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"爪夹保持张开状态，已完成爪夹抓取塑料瓶放进塑料盆里的任务。 \n为完成爪夹抓取塑料瓶放进塑料盆里的任务应当:爪夹抓取塑料瓶在塑料盆正上方位置松开爪夹，塑料瓶掉入塑料盆中。", + "time": 24.2935570128866 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766111233961", + "name": "塑料瓶" + }, + { + "color": "#2196F3", + "id": "bbox_1766111637305", + "name": "塑料盆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766111647736", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766111658713", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1128/20251126-171831-mix-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000007.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1128/20251126-171831-mix-medicine bottle-delivery box/annotations/chunk-000/observation.images.front/episode_000007.json new file mode 100644 index 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box/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..7557b19c3c1f2ff45fa8b0f396692a29f8de8939 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1128/20251126-173905-mix-red square - express box/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,534 @@ +{ + "task_description": "爪夹抓取红色方块放入空纸箱内。\n爪夹开始移动：0%\n爪夹靠近红色方块:30%\n爪夹成功夹起红色方块:50%\n爪夹抓取红色方块移动至纸箱的正上方位置:80%\n爪夹松开，红色方块落入纸箱内:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766132219814": { + "instances": [ + { + "height": 0.0750713994288045, + "id": "bbox_1766132219814_1766132256053_ek0nl7cyp", + "width": 0.04773561811505509, + "x": 0.48225214198286415, + "y": 0.5679314565483476 + } + ], + "type": "bbox" + }, + "bbox_1766132230053": { + "instances": [ + { + "height": 0.4259485924112607, + "id": "bbox_1766132230053_1766132260404_2vmxcz6sq", + 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"progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766137784124": { + "instances": [ + { + "height": 0.10118319053447576, + "id": "bbox_1766137784124_1766137820884_38oxusx4u", + "width": 0.04651162790697674, + "x": 0.5973072215422277, + "y": 0.4667482660138719 + } + ], + "type": "bbox" + }, + "bbox_1766137791578": { + "instances": [ + { + "height": 0.481436148510812, + "id": "bbox_1766137791578_1766137824716_zct16p6ag", + "width": 0.6793145654834761, + "x": 0.006119951040391675, + "y": 0.47490820073439416 + } + ], + "type": "bbox" + }, + "point_1766137798364": { + "instances": [ + { + "id": "point_1766137798364_1766137827971_5o4u54ept", + "x": 0.39167686658506734, + "y": 0.3998368013055896 + } + ], + "type": "point" + }, + "point_1766137807172": { + "instances": [ + { + "id": "point_1766137807172_1766137831474_ecbvh5wmx", + "x": 0.4932680538555692, + "y": 0.3753569971440228 + } + ], + "type": "point" + } + }, + "correction_plan": 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} + }, + "correction_plan": "松开爪夹，药瓶成功落入托盘中。", + "error_success_analysis": "爪夹抓取药瓶向爪夹方向的右前方移动至托盘的正上方位置，以便药瓶成功落入托盘里。", + "frame": 781, + "progress": 60, + "progress_explanation": "目前爪夹抓取药瓶向爪夹方向的右前方移动至托盘的正上方位置，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，爪夹抓取药瓶移动至托盘正上方。\n为完成夹起药瓶使其放入托盘里的任务应当:爪夹抓取药瓶在托盘里，松开爪夹，药瓶落入托盘里。", + "time": 26.02922459847522 + }, + { + "action_description": "爪夹松开，药瓶成功落入托盘中。", + "annotations": { + "bbox_1766137784124": { + "instances": [ + { + "height": 0.11260709914320668, + "id": "bbox_1766137784124_1766138610210_394bfk04e", + "width": 0.059975520195838426, + "x": 0.35006119951040393, + "y": 0.6723786209710324 + } + ], + "type": "bbox" + }, + "bbox_1766137791578": { + "instances": [ + { + "height": 0.5059159526723787, + "id": "bbox_1766137791578_1766138606826_9ofzk4dj6", + "width": 0.6731946144430845, + "x": 0.006119951040391677, + "y": 0.4749082007343942 + } + ], + "type": "bbox" + }, + "point_1766137798364": { + "instances": [ + { + "id": 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\ No newline at end of file diff --git a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1128/20251126-180401-mix-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1128/20251126-180401-mix-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..b164a3638d646e5c1f27578e6813687df69ee4da --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1128/20251126-180401-mix-medicine bottle-rice cooker/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,836 @@ +{ + "task_description": "爪夹抓取药瓶放进米饭锅里。\n爪夹开始移动:0%\n爪夹靠近药瓶:20%\n爪夹夹取药瓶：40%\n爪夹夹取药瓶移动靠近米饭锅:60%\n爪夹移动药瓶至米饭锅的正上方位置:80%\n爪夹松开，药瓶掉金米饭锅里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 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"目前爪夹处于初始状态，准备开始移动，所以任务进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触药瓶。\n为完成夹起药瓶使其放入米饭锅里的任务应当:调整爪夹角度使其垂直于桌面，然后向爪夹方向的左侧移动至药瓶上方，准备抓取药瓶。", + "time": 1.9543298969072165 + }, + { + "action_description": "爪夹调整爪夹角度使其爪夹垂直于桌面，然后向爪夹方向左侧移动靠近药瓶。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 0.09866666666666664, + "id": "bbox_1766380292584_1766380401719_rxgnyjmf1", + "width": 0.06699999999999999, + "x": 0.4965, + "y": 0.4493333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766380299512": { + "instances": [ + { + "height": 0.29066666666666674, + "id": "bbox_1766380299512_1766380397471_8qu8c54t9", + "width": 0.227, + "x": 0.0995, + "y": 0.32133333333333336 + } + ], + "type": "bbox" + }, + "point_1766380306784": { + "instances": [ + { + "id": "point_1766380306784_1766380405229_mbr4ckg1o", + "x": 0.5185000000000001, + "y": 0.49600000000000005 + } + ], + "type": "point" + } + }, + "correction_plan": 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"bbox" + }, + "point_1766380306784": { + "instances": [ + { + "id": "point_1766380306784_1766380812830_smun0t2i4", + "x": 0.3195, + "y": 0.5213333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "抓取药瓶后向爪夹方向的右侧移动，直至到达米饭锅的正上方，下降松开爪夹，然后药瓶落入米饭锅中。", + "error_success_analysis": "爪夹再次调整爪夹角度，使其爪夹处在药瓶的正上方位置以便抓取药瓶。", + "frame": 563, + "progress": 20, + "progress_explanation": "目前爪夹再次调整爪夹角度，使其爪夹处在药瓶的正上方位置以方便抓取药瓶，因此进度重新提升为20%。", + "state_description": "当前状态为爪夹打开，再次移动重新靠近药瓶。