742-put-pillbottle-white-box-bad1/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c369d8bf359903890a7207d0b2f95204f478d8c5 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-015742-put-pillbottle-white-box-bad1/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,198 @@ +{ + "task_description": "将白色小药瓶放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近黄色的硬纸箱:60%\n爪夹将白色小药瓶放入黄色的硬纸箱:80%\n爪夹松开,白色小药瓶落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.633333333333334 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 8.366666666666667 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.696918219670842 + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 9.133333333333333 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.633333333333333 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 9.866666666666667 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 11.6 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 384, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 12.8 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 406, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 13.533333333333333 + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 436, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 14.533333333333333 + }, + { + "action_description": "关键帧 18/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 457, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 15.233333333333333 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 508, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.966666666666665 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-015742-put-pillbottle-white-box-bad1/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-015742-put-pillbottle-white-box-bad1/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..9298ef060d9787c0ed759f928f33e12400102aae --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-015742-put-pillbottle-white-box-bad1/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,138 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.677535114754557 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 6.85639842106572 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.4 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 336, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 11.2 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 362, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 12.066666666666666 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 376, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 12.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-015742-put-pillbottle-white-box-bad1/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-015742-put-pillbottle-white-box-bad1/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4e4d1a9e8cf339631bc1db40df2366e127d093c8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-015742-put-pillbottle-white-box-bad1/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,138 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.638671489271772 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 11, + "progress_explanation": "", + "state_description": "", + "time": 6.947080213858886 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 9.4 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 336, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 11.2 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 362, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 12.066666666666666 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 376, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 12.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-020500-put-pillbottle-white-box-bad2/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-020500-put-pillbottle-white-box-bad2/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..81c9f1f962659eeb17857da823818f86d5a5fbed --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-020500-put-pillbottle-white-box-bad2/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,78 @@ +{ + "task_description": "将白色小药瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近白色小药瓶:20%\n爪夹抓取白色小药瓶:40%\n爪夹抓住白色小药瓶接近白色塑料托盘:60%\n爪夹将白色小药瓶放入白色塑料托盘:80%\n爪夹松开,白色小药瓶落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.722301821849803 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 222, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 7.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-021408-put-powerstrip-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-021408-put-powerstrip-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..06129f4969da73da7b7436517ad8ca3c4b35bb2e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-021408-put-powerstrip-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,78 @@ +{ + "task_description": "将白色插板放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插板:20%\n爪夹抓取白色插板:40%\n爪夹抓住白色插板接近黄色的硬纸箱:60%\n爪夹将白色插板放入黄色的硬纸箱:80%\n爪夹松开,白色插板落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.0016086467095896087 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9631999185537078 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.8316337162550616 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-021408-put-powerstrip-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-021408-put-powerstrip-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..70aa1cfb430edf9c4e191f25af8d97ddef6ac631 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-021408-put-powerstrip-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,68 @@ +{ + "task_description": "将白色插板放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插板:20%\n爪夹抓取白色插板:40%\n爪夹抓住白色插板接近黄色的硬纸箱:60%\n爪夹将白色插板放入黄色的硬纸箱:80%\n爪夹松开,白色插板落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-021408-put-powerstrip-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-021408-put-powerstrip-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..1a1883f4aca5012138fcc023d6a9c60f89f7ec35 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-021408-put-powerstrip-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,78 @@ +{ + "task_description": "将白色插板放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插板:20%\n爪夹抓取白色插板:40%\n爪夹抓住白色插板接近黄色的硬纸箱:60%\n爪夹将白色插板放入黄色的硬纸箱:80%\n爪夹松开,白色插板落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.4488226401130326 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-021408-put-powerstrip-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-021408-put-powerstrip-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..a002cde5f9dc769b3dd73a5245727be6aaefc295 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-021408-put-powerstrip-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,78 @@ +{ + "task_description": "将白色插板放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插板:20%\n爪夹抓取白色插板:40%\n爪夹抓住白色插板接近黄色的硬纸箱:60%\n爪夹将白色插板放入黄色的硬纸箱:80%\n爪夹松开,白色插板落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.28342518387048 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..211d14af5b79bebb5605cd0097c2ff10d65a85e0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,108 @@ +{ + "task_description": "将白色插板放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插板:20%\n爪夹抓取白色插板:40%\n爪夹抓住白色插板接近黄色的硬纸箱:60%\n爪夹将白色插板放入黄色的硬纸箱:80%\n爪夹松开,白色插板落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.0021113486863733677 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 5.034589912330513 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.666666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.6460811543477405 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000011.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000011.json new file mode 100644 index 0000000000000000000000000000000000000000..aa6c4d998a84397885b7adb1504990cbe36022f6 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000011.json @@ -0,0 +1,108 @@ +{ + "task_description": "将白色插板放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插板:20%\n爪夹抓取白色插板:40%\n爪夹抓住白色插板接近黄色的硬纸箱:60%\n爪夹将白色插板放入黄色的硬纸箱:80%\n爪夹松开,白色插板落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..e28644ae5cbb2b44535b26d39445267639cd16c4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "将白色插板放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插板:20%\n爪夹抓取白色插板:40%\n爪夹抓住白色插板接近黄色的硬纸箱:60%\n爪夹将白色插板放入黄色的硬纸箱:80%\n爪夹松开,白色插板落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 5.591115446861829 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.28440673708661 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..3dc6cb4d194bc8ba8fb679affbfd2f90352a17f5 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,98 @@ +{ + "task_description": "将白色插板放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插板:20%\n爪夹抓取白色插板:40%\n爪夹抓住白色插板接近黄色的硬纸箱:60%\n爪夹将白色插板放入黄色的硬纸箱:80%\n爪夹松开,白色插板落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 6.664912017159152 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..a0bfc2152b5739b12413fcd6ade99de492ee1d37 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,198 @@ +{ + "task_description": "将白色插板放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插板:20%\n爪夹抓取白色插板:40%\n爪夹抓住白色插板接近黄色的硬纸箱:60%\n爪夹将白色插板放入黄色的硬纸箱:80%\n爪夹松开,白色插板落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.197985046696931 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.2 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.772880639206118 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 288, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 9.6 + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 315, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.5 + }, + { + "action_description": "关键帧 18/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 331, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 11.033333333333333 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 361, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..51a5c93fabaa3365e1302f521be7746419f08411 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,108 @@ +{ + "task_description": "将白色插板放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插板:20%\n爪夹抓取白色插板:40%\n爪夹抓住白色插板接近黄色的硬纸箱:60%\n爪夹将白色插板放入黄色的硬纸箱:80%\n爪夹松开,白色插板落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.318371294865311 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 6.666666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.696268546078656 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..93e95694297ca5f2aa00bba2595669d7fe989522 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "将白色插板放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插板:20%\n爪夹抓取白色插板:40%\n爪夹抓住白色插板接近黄色的硬纸箱:60%\n爪夹将白色插板放入黄色的硬纸箱:80%\n爪夹松开,白色插板落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.8465396175183693 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.4397682472983355 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.266666666666667 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..bf071e4f4ea6c8eb5e95b8a56cc557a96e8a5735 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,108 @@ +{ + "task_description": "将白色插板放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插板:20%\n爪夹抓取白色插板:40%\n爪夹抓住白色插板接近黄色的硬纸箱:60%\n爪夹将白色插板放入黄色的硬纸箱:80%\n爪夹松开,白色插板落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 4.383701517663605 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 6.666666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.6460811543477405 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..2fb3e48fddeb49be1df260ad4f3cceb3b55e7543 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-022334-put-powerstrip-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,108 @@ +{ + "task_description": "将白色插板放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插板:20%\n爪夹抓取白色插板:40%\n爪夹抓住白色插板接近黄色的硬纸箱:60%\n爪夹将白色插板放入黄色的硬纸箱:80%\n爪夹松开,白色插板落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 31, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 5.3 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 6.666666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.696268546078656 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-023821-put-powerstrip-yellow-box-bad1/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-023821-put-powerstrip-yellow-box-bad1/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..90f0d9441d2a5078221a652ea23058691b1910ff --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-023821-put-powerstrip-yellow-box-bad1/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,68 @@ +{ + "task_description": "将白色插座放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插座:20%\n爪夹抓取白色插座:40%\n爪夹抓住白色插座接近黄色的硬纸箱:60%\n爪夹将白色插座放入黄色的硬纸箱:80%\n爪夹松开,白色插座落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 5.1 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-023821-put-powerstrip-yellow-box-bad1/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-023821-put-powerstrip-yellow-box-bad1/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4061af0ee08a58ca55767daf4c69c5a0a82ab340 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-023821-put-powerstrip-yellow-box-bad1/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,78 @@ +{ + "task_description": "将白色插座放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色插座:20%\n爪夹抓取白色插座:40%\n爪夹抓住白色插座接近黄色的硬纸箱:60%\n爪夹将白色插座放入黄色的硬纸箱:80%\n爪夹松开,白色插座落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 36, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.2 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..60231f0a6bb5824cc049f2e1d21d11ca957d95cb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.181249924100263 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..6a5af7ae48e8c2931a55513332a4e06f6fad7c6d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,68 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.8400452610972966 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..972b5c1f0e917023849ecf972b2a236d93b3c832 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,68 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..1b2a6d868d899ada4cf80288b95cc2ddd112c7d6 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 6.078830476451513 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..622541953839cfe41bf98a8623659c48c59e34fb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,68 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.8454060193886783 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..7d5cb60868963827290e248f636a7feafd707eea --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.1 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.left/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.left/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..e15d22765ab1c38d16acb120d24265dfb19f0555 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.left/episode_000006.json @@ -0,0 +1,78 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.3 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..d230fc14f483602a32de7a2cec18aa74bd7a12e1 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.1 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.right/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.right/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..e7651f1363b38e21ce394276ffd0e117ae28447c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.right/episode_000009.json @@ -0,0 +1,78 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..ef41cc88d7f817924b61405e6cbd40f7624d7511 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-031139-put-brush-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.6 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 3.6810561019501624 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..eeb9508d34f8c8d6d758cdd7369768debe284934 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..de24d1a7aa15a14c8bc493978da430db391d1a87 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,128 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.6 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.1006118478340676 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 7.056851466873705 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.166666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..f49e14de358555af604b1a3cedbd3bd1874dcd8b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,158 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.6 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 6.266666666666667 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 316, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.533333333333333 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 352, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.733333333333333 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 373, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 12.433734008436716 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 400, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 13.333333333333334 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 434, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..12c6168d2eaf24f1fd5fc7c071cf9e4abf37177e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,158 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.266666666666667 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.466666666666667 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.166666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..1511a532776c3fc88cd5f54b7dc90cb2b28b513f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,118 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.3 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 294, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.8 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 327, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.9 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 358, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..5d30a3e3e4bfd80dc9827a0d8b22bf19d7901d4b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,158 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.0147909946197236 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.6 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 6.266666666666667 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 316, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.533333333333333 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 352, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 11.733333333333333 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 373, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 12.433734008436716 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 400, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 13.333333333333334 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 434, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f9cb703225363e68c23578e0ec4d98732a972ea3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-032148-put-brush-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-033524-put-brush-black-box-bad1/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-033524-put-brush-black-box-bad1/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..7f6f4a49b586e1acba3c693d8fa16425db7674be --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-033524-put-brush-black-box-bad1/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "将黑色毛刷放进黄色硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黄色的硬纸箱:60%\n爪夹将黑色毛刷放入黄色的硬纸箱:80%\n爪夹松开,黑色毛刷落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.209437086969639 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.596173295521556 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-033909-put-brush-black-box-bad2/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-033909-put-brush-black-box-bad2/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..e7993430c1c54a9657912db16a18061c3ea71079 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-033909-put-brush-black-box-bad2/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色毛刷放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色毛刷:20%\n爪夹抓取黑色毛刷:40%\n爪夹抓住黑色毛刷接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色毛刷放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色毛刷落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.341374804691469 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.5939368203604465 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 4.970142089413854 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..21caa44d4e6afea02e61fa3ba56ba0a5d2406060 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,78 @@ +{ + "task_description": "将笔瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近白色塑料托盘:60%\n爪夹将笔放入白色塑料托盘:80%\n爪夹松开,笔落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..17aeee429c4da1ae101427ff78ba2de2979fb5e1 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,68 @@ +{ + "task_description": "将笔瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近白色塑料托盘:60%\n爪夹将笔放入白色塑料托盘:80%\n爪夹松开,笔落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..b1879865c64ed20d0316d682f109e63f1a49b53c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,78 @@ +{ + "task_description": "将笔瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近白色塑料托盘:60%\n爪夹将笔放入白色塑料托盘:80%\n爪夹松开,笔落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.6091037902278316 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..f83a48e4a83c0e850e1fdd676282f7841ea51b38 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,78 @@ +{ + "task_description": "将笔瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近白色塑料托盘:60%\n爪夹将笔放入白色塑料托盘:80%\n爪夹松开,笔落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..efa96676e7374295b37461ef3190ebf534121661 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,78 @@ +{ + "task_description": "将笔瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近白色塑料托盘:60%\n爪夹将笔放入白色塑料托盘:80%\n爪夹松开,笔落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..7bba79d850d18e8518bf7fc917c5b5f1113e9003 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,78 @@ +{ + "task_description": "将笔瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近白色塑料托盘:60%\n爪夹将笔放入白色塑料托盘:80%\n爪夹松开,笔落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..a329b0051c41272daa4e7c71e812141637fd4075 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,78 @@ +{ + "task_description": "将笔瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近白色塑料托盘:60%\n爪夹将笔放入白色塑料托盘:80%\n爪夹松开,笔落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.669544458960969 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..d1538886718ad2952f703a1c443d9244ef06a766 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,78 @@ +{ + "task_description": "将笔瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近白色塑料托盘:60%\n爪夹将笔放入白色塑料托盘:80%\n爪夹松开,笔落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..3bf049acdb9cd8f0838d137bf189520fd7a2bb31 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,78 @@ +{ + "task_description": "将笔瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近白色塑料托盘:60%\n爪夹将笔放入白色塑料托盘:80%\n爪夹松开,笔落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.02840929461124314 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 1.5929192049484808 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..5bf2d1562fa27238c296e509862c01f446a9b855 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,78 @@ +{ + "task_description": "将笔瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近白色塑料托盘:60%\n爪夹将笔放入白色塑料托盘:80%\n爪夹松开,笔落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.687275342295436 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..6391cfb7015e71407028e5ed825b7b7d789743dd --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040007-put-pen-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,78 @@ +{ + "task_description": "将笔瓶放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近白色塑料托盘:60%\n爪夹将笔放入白色塑料托盘:80%\n爪夹松开,笔落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8489156062699568 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..976d89f12538c5d3209b74a7864f00b2991cd6a0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取记号笔使其放进白色的塑料盒里：\n开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓住记号笔接近白色的塑料盒：60%\n爪夹将记号笔放入白色的塑料盒中：80%\n爪夹松开，记号笔落入白色的塑料盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 48, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 298, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.948453608247421 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..2547fd85f787fe5ed887104d697378d66f986e25 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取记号笔使其放进白色的塑料盒里：\n开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓住记号笔接近白色的塑料盒：60%\n爪夹将记号笔放入白色的塑料盒中：80%\n爪夹松开，记号笔落入白色的塑料盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 7.466666666666667 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 248, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.266666666666667 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.4 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 358, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 11.933333333333334 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 389, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.966666666666667 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 425, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.166666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..cc8200df45c20ce80fa0bbbf827e0826c147d3a0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取记号笔使其放进白色的塑料盒里：\n开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓住记号笔接近白色的塑料盒：60%\n爪夹将记号笔放入白色的塑料盒中：80%\n爪夹松开，记号笔落入白色的塑料盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 21, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": -12, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 8.6 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 308, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.266666666666667 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 338, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.266666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..7b94fb54c9950e5583ae6909a6d08e5d7b7324ab --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取记号笔使其放进白色的塑料盒里：\n开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓住记号笔接近白色的塑料盒：60%\n爪夹将记号笔放入白色的塑料盒中：80%\n爪夹松开，记号笔落入白色的塑料盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.04158075773195876 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": -2, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.933333333333334 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..341d29108513dbf297cef33b50f729063cb35d9f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-040840-put-pen-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取记号笔使其放进白色的塑料盒里：\n开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓住记号笔接近白色的塑料盒：60%\n爪夹将记号笔放入白色的塑料盒中：80%\n爪夹松开，记号笔落入白色的塑料盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 41, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 56, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 6.731546391752577 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 8.2 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 285, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.5 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 317, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-041959-put-pen-white-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-041959-put-pen-white-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..945fbd5f9316e435d473f1f186c0c2863682d51b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-041959-put-pen-white-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取记号笔使其放进白色的塑料盒里：\n开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓住记号笔接近白色的塑料盒：60%\n爪夹将记号笔放入白色的塑料盒中：80%\n爪夹松开，记号笔落入白色的塑料盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.9306183824742265 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.366666666666666 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 7.8 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-041959-put-pen-white-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-041959-put-pen-white-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..111cba81b2ef138827ea81ea746284319cfdbeae --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-041959-put-pen-white-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取记号笔使其放进白色的塑料盒里：\n开始移动：0%\n爪夹靠近记号笔：20%\n爪夹抓取记号笔：40%\n爪夹抓住记号笔接近白色的塑料盒：60%\n爪夹将记号笔放入白色的塑料盒中：80%\n爪夹松开，记号笔落入白色的塑料盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 31, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 8.533333333333333 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 9.066666666666666 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 10 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..7da7772d030920c82fcf0229350f5d39a5ed7575 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱中：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 2.3224743587628867 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..2ae5e0b31c9b439f69abce0b1d39b3409bb161ef --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱中：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 35, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.1815463164948454 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 3.555429326804124 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b240a68c5db92ce1249a76112cc48cdd1e01b67a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱中：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 4, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 49, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.833333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..a12414bfb57ac680ccce5650b8ff6c5896ac5710 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱中：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..83d0f6d923c67785eebe0c9ef0c9bacf279e3f1e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-044943-put-maskingtape-yellow-box-good1/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱中：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 56, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-045609-put-maskingtape-yellow-box-good2/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-045609-put-maskingtape-yellow-box-good2/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..9464408ee16413cb41e545768f865b59063e9f2f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-045609-put-maskingtape-yellow-box-good2/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 3.8830242381443303 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 176, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.866666666666666 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-045609-put-maskingtape-yellow-box-good2/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-045609-put-maskingtape-yellow-box-good2/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..c0a80d18538f8081aa634c402aa39c9b24b873c7 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-045609-put-maskingtape-yellow-box-good2/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.560824742268041 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-045609-put-maskingtape-yellow-box-good2/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-045609-put-maskingtape-yellow-box-good2/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..c7952390f8af96ad04af5df0ccdbc4300fa090c9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-045609-put-maskingtape-yellow-box-good2/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.339519026804124 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..76a0f76bcda825d12271c84b616f5bf6272833f0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 44, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.833333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..92370b2d4b80219ac9ff0415769f2410776e275b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 19, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 0.6333333333333333 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.6098282814432987 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 6.467835306185566 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.9 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e7a51b5050098b0167c2720aff7fc890910079e4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.2 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 2.966666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.366666666666666 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..767227f315635b35b9da705a44a31ebd97ce3301 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.833333333333333 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 271, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..394cd3e09a8203cbc0ab4da4dc56e7739dcecbcf --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 19, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 0.6333333333333333 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 6.5 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.9 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..834b12c6e66af6a3d20226f25cc095f7f5e304c2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 4.22487953814433 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 56, + "progress_explanation": "", + "state_description": "", + "time": 6.166666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..19d690d1c990b202dd4eab920ec6bd55c62bb1b9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 49, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 44, + "progress_explanation": "", + "state_description": "", + "time": 6.666666666666667 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 52, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.4 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.166666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..f69d0af7a7ad0041ddbaa671364fc4bf0d6ffa20 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.833333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..6f0506ef4dc00a05d761b0086273e58bc51ce97f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000005.