\n为完成夹起药瓶使其放入米饭锅里的任务应当:爪夹合拢抓取药瓶后抬升至空中。", + "time": 18.774742268041237 + }, + { + "action_description": "爪夹合拢抓取药瓶。", + "annotations": { + "bbox_1766380292584": { + "instances": [ + { + "height": 0.09200000000000011, + "id": "bbox_1766380292584_1766380858732_d9cc1mcsx", + "width": 0.073, + "x": 0.2695, + "y": 0.4933333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766380299512": { + "instances": [ + { + "height": 0.29066666666666674, + "id": "bbox_1766380299512_1766380853860_9oayd6q3u", + "width": 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--- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1128/20251126-182720-mix-medicine bottle-round container/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,584 @@ +{ + "task_description": "爪夹抓取药瓶放进塑料盆里。\n爪夹开始移动:0%\n爪夹靠近药瓶:30%\n爪夹夹取药瓶：50%\n爪夹夹取药瓶移动至塑料盆上方:80%\n爪夹松开，药瓶掉进塑料盆里:100%.", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766393228276": { + "instances": [ + { + "height": 0.06266666666666669, + "id": "bbox_1766393228276_1766393263544_p6wc6xg92", + "width": 0.07400000000000011, + "x": 0.6745, + "y": 0.3893333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766393233440": { + "instances": [ + { + "height": 0.2826666666666667, + "id": "bbox_1766393233440_1766393266769_2wshzwjrj", + "width": 0.36199999999999993, + "x": 0.31250000000000006, + "y": 0.7080000000000001 + } + ], + "type": "bbox" + }, + "point_1766393240785": { + "instances": [ + { + "id": 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"error_success_analysis": "爪夹打开，重新调整角度，向下移动至药瓶的正上方，方便抓取药瓶。", + "frame": 602, + "progress": 30, + "progress_explanation": "目前爪夹再次调整角度，爪夹向下移动至药瓶的正上方，方便抓取药瓶，因此进度再次提升为30%。", + "state_description": "当前状态为爪夹打开，爪夹微微下降移动至药瓶的正上方。\n为完成夹起药瓶使其放入塑料盆里的任务应当:爪夹抓取药瓶后抬升至空中，然后向爪夹方向前方移动。", + "time": 20.064358 + }, + { + "action_description": "爪夹合拢抓取药瓶后微微抬升。", + "annotations": { + "bbox_1766393228276": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766393228276_1766393579282_mco4bd71y", + "x": 0.6744999999999999, + "y": 0.3813333333333333, + "width": 0.07600000000000007, + "height": 0.07599999999999991 + } + ] + }, + "bbox_1766393233440": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766393233440_1766393573130_2r90zsgqx", + "x": 0.31450000000000006, + "y": 0.7066666666666668, + "width": 0.363, + "height": 0.2893333333333332 + } + ] + }, + "point_1766393240785": { + "type": "point", + "instances": [ + { + "id": "point_1766393240785_1766393581497_r5elczrke", + "x": 0.6995, + "y": 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"point" + }, + "point_1766393246425": { + "instances": [ + { + "id": "point_1766393246425_1766393657072_7rajbfba9", + "x": 0.5385, + "y": 0.7613333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "至此整个任务成功完成。", + "error_success_analysis": "爪夹是在塑料盆的正上方位置张开爪夹的，所以药瓶成功落入塑料盆中。", + "frame": 782, + "progress": 100, + "progress_explanation": "爪夹松开，药瓶成功掉入塑料盆中，所以任务进度为100%。", + "state_description": "当前状态为爪夹打开，已完成爪夹抓取药瓶放进塑料盆中的任务。\n为完成夹起药瓶使其放入塑料盆里的任务应当:松开爪夹，药瓶落入塑料盆里。", + "time": 26.078196187113402 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766393228276", + "name": "药瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1766393233440", + "name": "塑料盆" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766393240785", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766393246425", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..59afb81695d11e7b47466f1f519c4a32d17bf980 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1128/20251126-183321-mix-red-square-rice-cooker/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,764 @@ +{ + "task_description": "将红色方块放入电饭煲的内锅中。\n爪夹开始移动:0%\n爪夹靠近红色方块:20%\n爪夹抓取红色方块:40%\n爪夹移动红色方块：60%\n爪夹将红色方块放进电饭煲的内锅里：80%\n爪夹松开，红色方块掉进电饭煲的内锅里:100%", + "progress_points": [ + { + "action_description": "爪夹保持张开状态，暂未移动。", + "annotations": { + "bbox_1766458851486": { + "type": "bbox", + "instances": [ + { + "id": 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"目前爪夹处于初始状态，准备开始移动，没有靠近红色方块，任务进度为0%。", + "state_description": "当前状态为爪夹打开，准备开始移动。\n为完成爪夹抓取红色方块放进电饭煲的内锅里的任务应当:调整爪夹角度使其垂直于桌面，然后向爪夹方向的左侧移动至红色方块上方。", + "time": 2.034707930412371 + }, + { + "action_description": "爪夹首先调整爪夹角度使其爪夹垂直于桌面，然后向爪夹方向左侧移动至红色方块的上方位置。", + "correction_plan": "抓取红色方块后微微抬升至空中，然后向爪夹方向的右侧移动，直至到达电饭煲的内锅的正上方，下降松开爪夹，然后红色方块落入电饭煲的内锅里。", + "error_success_analysis": "爪夹首先调整爪夹角度使其爪夹垂直于桌面，然后向爪夹方向左侧移动至红色方块的上方位置，方便爪夹成功抓取红色方块。", + "frame": 199, + "progress": 20, + "progress_explanation": "目前爪夹首先调整爪夹角度，使其垂直于桌面，然后向爪夹左侧移动靠近红色方块，方便抓取红色方块，因此进度提升为20%。", + "state_description": "当前状态为爪夹打开，靠近红色方块。\n为完成爪夹抓取红色方块放进电饭煲的内锅中的任务应当:爪夹合拢抓取红色方块并抬升至空中。", + "time": 6.629209708762887, + "annotations": { + "bbox_1766458863663": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766458863663_1766546260639_yb60q8poz", + "x": 0.21150000000000002, + "y": 0.3253333333333333, + "width": 0.22400000000000003, + "height": 0.3026666666666667 + } + ] + }, + "bbox_1766458851486": { + "type": "bbox", + "instances": [ + 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"当前状态为爪夹打开，靠近插座。