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 17, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.5586254515463918 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.5 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 76, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.9 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..96a87f60a9dcf878acfcde885833241dcd8c41e2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000006.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 36, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.2 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 7.8 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..9fda5fb6851d68b5d981d32569750291a9212e8f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 4, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 47, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.666666666666667 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.4 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.166666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..54acb21325ce533f1d9a3994ec97d0db97e12e83 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-050014-put-maskingtape-yellow-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 2.53030938556701 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.833333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-051019-put-maskingtape-yellow-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-051019-put-maskingtape-yellow-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..a7ff98c35ea8233e9c2bbb37cd183a064b13a03a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-051019-put-maskingtape-yellow-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 36, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.2 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 6.3 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-051019-put-maskingtape-yellow-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-051019-put-maskingtape-yellow-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..da987c214391e77f611a876ee4131a2ed7be8ba3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-051019-put-maskingtape-yellow-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,218 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 6/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 7/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.224879818556701 + }, + { + "action_description": "关键帧 8/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 9/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 10/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 8.433333333333334 + }, + { + "action_description": "关键帧 11/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 12/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + }, + { + "action_description": "关键帧 13/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + }, + { + "action_description": "关键帧 14/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 327, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.9 + }, + { + "action_description": "关键帧 15/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 344, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 11.466666666666667 + }, + { + "action_description": "关键帧 16/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 366, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 12.2 + }, + { + "action_description": "关键帧 17/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 378, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 12.6 + }, + { + "action_description": "关键帧 18/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 409, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 13.633333333333333 + }, + { + "action_description": "关键帧 19/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 421, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 14.033333333333333 + }, + { + "action_description": "关键帧 20/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 430, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 14.333333333333334 + }, + { + "action_description": "关键帧 21/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 451, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 15.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-051019-put-maskingtape-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-051019-put-maskingtape-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..be41a01c0d1274b0aba2643f6ff45dc1eeb9598a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251226-songjiaqi/20251226-051019-put-maskingtape-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取胶带使其放进黄色纸板箱里：\n开始移动：0%\n爪夹靠近胶带：20%\n爪夹抓取胶带：40%\n爪夹抓住胶带接近黄色纸板箱：60%\n爪夹将胶带放入黄色纸板箱：80%\n爪夹松开，胶带落入黄色纸板箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 63, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 5.725051877319588 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..6e6b2ec94aa2449d7c8d07181bd03132e8bbcf06 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近电源适配器：20%\n爪夹抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.064580669699458 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.80427254505538 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 68, + "progress_explanation": "", + "state_description": "", + "time": 7.7 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.566666666666666 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 278, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.266666666666667 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 299, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.966 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..0cbb87f89cbc667082ad10abaefb0f8efacd2318 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近并抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 72, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.9 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..b2b2cd59753a28d1e37c8ad7bfcaf71f39728054 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,48 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近抓取电源适配器，然后抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/4 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/4 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 3/4 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 4/4 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..c3f85a6fa9bde9014706c5a93449b2131ef878a2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近并抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 72, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.9 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.963455495030171 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..06d1a0b339c2974eefae1d7aa1f162ea6c7bd2a2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近并抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.1 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.left/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.left/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..06d1a0b339c2974eefae1d7aa1f162ea6c7bd2a2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.left/episode_000006.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近并抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.1 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..b2b2cd59753a28d1e37c8ad7bfcaf71f39728054 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,48 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近抓取电源适配器，然后抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/4 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/4 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 3/4 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 4/4 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.right/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.right/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..2a08e4c851acb3545f0af0698be2b7dd7549c41d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.right/episode_000009.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近并抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 1.026213017598837 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.942430148172154 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..e9522bdc6aa8fde9948d55ff1b1eb5940cb8a4d6 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近并抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 1.1092504449115925 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.354035807982417 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..3374b529b8cdf34e2c2b03d1cd52363fae7fbad4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251226-053852-put-black charger-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近并抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 1.032191975050094 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.174172848240176 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..cb766d3adbd7d88ce47d2fd07ff50f6a5c9ec351 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,258 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近电源适配器：10%\n爪夹抓取电源适配器：20%\n爪夹抓住电源适配器接近箱子：30%\n爪夹将电源适配器尾端放进箱子里：40%\n爪夹松开，电源适配器尾端掉进箱子里：50%\n爪夹再次靠近电源适配器：60%\n爪夹抓取电源适配器：70%\n爪夹抓住电源适配器接近箱子：80%\n爪夹将电源适配器插头放进箱子里：90%\n爪夹松开，电源适配器插头掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 4/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.20560831710511 + }, + { + "action_description": "关键帧 5/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.1760683638396245 + }, + { + "action_description": "关键帧 6/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.7010713399419024 + }, + { + "action_description": "关键帧 7/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 11, + "progress_explanation": "", + "state_description": "", + "time": 4.321529402608231 + }, + { + "action_description": "关键帧 8/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 9/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 5.626082252316922 + }, + { + "action_description": "关键帧 10/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 11/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 31, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 12/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 13/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.2 + }, + { + "action_description": "关键帧 14/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 15/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 283, + "progress": 52, + "progress_explanation": "", + "state_description": "", + "time": 9.433333333333334 + }, + { + "action_description": "关键帧 16/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 307, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 10.233333333333333 + }, + { + "action_description": "关键帧 17/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 336, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.2 + }, + { + "action_description": "关键帧 18/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 357, + "progress": 83, + "progress_explanation": "", + "state_description": "", + "time": 11.91020878445025 + }, + { + "action_description": "关键帧 19/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 371, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 12.366666666666667 + }, + { + "action_description": "关键帧 20/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 384, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.801122925714722 + }, + { + "action_description": "关键帧 21/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 402, + "progress": 82, + "progress_explanation": "", + "state_description": "", + "time": 13.4 + }, + { + "action_description": "关键帧 22/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 423, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 14.1 + }, + { + "action_description": "关键帧 23/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 432, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 14.4 + }, + { + "action_description": "关键帧 24/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 445, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.833333333333334 + }, + { + "action_description": "关键帧 25/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 462, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..1876c8bfb2135db927740911ae97439ac5dd13ef --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近电源适配器：20%\n爪夹抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7751404825852308 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 27, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..c72a6ea240530e61cca1e2a8015c907efe82732e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近并抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.966666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 176, + "progress": 68, + "progress_explanation": "", + "state_description": "", + "time": 5.875614181475608 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.666666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..acb52528cc7a2bc30426a4cc335b129393350968 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近并抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": -2, + "progress_explanation": "", + "state_description": "", + "time": 4.051897581964874 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.44171036492849 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.3 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.366666666666666 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..5964be8073cfec57eb7f9e27804486ef7b6465eb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近并抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8412541276501928 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 3.2338432223723665 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.44171036492849 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.3 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.366666666666666 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..d9617f553564d385557a17ba8400c440e5a3d4c7 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近电源适配器：20%\n爪夹抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.533333333333333 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..06da9af9edb7baf9bec11a95e2e5d75e8c939dfa --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,258 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近电源适配器：10%\n爪夹抓取电源适配器：20%\n爪夹抓住电源适配器接近箱子：30%\n爪夹将电源适配器尾端放进箱子里：40%\n爪夹松开，电源适配器尾端掉进箱子里：50%\n爪夹再次靠近电源适配器：60%\n爪夹再次抓取电源适配器：70%\n爪夹在此抓住电源适配器接近箱子：80%\n爪夹将电源适配器插头放进箱子里：90%\n爪夹松开，电源适配器插头掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.5533318922507648 + }, + { + "action_description": "关键帧 4/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.126062411635068 + }, + { + "action_description": "关键帧 5/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.239705088215658 + }, + { + "action_description": "关键帧 6/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 3.589707072283843 + }, + { + "action_description": "关键帧 7/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 8/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.164716000590679 + }, + { + "action_description": "关键帧 9/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + }, + { + "action_description": "关键帧 10/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 11/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 31, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 12/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 13/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.2 + }, + { + "action_description": "关键帧 14/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.680645022366539 + }, + { + "action_description": "关键帧 15/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 283, + "progress": 52, + "progress_explanation": "", + "state_description": "", + "time": 9.433333333333334 + }, + { + "action_description": "关键帧 16/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 307, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 10.239744769579366 + }, + { + "action_description": "关键帧 17/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 336, + "progress": 68, + "progress_explanation": "", + "state_description": "", + "time": 11.2 + }, + { + "action_description": "关键帧 18/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 356, + "progress": 66, + "progress_explanation": "", + "state_description": "", + "time": 11.866666666666667 + }, + { + "action_description": "关键帧 19/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 371, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 12.366666666666667 + }, + { + "action_description": "关键帧 20/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 385, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.833333333333334 + }, + { + "action_description": "关键帧 21/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 402, + "progress": 82, + "progress_explanation": "", + "state_description": "", + "time": 13.4 + }, + { + "action_description": "关键帧 22/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 423, + "progress": 87, + "progress_explanation": "", + "state_description": "", + "time": 14.1 + }, + { + "action_description": "关键帧 23/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 432, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 14.4 + }, + { + "action_description": "关键帧 24/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 445, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 14.833333333333334 + }, + { + "action_description": "关键帧 25/25 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 462, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000010.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..8d01568ae8a530a09081e50b9ff94952ceaf7fa6 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-211353-put-black charger-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000010.json @@ -0,0 +1,198 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近电源适配器：20%\n爪夹抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8619937563575091 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.5330801875244555 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": -6, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": -2, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": -1, + "progress_explanation": "", + "state_description": "", + "time": 4.239073861584724 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": -4, + "progress_explanation": "", + "state_description": "", + "time": 4.8127445204855 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": -6, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": -7, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.0857792066961265 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.966666666666667 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 64, + "progress_explanation": "", + "state_description": "", + "time": 8.366666666666667 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 72, + "progress_explanation": "", + "state_description": "", + "time": 9.133333333333333 + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 291, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.7 + }, + { + "action_description": "关键帧 18/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 299, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.966666666666667 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-213108-put-black charger-white-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-213108-put-black charger-white-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..2a3b2ab5f27fdb1c1423eb3fccfd31731d826cb2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-213108-put-black charger-white-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近电源适配器：20%\n爪夹抓取并抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 35, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 1.1666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.966666666666667 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.558179935618138 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.122929426655636 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 10.044929212355635 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-213108-put-black charger-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-213108-put-black charger-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..73a0a3295b00b7c4cca40a29808c5cb906734810 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-213108-put-black charger-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近电源适配器：20%\n爪夹抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 36, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.2 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 176, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 5.866666666666666 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 7.668029544457718 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 8.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-213108-put-black charger-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-213108-put-black charger-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..ea1b9f0815dc0970296cd7c05898216264f8cea7 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-213108-put-black charger-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取电源适配器放进箱子里：\n开始移动：0%\n爪夹靠近电源适配器：20%\n爪夹抓取电源适配器：40%\n爪夹抓住电源适配器接近箱子：60%\n爪夹将电源适配器放进箱子里：80%\n爪夹松开，电源适配器掉进箱子里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.006658592476836756 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 35, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 1.1666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.1166800963431394 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.9523321770822695 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 10.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-214459-put-plastic bottle-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-214459-put-plastic bottle-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..dc6e0dc9bc1827a04324c4ca1e663878a2bb2290 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-214459-put-plastic bottle-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取塑料瓶使其放进黄色纸箱里：\n开始移动：0%\n爪夹靠近塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓住塑料瓶接近黄色纸箱：60%\n爪夹将塑料瓶放入黄色纸箱中：80%\n爪夹松开，塑料瓶落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 1.598350515463917 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-214459-put-plastic bottle-yellow-box-good/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-214459-put-plastic bottle-yellow-box-good/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..705eb3f53da586fffca1024785463703eb93e603 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-214459-put-plastic bottle-yellow-box-good/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取塑料瓶使其放进黄色纸箱里：\n开始移动：0%\n爪夹靠近塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓住塑料瓶接近黄色纸箱：60%\n爪夹将塑料瓶放入黄色纸箱中：80%\n爪夹松开，塑料瓶落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-214459-put-plastic bottle-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-214459-put-plastic bottle-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..ea6ea2d57a042497e2615369ced45ceef75ea106 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-214459-put-plastic bottle-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取塑料瓶使其放进黄色纸箱里：\n开始移动：0%\n爪夹靠近塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓住塑料瓶接近黄色纸箱：60%\n爪夹将塑料瓶放入黄色纸箱中：80%\n爪夹松开，塑料瓶落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 48, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-214459-put-plastic bottle-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-214459-put-plastic bottle-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..dbb3bcbec3e498ac7884d7832c9a5859c611214f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-214459-put-plastic bottle-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取塑料瓶使其放进黄色纸箱里：\n开始移动：0%\n爪夹靠近塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓住塑料瓶接近黄色纸箱：60%\n爪夹将塑料瓶放入黄色纸箱中：80%\n爪夹松开，塑料瓶落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..20ab77f93a6c864cc06866637f3743e987ef4b04 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取塑料瓶使其放进黄色纸箱里：\n开始移动：0%\n爪夹靠近塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓住塑料瓶接近黄色纸箱：60%\n爪夹将塑料瓶放入黄色纸箱中：80%\n爪夹松开，塑料瓶落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 35, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1.1666666666666667 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 105, + "progress": 49, + "progress_explanation": "", + "state_description": "", + "time": 3.5 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 6.578350515463916 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 218, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 7.266666666666667 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..3c97c0dbb26ffa93a48e60044eaea9a3cd7ff54d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取塑料瓶使其放进黄色纸箱里：\n开始移动：0%\n爪夹靠近塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓住塑料瓶接近黄色纸箱：60%\n爪夹将塑料瓶放入黄色纸箱中：80%\n爪夹松开，塑料瓶落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 7.1 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 7.766666666666667 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..f25f33f029c07c16fda0462abb681cf23a4fde9b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取塑料瓶使其放进黄色纸箱里：\n开始移动：0%\n爪夹靠近塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓住塑料瓶接近黄色纸箱：60%\n爪夹将塑料瓶放入黄色纸箱中：80%\n爪夹松开，塑料瓶落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 11, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..4e6b6f71a388f802fe7b832a1580efc43a89b49f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取塑料瓶使其放进黄色纸箱里：\n开始移动：0%\n爪夹靠近塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓住塑料瓶接近黄色纸箱：60%\n爪夹将塑料瓶放入黄色纸箱中：80%\n爪夹松开，塑料瓶落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 29, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.2 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..3b48b462695f96082db79ed813f0076a9e3e006e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取塑料瓶使其放进黄色纸箱里：\n开始移动：0%\n爪夹靠近塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓住塑料瓶接近黄色纸箱：60%\n爪夹将塑料瓶放入黄色纸箱中：80%\n爪夹松开，塑料瓶落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.356082474226804 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..844f8fc1127b92f6afd6abe17c91de6cd284cb82 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取塑料瓶使其放进黄色纸箱里：\n开始移动：0%\n爪夹靠近塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓住塑料瓶接近黄色纸箱：60%\n爪夹将塑料瓶放入黄色纸箱中：80%\n爪夹松开，塑料瓶落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": -13, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 7.2193811474226806 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..f412261549a1fadc0e91510641f73253076ae295 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-215800-put-plastic bottle-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取塑料瓶使其放进黄色纸箱里：\n开始移动：0%\n爪夹靠近塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓住塑料瓶接近黄色纸箱：60%\n爪夹将塑料瓶放入黄色纸箱中：80%\n爪夹松开，塑料瓶落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 11, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.22938162371134 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-220742-put-plastic bottle-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-220742-put-plastic bottle-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d3edbd2a9a6525218f091bd81ac9eabfcc0b3461 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-220742-put-plastic bottle-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取塑料瓶使其放进黄色纸箱里：\n开始移动：0%\n爪夹靠近塑料瓶：20%\n爪夹抓取塑料瓶：40%\n爪夹抓住塑料瓶接近黄色纸箱：60%\n爪夹将塑料瓶放入黄色纸箱中：80%\n爪夹松开，塑料瓶落入黄色纸箱：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 5.731222730704812 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.644089029896907 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..1509db93ae47c76f7140098d872c764c5421d876 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 19, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.6333333333333333 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 97, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4649c060d7bccf769a26a057e7202c9282bf4ddc --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,58 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 4/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 2.966666666666667 + }, + { + "action_description": "关键帧 5/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..16d958b5e1800fc6b5fb8af31f8613055b3e747e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4649c060d7bccf769a26a057e7202c9282bf4ddc --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,58 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 4/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 2.966666666666667 + }, + { + "action_description": "关键帧 5/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..949243dfbedb4e2b21850410f11c11271898be1e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-221542-put-spoon-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..ac6542d8a227a4061fed795af269aa5d14784723 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 0.9995876288659794 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 3.454020618556701 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 7.1 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.433333333333334 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..3f05dbfb55bfafed24a01c86da29a36cbf8b2eb2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.933333333333334 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.9 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..b9bdf331628d71fea91cd947a5833f1efa6b32bc --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 59, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 7.1 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 8.433333333333334 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..2c4813113c7a3351564ed64b96648b035f768df1 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,238 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹松开，白色勺子部分放入黑色纸板盒中：70%\n爪夹再次抓取白色勺子：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 2.111340206185567 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.6 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 31, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 5.096907216494845 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.566666666666666 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 10.4 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 341, + "progress": 67, + "progress_explanation": "", + "state_description": "", + "time": 11.366666666666667 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 368, + "progress": 72, + "progress_explanation": "", + "state_description": "", + "time": 12.266666666666667 + }, + { + "action_description": "关键帧 19/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 403, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 13.433333333333334 + }, + { + "action_description": "关键帧 20/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 439, + "progress": 82, + "progress_explanation": "", + "state_description": "", + "time": 14.633333333333333 + }, + { + "action_description": "关键帧 21/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 454, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 15.133333333333333 + }, + { + "action_description": "关键帧 22/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 465, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.5 + }, + { + "action_description": "关键帧 23/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 479, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..54b69946bbf54440b862d6b6b11f837711758d7e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹松开，白色勺子部分放入黑色纸板盒中：70%\n爪夹再次抓取白色勺子：80%\n爪夹松开，白色勺子落入黑色纸板盒：90%\n爪夹再次抓取白色勺子：95%\n爪夹松开，白色勺子完全落入黑色纸板盒：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": -9, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 66, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 7.633333333333334 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 83, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 88, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 299, + "progress": 92, + "progress_explanation": "", + "state_description": "", + "time": 9.966666666666667 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 331, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 11.033333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 355, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.833333333333334 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 404, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..2c3c81cf8d07da33337190d455e61abd4155c408 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..a88e73e1bbadfa6fcd003392a09cd15861017624 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.3756701030927834 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 44, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 7.1 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 8.442061855670103 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..3e1358acd52cdeb1bad86ac7afd523d35c4b65f9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 5.17642596185567 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 6.933333333333334 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.9 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..e516a6d7db138fffaa815f1d8256082f8ffd24e3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,238 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹松开，白色勺子部分放入黑色纸板盒中：70%\n爪夹再次抓取白色勺子：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.688659793814433 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 5.1 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 44, + "progress_explanation": "", + "state_description": "", + "time": 8.566666666666666 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": 44, + "progress_explanation": "", + "state_description": "", + "time": 10.4 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 341, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 11.366666666666667 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 368, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 12.266666666666667 + }, + { + "action_description": "关键帧 19/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 404, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 13.45979381443299 + }, + { + "action_description": "关键帧 20/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 439, + "progress": 83, + "progress_explanation": "", + "state_description": "", + "time": 14.633333333333333 + }, + { + "action_description": "关键帧 21/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 454, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 15.133333333333333 + }, + { + "action_description": "关键帧 22/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 465, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.5 + }, + { + "action_description": "关键帧 23/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 479, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..fa118006e73088b658d963ba1bf974bc6ed15040 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,198 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": -12, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 21, + "progress_explanation": "", + "state_description": "", + "time": 7.8049484536082465 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 250, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 8.317113402061857 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 291, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.7 + }, + { + "action_description": "关键帧 18/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 308, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.266666666666667 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 323, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..5f002256754e9e8e005b9d14909539a9c268daec --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 5.485085674226805 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..f21f2a05713fc1aca73bc5f6e86d37e6665d1865 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000009.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 7, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 44, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..12102769d3841a7f7114a2bb59c50e5467a2bd70 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹松开，白色勺子部分放入黑色纸板盒中：70%\n爪夹再次抓取白色勺子：80%\n爪夹松开，白色勺子落入黑色纸板盒：90%\n爪夹再次抓取白色勺子：95%\n爪夹松开，白色勺子完全落入黑色纸板盒：100%\n", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.678350515463918 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.633333333333334 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 83, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 86, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 299, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 9.966666666666667 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 331, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 11.033333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 355, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.833333333333334 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 404, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..c2ee2d156b5175f72059bcb9a191341e4335bbbc --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 105, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.5 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 41, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 8.1 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 9.566666666666666 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 317, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 10.566666666666666 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 334, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.133333333333333 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 386, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..0f20ef3c51d600d97301234cc71c4128c1ca8cac --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-222437-put-spoon-black-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,238 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹松开，白色勺子部分放入黑色纸板盒中：70%\n爪夹再次抓取白色勺子：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 5/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.6 + }, + { + "action_description": "关键帧 6/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 7/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 8/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 9/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 5.1 + }, + { + "action_description": "关键帧 10/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": -3, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 11/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 12/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + }, + { + "action_description": "关键帧 13/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 14/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 47, + "progress_explanation": "", + "state_description": "", + "time": 8.566666666666666 + }, + { + "action_description": "关键帧 15/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + }, + { + "action_description": "关键帧 16/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 10.4 + }, + { + "action_description": "关键帧 17/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 341, + "progress": 62, + "progress_explanation": "", + "state_description": "", + "time": 11.366666666666667 + }, + { + "action_description": "关键帧 18/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 368, + "progress": 72, + "progress_explanation": "", + "state_description": "", + "time": 12.266666666666667 + }, + { + "action_description": "关键帧 19/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 403, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 13.433333333333334 + }, + { + "action_description": "关键帧 20/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 439, + "progress": 83, + "progress_explanation": "", + "state_description": "", + "time": 14.633333333333333 + }, + { + "action_description": "关键帧 21/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 454, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 15.133333333333333 + }, + { + "action_description": "关键帧 22/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 465, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.5 + }, + { + "action_description": "关键帧 23/23 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 479, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-224631-put-spoon-black-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-224631-put-spoon-black-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..875368136dedefbf45524571cce803d030d43c9b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-224631-put-spoon-black-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.5333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-224631-put-spoon-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-224631-put-spoon-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..dcfcbefbb61cb3464297069f99b36f8946803762 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251228-224631-put-spoon-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取白色勺子使其放进黑色纸板盒里：\n开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓住白色勺子接近黑色纸板盒：60%\n爪夹将白色勺子放入黑色纸板盒中：80%\n爪夹松开，白色勺子落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..e434337d7a2c5ca034d3ea2567489917a786286c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..5a272aea6944df82963498a89904c0ba69d24321 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.433848601030928 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..59a59c350e7664a1322fee26efedc8327c8261cb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.110790497938144 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..2adc690b9e6f6b44682df7b3124ec12bb4112d83 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..1e71125071f9ad888611d2386a7f47a8b6afd044 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.3273194546391753 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.4458760917525773 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.right/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.right/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..973021db7155097e1eb787e6dfaae75e47327dbe --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.right/episode_000005.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.966666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..de078b3e59ecb19fe4623a5eaff860777fd7fe95 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 4, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 44, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..8129a9a17c3bc9de718db6364da0611ba2756129 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..c680cd366a275022512ea5815fcda96e18b5c3ad --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-000559-put-clear tape-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 44, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 49, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..12a864e76e225957082b96e425d80f66d3dec348 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 4.981546391752577 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 31, + "progress_explanation": "", + "state_description": "", + "time": 7.333333333333333 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.7 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 292, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 9.733333333333333 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 307, + "progress": 62, + "progress_explanation": "", + "state_description": "", + "time": 10.233333333333333 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 326, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.866666666666667 + }, + { + "action_description": "关键帧 17/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 350, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.666666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000010.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..8e971cf7213869ed56cff2944ac02de4f6695a32 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000010.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 19, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.6333333333333333 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 4.794467184536082 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 5.3 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.2 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..bee2decd1b27fd245d45cdbf1b7568b04a12a504 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 35, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.1666666666666667 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.766666666666667 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 9.866666666666667 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 307, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.233333333333333 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 340, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 11.333333333333334 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 356, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 11.866666666666667 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 366, + "progress": 31, + "progress_explanation": "", + "state_description": "", + "time": 12.2 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 427, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 14.233333333333333 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 447, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 14.9 + }, + { + "action_description": "关键帧 17/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 483, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..a7dfb6d3c7e22b4689884fc26c0ead9cd57e3833 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 11, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 7.044123711340205 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 21, + "progress_explanation": "", + "state_description": "", + "time": 7.333333333333333 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 8.7 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 292, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 9.733333333333333 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 307, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 10.233333333333333 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 326, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.866666666666667 + }, + { + "action_description": "关键帧 17/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 350, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.666666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..9baf5c51e20bcf38b659d12b735ec79426313f80 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.816151108247422 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 6.266666666666667 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 7 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.766666666666667 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..4a6ba8e416d2474b3a8d504d6bb96ca9790766c2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-001433-put-clear tape-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,198 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.094157939175258 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 8.059106374226804 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 277, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 9.23848779484536 + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 10.006872659793814 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 320, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 10.668041031958763 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 362, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 12.066666666666666 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 381, + "progress": 57, + "progress_explanation": "", + "state_description": "", + "time": 12.7 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 397, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 13.233333333333333 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 467, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 15.582130284536083 + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 488, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 16.266666666666666 + }, + { + "action_description": "关键帧 18/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 497, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.566666666666666 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 519, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 17.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-003053-put-clear tape-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-003053-put-clear tape-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..772042aa34fa3a8ba2c9c3ccfb2df62f2ff8b0b1 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-003053-put-clear tape-white-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取透明胶带使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近透明胶带：20%\n爪夹抓取透明胶带：40%\n爪夹抓住透明胶带接近白色塑料篮：60%\n爪夹将透明胶带放入白色塑料篮中：80%\n爪夹松开，透明胶带落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 1.4333333333333333 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 48, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 6.266666666666667 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 295, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 9.833333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..ca241fc1d9e46930da463ee3efe9e37faf3cae45 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..a4da2d78851fe1b77b34885f6ac0cef01d46c675 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 18, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.6 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.4333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.8 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 3.8239175257731963 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.3682474226804135 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..630a2293afa6da8e76438a88142c9ec5290ae49b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..92299be2aa7169bf5c5816342ad8768aba4f2f91 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9139175257731958 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 49, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 76, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..33d6a67bc51b21ea2ca33326e5f4f7cc801790a5 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.6455670103092783 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..7fe60885a0ef69bb4552de9215e0fee8ad652427 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..ce4121bceb588778eb1a1d21ca5a4971d3faf0d3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,58 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 29, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 3/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 4/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 5/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.209484864948453 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..deb45072248bddaef90d7bb14da51e86bd08fc2c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..aaae74506ae15305bf8b64d5132cbdbe2e3145ba --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.left/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.left/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..d56c243751fabd1c3df0b751869e75b60a075e26 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.left/episode_000009.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.0764604195876288 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 123, + "progress": 63, + "progress_explanation": "", + "state_description": "", + "time": 4.089346845360824 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..ab3e2a6b97c38648784e1b331fa63a243267abe9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.2345703597938145 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 1.5224741195876288 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.3959448484536083 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..4a9638b95286bcddd113dd1d61b28c053972aaee --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 4, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 1.9095531381443298 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.6945702020618554 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..80b6cd73800a0c5df038ad4edc55fcad838597b9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-004751-put-hard drive-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 18, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.6 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.4333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.8 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..6a70261749490894956aed7c4eab264ce1fe3530 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 4, + "progress_explanation": "", + "state_description": "", + "time": 1.0712714402061856 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 1.9951202051546393 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 7, + "progress_explanation": "", + "state_description": "", + "time": 2.516013657731959 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 3.9607558752577323 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 6.88955302371134 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 259, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.633333333333333 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 285, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..11c9c484cea1f54e7be985a3a50ef9b4e43932ca --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.5333333333333333 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 47, + "progress_explanation": "", + "state_description": "", + "time": 7.366666666666666 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 53, + "progress_explanation": "", + "state_description": "", + "time": 7.966666666666667 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.633333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..3b14f3a445c62e10d3de62f997c6b262f7c823fe --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,188 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 36, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1.2 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 7, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.8 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 11, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 18/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 315, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..3ce96d51e0806f09391a144890e884445c3e77d9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 218, + "progress": 48, + "progress_explanation": "", + "state_description": "", + "time": 7.266666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.left/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.left/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..5e366e40eb5a18b790d81938310fa66659de8ef7 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.left/episode_000006.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 2.4631270690721645 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 11, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 41, + "progress_explanation": "", + "state_description": "", + "time": 7.766666666666667 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 8.533333333333333 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 278, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 9.266666666666667 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 292, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.733333333333333 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..08f757a55723350244c62764620a7750fab12deb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.1954640082474226 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.794226919587629 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 6.5 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..7a434d8179910e97861cb96c05e8583e2c6b6983 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-005644-put-hard drive-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 11, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 218, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 7.266666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-011243-put-hard drive-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-011243-put-hard drive-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..e19dab967fc7868bab788fd7b199775bc1b4e930 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-011243-put-hard drive-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.7489690721649485 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 6.466666666666667 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.7 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 29, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-011243-put-hard drive-black-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-011243-put-hard drive-black-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..8edfb4f417a3c575432644d31631917c29fa6b41 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-011243-put-hard drive-black-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 26, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 6.466666666666667 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 7.7 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-011243-put-hard drive-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-011243-put-hard drive-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..94e4a236c3b9a039cefa4364e162ddaba295a4c3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-011243-put-hard drive-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取硬盘使其掉入黑色纸板盒中：\n开始移动：0%\n爪夹靠近硬盘：20%\n爪夹抓取硬盘：40%\n爪夹抓住硬盘接近黑色纸板盒：60%\n爪夹将硬盘放入黑色纸板盒中：80%\n爪夹松开，硬盘落入黑色纸板盒：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 41, + "progress_explanation": "", + "state_description": "", + "time": 8.366666666666667 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 287, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.566666666666666 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.1 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 10.633333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..60894ce0c2c9735fd05eeba9a9cf19c18a5db459 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..fe132d0f3e23cee403221191911cd9bbc809a32f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..ad7c65eee0c958ceea2a896c4ac1e621ba88c80c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..c304a32ebd900109976ce27159e6e3846306fe6f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 31, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 44, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..175fd3745abce439693099338af89342c9cabf34 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 44, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..1bd7be820c258f4a2fee05c2463fc5bed4602a23 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.3756011969072164 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.629209378350514 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.300686953608246 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..139d3c23dacb2cb2b5afa165d73e4458684b1851 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1.3778694773195876 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.3960139865979375 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..8cc40a94a12f2604d5662e18b58014ca0c33d107 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 26, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 44, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..bab9fa9a007ef3d5bfa8b262c4d9d9826f4838bd --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.300686953608246 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..55f2d31587f29e60c8aef73700dce5c1f40a7a6b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 47, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..41c47c8ebc815a989622196e1188c890344aa392 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.9770105474226796 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.4533336 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..cd7f24880d98e4fe7e49c59c3e5781c80d6aa9b8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000006.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.397079118556701 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..a28747f194b6ea9bec287d19d2a5ea2e2e30f5c0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..459d64e3a06c3902e31fd345b8010f77548c493c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.right/episode_000009.