\n为完成爪夹抓取插座放进米饭锅里的任务应当:爪夹合拢抓取插座后抬升至空中。", + "time": 5.628762886597937, + "annotations": { + "bbox_1766556368242": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556368242_1766556610828_g8kgtes8u", + "x": 0.1995, + "y": 0.5293333333333333, + "width": 0.254, + "height": 0.3413333333333333 + } + ] + }, + "bbox_1766556361562": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766556361562_1766556617204_b0zrq3jub", + "x": 0.48550000000000004, + "y": 0.6826666666666666, + "width": 0.12399999999999993, + "height": 0.10799999999999994 + } + ] + }, + "point_1766556375905": { + "type": "point", + "instances": [ + { + "id": "point_1766556375905_1766556619932_jeydfavrr", + "x": 0.5445, + "y": 0.7826666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢抓取插座后微微抬起并开始移动。", + "correction_plan": "爪夹抓取插座，向爪夹方向的右侧移动，直至到达米饭锅的正上方，松开爪夹，然后插座落入米饭锅中。", + "error_success_analysis": "插座已被抓取抬升至空中并开始向爪夹方向的右侧移动。", + "frame": 248, + "progress": 50, + 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b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251129-190326-bad-corn-bowl/annotations/chunk-000/observation.images.front/episode_000001.json @@ -0,0 +1,688 @@ +{ + "task_description": "把玉米放进碗里。\n爪夹开始移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓住玉米并接近碗：60%\n爪夹将玉米放入碗中：80%\n爪夹松开，使玉米落入碗中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766630222660": { + "instances": [ + { + "height": 0.22533331499566125, + "id": "bbox_1766630222660_1766630241783_6pj3mzzxs", + "width": 0.18999998840332086, + "x": 0.4976665956014041, + "y": 0.4031295956925785 + } + ], + "type": "bbox" + }, + "bbox_1766630222805": { + "instances": [ + { + "height": 0.1786666521267372, + "id": "bbox_1766630222805_1766630246029_7fc905ntj", + "width": 0.077999995239258, + "x": 0.6196665881551155, + "y": 0.5751295816951838 + } + ], + "type": "bbox" + }, + "point_1766630223564": { + "instances": [ + { + "id": "point_1766630223564_1766630248715_n3rz6jff6", + 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plate/annotations/chunk-000/observation.images.front/episode_000018.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251130-143350-mix-lettuce- diamond-shaped plate/annotations/chunk-000/observation.images.front/episode_000018.json new file mode 100644 index 0000000000000000000000000000000000000000..1dc3ec88029d1b7f40709fa7f13ee980542db194 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251130-143350-mix-lettuce- diamond-shaped plate/annotations/chunk-000/observation.images.front/episode_000018.json @@ -0,0 +1,694 @@ +{ + "task_description": "拿起生菜，把它放在菱形盘子里：\n爪夹开始移动：0%\n爪夹靠近生菜：20%\n爪夹抓取生菜：40%\n爪夹抓住生菜并接近菱形盘子：60%\n爪夹将生菜放入菱形盘子中：80%\n爪夹松开，使生菜落入菱形盘子中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766635121670": { + "instances": [ + { + "height": 0.3426666387803843, + "id": "bbox_1766635121670_1766635142748_9utjqatxd", + "width": 0.24699998492431732, + "x": 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{ + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1766195004701": { + "instances": [ + { + "height": 0.5586666666666669, + "id": "bbox_1766195004701_1766195018927_6o8x5551i", + "width": 0.4290000000000001, + "x": 0.5225, + "y": 0.3906666666666666 + } + ], + "type": "bbox" + }, + "point_1766194989299": { + "instances": [ + { + "id": "point_1766194989299_1766195027854_8e74vjn6o", + "x": 0.3645, + "y": 0.4 + } + ], + "type": "point" + }, + "point_1766194995621": { + "instances": [ + { + "id": "point_1766194995621_1766195030980_my5er1c00", + "x": 0.4685, + "y": 0.396 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前方的烤箱门靠近，调整爪夹角度接近垂直于桌面。爪夹垂直向下靠近烤箱门，接着爪夹向爪夹左前方边的烤箱口接近，并垂直升高推动烤箱门，烤箱门运动到更容易推动的半空中时，爪夹向爪夹右移动，重新调整爪夹高度，接着爪夹向爪夹左推动烤箱门向爪夹左前方烤箱口推动，关闭烤箱门。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。进度为0%。", + "state_description": "当前为初始状态，爪夹张开，未开始移动。\n为完成关闭烤箱门的任务应当：爪夹向爪夹左前方的烤箱门靠近，调整爪夹角度接近垂直于桌面。", + 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"爪夹向爪夹左侧移动，调整爪夹角度接近与桌子水平。在距离上更加远离了盘子。", + "frame": 223, + "progress": 0, + "progress_explanation": "爪夹远离了盘子，角度与桌子接近水平，与初始状态时后续规划步骤一样，因此进度降低为0%。", + "state_description": "爪夹张开，爪夹角度与桌面接近水平，远离了盘子。\n为完成抓取盘子使盘子落入烤箱的任务应当：爪夹向爪夹右测移动到盘子右侧边缘的正上方。并调整爪夹角度接近垂直于桌面。", + "time": 7.423433, + "annotations": { + "point_1766473632461": { + "type": "point", + "instances": [ + { + "id": "point_1766473632461_1766473838827_8xjirrpo6", + "x": 0.4845, + "y": 0.2786666666666667 + } + ] + }, + "point_1766473637725": { + "type": "point", + "instances": [ + { + "id": "point_1766473637725_1766473841371_dv1yesfbj", + "x": 0.5055, + "y": 0.308 + } + ] + }, + "bbox_1766473618101": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766473618101_1766473846847_a08psogjv", + "x": 0.0695, + "y": 0.4066666666666667, + "width": 0.242, + "height": 0.27733333333333327 + } + ] + }, + "bbox_1766473624046": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766473624046_1766473860747_pcxtzfas9", + "x": 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a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251202-105247-bad-big yellow cylindrical building block/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251202-105247-bad-big yellow cylindrical building block/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..b417465727bca18e2d4a56ebcaf17f72f0298473 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251202-105247-bad-big yellow cylindrical building block/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,506 @@ +{ + "task_description": "抓取黄色圆柱插入对应孔洞落入铁盒里：\n准备开始移动：0%\n爪夹靠近黄色圆柱：20%\n爪夹抓取黄色圆柱：40%\n爪夹抓紧黄色圆柱接近铁盒：60%\n爪夹将黄色圆柱插入对应孔洞：80%\n爪夹松开黄色圆柱落入铁盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1766484202716": { + 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blocks/annotations/chunk-000/observation.images.front/episode_000016.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251202-110940-good-small green cylindrical building blocks/annotations/chunk-000/observation.images.front/episode_000016.json new file mode 100644 index 0000000000000000000000000000000000000000..1952d94740774b6080210d6a0182305ea901b792 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251202-110940-good-small green cylindrical building blocks/annotations/chunk-000/observation.images.front/episode_000016.json @@ -0,0 +1,360 @@ +{ + "task_description": "抓取绿色圆柱放入铁盒里：\n准备开始移动：0%\n爪夹靠近绿色圆柱：20%\n爪夹抓取绿色圆柱：40%\n爪夹抓紧绿色圆柱接近铁盒：60%\n爪夹将绿色圆柱插入铁盒对应孔洞：80%\n爪夹松开绿色圆柱落入铁盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备开始移动。", + "correction_plan": "爪夹向爪夹左前方的绿色圆柱移动，同时调整爪夹的角度使其垂直与桌面，并移动到绿色圆柱的正上方。接着落下爪夹靠近绿色圆柱，接近绿色圆柱后爪夹合拢抓取绿色圆柱。抓紧绿色圆柱垂直升高爪夹并向爪夹左后方的铁盒接近，水平到达铁盒的正上方后将绿色圆柱插入对应孔洞，松开爪夹，使绿色圆柱落入铁盒。", + 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diff --git a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251202-114128-bad-round plate-microwave/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251202-114128-bad-round plate-microwave/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..d2acb540200653f63701cbaead45e840c615a22a --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251202-114128-bad-round plate-microwave/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,704 @@ +{ + "task_description": "抓取盘子放入烤箱里：\n准备开始移动：0%\n爪夹靠近盘子：20%\n爪夹抓取盘子：40%\n爪夹抓紧盘子接近烤箱：60%\n爪夹将盘子放入烤箱：80%\n爪夹松开盘子落入烤箱：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1766547210635": { + "instances": [ + { + "height": 0.24799999999999997, + "id": 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"抓起装有生菜的盘子并放入微波炉:\n开始移动:0%\n爪夹靠近装有生菜的盘子:20%\n爪夹抓取装有生菜的盘子:40%\n爪夹抓住装有生菜的盘子接近微波炉:60%\n爪夹将装有生菜的盘子放入微波炉:80%\n爪夹松开，装有生菜的盘子在微波炉内:100%", + "progress_points": [ + { + "action_description": "爪夹为打开状态，准备开始移动。\n", + "annotations": { + "bbox_1766115498155": { + "instances": [ + { + "height": 0.2533333333333332, + "id": "bbox_1766115498155_1766115554987_lx7i0spac", + "width": 0.23000001403808676, + "x": 0.11481818327747699, + "y": 0.29535227457682295 + } + ], + "type": "bbox" + }, + "bbox_1766115513186": { + "instances": [ + { + "height": 0.7946666666666667, + "id": "bbox_1766115513186_1766115634723_3yz7da3ws", + "width": 0.5170000315551777, + "x": 0.4818182056773807, + "y": 0.15801894124348959 + } + ], + "type": "bbox" + }, + "point_1766115520626": { + "instances": [ + { + "id": "point_1766115520626_1766115583162_ifq01f9kb", + "x": 0.408818201221814, + "y": 0.4006856079101562 + } + ], + "type": "point" + }, + "point_1766115528858": { + "instances": [ + { + "id": 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0000000000000000000000000000000000000000..ae965eb0bb4ada969964c859d29144ab066660e1 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251202-180736-mix-plate-eggplant-microwave/annotations/chunk-000/observation.images.front/episode_000016.json @@ -0,0 +1,862 @@ +{ + "task_description": "抓起装有茄子的盘子并放入微波炉:\n开始移动:0%\n爪夹靠近装有茄子的盘子:20%\n爪夹抓取装有茄子的盘子:40%\n爪夹抓住装有茄子的盘子接近微波炉:60%\n爪夹将装有茄子的盘子放入微波炉:80%\n爪夹松开，装有茄子的盘子在微波炉内:100%", + "progress_points": [ + { + "action_description": "爪夹为打开状态，准备开始移动。", + "annotations": { + "bbox_1766199123098": { + "instances": [ + { + "height": 0.3106666666666667, + "id": "bbox_1766199123098_1766199166274_q6s275gf9", + "width": 0.259, + "x": 0.1875, + "y": 0.6573333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766199123898": { + "instances": [ + { + "height": 0.8119999999999999, + "id": "bbox_1766199123898_1766199179098_nst11ws73", + "width": 0.5139999999999999, + "x": 0.48450000000000004, + "y": 0.16 + } + ], + "type": "bbox" + 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+ "state_description": "当前爪夹张开，与水平方向呈60度角。为完成抓起装有茄子的盘子，使其放入微波炉内的任务应当:继续调整爪夹角度直到垂直于桌面，继续向爪夹方向的右方移动直至装有茄子盘子的正上方。", + "time": 3.5128888426666665 + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，并调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1766199123098": { + "instances": [ + { + "height": 0.3146666666666666, + "id": "bbox_1766199123098_1766199282410_vw5gb9lz3", + "width": 0.261, + "x": 0.1865, + "y": 0.6573333333333334 + } + ], + "type": "bbox" + }, + "bbox_1766199123898": { + "instances": [ + { + "height": 0.8066666666666668, + "id": "bbox_1766199123898_1766199296666_gvu8qclmw", + "width": 0.514, + "x": 0.48250000000000004, + "y": 0.16266666666666665 + } + ], + "type": "bbox" + }, + "point_1766199124834": { + "instances": [ + { + "id": "point_1766199124834_1766199271586_gt5qr5o04", + "x": 0.24250000000000002, + "y": 0.5773333333333334 + } + ], + "type": "point" + }, + "point_1766199125250": { + "instances": [ + { + "id": "point_1766199125250_1766199275210_pmrn4mmus", + "x": 0.3415, + 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a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-105859-good-tripod-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-105859-good-tripod-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..3eca157d35afd55dc509b56eaa342a57324b9fb5 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-105859-good-tripod-delivery box/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,570 @@ +{ + "task_description": "抓起三脚架并放入快递箱中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近快递箱:60%\n爪夹将三脚架放入快递箱:80%\n爪夹松开，三脚架在快递箱内中:100%", + "progress_points": [ + { + "action_description": "爪夹为打开状态，准备开始移动。", + "annotations": { + "bbox_1766218738706": { + "instances": [ + { + "height": 0.17466666666666672, + "id": 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b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-112003-mix-tripod-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..e8ecc0d6321d2e2b9b63c37e6f29f4479aacbb13 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-112003-mix-tripod-delivery box/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,996 @@ +{ + "task_description": "抓起三脚架并放入快递箱中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近快递箱:60%\n爪夹将三脚架放入快递箱:80%\n爪夹松开，三脚架在快递箱中:100%", + "progress_points": [ + { + "action_description": "爪夹为打开状态，准备开始移动。