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.020927836082474227 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.799450408247423 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f99e380d933503b286432c39407785f136406f8b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..2a98643d9b369cb0ed8740e69cd4d91a9a045c43 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 20, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.6666666666666666 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.890515132989692 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..1ce20316a6a42dd5b1d80116b12f6e368ddda6a3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-014129-put-fan-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.515773106185567 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..5709b7c42bb98b1ac8c21c02984aad4e2ea51262 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,118 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 6.5 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 292, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..0627708278d16b1f2d553b3ab769b9881d5ed1f2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 38, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 1.2666666666666666 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.766666666666667 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 295, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 9.833333333333334 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 10.466666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 340, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.333333333333334 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 378, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..5554cc8638b9b95a6fd131ab944d18d8e7e57e10 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.058934706185566996 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 1.756254244329897 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 2.9231614268041235 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 3.925051431958763 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 5.787388147422679 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 9 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 49, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 318, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.596460172164948 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 341, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.374398293814432 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..de540795c69fda4e1333ae75115d873ebd6e5f54 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 2.4577318762886597 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 49, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 283, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.433333333333334 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..7b9401f271da60fcdd49875a942db5411285d87c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025133-put-fan-white-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.4715462752577313 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 283, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.433333333333334 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..ab142167d510ec224e58ff6b98c6bbfbf576a1a6 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,198 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 41, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 6.729896907216495 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.166666666666666 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 9.4 + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 10.466666666666667 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 327, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 10.9 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 343, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 11.433333333333334 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 399, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 13.3 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 427, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.233333333333333 + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 446, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 14.866666666666667 + }, + { + "action_description": "关键帧 18/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 457, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.233333333333333 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 479, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..f7ab9e05f656e50f3c7012d23cacfd9309fb0394 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 6, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.18584192989690723 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.4333333333333333 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 7.2 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 39, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 44, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 49, + "progress_explanation": "", + "state_description": "", + "time": 9.533333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 315, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.5 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 337, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..258e10e30f33f8cf025fb7e471dc3f31a2c300cc --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,138 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 105, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 3.5 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.445739044329897 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.011443586597939 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..cab361f51850fe15a0a869c96983f267d1354041 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,158 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 7.8 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.4 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 327, + "progress": 49, + "progress_explanation": "", + "state_description": "", + "time": 10.9 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 354, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.8 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 385, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.833333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..5ce90fb84737ac33c740db962d29ff4cce6ebab9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-025958-put-fan-white-box-mix2/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,198 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色塑料篮中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色塑料篮：60%\n爪夹将黑色的扇子放入白色塑料篮中：80%\n爪夹松开，黑色的扇子落入白色塑料篮：100%", + "progress_points": [ + { + "action_description": "关键帧 1/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.166666666666666 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 9.4 + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 29, + "progress_explanation": "", + "state_description": "", + "time": 10.466666666666667 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 327, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 10.903092783505155 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 343, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 11.433333333333334 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 399, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 13.3 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 427, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 14.233333333333333 + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 446, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 14.866666666666667 + }, + { + "action_description": "关键帧 18/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 457, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.233333333333333 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 479, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-035223-put-fan-white-box-mix3/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-035223-put-fan-white-box-mix3/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..f3c896e1fcae976569e08db72de7ec385cfc466d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-035223-put-fan-white-box-mix3/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色的塑料桶中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色的塑料桶：60%\n爪夹将黑色的扇子放入白色的塑料桶中：80%\n爪夹松开，黑色的扇子落入白色的塑料桶：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 49, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.2 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.133333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-035223-put-fan-white-box-mix3/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-035223-put-fan-white-box-mix3/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..7da644e485d2c886f3971fd43786fc06e7b86a1c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-035223-put-fan-white-box-mix3/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色的塑料桶中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色的塑料桶：60%\n爪夹将黑色的扇子放入白色的塑料桶中：80%\n爪夹松开，黑色的扇子落入白色的塑料桶：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.2 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.133333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-035902-put-fan-white-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-035902-put-fan-white-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..baaf9545c435949f7175eb7adb83aa41bbfbd7af --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-035902-put-fan-white-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色的塑料桶中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色的塑料桶：60%\n爪夹将黑色的扇子放入白色的塑料桶中：80%\n爪夹松开，黑色的扇子落入白色的塑料桶：100%", + "progress_points": [ + { + "action_description": "关键帧 1/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 21, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 6.266666666666667 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 7 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 283, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 9.433333333333334 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 46, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 7, + "progress_explanation": "", + "state_description": "", + "time": 10 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 340, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 11.333333333333334 + }, + { + "action_description": "关键帧 17/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 392, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 13.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-035902-put-fan-white-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-035902-put-fan-white-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..69e2852ed511a63b14eb99988ce24ee22622a34a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-035902-put-fan-white-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取黑色的扇子使其掉入白色的塑料桶中：\n开始移动：0%\n爪夹靠近黑色的扇子：20%\n爪夹抓取黑色的扇子：40%\n爪夹抓住黑色的扇子接近白色的塑料桶：60%\n爪夹将黑色的扇子放入白色的塑料桶中：80%\n爪夹松开，黑色的扇子落入白色的塑料桶：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..91be4e59ec6e37a081dc4f77816005ed1acb41d0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取扳手使其掉入黑色盒子中：\n开始移动：0%\n爪夹靠近扳手：20%\n爪夹抓取扳手：40%\n爪夹抓住扳手接近黑色盒子：60%\n爪夹将扳手放入黑色盒子中：80%\n爪夹松开，扳手落入黑色盒子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..14e54f9f87a5fabe370ab8f367917fe4819c5eec --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取扳手使其掉入黑色盒子中：\n开始移动：0%\n爪夹靠近扳手：20%\n爪夹抓取扳手：40%\n爪夹抓住扳手接近黑色盒子：60%\n爪夹将扳手放入黑色盒子中：80%\n爪夹松开，扳手落入黑色盒子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.6 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..08ea5653ae9e09d008959f3ff00cf964b687c79f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取扳手使其掉入黑色盒子中：\n开始移动：0%\n爪夹靠近扳手：20%\n爪夹抓取扳手：40%\n爪夹抓住扳手接近黑色盒子：60%\n爪夹将扳手放入黑色盒子中：80%\n爪夹松开，扳手落入黑色盒子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 49, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..d99191e112784f4a2e2ad5dd7b53d5d76c2cbb66 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取扳手使其掉入黑色盒子中：\n开始移动：0%\n爪夹靠近扳手：20%\n爪夹抓取扳手：40%\n爪夹抓住扳手接近黑色盒子：60%\n爪夹将扳手放入黑色盒子中：80%\n爪夹松开，扳手落入黑色盒子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 18, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.6 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 78, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..65549b13f7676ad081ab9eda5650e8f5a59374d2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-041218-put-wrench-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取扳手使其掉入黑色盒子中：\n开始移动：0%\n爪夹靠近扳手：20%\n爪夹抓取扳手：40%\n爪夹抓住扳手接近黑色盒子：60%\n爪夹将扳手放入黑色盒子中：80%\n爪夹松开，扳手落入黑色盒子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-042145put-wrench-black-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-042145put-wrench-black-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..14ddc924e92fc1dd8a9344ed0a4b8434d8cbd7f1 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-042145put-wrench-black-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,168 @@ +{ + "task_description": "抓取扳手使其掉入黑色盒子中：\n开始移动：0%\n爪夹靠近扳手：20%\n爪夹抓取扳手：40%\n爪夹抓住扳手接近黑色盒子：60%\n爪夹将扳手放入黑色盒子中：80%\n爪夹松开，扳手落入黑色盒子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.933333333333334 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 235, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 7.833333333333333 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 8.7 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 9.166666666666666 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 10.2 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 341, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 11.366666666666667 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 361, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 12.033333333333333 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 395, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.166666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-042145put-wrench-black-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-042145put-wrench-black-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..a983567a7287a2b4e44abf9397bf375a614a24be --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-042145put-wrench-black-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取扳手使其掉入黑色盒子中：\n开始移动：0%\n爪夹靠近扳手：20%\n爪夹抓取扳手：40%\n爪夹抓住扳手接近黑色盒子：60%\n爪夹将扳手放入黑色盒子中：80%\n爪夹松开，扳手落入黑色盒子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.6 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.1 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.133333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-042145put-wrench-black-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-042145put-wrench-black-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..4e75a82026e492c993f1fb9c3bf83dd638cb8704 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-042145put-wrench-black-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取扳手使其掉入黑色盒子中：\n开始移动：0%\n爪夹靠近扳手：20%\n爪夹抓取扳手：40%\n爪夹抓住扳手接近黑色盒子：60%\n爪夹将扳手放入黑色盒子中：80%\n爪夹松开，扳手落入黑色盒子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 2.8 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 7.8 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 248, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.266666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 9.133333333333333 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 304, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 10.133333333333333 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 331, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.033333333333333 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 368, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.266666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-042145put-wrench-black-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-042145put-wrench-black-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..7f50749331e7270073a6e2b2bb79fd44b3093ff0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-042145put-wrench-black-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取扳手使其掉入黑色盒子中：\n开始移动：0%\n爪夹靠近扳手：20%\n爪夹抓取扳手：40%\n爪夹抓住扳手接近黑色盒子：60%\n爪夹将扳手放入黑色盒子中：80%\n爪夹松开，扳手落入黑色盒子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 11, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 11, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 6.882955075257732 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.6 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-043824put-wrench-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-043824put-wrench-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..1f84c5237d5e3e09cae6f3c8fe66f4caa3003d15 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-043824put-wrench-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "抓取扳手使其掉入黑色盒子中：\n开始移动：0%\n爪夹靠近扳手：20%\n爪夹抓取扳手：40%\n爪夹抓住扳手接近黑色盒子：60%\n爪夹将扳手放入黑色盒子中：80%\n爪夹松开，扳手落入黑色盒子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.465979381443299 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 11, + "progress_explanation": "", + "state_description": "", + "time": 6.9 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 7.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-043824put-wrench-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-043824put-wrench-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..4e048e68fbe841502836f375399830fb0d98dd94 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251229-songjiaqi/20251229-043824put-wrench-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,148 @@ +{ + "task_description": "抓取扳手使其掉入黑色盒子中：\n开始移动：0%\n爪夹靠近扳手：20%\n爪夹抓取扳手：40%\n爪夹抓住扳手接近黑色盒子：60%\n爪夹将扳手放入黑色盒子中：80%\n爪夹松开，扳手落入黑色盒子：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.9 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 8.602233879381442 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 294, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 9.8 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 329, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 10.966666666666667 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 364, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 12.133333333333333 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 424, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 14.137457377319588 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-050515-put-white thermal grease-black-box-good1/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-050515-put-white thermal grease-black-box-good1/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..0360c8bd7095642f728b64fc627c2da9a3e59557 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-050515-put-white thermal grease-black-box-good1/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.0095662836006956 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-050515-put-white thermal grease-black-box-good1/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-050515-put-white thermal grease-black-box-good1/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..9970d9fd0563cf7ee154a5f19de4cd2004ccd8c5 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-050515-put-white thermal grease-black-box-good1/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0052470055412848 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-050515-put-white thermal grease-black-box-good1/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-050515-put-white thermal grease-black-box-good1/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..6df3215d049fe55805cc0f06ddbd33cbe4777139 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-050515-put-white thermal grease-black-box-good1/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9883327378108694 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 1.5545606255395643 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.2987425331455595 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-050515-put-white thermal grease-black-box-good1/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-050515-put-white thermal grease-black-box-good1/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..53316ea0f2e0fbcac0244a4baf8f50e6d69ae473 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-050515-put-white thermal grease-black-box-good1/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.158970779131508 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..2f2a5314e9fbbc57e5741f2e12887945a27c9e52 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.2508515354632843 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..38ec822bbbd25608b38c8680e67dc7fdfc71eba5 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.0241811568638886 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.63336851376783 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..314e86f39aa4fbb4a20d66073bf9e8c27b51d68f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..dfe9979480958b596f7774fd142d701aee4be4b3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 123, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.10057749634806 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..40ccfc2686b76dfef48c90d42ba6a627bd477b1c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.4451173607098746 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..314e86f39aa4fbb4a20d66073bf9e8c27b51d68f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..314e86f39aa4fbb4a20d66073bf9e8c27b51d68f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-051351-put-white thermal grease-black-box-good2/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..91aaccdcde4645e2af989ba4a0966271ae4e9e17 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.10712415954415 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..066f36011d0a5f59e9885737e2a449ab5ec6c364 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 1.5086969121609715 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 67, + "progress_explanation": "", + "state_description": "", + "time": 8.366666666666667 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.066666666666666 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 290, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.666666666666666 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..86f42106e120c80a0ec29364dc92fe3499410e93 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,188 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.5333333333333333 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.0022627996275486 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 1.4333333333333333 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": -20, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": -25, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.970470868695822 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.27214351028058 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 176, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.866666666666666 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 6.672427715621759 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.516463957866833 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 18/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..be99fdd5bdea34f398ecf4b67f2beb58e915ee09 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近白色的导热油脂：20%\n爪夹抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.4258621343789364 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": -7, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": -12, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": -3, + "progress_explanation": "", + "state_description": "", + "time": 7.366666666666666 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.2 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 294, + "progress": 68, + "progress_explanation": "", + "state_description": "", + "time": 9.8 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 317, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.566666666666666 + }, + { + "action_description": "关键帧 17/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 353, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..ae5e5462355306e183517d832f5db1b3e0ae3151 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.5703031758618415 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 68, + "progress_explanation": "", + "state_description": "", + "time": 7.366666666666666 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.8 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 250, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.333333333333334 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..811094fc2debef55ab0cbfd242ce7d35e3fd6dc8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近白色的导热油脂：20%\n爪夹抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6863978579563468 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.569286204195183 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": -18, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": -2, + "progress_explanation": "", + "state_description": "", + "time": 7.366666666666666 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.2 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 294, + "progress": 68, + "progress_explanation": "", + "state_description": "", + "time": 9.8 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 317, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.566666666666666 + }, + { + "action_description": "关键帧 17/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 353, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..5c82129d2a8d965020e07168dae5d1fde0414662 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,128 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近白色的导热油脂：20%\n爪夹抓取并抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 4.661636211087893 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 67, + "progress_explanation": "", + "state_description": "", + "time": 8.366666666666667 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.066666666666666 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 290, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.666666666666666 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..b29a46c2811fce9752215c6e73911227de78da9d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,188 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近白色的导热油脂：20%\n爪夹抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 16, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.5333333333333333 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 0.9628181741249802 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 1.4333333333333333 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": -20, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 176, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 5.866666666666666 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 257, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.566666666666666 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 18/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b157d195cdc1b076573515f538a042b4e580f7ea --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近白色的导热油脂：20%\n爪夹抓取并抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里，然后爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.2 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..da41a8ee3f1dd1b71fc83e3f31310f81b67d1993 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,188 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近白色的导热油脂：20%\n爪夹抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.225241569141605 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 4.749766448610438 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": -3, + "progress_explanation": "", + "state_description": "", + "time": 5.1 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.145094304395472 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.057210254915702 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 10.2 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 329, + "progress": 72, + "progress_explanation": "", + "state_description": "", + "time": 10.95122358543281 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 343, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.442172275431247 + }, + { + "action_description": "关键帧 18/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 375, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..179e6fc323c9b3c353f407cd4fc086f772d5e6e6 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-210432-put-white thermal grease-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,178 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近白色的导热油脂：20%\n爪夹抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.05641035417573872 + }, + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.722890115503674 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.4258621343789364 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 4.435481259854986 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 5.554577157973014 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": -16, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": -3, + "progress_explanation": "", + "state_description": "", + "time": 7.366666666666666 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.83888033723245 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.2 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 294, + "progress": 68, + "progress_explanation": "", + "state_description": "", + "time": 9.8 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 317, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.566666666666666 + }, + { + "action_description": "关键帧 17/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 353, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-211915-put-white thermal grease-black-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-211915-put-white thermal grease-black-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..d93c722ac0f6d51abcd07e3f3a1011b9ab20f330 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-211915-put-white thermal grease-black-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取白色模块放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取白色模块：40%\n爪夹抓住白色模块接近纸箱：60%\n爪夹将白色模块放进纸箱里：80%\n爪夹松开，白色模块掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 35, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.1540457923742544 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.6 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 73, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.2778356120168315 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-211915-put-white thermal grease-black-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-211915-put-white thermal grease-black-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..41380bf6ebe0c2af124b699210d37db34f27da8e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-211915-put-white thermal grease-black-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,58 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近白色的导热油脂：20%\n爪夹抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.612762583848965 + }, + { + "action_description": "关键帧 3/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 3.5425512879486702 + }, + { + "action_description": "关键帧 4/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 5/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 21, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-211915-put-white thermal grease-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-211915-put-white thermal grease-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..4f2bb27a919d7d4e34816ba8d0fc5c771b385403 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-211915-put-white thermal grease-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取白色的导热油脂放进纸箱里：\n开始移动：0%\n爪夹靠近白色的导热油脂：20%\n爪夹抓取白色的导热油脂：40%\n爪夹抓住白色的导热油脂接近纸箱：60%\n爪夹将白色的导热油脂放进纸箱里：80%\n爪夹松开，白色的导热油脂掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 3.0550549707187304 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 176, + "progress": 21, + "progress_explanation": "", + "state_description": "", + "time": 5.866666666666666 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 6.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..6ca4e15c52615d4669e921ca174fc15bb334fdb8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,78 @@ +{ + "task_description": "抓取笔放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取笔：40%\n爪夹抓住笔接近纸箱：60%\n爪夹将笔放进纸箱里：80%\n爪夹松开，笔掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..057bd09aa7475935d93a6e31ea7476a8597fe24e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取笔放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取笔：40%\n爪夹抓住笔接近纸箱：60%\n爪夹将笔放进纸箱里：80%\n爪夹松开，笔掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.2225893626286344 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 68, + "progress_explanation": "", + "state_description": "", + "time": 2.8 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 73, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b915687c17d5d2c0b14f8ee4b87b4b5332a5b0c8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取笔放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取笔：40%\n爪夹抓住笔接近纸箱：60%\n爪夹将笔放进纸箱里：80%\n爪夹松开，笔掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 72, + "progress_explanation": "", + "state_description": "", + "time": 3.644701108565224 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.566666666666666 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..24f84ca140132747bb1823c61728925607d83d3a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取笔放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取笔：40%\n爪夹抓住笔接近纸箱：60%\n爪夹将笔放进纸箱里：80%\n爪夹松开，笔掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8074925227482975 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 72, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..6ee495f5426ef6340550ba9637f01722a0678065 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取笔放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取笔：40%\n爪夹抓住笔接近纸箱：60%\n爪夹将笔放进纸箱里：80%\n爪夹松开，笔掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..18ac7d4fa41b55bb42b35173d7aeb1a57522eb18 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取笔放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取笔：40%\n爪夹抓住笔接近纸箱：60%\n爪夹将笔放进纸箱里：80%\n爪夹松开，笔掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.6 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..ec408c2737ed1f220b3a7677a8e63fefda2c2b46 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取笔放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取笔：40%\n爪夹抓住笔接近纸箱：60%\n爪夹将笔放进纸箱里：80%\n爪夹松开，笔掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 72, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..01205f3c0c91896a77660fcef88d9352ca583623 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,68 @@ +{ + "task_description": "抓取笔放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取笔：40%\n爪夹抓住笔接近纸箱：60%\n爪夹将笔放进纸箱里：80%\n爪夹松开，笔掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.792170900412977 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..40ef57e3254826df93b37defb8b59af487508d04 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,98 @@ +{ + "task_description": "抓取笔放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取笔：40%\n爪夹抓住笔接近纸箱：60%\n爪夹将笔放进纸箱里：80%\n爪夹松开，笔掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.6057712480244417 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 68, + "progress_explanation": "", + "state_description": "", + "time": 2.8 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 73, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..36de41c59c4b43b9c6e332f61b48033c48bc4119 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-212523-put-blue pen-yellow-box-good/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,88 @@ +{ + "task_description": "抓取笔放进纸箱里：\n开始移动：0%\n爪夹靠近并抓取笔：40%\n爪夹抓住笔接近纸箱：60%\n爪夹将笔放进纸箱里：80%\n爪夹松开，笔掉进纸箱里：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 68, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-213219-put-blue pen-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-213219-put-blue pen-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..e6441efe11731b5c0f77a608f84e924ca720a8c4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-213219-put-blue pen-yellow-box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "将笔放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近黄色的硬纸箱:60%\n爪夹将笔放入黄色的硬纸箱:80%\n爪夹松开,笔落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.0501403850423063 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.4913720084069535 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.566666666666666 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 190, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.333333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-213219-put-blue pen-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-213219-put-blue pen-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..cd3deae3d1871045da5685203776144357d73e13 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-213219-put-blue pen-yellow-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,278 @@ +{ + "task_description": "将笔放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近黄色的硬纸箱:60%\n爪夹将笔放入黄色的硬纸箱:80%\n爪夹松开,笔落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 3/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 4/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 5/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 6/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": -13, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 7/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.494229889652951 + }, + { + "action_description": "关键帧 8/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 9/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.182868751438161 + }, + { + "action_description": "关键帧 10/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 8.166666666666666 + }, + { + "action_description": "关键帧 11/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 12/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.1 + }, + { + "action_description": "关键帧 13/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 315, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.5 + }, + { + "action_description": "关键帧 14/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 11.6 + }, + { + "action_description": "关键帧 15/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 367, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 12.227136120617061 + }, + { + "action_description": "关键帧 16/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 400, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.333333333333334 + }, + { + "action_description": "关键帧 17/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 427, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 14.233333333333333 + }, + { + "action_description": "关键帧 18/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 444, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 14.8 + }, + { + "action_description": "关键帧 19/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 474, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 15.8 + }, + { + "action_description": "关键帧 20/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 479, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 15.966666666666667 + }, + { + "action_description": "关键帧 21/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 500, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 16.666666666666668 + }, + { + "action_description": "关键帧 22/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 506, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 16.9 + }, + { + "action_description": "关键帧 23/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 525, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 17.5 + }, + { + "action_description": "关键帧 24/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 562, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 18.721900973637105 + }, + { + "action_description": "关键帧 25/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 577, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 19.241482161878707 + }, + { + "action_description": "关键帧 26/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 592, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 19.733333333333334 + }, + { + "action_description": "关键帧 27/27 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 629, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 20.966666666666665 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-213219-put-blue pen-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-213219-put-blue pen-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..cfe29edaddb510bdbec0a0e96854917ea081b1e2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-213219-put-blue pen-yellow-box-mix/annotations/chunk-000/observation.images.right/episode_000009.json @@ -0,0 +1,158 @@ +{ + "task_description": "将笔放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近黄色的硬纸箱:60%\n爪夹将笔放入黄色的硬纸箱:80%\n爪夹松开,笔落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 31, + "progress_explanation": "", + "state_description": "", + "time": 7.2 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 8.023108125927747 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.533333333333333 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 9.533333333333333 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 307, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.233333333333333 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 322, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.733333333333333 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 345, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-214654-put-blue pen-yellow-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-214654-put-blue pen-yellow-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..5acc2d735089a1c3da5d9f8778519e5b20c9798d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-214654-put-blue pen-yellow-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,128 @@ +{ + "task_description": "将笔放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近笔:20%\n爪夹抓取笔:40%\n爪夹抓住笔接近黄色的硬纸箱:60%\n爪夹将笔放入黄色的硬纸箱:80%\n爪夹松开,笔落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.957629101755482 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 281, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 9.366666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-214654-put-blue pen-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-214654-put-blue pen-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..763fe83ab372bd96e91424dd008ce2d11d0ca4ee --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-214654-put-blue pen-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,78 @@ +{ + "task_description": "将银色金属圆柱状物体放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色金属圆柱状物体:20%\n爪夹抓取银色金属圆柱状物体:40%\n爪夹抓住银色金属圆柱状物体接近黄色的硬纸箱:60%\n爪夹将银色金属圆柱状物体放入黄色的硬纸箱:80%\n爪夹松开,银色金属圆柱状物体落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.901659445822311 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..6498f5c62480aa02406502185e350c6e587f157e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,68 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..02f269ce85febd79f65d397c225e32874952a80c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,88 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.168134582292836 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..c566176239e105198653a2eceefe28a120409186 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,98 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..c1ba07f5a6a1b43ff5625e9f090024bee5826de8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,108 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..6f580a810f8172b9dfd44b0d8e706ef568438c02 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,100 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": -6, + "progress_explanation": "", + "state_description": "", + "time": 4.225333003074664 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": -7, + "progress_explanation": "", + "state_description": "", + "time": 4.942128105175574 + } + ], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.left/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.left/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..561d9b30cd22dffe256e6697e3229547780d9741 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.left/episode_000009.json @@ -0,0 +1,78 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..e479b45365a1c99f70a1d709d576f8cb187198ca --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,68 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..4ba83ac463c6fb2dfe9ea4c5b57b143ff4e8dbfc --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,98 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 20, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.6666666666666666 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.8 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.538202818884618 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.733333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..19832ad68e63f8ef43a5a4cbb6c1d94752b8e3d7 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-215650-put-ram stick-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,78 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.5673208454136716 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b193f1773fd244ab0939bd76acae248fef79e738 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,148 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3652481536836292 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": -15, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 207, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.898933641691735 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 218, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.266666666666667 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 8.433333333333334 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 304, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.133333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..3beaed698d720955d7740249ce933499a70206e3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,188 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.042982779198314676 + }, + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.3 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.266666666666667 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.733333333333333 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.1 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 285, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.5 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 336, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.2 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.611251177714106 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 363, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.1 + }, + { + "action_description": "关键帧 18/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 382, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.716751229449402 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..1cbcfa5eb542554d030ddbf04d53dfa02365b9ef --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,178 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 17, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.989202081253634 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 295, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.833333333333334 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.1 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 316, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.533333333333333 + }, + { + "action_description": "关键帧 17/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 336, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..03a5db39cb9d0330f215bd4d3c14ad3a42319c0d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,118 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 218, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.266666666666667 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.8 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..1384e8bc8237987378ef075f032fae991e3fd87d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-220454-put-ram stick-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,148 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.3 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 7.1 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 259, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 8.633333333333333 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 304, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 10.133333333333333 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 321, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 10.7 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 334, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.133333333333333 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 349, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.633333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-224449-put-ram stick-black-box-mix2/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-224449-put-ram stick-black-box-mix2/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..a31f37a1c2839778361dc5239feda7e8944e9f68 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-224449-put-ram stick-black-box-mix2/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,168 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.966666666666667 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 245, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 8.2 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 31, + "progress_explanation": "", + "state_description": "", + "time": 9.1 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 308, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 10.266666666666667 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 320, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.666666666666666 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 11.6 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 357, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.9 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 373, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 12.433333333333334 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 406, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..3cfa6a0d0404090ebb354faa3f6ef54110e4d179 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,88 @@ +{ + "task_description": "将白色勺子放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色勺子:20%\n爪夹抓取白色勺子:40%\n爪夹抓住白色勺子接近黑色边框黄色底的硬纸箱:60%\n爪夹将白色勺子放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,白色勺子落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..26c925b0ebde956ac46d2a6fb61ff9acce49dfbc --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,128 @@ +{ + "task_description": "将白色勺子放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色勺子:20%\n爪夹抓取白色勺子:40%\n爪夹抓住白色勺子接近黑色边框黄色底的硬纸箱:60%\n爪夹将白色勺子放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,白色勺子落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 6.862813137144863 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..efafc2be4437024a5c46ab0feeb625dcfc096d97 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,88 @@ +{ + "task_description": "将白色勺子放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色勺子:20%\n爪夹抓取白色勺子:40%\n爪夹抓住白色勺子接近黑色边框黄色底的硬纸箱:60%\n爪夹将白色勺子放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,白色勺子落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 4.722481623675797 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..652c74c662d3442f687db86f62a3054afdb1488e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,178 @@ +{ + "task_description": "将绿色电路板放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近绿色电路板:20%\n爪夹抓取绿色电路板:40%\n爪夹抓住绿色电路板接近黑色边框黄色底的硬纸箱:60%\n爪夹将绿色电路板放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,绿色电路板落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 26, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.566666666666666 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 201, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 6.7 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 220, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.332244633269211 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 8.533333333333333 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 19, + "progress_explanation": "", + "state_description": "", + "time": 8.992705202078858 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10.033333333333333 + }, + { + "action_description": "关键帧 17/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 10.633333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..b3733959c8cb0a33751efb3a201f4766beb6e5f2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,88 @@ +{ + "task_description": "将白色勺子放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色勺子:20%\n爪夹抓取白色勺子:40%\n爪夹抓住白色勺子接近黑色边框黄色底的硬纸箱:60%\n爪夹将白色勺子放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,白色勺子落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3290526827868583 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..aec8139f55d95477a03388a3013e885a10a7b722 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251229-225004-put-ram stick-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,128 @@ +{ + "task_description": "将白色勺子放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色勺子:20%\n爪夹抓取白色勺子:40%\n爪夹抓住白色勺子接近黑色边框黄色底的硬纸箱:60%\n爪夹将白色勺子放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,白色勺子落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 3.0287369522453647 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 9, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..6d233d73d38958082876dd4ce08a9d3e59ef74e9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,78 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..b0fe8d107eb561289ffd7a740ed13680f53ca3ab --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,98 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.2 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..7a0a3cbaca84c3d62292f94aad3a0ac578565a49 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,78 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 20, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.6666666666666666 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..846073efb5e2cd47c2df4269a805a8804a4ef362 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,68 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 18, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.6 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.013653416038677 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..605d3fcba7887806d088d02e12e62bc006cf7f7a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,68 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..693936c19ff408c8d981765fa2f2699fa45f2238 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-012120-put-tripod-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,78 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013157-put-tripod-black-box-mix1/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013157-put-tripod-black-box-mix1/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..b6c6c0290fd9d0b9a5c5cd704be48d8754ff2f71 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013157-put-tripod-black-box-mix1/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,108 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 18, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.6 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 3.875717438946363 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.969386910060962 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 278, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.266666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013157-put-tripod-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013157-put-tripod-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..77a0a79976fac9a469d0300cbf98d0a62b4a5416 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013157-put-tripod-black-box-mix1/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,108 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 18, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.6 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 6.147847801134091 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.292399526018372 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..239ff87d24ac84ae094331ac3343ce6b04c751b1 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,138 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.166666666666667 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.094293778887305 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..1f30122a7338fed8c1c5bde193767eea5e7100a2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,218 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 4/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 5/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 6/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 7/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 8/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 9/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 10/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 11/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8 + }, + { + "action_description": "关键帧 12/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 8.778810582452147 + }, + { + "action_description": "关键帧 13/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 9.533333333333333 + }, + { + "action_description": "关键帧 14/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + }, + { + "action_description": "关键帧 15/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 338, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.266666666666667 + }, + { + "action_description": "关键帧 16/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 356, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 11.866666666666667 + }, + { + "action_description": "关键帧 17/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 375, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 12.5 + }, + { + "action_description": "关键帧 18/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 434, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.466666666666667 + }, + { + "action_description": "关键帧 19/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 452, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 15.066666666666666 + }, + { + "action_description": "关键帧 20/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 471, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.7 + }, + { + "action_description": "关键帧 21/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 491, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.366666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..a4dcf801e775c5f2005fae255124ae2a3cd4d89a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,138 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 6.533333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.533333333333333 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.166666666666666 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 299, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..fd702815ef2bec88affa60fa0369f97cb4bf62f8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,138 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 297, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.90887347557367 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 322, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.733333333333333 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 340, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 11.333333333333334 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 370, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.333333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..c812cada991b54178a48be14ef331c432d33e8e7 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,148 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 222, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.4 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 239, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.966666666666667 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 295, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.838261003771303 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..d238f566ecdc952fc50f5127cbe5486d6cc0bce3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,138 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.044623848927007 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": -2, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 10.033333333333333 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 322, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 10.733333333333333 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 340, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.333333333333334 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 370, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.333333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..71b06d3b57bdf9cc14f6864bf6880cdbeace5922 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,218 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 4/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 5/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 6/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 7/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 8/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 9/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 10/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 11/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 240, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 8 + }, + { + "action_description": "关键帧 12/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 13/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 9.533333333333333 + }, + { + "action_description": "关键帧 14/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + }, + { + "action_description": "关键帧 15/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 338, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.266666666666667 + }, + { + "action_description": "关键帧 16/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 356, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 11.866666666666667 + }, + { + "action_description": "关键帧 17/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 375, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 12.5 + }, + { + "action_description": "关键帧 18/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 434, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 14.466666666666667 + }, + { + "action_description": "关键帧 19/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 452, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 15.066666666666666 + }, + { + "action_description": "关键帧 20/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 471, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 15.7 + }, + { + "action_description": "关键帧 21/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 491, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.366666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..c27dc27e842441e6eb5f4ffe7eae6e1650760898 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-013609-put-tripod-black-box-mix2/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,168 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 210, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 7 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 234, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.8 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 9.166666666666666 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.866666666666667 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 327, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.9 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 344, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 11.466666666666667 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 362, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 12.066666666666666 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 414, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 13.792838575861882 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 454, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 15.133333333333333 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 492, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.400515563435686 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-014648-put-tripod-black-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-014648-put-tripod-black-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..45fac20828288e65c3f468e63a19a0b3c41a4288 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-014648-put-tripod-black-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,178 @@ +{ + "task_description": "将银色三角架放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近黑色边框黄色底的硬纸箱:60%\n爪夹将银色三角架放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,银色三角架落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.4333333333333333 + }, + { + "action_description": "关键帧 4/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 5/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 83, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.7666666666666666 + }, + { + "action_description": "关键帧 6/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 7/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 8/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 9/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 10/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 47, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 11/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 6.733333333333333 + }, + { + "action_description": "关键帧 12/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 7, + "progress_explanation": "", + "state_description": "", + "time": 7.9 + }, + { + "action_description": "关键帧 13/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 250, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 8.333333333333334 + }, + { + "action_description": "关键帧 14/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.7 + }, + { + "action_description": "关键帧 15/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + }, + { + "action_description": "关键帧 16/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + }, + { + "action_description": "关键帧 17/17 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 326, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 10.