\n", + "annotations": { + "bbox_1766385458297": { + "instances": [ + { + "height": 0.12000000000000005, + "id": "bbox_1766385458297_1766385499161_y0cyiot9k", + "width": 0.11599999999999992, + "x": 0.6885000000000001, + "y": 0.28933333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766385458985": 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a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-114457-bad-tripof-rice cooker/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-114457-bad-tripof-rice cooker/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a86aac2cade0e6644862a77ab3bf7fdbc2eb9b20 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-114457-bad-tripof-rice cooker/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,646 @@ +{ + "task_description": "抓起三脚架并将其放入电饭煲的内锅中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近电饭煲的内锅:60%\n爪夹将三脚架放入电饭煲的内锅:80%\n爪夹松开，三脚架在电饭煲的内锅中:100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备开始移动。", + "annotations": { + "bbox_1766555599381": { + "instances": [ + { + "height": 0.15200000000000005, + "id": 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cooker/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-134801-good-tripof-rice cooker/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..3384c48b7cd0932048be01ea4cd24ec4378d0a49 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-134801-good-tripof-rice cooker/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,506 @@ +{ + "task_description": "抓起三脚架并将其放入电饭煲的内锅中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近电饭煲的内锅:60%\n爪夹将三脚架放入电饭煲的内锅:80%\n爪夹松开，三脚架在电饭煲的内锅中:100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备开始移动。", + "annotations": { + "bbox_1766560376336": { + "instances": [ + { + "height": 0.17866666666666664, + "id": "bbox_1766560376336_1766560570134_3v9to4cbu", + "width": 0.079, + "x": 0.2455, + "y": 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cooker/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..627c5b9a048b9ce22f4410e28ca27dad38fe8a41 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-141110-mix-tripof-rice cooker/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,958 @@ +{ + "task_description": "抓起三脚架并将其放入电饭煲的内锅中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近电饭煲的内锅:60%\n爪夹将三脚架放入电饭煲的内锅:80%\n爪夹松开，三脚架在电饭煲的内锅中:100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备开始移动。", + "annotations": { + "bbox_1766566835159": { + "instances": [ + { + "height": 0.14666666666666667, + "id": "bbox_1766566835159_1766566880431_sp0vq078m", + "width": 0.09400000000000004, + "x": 0.3245, + "y": 0.3266666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766566835599": { + "instances": [ + { + "height": 0.25733333333333336, + "id": 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"bbox_1766566835159", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1766566835599", + "name": "电饭煲的内锅" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766566836775", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766566837167", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-143000-good-tripof-round container/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-143000-good-tripof-round container/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..860da4ca04141adc210d5efd36390be5e53a9a48 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-143000-good-tripof-round container/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,560 @@ +{ + "task_description": "抓起三脚架并将其放入透明塑料圆形容器中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近透明塑料圆形容器:60%\n爪夹将三脚架放入透明塑料圆形容器:80%\n爪夹松开，三脚架在透明塑料圆形容器中:100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备开始移动。", + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至三脚架处于透明塑料圆形容器正上方。下降将三脚架放入透明塑料圆形容器中，爪夹张开。", + "error_success_analysis": "", + "frame": 70, + "progress": 0, + "progress_explanation": "目前爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有触碰三脚架。\n为完成抓起三脚架使其放进透明塑料圆形容器中的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左前方移动直至三脚架的正上方。", + "time": 2.322849143864598, + "annotations": { + "point_1766569782047": { + "type": "point", + "instances": [ + { + "id": "point_1766569782047_1766569800471_6ogw0amtm", + "x": 0.35750000000000004, + "y": 0.38666666666666666 + } + ] + }, + "point_1766569782759": { + "type": "point", + "instances": [ + { + "id": 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{ + "action_description": "爪夹向爪夹方向的左前方移动，并略微下降，调整爪夹角度，使其垂直于桌面。", + "correction_plan": "然后向爪夹方向的左侧移动，到达三脚架的正上方后下降，抓取三脚架后竖直上升，向爪夹方向的右前方移动，直至三脚架处于透明塑料圆形容器正上方。下降将三脚架放入透明塑料圆形容器中，爪夹张开。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，水平方向上更接近三脚架，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 132, + "progress": 15, + "progress_explanation": "较上一阶段相比，爪夹在水平方向上更接近三脚架，爪夹角度垂直于桌面，因此进度提升至15%。", + "state_description": "当前状态为爪夹打开，爪夹垂直于桌面，爪夹在水平方向上更加接近三脚架。\n为完成抓起三脚架使其放进透明塑料圆形容器中的任务应当:调整爪夹角度，使其垂直于桌面，然后向爪夹方向的左侧移动，准备抓取三脚架。", + "time": 4.391733, + "annotations": { + "point_1766569782047": { + "type": "point", + "instances": [ + { + "id": "point_1766569782047_1766569817671_hzv1zwv74", + "x": 0.47750000000000004, + "y": 0.5026666666666667 + } + ] + }, + "point_1766569782759": { + "type": "point", + "instances": [ + { + "id": "point_1766569782759_1766569820511_kecsabocd", + "x": 0.5815, + "y": 0.456 + } + ] + }, + "bbox_1766569771359": { + "type": "bbox", + "instances": [ + { + "id": 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"progress_explanation": "较上一步相比爪夹在水平方向上逐渐接近透明塑料圆形容器，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，垂直于桌面，在水平方向上接近了透明塑料圆形容器。