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-014648-put-tripod-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-014648-put-tripod-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a2d8594d6d1fb202853a49e9268da9946136d3fa --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-014648-put-tripod-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,118 @@ +{ + "task_description": "将白色勺子放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近白色勺子:20%\n爪夹抓取白色勺子:40%\n爪夹抓住白色勺子接近黑色边框黄色底的硬纸箱:60%\n爪夹将白色勺子放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,白色勺子落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 36, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.2 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 105, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.5 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..1c93e53a57e62e49ff3eab4dad81bbe987084072 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.007612887471015563 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8117688945162953 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..03886b150cfd2dfdf730a1b9384ef4e40c627ca0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,78 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 88, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..3f0102baa8f89bdc96154b967543b32fa5614d12 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..5366625578082eeec01fc7ac7f2a21ad386e0b21 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,78 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 4.387100100902618 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..634c49238eee248bcc741eeda2d3e7b32275be4b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,58 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 17, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.5666666666666667 + }, + { + "action_description": "关键帧 3/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 4/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 5/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..c711d283d29fc3bbaafdb958569a4d01d00d97a5 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.left/episode_000009.json @@ -0,0 +1,68 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.001782307332652843 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 20, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.6666666666666666 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..5d8d8d103dc42b8f628b8246ceb0d1d4293dd48b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,78 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..82d19645e41bf4d28f87eb0a3860b1ad5ca2edaa --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 88, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..06474ab0a2a3179e7c49fcfdfbbbb70d85a4fafb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,78 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.542170432028479 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.178489295098739 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..9edd744a050cc01de1e88253def494ca466320f7 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-015405-put-inro parts-yellow-box-good/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,58 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 17, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.5666666666666667 + }, + { + "action_description": "关键帧 3/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.453547346294066 + }, + { + "action_description": "关键帧 4/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 5/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 159, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..f0538404237c66c4dfd2dc6025927d7dbd34e2d3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,188 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.0210233868142982 + }, + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 38, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.2666666666666666 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": -3, + "progress_explanation": "", + "state_description": "", + "time": 2.0157478779141815 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 4, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.031029085390749 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 190, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.333333333333333 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 54, + "progress_explanation": "", + "state_description": "", + "time": 7.2 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.366666666666667 + }, + { + "action_description": "关键帧 18/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..dd0ff624ebca092e9c5b1820f274ee13e28de465 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,208 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 4/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 5/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 2.8 + }, + { + "action_description": "关键帧 6/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 7/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 8/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 9/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 10/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 188, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 6.266666666666667 + }, + { + "action_description": "关键帧 11/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 218, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.266666666666667 + }, + { + "action_description": "关键帧 12/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 13/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.535473603800005 + }, + { + "action_description": "关键帧 14/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + }, + { + "action_description": "关键帧 15/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 9.866666666666667 + }, + { + "action_description": "关键帧 16/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 319, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.633333333333333 + }, + { + "action_description": "关键帧 17/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 11.6 + }, + { + "action_description": "关键帧 18/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 364, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.133333333333333 + }, + { + "action_description": "关键帧 19/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 380, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.666666666666666 + }, + { + "action_description": "关键帧 20/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 395, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.166666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..f9878f71b6ca22fabe8024c449e47e068981cc5c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,118 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.1263852646654346 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.166666666666666 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 299, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.right/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.right/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..b02a6618278445dbdb7a61bcd5f178758b3a7afd --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.right/episode_000002.json @@ -0,0 +1,128 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.4226219579986539 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": -2, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 7.9 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 253, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.433333333333334 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..c2ef08d791a8c5deb2983c7e2d03768c79261eb1 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,148 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 102, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 3.4 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 217, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 7.233333333333333 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 324, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 10.8 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 351, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.7 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 378, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.6 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 408, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..491346f2f2c839dff51fa30b35792b5d0f663490 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-020320-put-inro parts-yellow-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,138 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 41, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.3666666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 6.3 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 221, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 7.366666666666666 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.633333333333333 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 315, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 10.5 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 337, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.233333333333333 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 366, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.2 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021446-put-inro parts-yellow-box-mix2/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021446-put-inro parts-yellow-box-mix2/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..a3d8049c2187afc570eec5da9f92e6a535b5c90b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021446-put-inro parts-yellow-box-mix2/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,138 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.5 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.428650708244778 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 315, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.5 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021446-put-inro parts-yellow-box-mix2/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021446-put-inro parts-yellow-box-mix2/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..1648a79308affe56bafb78b7b013f77875b2e62c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021446-put-inro parts-yellow-box-mix2/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,138 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 116, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.8666666666666667 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.5 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 269, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.966666666666667 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 315, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.5 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 333, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021612-put-inro parts-yellow-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021612-put-inro parts-yellow-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..60e46aef2c5eb2db3020e5dfd67fd34344821d2a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021612-put-inro parts-yellow-box-bad/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,128 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 47, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.466666666666667 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.1 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 8.166666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021612-put-inro parts-yellow-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021612-put-inro parts-yellow-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..90ff81c1c3cd3ae7c99e3138335f7e668be8c16b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021612-put-inro parts-yellow-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,118 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8770803657835499 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 237, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.9 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 10 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 317, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 10.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021612-put-inro parts-yellow-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021612-put-inro parts-yellow-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..5a425c3b4153a2aec4adc9ca02fda02affbd2ecd --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021612-put-inro parts-yellow-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,118 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 7.936034073925958 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 10 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 317, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 10.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021612-put-inro parts-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021612-put-inro parts-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..2fa4af05fdb0bb4cfa154eb1d8432dbd533be054 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-021612-put-inro parts-yellow-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,128 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.2333333333333334 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 53, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 6.466666666666667 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 7.1 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 8.166666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..563b858b82b9e44d510783f6e0eeef870983e6de --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,108 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 105, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.5 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 176, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.866666666666666 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..8ad51c4b0a089b8a44f9a5046e68082d03ec6b7f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.6333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.9740840672471034 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..291ad221cd9b8f081977635f3611065515cc3077 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 4.606660537160514 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..5e3eb27cb7d18a3670ca9eaa087829f6bcef1a49 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,108 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 75, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.984413676757768 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..267fb65aa1960fb709148b289ffaa07f1b149d54 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,68 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 3/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 5/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 6/6 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 167, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..9ad15416f47f781708888b92fbd78aaee487e8bc --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.6333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 34, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.1333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.927549543544467 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..20011df82b415248a5e85d4618e8429c62f40ae1 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-023320-put-inro parts-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,108 @@ +{ + "task_description": "将黑色铁质小物件放进黄色的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黄色的硬纸箱:60%\n爪夹将黑色铁质小物件放入黄色的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黄色的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 2.349865257656381 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 149, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.966666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.626986461904448 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..06c454eb66c80d3fc97e64b5625f8c8fe688a55e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,208 @@ +{ + "task_description": "将黑色铁质小物件放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色铁质小物件放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 4/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 5/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 89, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.966666666666667 + }, + { + "action_description": "关键帧 6/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 3.9399809068171074 + }, + { + "action_description": "关键帧 7/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 8/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + }, + { + "action_description": "关键帧 9/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 10/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 11/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 12/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 274, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 9.133333333333333 + }, + { + "action_description": "关键帧 13/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 14/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 331, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 11.033333333333333 + }, + { + "action_description": "关键帧 15/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 359, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 11.966666666666667 + }, + { + "action_description": "关键帧 16/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 405, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 13.5 + }, + { + "action_description": "关键帧 17/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 446, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 14.866666666666667 + }, + { + "action_description": "关键帧 18/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 463, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 15.433333333333334 + }, + { + "action_description": "关键帧 19/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 483, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.1 + }, + { + "action_description": "关键帧 20/20 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 508, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 16.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..31e9957d1de88be3dfc5927258355513af6c4c65 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,148 @@ +{ + "task_description": "将黑色铁质小物件放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色铁质小物件放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 38, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.2666666666666666 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 23, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.991167097388903 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.7 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 313, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..b3a70db2628ed16f59ff809f05cb28ac4f4c7f84 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,158 @@ +{ + "task_description": "将黑色铁质小物件放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色铁质小物件放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6.6759830896100985 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 8.4 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.366666666666667 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 332, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 11.066666666666666 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 356, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.861304760844707 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 382, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..e541a11694d02779e29e5ccba4411ff5576e0ef6 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,148 @@ +{ + "task_description": "将黑色铁质小物件放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色铁质小物件放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 38, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.2666666666666666 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.7 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 314, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.45811306126797 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..0de8fb5b7e6e1b6db63ee9dfb12c72a1c9b3a174 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,158 @@ +{ + "task_description": "将黑色铁质小物件放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色铁质小物件放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 152, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.066666666666666 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 252, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.4 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.302496760512971 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 332, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11.066666666666666 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 357, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.9 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 382, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..ccdb6ab8ff6856105da33dac42836fe9f247f8bd --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,168 @@ +{ + "task_description": "将黑色铁质小物件放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色铁质小物件放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 259, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 8.633333333333333 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 302, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.066666666666666 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 337, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 11.233333333333333 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 11.6 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 361, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 12.033333333333333 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 373, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.433333333333334 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 393, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..0700f12fe6de717c5953f3a9ad5d00cdb6fee204 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,128 @@ +{ + "task_description": "将黑色铁质小物件放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色铁质小物件放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 7.2 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..918ccbc5035901aa03b4551fefaa4c8e3f55b588 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,148 @@ +{ + "task_description": "将黑色铁质小物件放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色铁质小物件放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 21, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.7 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 51, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.7 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 204, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.8 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 250, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 8.333333333333334 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 9.1 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 286, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 9.533333333333333 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..b89720f83686586c08e7255582f77ee9d5af0327 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,128 @@ +{ + "task_description": "将黑色铁质小物件放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色铁质小物件放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 42, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.4 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 184, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.133333333333334 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 216, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.2 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.133333333333333 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..d455d6312422f369b60e8282070537979c364dae --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-024129-put-inro parts-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,198 @@ +{ + "task_description": "将黑色铁质小物件放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色铁质小物件放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 4/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 5/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 6/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 94, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 3.1333333333333333 + }, + { + "action_description": "关键帧 7/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 8/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 9/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 10/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 5.59405291483285 + }, + { + "action_description": "关键帧 11/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + }, + { + "action_description": "关键帧 12/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.466666666666667 + }, + { + "action_description": "关键帧 13/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 238, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 7.933333333333334 + }, + { + "action_description": "关键帧 14/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 281, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 9.366666666666667 + }, + { + "action_description": "关键帧 15/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + }, + { + "action_description": "关键帧 16/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 330, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 11 + }, + { + "action_description": "关键帧 17/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 343, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.433333333333334 + }, + { + "action_description": "关键帧 18/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 356, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.866666666666667 + }, + { + "action_description": "关键帧 19/19 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 370, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.333333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-025332-put-inro parts-black-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-025332-put-inro parts-black-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..03cab17e5b172bd4242419da81b3f0ce73e4a4cd --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-025332-put-inro parts-black-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,138 @@ +{ + "task_description": "将黑色铁质小物件放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色铁质小物件放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.066666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 4.066666666666666 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 189, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.3 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 282, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.401942921262982 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-025332-put-inro parts-black-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-025332-put-inro parts-black-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..65417f229d168b474ff71f917ce9a927a0ffa76d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-025332-put-inro parts-black-box-bad/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,128 @@ +{ + "task_description": "将黑色铁质小物件放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色铁质小物件放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 87, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.9 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 162, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 5.4 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 229, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.633333333333334 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 268, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.933333333333334 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 285, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 9.5 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 10.4 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 344, + "progress": 3, + "progress_explanation": "", + "state_description": "", + "time": 11.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..117658e30ee6f60f1880d6f4637d5ee731093d58 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 231, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.6879331782807885 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.311430604170713 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.bird/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..8e7ede9a5ae6a8535ef13cc54bb982d1e8a5da4c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.4333333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..8514dbf1c257ab8b10c563712eea2ed123f00bb0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,128 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 37, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..46f64e41b82a568f416de742bc5c8086dac3bab4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,98 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.1 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.7 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..6c2618427ac9fc432cc3e2c5286d52ccc21bd8e4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.8333333333333335 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 131, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.366666666666666 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.366666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..82fba7080006569e9f0b88ab8a84c27b98fec53e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.4333333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..3551548dbd53a6c622b48d520e0447f8cd76b75a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,128 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 31, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..83b889a14de71982fda0e825a0119ce0e025910e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,118 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 4/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 5/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 84, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.8 + }, + { + "action_description": "关键帧 6/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 7/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 41, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 8/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.566666666666666 + }, + { + "action_description": "关键帧 9/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 10/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 11/11 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..0a9e646900c927bef58b7089b3f05b6b84c5ee50 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,78 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 69, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.3 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.left/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.left/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..8253032b8417af68cd5b88c9e3b3444e7de7f8b3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.left/episode_000009.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8539313362744994 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.right/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.right/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..dfd5be2902d2b97a9066034e9c68279f9ce511a3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.right/episode_000005.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.468785831361198 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.9 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.566666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..507ba65fa8e8f78448c7003e62b4f6f0d2a4d3d8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.4333333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.008578951173551 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..f872a54c9fd52f4ae5579227149b90262c3fe534 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,128 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.4878825700667044 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 209, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 6.966666666666667 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..d878fe5a3246307bfd8ec9efc4b7723ca1ddbb26 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-030938-put-inro parts-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,88 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..4a21c0dbf75d06b2970afe3e3b0272edf99bf61e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,138 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 98, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 3.2666666666666666 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 254, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.466666666666667 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.806785564842789 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 288, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..a6db69a8c72bc8da4b05046f6e8a4a7c7309112d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,158 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 35, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.1666666666666667 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 123, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.091719788962236 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 8.7 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 295, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.833333333333334 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.011577495220282 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 321, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..6281c5f41f8e67f42a4837f6cce474f96b71ec2a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,160 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 150, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 5.9 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.828863285507722 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 309, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.3 + } + ], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.left/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.left/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..4d6d81c1e8cf353ade35bfd952699b65f36596ae --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.left/episode_000009.json @@ -0,0 +1,160 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 35, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.1666666666666667 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 261, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 8.7 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 270, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 284, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 9.466666666666667 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 295, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 9.833333333333334 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 301, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 10.033333333333333 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 321, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 10.7 + } + ], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..7fdac0b3ee578c66e4e2bc272eb0a957248ff651 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-031852-put-inro parts-white-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,148 @@ +{ + "task_description": "将黑色铁质小物件放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近白色塑料托盘:60%\n爪夹将黑色铁质小物件放入白色塑料托盘:80%\n爪夹松开,黑色铁质小物件落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 35, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 1.1666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 72, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 2.4 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.59235407603137 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 4.566666666666666 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 173, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.766666666666667 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 288, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 9.6 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.1 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 329, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..05c97a6279f65375693cddb937021ceb9c01fa54 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "将银色三角架放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近白色塑料托盘:60%\n爪夹将银色三角架放入白色塑料托盘:80%\n爪夹松开,银色三角架落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 1, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.035605792198874164 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..0c59f431c333b9258f0a09fbccffba570d570524 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,128 @@ +{ + "task_description": "将黑色铁质小物件放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色铁质小物件放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 190, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.333333333333333 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.5 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 258, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.611024263788094 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..774b3432c413f83f66ab8ac6bdcc3fb7327dfd3d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "将银色三角架放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近白色塑料托盘:60%\n爪夹将银色三角架放入白色塑料托盘:80%\n爪夹松开,银色三角架落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 99, + "progress_explanation": "", + "state_description": "", + "time": 4.267186995624399 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..f3d1af227c486e59aaa00f3b517649e0f56229cf --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,128 @@ +{ + "task_description": "将黑色铁质小物件放进黑色边框黄色底的硬纸箱里。\n爪夹开始移动:0%\n爪夹靠近黑色铁质小物件:20%\n爪夹抓取黑色铁质小物件:40%\n爪夹抓住黑色铁质小物件接近黑色边框黄色底的硬纸箱:60%\n爪夹将黑色铁质小物件放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,黑色铁质小物件落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 140, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.666666666666667 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 190, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 6.333333333333333 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 225, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.512068771787346 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 259, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.633333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..0eeadf99f912ec0dbfe16b4a741e5cbed1fc72ab --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033027-put-inro parts-white-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,88 @@ +{ + "task_description": "将银色三角架放进白色塑料托盘里。\n爪夹开始移动:0%\n爪夹靠近银色三角架:20%\n爪夹抓取银色三角架:40%\n爪夹抓住银色三角架接近白色塑料托盘:60%\n爪夹将银色三角架放入白色塑料托盘:80%\n爪夹松开,银色三角架落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..5585042e361967044779cfe47e7623ae9e9b1be2 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,78 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.22208583583771 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..f9b1ebc7740e25fcb4c0c29cace384264940f670 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,78 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 49, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.6333333333333333 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 137, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.566666666666666 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.218266307523046 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..18ebec2e5a485e4773c7dc11778657eb39b892e4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,88 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 158, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.266666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..9007694b175bf1dceb8108a5881513bb5d6abbe5 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,108 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.3333333333333333 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.439657746801998 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..173f05bb7b8f907d4ed011aa59409fda3184c744 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,88 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..1f3209d5e3501effe8e3567ad1cae37a2aad084a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,78 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 66, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 2.2 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 178, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..5296a0428063beb10d0361f7e40ed6cb680f9ead --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-033655-put-robotic arm-white-box-good/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,88 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9333333333333333 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.2464962689330426 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..1c44d4474d6826d4353cfe935bb0942f590b5256 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,148 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.2324855247599906 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 79, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 2.6333333333333333 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 108, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.6 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 136, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 4.533333333333333 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 174, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.8 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 190, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 6.333333333333333 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 208, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.933333333333334 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 275, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.166666666666666 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 300, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 10 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 344, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.466667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..76365f587bb7e058cfba5aeb68a817641b5fb1c6 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,148 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 38, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.2666666666666666 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": -8, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 181, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 6.033333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 7.466666666666667 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 290, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 9.666666666666666 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 306, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.18696262351713 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 332, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.066666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..af1c762d0167556b29c06d87fd76b07649c37756 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 80, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.6666666666666665 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 43, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 5.9 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 222, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..4213b3495ff9b3c87551cdabbdd587aee3469d15 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.522150600093384 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.366666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..0de3207a15fdf8be8f034260c90f328e3350a34f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.375816517541228 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..7c7e6ad001ceab5cebb81b91bb20ed982e21b32d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-034425-put-robotic arm-white-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,148 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 30, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 1.8666666666666667 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.6 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 135, + "progress": 27, + "progress_explanation": "", + "state_description": "", + "time": 4.5 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 226, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 7.533333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 296, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.866666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..fd015b34877a1d2740685cabf544e1485e42a1e5 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,128 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 35, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.1666666666666667 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 199, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.633333333333334 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 223, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.433333333333334 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 243, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.113407652533814 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 279, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..d86a68cb26fc2f2484c5549d4c4396262f032306 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,138 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.912712314851225 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 58, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 9.2 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.left/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.left/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..f5f9cd54f36b8082730f33dc3085dcee35284af4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.left/episode_000001.json @@ -0,0 +1,138 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 14, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 9.2 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 347, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.563863596693428 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.left/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.left/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..c6eb84f2437914bd36aded5f3cc64d12e23e3384 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.left/episode_000003.json @@ -0,0 +1,158 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 82, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.7333333333333334 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 156, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 5.2 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 190, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 6.341404989633398 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 212, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.066666666666666 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 251, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.366666666666667 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 285, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.5 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..c9e864118b5ab669309e6a86f890c47fddb55838 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-041507-put-robotic arm-white-box-mix2/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,138 @@ +{ + "task_description": "把小型机械臂放进白色塑料托盘中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近白色塑料托盘:60%\n爪夹将小型机械臂放入白色塑料托盘:80%\n爪夹松开,小型机械臂落入白色塑料托盘里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 3.9247047149795042 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 172, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.733333333333333 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 276, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 9.2 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 293, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.766666666666667 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..abff6f48ad3307d1cf75354149236ad3dbfd0739 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.4777118539234766 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.0495260276851406 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..25da682b7f6766403aee8ee9daf2772713bc19f0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.front/episode_000007.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 90, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 109, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.6333333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4.293625649338057 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 214, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 7.133333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..622a9866518c391fc63d812a25d8c9a60a5b6a4f --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,78 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 2.8681392316426617 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 3.3 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..7f56731d042b748749a3b4011c57edd7facb9db3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,48 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/4 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/4 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 3/4 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 119, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 3.966666666666667 + }, + { + "action_description": "关键帧 4/4 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..16810f2d2359771b2bc535f9a39933052a9c3d43 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000006.json @@ -0,0 +1,88 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..11091c6a32ef0f0269b1ce7c47b138139f109973 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000009.json @@ -0,0 +1,90 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + } + ], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..09042102221265625737a40e22827fc7015f9972 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,78 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 88, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..780d306958a8172b2e638deedf0d9ffd7b4d5b7a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 45, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.5 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 62, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.0539933259176535 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a82a405aea92c64e314cb135f01b32612a5253c7 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,78 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 21, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7076090655958717 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 35, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.1666666666666667 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.8730929958100198 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..7796917dea21fa9aed4bb4a0a4c3cdc3d3e1e6b3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,88 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 44, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 1.4666666666666666 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 67, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.2333333333333334 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 85, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 2.848671092044028 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.0637074915208435 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..86789eee2a9a3eff3ae1a54ef50c2fd96357e2e9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-042706-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,88 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 121, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 4.033333333333333 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 141, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 4.7 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..00ec8afd44aaac38f333ee3d892651f758600fdf --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,138 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 56, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.863435058800981 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.833333333333333 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.666666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..43f80fc89decfd27ce957b9047b9cbabfad9e2b5 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,108 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 4.3 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..edf1c76e8fffdad8e5f3aeb89a1a52de5ce20365 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..0857bdc8eaf94fabab6b7a187f91042bb8cfdc9d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,138 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.0414864846243337 + }, + { + "action_description": "关键帧 4/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 5/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 76, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.533333333333333 + }, + { + "action_description": "关键帧 6/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 95, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.1666666666666665 + }, + { + "action_description": "关键帧 7/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 112, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 3.7333333333333334 + }, + { + "action_description": "关键帧 8/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 134, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.466666666666667 + }, + { + "action_description": "关键帧 9/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 10/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 165, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.5 + }, + { + "action_description": "关键帧 11/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 175, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.82122105042467 + }, + { + "action_description": "关键帧 12/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 186, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.2 + }, + { + "action_description": "关键帧 13/13 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 200, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.666666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..ae223d1fcddba1204c41c5cac753451e8c8a25d7 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,148 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 43, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.4333333333333333 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 54, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.8 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 63, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 2.1 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.366666666666666 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 179, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.966666666666667 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.466666666666667 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 246, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 8.233333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 281, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 9.379493143229489 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 339, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.3 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..71b17fc26b89e4864f645285aad6766fd91cfe48 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.0158533952514737 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..6670d38fa87c71c3caeed79937c099cf597a5ecd --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,110 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 74, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.466666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 129, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 4.287157135047607 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.433333333333334 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 264, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.8 + } + ], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..c66b241f6677f344e069ec3793826d379fac353e --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,158 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0666666666666667 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 59, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.9666666666666666 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 154, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 5.133333333333334 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.166666666666667 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 211, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.033333333333333 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 266, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 8.866666666666667 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 311, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 10.366666666666667 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 323, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 10.766666666666667 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 343, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 11.433333333333334 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 368, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.266666666666667 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 382, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.733333333333333 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 394, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.133333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..195e7e5e1e6c1fcb5a76edf4f810cc580a2fd1e4 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000008.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9181206866291968 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 33, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..cea41d0e2d989ee912c26cfb0e6c30469da236e3 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..65830913070df9d8c852dbac23f91b20b72321fc --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.9666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.6 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 92, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 3.066666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 155, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 5.166666666666667 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 95, + "progress_explanation": "", + "state_description": "", + "time": 6.166666666666667 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 7.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..59d2ae064a7765f0c443203d49aedafadac25622 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,148 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 36, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.2 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 107, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.566666666666667 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 28, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 203, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 6.766666666666667 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 244, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 8.124843650826193 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.9 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..ec7117e2f67c3b5d16e5178a114201d2c9723181 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-043343-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放进黑色边框黄色底的硬纸箱中。\n爪夹开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色边框黄色底的硬纸箱:60%\n爪夹将小型机械臂放入黑色边框黄色底的硬纸箱:80%\n爪夹松开,小型机械臂落入黑色边框黄色底的硬纸箱里面：100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 28, + "progress": 1, + "progress_explanation": "", + "state_description": "", + "time": 0.9333333333333333 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 93, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.1 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 124, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 4.133333333333334 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 4.747441722248729 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 98, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..07a236fde2ad4a95f9006cee1cf23fc6585e8945 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放入黑色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色纸箱:60%\n爪夹将小型机械臂放在黑色纸箱中:80%\n爪夹松开,小型机械臂落在黑色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.275406211394548 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": -20, + "progress_explanation": "", + "state_description": "", + "time": 5.1 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": -30, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..b2e5d32e19e50f1b51a4fba5feaffc04c42bd48d --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "把小型机械臂放入黑色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色纸箱:60%\n爪夹将小型机械臂放在黑色纸箱中:80%\n爪夹松开,小型机械臂落在黑色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.7263898914709352 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 7, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b946f1050ed85180e0cb569fdc3fba2bd20eaced --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放入黑色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色纸箱:60%\n爪夹将小型机械臂放在黑色纸箱中:80%\n爪夹松开,小型机械臂落在黑色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": -20, + "progress_explanation": "", + "state_description": "", + "time": 5.1 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": -30, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.852779796184358 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..01ad0db56acdfc2b370046234879846bbe9d7ae8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,108 @@ +{ + "task_description": "把小型机械臂放入黑色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色纸箱:60%\n爪夹将小型机械臂放在黑色纸箱中:80%\n爪夹松开,小型机械臂落在黑色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 1.7333333333333334 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 110, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.6666666666666665 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": 13, + "progress_explanation": "", + "state_description": "", + "time": 4.644995223688614 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 12, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 11, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..7f6e00f19d9b8e33a1e293a6a0bf3f39be2b52d8 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-044450-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放入黑色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黑色纸箱:60%\n爪夹将小型机械臂放在黑色纸箱中:80%\n爪夹松开,小型机械臂落在黑色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 50, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.6666666666666667 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 68, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 2.2666666666666666 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 139, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 4.633333333333334 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 153, + "progress": -20, + "progress_explanation": "", + "state_description": "", + "time": 5.1 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 163, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 5.433333333333334 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 206, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 6.866666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..f98dd1eaeef6006263bd5a80b526d8ca0b24badb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.166666666666667 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..baa35796c1b4789451b28894c2ed76a11a5a67be --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,58 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 47, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 1.5666666666666667 + }, + { + "action_description": "关键帧 3/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 4/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 5/5 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccc2da4c82e4066beb7bbe91b7fca725464d839 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,108 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 19, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.6333333333333333 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 40, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.3290419293256783 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 86, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.8666666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.433333333333334 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 145, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.833333333333333 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 160, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.333333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..4b83c62ac8312fb990e87f63e1c37d306435a68a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.left/episode_000005.