\n为完成抓起三脚架使其放进透明塑料圆形容器中的任务应当:爪夹向爪夹方向的右前方移动，直至三脚架处于透明塑料圆形容器正上方。", + "time": 8.517113527503525, + "annotations": { + "point_1766569782759": { + "type": "point", + "instances": [ + { + "id": "point_1766569782759_1766569856151_85tc6fiz7", + "x": 0.2625, + "y": 0.4426666666666667 + } + ] + }, + "point_1766569782047": { + "type": "point", + "instances": [ + { + "id": "point_1766569782047_1766569859631_a7tnx9fh5", + "x": 0.2185, + "y": 0.42933333333333334 + } + ] + }, + "bbox_1766569771359": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766569771359_1766570067590_oreqnm2qc", + "x": 0.043500000000000004, + "y": 0.5293333333333333, + "width": 0.33599999999999997, + "height": 0.44399999999999995 + } + ] + }, + "bbox_1766569770903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766569770903_1766570163734_3mkvvz7gu", + "x": 0.1875, + "y": 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"爪夹打开，三脚架在透明塑料圆形容器中。已完成抓起三脚架并放入透明塑料圆形容器中的任务。", + "time": 11.209133, + "annotations": { + "point_1766569782047": { + "type": "point", + "instances": [ + { + "id": "point_1766569782047_1766569880214_dyztpk72v", + "x": 0.15050000000000002, + "y": 0.6413333333333334 + } + ] + }, + "point_1766569782759": { + "type": "point", + "instances": [ + { + "id": "point_1766569782759_1766569883711_hunr5aalm", + "x": 0.2705, + "y": 0.6533333333333334 + } + ] + }, + "bbox_1766569770903": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766569770903_1766570135966_cyhdut7xg", + "x": 0.2395, + "y": 0.6666666666666666, + "width": 0.054000000000000006, + "height": 0.20266666666666672 + } + ] + }, + "bbox_1766569771359": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766569771359_1766570141462_c3jsplo9p", + "x": 0.0395, + "y": 0.5413333333333334, + "width": 0.339, + "height": 0.432 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1766569770903", + "name": "三脚架", + "color": "#4CAF50" + }, + { + "id": "bbox_1766569771359", + "name": "透明塑料圆形容器", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1766569782047", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1766569782759", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-144434-mix-tripof-round container/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-144434-mix-tripof-round container/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..e8c665b1a2e021e7fda2706e88413575fd540fea --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-144434-mix-tripof-round container/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,1084 @@ +{ + "task_description": "抓起三脚架并将其放入透明塑料圆形容器中:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近透明塑料圆形容器:60%\n爪夹将三脚架放入透明塑料圆形容器:80%\n爪夹松开，三脚架在透明塑料圆形容器中:100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备开始移动。", + "annotations": { + "bbox_1766628469701": { + "instances": [ + { + "height": 0.15200000000000002, + "id": "bbox_1766628469701_1766628762598_q2bmlg0vj", + "width": 0.088, + "x": 0.47350000000000003, + "y": 0.40800000000000003 + } + ], + "type": "bbox" + }, + "bbox_1766628470110": { + "instances": [ + { + "height": 0.4413333333333334, + "id": "bbox_1766628470110_1766628772862_zprw90kcn", + "width": 0.338, + "x": 0.0485, + "y": 0.5226666666666666 + } + ], + "type": "bbox" + }, + "point_1766628470846": { + "instances": [ + { + "id": "point_1766628470846_1766628508270_f8ezzt4ym", + "x": 0.3925, + "y": 0.396 + } + ], + "type": "point" + }, + "point_1766628471110": { + 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"id": "bbox_1766632314816", + "name": "三脚架" + }, + { + "color": "#FF9800", + "id": "bbox_1766632315216", + "name": "透明塑料圆形容器" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766632326465", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766632326896", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-151930-good-tripof-plate/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-151930-good-tripof-plate/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..331dca3d03ba20b570c0e34bfe35fb17b2ccf4d1 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251203-151930-good-tripof-plate/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,560 @@ +{ + "task_description": "抓起三脚架并将其放入盘子里:\n开始移动:0%\n爪夹靠近三脚架:20%\n爪夹抓取三脚架:40%\n爪夹抓住三脚架接近盘子:60%\n爪夹将三脚架放入盘子:80%\n爪夹松开，三脚架在盘子中:100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备开始移动。", + "annotations": { + "bbox_1766634254502": { + "instances": [ + { + "height": 0.06800000000000009, + "id": "bbox_1766634254502_1766634296453_4yfvfjauo", + "width": 0.14099999999999996, + "x": 0.3965, + "y": 0.5733333333333334 + } + ], + "type": "bbox" + }, + "bbox_1766634254998": { + "instances": [ + { + "height": 0.30933333333333335, + "id": "bbox_1766634254998_1766634316798_mik78zm3k", + "width": 0.23100000000000004, + "x": 0.6115, + "y": 0.6173333333333333 + } + ], + "type": "bbox" + }, + "point_1766634266150": { + "instances": [ + { + "id": "point_1766634266150_1766634330942_5vg6m5gth", + "x": 0.3795, + "y": 0.39466666666666667 + } + ], + "type": "point" + }, + "point_1766634266558": { + "instances": [ + { + "id": "point_1766634266558_1766634339446_qxuqhulwg", + "x": 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"爪夹垂直升高，并向爪夹左侧移动", + "correction_plan": "抓紧茶壶垂直升高爪夹并向爪夹右前方的饭锅接近，水平到达饭锅正上方后将茶壶放入饭锅里，松开爪夹，使茶壶落入饭锅。", + "error_success_analysis": "爪夹垂直升高方便放入饭锅，并向爪夹左侧移动稍微增加了与饭锅的距离。", + "frame": 582, + "progress": 50, + "progress_explanation": "爪夹角度接近垂直于桌面，水平上远离了饭锅，垂直上高过了饭锅口，因此进度提升为50%。", + "state_description": "爪夹夹紧茶壶，角度接近垂直于桌面。水平上稍微远离了饭锅。\n为完成抓取茶壶使茶壶落入饭锅的任务应当：抓紧茶壶垂直升高爪夹并向爪夹右前方的饭锅接近", + "time": 19.4, + "annotations": { + "point_1766632880252": { + "type": "point", + "instances": [ + { + "id": "point_1766632880252_1766633223722_50lc877sf", + "x": 0.4335, + "y": 0.5559999999999999 + } + ] + }, + "bbox_1766632864452": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766632864452_1766633228520_52xya0exi", + "x": 0.4085, + "y": 0.4026666666666667, + "width": 0.162, + "height": 0.24266666666666675 + } + ] + }, + "bbox_1766632870852": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766632870852_1766633237455_fp6f7vgfj", + "x": 0.1025, + "y": 0.5680000000000001, + "width": 0.24100000000000002, + 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"爪夹向爪夹左方的茶壶移动，同时调整爪夹的角度使其垂直与桌面，并移动到茶壶壶身两侧的正上方。