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 73, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.433333333333333 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.933333333333334 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 185, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.1708719083489045 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.right/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.right/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..83ef1fe66c4dd97c7aef44659d4631e0f7b5e789 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.right/episode_000009.json @@ -0,0 +1,78 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.7 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..e172f807c930b2d5dbfed5ee862e93f54fc0b1d9 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 37, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.2236098591247062 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 166, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.533333333333333 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 191, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.366666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..e80d321d20ecda27d03f2d17f37c971b09bad92c --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,88 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 20, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.6666666666666666 + }, + { + "action_description": "关键帧 3/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 46, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.5333333333333334 + }, + { + "action_description": "关键帧 4/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 97, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 3.2333333333333334 + }, + { + "action_description": "关键帧 5/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 120, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 4.014199961499297 + }, + { + "action_description": "关键帧 6/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 7/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 5.633333333333334 + }, + { + "action_description": "关键帧 8/8 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 197, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 6.563301624814251 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..6c6c1e72772eec01368ab53e147337b619a84124 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-045528-put-robotic arm-black-box-good/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,78 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8806671302381044 + }, + { + "action_description": "关键帧 3/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 53, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.7666666666666666 + }, + { + "action_description": "关键帧 4/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 71, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.3666666666666667 + }, + { + "action_description": "关键帧 5/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 111, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 3.6901193133216346 + }, + { + "action_description": "关键帧 6/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 125, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.166666666666667 + }, + { + "action_description": "关键帧 7/7 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 144, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 4.8 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..b0bb4e60b288769922ce1f931b61e3eb5b28eceb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,218 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.1173651007410523 + }, + { + "action_description": "关键帧 4/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 5/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 6/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.9 + }, + { + "action_description": "关键帧 7/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.7796403377022285 + }, + { + "action_description": "关键帧 8/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 9/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 168, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 5.6 + }, + { + "action_description": "关键帧 10/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 176, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.866666666666666 + }, + { + "action_description": "关键帧 11/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 193, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 6.445508468432322 + }, + { + "action_description": "关键帧 12/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.1 + }, + { + "action_description": "关键帧 13/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 14/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 15/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 8.533333333333333 + }, + { + "action_description": "关键帧 16/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 267, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.889819650905448 + }, + { + "action_description": "关键帧 17/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 290, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 9.65269384161362 + }, + { + "action_description": "关键帧 18/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 313, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.446705754391516 + }, + { + "action_description": "关键帧 19/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 330, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.0071847516465 + }, + { + "action_description": "关键帧 20/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 340, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.349699694413436 + }, + { + "action_description": "关键帧 21/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 362, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.065867302017027 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..2c1e9e265d82a1be10571a7ba4205c0e22084ca7 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 1.0333333333333334 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 57, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.9089391646600509 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 18, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.533333333333333 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 228, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.6 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..1e2ae1162d9825a88b4f5de109cd58b84473c913 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.left/episode_000006.json @@ -0,0 +1,148 @@ +{ + "task_description": "将水瓶放入黑色纸箱中，再把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近水瓶:10%\n爪夹抓取水瓶:20%\n爪夹抓住水瓶接近黑色纸箱:30%\n爪夹将水瓶放在黑色纸箱中:40%\n爪夹松开,水瓶落在黑色纸箱中:50%\n爪夹靠近小型机械臂:60%\n爪夹抓取小型机械臂:70%\n爪夹抓住小型机械臂接近黄色纸箱:80%\n爪夹将小型机械臂放在黄色纸箱中:90%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.6 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 99, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 3.305175308612583 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.466666666666667 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 85, + "progress_explanation": "", + "state_description": "", + "time": 8.033333333333333 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..eb6f4227a9252392490f7c5146101ea75230e22b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,128 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 22, + "progress": 2, + "progress_explanation": "", + "state_description": "", + "time": 0.7333333333333333 + }, + { + "action_description": "关键帧 3/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 52, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 1.735500391850695 + }, + { + "action_description": "关键帧 4/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 75, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 2.5 + }, + { + "action_description": "关键帧 5/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 100, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 3.3333333333333335 + }, + { + "action_description": "关键帧 6/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 7/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 161, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.355645740476755 + }, + { + "action_description": "关键帧 8/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 183, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 6.1 + }, + { + "action_description": "关键帧 9/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 10/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 259, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 8.633333333333333 + }, + { + "action_description": "关键帧 11/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 272, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 9.066666666666666 + }, + { + "action_description": "关键帧 12/12 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 316, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.533333333333333 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..02ce9803a33b35ec0ec181dd17e073ae816f133b --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,158 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 16, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 24, + "progress_explanation": "", + "state_description": "", + "time": 3.933333333333333 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 133, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.437638776003443 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 147, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 4.9 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 5.666666666666667 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 232, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.733333333333333 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..a181e25a21cac4cfb979a2056a1f7e6bb538fb84 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,188 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 33, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.1 + }, + { + "action_description": "关键帧 3/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 4/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.8333333333333335 + }, + { + "action_description": "关键帧 5/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 6/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + }, + { + "action_description": "关键帧 7/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 171, + "progress": 55, + "progress_explanation": "", + "state_description": "", + "time": 5.699999702394892 + }, + { + "action_description": "关键帧 8/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 180, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6 + }, + { + "action_description": "关键帧 9/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 202, + "progress": 21, + "progress_explanation": "", + "state_description": "", + "time": 6.741017612113719 + }, + { + "action_description": "关键帧 10/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 230, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 7.666666666666667 + }, + { + "action_description": "关键帧 11/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 249, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 8.31107741037818 + }, + { + "action_description": "关键帧 12/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 273, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 9.1 + }, + { + "action_description": "关键帧 13/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 9.633333333333333 + }, + { + "action_description": "关键帧 14/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 299, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 9.966666666666667 + }, + { + "action_description": "关键帧 15/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 335, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 11.166666666666666 + }, + { + "action_description": "关键帧 16/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 364, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 12.133333333333333 + }, + { + "action_description": "关键帧 17/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 373, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.44101731450861 + }, + { + "action_description": "关键帧 18/18 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 396, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 13.208981346268402 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..ec514e5484d830c5020e44e01f3e8f8411a7cb89 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,108 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 29, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.982378049649617 + }, + { + "action_description": "关键帧 3/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 58, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 1.9201025515878876 + }, + { + "action_description": "关键帧 4/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 81, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.7 + }, + { + "action_description": "关键帧 5/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 6/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 115, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.8290417162479384 + }, + { + "action_description": "关键帧 7/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 130, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4.333333333333333 + }, + { + "action_description": "关键帧 8/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 196, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.519417965856547 + }, + { + "action_description": "关键帧 9/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.557612950145348 + }, + { + "action_description": "关键帧 10/10 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 260, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.666666666666666 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..cb0da1a378abc652f055567fdc10bdd8ac6dbe02 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,158 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 25, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8333333333333334 + }, + { + "action_description": "关键帧 3/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 39, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 1.3 + }, + { + "action_description": "关键帧 4/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 60, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2 + }, + { + "action_description": "关键帧 5/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 6/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 96, + "progress": 22, + "progress_explanation": "", + "state_description": "", + "time": 3.2 + }, + { + "action_description": "关键帧 7/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 113, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 3.7666666666666666 + }, + { + "action_description": "关键帧 8/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 118, + "progress": 34, + "progress_explanation": "", + "state_description": "", + "time": 3.918220496878358 + }, + { + "action_description": "关键帧 9/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 132, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.4 + }, + { + "action_description": "关键帧 10/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 148, + "progress": 21, + "progress_explanation": "", + "state_description": "", + "time": 4.9344736516883065 + }, + { + "action_description": "关键帧 11/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 170, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 5.657142561775379 + }, + { + "action_description": "关键帧 12/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + }, + { + "action_description": "关键帧 13/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 219, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 7.3 + }, + { + "action_description": "关键帧 14/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 233, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.757399081715941 + }, + { + "action_description": "关键帧 15/15 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 263, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.766666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..3c2fdad415cef4e37d0dfab21a41d8400e5f7a57 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,218 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 2, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.06227544413944272 + }, + { + "action_description": "关键帧 2/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.9 + }, + { + "action_description": "关键帧 3/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 64, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.1333333333333333 + }, + { + "action_description": "关键帧 4/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 91, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.033333333333333 + }, + { + "action_description": "关键帧 5/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 104, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.466666666666667 + }, + { + "action_description": "关键帧 6/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 117, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 3.9077841197500307 + }, + { + "action_description": "关键帧 7/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 142, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.733333333333333 + }, + { + "action_description": "关键帧 8/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 157, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 5.233333333333333 + }, + { + "action_description": "关键帧 9/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 169, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.635927694619567 + }, + { + "action_description": "关键帧 10/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 177, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 5.900598332212198 + }, + { + "action_description": "关键帧 11/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 192, + "progress": 24, + "progress_explanation": "", + "state_description": "", + "time": 6.4 + }, + { + "action_description": "关键帧 12/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 213, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 7.1 + }, + { + "action_description": "关键帧 13/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 227, + "progress": 42, + "progress_explanation": "", + "state_description": "", + "time": 7.566666666666666 + }, + { + "action_description": "关键帧 14/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 242, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 8.066666666666666 + }, + { + "action_description": "关键帧 15/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 256, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.533333333333333 + }, + { + "action_description": "关键帧 16/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 265, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 8.833333333333334 + }, + { + "action_description": "关键帧 17/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 289, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 9.633333333333333 + }, + { + "action_description": "关键帧 18/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 312, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 10.4 + }, + { + "action_description": "关键帧 19/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 330, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11 + }, + { + "action_description": "关键帧 20/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 338, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 11.266666666666667 + }, + { + "action_description": "关键帧 21/21 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 363, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 12.1 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..97c0d890a46465c1e494647cc9759268edb8859a --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,148 @@ +{ + "task_description": "将水瓶放入黑色纸箱中，再把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近水瓶:10%\n爪夹抓取水瓶:20%\n爪夹抓住水瓶接近黑色纸箱:30%\n爪夹将水瓶放在黑色纸箱中:40%\n爪夹松开,水瓶落在黑色纸箱中:50%\n爪夹靠近小型机械臂:60%\n爪夹抓取小型机械臂:70%\n爪夹抓住小型机械臂接近黄色纸箱:80%\n爪夹将小型机械臂放在黄色纸箱中:90%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 26, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 48, + "progress": 10, + "progress_explanation": "", + "state_description": "", + "time": 1.6 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 65, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 2.1666666666666665 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 78, + "progress": 8, + "progress_explanation": "", + "state_description": "", + "time": 2.6 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 101, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 3.3666666666666667 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 127, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.233333333333333 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 151, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.033333333333333 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 187, + "progress": 50, + "progress_explanation": "", + "state_description": "", + "time": 6.233333333333333 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 198, + "progress": 70, + "progress_explanation": "", + "state_description": "", + "time": 6.6 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 224, + "progress": 80, + "progress_explanation": "", + "state_description": "", + "time": 7.466666666666667 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 241, + "progress": 90, + "progress_explanation": "", + "state_description": "", + "time": 8.040590114406609 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 280, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.333333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..eb9b92328c37b1a621fb6cbddc6acfa34a61fdbb --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-050817-put-robotic arm-black-box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,148 @@ +{ + "task_description": "将水瓶放入黑色纸箱中，再把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近水瓶:10%\n爪夹抓取水瓶:20%\n爪夹抓住水瓶接近黑色纸箱:30%\n爪夹将水瓶放在黑色纸箱中:40%\n爪夹松开,水瓶落在黑色纸箱中:50%\n爪夹靠近小型机械臂:60%\n爪夹抓取小型机械臂:70%\n爪夹抓住小型机械臂接近黄色纸箱:80%\n爪夹将小型机械臂放在黄色纸箱中:90%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.7666666666666667 + }, + { + "action_description": "关键帧 3/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 61, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.033333333333333 + }, + { + "action_description": "关键帧 4/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 88, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 2.933333333333333 + }, + { + "action_description": "关键帧 5/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 106, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 3.533333333333333 + }, + { + "action_description": "关键帧 6/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 128, + "progress": 25, + "progress_explanation": "", + "state_description": "", + "time": 4.266666666666667 + }, + { + "action_description": "关键帧 7/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 195, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 6.5 + }, + { + "action_description": "关键帧 8/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 205, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 6.833333333333333 + }, + { + "action_description": "关键帧 9/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 215, + "progress": 15, + "progress_explanation": "", + "state_description": "", + "time": 7.166666666666667 + }, + { + "action_description": "关键帧 10/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 11/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 262, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 8.733333333333333 + }, + { + "action_description": "关键帧 12/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 281, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 9.366666666666667 + }, + { + "action_description": "关键帧 13/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 292, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 9.733333333333333 + }, + { + "action_description": "关键帧 14/14 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 328, + "progress": 100, + "progress_explanation": "", + "state_description": "", + "time": 10.933333333333334 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-051958-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-051958-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..3cfba96957f7447951fa7a27ecebfa15975ebccd --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-051958-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 32, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-051958-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-051958-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b2f6ba8e56a2d08044a873ee78c28e322d2741d0 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-051958-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,98 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.8 + }, + { + "action_description": "关键帧 3/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 55, + "progress": 60, + "progress_explanation": "", + "state_description": "", + "time": 1.8333333333333333 + }, + { + "action_description": "关键帧 4/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 77, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 2.566666666666667 + }, + { + "action_description": "关键帧 5/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 114, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 3.8 + }, + { + "action_description": "关键帧 6/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 126, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 4.2 + }, + { + "action_description": "关键帧 7/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 138, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 4.6 + }, + { + "action_description": "关键帧 8/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 143, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.766666666666667 + }, + { + "action_description": "关键帧 9/9 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 164, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 5.466666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-051958-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-051958-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a278f514ac21be8506b635c9e2813b31a58c0930 --- /dev/null +++ b/annotation_files_raw/0116/project-3/ARX-data/human-data-1230-5cameras/20251230-songjiaqi/20251230-051958-put-robotic arm-black-box-bad/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,168 @@ +{ + "task_description": "把小型机械臂放入黄色纸箱中：\n开始移动:0%\n爪夹靠近小型机械臂:20%\n爪夹抓取小型机械臂:40%\n爪夹抓住小型机械臂接近黄色纸箱:60%\n爪夹将小型机械臂放在黄色纸箱中:80%\n爪夹松开,小型机械臂落在黄色纸箱中:100%", + "progress_points": [ + { + "action_description": "关键帧 1/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0 + }, + { + "action_description": "关键帧 2/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 17, + "progress": 0, + "progress_explanation": "", + "state_description": "", + "time": 0.5666666666666667 + }, + { + "action_description": "关键帧 3/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 70, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 2.3333333333333335 + }, + { + "action_description": "关键帧 4/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 103, + "progress": 38, + "progress_explanation": "", + "state_description": "", + "time": 3.433333333333333 + }, + { + "action_description": "关键帧 5/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 122, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 4.1 + }, + { + "action_description": "关键帧 6/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 146, + "progress": 40, + "progress_explanation": "", + "state_description": "", + "time": 4.866666666666666 + }, + { + "action_description": "关键帧 7/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 182, + "progress": 45, + "progress_explanation": "", + "state_description": "", + "time": 6.066666666666666 + }, + { + "action_description": "关键帧 8/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 194, + "progress": 20, + "progress_explanation": "", + "state_description": "", + "time": 6.466666666666667 + }, + { + "action_description": "关键帧 9/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 236, + "progress": 35, + "progress_explanation": "", + "state_description": "", + "time": 7.866666666666666 + }, + { + "action_description": "关键帧 10/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 255, + "progress": 30, + "progress_explanation": "", + "state_description": "", + "time": 8.5 + }, + { + "action_description": "关键帧 11/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 278, + "progress": 36, + "progress_explanation": "", + "state_description": "", + "time": 9.266666666666667 + }, + { + "action_description": "关键帧 12/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 303, + "progress": -5, + "progress_explanation": "", + "state_description": "", + "time": 10.1 + }, + { + "action_description": "关键帧 13/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 328, + "progress": -10, + "progress_explanation": "", + "state_description": "", + "time": 10.933333333333334 + }, + { + "action_description": "关键帧 14/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 348, + "progress": -20, + "progress_explanation": "", + "state_description": "", + "time": 11.6 + }, + { + "action_description": "关键帧 15/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 368, + "progress": 5, + "progress_explanation": "", + "state_description": "", + "time": 12.266666666666667 + }, + { + "action_description": "关键帧 16/16 (自动生成-kinematics)", + "correction_plan": "", + "error_success_analysis": "", + "frame": 389, + "progress": 6, + "progress_explanation": "", + "state_description": "", + "time": 12.966666666666667 + } + ], + "tags": [], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file