接着落下爪夹靠近茶壶，接近茶壶后爪夹合拢抓取茶壶。抓紧茶壶垂直升高爪夹并向爪夹右前方的饭锅接近，水平到达饭锅正上方后将茶壶放入饭锅里，松开爪夹，使茶壶落入饭锅。", + "annotations": { + "point_1766628622686": { + "type": "point", + "instances": [ + { + "id": "point_1766628622686_1766628669288_58dowk1jk", + "x": 0.4245, + "y": 0.47200000000000003 + } + ] + }, + "point_1766628627567": { + "type": "point", + "instances": [ + { + "id": "point_1766628627567_1766628673407_ecquhk4v1", + "x": 0.5485, + "y": 0.444 + } + ] + }, + "bbox_1766628613424": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766628613424_1766628678336_yey3y4u5f", + "x": 0.6125, + "y": 0.38533333333333336, + "width": 0.13200000000000003, + "height": 0.15333333333333332 + } + ] + }, + "bbox_1766628617313": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1766628617313_1766628686969_7aq75urm0", + "x": 0.17650000000000002, + "y": 0.7226666666666667, + "width": 0.253, + "height": 0.25066666666666665 + } + ] + } + } + }, + { + "time": 4.321, + 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a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251204-104001-good-teapot-plate/annotations/chunk-000/observation.images.front/episode_000005.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251204-104001-good-teapot-plate/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..0d0ebe710529b3e527bb49c9a932c72b617c95a5 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251204-104001-good-teapot-plate/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,596 @@ +{ + "task_description": "抓起杯子使其落入盘中:\n开始移动:0%\n爪夹靠近杯子:20%\n爪夹抓取杯子:40%\n爪夹抓住杯子接近盘子:60%\n爪夹将杯子放入盘子:80%\n爪夹松开，杯子落入盘子:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，暂未移动。", + "annotations": { + "bbox_1766393186661": { + "instances": [ + { + "height": 0.19066665115017484, + "id": 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0000000000000000000000000000000000000000..20a21e342723f8362abfcac788ea526d2760a2d1 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-2cameras/20251204-151439-mix-charge-round container/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,754 @@ +{ + "task_description": "拿起充电器，将其放入透明塑料圆形容器中：\n把充电器放在快递箱中\n爪夹开始移动：0%\n爪夹靠近充电器：20%\n爪夹抓取充电器：40%\n爪夹抓住充电器并接近透明塑料圆形容器：60%\n爪夹将充电器放入透明塑料圆形容器：80%\n爪夹松开，使充电器落入透明塑料圆形容器中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766394232857": { + "instances": [ + { + "height": 0.4333332980685792, + "id": "bbox_1766394232857_1766394262097_15fdpwf5c", + "width": 0.33399997961425903, + "x": 0.1336666178181996, + "y": 0.5360555085404047 + } + ], + "type": "bbox" + }, + "bbox_1766394233205": { + "instances": [ + { + "height": 0.15999998697916773, + "id": "bbox_1766394233205_1766394273080_8gfd9y90w", + "width": 0.058999996398926016, + "x": 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"爪夹调整角度，准备靠近抓取充电器。", + "frame": 108, + "progress": 10, + "progress_explanation": "爪夹正在调整角度，准备靠近充电器。因此进度提升至10%", + "state_description": "当前爪夹张开，爪夹角度调整至倾斜与桌面。\n为完成抓起充电器使其落入透明塑料圆形容器中的任务应当：继续调整爪夹角度直到垂直于桌面，继续向爪夹方向的右方移动至充电器的正上方。", + "time": 3.6083609349603747 + }, + { + "time": 4.392799, + "frame": 132, + "progress": 20, + "action_description": "爪夹向爪夹方向的右方移动。", + "state_description": "当前爪夹半合拢，垂直于充电器上方，\n为完成抓起充电器使其落入透明塑料圆形容器中的任务应当：垂直下降，抓取充电器。", + "progress_explanation": "爪夹成功移动至充电器上方，因此进度提升至20%", + "error_success_analysis": "爪夹成功移动至充电器上方，方便抓取充电器。", + "correction_plan": "下降抓取充电器后竖直上升，向爪夹方向的前方移动，直至充电器处于透明塑料圆形容器正上方，下降将充电器放入透明塑料圆形容器中，松开爪夹，使充电器落入透明塑料圆形容器中。" + }, + { + "time": 5.203984714532613, + "frame": 156, + "progress": -5, + "action_description": "爪夹向爪夹方向的左方移动。", + "state_description": "当前爪夹张开，移动至金属物体上方。\n为完成抓起充电器使其落入透明塑料圆形容器中的任务应当：抬起爪夹，向爪夹方向的右方移动至充电器上方。", + "progress_explanation": "爪夹向金属物体移动，与充电器距离拉远，因此进度下降至-5%", + "error_success_analysis": "爪夹移动方向错误，没有靠近充电器。", + "correction_plan": "向爪夹方向的右方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的前方移动，直至充电器处于透明塑料圆形容器正上方，下降将充电器放入透明塑料圆形容器中，松开爪夹，使充电器落入透明塑料圆形容器中。" + }, + { + "action_description": "爪夹下降并收起，夹取金属物体。", + "annotations": { + "bbox_1766394232857": { + "instances": [ + { + "height": 0.4279999651692736, + "id": "bbox_1766394232857_1766394327255_wrsxa3o5d", + "width": 0.3359999794921887, + "x": 0.13266661787923476, + "y": 0.5363518036823077 + } + ], + "type": "bbox" + }, + "bbox_1766394233205": { + "instances": [ + { + "height": 0.15466665407986213, + "id": "bbox_1766394233205_1766394338051_7ko3bkzpv", + "width": 0.057999996459961164, + "x": 0.2316666118367546, + "y": 0.3976851483003623 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抬起并松开爪夹。然后向爪夹方向的右方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的前方移动，直至充电器处于透明塑料圆形容器正上方。下降将充电器放入透明塑料圆形容器中，松开爪夹，使充电器落入透明塑料圆形容器中。", + "error_success_analysis": "爪夹移动位置错误，抓取物体错误。", + "frame": 195, + "progress": -20, + "progress_explanation": "爪夹下降抓取金属物体，没有抓取充电器。因此进度下降至-20%", + "state_description": 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"松开爪夹。然后向爪夹方向的右方移动，到达充电器正上方后下降，抓取充电器后竖直上升，向爪夹方向的前方移动，直至充电器处于透明塑料圆形容器正上方。下降将充电器放入透明塑料圆形容器中，松开爪夹，使充电器落入透明塑料圆形容器中。", + "error_success_analysis": "爪夹夹取物体错误，向电饭锅内锅移动。", + "frame": 260, + "progress": -30, + "progress_explanation": "爪夹抓取金属物体，向电饭锅内锅移动。因此进度下降至-30%", + "state_description": "当前状态为爪夹夹住金属物体，在电饭锅内锅的上方。\n为完成抓起充电器使其落入透明塑料圆形容器中的任务应当：松开爪夹，向爪夹方向右侧移动至充电器上方。", + "time": 8.673309069867694 + }, + { + "action_description": "爪夹松开，金属物体掉落。", + "annotations": { + "bbox_1766394232857": { + "instances": [ + { + "height": 0.42666663194444726, + "id": "bbox_1766394232857_1766394380531_9z21ivgwd", + "width": 0.33599997949218874, + "x": 0.13366661781819958, + "y": 0.537685136907134 + } + ], + "type": "bbox" + }, + "bbox_1766394233205": { + "instances": [ + { + "height": 0.15999998697916779, + "id": "bbox_1766394233205_1766394390945_6lk7o83ej", + "width": 0.05699999652099632, + "x": 0.22966661195882493, + "y": 0.39368514862588305 + } + ], + "type": "bbox" + }, + "point_1766394233945": { + "instances": [ 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cooker/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,536 @@ +{ + "task_description": "拿起散热器，将其放入电饭煲的内锅中：\n爪夹开始移动：0%\n爪夹靠近散热器：20%\n爪夹抓取散热器：40%\n爪夹抓住散热器并接近电饭煲的内锅：60%\n爪夹将散热器放入电饭煲的内锅中：80%\n爪夹松开，使散热器落入电饭煲的内锅中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766567793488": { + "instances": [ + { + "height": 0.2773333107638907, + "id": "bbox_1766567793488_1766567821044_wmqzkth6i", + "width": 0.20899998724365307, + "x": 0.1716666154988638, + "y": 0.3073147841540703 + } + ], + "type": "bbox" + }, + "bbox_1766567793598": { + "instances": [ + { + "height": 0.3026666420355923, + "id": "bbox_1766567793598_1766567834371_g9970olv0", + "width": 0.2249999862670907, + "x": 0.5536665921834355, + "y": 0.5113147675525092 + } + ], + "type": "bbox" + }, + "point_1766567794184": { + "instances": [ + { + "id": "point_1766567794184_1766567836711_5yv2lz8an", + "x": 0.43266659956868897, + "y": 0.3873147776436542 + } + ], + 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"color": "#F44336", + "id": "point_1766124723292", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-3cameras/20251202-173945-bad-carrots/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-3cameras/20251202-173945-bad-carrots/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..1121af58e28eeb680cb4c98a42871c8186976147 --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-3cameras/20251202-173945-bad-carrots/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,550 @@ +{ + "task_description": "把胡萝卜放在盘子上。\n爪夹开始移动：0%\n爪夹靠近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓住胡萝卜并接近白色盘子：60%\n爪夹将胡萝卜放入白色盘子中：80%\n爪夹松开，使胡萝卜落入白字盘子中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + 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newline at end of file diff --git a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-3cameras/20251202-175546-good-chili/annotations/chunk-000/observation.images.front/episode_000003.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-3cameras/20251202-175546-good-chili/annotations/chunk-000/observation.images.front/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..53698783ae2924763595347a793adb2320f7e8ce --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-3cameras/20251202-175546-good-chili/annotations/chunk-000/observation.images.front/episode_000003.json @@ -0,0 +1,706 @@ +{ + "task_description": "把辣椒放在盘子上\n爪夹开始移动：0%\n爪夹靠近辣椒：20%\n爪夹抓取辣椒：40%\n爪夹抓住辣椒并接近白色托盘：60%\n爪夹将辣椒放入白色托盘中：80%\n爪夹松开，使辣椒落入白色托盘中：100%\n", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766483227548": { + "instances": [ + { + "height": 0.2653333117404531, + "id": 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a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-3cameras/20251203-105731-good-cucumbers/annotations/chunk-000/observation.images.head/episode_000024.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-3cameras/20251203-105731-good-cucumbers/annotations/chunk-000/observation.images.head/episode_000024.json new file mode 100644 index 0000000000000000000000000000000000000000..7353a93c2b112e9104f547c24b2e814a7f1ce06c --- /dev/null +++ b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-3cameras/20251203-105731-good-cucumbers/annotations/chunk-000/observation.images.head/episode_000024.json @@ -0,0 +1,368 @@ +{ + "task_description": "把黄瓜放在盘子上\n爪夹开始移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓住黄瓜并接近白色托盘：60%\n爪夹将黄瓜放入白色托盘中：80%\n爪夹松开，使黄瓜落入白色托盘中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "annotations": { + "bbox_1766137781567": { + "instances": [ + { + "height": 0.30533330848524515, + "id": 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"correction_plan": "爪夹继续保持张开，向左前方移动至海绵位置下降，抓取海绵向右上方移动，推动白色垃圾继续向右移动直至白色垃圾落入垃圾桶内", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "当前为初始状态，尚未进行作业，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离白色垃圾。\n为完成将白色垃圾扫进垃圾桶的任务应当：爪夹向爪夹方向左前方移动至海绵位置下降，抓取海绵", + "time": 1.445 + }, + { + "action_description": "爪夹向爪夹方向上方移动", + "annotations": { + "bbox_1766634071031": { + "instances": [ + { + "height": 0.176, + "id": "bbox_1766634071031_1766634114577_bj6mb0488", + "width": 0.09900000000000002, + "x": 0.6675, + "y": 0.3546666666666667 + } + ], + "type": "bbox" + }, + "bbox_1766634074777": { + "instances": [ + { + "height": 0.09333333333333335, + "id": "bbox_1766634074777_1766634111752_5b2dtvnlc", + "width": 0.05999999999999996, + "x": 0.4405, + "y": 0.5573333333333333 + } + ], + "type": "bbox" + }, + "bbox_1766634454462": { + "instances": [ + { + "height": 0.42800000000000005, + "id": "bbox_1766634454462_1766634467280_n1tepykpg", + "width": 0.14300000000000002, 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"error_success_analysis": "爪夹成功张开，金属块落入白色盒子中", + "frame": 400, + "progress": 100, + "progress_explanation": "爪夹松开，金属块落入白色盒子里，进度提升为100%", + "state_description": "爪夹张开，金属块在白色盒子中\n把金属块放进白色盒子里的任务已完成", + "time": 13.343642914948452 + } + ], + "tags": [ + "custom2" + ], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1766984606985", + "name": "白色盒子" + }, + { + "color": "#FF9800", + "id": "bbox_1766984612143", + "name": "金属块" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1766984617378", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1766984632033", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-3cameras/20251204-111627-mix-metal/annotations/chunk-000/observation.images.head/episode_000018.json b/annotation_files_raw/hfx_project-1/ARX-data/human-data-1204-3cameras/20251204-111627-mix-metal/annotations/chunk-000/observation.images.head/episode_000018.json new file 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